Mechanical self-locking holding claw device

Abstract

The utility model relates to a mechanical self-locking holding claw device, and belongs to the field of clamping devices.The mechanical self-locking holding claw device comprises a fixing frame, a first holding claw piece and a second holding claw piece are hinged to the two ends of the fixing frame respectively, and a self-locking connecting rod mechanism is included and comprises a first connecting rod assembly arranged between the first holding claw piece and the fixing frame, and a second connecting rod assembly arranged between the second holding claw piece and the fixing frame; the first connecting rod assembly is arranged between the first holding and grabbing piece and the fixing frame, the second connecting rod assembly is arranged between the second holding and grabbing piece and the fixing frame, and the driving mechanism is arranged in the fixing frame and comprises a first driving assembly for driving the first connecting rod assembly to be self-locked and a second driving assembly for driving the second connecting rod assembly to be self-locked. The self-locking mechanism can be adopted, the first holding and grabbing piece and the second holding and grabbing piece can be self-locked, the situation that power equipment is damaged and cannot be used is avoided, the working efficiency is improved, the service life of the device is prolonged, and the failure rate is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of clamping devices, and in particular to a mechanical self-locking claw device. Background Art

[0002] With the continuous improvement of the level of industrial automation, various mechanical equipment can be seen in the fields of industrial production, scientific and technological manufacturing, etc., which are used to control the transportation of assembly lines. Among them, robots can replace people's heavy labor to realize the mechanization and automation of production, and can complete designated work tasks in various environments. Therefore, they are widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy departments.

[0003] However, existing mechanical grippers usually use external force to clamp and fix parts when clamping them. When the external force is insufficient or fails, the mechanical grippers will loosen, resulting in insufficient clamping force or even the workpiece falling. Summary of the invention

[0004] The embodiment of the present application provides a mechanical self-locking claw device to solve the problem that the existing mechanical grippers in the related art usually use external force to clamp and fix parts when clamping them. When the external force is insufficient or fails, the mechanical grippers will loosen, resulting in insufficient clamping force or even the workpiece falling.

[0005] The embodiment of the present application provides a mechanical self-locking claw device, comprising:

[0006] A fixing frame, wherein the first grabbing piece and the second grabbing piece are hingedly connected at both ends of the fixing frame;

[0007] A self-locking link mechanism, the self-locking link mechanism comprising a first link assembly disposed between the first gripping piece and the fixing frame, and a second link assembly disposed between the second gripping piece and the fixing frame;

[0008] The driving mechanism is arranged in the fixing frame, and comprises a first driving assembly for driving the first connecting rod assembly to self-lock, and a second driving assembly for driving the second connecting rod assembly to self-lock.

[0009] In some embodiments, the fixing frame includes two fixing plates spaced apart and two first connecting plates spaced apart between the two fixing plates.

[0010] In some embodiments, the first drive assembly and the second drive assembly both include a sleeve disposed between two fixed plates, a guide rod disposed in the sleeve, a push rod sleeved on the outside of the guide rod, and an elastic member that drives the push rod to move on the guide rod.

[0011] In some embodiments, one end of the sleeve in the first driving assembly passes through one of the two first connecting plates;

[0012] One end of the push rod in the first driving assembly passes through the sleeve and penetrates another first connecting plate, and the through end of the push rod of the first driving assembly extends out of the first connecting plate and faces the first grabbing piece;

[0013] One end of the sleeve in the second driving assembly passes through one of the two first connecting plates;

[0014] One end of the push rod in the second driving assembly passes through the sleeve and penetrates another first connecting plate, and the penetrating end of the push rod of the second driving assembly extends out of the first connecting plate and faces the second grabbing piece.

[0015] In some embodiments, the elastic member is a spring, and the spring is sleeved on the outer side of the push rod;

[0016] A guide sleeve is provided between the spring and the ejector rod;

[0017] The guide sleeve is sleeved on the outer side of the push rod.

[0018] In some embodiments, one end of the guide rod away from the top rod extends out of the sleeve, and the extended end of the guide rod is provided with a fixing component that can be connected to the first connecting plate.

