Sliding mechanical clamping jaw

Abstract

The utility model relates to the related technical field of mechanical clamping jaws, in particular to a sliding mechanical clamping jaw which comprises a connecting plate, an installation block is fixedly installed on the surface of one side of the connecting plate, a first air cylinder is fixedly installed at one end of the installation block, and side plates are fixedly connected to the surfaces of the two sides of the connecting plate. A sliding block is fixedly installed on the surface of one side of the side plate, and one end of the sliding block is connected with a sliding rail. According to the sliding mechanical clamping jaw, through the arrangement of the first air cylinders, the middle-position check blocks, the first clamping jaw bodies, the second air cylinders, the second clamping jaw bodies and the second guide blocks, during clamping, the two first air cylinders stretch out and abut against the middle-position check blocks, when the first clamping jaw bodies and the second clamping jaw bodies descend to be close to a grabbing target, the first air cylinders retract, and the first clamping jaw bodies and the second clamping jaw bodies are in a slidable state; and if the grabbed target touches the first guide block or the second guide block, the first clamping jaw or the second clamping jaw can be pushed to slide in the direction away from the currently contacted sliding block, so that the grabbed target falls between the first clamping jaw and the second clamping jaw.

Description

Technical Field

[0001] The utility model relates to the technical field related to mechanical clamps, and in particular to a sliding mechanical clamp. Background Art

[0002] A mechanical gripper is a mechanical device that serves as the core component of a robot's end effector, responsible for precisely capturing, grasping, and manipulating objects. Mechanical grippers play an important role in production, operating in harsh environments such as high temperatures, toxicity, high vibration, flammability, explosiveness, monotony, and radioactivity. They can effectively replace humans in dangerous and tedious tasks, reducing labor intensity and increasing productivity. Mechanical grippers have various motion modes, with the most common being sliding grippers, which are very stable and reliable. Therefore, a sliding gripper is particularly desirable.

[0003] However, most existing sliding mechanical grippers generally use motion control to ensure their grasping accuracy. Once the control deviation causes a position error between the device and the grasping target, it will lead to grasping failure. The control accuracy and stability limit the success rate of the mechanical grasping device. Utility Model Content

[0004] The purpose of the present utility model is to provide a sliding mechanical gripper to solve the problem of the existing sliding mechanical gripper proposed in the above background technology. Most mechanical grippers generally ensure their grasping accuracy through motion control. Once the control deviation causes a position error between the device and the grasping target, it will lead to grasping failure. The control accuracy and stability limit the success rate of the mechanical grasping device.

[0005] To achieve the above-mentioned object, the utility model provides the following technical solution: A sliding mechanical clamp comprises a connecting plate, a mounting block is fixedly installed on one side surface of the connecting plate, a first cylinder is fixedly installed on one end of the mounting block, side plates are fixedly connected to both side surfaces of the connecting plate, a slider is fixedly installed on one side surface of the side plate, one end of the slider is connected to a slide rail, one side surface of the slide rail is fixedly connected to a connecting frame, a connecting block is fixedly connected to one side surface of the connecting frame, a neutral stopper is fixedly installed on one side surface of the connecting block, a first fixed plate is fixedly connected to one side surface of the connecting block, a second fixed plate is fixedly connected to one side surface of the first fixed plate, a first clamp is fixedly installed on one side surface of the second fixed plate, a first guide block is provided at one end of the first clamp, a connecting rod is provided inside the first guide block, a guide wheel is provided on the surface of the connecting rod, a mounting plate is fixedly connected to one side surface of the connecting frame, a second cylinder is fixedly installed on one side surface of the mounting plate, one end of the second cylinder is connected to a clamp plate, a second clamp is fixedly installed on one side surface of the clamp plate, and a second guide block is provided at one end of the second clamp.

[0006] Preferably, the mounting blocks and the first cylinders are provided in two groups, and are respectively provided on both sides of the middle stopper.

