Mechanical gripper for use in a closed box

Abstract

The present application relates to the technical field of mechanical gripper, disclose a kind of mechanical gripper used in closed box, including carousel, it is set in the cavity of closed box, the carousel is set to can autorotation, slide rail, it is set to the outer surface of carousel side, two slide seats, it is set to the outer surface of slide rail, the two slide seats are set to mutually approach or mutually away movement along the central axis direction of slide rail.This application is coupled with carousel by two groups of clamps, the switching of the clamping direction of clamp can be completed in the inside of closed box, so as to adapt to the clamping of different size of measuring cup and measuring cylinder, without opening closed box in the process of switching clamp, so as to avoid the risk of closed box internal water source and soil sample being contaminated.

Description

Technical Field

[0001] This invention relates to the field of mechanical gripper technology, and more particularly to a mechanical gripper for use in a sealed box. Background Technology

[0002] In fields such as environmental monitoring, hazardous waste treatment, biosafety research, and deep geological exploration, it is often necessary to collect and analyze water and soil samples in highly sealed and isolated environments (such as glove boxes, hot chambers, biosafety cabinets, pressure chambers, or inside deep-sea probes). These sealed environments are typically designed to strictly limit direct contact between personnel and the materials inside.

[0003] To separate water and soil samples inside the existing sealed enclosure, a mechanical gripper is installed. This gripper uses a measuring cup and graduated cylinder to hold the samples, distributing the water and soil samples from the measuring cup to the graduated cylinder. However, due to the significant size difference between the measuring cup and graduated cylinder, the existing gripper needs to be replaced with one of different stroke sizes to properly hold them. Replacing the gripper requires opening the sealed enclosure, which allows outside air to enter and potentially contaminate the water and soil samples. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a mechanical gripper for use in a sealed box.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A mechanical gripper for use inside a sealed box, disposed within the cavity of the sealed box, comprising:

[0007] A turntable, which is disposed within the cavity of a sealed box, is configured to rotate on its own.

[0008] The slide rail is located on the outer surface of one side of the turntable;

[0009] Two slide blocks are disposed on the outer surface of the slide rail, and the two slide blocks are configured to move closer to or further away from each other along the central axis of the slide rail;

[0010] Two sleeves are respectively disposed on the outer surface of one side of the two slide blocks, and can move closer to or further away from each other as the two slide blocks move along the central axis of the slide rail. Both sleeves are provided with an inner cavity.

[0011] The four clamping plates are arranged in two pairs, with each pair of two clamping plates located inside the cavities at both ends of the same sleeve. The two pairs of clamping plates are configured to clamp or release a measuring cylinder with a smaller outer dimension when they move closer or further apart along the central axis of the slide rail as the two sleeves move closer or further apart. The two pairs of clamping plates are configured to clamp or release a measuring cup with a larger outer dimension when they move closer or further apart along the central axis of the sleeve.

[0012] The two sets of clamping plates are coupled to the turntable. When the turntable rotates by an angle, the clamping plates can switch from moving closer or further apart along the central axis of the slide rail to moving closer or further apart along the central axis of the sleeve.

[0013] As a further aspect of the present invention, the mechanical gripper also includes:

[0014] The robotic arm and the base are provided. The robotic arm is fixedly installed inside the cavity of the sealed box, and the base is fixedly installed at one end of the robotic arm. A circular groove is formed on the outer surface of the base, and the turntable is rotatably installed on the inner wall of the circular groove.

[0015] As a further embodiment of the present invention, a servo motor is fixedly installed on the outer surface of the base on the side opposite to the turntable, and the output end of the servo motor passes through the outer surface of the base and is fixedly connected to the rotation center of the turntable.

[0016] As a further aspect of the present invention, the outer surface of the slide rail is provided with a driving unit that drives the two slide blocks to move closer to or further away from each other along the central axis of the slide rail. The driving unit includes:

[0017] Two support plates are fixedly installed on the outer surface of one side of the slide rail;

[0018] A bidirectional lead screw is rotatably mounted between two support plates. Each end of the bidirectional lead screw has a thread with the same pitch but opposite direction. The two ends of the bidirectional lead screw pass through the outer surface of the two slide blocks and are threadedly connected to them.

