Mechanical gripper

Abstract

The utility model discloses a mechanical gripper which comprises a base and at least one clamping jaw assembly, and each clamping jaw assembly comprises a driving piece, a transmission piece and two gripper fingers. The transmission part is arranged on the base, the driving part is vertically arranged on the base, and the driving part is connected with the transmission part so as to drive the transmission part to move on the base; the two claw fingers are symmetrically hinged to the two sides of the base, a sliding groove is formed in the transmission part, and the first ends of the claw fingers are in sliding fit with the sliding groove so that the second ends of the two claw fingers can be driven to be close to or separated from each other in the displacement process of the transmission part. The mechanical gripper is applied to the field of tunnel arch frame installation, the transmission piece with the sliding groove is used for driving the two gripper fingers to conduct gripping action or releasing action, the driving piece does not need to be directly connected with the two gripper fingers any more, and therefore the driving piece can be vertically arranged and can be hidden in the base, the structure of the mechanical gripper is more compact, and the mechanical gripper is more convenient to use. The occupied space is smaller, and the driving part can be effectively protected from being damaged.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnel arch installation, in particular to a mechanical gripper. Background Art

[0002] During the installation of tunnel arch frames, manual arch frame assembly or single hoisting device to grab the arch frame for installation is often used. Manual installation is time-consuming and labor-intensive, with low construction efficiency and high personal safety risks. Since the single hoisting device installation mechanism has only one arch frame clamping position and most arch frames are arc-shaped, it is easy to become unstable during the arch frame grabbing and lifting process, especially when multiple arch frames are prefabricated and erected. Generally speaking, the clamping mechanism includes two clamps, and an oil cylinder is used to drive the clamps to rotate so as to grab the arch frame. In the prior art, the tunnel arch frame installation vehicle is equipped with two sets of clamping mechanisms that cannot be clamped synchronously. During the clamping process, the problem of the arch frame being unstable may occur due to the claw at one end pushing the arch frame to move and contacting the claw at the other end. Moreover, the oil cylinders in the existing clamping mechanisms are mostly arranged horizontally on the base, and most of them are exposed to the outside, which not only occupies a large space, but also the oil cylinders have been damaged by collision during the process of grabbing the arch frame. Utility Model Content

[0003] In view of the above-mentioned deficiencies in the prior art, the utility model provides a mechanical gripper, which not only occupies a small space but also can hide the oil cylinder inside the base, thereby effectively protecting the oil cylinder.

[0004] To achieve the above-mentioned purpose, the utility model provides a mechanical gripper, comprising a base and at least one clamping jaw assembly, wherein the clamping jaw assembly comprises a driving member, a transmission member and two claw fingers;

[0005] The transmission member is arranged on the base, the driving member is vertically arranged on the base, and the driving member is connected to the transmission member to drive the transmission member to move on the base;

[0006] The two claws are symmetrically hinged on both sides of the base, and a slide groove is provided on the transmission member. The first end of the claw is slidably matched with the slide groove to drive the second ends of the two claws to move closer or apart during the displacement of the driving member.

[0007] In one embodiment, the slide groove is a strip groove, and its length direction is the same as the spacing direction of the two claw fingers.

[0008] In one embodiment, there are two slide grooves, which correspond to the claw fingers one by one, and the first end of the claw finger is slidably connected in the corresponding slide groove.

[0009] In one of the embodiments, the transmission member is a block structure fixedly connected to the driving member, and the transmission member can be lifted and displaced inside the base during the extension and retraction of the driving member.

[0010] In one of the embodiments, the first end of the claw finger is fixedly connected to a limit pin, the limit pin is sleeved with a guide sleeve, and the guide sleeve is slidably connected in the slide groove.

[0011] In one embodiment, the number of the clamping jaw assemblies is more than two, and the clamping jaw assemblies are distributed on the base at intervals along the length direction of the base.

[0012] In one embodiment, the driving members in each of the clamping jaw assemblies are supplied with oil synchronously or asynchronously.

[0013] In one of the embodiments, at least one supporting frame is provided on the top of the base for lifting and limiting the arch frame.

