Mechanical gripper with multi-directional gripping structure

Abstract

The utility model discloses a mechanical gripper with a multidirectional gripping structure, which comprises a fixed seat, a hydraulic rod fixedly connected to the lower end of the fixed seat, a first motor fixedly connected to one end of the fixed seat, a reciprocating screw rod connected to one end of the first motor, a ball slider assembly movably connected to the outer wall of the reciprocating screw rod, and a ball slider assembly movably connected to the outer wall of the ball slider assembly. The lower end of the ball slider assembly is connected with a supporting frame; the upper end of the supporting frame is connected with a second motor; the lower end of the second motor is connected with a second power shaft; the lower end of the second power shaft is connected with a fixing block; the mechanical claw with the multi-direction grabbing structure has the advantages that the mechanical claw can grab objects in multiple directions, so that the working efficiency of the mechanical claw is high, the grabbed objects can be clamped more firmly, and the purposes of solving problems and improving practical value are achieved through the technology.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a mechanical gripper with a multi-directional gripping structure. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms and is used to grab, move objects or operate tools according to a fixed program. It can be programmed to complete various expected operations, and has the advantages of both human and mechanical machines in structure and performance. The manipulator is the earliest industrial robot and also the earliest modern robot. It can replace heavy human labor to realize mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

[0003] However, currently the mechanical grasping direction is single and it is not possible to grasp in multiple directions, and there is a risk of the grasped objects falling.

[0004] In view of this, research and improvements are conducted on the existing problems, and a mechanical gripper with a multi-directional grasping structure is provided. The mechanical gripper has the advantages of being able to grasp objects in multiple directions, thereby increasing its working efficiency, and also being able to clamp the grasped objects more firmly. The purpose is to solve the problem and improve the practical value through this technology. Utility Model Content

[0005] The utility model aims to solve the shortcomings in the prior art and proposes a mechanical gripper with a multi-directional gripping structure.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a mechanical gripper with a multi-directional grasping structure, comprising a fixed seat, the lower end of the fixed seat is fixedly connected to a hydraulic rod, one end of the fixed seat is fixedly connected to a first motor, one end of the first motor is connected to a reciprocating screw, the outer wall of the reciprocating screw is movably connected to a ball slider assembly, the front of the ball slider assembly is fixedly connected to a fixed slider, the lower end of the ball slider assembly is fixedly connected to a support frame, the upper end of the support frame is fixedly connected to a second motor, the lower end of the second motor is connected to a second power shaft, and the lower end of the second power shaft A fixed block is fixedly connected, a third motor is fixedly connected to the back of the fixed block, a third power shaft is connected to the front of the third motor, a rotating block is fixedly connected to the outer wall of the third power shaft, a grabbing body is fixedly connected to the lower end of the rotating block, a supporting cylinder is fixedly connected to the inside of the grabbing body, a fixed frame is fixedly connected to the lower end of the supporting cylinder, a telescopic cylinder is fixedly connected to the outer wall of the fixed frame, a grabbing assembly is fixedly connected to the outer wall of the telescopic cylinder, an air pump structure is fixedly connected to the back of the air pump structure, and a connecting pipe is fixedly connected to the back of the connecting pipe. An adsorption disk is fixedly connected to the back of the connecting pipe.

[0007] As a further description of the above technical solution:

[0008] The fixed sliding blocks are distributed on the front and back sides of the ball slider assembly, and the outer walls of the fixed sliding blocks are slidably connected to the fixed seats.

[0009] As a further description of the above technical solution:

[0010] The fixing block is rotatably connected to the fixing seat via a second power shaft, and a long hole is provided at the lower end of the fixing seat.

[0011] As a further description of the above technical solution:

[0012] The number of the telescopic cylinders is two groups, and the number of the grabbing components is two groups.

[0013] As a further description of the above technical solution:

[0014] The support frame is connected to the ball slider assembly by welding, and the grab body is connected to the rotating block by welding.

[0015] As a further description of the above technical solution:

[0016] A hole is provided at the lower end of the fixed block, and the grabbing body is rotatably connected to the fixed block via the rotating block and the third power shaft.

[0017] As a further description of the above technical solution:

[0018] The shape of the adsorption disk is funnel-shaped, and the outer wall of the fixed frame is slidably connected to the grabbing body.

[0019] The utility model has the following beneficial effects:

[0020] A mechanical grabber with a multi-directional grasping structure can move and rotate a grasping body and adjust the angle of the grasping body through the arrangement of a first motor, a reciprocating screw, a ball slider assembly, a fixed slider, a support frame, a second motor, a second power shaft, a fixed block, a third motor, a third power shaft, and a rotating block, so as to grasp objects in different directions; through the arrangement of a fixed frame, a telescopic cylinder, a grasping assembly, an air pump structure, a connecting pipe, and an adsorption plate, negative pressure adsorption can be used to grasp objects, so that the grasping stability is good and the objects will not fall easily. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the overall structure of a mechanical gripper with a multi-directional gripping structure proposed by the utility model;

[0022] Figure 2 This is a front plan view of the fixed seat portion of a mechanical gripper with a multi-directional gripping structure proposed by the utility model;

[0023] Figure 3 It is a side plan view of the grasping main body part of a mechanical grasping structure with a multi-directional grasping structure proposed by the utility model.