[0019] In some embodiments, the fixing assembly includes a gland sleeved on the protruding end of the guide rod, and the gland includes a cover body with a U-shaped cross section and a second connecting plate arranged on the outside of the cover body;

[0020] The extended end of the guide rod passes through the gland, and one end of the guide rod passing through the gland is connected with a nut;

[0021] The second connecting plate is connected to the first connecting plate by bolts.

[0022] In some embodiments, the first connecting rod assembly includes a first connecting rod and a second connecting rod hinged to each other, an end of the first connecting rod away from the second connecting rod is hinged to the first grabbing piece, and an end of the second connecting rod away from the first connecting rod is hinged to the fixing frame;

[0023] The second connecting rod assembly comprises a third connecting rod and a fourth connecting rod which are hinged to each other, the third connecting rod is hinged to the second grabbing piece, and the fourth connecting rod is hinged to the fixing frame;

[0024] The ends of the first connecting rod and the second connecting rod close to each other are provided with matching inclined surfaces;

[0025] The ends of the third connecting rod and the fourth connecting rod that are close to each other are provided with matching inclined surfaces.

[0026] In some embodiments, vulcanized rubber is provided on the clamping surfaces of the first gripping piece and the second gripping piece.

[0027] In some embodiments, there are two fixing frames, each of which is provided with a first grabbing piece, a second grabbing piece and a self-locking mechanism;

[0028] The two fixing frames are arranged side by side and rigidly connected.

[0029] The embodiment of the present application provides a mechanical self-locking claw device, when the power equipment stops power drive, the elastic force of the spring causes the top rod of the first drive assembly to press toward the second connecting rod, and the top rod of the second drive assembly to press toward the fourth connecting rod, so that the end of the second connecting rod away from the first connecting rod and the end of the fourth connecting rod away from the third connecting rod are pulled toward each other. It can also be understood that the second connecting rod rotates counterclockwise around the hinge axis hinged to the fixed frame, and the fourth connecting rod rotates clockwise around the hinge axis hinged to the fixed frame, so that the first connecting rod rotates clockwise around the hinge axis hinged to the second connecting rod, and the first grabbing piece can also rotate clockwise around the hinge axis hinged to the first connecting rod. When the clockwise rotation angle is larger, the clamping force of the first grabbing piece is tighter, and the inclined end of the first connecting rod The inclined surface at the bottom of the second connecting rod groove is completely in fit with the inclined surface at the bottom of the fourth connecting rod groove, and the inclined surface end of the third connecting rod is completely in fit with the inclined surface at the bottom of the fourth connecting rod groove, and the first holding and grasping pieces are in a locked state. That is, when external force acts on the first holding and grasping pieces and the second holding and grasping pieces, when the first connecting rod is subjected to the force of the first holding and grasping piece, the inclined surface end of the first connecting rod will be against the inclined surface at the bottom of the second connecting rod groove and cannot rotate. When the third connecting rod is subjected to the force of the second holding and grasping piece, the inclined surface end of the third connecting rod will be against the inclined surface at the bottom of the fourth connecting rod groove and cannot rotate, so that the first holding and grasping pieces and the second holding and grasping pieces cannot produce relative rotation, so that the first holding and grasping pieces and the second holding and grasping pieces achieve the effect of rigid self-locking, or the first holding and grasping pieces and the second holding and grasping pieces are manually unfolded without using power equipment to drive, and then self-locked through the self-locking connecting rod mechanism.

[0030] When a power device is used to drive the first holding and grabbing piece to self-lock, the power device drives the end of the second connecting rod away from the first connecting rod and the end of the fourth connecting rod away from the third connecting rod to pull toward each other. It can also be understood that the second connecting rod rotates counterclockwise around the hinge axis hinged to the fixed frame, and the fourth connecting rod rotates clockwise around the hinge axis hinged to the fixed frame, so that the first connecting rod can be rotated clockwise around the hinge axis hinged to the second connecting rod, and the first holding and grabbing piece can also be rotated clockwise around the hinge axis hinged to the first connecting rod. When the clockwise rotation angle is larger, the clamping force of the first holding and grabbing piece is tighter. The second holding and grabbing piece and the first holding and grabbing piece are symmetrically arranged, and their clamping self-locking principle is the same as the clamping self-locking principle of the first holding and grabbing piece.

