Mechanical clamping jaw for mechanical equipment manufacturing

Abstract

The invention relates to the technical field of mechanical manufacturing equipment, and discloses a mechanical clamping jaw for mechanical equipment manufacturing, which comprises a driving gear fixedly connected to the outer wall of a driving motor, a driven gear engaged with the outer wall of the driving gear, a rotating ring fixedly connected to the outer wall of the driven gear, and an outer ratchet fixedly connected to the outer wall of a clamping jaw bracket, a cam is placed in an inner cavity between the rotating ring and the outer ratchet; the cam in the inner cavity of the rotating ring and the outer ratchet can be driven by the rotating ring to move, and due to the fact that the rotating force of the driven gear is large at the moment, under the driving of the rotating ring, the mass center of the cam is not located at the circle center position, and the cam moves towards the outer ratchet while rotating; when the cam rapidly moves, teeth arranged on the outer wall of the cam are meshed with teeth arranged on the inner wall of the outer ratchet, then movement of the driven gear and the driven clamping jaw is limited, and therefore the possibility that the device completely loses control over the clamped object is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical manufacturing equipment, in particular to a mechanical gripper for mechanical equipment manufacturing. BACKGROUND

[0002] In the process of industrial production, in order to improve work efficiency and save labor, it is often necessary to use a production line with high automation to process parts in batches. The production line with high automation often uses a mechanical gripper to transfer parts to improve the efficiency of part transfer and thus improve the efficiency of part processing. The mechanical gripper can imitate some action functions of a human arm, and complete the work of picking and placing parts by clamping and releasing the parts.

[0003] However, in actual production, due to sudden power failure of equipment, damage of transmission gears in the device, and other problems, the device may suddenly lose control of the clamped object during clamping, causing the clamped object to slide or fall, which may directly injure or hit nearby operators; if the gripper loses control while the clamped object is still moving, it may push or hit surrounding personnel, causing them to be squeezed against fixed objects such as equipment guardrails, walls, etc., resulting in crushing injuries or fractures; in a densely packed work area, the out-of-control clamped object may also cause multiple chain collisions. SUMMARY

[0004] To solve the above technical problems, the present application provides a mechanical gripper for mechanical equipment manufacturing, comprising a mechanical hand base, a mechanical arm rotatably connected to the inner wall of the mechanical hand base, a gripper support fixedly connected to the outer wall of the mechanical arm, and a drive motor fixedly connected to the outer wall of the gripper support, further comprising: a gripper mechanism fixedly connected to the outer wall of the drive motor at the inner wall of the gripper mechanism, the gripper mechanism being used to maintain the clamping state of the gripper; a slip prevention mechanism fixedly connected to the outer wall of the gripper support at the outer wall of the slip prevention mechanism, the slip prevention mechanism being used to interact with the gripper; an auxiliary mechanism fixedly connected to the outer wall of the drive assembly at the inner wall of the auxiliary mechanism, the auxiliary mechanism being used to assist in clamping; a drive gear fixedly connected to the outer wall of the drive shaft of the drive motor, a driven gear meshingly connected to the outer wall of the drive gear, and a main gripper rotatably connected to the outer wall of the drive gear.

[0005] In use, first place the device at the desired location, and when an object needs to be clamped, the motor built into the mechanical arm drives the mechanical arm to move the gripper device at its front end to the position of the clamped object. At this time, the drive motor is started, and the drive gear begins to rotate under the drive of the drive motor, causing the drive gear and the driven gear to rotate towards the clamped object. Preferably, the gripper mechanism comprises: The driving assembly is fixedly connected with the driving motor at the inner wall of the driving assembly and the outer wall of the driving motor; The clamping jaw assembly is fixedly connected with the driving assembly at the outer wall of the clamping jaw assembly and the outer wall of the driving assembly.

[0006] Preferably, the anti-skid mechanism comprises: The rotating assembly is fixedly connected with the clamping jaw support at the outer wall of the rotating assembly and the outer wall of the clamping jaw support. The anti-skid assembly is meshingly connected with the rotating assembly at the inner wall of the anti-skid assembly and the outer wall of the rotating assembly.

[0007] Preferably, the auxiliary mechanism comprises: The auxiliary assembly is fixedly connected with the driving assembly at the inner wall of the auxiliary assembly and the outer wall of the driving assembly. The self-adapting assembly is fixedly connected with the driving gear at the outer wall of the self-adapting assembly and the inner wall of the driving gear.

