Grabbing device capable of adjusting grabbing length

Abstract

The utility model belongs to the technical field of automation, and particularly relates to a gripping device capable of adjusting gripping length, which comprises a clamping jaw main body, a plurality of groups of first teeth are fixedly connected to the middle part of the output end of the clamping jaw main body; second teeth are slidably connected to the middles of the first teeth. The end parts of the second teeth are fixedly connected with a supporting plate; a tooth groove is formed in the middle of the supporting plate. Two groups of vertical plates are fixedly connected to the outer wall of the clamping jaw main body; the middle of the vertical plate is rotationally connected with a rotating shaft; the middle part of the rotating shaft is fixedly connected with a tooth block, and the tooth block is meshed with the tooth groove; according to the clamping jaw, the problems that when materials are carried, the first teeth cannot adapt to the materials of different sizes and shapes, and part of the materials are difficult to grab and carry due to the fact that the rotatable tooth blocks are arranged on the outer wall of the clamping jaw body in a matched mode, the lengths of the multiple first teeth can be adjusted, and the length of the original first teeth is reduced are fixedly installed, and when the materials are carried, the first teeth cannot adapt to the materials of different sizes and shapes are solved. And the flexibility of the multiple groups of first teeth during working is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of automation, in particular to a grabbing device capable of adjusting the grabbing length. Background Art

[0002] The palletizing robot is the product of the organic combination of machinery and computer programs. It mainly controls its movement and operation by receiving instructions from a computer or controller. Its application scenarios are very wide, including electronics, express logistics, warehousing logistics, and automobile manufacturing, etc. It has the characteristics of saving labor costs and land resources, easy management, high production efficiency and high safety.

[0003] The grabbing device of the palletizing robot is its key component. Its main function is to grab goods from the shelf and place them in the designated location. The grabbing device is mainly composed of grippers, electromagnetic suction cups and drive devices.

[0004] Through long-term observation, although the existing grabbing devices can grab goods, the length of the teeth on the clamping claws is usually fixed and installed, and its length is difficult to adjust. This is because when transporting materials, it cannot adapt to materials of different sizes and shapes, resulting in some materials cannot be effectively grabbed or stably transported. Therefore, a grabbing device with adjustable grabbing length is proposed to solve the above problem. Utility Model Content

[0005] In order to make up for the deficiencies of the prior art and solve at least one technical problem raised in the background technology, the utility model provides a gripping device with adjustable gripping length.

[0006] The technical solution adopted by the utility model to solve its technical problems is: the utility model describes a gripping device with adjustable gripping length, comprising a clamping jaw body; a plurality of first teeth are fixedly connected to the middle of the output end of the clamping jaw body; a second tooth is slidably connected to the middle of the first tooth; a support plate is fixedly connected to the end of the second tooth; a tooth groove is provided in the middle of the support plate; two groups of vertical plates are fixedly connected to the outer wall of the clamping jaw body; a rotating shaft is rotatably connected to the middle of the vertical plate; a tooth block is fixedly connected to the middle of the rotating shaft, and the tooth block and the tooth groove are meshed; two groups of first springs are fixedly connected to the inner wall of the vertical plate; a sliding rod is fixedly connected to the top of the first spring, and the sliding rod is slidably arranged in the middle of the vertical plate; a clamp is fixedly connected to the bottom of the sliding rod, and the clamp and the tooth block are shape-matched.

[0007] Preferably, a second spring is fixedly connected to the inner wall of the rotating shaft; a slider is fixedly connected to the end of the second spring, and the slider is slidably arranged on the inner wall of the rotating shaft; a bayonet is fixedly connected to the end of the slider; a fixing piece is fixedly connected to the outer wall of the vertical plate; a slot matching the shape of the bayonet is opened in the middle of the fixing piece; the slot and the bayonet are arranged in a polygonal shape.

[0008] Preferably, a third spring is fixedly connected to the end of the fixing member; a bell is fixedly connected to the end of the third spring; a top member is fixedly connected to the middle of the bell, and the top member is slidably arranged in the middle of the fixing member.