[0031] When driven by a power device, the second holding piece and the first holding piece can be self-locked and clamped by a self-locking connecting rod mechanism, avoiding mechanical grasping. When the power device is used to clamp parts, the power device is insufficient in power, or there is shaking, or the power fails, which will cause the second holding piece and the first holding piece to shake with the shaking of the power device or even clamp without power, resulting in the second holding piece and the first holding piece to reduce or lose the clamping force as the power of the power device decreases, making the workpiece easy to fall and be damaged, or even injuring the staff.

[0032] When the clamping is driven by a non-powered device or when there is no power device, there is no driving force for clamping between the second clamping piece and the first clamping piece. The driving mechanism and the self-locking connecting rod mechanism can make the first clamping piece and the second clamping piece self-locking, thereby avoiding damage to the power equipment and making it unusable, improving work efficiency, increasing the life of the device, and reducing the failure rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 A schematic diagram of the main structure provided in an embodiment of the present application;

[0035] Figure 2 A schematic diagram of a side view structure provided in an embodiment of the present application;

[0036] Figure 3 A schematic diagram of a cross-sectional structure provided in an embodiment of the present application;

[0037] Figure 4 A schematic diagram of the structure of the first drive assembly provided in an embodiment of the present application;

[0038] Figure 5 A schematic diagram of the opening and closing states of the first holding grip provided in this application;

[0039] Figure 6 A schematic diagram of the self-locking state provided by the first holding grip in this application;

[0040] Figure 7 This is a schematic diagram of the cross-sectional structure of the fixing frame provided in this application.

[0041] 1. Fixed frame; 11. Fixed plate; 12. First connecting plate; 2. First grabbing piece; 3. Second grabbing piece; 4. Guide rod; 41. Pressure cover; 42. Second connecting plate; 5. Push rod; 6. Elastic member; 7. Guide sleeve; 8. First connecting rod; 9. Second connecting rod; 10. Third connecting rod; 13. Sleeve; 14. Fourth connecting rod; 15. Vulcanized rubber. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0043] The embodiment of the present application provides a mechanical self-locking claw device, which can solve the problem that the existing mechanical gripper usually uses external force to clamp and fix when clamping parts. When the external force is insufficient or fails, the mechanical gripper will loosen, resulting in insufficient clamping force or even the workpiece falling.

[0044] See also Figure 1-7 As shown, an embodiment of the present application provides a mechanical self-locking claw device, and the mechanical self-locking claw device includes:

[0045] A fixed frame 1, at both ends of which a first grasping piece 2 and a second grasping piece 3 are hingedly connected by a hinge shaft, the first grasping piece 2 and the second grasping piece 3 can be controlled to open and close by a power device, and can clamp a workpiece when driven and merged together by the power device, and can release the workpiece when the power device is opened and closed, and the setting of the hinge shaft can make the clamping range larger and the clamping angle more. In this embodiment, the power device can preferably be a hydraulic cylinder or a pneumatic cylinder.

[0046] The self-locking link mechanism includes a first link assembly arranged between the first grabbing piece 2 and the fixing frame 1, and a second link assembly arranged between the second grabbing piece 3 and the fixing frame 1. The first link assembly can make the first grabbing piece 2 self-lock after losing the clamping power to prevent the external force from causing the first grabbing piece 2 to expand outward. The second link assembly can make the second grabbing piece 3 self-lock after losing the clamping power to prevent the external force from causing the second grabbing piece 3 to expand outward.

[0047] The driving mechanism is arranged in the fixed frame 1, and the driving mechanism includes a first driving assembly for driving the first connecting rod assembly to self-lock, and a second driving assembly for driving the second connecting rod assembly to self-lock. The first driving assembly enables the first grabbing piece 2 to self-lock through the first connecting rod assembly, and the second driving assembly enables the second grabbing piece 3 to self-lock through the second connecting rod assembly, so as to avoid loosening or insufficient driving force or loss of power during the clamping process, resulting in insufficient clamping force and causing the workpiece to fall, thereby improving the safety of the workpiece during clamping, improving the working efficiency of the device, and avoiding the workpiece from falling and being damaged, resulting in increased costs and reduced yields.