[0008] Preferably, the driving assembly comprises a driven clamping jaw rotatably connected with the outer wall of the driven gear, a plurality of connecting rods rotatably connected with the inner wall of the central shaft of the main clamping jaw, a plurality of connecting rods rotatably connected with the inner wall of the central shaft of the driven clamping jaw, and a connecting shaft fixedly connected with the inner wall of the driven gear.

[0009] The driving gear and the driven gear rotate towards the clamped object, which drives the main clamping jaw and the driven clamping jaw to move synchronously. Under the limitation of the connecting rods, the main clamping jaw and the driven clamping jaw move towards the clamped object. When moving to a certain position, the main clamping jaw and the driven clamping jaw clamp the clamped object. Preferably, the clamping jaw assembly comprises a rotating ring fixedly connected with the outer wall of the driven gear, an outer ratchet fixedly connected with the outer wall of the clamping jaw support, and a cam placed in the inner cavity between the rotating ring and the outer ratchet.

[0010] When the driven gear and the driving gear are loose due to power failure, tooth damage and other problems, the driving gear will continue to be driven by the rotating force of the driving motor, and the driven gear will have a rotating force opposite to the clamping direction due to the loose engagement. At this time, the cam placed in the inner cavity of the rotating ring and the outer ratchet will move under the driving of the rotating ring. Since the rotating force of the driven gear is relatively large at this time, the rotating force of the rotating ring is relatively large, and under the driving of the rotating ring, the cam moves to the outer ratchet due to the fact that the center of mass is not at the center of the circle. When the cam moves quickly, the teeth on the outer wall of the cam engage with the teeth on the inner wall of the outer ratchet, and the protrusions on the inner wall of the cam limit the rotation of the rotating ring, so that the driven gear will cause the cam to limit the rotation of the rotating ring when the driven gear is loose, thereby limiting the rotation of the driven gear. The driven gear will not completely lose the restriction of the clamped object when the driven gear is loose, thereby reducing the probability of the clamped object sliding due to loose engagement, thereby reducing the probability of accidents causing harm to employees, and effectively improving the safety of the device. Preferably, the rotating assembly comprises a fixed plate fixedly connected to the outer wall of the clamping jaw support, a fixed block fixedly connected to the outer wall of the fixed plate, a threaded rod fixedly connected to the inner wall of the fixed block, a rotating rod rotatably connected to the outer wall of the threaded rod, and an anti-skid contact block rotatably connected to the outer wall of the rotating rod.

[0011] Preferably, the anti-skid assembly comprises two five-star plates engagedly connected to the outer wall of the threaded rod, a plurality of spacers sleeved on the outer wall of the threaded rod, and springs fixedly connected to the central axes of the two spacers. The spring is sleeved on the outer wall of the threaded rod; and the outer wall of the rotating rod is slidably connected to the inner wall of the five-star plate.

[0012] When the main clamping jaw and the driven clamping jaw gradually clamp the clamped object, the outer wall of the clamped object is in contact with the anti-skid contact block, which moves away from the clamped object, and the rotating rod moves away from the clamped object, and the five-star plate is driven by the rotating rod to rotate towards the fixed block along the meshing position of the threaded rod, and the spring accumulates potential energy and transmits it to the five-star plate, so that the five-star plate needs more force to move closer to the fixed block, and the rotating rod is more difficult to rotate, and the pressure of the anti-skid contact block on the clamped object gradually increases, so that the main clamping jaw, the driven clamping jaw, the anti-skid contact block and the clamped object interact, the restriction of the device on the clamped object increases, the clamping is more stable, the probability of sliding of the clamped object is reduced, the stability of the clamped object moving under the driving of the mechanical arm is increased, the probability of sliding of the clamped object is reduced, and the safety of the device is enhanced. Preferably, the auxiliary assembly comprises a rotating gear fixedly connected to the outer wall of the plurality of connecting rods, a pinion gear meshing with the outer wall of the rotating gear, and a plurality of auxiliary clamping jaws fixedly connected to the outer wall of the pinion gear. The inner wall of the pinion gear is rotatably connected to the outer wall of the main clamping jaw.