[0014] In one embodiment, the second end of the claw finger is detachably connected to a pressure block.

[0015] In one embodiment, ear plates are provided on both sides of the base corresponding to the positions where the claw fingers are connected;

[0016] The middle part of the claw finger is hinged to the ear plate on the corresponding side through a pin shaft.

[0017] Compared with the prior art, the utility model has the following beneficial technical effects:

[0018] 1. The mechanical gripper of the utility model utilizes a transmission member with a slide groove to drive two claws to perform a grasping action or a releasing action, and it is no longer necessary for the driving member to be directly connected to the two claws. Therefore, the driving member can be arranged vertically and hidden inside the base, which not only makes the structure of the mechanical gripper more compact and occupies less space, but also can effectively protect the driving member from damage;

[0019] 2. In the preferred embodiment of the utility model, multiple groups of clamping jaw assemblies can be arranged on the base, and the synchronous action of each clamping jaw assembly can be realized by controlling the synchronous oil supply of the oil cylinders in each clamping jaw assembly, thereby avoiding the problem that the arch frame deviates from the center line of the arch frame clamping mechanism after clamping due to the asynchronous clamping jaw assembly, and the problem that the arch frame may be pushed by the clamping jaw assembly at one end to move to the contact of the clamping jaw assembly at the other end during the clamping process, causing the arch frame to become unstable; at the same time, the preferred embodiment is not limited to the synchronous oil supply of the oil cylinders in each clamping jaw assembly, and can also be asynchronous oil supply, so as to realize the sequential grasping of each group of clamping jaw assemblies;

[0020] 3. In the preferred embodiment of the utility model, a support frame can be arranged on the base, which can increase the lifting support points for the clamping claw assembly when grabbing the arch frame, and at the same time play a limiting role, which can effectively avoid the instability of the arch frame during the lifting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0022] Figure 1 It is an axonometric diagram of the mechanical gripper in the embodiment of the utility model;

[0023] Figure 2 A cross-sectional view of a mechanical gripper in an embodiment of the utility model;

[0024] Figure 3 It is an axonometric view of the clamping jaw assembly in the embodiment of the utility model;

[0025] Figure 4 A cross-sectional view of a clamping jaw assembly in an embodiment of the utility model;

[0026] Figure 5 This is a schematic diagram of the gripping structure of the clamping claw assembly in the embodiment of the utility model;

[0027] Figure 6 This is a schematic diagram of a first connection method of the limit pin in an embodiment of the utility model;

[0028] Figure 7 This is a schematic diagram of a second connection method of the limit pin in the embodiment of the utility model;

[0029] Figure 8 It is an axonometric diagram of another implementation mode of the mechanical gripper in the embodiment of the utility model;

[0030] Fig. 9 It is a cross-sectional view of another implementation manner of the mechanical gripper in the embodiment of the utility model.

[0031] Reference numerals: base 1, ear seat 101, driving member 2, transmission member 3, slide groove 301, claw finger 4, pin shaft 5, limit pin 6, guide sleeve 7, nut 8, support frame 9, pressure block 10, arch frame 11.

[0032] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0034] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0035] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0036] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0038] like Figure 1 , Figure 2 A mechanical gripper disclosed in this embodiment is shown, which mainly includes a base 1 and at least one clamping jaw assembly.

[0039] The base 1 is a hollow frame structure composed of a base plate and side plates located on both sides of the base plate and extending downward, and the bottom of the base plate is a cavity. The clamping claw assembly is composed of a driving member 2, a transmission member 3 and two claw fingers 4.

[0040] The two claw fingers 4 are symmetrically hinged on both sides of the base 1. Specifically, the middle position of the claw finger 4 is fixedly connected with a pin shaft 5 by welding, bolt connection or key connection, and the two side plates on the base 1 are provided with ear seats 101 extending outward, and the pin shaft 5 and the ear seats 101 form a hinge to realize the rotational coordination between the claw finger 4 and the base 1. At the same time, the second end of the claw finger 4 is the clamping end, which is located above the base 1; the first end of the claw finger 4 is the driving end, which is located at the bottom of the base 1. By driving the two claw fingers 4 to rotate in opposite directions or back directions, the gripping action or release action of the clamp assembly can be realized, thereby realizing the gripping or release of the arch frame 11.