[0048] The power device can also only provide the opening and closing power for opening the first grasping piece 2 and the second grasping piece 3. The clamping force can also be completed by driving the self-locking connecting rod mechanism through the driving mechanism, and the clamping and self-locking of the first grasping piece 2 and the second grasping piece 3 can be directly achieved through the driving mechanism and the self-locking connecting rod mechanism.

[0049] In some optional embodiments, see Figure 1-2 As shown, an embodiment of the present application provides a mechanical self-locking claw device, in which there are two fixed frames 1, each of which is provided with a first grasping piece 2, a second grasping piece 3, a driving mechanism and a self-locking connecting rod mechanism. The two fixed frames 1 are arranged side by side and rigidly connected, so that there are two first grasping pieces 2 and two second grasping pieces 3 respectively. Through the two pairs of first grasping pieces 2 and second grasping pieces 3, the force for clamping the workpiece is increased to avoid self-locking failure caused by insufficient self-locking force. If the workpiece is too large or too heavy, it is not limited to two first grasping pieces 2 and two second grasping pieces 3, and it can also be several first grasping pieces 2 and several second grasping pieces 3.

[0050] In some optional embodiments, see Figure 1-5 and Figure 7 As shown, an embodiment of the present application provides a mechanical self-locking claw device, in which a fixed frame 1 includes two fixed plates 11 arranged at intervals and two first connecting plates 12 arranged at intervals between the two fixed plates 11, and two first connecting plates 12 are arranged between the two fixed plates 11 so that a fixed frame 1 can be formed, the first grabbing piece 2 and the second grabbing piece 3 are both hinged between the two fixed plates 11, the first drive assembly and the second drive assembly are both arranged between the two fixed plates 11, and the first drive assembly and the second drive assembly both include a sleeve 13, a guide rod 4 arranged in the sleeve 13, a push rod 5 sleeved on the outside of the guide rod 4, and an elastic member 6 arranged in the sleeve 13, and the push rod 5 is also arranged in the sleeve 13.

[0051] In this embodiment, one end of the sleeve 13 in the first drive assembly passes through one of the two first connecting plates 12 and is fixedly connected to the first connecting plate 12, and then one end of the push rod 5 in the first drive assembly passes through the hollow inner cavity of the sleeve 13, and after passing through the sleeve 13, continues to pass through the other first connecting plate 12, and this push rod 5 extends out of the first connecting plate 12 passed through, and after the push rod 5 is extended, it faces the first grabbing piece 2, so that the first drive assembly is used to drive the first grabbing piece 2 to clamp to the second grabbing piece 3.

[0052] One end of the sleeve 13 in the second driving assembly passes through one of the two first connecting plates 12 and is fixedly connected to the first connecting plate 12. Then, one end of the push rod 5 in the second driving assembly passes through the hollow inner cavity of the sleeve 13, and after passing through the sleeve 13, continues to pass through the other first connecting plate 12, and the push rod 5 extends out of the first connecting plate 12 passed through. After the push rod 5 is extended, it faces the second grabbing piece 3, so that the second driving assembly is used to drive the second grabbing piece 3 to hold the first grabbing piece 2 tightly.

[0053] The first driving assembly and the second driving assembly can make the first grabbing piece 2 and the second grabbing piece 3 self-locking through the first connecting rod assembly and the second connecting rod assembly.

[0054] In some optional embodiments, see Figure 1 and Figure 3-4 As shown, an embodiment of the present application provides a mechanical self-locking claw device, in which the elastic member 6 is a spring, and the spring is sleeved on the outer side of the push rod 5. A guide sleeve 7 is provided between the spring and the push rod 5, and the guide sleeve 7 is sleeved on the outer side of the push rod 5. The push rod 5 in the first driving assembly is driven to press toward the first connecting rod assembly by the elastic force of the spring, so that the push rod 5 can drive the first grasping piece 2 to self-lock and clamp toward the second grasping piece 3 through the first connecting rod assembly, and the push rod 5 in the second driving assembly is driven to press toward the first connecting rod assembly by the elastic force of the spring, so that the push rod 5 can drive the second grasping piece 3 to self-lock and clamp toward the first grasping piece 2 through the second connecting rod assembly.