[0019] A drive motor is fixedly installed on the outer surface of one side of one of the support plates, and the output end of the drive motor passes through the outer surface of the support plate and is fixedly connected to the rotation center of the bidirectional lead screw.

[0020] As a further embodiment of the present invention, the four clamping plates are arranged in an L-shape, and one end of the four clamping plates is slidably inserted between the inner walls of the inner cavity. The sleeve has two first openings symmetrically opened on the outer surface near the turntable. Telescopic cylinders are fixedly installed on the outer surfaces of the two slides near the clamping plate. A connecting plate is fixedly connected to one end of the clamping plate. The connecting plate passes through the first opening and is fixedly connected to the telescopic end of the telescopic cylinder.

[0021] As a further embodiment of the present invention, a second opening is provided on the outer surface of each of the two sleeves on an adjacent side. Multiple second rods are fixedly installed at equal intervals between the inner walls of the second opening of one of the two sleeves. Multiple first rods are rotatably installed at equal intervals between the inner walls of the second opening of the other sleeve. A locking block is fixedly connected to one end of each of the multiple first rods near the second rod. A locking slot matching the locking block is provided at one end of each of the multiple second rods near the first rod. The locking block is disposed between the inner walls of the locking slot.

[0022] As a further embodiment of the present invention, two first plates are symmetrically slidably installed on the inner wall of the cavity away from the turntable. The ends of the two first plates that are far apart from each other abut against one end of a set of two clamping plates. Multiple second guide posts are fixedly installed at equal intervals on the lower surface of the two first plates. The other end of the multiple first rods is provided with a second guide groove. The second guide posts are slidably installed on the inner wall of the second guide groove.

[0023] As a further aspect of the present invention, the upper surface of the base is symmetrically provided with two inclined grooves and two straight grooves, and the upper surface of the slide rail is provided with a motion unit that drives the two first plates to move closer or further apart, the motion unit comprising:

[0024] Two second plates are slidably mounted on the upper surface of the slide rail. One end of each of the two second plates penetrates the outer surface of the adjacent sleeve and is located inside the inner cavity. Two first guide grooves are symmetrically opened at the end of the second plate near the sleeve.

[0025] Multiple first guide posts are fixedly installed on the lower surface of the first plate at the end away from the clamping plate, and the first guide posts are slidably installed on the inner wall of the first guide groove.

[0026] Two sliding columns are fixedly mounted on the lower surfaces of two second plates at opposite ends. The two sliding columns are slidably mounted on the inner walls of two inclined grooves and two straight grooves, respectively.

[0027] Two springs are fixedly installed on the outer surfaces of the two slides on opposite sides, and the other ends of the two springs are fixedly connected to the lower surfaces of the two second plates respectively.

[0028] As a further embodiment of the present invention, two limiting sleeves are symmetrically fixedly installed on the upper surface of the slide rail, the two second plates are slidably installed on the inner walls of the two limiting sleeves, the center lines of the two straight grooves pass through the center of the turntable, the central axis of the slide rail passes through the center of the turntable, and the straight grooves are connected to the inclined grooves.

[0029] As a further embodiment of the present invention, two limiting grooves are provided on the outer surfaces of the two first plates, and two sets of T-shaped pins are fixedly connected to the inner walls of the inner cavity in pairs, with the two T-shaped pins in each set slidingly installed with the inner walls of the two limiting grooves respectively.

[0030] This invention uses two sets of clamps coupled to a turntable, which allows for switching of the clamping direction inside a sealed box, thus adapting to the clamping of measuring cups and cylinders of different shapes and sizes. The sealed box does not need to be opened during the clamping process, thereby avoiding the risk of contamination of water and soil samples inside the sealed box. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the overall structure of a mechanical gripper used inside a sealed box according to the present invention.

[0032] Figure 2 This is a schematic diagram of a robotic arm for use in a sealed box, as proposed in this invention.