[0013] When the main clamping jaw and the driven clamping jaw interact to clamp the object, due to the structure of the contact surface of the main clamping jaw and the driven clamping jaw, the clamped object moves towards the clamping jaw support during the process of gradually clamping the clamped object, and due to the shape of the clamped object and the different positions of the clamped object each time, the clamped object moves different distances towards the clamping jaw support, so that the state and position of the clamped object are different each time, and the auxiliary assembly arranged on the inner wall of the main clamping jaw and the driven clamping jaw drives the rotating gear to rotate when the connecting rod rotates, and the rotation of the rotating gear drives the pinion gear to rotate in the opposite direction, so that the auxiliary clamping jaw moves towards the clamped object, so that the main clamping jaw, the driven clamping jaw and the auxiliary clamping jaw interact, and the clamped object is limited to a certain position in the device, so that the position of the clamped object does not change too much each time, the possibility of collision between the clamped object and other objects due to the change of the position and state of the clamped object is reduced, and the safety of the device is improved. Preferably, the self-adapting assembly comprises two inner cavities formed in the inner wall of the main clamping jaw and the driven clamping jaw, a plurality of piston rods fixedly connected to the inner wall of the two inner cavities, a sliding sleeve slidingly connected to the plurality of piston rods, and a through hole formed in the outer wall of the sliding sleeve. The outer wall of the sliding sleeve is slidingly connected to the outer wall of the driven clamping jaw.

[0014] Before the irregular clamping object, the inner cavity is filled with hydraulic oil, when the device clamps the object, a part of the sliding sleeve will first contact the surface of the irregular clamping object, so that the piston rod and the hydraulic oil in the sliding sleeve are extruded into the inner cavity through the through hole, at this time the extruded hydraulic oil enters another part of the sliding sleeve, so that this part of the sliding sleeve moves towards the clamping, when the two parts of the sliding sleeve are in contact with the clamping object, the two parts of the sliding sleeve will stop moving, so that the sliding sleeve arranged can change with the change of the surface shape of the clamping object, thereby making the device more uniform and not easy to slip when clamping irregular objects, increasing the stability of clamping and improving the safety of the device.

[0015] The present application has the following beneficial effects: (1) The present application is to solve the problem that the device may slip when clamping the object due to power failure, gear damage and other problems, thereby causing safety accidents caused by the sliding or falling of the clamping object, the clamping jaw mechanism is provided, when the driving gear and the driven gear are engaged loose, due to the large rotating force of the driven gear at this time, the rotating ring will rotate with large rotating force, under the driving of the rotating ring, the cam will rotate and move towards the outer ratchet due to the mass center not in the center position, so that the driven gear will cause the cam to limit the rotation of the rotating ring when the engagement is loose, thereby limiting the rotation of the driven gear, so that the driven gear will not completely lose the limitation of the clamping object after the engagement is loose, thereby reducing the probability of the clamping object sliding due to the loose engagement, thereby reducing the probability of the accident causing harm to the staff, effectively improving the safety of the device; (2) The auxiliary assembly is arranged on the inner wall of the main clamping jaw and the driven clamping jaw, and when the connecting rod rotates, the auxiliary assembly drives the rotating gear to rotate, and the rotation of the rotating gear drives the small gear to rotate in the opposite direction, so that the auxiliary clamping jaw moves towards the direction of the clamped object, so that the main clamping jaw, the driven clamping jaw and the auxiliary clamping jaw interact, and the clamped object is limited to a certain position in the device, so that the position of the clamped object does not change too much each time, reducing the possibility of collision between the clamped object and other objects due to the change of the position and state of the clamped object, and improving the safety of the device; (3) The anti-skid mechanism is arranged, and when the main clamping jaw and the driven clamping jaw gradually clamp the clamped object, the outer wall of the clamped object contacts the anti-skid contact block, at this time, the connection between the anti-skid contact block and the rotating rod moves away from the clamped object, and then the rotating rod moves away from the clamped object around the connection with the threaded rod, at this time, the five-star plate is driven by the rotating rod to rotate along the meshing part with the threaded rod to the fixed block, at this time, under the action of the spring, the spring accumulates potential energy to the five-star plate through the plurality of gaskets, so that the closer the five-star plate is to the fixed block, the greater the force required is, and then the five-star plate rotates more and more difficultly, at this time, the rotating difficulty of the rotating rod is increased, and then in the process that the main clamping jaw and the driven clamping jaw clamp the clamped object, the pressure of the anti-skid contact block on the clamped object is gradually increased, so that the main clamping jaw, the driven clamping jaw, the anti-skid contact block and the clamped object interact, the restriction of the device on the clamped object is increased, and then the clamping is more stable, the probability of sliding of the clamped object is reduced, and then the stability of the clamped object moving under the driving of the mechanical arm is increased, the probability of sliding of the clamped object is reduced, and the safety of the device is enhanced; (4) The self-adapting assembly is arranged in front of the irregular clamped object, first fills the inner cavity with hydraulic oil, when the device clamps the object, a part of the sliding sleeve is first in contact with the surface of the irregular clamped object, so that the hydraulic oil in the sliding sleeve inside the piston rod is extruded into the inner cavity through the through hole, at this time, the extruded hydraulic oil enters another part of the sliding sleeve, so that this part of the sliding sleeve moves towards the clamping, when the two parts of the sliding sleeve are in contact with the clamped object, the two parts of the sliding sleeve stop moving, so that the plurality of sliding sleeves arranged can change with the change of the surface shape of the clamped object, thereby the device is more uniform in force when clamping the irregular object and is not easy to slip, the stability of clamping is increased, and the safety of the device is improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0017] Figure 1 It is a schematic diagram of the overall structure of the present application; Figure 2 It is a schematic diagram of the overall structure of the present application; Figure 3 It is a schematic diagram of the overall structure of the present application; Figure 4 It is a schematic diagram of the overall structure of the present application; Figure 5 It is a schematic diagram of the overall structure of the present application; Figure 6 It is a schematic diagram of the overall structure of the present application; Figure 7 It is a schematic diagram of the overall structure of the present application; Figure 8 It is a schematic diagram of the overall structure of the present application; Figure 9 It is a schematic diagram of the overall structure of the present application; Figure 10 It is a schematic diagram of the overall structure of the present application.