[0055] The guide sleeve 7 is arranged between the spring and the push rod 5 to avoid direct contact between the spring and the push rod 5, which causes friction between the push rod 5 and the spring, making the push rod 5 and the spring easy to wear, and reduces the sliding force of the push rod 5, making it not smooth enough. In this embodiment, gaskets can be fixed at the openings at both ends of the sleeve 13, so that the spring can be fixed in the sleeve 13 to prevent it from slipping out, and the push rod 5 can be further guided and fixed to reduce its longitudinal force, leaving only lateral force.

[0056] In some optional embodiments, see Figure 1 and Figure 3-4As shown, an embodiment of the present application provides a mechanical self-locking claw device, in which a sleeve 13 extends out of one end of a guide rod 4 away from a top rod 5, and a fixing component that can be connected to a first connecting plate 12 is provided at the protruding end of the guide rod 4, and the driving mechanism and the fixing frame 1 can be fixedly connected through the fixing component.

[0057] In this embodiment, the fixing assembly includes a pressure cover 41 which is sleeved on the protruding end of the guide rod 4. The pressure cover 41 includes a cover body with a U-shaped cross-section and a second connecting plate 42 arranged on the outside of the cover body. The pressure cover 41 covers the end of the guide rod 4 away from the top rod 5, and the end of the guide rod 4 close to the pressure cover 41 passes through the pressure cover 41 and then extends out of the pressure cover 41. A thread is provided on the outside of the end of the guide rod 4 extending out of the pressure cover 41 so that a nut can be sleeved, so that the pressure cover 41 and the guide rod 4 are fixed together, and then the second connecting plate 42 is bolted to the first connecting plate 12, so that the pressure cover 41 can be fixedly connected with the guide rod 4 and the fixing frame 1. Because the guide rod 4 is arranged in the sleeve 13, and the sleeve 13 is fixed to the first connecting plate 12, the driving mechanism and the fixing frame 1 can be completely fixed, avoiding the loosening of the driving mechanism to cause the loosening of the self-locking connecting rod mechanism and the unstable clamping force.

[0058] In some optional embodiments, see Figure 1 and Figure 3-6 As shown, an embodiment of the present application provides a mechanical self-locking claw device, in which a first link assembly includes a first link 8 and a second link 9 hinged to each other, an end of the first link 8 away from the second link 9 is hinged to the first grasping piece 2, and an end of the second link 9 away from the first link 8 is hinged to the fixing frame 1, and the second link assembly includes a third link 10 and a fourth link 14 hinged to each other, an end of the third link 10 away from the fourth link 14 is hinged to the second grasping piece 3, and an end of the fourth link 14 away from the third link 10 is hinged to the fixing frame 1, and the driving end of the power equipment can be connected to an end of the second link 9 away from the first link 8, and to an end of the fourth link 14 away from the third link 10.

[0059] One end of the first connecting rod 8 close to the second connecting rod 9 is inclined, and one end of the second connecting rod 9 close to the first connecting rod 8 is provided with a slot, and the slot has only two side walls. In order to facilitate the rotation of the first connecting rod 8, the inclined end of the first connecting rod 8 is arranged in the slot, and then is hinged to the two side walls on the slot of the second connecting rod 9. The bottom of the slot of the second connecting rod 9 is inclined, and the inclined surface of the bottom of the slot of the second connecting rod 9 matches the inclined surface end of the first connecting rod 8.

[0060] One end of the third link 10 close to the fourth link 14 is inclined, and one end of the fourth link 14 close to the third link 10 is provided with a slot, and the slot has only two side walls. In order to facilitate the rotation of the third link 10, the inclined end of the third link 10 is arranged in the slot, and then hinged to the two side walls on the slot of the fourth link 14. The bottom of the slot of the fourth link 14 is inclined, and the inclined surface of the bottom of the slot of the fourth link 14 matches the inclined surface end of the first link 8.