[0033] Figure 3 This is a schematic diagram showing the sleeve separation of a mechanical gripper used in a sealed box according to the present invention.

[0034] Figure 4 This is a bottom view schematic diagram of the base of a mechanical gripper used inside a sealed box according to the present invention;

[0035] Figure 5 This is a schematic diagram of the sleeve assembly of a mechanical gripper used in a sealed box according to the present invention.

[0036] Figure 6 This is a schematic diagram of the drive unit for a mechanical gripper used inside a sealed box, as proposed in this invention.

[0037] Figure 7 This is a schematic diagram of a turntable for a mechanical gripper used inside a sealed box, as proposed in this invention.

[0038] Figure 8 This is a schematic diagram of the slide of a mechanical gripper used in a sealed box according to the present invention.

[0039] Figure 9 This is a bottom view of the slide of a mechanical gripper used in a sealed box according to the present invention.

[0040] Figure 10 This is a schematic diagram of the second plate of a mechanical gripper used inside a sealed box according to the present invention;

[0041] Figure 11 This is a top view schematic diagram of the second plate of a mechanical gripper used in a sealed box according to the present invention;

[0042] Figure 12 This is a schematic diagram of the internal structure of the sleeve of a mechanical gripper used in a sealed box according to the present invention;

[0043] Figure 13 This is a schematic diagram of the first rod of a mechanical gripper used in a sealed box according to the present invention.

[0044] Figure 14 This is a top view schematic diagram of the base of a mechanical gripper used inside a sealed box according to the present invention;

[0045] Figure 15 for Figure 5 Enlarged view of a portion of point A in the middle;

[0046] Figure 16 for Figure 10 A magnified view of a portion of point B in the middle.

[0047] In the picture:

[0048] 100. Sealed box; 200. Robotic arm;

[0049] 300, base; 310, inclined groove; 320, straight groove; 330, circular groove;

[0050] 400, Servo motor; 500, Clamping plate; 600, Turntable; 700, Slide rail; 800, Slide base;

[0051] 900, Sleeve; 910, First opening; 920, Second opening; 930, Inner cavity;

[0052] 1000, Telescopic cylinder;

[0053] 1100, Drive unit; 1110, Drive motor; 1120, Double-acting lead screw; 1130, Support plate;

[0054] 1200, First plate; 1210, Limiting groove; 1220, Second guide post;

[0055] 1300, Motion unit; 1310, Second plate; 1311, First guide groove; 1320, Sliding column; 1330, Spring; 1340, First guide post;

[0056] 1400, T-pin;

[0057] 1500, First rod; 1510, Second guide groove; 1520, Locking block;

[0058] 1600, Second rod; 1610, Bayonet; 1700, Limiting sleeve. Detailed Implementation

[0059] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0060] To replace the mechanical gripper inside the sealed enclosure 100 without opening or closing the sealed door of the enclosure 100, such as... Figure 2 and Figure 3 As shown, this application discloses a mechanical gripper for use in a sealed box, comprising: a turntable 600, a slide rail 700, two slide blocks 800, two sleeves 900, and four clamping plates 500, as shown. Figure 1 As shown, the mechanical gripper also includes a mechanical arm 200 and a base 300. The mechanical arm 200 is fixedly installed inside the cavity of the sealed box 100, and the base 300 is fixedly installed at one end of the mechanical arm 200, as shown. Figure 14 As shown, a circular groove 330 is formed on the outer surface of the base 300, such as... Figure 5 As shown, the turntable 600 is rotatably mounted on the inner wall of the circular groove 330, and the turntable 600 is configured to rotate within the circular groove 330. Since the slide rail 700 is fixedly mounted on the outer surface of one side of the turntable 600, the slide rail 700 can rotate with the rotation of the turntable 600. Furthermore, since two slide blocks 800 are fitted onto the outer surface of the slide rail 700, the two slide blocks 800 also rotate with the rotation of the turntable 600 via the slide rail 700, with the center of rotation being the center of the turntable 600. The two slide blocks 800 are configured to move closer to or further away from each other along the central axis of the slide rail 700. Figure 5 As shown, because the two sleeves 900 are respectively fixedly installed on the outer surface of one side of the two slide blocks 800, and each of the two sleeves 900 has an inner cavity 930, and the four clamping plates 500 are arranged in pairs, with each pair of two clamping plates 500 respectively located in the inner cavity 930 at both ends of the same sleeve 900, the two sleeves 900 can move closer to or further away from each other along the central axis of the slide rail 700 as the two slide blocks 800 move. Figure 4 As shown, this causes the two sets of clamping plates 500 to move closer to each other or further away from each other along the central axis of the slide rail 700 with the two sleeves 900. When the two sets of clamping plates 500 move closer, they can clamp the measuring cylinder with a small outer size. Conversely, when the two sets of clamping plates 500 move further away, they can release the clamped measuring cylinder.

