Adaptive cylinder gripping claw

Abstract

The invention discloses an adaptive cylinder gripping claw, and belongs to the field of mechanical claws. The adaptive cylinder gripping claw comprises a machine frame and clamping claws symmetricallydistributed on two sides of the machine frame, the two clamping claws are connected with the machine frame through symmetrical adaptive deformation mechanisms, wherein each adaptive deformation mechanism comprises a middle slide block and connecting rod mechanisms symmetrically connected to two sides of the middle slide block and connected with the clamping claws on both sides, the middle slide blocks, the connecting rod mechanisms on one sides and the clamping claws form three four-bar mechanisms which are connected in series, the middle slide blocks are provided with middle clamping blocks,and the clamping claws on both sides are provided with side clamping blocks; the middle sliding blocks move towards the center, and the clamping claws on both sides are driven to contract towards thecenter by the connecting rod mechanisms, and the middle clamping blocks and the side clamping blocks hold a cylinder tightly and complete centering. According to the adaptive cylinder gripping claw,clamping forces uniformly distributed on the circumference with basically the same size are applied to the three directions of the cylinder, so that the requirement of the clamping forces is met, an automatic centering effect is realized, and objects can be prevented from sliding off in the gripping process.

Description

technical field [0001] The invention relates to the field of mechanical grippers, in particular to an adaptive cylinder grabbing gripper. Background technique [0002] In the field of modern machinery, unmanned operation and automated production have emerged. In the process of mechanical manufacturing and processing, there are many processes that need to clamp workpieces. Manual placement of workpieces is too dangerous, time-consuming and labor-intensive, and the degree of automation is low. [0003] With the development and maturity of robot technology, manipulators are gradually used to pick up objects in industrial production. Due to the special shape of the cylindrical object, it is necessary not only to meet the requirements of the clamping force but also to meet the requirements of centering to realize the grasping of the cylindrical object to prevent the object from slipping during the grasping process. The existing manipulator has no special arm for the cylindrical o...

AI Technical Summary

Problems solved by technology

Due to the special shape of the cylindrical object, it is necessary not only to meet the requirements of the clamping force but also to meet the requirements of centering to realize the grasping of the cylindrical object to prevent the object from slipping during the grasping process. The existing manipulator has no special arm for the cylindrical object. With the centering mechanism, the grasped object cannot be automatically aligned with the center of the manipulator, and it often falls after grasping, resulting in secondary grasping, which greatly reduces work efficiency and greatly increases production costs in industrial production.

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