[0061] When it is necessary to open the first grasping piece 2 and the second grasping piece 3, the power equipment drives the second connecting rod 9 to move away from one end of the first connecting rod 8 and the fourth connecting rod 14 to move away from one end of the third connecting rod 10, so that the second connecting rod 9 and the fourth connecting rod 14 are pushed in the direction away from each other. It can also be understood that the second connecting rod 9 rotates clockwise around the hinge axis hinged to the fixed frame 1, and the fourth connecting rod 14 rotates counterclockwise around the hinge axis hinged to the fixed frame 1, so that the first connecting rod 8 can be rotated counterclockwise around the hinge axis hinged to the second connecting rod 9, and the first grasping piece 2 can also be rotated counterclockwise around the hinge axis hinged to the first connecting rod 8. When the counterclockwise rotation angle is larger, the expansion range of the first grasping piece 2 is larger, wherein the second grasping piece 3 and the first grasping piece 2 are symmetrically arranged, and their expansion principle is the same as the expansion principle of the first grasping piece 2.

[0062] When the first grasping piece 2 and the second grasping piece 3 need to be self-locked, when there is no power device driving after clamping the workpiece, the elastic force of the spring causes the push rod 5 of the first driving assembly to be pressed toward the second connecting rod 9, and the push rod 5 of the second driving assembly is pressed toward the fourth connecting rod 14, so that the end of the second connecting rod 9 away from the first connecting rod 8 and the end of the fourth connecting rod 14 away from the third connecting rod 10 are pulled toward each other. It can also be understood that the second connecting rod 9 rotates counterclockwise around the hinge axis hinged to the fixed frame 1, and the fourth connecting rod 14 rotates counterclockwise. The connecting rod 14 rotates clockwise around the hinge axis hinged to the fixed frame 1, so that the first connecting rod 8 can rotate clockwise around the hinge axis hinged to the second connecting rod 9, and the first grabbing piece 2 can also rotate clockwise around the hinge axis hinged to the first connecting rod 8. When the clockwise rotation angle is larger, the holding force of the first grabbing piece 2 is tighter. The second grabbing piece 3 and the first grabbing piece 2 are symmetrically arranged, and their holding principle is the same as the holding principle of the first grabbing piece 2. Or when no power equipment is used for holding, the same principle can be implemented.

[0063] It is also possible to use a power device for self-locking during clamping. When the first holding and grabbing piece 2 and the second holding and grabbing piece 3 need to self-lock, the power device drives the end of the second connecting rod 9 away from the first connecting rod 8 and the end of the fourth connecting rod 14 away from the third connecting rod 10 to pull them in a direction close to each other. It can also be understood that the second connecting rod 9 rotates counterclockwise around the hinge axis hinged to the fixed frame 1, and the fourth connecting rod 14 rotates clockwise around the hinge axis hinged to the fixed frame 1, so that the first connecting rod 8 can be rotated clockwise around the hinge axis hinged to the second connecting rod 9, and the first holding and grabbing piece 2 can also be rotated clockwise around the hinge axis hinged to the first connecting rod 8. When the clockwise rotation angle is larger, the clamping force of the first holding and grabbing piece 2 is tighter. The second holding and grabbing piece 3 and the first holding and grabbing piece 2 are symmetrically arranged, and their clamping self-locking principle is the same as the clamping self-locking principle of the first holding and grabbing piece 2.

[0064] Among them, the first connecting rod 8 and the third connecting rod 10 are small connecting rods, and the second connecting rod 9 and the fourth connecting rod 14 are large connecting rods, so that when the spring and the power device drive the second connecting rod 9 and the fourth connecting rod 14, the force arm is longer and more labor-saving, and the force on the first connecting rod 8 and the third connecting rod 10 is also greater.

[0065] Among them, when the center lines of the second connecting rod 9 and the first connecting rod 8, and the fourth connecting rod 14 and the third connecting rod 10 are in the same straight line, the first holding and grabbing piece 2 and the second holding and grabbing piece 3 are at the self-locking critical point, and the second connecting rod 9 and the fourth connecting rod 14 are pushed to the limit position by the spring. At this time, the center line angle between the second connecting rod 9 and the first connecting rod 8, and the center line angle between the fourth connecting rod 14 and the third connecting rod 10 are both about 172°, and the inclined surface end of the first connecting rod 8 is completely fitted with the inclined surface of the bottom of the groove of the second connecting rod 9, and the inclined surface end of the third connecting rod 10 is completely fitted with the inclined surface of the bottom of the groove of the fourth connecting rod 14, and the first holding and grabbing piece 2 and the second holding and grabbing piece 3 are in a locked state, that is, when the external force When acting on the first grasping piece 2 and the second grasping piece 3, when the first connecting rod 8 is subjected to the force of the first grasping piece 2, the inclined surface end of the first connecting rod 8 will be against the inclined surface at the bottom of the groove of the second connecting rod 9 and cannot rotate; when the third connecting rod 10 is subjected to the force of the second grasping piece 3, the inclined surface end of the third connecting rod 10 will be against the inclined surface at the bottom of the groove of the fourth connecting rod 14 and cannot rotate, so that the first grasping piece 2 and the second grasping piece 3 cannot produce relative rotation, so that the first grasping piece 2 and the second grasping piece 3 can achieve the effect of rigid self-locking, and the push rod 5 is subjected to the upward force at this time and cannot retract, which will not eliminate the pushing force of the push rod 5 on the second connecting rod 9 and the fourth connecting rod 14, resulting in self-locking failure.