[0061] like Figure 5 As shown, when two clamping plates 500 approach each other along the central axis of the sleeve 900, they can clamp a large measuring cup. Conversely, when two clamping plates 500 move away from each other along the central axis of the sleeve 900, they can release the clamped measuring cup. Since both the measuring cup and the measuring cylinder are placed on the bottom wall of the sealed box 100, when the clamping plates 500 switch between clamping the measuring cup and the measuring cylinder, as...Figure 2 As shown, the clamping plates 500 need to rotate to achieve this. Therefore, the two sets of clamping plates 500 are coupled with the turntable 600. When the turntable 600 rotates by an angle, the clamping plates 500 can switch from moving closer or further apart along the central axis of the slide rail 700 to moving closer or further apart along the central axis of the sleeve 900. This device allows the clamping plates 500 to be switched inside the sealed box 100, thus accommodating the clamping of measuring cups and cylinders of different shapes and sizes. The sealed box 100 does not need to be opened during the switching of the clamping plates 500, thereby avoiding the risk of contamination of water and soil samples inside the sealed box 100.

[0062] Specifically, in order for the turntable to rotate 600 degrees by one angle, such as Figure 4 As shown, a servo motor 400 is fixedly installed on the outer surface of the base 300 on the side opposite to the turntable 600. The output end of the servo motor 400 passes through the outer surface of the base 300 and is fixedly connected to the rotation center of the turntable 600. The rotation of the servo motor 400 drives the turntable 600 to rotate 90°, thereby driving the two slide blocks 800 to rotate 90° through the slide rail 700. The two slide blocks 800 and the two sleeves 900 drive the two sets of clamping plates 500 to rotate 90°, so that the two sets of clamping plates 500 can switch positions, thereby switching between clamping a small measuring cylinder and a large measuring cup. The servo motor 400 has a self-locking function, which allows the turntable 600 to maintain the current angle position after rotating by an angle.

[0063] To enable the two slide blocks 800 to move closer or further apart along the central axis of the slide rail 700, and to allow the two sets of clamping plates 500 to clamp and release the small measuring cylinder, such as... Figure 6As shown, a drive unit 1100 is provided on the outer surface of the slide rail 700. The drive unit 1100 includes: two support plates 1130, a bidirectional lead screw 1120 and a drive motor 1110. Since two support plates 1130 are fixedly installed on the outer surface of one side of the slide rail 700, and a bidirectional lead screw 1120 is rotatably installed between the two support plates 1130, and each end of the bidirectional lead screw 1120 has a thread with the same pitch but opposite direction, and the two ends of the bidirectional lead screw 1120 pass through the outer surface of the two slide blocks 800 and are threadedly connected to them, and since a drive motor 1110 is fixedly installed on the outer surface of one of the support plates 1130, and the output end of the drive motor 1110 passes through the outer surface of the support plate 1130 and is fixedly connected to the rotation center of the bidirectional lead screw 1120, the forward and reverse rotation of the output end of the drive motor 1110 drives the bidirectional lead screw 1120 to rotate forward and reverse, thereby causing the bidirectional lead screw 1120 to drive the two slide blocks 800 to move closer to or further away from each other along the central axis of the slide rail 700, in order to restrict the two slide blocks 800 to move only along the central axis of the slide rail 700, such as Figure 7 As shown, V-shaped grooves are formed on the outer surfaces of both sides of the slide rail 700, such as... Figure 9 As shown, the lower surfaces of the two slide blocks 800 are provided with grooves that match the shape of the slide rail 700. It should be noted that the drive motor 1110 has a self-locking function. When its output end does not rotate, the self-locking prevents the output end from rotating arbitrarily.