[0018] In the drawings, the components represented by each number are listed as follows: In the figure: 1, jaw mechanism; 11, drive assembly; 12, jaw assembly; 13, robot base; 14, mechanical arm; 15, jaw support; 16, drive motor; 111, drive gear; 112, driven gear; 113, main jaw; 114, driven jaw; 115, connecting rod; 116, connecting shaft; 121, rotating ring; 122, outer ratchet; 123, cam; 2, anti-skid mechanism; 21, rotating assembly; 22, anti-skid assembly; 211, fixed plate; 212, fixed block; 213, threaded rod; 214, rotating rod; 215, anti-skid contact block; 221, five-star plate; 222, gasket; 223, spring; 3, auxiliary mechanism; 31, auxiliary assembly; 32, adaptive assembly; 311, rotating gear; 312, pinion; 313, auxiliary jaw; 321, inner cavity; 322, piston rod; 323, sliding sleeve; 324, through hole. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0020] Embodiment one, please refer to Figures 1-6 The present application is a mechanical jaw for mechanical equipment manufacturing, which comprises a robot base 13, a mechanical arm 14 rotatably connected to the inner wall of the robot base 13, a jaw support 15 fixedly connected to the outer wall of the mechanical arm 14, and a drive motor 16 fixedly connected to the outer wall of the jaw support 15, further comprising: A jaw mechanism 1 fixedly connected to the outer wall of the drive motor 16 at the inner wall of the jaw mechanism 1, the jaw mechanism 1 being used to maintain the clamping state of the jaw; An anti-skid mechanism 2 fixedly connected to the outer wall of the jaw support 15 at the outer wall of the anti-skid mechanism 2, the anti-skid mechanism 2 being used to interact with the jaw; An auxiliary mechanism 3 fixedly connected to the outer wall of the drive assembly 11 at the inner wall of the auxiliary mechanism 3, the auxiliary mechanism 3 being used to assist clamping; The drive shaft of the drive motor 16 is fixedly connected with a drive gear 111, the outer wall of the drive gear 111 is meshingly connected with a driven gear 112, and the outer wall of the drive gear 111 is rotatably connected with a main jaw 113.

[0021] In use, first place the device in the desired position, when the need to pick up objects, built-in motor inside the mechanical arm 14, drive the mechanical arm 14 will be its front end of the clamping jaw device to move to the position of the clamping object, at this time start drive motor 16, drive gear 111 will be driven by the motor 16 start rotating, so that the drive gear 111 and driven gear 112 rotating towards the clamping object direction; Clamping jaw mechanism 1, comprising: Drive assembly 11, the inner wall of drive assembly 11 and the outer wall of drive motor 16 are fixedly connected; Clamping jaw assembly 12, the outer wall of clamping jaw assembly 12 and the outer wall of drive assembly 11 are fixedly connected.

[0022] Anti-skid mechanism 2, comprising: Rotary assembly 21, the outer wall of rotary assembly 21 and the outer wall of clamping jaw support 15 are fixedly connected; Anti-skid assembly 22, the inner wall of anti-skid assembly 22 and the outer wall of rotary assembly 21 are meshingly connected.

[0023] Auxiliary mechanism 3, comprising: Auxiliary assembly 31, the inner wall of auxiliary assembly 31 and the outer wall of drive assembly 11 are fixedly connected; Self-adaptive assembly 32, the outer wall of self-adaptive assembly 32 and the inner wall of drive gear 111 are fixedly connected.