[0066] When the second connecting rod 9 and the fourth connecting rod 14 are expanded by external force, the inclined surface will also drive the first connecting rod 8 and the third connecting rod 10 to rotate upward, thereby driving the first holding and grabbing piece 2 and the second holding and grabbing piece 3 to open.

[0067] In some optional embodiments, see Figure 3As shown, an embodiment of the present application provides a mechanical self-locking claw device, in which the clamping surfaces of the first gripping piece 2 and the second gripping piece 3 are provided with vulcanized rubber 15, and the vulcanized rubber 15 is used to increase the clamping friction force and avoid damage to the workpiece caused by excessive clamping force.

[0068] Working principle and process of this application:

[0069] When it is necessary to open the first grasping piece 2 and the second grasping piece 3, the power equipment drives the second connecting rod 9 to move away from one end of the first connecting rod 8 and the fourth connecting rod 14 to move away from one end of the third connecting rod 10, so that the second connecting rod 9 and the fourth connecting rod 14 are pushed in the direction away from each other. It can also be understood that the second connecting rod 9 rotates clockwise around the hinge axis hinged to the fixed frame 1, and the fourth connecting rod 14 rotates counterclockwise around the hinge axis hinged to the fixed frame 1, so that the first connecting rod 8 can be rotated counterclockwise around the hinge axis hinged to the second connecting rod 9, and the first grasping piece 2 can also be rotated counterclockwise around the hinge axis hinged to the first connecting rod 8. When the counterclockwise rotation angle is larger, the expansion range of the first grasping piece 2 is larger, wherein the second grasping piece 3 and the first grasping piece 2 are symmetrically arranged, and their expansion principle is the same as the expansion principle of the first grasping piece 2.

[0070] When the first grasping piece 2 and the second grasping piece 3 need to be self-locked, after clamping the workpiece, when the power device stops driving or the driving force of the power device is insufficient, the elastic force of the spring causes the push rod 5 of the first drive assembly to press toward the second connecting rod 9, and the push rod 5 of the second drive assembly to press toward the fourth connecting rod 14, so that the end of the second connecting rod 9 away from the first connecting rod 8 and the end of the fourth connecting rod 14 away from the third connecting rod 10 are pulled toward each other. It can also be understood that the second connecting rod 9 rotates counterclockwise around the hinge axis hinged to the fixed frame 1, and the fourth connecting rod 14 rotates clockwise around the hinge axis hinged to the fixed frame 1, so that The first connecting rod 8 rotates clockwise around the hinge axis hinged to the second connecting rod 9, which can make the first grabbing piece 2 also rotate clockwise around the hinge axis hinged to the first connecting rod 8. When the clockwise rotation angle is larger, the clamping force of the first grabbing piece 2 is tighter. The second grabbing piece 3 and the first grabbing piece 2 are symmetrically arranged, and the clamping self-locking principle is the same as the clamping self-locking principle of the first grabbing piece 2. The inclined surface end of the first connecting rod 8 is completely fitted with the inclined surface at the bottom of the groove of the second connecting rod 9, and the inclined surface end of the third connecting rod 10 is completely fitted with the inclined surface at the bottom of the groove of the fourth connecting rod 14. The first grabbing piece 2 and the second grabbing piece 3 are in a locked state.