[0064] To enable the two sets of clamping plates 500 to hold measuring cylinders and measuring cups, such as Figure 9 As shown, the four clamping plates 500 are arranged in an L-shape, and one end of each clamping plate 500 is slidably inserted between the inner walls of the inner cavity 930. When clamping a measuring cylinder, the measuring cylinder is clamped by the two sets of four clamping plates 500 approaching each other. At this time, the two sets of four clamping plates 500 clamp through the adjacent outer surfaces of side C. When clamping a measuring cup, the measuring cup is clamped by the two clamping plates 500 in one set approaching each other. Because the measuring cup is large, both sets of clamping plates 500 clamp the measuring cup simultaneously to ensure stable clamping. Figure 7 As shown, when clamping the measuring cup, it is clamped by the opposite outer surfaces of the D side of the two clamping plates 500 in a set.

[0065] Specifically, in order to make the two clamping plates 500 in a set move closer to or further away from each other along the central axis of the sleeve 900, such as Figure 8As shown, the sleeve 900 has two symmetrical first openings 910 on its outer surface near the turntable 600. Telescopic cylinders 1000 are fixedly installed on the outer surfaces of the two slides 800 near the clamping plate 500. A connecting plate is fixedly connected to one end of the clamping plate 500. The connecting plate passes through the first opening 910 and is fixedly connected to the telescopic end of the telescopic cylinder 1000. The telescopic cylinder 1000 is connected to an external air pump. When it is necessary to clamp the measuring cup through the outer surface of the clamping plate 500 on side D, the telescopic end of the telescopic cylinder 1000 retracts, thereby causing the two clamping plates 500 to move closer to each other along the central axis of the sleeve 900, thus clamping the measuring cup. Conversely, when it is necessary to release the measuring cup, the telescopic end of the telescopic cylinder 1000 simply extends again.

[0066] Because the measuring cup is large and contains soil or water samples to be dispensed, it is also relatively heavy. In this embodiment, to ensure more stable clamping when the two sets of clamping plates 500 are holding the measuring cup, as shown... Figure 7 As shown, a second opening 920 is provided on the outer surface of each of the two sleeves 900 on an adjacent side, such as... Figure 11 As shown, multiple second rods 1600 are fixedly installed at equal intervals between the inner walls of the second opening 920 of one of the two sleeves 900, such as... Figure 12 As shown, multiple first rods 1500 are rotatably mounted at equal intervals between the inner walls of the second opening 920 of the other of the two sleeves 900, and as... Figure 13 As shown, a locking block 1520 is fixedly connected to one end of each of the multiple first rods 1500 near the second rod 1600. A locking slot 1610 matching the locking block 1520 is provided at one end of each of the multiple second rods 1600 near the first rod 1500. By rotating the multiple first rods 1500, the locking block 1520 is positioned between the inner walls of the locking slot 1610, thus rigidly connecting the first rods 1500 and the second rods 1600 to form a stable connection. When the two sets of clamps 500 are holding the measuring cup, it is necessary to tilt the measuring cup. The sample inside is soil or water, so the measuring cup needs to be tilted. At this time, the weight borne by the two sets of clamps 500 holding the measuring cup becomes uneven. If the measuring cup is too heavy, the two sleeves 900 will deflect, causing the two sets of clamps 500 to shift and the measuring cup to slip off between the two sets of clamps 500. Through the rigid connection of the first rod 1500 and the second rod 1600, the two sleeves 900 form a stable connection, thereby preventing the sleeves 900 from deflecting completely and ensuring the stability of the measuring cup held by the two sets of clamps 500.