[0024] Drive assembly 11, comprising driven clamping jaw 114 rotatably connected to the outer wall of driven gear 112, a plurality of connecting rods 115 rotatably connected to the inner wall of the central axis of main clamping jaw 113, a plurality of connecting rods 115 rotatably connected to the inner wall of the central axis of driven clamping jaw 114, and connecting shaft 116 fixedly connected to the inner wall of driven gear 112.

[0025] The rotation of drive gear 111 and driven gear 112 towards the clamping object direction will drive the synchronous movement of main clamping jaw 113 and driven clamping jaw 114, under the limitation of connecting rod 115, main clamping jaw 113 and driven clamping jaw 114 will move towards the clamping object, when moving to a certain position, main clamping jaw 113 and driven clamping jaw 114 will clamp the clamping object; Clamping jaw assembly 12, comprising rotating ring 121 fixedly connected to the outer wall of driven gear 112, outer ratchet 122 fixedly connected to the outer wall of clamping jaw support 15, and cam 123 placed in the inner cavity between rotating ring 121 and outer ratchet 122.

[0026] When the driven gear 112 and the driving gear 111 are loose due to power failure, tooth damage and other problems, the driving gear 111 will continue to be driven by the rotating force of the driving motor 16, and the driven gear 112 will have a rotating force opposite to the clamping direction due to the loose engagement. At this time, the cam 123 placed in the inner cavity of the rotating ring 121 and the outer ratchet 122 will move under the driving of the rotating ring 121. Since the rotating force of the driven gear 112 is relatively large at this time, the rotating force of the rotating ring 121 is relatively large, and under the driving of the rotating ring 121, the cam 123 moves to the outer ratchet 122 due to the mass center not being at the center position. When the cam 123 moves quickly, the teeth on the outer wall of the cam 123 engage with the teeth on the inner wall of the outer ratchet 122, and the protrusions on the inner wall of the cam 123 limit the rotation of the rotating ring 121, so that the driven gear 112 limits the rotation of the rotating ring 121 when the engagement is loose, thereby limiting the rotation of the driven gear 112. When the driven gear 112 is loose, the driven gear 112 will not completely lose the restriction on the clamped object, thereby reducing the probability of the clamped object sliding due to loose engagement, thereby reducing the probability of accidents causing harm to employees, and effectively improving the safety of the device. In example two, please refer to Figures 2-10 The mechanical gripper for mechanical equipment manufacturing comprises a rotating assembly 21, a clamping assembly 23 and a clamping assembly 24.

[0027] The anti-skid assembly 22 comprises two five-star plates 221 engaged with the outer wall of the threaded rod 213, and a plurality of spacers 222 are sleeved on the outer wall of the threaded rod 213. The spring 223 is sleeved on the outer wall of the threaded rod 213; and the outer wall of the rotating rod 214 is in sliding connection with the inner wall of the five-star plate 221.

[0028] When the main clamping jaw 113 and the driven clamping jaw 114 gradually clamp the clamped object, the outer wall of the clamped object is in contact with the anti-skid contact block 215, at this time the connection of the anti-skid contact block 215 and the rotating rod 214 moves away from the clamped object, and then the rotating rod 214 moves away from the clamped object around the connection with the threaded rod 213, at this time the five-star plate 221 is driven by the rotating rod 214 to rotate along the meshing part with the threaded rod 213 to the fixed block 212, at this time the spring 223 is driven by the plurality of gaskets 222 to accumulate potential energy to the five-star plate 221, and then the five-star plate 221 needs more force to move closer to the fixed block 212, and then the five-star plate 221 is more difficult to rotate, at this time the rotating difficulty of the rotating rod 214 is increased, and then the pressure of the anti-skid contact block 215 on the clamped object is gradually increased in the process that the main clamping jaw 113 and the driven clamping jaw 114 clamp the clamped object, the interaction among the main clamping jaw 113, the driven clamping jaw 114, the anti-skid contact block 215 and the clamped object is realized, the restriction of the device on the clamped object is increased, and then the clamping is more stable, the probability of sliding of the clamped object is reduced, the stability of the clamped object moving under the driving of the mechanical arm 14 is increased, the probability of sliding of the clamped object is reduced, and the safety of the device is improved. The auxiliary assembly 31 comprises a rotating gear 311 fixedly connected to the outer wall of the plurality of connecting rods 115, the outer wall of the rotating gear 311 is meshingly connected with a pinion 312, and the outer wall of the pinion 312 is fixedly connected with a plurality of auxiliary clamping jaws 313. The inner wall of the pinion 312 is rotationally connected with the outer wall of the main clamping jaw 113.