[0041] The transmission member 3 is arranged on the base 1, the driving member 2 is vertically arranged on the base 1, and the driving member 2 is connected to the transmission member 3 to drive the transmission member 3 to move on the base 1, and a slide groove 301 is provided on the transmission member 3, and the first end of the claw finger 4 slides with the slide groove 301, thereby driving the second ends of the two claw fingers 4 to move closer or apart during the displacement of the transmission member 3, thereby realizing the grasping or release of the arch frame 11.

[0042] refer to Figures 3 to 5 The driving member 2 is a cylinder fixedly connected to the bottom of the base plate on the base 1, and the driving member 2 is vertically distributed in the bottom of the base 1. The transmission member 3 is a block structure fixedly connected to the driving member 2, and the transmission member 3 can be lifted and displaced inside the base 1 during the extension and retraction of the driving member 2. The slide groove 301 on the transmission member 3 is a strip groove, and its length direction is the same as the spacing direction of the two claws 4, that is, the same as the width direction of the base 1.

[0043] Since the first ends of the two claw fingers 4 are both embedded in the slide groove 301 on the transmission member 3, and the two claw fingers 4 are symmetrical. When the driving member 2 drives the transmission member 3 to descend, the first ends of the two claw fingers 4 are pressed down, so that the first ends of the two claw fingers 4 slide in the opposite direction of the slide groove 301, so that the second ends of the two claw fingers 4 are close to each other, and the gripping action of the clamping claw assembly is realized. When the driving member 2 drives the transmission member 3 to rise, the first ends of the two claw fingers 4 are lifted up, so that the first ends of the two claw fingers 4 slide in the opposite direction of the slide groove 301, so that the second ends of the two claw fingers 4 are away from each other, and the release action of the clamping claw assembly is realized. This structural design uses the transmission member 3 with the slide groove 301 to drive the two claw fingers 4 to perform the gripping action or the release action, so that the driving member 2 is no longer directly connected to the two claw fingers 4, so the oil cylinder as the driving member 2 can be arranged vertically and can be hidden inside the base 1, which not only makes the structure of the mechanical gripper more compact and occupies less space, but also can effectively protect the oil cylinder from damage. Although the driving member 2 is shown as being connected to the end of the transmission member 3 , the driving member 2 may also be connected to the side of the transmission member 3 in a specific application process.

[0044] In the specific implementation process, the first end of the claw finger 4 is fixedly connected to the limit pin 6, and the limit pin 6 is sleeved with a guide sleeve 7, which is slidably connected in the slide groove 301. The limit pin 6 can be fixedly connected to the first end of the claw finger 4 by welding, that is, Figure 6 The limit pin 6 can also be set as a screw structure, and the limit pin 6 is fixedly connected to the first end of the claw finger 4 with the nut 8, that is, Figure 7 Alternatively, the limit pin 6 and the claw finger 4 can be connected by a key connection.

[0045] As a preferred embodiment, there are two slide grooves 301, which correspond to the claw fingers 4 one by one, and the first ends of the claw fingers 4 are slidably connected in the corresponding slide grooves 301. By arranging the two claw fingers 4 in different slide grooves 301, the first ends of the two claw fingers 4 are limited to a certain extent, thereby realizing the limitation of the maximum release position and the minimum gripping position of the clamping jaw assembly.

[0046] It is worth noting that if there are two slide grooves 301, the length direction of the slide groove 301 can also be set to be different from the spacing direction of the two claw fingers 4, and the two slide grooves 301 only need to be kept symmetrical along the spacing direction of the two claw fingers 4. In the specific application process, it is not limited to using a cylinder as the driving member 2, for example, a cylinder can also be used as the driving member 2, or a motor or hydraulic motor can be used in combination with a screw nut pair.