[0067] It should be noted that when the two sets of clamping plates 500 need to clamp the measuring cup, the driving unit 1100 first drives the two sleeves 900 to come together, so that the distance between the two sleeves 900 is minimized, so that the two sleeves 900 can be more stable after the first rod 1500 and the second rod 1600 are connected.

[0068] When the measuring cylinder is clamped by two sets of clamping plates 500, in order to prevent the clamping plates 500 from moving arbitrarily in the direction of the central axis of the sleeve 900, such as Figure 12 As shown, two first plates 1200 are symmetrically slidably mounted on the inner wall of the inner cavity 930 away from the turntable 600, as... Figure 11 As shown, the ends of the two first plates 1200 that are far apart from each other abut against one end of a set of two clamping plates 500. The two first plates 1200 hold the set of two clamping plates 500 in place, so that the connecting plate at one end of the clamping plate 500 abuts against the inner wall of the first opening 910, thereby restricting the position of the set of two clamping plates 500 and preventing them from sliding freely when clamping the measuring cylinder.

[0069] In order for the multiple first rods 1500 to rotate, causing the locking block 1520 and the locking slots 1610 on the multiple second rods 1600 to engage together, as follows: Figure 10 and Figure 15 As shown, multiple second guide posts 1220 are fixedly installed at equal intervals on the lower surfaces of the two first plates 1200. A second guide groove 1510 is provided at the other end of each of the multiple first rods 1500. The second guide posts 1220 are slidably installed on the inner walls of the second guide grooves 1510. To allow the two clamping plates 500 to move closer or further apart along the central axis of the sleeve 900, after the two sleeves 900 come together, as... Figure 10 As shown, by moving the two first plates 1200 closer to each other, the second guide post 1220 drives the multiple first rods 1500 to rotate through the second guide groove 1510, so that the locking blocks 1520 on the multiple first rods 1500 can be locked into the inside of the locking slot 1610, so that the first rods 1500 and the second rods 1600 are rigidly connected.

[0070] It should be noted that in this embodiment, the multiple first rods 1500 are symmetrically divided into two groups, such as... Figure 10 As shown, the two sets of first rods 1500 rotate in opposite directions, which also causes the locking block 1520 to engage with the locking slot 1610 in opposite directions. With this setting, after the locking block 1520 engages with the locking slot 1610, the connection between the two sleeves 900 is achieved through a connection in two directions. When one of the sleeves 900 has a deflection, the connection of the sleeves 900 is made more stable by locking in two directions.

[0071] To drive the two first plates 1200 to move closer to each other, such as Figure 16 As shown, the upper surface of the slide rail 700 is provided with a motion unit 1300 that drives the two first plates 1200 to move closer or further apart. The motion unit 1300 includes: two second plates 1310, four first guide posts 1340, two sliding posts 1320, and two springs 1330. The two second plates 1310 are slidably mounted on the upper surface of the slide rail 700. Specifically, two limiting sleeves 1700 are symmetrically fixedly mounted on the upper surface of the slide rail 700. The two second plates 1310 are slidably mounted on the inner walls of the two limiting sleeves 1700, and one end of each of the two second plates 1310 penetrates the outer surface of the adjacent sleeve 900 and is located inside the inner cavity 930. Two first guide grooves 1 are symmetrically formed on the end of the second plate 1310 near the sleeve 900. 311. The center lines of the two first guide grooves 1311 and the second plate 1310 are inclined. Since the four first guide posts 1340 are respectively fixedly installed on the lower surface of the four first plates 1200 away from the clamping plate 500, and the first guide posts 1340 are slidably installed on the inner wall of the first guide grooves 1311, when the two second plates 1310 move closer to each other, the two first plates 1200 will move closer to each other through the cooperation of the first guide posts 1340 and the first guide grooves 1311.