[0007] Preferably, two groups of the side panels and the sliding blocks are provided, and the slide rails form a sliding structure through the sliding blocks and the side panels.

[0008] Preferably, connecting rods and guide wheels are provided in the first guide block and the second guide block, and four groups of connecting rods are provided in each of the first guide block and the second guide block.

[0009] Preferably, the guide wheel is connected to the connecting rod via a bearing, and the guide wheel and the connecting rod form a rotating structure.

[0010] Preferably, three sets of guide wheels are provided on each set of connecting rods.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows: the sliding mechanical clamp is provided with a connecting plate, a mounting block, a first cylinder, a side plate, a slider, a slide rail, a connecting frame, a connecting block, a neutral stopper, a first fixed plate, a second fixed plate, a first clamp, a first guide block, a connecting rod, a guide wheel, a mounting plate, a second cylinder, a clamp plate, a second clamp and a second guide block. When the clamping work is performed, the two first cylinders extend and simultaneously press against the neutral stopper, and the first clamp and the second clamp cannot move left and right. As the first clamp and the second clamp descend to approach the grasping target, When the first cylinder retracts, the slide rail can slide at one end of the slider, and the first clamping jaw and the second clamping jaw are in a slidable state. If the grasping target hits the first guide block or the second guide block, the grasping target will push the first clamping jaw or the second clamping jaw to slide away from the currently contacted first guide block or the second guide block, so that the grasping target falls between the first clamping jaw and the second clamping jaw. After the grasping work is completed, the first cylinder is extended again, and the first clamping jaw and the second clamping jaw return to a non-sliding state. In this way, automatic compensation can be achieved when the grasping position deviates, and the grasping accuracy and success rate are higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a side view of the structure of the utility model;

[0013] Figure 2 This is a schematic diagram of the structure of the connection plate and the mounting block cooperating with each other in the utility model;

[0014] Figure 3 This is a schematic diagram of the structure of the side panels and sliders cooperating with each other in the present utility model;

[0015] Figure 4 This is a schematic diagram of the structure in which the mounting plate and the second cylinder cooperate with each other;

[0016] Figure 5 This is a schematic diagram of the structure in which the connecting rod and the guide wheel cooperate with each other in the present utility model.