[0029] When the main clamping jaw 113 and the driven clamping jaw 114 interact to clamp the object, due to the structure of the contact surface of the main clamping jaw 113 and the driven clamping jaw 114 and the clamped object, the clamped object moves towards the clamping jaw support 15 in the process that the main clamping jaw 113 and the driven clamping jaw 114 gradually clamp the clamped object, and due to the shape of the clamped object and the different positions of the clamped object each time, the clamped object moves different distances towards the clamping jaw support 15, so that the state and position of the clamped object are different each time, and the auxiliary assembly 31 arranged on the inner wall of the main clamping jaw 113 and the driven clamping jaw 114 drives the rotating gear 311 to rotate when the connecting rod 115 rotates, and the rotation of the rotating gear 311 drives the pinion 312 to rotate in the opposite direction, and then the auxiliary clamping jaw 313 moves towards the clamped object, so that the main clamping jaw 113, the driven clamping jaw 114 and the auxiliary clamping jaw 313 interact, and then the clamped object is limited to a certain position in the device, so that the position of the clamped object does not change too much each time, the possibility of collision between the clamped object and other objects due to the change of the position and state of the clamped object is reduced, and the safety of the device is improved. The adaptive assembly 32 comprises two inner cavities 321 formed in the inner wall of the main clamping jaw 113 and the driven clamping jaw 114, a plurality of piston rods 322 are fixedly connected to the inner wall of the two inner cavities 321, a sliding sleeve 323 is slidably connected to the plurality of piston rods 322, and a through hole 324 is formed in the outer wall of the sliding sleeve 323; The outer wall of the sliding sleeve 323 is slidably connected to the outer wall of the driven clamping jaw 114.

[0030] Before clamping an irregular object, the inner cavities 321 are filled with hydraulic oil, and when the device clamps an object, a part of the sliding sleeve 323 will first contact the surface of the irregular clamped object, so that the piston rods 322 and the hydraulic oil in the sliding sleeve 323 are extruded into the inner cavities 321 through the through hole 324, at this time, the extruded hydraulic oil enters another part of the sliding sleeve 323, so that this part of the sliding sleeve 323 moves towards the clamping, when the two parts of the sliding sleeve 323 contact the clamped object, the two parts of the sliding sleeve 323 will stop moving, so that the plurality of sliding sleeves 323 arranged can change with the change of the surface shape of the clamped object, thereby making the device more uniform and less likely to slip when clamping irregular objects, increasing the stability of clamping and improving the safety of the device.