[0072] In order to make the two second plates 1310 move closer to each other, such as Figure 5 and Figure 14 As shown, the upper surface of the base 300 is symmetrically provided with two inclined grooves 310 and two straight grooves 320, as follows: Figure 15 As shown, two sliding pillars 1320 are fixedly installed on the lower surfaces of two second plates 1310 at opposite ends. The two sliding pillars 1320 are slidably installed on the inner walls of two inclined grooves 310 and two straight grooves 320, respectively. When the turntable 600 rotates, the two second plates 1310 are driven to rotate around the rotation center of the turntable 600 via the slide rail 700. Furthermore, because two springs 1330 are fixedly installed on the outer surfaces of the two slide blocks 800 on opposite sides, the other ends of the two springs 1330 are respectively connected to the lower surfaces of the two second plates 1310. Since the surfaces are fixedly connected, when the two sleeves 900 come together, the two second plates 1310 will drive the two sliding columns 1320 to slide along the inner walls of the two straight grooves 320 until the sliding column 1320 slides to the junction of the inclined groove 310 and the straight groove 320. At this time, through the rotation of the two second plates 1310, the sliding column 1320 will slide along the inner wall of the inclined groove 310. Through the cooperation of the inclined groove 310 and the sliding column 1320, the two second plates 1310 move closer to each other, thereby causing the two first plates 1200 to move closer to each other.

[0073] It is important to note that before the two second plates 1310 rotate around the rotation center of the turntable 600, the two sleeves 900 will first come together. At this point, the sliding column 1320 slides to the junction of the inclined groove 310 and the straight groove 320. Only when the two second plates 1310 rotate can the sliding column 1320 be driven into the inclined groove 310 to slide. If the sleeves 900 are not completely close to the required position, the sliding column 1320 will still be in the position of the straight groove 320, so the two second plates 1310 cannot rotate. This feedback mechanism... This can remind operators whether the two sleeves 900 are correctly brought together, to prevent the first rod 1500 and the second rod 1600 from failing to connect properly, which would cause instability in the two sleeves 900. When the turntable 600 rotates 90°, the two second plates 1310 also rotate 90°. At this time, the sliding column 1320 just slides to the end of the inclined groove 310, restricting the position of the two second plates 1310, thereby restricting the position of the two first plates 1200, and thus making the connection between the first rod 1500 and the second rod 1600 more stable.

[0074] To ensure that the slide column 1320 can slide correctly in the straight groove 320, the center lines of the two straight grooves 320 pass through the center of the turntable 600, and the central axis of the slide rail 700 passes through the center of the turntable 600.

[0075] To limit the installation position of the two first plates 1200 within the inner cavity 930 of the sleeve 900, such as Figure 12 As shown, two limiting grooves 1210 are provided on the outer surfaces of the two first plates 1200. Two sets of T-shaped pins 1400 are fixedly connected to the inner walls of the inner cavity 930 in pairs. The two T-shaped pins 1400 in each set are slidably installed with the inner walls of the two limiting grooves 1210 respectively. The installation position of the first plate 1200 is restricted by the two T-shaped pins 1400, and it can only slide left and right along the central axis of the first plate 1200.

[0076] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A mechanical gripper for use inside a containment box, disposed inside a cavity of a containment box (100), characterized in that, The utility model relates to a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. 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The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and the utility model discloses a mechanical hand of switching the direction of movement of the clamp plate. The utility model discloses a mechanical hand of switching the direction of movement of the clamp plate, and The inner cavity (930) is symmetrically slidably installed with two first plate bodies (1200) away from the inner wall of the rotating disc (600), one end of the two first plate bodies (1200) is abutted with one end of a set of two clamping plates (500), the lower surfaces of the two first plate bodies (1200) are equidistantly fixedly installed with a plurality of second guide columns (1220), the other ends of the plurality of first rod bodies (1500) are provided with second guide grooves (1510), the second guide columns (1220) and the inner walls of the second guide grooves (1510) are slidably installed, the upper surface of the base (300) is symmetrically provided with two inclined grooves (310) and two straight grooves (320), the upper surface of the sliding rail (700) is provided with a movement unit (1300) for driving the two first plate bodies (1200) to move close to or away from each other, and the movement unit (1300) comprises: Two second plate bodies (1310) are slidably installed on the upper surface of the sliding rail (700), one end of the two second plate bodies (1310) penetrates through the outer surface of the adjacent sleeve (900) and is arranged in the inner cavity (930), and the end of the second plate body (1310) close to the sleeve (900) is symmetrically provided with two first guide grooves (1311); A plurality of first guide columns (1340) are fixedly installed on the lower surfaces of the first plate bodies (1200) away from the clamping plates (500), and the first guide columns (1340) and the inner walls of the first guide grooves (1311) are slidably installed; Two sliding columns (1320) are fixedly installed on the lower surfaces of the two second plate bodies (1310) away from each other, and the two sliding columns (1320) and the inner walls of the two inclined grooves (310) and the two straight grooves (320) are slidably installed; Two springs (1330) are fixedly installed on the outer surfaces of the two sliding seats (800) on opposite sides, and the other ends of the two springs (1330) are fixedly connected with the lower surfaces of the two second plate bodies (1310).