[0017] In the figure: 1. connecting plate; 2. mounting block; 3. first cylinder; 4. side plate; 5. slider; 6. slide rail; 7. connecting frame; 8. connecting block; 9. neutral stopper; 10. first fixed plate; 11. second fixed plate; 12. first clamping jaw; 13. first guide block; 14. connecting rod; 15. guide wheel; 16. mounting plate; 17. second cylinder; 18. clamping jaw plate; 19. second clamping jaw; 20. second guide block. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0019] See also Figure 1-5The utility model provides a technical solution: a sliding mechanical clamp, including a connecting plate 1, a mounting block 2 is fixedly installed on one side surface of the connecting plate 1, a first cylinder 3 is fixedly installed on one end of the mounting block 2, side plates 4 are fixedly connected to both side surfaces of the connecting plate 1, a slider 5 is fixedly installed on one side surface of the side plate 4, one end of the slider 5 is connected to a slide rail 6, one side surface of the slide rail 6 is fixedly connected to a connecting frame 7, one side surface of the connecting frame 7 is fixedly connected to a connecting block 8, one side surface of the connecting block 8 is fixedly installed with a middle stopper 9, one side surface of the connecting block 8 is fixedly connected to a first fixed plate 10, one side surface of the first fixed plate 10 is fixedly connected to a second fixed plate 11, one side surface of the second fixed plate 11 is fixed A first clamping jaw 12 is fixedly installed, one end of the first clamping jaw 12 is provided with a first guide block 13, a connecting rod 14 is provided inside the first guide block 13, a guide wheel 15 is provided on the surface of the connecting rod 14, a mounting plate 16 is fixedly connected to one side surface of the connecting frame 7, a second cylinder 17 is fixedly installed on one side surface of the mounting plate 16, one end of the second cylinder 17 is connected to a clamping jaw plate 18, a second clamping jaw 19 is fixedly installed on one side surface of the clamping jaw plate 18, and a second guide block 20 is provided on one end of the second clamping jaw 19. Through the connecting plate 1, the mounting block 2, the first cylinder 3, the side plate 4, the slider 5, the slide rail 6, the connecting frame 7, the connecting block 8, the middle stopper 9, the first fixed plate 10, the second fixed plate 11, the first A clamping jaw 12, a first guide block 13, a connecting rod 14, a guide wheel 15, a mounting plate 16, a second cylinder 17, a clamping jaw plate 18, a second clamping jaw 19 and a second guide block 20 are arranged. When performing the grasping work, the first cylinder 3 is started, and the two first cylinders 3 are extended at the same time and against the two ends of the middle block 9. At this time, the middle block 9 cannot move, and the first clamping jaw 12 and the second clamping jaw 19 cannot move. As the first clamping jaw 12 and the second clamping jaw 19 descend to approach the grasping target, the two first cylinders 3 retract at the same time. At this time, the slide rail 6 can slide at one end of the slider 5, and the first clamping jaw 12 and the second clamping jaw 19 become movable. If the grasping target hits the first guide block 13 or the second guide block At 20, the grasping target will push the first clamping jaw 12 or the second clamping jaw 19 to slide away from the first guide block 13 or the second guide block 20 currently in contact, so that the grasping target falls between the first clamping jaw 12 and the second clamping jaw 19. At this time, the second cylinder 17 is started, and the second cylinder 17 pushes the clamping jaw plate 18, so that the first clamping jaw 12 and the second clamping jaw 19 will stably clamp the grasping target, and then the first cylinder 3 is started again, the first cylinder 3 is extended again and against the middle stop block 9, and the first clamping jaw 12 and the second clamping jaw 19 are restored to an immovable state again, thus completing the automatic grasping work, and when the grasping position deviates, it can be automatically compensated, and the accuracy and success rate of the grasping work are greatly improved.

[0020] Furthermore, the mounting block 2 and the first cylinder 3 are each provided with two groups, and are respectively provided on both sides of the center stop 9. Through the setting of the first cylinder 3, when the first cylinder 3 is extended at the same time, it will press against both sides of the center stop 9, and the center stop 9 cannot move, and the first clamp 12 and the second clamp 19 cannot move.

[0021] Furthermore, two groups of side panels 4 and sliders 5 are provided, and the slide rails 6 form a sliding structure with the side panels 4 through the sliders 5. Through the setting of the sliders 5 and the slide rails 6, when the slide rails 6 move at one end of the slider 5, the first clamping jaw 12 and the second clamping jaw 19 will be driven to move.

[0022] Furthermore, connecting rods 14 and guide wheels 15 are provided in the first guide block 13 and the second guide block 20, and four groups of connecting rods 14 are provided inside the first guide block 13 and the second guide block 20. Through the setting of the first guide block 13 and the second guide block 20, when the grasping target hits the first guide block 13 or the second guide block 20, the guide surfaces of the first guide block 13 and the second guide block 20 can reduce the resistance when continuing to descend.

[0023] Furthermore, the guide wheel 15 is connected to the connecting rod 14 through a bearing, and the guide wheel 15 and the connecting rod 14 form a rotating structure. Through the setting of the connecting rod 14, the guide wheel 15 can be installed in the first guide block 13 and the second guide block 20 through the connecting rod 14.

[0024] Furthermore, three sets of guide wheels 15 are provided on each set of connecting rods 14. Through the setting of the guide wheels 15, when the grabbing target hits the first guide block 13 or the second guide block 20, the guide wheels 15 can reduce the resistance of the first guide block 13 and the second guide block 20 to continue to descend.