[0009] Preferably, a bracket is fixedly connected to the middle part of the vertical plate; a torsion spring in the middle part of the bracket is connected to the top plate, and the middle part of the top plate is arc-shaped.

[0010] Preferably, a plurality of groups of reinforcing rods are fixedly connected to the side walls of the support plate; a rubber ball is fixedly connected to the top of the reinforcing rod, and the rubber ball is arranged in contact with the middle of the top plate.

[0011] Preferably, a gasket is fixedly connected to the end of the top piece.

[0012] Preferably, a friction piece is fixedly connected to the middle portion of the bayonet.

[0013] Beneficial effects of the utility model:

[0014] 1. The utility model provides a gripping device with adjustable gripping length. By cooperating with a rotatable tooth block arranged on the outer wall of the clamp body, the length of multiple first teeth can be adjusted, and the original length of the first teeth is reduced to a fixed installation setting, so that when transporting materials, the first teeth cannot adapt to materials of different sizes and shapes, resulting in the problem that some materials are difficult to be gripped and transported, thereby improving the flexibility of multiple groups of first teeth when working.

[0015] 2. The utility model provides a grabbing device with adjustable grabbing length. By cooperating with a polygonal-shaped latch pin, the point of force of the staff when rotating the shaft can be increased, and the cylindrical setting of the middle part of the shaft can be reduced, which causes the problem of hand slipping when the staff rotates the shaft. At the same time, the overall position of the shaft can be reinforced by cooperating with the latch slot, reducing the problem of difficulty in fixing the middle part of the tooth block only by the latch, and reducing the problem of large wear of the latch when fixing. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0018] Figure 2 This is a schematic diagram of the support plate structure in the utility model;

[0019] Figure 3 It is a schematic diagram of the vertical plate structure in the utility model;

[0020] Figure 4 for Figure 3 A magnified image of point A;

[0021] Figure 5 It is a schematic diagram of the fixing structure in the utility model.

[0022] Legend:

[0023] 1. Clamp body; 11. First tooth; 12. Second tooth; 13. Support plate; 14. Tooth groove; 15. Vertical plate; 16. Rotating shaft; 17. Tooth block; 18. First spring; 19. Sliding rod; 110. Clamp; 2. Second spring; 21. Sliding block; 22. Pin; 23. Fixing member; 24. Clamping groove; 3. Third spring; 31. Bell; 32. Top member; 4. Bracket; 41. Top plate; 5. Reinforcement rod; 51. Rubber ball; 6. Gasket; 7. Friction member. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] Specific examples are given below.

[0026] like Figure 1-4As shown, a gripping device with adjustable gripping length comprises a clamping body 1; a plurality of first teeth 11 are fixedly connected to the middle of the output end of the clamping body 1; a second tooth 12 is slidably connected to the middle of the first tooth 11; a support plate 13 is fixedly connected to the end of the second tooth 12; a tooth groove 14 is provided in the middle of the support plate 13; two groups of vertical plates 15 are fixedly connected to the outer wall of the clamping body 1; a rotating shaft 16 is rotatably connected to the middle of the vertical plate 15; a tooth block 17 is fixedly connected to the middle of the rotating shaft 16, and the tooth block 17 and the tooth groove 14 are meshing devices. The inner wall of the vertical plate 15 is fixedly connected with two groups of first springs 18; the top of the first spring 18 is fixedly connected with a sliding rod 19, and the sliding rod 19 is slidably arranged in the middle of the vertical plate 15; the bottom of the sliding rod 19 is fixedly connected with a clamp 110, and the clamp 110 and the tooth block 17 are arranged in a shape matching; when working, the staff needs to install the stacking robot with the top of the gripper body 1, and after starting the power supply, cooperate with the multiple first teeth 11 to grab the goods, by setting a rotatable shaft 1 in the middle of the gripper body 1 6, then the staff can pull the middle of the sliding rod 19 upwards, and in the process of pulling, the middle of the first spring 18 is stretched, and at the same time, the clamp 110 is separated from the tooth block 17. At this time, the staff can rotate the middle of the rotating shaft 16, so that the tooth block 17 can translate the support plate 13 as a whole with the help of the tooth groove 14 when moving. When the plurality of second teeth 12 slide to the specified position inside the first teeth 11, the staff can align the clamp 110 with the specified position of the tooth block 17 and release the middle of the sliding rod 19. After the part is moved, under the reaction force after the two groups of first springs 18 are reset, the clamping piece 110 clamps and fixes the tooth block 17. This step is combined with the rotatable tooth block 17 provided on the outer wall of the clamp body 1, and the length of multiple first teeth 11 can be adjusted, reducing the original length of the first teeth 11 to a fixed installation setting, so that when the material is transported, the first teeth 11 cannot adapt to materials of different sizes and shapes, resulting in the problem that some materials are difficult to be grasped and transported, thereby improving the flexibility of multiple groups of first teeth 11 when working.