[0071] In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0072] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0073] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A mechanical self-locking claw device, characterized in that: include: A fixing frame (1), wherein two ends of the fixing frame (1) are respectively hinged with a first grabbing piece (2) and a second grabbing piece (3); A self-locking connecting rod mechanism, the self-locking connecting rod mechanism comprising a first connecting rod assembly arranged between the first holding and grabbing piece (2) and the fixing frame (1), and a second connecting rod assembly arranged between the second holding and grabbing piece (3) and the fixing frame (1); A driving mechanism is arranged in a fixing frame (1), and comprises a first driving assembly for driving the first connecting rod assembly to self-lock, and a second driving assembly for driving the second connecting rod assembly to self-lock.

2. The mechanical self-locking claw device according to claim 1, characterized in that: The fixing frame (1) comprises two fixing plates (11) arranged at intervals and two first connecting plates (12) arranged at intervals between the two fixing plates (11).

3. The mechanical self-locking claw device according to claim 2, characterized in that: The first driving assembly and the second driving assembly both comprise a sleeve (13) arranged between two fixed plates (11), a guide rod (4) arranged in the sleeve (13), a push rod (5) sleeved on the outside of the guide rod (4), and an elastic member (6) for driving the push rod (5) to move on the guide rod (4).

4. The mechanical self-locking claw device according to claim 3, characterized in that: One end of the sleeve (13) in the first driving assembly passes through one of the two first connecting plates (12); One end of the push rod (5) in the first driving assembly passes through the sleeve (13) and penetrates another first connecting plate (12), and the penetrated end of the push rod (5) of the first driving assembly extends out of the first connecting plate (12) and faces the first grabbing piece (2); One end of the sleeve (13) in the second driving assembly passes through one of the two first connecting plates (12); One end of the push rod (5) in the second drive assembly passes through the sleeve (13) and penetrates another first connecting plate (12), and the penetrated end of the push rod (5) of the second drive assembly extends out of the first connecting plate (12) and faces the second grabbing plate (3).

5. The mechanical self-locking claw device according to claim 3, characterized in that: The elastic member (6) is a spring, and the spring is sleeved on the outer side of the push rod (5); A guide sleeve (7) is provided between the spring and the push rod (5); The guide sleeve (7) is sleeved on the outer side of the push rod (5).

6. The mechanical self-locking claw device according to claim 4, characterized in that: One end of the guide rod (4) away from the push rod (5) extends out of the sleeve (13), and the extended end of the guide rod (4) is provided with a fixing component that can be connected to the first connecting plate (12).

7. The mechanical self-locking claw device according to claim 6, characterized in that: The fixing assembly comprises a pressure cover (41) sleeved on the protruding end of the guide rod (4), and the pressure cover (41) comprises a cover body with a U-shaped cross section and a second connecting plate (42) arranged on the outside of the cover body; The extended end of the guide rod (4) passes through the gland (41), and one end of the guide rod (4) passing through the gland (41) is connected to a nut; The second connecting plate (42) is connected to the first connecting plate (12) by bolts.

8. The mechanical self-locking claw device according to claim 7, characterized in that: The first connecting rod assembly comprises a first connecting rod (8) and a second connecting rod (9) which are hinged to each other, wherein one end of the first connecting rod (8) away from the second connecting rod (9) is hinged to the first grabbing piece (2), and one end of the second connecting rod (9) away from the first connecting rod (8) is hinged to the fixing frame (1); The second connecting rod assembly comprises a third connecting rod (10) and a fourth connecting rod (14) which are hinged to each other, the third connecting rod (10) is hinged to the second grabbing piece (3), and the fourth connecting rod (14) is hinged to the fixing frame (1); Matching inclined surfaces are provided at the ends of the first connecting rod (8) and the second connecting rod (9) that are close to each other; Matching inclined surfaces are provided at the ends of the third connecting rod (10) and the fourth connecting rod (14) that are close to each other.

9. The mechanical self-locking claw device according to claim 1, characterized in that: Vulcanized rubber (15) is provided on the clamping surfaces of the first gripping piece (2) and the second gripping piece (3).

10. The mechanical self-locking claw device according to claim 1, characterized in that: There are two fixing frames (1), and each fixing frame (1) is provided with a first grabbing piece (2), a second grabbing piece (3) and a self-locking mechanism; The two fixing frames (1) are arranged side by side and rigidly connected.

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