[0031] One specific application of the embodiment is: in use, first place the device at the desired position, when the object needs to be clamped, the motor built-in the mechanical arm 14 drives the mechanical arm 14 to move the clamping jaw device at the front end to the position of the clamped object, at this time, the driving motor 16 is started, the driving gear 111 will start to rotate under the driving of the driving motor 16, so that the driving gear 111 and the driven gear 112 rotate towards the clamped object, thereby driving the main clamping jaw 113 and the driven clamping jaw 114 to move synchronously, under the limitation of the connecting rod 115, the main clamping jaw 113 and the driven clamping jaw 114 will move towards the clamped object, when moving to a certain position, the main clamping jaw 113 and the driven clamping jaw 114 will clamp the clamped object; When the driven gear 112 and the driving gear 111 are loose due to power failure, tooth damage, etc., the driving gear 111 will continue to be driven by the driving motor 16, and the driven gear 112 will have a rotating force opposite to the clamping direction due to the loose engagement. At this time, the cam 123 placed in the cavity of the rotating ring 121 and the outer ratchet 122 will move under the driving of the rotating ring 121. Since the rotating force of the driven gear 112 is relatively large at this time, the rotating force of the rotating ring 121 will be relatively large, and under the driving of the rotating ring 121, the cam 123 will rotate and move towards the outer ratchet 122 due to the mass center not being at the center position. When the cam 123 moves quickly, the teeth on the outer wall of the cam 123 will engage with the teeth on the inner wall of the outer ratchet 122, and the protrusions on the inner wall of the cam 123 will limit the rotation of the rotating ring 121, thereby limiting the rotation of the driven gear 112. When the driven gear 112 is loose, the cam 123 will limit the rotation of the rotating ring 121, thereby limiting the rotation of the driven gear 112, so that the driven gear 112 will not completely lose the restriction on the clamped object after being loose, thereby reducing the probability of the clamped object slipping due to loose engagement, and further reducing the probability of accidents causing harm to employees, thereby effectively improving the safety of the device. When the main clamping jaw 113 and the driven clamping jaw 114 are gradually clamping the clamped object, the outer wall of the clamped object will contact the anti-slip contact block 215, which will move away from the clamped object, thereby moving the rotating rod 214 away from the clamped object. At this time, the five-star plate 221 will rotate towards the fixed block 212 under the driving of the rotating rod 214. At this time, under the action of the spring 223, the several washers 222 will transmit the potential energy accumulated by the spring 223 to the five-star plate 221, thereby making it more difficult for the five-star plate 221 to rotate as it gets closer to the fixed block 212. At this time, the rotating rod 214 will be more difficult to rotate, and the pressure of the anti-slip contact block 215 on the clamped object will gradually increase during the clamping process of the main clamping jaw 113 and the driven clamping jaw 114, thereby increasing the interaction between the main clamping jaw 113, the driven clamping jaw 114, the anti-slip contact block 215 and the clamped object, and increasing the restriction of the device on the clamped object, thereby making the clamping more stable and reducing the probability of the clamped object slipping, thereby increasing the stability of the clamped object moving under the driving of the mechanical arm 14, reducing the probability of the clamped object slipping, and enhancing the safety of the device. When the main clamping jaw 113 and the driven clamping jaw 114 interact to clamp the object, due to the structure of the contact surface of the main clamping jaw 113 and the driven clamping jaw 114 and the clamped object, the clamped object will move towards the clamping jaw support 15 during the process of gradually clamping the clamped object. Due to the shape of the clamped object and the different positions of the clamped object each time the object is clamped, the clamped object will move different distances towards the clamping jaw support 15, so that the state and position of the clamped object are different each time. The auxiliary assembly 31 arranged on the inner wall of the main clamping jaw 113 and the driven clamping jaw 114 will drive the rotating gear 311 to rotate when the connecting rod 115 rotates, and the rotation of the rotating gear 311 will make the pinion 312 rotate in the opposite direction, thereby making the auxiliary clamping jaw 313 move towards the direction of the clamped object, so that the main clamping jaw 113, the driven clamping jaw 114 and the auxiliary clamping jaw 313 interact, thereby limiting the clamped object to a certain position in the device, so that the position of the clamped object does not change too much each time, reducing the possibility of collision between the clamped object and other objects due to the change of the position and state of the clamped object, and improving the safety of the device. Before the irregular clamped object, the inside of the inner cavity 321 is filled with hydraulic oil. When the device clamps the object, a part of the sliding sleeve 323 will first contact the surface of the irregular clamped object, so that the hydraulic oil in the sliding sleeve 323 and the piston rod 322 is extruded into the inner cavity 321 through the through hole 324. At this time, the extruded hydraulic oil enters another part of the sliding sleeve 323, so that this part of the sliding sleeve 323 moves towards the clamping. When the two parts of the sliding sleeve 323 contact the clamped object, the two parts of the sliding sleeve 323 will stop moving, so that the plurality of sliding sleeves 323 arranged can change with the change of the surface shape of the clamped object, thereby making the device clamp the irregular object more evenly and not easy to slip, increasing the stability of clamping and improving the safety of the device.

[0032] The preferred embodiments of the application disclosed above are only used to help explain the application. The preferred embodiments do not describe all the details and limit the application to the specific embodiments described. Obviously, many modifications and changes can be made according to the content of the specification. The embodiments are selected and described in detail in order to better explain the principles and practical applications of the application, so that those skilled in the art can well understand and utilize the application. The application is limited by the claims and their entire scope and equivalents.

Claims

1. A mechanical gripper manufactured by a mechanical device, comprising a robotic arm base (13), a robotic arm (14) rotatably connected to the inner wall of the robotic arm base (13), a gripper bracket (15) fixedly connected to the outer wall of the robotic arm (14), and a drive motor (16) fixedly connected to the outer wall of the gripper bracket (15), characterized in that, Also includes: Clamping jaw mechanism (1), the inner wall of the clamping jaw mechanism (1) is fixedly connected with the outer wall of the driving motor (16), and the clamping jaw mechanism (1) is used for keeping the clamping state of the clamping jaw; Anti-skid mechanism (2), the outer wall of the anti-skid mechanism (2) is fixedly connected with the outer wall of the clamping jaw support (15), and the anti-skid mechanism (2) is used for interacting with the clamping jaw; Auxiliary mechanism (3), the inner wall of the auxiliary mechanism (3) is fixedly connected with the outer wall of the driving assembly (11), and the auxiliary mechanism (3) is used for assisting clamping; The driving shaft outer wall of the driving motor (16) is fixedly connected with the driving gear (111), the outer wall of the driving gear (111) is engagedly connected with the driven gear (112), and the outer wall of the driving gear (111) is rotatably connected with the main clamping jaw (113).