[0027] like Figure 3 and 5As shown, the inner wall of the rotating shaft 16 is fixedly connected with a second spring 2; the end of the second spring 2 is fixedly connected with a slider 21, and the slider 21 is slidably arranged on the inner wall of the rotating shaft 16; the end of the slider 21 is fixedly connected with a latch 22; the outer wall of the vertical plate 15 is fixedly connected with a fixing piece 23; the middle part of the fixing piece 23 is provided with a slot 24 matching the shape of the latch 22; the slot 24 and the latch 22 are arranged in a polygonal shape; when working, by arranging a fixing piece 23 in the middle part of the vertical plate 15, when the first tooth 11 and the second tooth 12 are working, the latch 22 will be stuck at the inner wall of the slot 24 under the action of the elastic force of the second spring 2, and when the length of the second tooth 12 needs to be adjusted, the staff can pull the sliding rod 19 and push the latch 22 into the rotating shaft 16, so that the latch 2 2 is separated from the slot 24, and the middle part of the latch 22 is rotated. Under the action of the slider 21, the shaft 16 and the tooth block 17 can be rotated as a whole until the length adjustment of the multiple sets of second teeth 12 is completed, and the latch 22 is released, so that the latch 22 loses its supporting force and is again stuck on the inner wall of the slot 24. This step, in conjunction with the polygonal latch 22, can improve the point of force of the staff when rotating the shaft 16, and reduce the problem of the staff's hand slipping when rotating the shaft 16 due to the cylindrical middle part of the shaft 16. At the same time, the overall position of the shaft 16 can be reinforced in conjunction with the slot 24, reducing the problem that it is difficult to fix the middle part of the tooth block 17 by only the clamp 110, and reducing the problem of large wear of the clamp 110 when fixing.

[0028] like Figure 5 As shown, the end of the fixing member 23 is fixedly connected to a third spring 3; the end of the third spring 3 is fixedly connected to a bell 31; the middle of the bell 31 is fixedly connected to a top member 32, and the top member 32 is slidably arranged in the middle of the fixing member 23; when working, by arranging a protruding top member 32 at the end of the fixing member 23, when the bayonet 22 is elastically clamped on the inner wall of the clamping groove 24, the end of the bayonet 22 will first contact with the protruding top member 32, and then under the action of force, the top member 32 will be pushed to move toward the outside, and the bell will ring. 31 will shake and make a sound when subjected to force, and when the pin 22 is separated from the slot 24, the elastic force of the third spring 3 is used to reset the end of the top piece 32. This step, combined with the sound emitted by the bell 31, can be used to determine whether the pin 22 is completely stuck in the inner wall of the slot 24, thereby reducing the problem of angular deviation of the pin 22 when fixing the rotating shaft 16, resulting in a loose fixing effect, and improving the stability of the pin 22 during use. The elastic third spring 3 can improve the repeated use performance of the bell 31.

[0029] like Figure 2-4As shown, a bracket 4 is fixedly connected to the middle part of the vertical plate 15; a top plate 41 is connected to the torsion spring in the middle part of the bracket 4, and the middle part of the top plate 41 is arc-shaped; when working, an arc-shaped rubber ball 51 is provided in the middle part of the vertical plate 15, so that the middle part of the clamp body 1 and the first tooth 11 will block the external dust when they are in use. This step cooperates with the top plate 41 to reduce the problem of dust generated by the clamp body 1 and adhering to the surface of the tooth block 17 when carrying powdery materials such as flour bags, resulting in the subsequent problem of jamming or large resistance when the tooth block 17 meshes with the tooth groove 14, and the arc-shaped top plate 41 can reduce the adhesion time of impurities in the middle part.