2. The mechanical gripper for use within an enclosure according to claim 1, wherein, The outer surface of the base (300) on the side opposite to the rotating disc (600) is fixedly installed with a servo motor (400), and the output end of the servo motor (400) penetrates through the outer surface of the base (300) and is fixedly connected with the rotation center of the rotating disc (600).

3. The mechanical gripper for use within an enclosure as defined in claim 1, wherein, The outer surface of the sliding rail (700) is provided with a driving unit (1100) for driving the two sliding seats (800) to move close to or away from each other along the central axis of the sliding rail (700), and the driving unit (1100) comprises: Two supporting plates (1130) are fixedly installed on the outer surfaces of the two sliding rails (700) on opposite sides; A bidirectional screw rod (1120) is rotatably installed between the two supporting plates (1130), the two ends of the bidirectional screw rod (1120) are provided with threads with the same pitch and opposite rotation directions, and the two ends of the bidirectional screw rod (1120) penetrate through the outer surfaces of the two sliding seats (800) and are threadedly connected therewith. A driving motor (1110) is fixedly installed on the outer surface of one side of one of the support plates (1130), and the output end of the driving motor (1110) is fixedly connected with the rotation center of the bidirectional screw rod (1120) through the outer surface of the support plate (1130).

4. The mechanical gripper for use within an enclosure as defined in claim 1, wherein, The four clamping plates (500) are L-shaped, one end of the four clamping plates (500) is slidingly inserted between the inner walls of the inner cavity (930), the sleeve (900) is symmetrically provided with two first openings (910) on the outer surface close to the rotating disc (600), the outer surface of one end of the two sliding seats (800) is fixedly installed with an extension cylinder (1000), one end of the clamping plate (500) is fixedly connected with a connecting plate, and the connecting plate is fixedly connected with the extension end of the extension cylinder (1000) through the first opening (910).

5. The mechanical gripper for use within an enclosure as defined in claim 1, wherein, The plurality of first rod bodies (1500) are fixedly connected with clamping blocks (1520) at one end close to the second rod bodies (1600), the plurality of second rod bodies (1600) are provided with clamping holes (1610) matched with the clamping blocks (1520) at one end close to the first rod bodies (1500), and the clamping blocks (1520) are arranged between the inner walls of the clamping holes (1610).

6. The mechanical gripper for use within an enclosure as defined in claim 1, wherein, The upper surface of the sliding rail (700) is symmetrically fixedly installed with two limiting sleeves (1700), the two second plate bodies (1310) are slidingly installed in the inner walls of the two limiting sleeves (1700), the center lines of the two straight grooves (320) pass through the center of the rotating disc (600), the central axis of the sliding rail (700) passes through the center of the rotating disc (600), and the straight groove (320) is in communication with the inclined groove (310).

7. The mechanical gripper for use within an enclosure as defined in claim 1, wherein, The outer surface of the two first plate bodies (1200) is provided with two limiting grooves (1210), and the inner walls of the inner cavity (930) are fixedly connected with two groups of T-shaped pins (1400) in pairs. The outer surface of the two first plate bodies (1200) is provided with two limiting grooves (1210), and the inner walls of the inner cavity (930) are fixedly connected with two groups of T-shaped pins (1400) in pairs.

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