[0047] As a preferred embodiment, the number of the gripper jaw assemblies is more than two, and the gripper jaw assemblies are spaced apart and distributed on the base 1 along the length direction of the base 1. Figure 8 , Fig. 9 As shown, there are two clamping jaw assemblies, which are respectively located at the two ends of the base 1. By controlling the oil cylinders in each clamping jaw assembly to synchronously feed oil, the synchronous action of each clamping jaw assembly can be achieved, which avoids the problem that the arch frame 11 deviates from the center line of the clamping mechanism of the arch frame 11 after clamping due to the asynchrony of the clamping jaw assembly, and the problem that the arch frame 11 may become unstable due to the clamping jaw assembly at one end pushing the arch frame 11 to move to the contact of the clamping jaw assembly at the other end. At the same time, in the specific application process, it is not limited to the synchronous oil feeding of the oil cylinders in each clamping jaw assembly, and can also be asynchronous oil feeding, so as to achieve sequential grasping of each group of clamping jaw assemblies.

[0048] As a preferred embodiment, at least one support frame 9 is provided on the top of the base 1 for supporting and limiting the arch frame 11. Figure 8 , Fig. 9 As shown, there are two support frames 9, which are respectively located at both ends of the base 1 close to the position of the clamping claw assembly. The support frames 9 can increase the lifting support points for the clamping claw assembly when grabbing the arch frame 11, and at the same time play a limiting role, which can effectively prevent the arch frame 11 from becoming unstable during the lifting process.

[0049] As a preferred embodiment, the second end of the claw finger 4 is detachably connected to a pressure block 10, such as a rubber block, so as to prevent the claw finger 4 and the arch frame 11 from being compressed and deformed when the clamp assembly grasps the arch frame 11.

[0050] The above description is only a preferred embodiment of the utility model, and does not limit the patent scope of the utility model. All equivalent structural changes made by using the contents of the utility model specification and drawings under the utility model concept, or directly / indirectly used in other related technical fields are included in the patent protection scope of the utility model.

Claims

1. A mechanical gripper, characterized in that: It comprises a base and at least one clamping jaw assembly, wherein the clamping jaw assembly comprises a driving member, a transmission member and two claw fingers; The transmission member is arranged on the base, the driving member is vertically arranged on the base, and the driving member is connected to the transmission member to drive the transmission member to move on the base; The two claws are symmetrically hinged on both sides of the base, and a slide groove is provided on the transmission member. The first end of the claw is slidably matched with the slide groove to drive the second ends of the two claws to move closer or apart during the displacement of the transmission member.

2. The mechanical gripper according to claim 1, characterized in that: The slide groove is a strip groove, and its length direction is the same as the spacing direction of the two claw fingers.

3. The mechanical gripper according to claim 1, characterized in that: There are two slide grooves, which correspond to the claw fingers one by one, and the first ends of the claw fingers are slidably connected in the corresponding slide grooves.

4. The mechanical gripper according to claim 1, characterized in that: The transmission member is a block structure fixedly connected to the driving member. The transmission member can be lifted and displaced inside the base during the extension and retraction of the driving member.

5. The mechanical gripper according to claim 1, 2, 3 or 4, characterized in that: The first end of the claw finger is fixedly connected to a limit pin, the limit pin is sleeved with a guide sleeve, and the guide sleeve is slidably connected in the slide groove.

6. The mechanical gripper according to claim 1, 2, 3 or 4, characterized in that: The number of the clamping jaw assemblies is more than two, and the clamping jaw assemblies are distributed on the base at intervals along the length direction of the base.

7. The mechanical gripper according to claim 6, characterized in that: The driving parts in each of the clamping jaw assemblies are supplied with oil synchronously or asynchronously.

8. The mechanical gripper according to claim 1, 2, 3 or 4, characterized in that: At least one supporting frame is provided on the top of the base, which is used for lifting and limiting the arch frame.

9. The mechanical gripper according to claim 1 or 2 or 3 or 4, characterized in that: The second end of the claw finger is detachably connected with a pressing block.

10. The mechanical gripper according to claim 1 or 2 or 3 or 4, characterized in that: Ear plates are provided on both sides of the base corresponding to the positions where the claw fingers are connected; The middle part of the claw finger is hinged to the ear plate on the corresponding side through a pin shaft.

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