[0030] like Figure 4 As shown, the side wall of the support plate 13 is fixed with multiple groups of reinforcing rods 5; the top of the reinforcing rod 5 is fixed with a rubber ball 51, and the rubber ball 51 is arranged in contact with the middle of the top plate 41; during operation, by arranging multiple groups of reinforcing rods 5 in the middle of the support plate 13, when the support plate 13 as a whole moves, the rubber ball 51 will directly contact with the top plate 41, and squeeze the top plate 41 to rotate, and then under the action of the torsion spring, the top plate 41 will be reset, and this process is repeated. This step, in conjunction with the arranged reinforcement rod 5, can further reduce the adhesion time of impurities in the middle of the top plate 41, and reduce the corrosion period of some impurities in the middle of the top plate 41, and the rubber ball 51 made of soft material can reduce the wear caused by the two after the impact contact.

[0031] like Figure 5 As shown, a gasket 6 is fixedly connected to the end of the top piece 32; during operation, by providing the gasket 6 at the end of the top piece 32, when the bayonet 22 is close to the end of the top piece 32, its end will contact the gasket 6 before. This step cooperates with the gasket 6 to reduce the wear of the bayonet 22 when it hits the end of the top piece 32, thereby improving the subsequent service life of the two and reducing the problem of edge collapse and damage at the end of the top piece 32.

[0032] like Figure 5 As shown, the middle part of the bayonet 22 is fixedly connected with a friction member 7; during operation, by providing the friction member 7 in the middle part of the bayonet 22, when the staff member rotates the middle part of the bayonet 22, his hand will first contact with the friction member 7, and with the help of the concave surface in the middle part of the friction member 7, the contact is reinforced along with his hand. This step cooperates with the provided friction member 7 to increase the contact area between the bayonet 22 and the hand, thereby increasing the friction between the two, and further reducing the problem of hand slippage.

[0033] Working principle: by installing the palletizing robot together with the top of the gripper body 1, and starting the power supply, cooperate with multiple first teeth 11 to grab the goods, by setting a rotatable shaft 16 in the middle of the gripper body 1, then the staff can pull the middle of the sliding rod 19 upwards, and in the process of pulling, the middle of the first spring 18 is stretched, and at the same time, the clamp 110 is separated from the tooth block 17. At this time, the staff can rotate the middle of the shaft 16, so that the tooth block 17 can translate the support plate 13 as a whole with the help of the tooth groove 14 when moving. When the multiple second teeth 12 slide to the specified position inside the first teeth 11, the staff can position the clamp 110 with the specified tooth block 17. After the middle of the sliding rod 19 is released, the clamping member 110 clamps and fixes the tooth block 17 under the reaction force after the two groups of first springs 18 are reset. By arranging a fixing member 23 in the middle of the vertical plate 15, when the first teeth 11 and the second teeth 12 are working, the latch 22 is clamped on the inner wall of the slot 24 under the action of the elastic force of the second spring 2. When the length of the second teeth 12 needs to be adjusted, the staff can pull the sliding rod 19 and push the latch 22 into the rotating shaft 16 to separate the latch 22 from the slot 24, and rotate the middle of the latch 22. Under the action of the slider 21, the rotating shaft 16 and the tooth block 17 can be rotated as a whole until the multiple groups of second teeth 11 and 12 are aligned. The tooth 12 can be adjusted in length, and the latch 22 is released, so that the latch 22 loses its supporting force and is stuck in the inner wall of the slot 24 again. By providing a protruding top piece 32 at the end of the fixing piece 23, when the latch 22 is elastically stuck in the inner wall of the slot 24, the end of the latch 22 will first contact with the protruding top piece 32, and then, under the action of force, the top piece 32 will be pushed to move toward the outside. At this time, the bell 31 will shake and make a sound after being stressed. When the latch 22 is separated from the slot 24, the end of the top piece 32 can be reset with the help of the elastic force of the third spring 3. By providing an arc-shaped rubber ball 51 in the middle of the vertical plate 15, the clamping jaw body 1 and the first tooth 11 can be moved. When in use, the middle part of the support plate 13 will block the external dust. By arranging multiple groups of reinforcing rods 5 in the middle part of the support plate 13, when the support plate 13 as a whole moves, the rubber ball 51 will directly contact with the top plate 41, and squeeze the top plate 41 to rotate, and then under the action of the torsion spring, the top plate 41 will be reset, and this process will be repeated. By arranging a gasket 6 at the end of the top member 32, when the bayonet 22 is close to the end position of the top member 32, its end will contact the gasket 6 before the gasket 6. By arranging a friction member 7 in the middle part of the bayonet 22, when the staff rotates the middle part of the bayonet 22, his hand will first contact with the friction member 7, and with the help of the concave surface in the middle part of the friction member 7, the contact and reinforcement will be carried out along with his hand.