2. A mechanical gripper for use in the manufacture of mechanical devices according to claim 1, wherein: The clamping jaw mechanism (1) comprises: Driving assembly (11), the inner wall of the driving assembly (11) is fixedly connected with the outer wall of the driving motor (16); Clamping jaw assembly (12), the outer wall of the clamping jaw assembly (12) is fixedly connected with the outer wall of the driving assembly (11).

3. A mechanical gripper for use in the manufacture of mechanical devices according to claim 2, wherein: The anti-skid mechanism (2) comprises: Rotary assembly (21), the outer wall of the rotary assembly (21) is fixedly connected with the outer wall of the clamping jaw support (15); Anti-skid assembly (22), the inner wall of the anti-skid assembly (22) is engagedly connected with the outer wall of the rotary assembly (21).

4. A mechanical gripper for use in the manufacture of mechanical devices according to claim 3, wherein: The auxiliary mechanism (3) comprises: Auxiliary assembly (31), the inner wall of the auxiliary assembly (31) is fixedly connected with the outer wall of the driving assembly (11); Self-adapting assembly (32), the outer wall of the self-adapting assembly (32) is fixedly connected with the inner wall of the driving gear (111).

5. A mechanical gripper for use in the manufacture of mechanical devices according to claim 4, wherein: The driving assembly (11) comprises a driven clamping jaw (114) rotatably connected to the outer wall of the driven gear (112), a plurality of connecting rods (115) rotatably connected to the inner wall of the central shaft of the main clamping jaw (113), a plurality of connecting rods (115) rotatably connected to the inner wall of the central shaft of the driven clamping jaw (114), and a connecting shaft (116) fixedly connected to the inner wall of the driven gear (112).

6. A mechanical gripper for use in the manufacture of mechanical devices according to claim 5, wherein: The clamping jaw assembly (12) comprises a rotating ring (121) fixedly connected to the outer wall of the driven gear (112), an outer ratchet (122) fixedly connected to the outer wall of the clamping jaw support (15), and a cam (123) placed in the inner cavity between the rotating ring (121) and the outer ratchet (122).

7. A mechanical gripper for use in the manufacture of mechanical devices according to claim 6, wherein: The rotary assembly (21) comprises a fixed plate (211) fixedly connected to the outer wall of the clamping jaw support (15), a fixed block (212) fixedly connected to the outer wall of the fixed plate (211), a threaded rod (213) fixedly connected to the inner wall of the fixed block (212), a rotating rod (214) rotatably connected to the outer wall of the threaded rod (213), and an anti-skid contact block (215) rotatably connected to the outer wall of the rotating rod (214).

8. A mechanical gripper for use in the manufacture of mechanical devices according to claim 7, wherein: The anti-skid assembly (22) comprises two five-star plates (221) engagedly connected at the outer wall of a threaded rod (213), a plurality of spacers (222) are sleeved at the outer wall of the threaded rod (213), two of the spacers (222) are a group, and springs (223) are fixedly connected at the central axes of the two spacers (222); The spring (223) is sleeved at the outer wall of the threaded rod (213); and the outer wall of the rotating rod (214) is slidably connected with the inner wall of the five-star plate (221).

9. A mechanical gripper for use in the manufacture of mechanical devices according to claim 8, wherein: The auxiliary assembly (31) comprises rotating gears (311) fixedly connected at the outer walls of a plurality of connecting rods (115), small gears (312) engagedly connected at the outer walls of the rotating gears (311), and a plurality of auxiliary clamping jaws (313) fixedly connected at the outer walls of the small gears (312); The inner wall of the small gear (312) is rotatably connected with the outer wall of the main clamping jaw (113).

10. A mechanical gripper for use in the manufacture of mechanical devices according to claim 9, wherein: The self-adapting assembly (32) comprises two inner cavities (321) formed in the inner walls of the main clamping jaw (113) and the driven clamping jaw (114), a plurality of piston rods (322) fixedly connected at the inner walls of the two inner cavities (321), and a sliding sleeve (323) slidably connected with the plurality of piston rods (322), wherein a through hole (324) is formed in the outer wall of the sliding sleeve (323); The outer wall of the sliding sleeve (323) is slidably connected with the outer wall of the driven clamping jaw (114).

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