[0025] Working principle: When performing the grabbing work, start the first cylinder 3, the two first cylinders 3 extend at the same time and press against the two ends of the middle stopper 9. At this time, the middle stopper 9 cannot move, and the first clamping jaw 12 and the second clamping jaw 19 cannot move. As the first clamping jaw 12 and the second clamping jaw 19 descend to approach the grabbing target, the two first cylinders 3 retract at the same time. At this time, the slide rail 6 can slide at one end of the slider 5, and the first clamping jaw 12 and the second clamping jaw 19 become movable. If the grabbing target hits the first guide block 13 or the second guide block 20, the grabbing target will push the first clamping jaw 12 or the second clamping jaw 19 away from the current The first guide block 13 or the second guide block 20 in contact slides in the direction of contact, so that the grasping target falls between the first clamping jaw 12 and the second clamping jaw 19. At this time, the second cylinder 17 is started, and the second cylinder 17 pushes the clamping jaw plate 18, so that the first clamping jaw 12 and the second clamping jaw 19 will stably clamp the clamping target. Then the first cylinder 3 is started again, and the first cylinder 3 is extended again and against the middle stop block 9. The first clamping jaw 12 and the second clamping jaw 19 are restored to an immovable state again, thus completing the automatic grasping work. When the grasping position deviates, it can be automatically compensated, and the accuracy and success rate of the grasping work are greatly improved.

[0026] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A sliding mechanical gripper, comprising a connecting plate (1), characterized in that: A mounting block (2) is fixedly mounted on one side surface of the connecting plate (1), one end of the mounting block (2) is fixedly mounted on a first cylinder (3), two side surfaces of the connecting plate (1) are fixedly connected to side plates (4), one side surface of the side plate (4) is fixedly mounted to a slider (5), one end of the slider (5) is connected to a slide rail (6), one side surface of the slide rail (6) is fixedly connected to a connecting frame (7), one side surface of the connecting frame (7) is fixedly connected to a connecting block (8), one side surface of the connecting block (8) is fixedly mounted to a middle stopper (9), one side surface of the connecting block (8) is fixedly connected to a first fixed plate (10), one side surface of the first fixed plate (10) is fixedly connected to a second fixed plate The connecting frame (7) comprises a plate (11), a first clamping jaw (12) fixedly mounted on one side surface of the second fixed plate (11), a first guide block (13) provided at one end of the first clamping jaw (12), a connecting rod (14) provided inside the first guide block (13), a guide wheel (15) provided on the surface of the connecting rod (14), a mounting plate (16) fixedly connected to one side surface of the connecting frame (7), a second cylinder (17) fixedly mounted on one side surface of the mounting plate (16), a clamping jaw plate (18) connected at one end of the second cylinder (17), a second clamping jaw (19) fixedly mounted on one side surface of the clamping jaw plate (18), and a second guide block (20) provided at one end of the second clamping jaw (19).

2. A sliding mechanical gripper according to claim 1, characterized in that: The mounting block (2) and the first cylinder (3) are both provided in two groups, and are respectively provided on both sides of the middle stopper (9).

3. The sliding mechanical gripper according to claim 1, characterized in that: The side panels (4) and the sliders (5) are each provided in two groups, and the slide rails (6) form a sliding structure through the sliders (5) and the side panels (4).

4. The sliding mechanical gripper according to claim 1, characterized in that: Connecting rods (14) and guide wheels (15) are provided in the first guide block (13) and the second guide block (20), and four groups of connecting rods (14) are provided in each of the first guide block (13) and the second guide block (20).

5. The sliding mechanical gripper according to claim 1, characterized in that: The guide wheel (15) is connected to the connecting rod (14) via a bearing, and the guide wheel (15) and the connecting rod (14) form a rotating structure.

6. The sliding mechanical gripper according to claim 1, characterized in that: Each group of connecting rods (14) is provided with three groups of guide wheels (15).

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