[0034] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, and these changes and improvements fall within the scope of the utility model to be protected.

Claims

1. A gripping device with adjustable gripping length, comprising a clamping jaw body (1); a plurality of first teeth (11) are fixedly connected to the middle of the output end of the clamping jaw body (1); characterized in that: The middle of the first tooth (11) is slidably connected to the second tooth (12); the end of the second tooth (12) is fixedly connected to a support plate (13); a tooth groove (14) is provided in the middle of the support plate (13); two groups of vertical plates (15) are fixedly connected to the outer wall of the clamp body (1); a rotating shaft (16) is rotatably connected to the middle of the vertical plate (15); a tooth block (17) is fixedly connected to the middle of the rotating shaft (16), and the tooth block (17) and the tooth groove (14) are meshed; two groups of first springs (18) are fixedly connected to the inner wall of the vertical plate (15); a sliding rod (19) is fixedly connected to the top of the first spring (18), and the sliding rod (19) is slidably arranged in the middle of the vertical plate (15); a clamping piece (110) is fixedly connected to the bottom of the sliding rod (19), and the clamping piece (110) and the tooth block (17) are arranged to match in shape.

2. A gripping device with adjustable gripping length as claimed in claim 1, characterized in that: The inner wall of the rotating shaft (16) is fixedly connected with a second spring (2); the end of the second spring (2) is fixedly connected with a slider (21), and the slider (21) is slidably arranged on the inner wall of the rotating shaft (16); the end of the slider (21) is fixedly connected with a latch (22); the outer wall of the vertical plate (15) is fixedly connected with a fixing member (23); a slot (24) matching the shape of the latch (22) is provided in the middle of the fixing member (23); the slot (24) and the latch (22) are arranged in a polygonal shape.

3. A gripping device with adjustable gripping length as claimed in claim 2, characterized in that: The end of the fixing member (23) is fixedly connected to a third spring (3); the end of the third spring (3) is fixedly connected to a bell (31); the middle of the bell (31) is fixedly connected to a top member (32), and the top member (32) is slidably arranged in the middle of the fixing member (23).

4. A gripping device with adjustable gripping length as claimed in claim 1, characterized in that: A bracket (4) is fixedly connected to the middle of the vertical plate (15); a torsion spring in the middle of the bracket (4) is connected to a top plate (41), and the middle of the top plate (41) is arranged in an arc shape.

5. A gripping device with adjustable gripping length as claimed in claim 4, characterized in that: A plurality of groups of reinforcing rods (5) are fixedly connected to the side walls of the support plate (13); a rubber ball (51) is fixedly connected to the top of the reinforcing rod (5), and the rubber ball (51) is arranged in contact with the middle of the top plate (41).

6. A gripping device with adjustable gripping length as claimed in claim 3, characterized in that: A gasket (6) is fixedly connected to the end of the top member (32).

7. A gripping device with adjustable gripping length as claimed in claim 2, characterized in that: A friction piece (7) is fixedly connected to the middle part of the bayonet (22).

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