[0024] Legend:

[0025] 1. Fixed seat; 2. Hydraulic rod; 3. First motor; 4. Reciprocating screw; 5. Ball slider assembly; 6. Fixed slider; 7. Support frame; 8. Second motor; 9. Second power shaft; 10. Fixed block; 11. Third motor; 12. Third power shaft; 13. Rotating block; 14. Grabbing body; 15. Support cylinder; 16. Fixed frame; 17. Telescopic cylinder; 18. Grabbing assembly; 19. Air pump structure; 20. Connecting pipe; 21. Adsorption plate. DETAILED DESCRIPTION

[0026] 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 in 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.

[0027] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention; the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance. In addition, 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 the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] Reference Figure 1-3 The utility model provides an embodiment: a mechanical grab with a multi-directional grabbing structure, including a fixed seat 1, a hydraulic rod 2 is fixedly connected to the lower end of the fixed seat 1, a first motor 3 is fixedly connected to one end of the fixed seat 1, a reciprocating screw 4 is connected to one end of the first motor 3, a ball slider assembly 5 is movably connected to the outer wall of the reciprocating screw 4, a fixed slider 6 is fixedly connected to the front of the ball slider assembly 5, a support frame 7 is fixedly connected to the lower end of the ball slider assembly 5, a second motor 8 is fixedly connected to the upper end of the support frame 7, a second power shaft 9 is connected to the lower end of the second motor 8, a fixed block 10 is fixedly connected to the lower end of the second power shaft 9, and the fixed block 10 A third motor 11 is fixedly connected to the back side, a third power shaft 12 is connected to the front side of the third motor 11, a rotating block 13 is fixedly connected to the outer wall of the third power shaft 12, a grabbing body 14 is fixedly connected to the lower end of the rotating block 13, a supporting cylinder 15 is fixedly connected to the inside of the grabbing body 14, a fixed frame 16 is fixedly connected to the lower end of the supporting cylinder 15, a telescopic cylinder 17 is fixedly connected to the outer wall of the fixed frame 16, a grabbing assembly 18 is fixedly connected to the outer wall of the telescopic cylinder 17, an air pump structure 19 is fixedly connected to the outer wall of the grabbing assembly 18, a connecting pipe 20 is fixedly connected to the back side of the air pump structure 19, and a suction plate 21 is fixedly connected to the back side of the connecting pipe 20.

[0029] A mechanical grabber with a multi-directional grasping structure can move and rotate a grasping body 14 and adjust the angle of the grasping body 14 through the arrangement of a first motor 3, a reciprocating screw 4, a ball slider assembly 5, a fixed slider 6, a support frame 7, a second motor 8, a second power shaft 9, a fixed block 10, a third motor 11, a third power shaft 12, and a rotating block 13, so as to grasp objects in different directions; through the arrangement of a fixed frame 16, a telescopic cylinder 17, a grasping assembly 18, an air pump structure 19, a connecting pipe 20, and an adsorption plate 21, it can grasp objects through negative pressure adsorption, so that the grasping stability is good and the objects will not fall easily.

[0030] Specifically, the fixed sliders 6 are distributed on the front and back of the ball slider assembly 5 , and the outer walls of the fixed sliders 6 are slidably connected to the fixing seat 1 , so that the ball slider assembly 5 can move with good stability.

[0031] Specifically, the fixing block 10 is rotatably connected to the fixing seat 1 via the second power shaft 9 , and a long hole is provided at the lower end of the fixing seat 1 , so that the fixing block 10 can be moved and rotated.

[0032] Specifically, the number of the telescopic cylinders 17 is two groups, which is convenient for adjusting the height of the grasping body 14, and the number of the grasping components 18 is two groups, which has a good effect on grasping objects.

[0033] Specifically, the support frame 7 is connected to the ball slider assembly 5 by welding, and the grab body 14 is connected to the rotating block 13 by welding, thereby increasing the stability of the overall structural connection.

[0034] Specifically, a hole is opened at the lower end of the fixed block 10, and the grabbing body 14 is rotatably connected to the fixed block 10 through the rotating block 13 and the third power shaft 12. The grabbing body 14 can be rotated and adjusted to enable it to grab objects in multiple directions.

[0035] Specifically, the shape of the adsorption plate 21 is funnel-shaped, and the outer wall of the fixed frame 16 is slidably connected to the grasping body 14 so that it can be firmly adsorbed to the grasped object.

[0036] Working principle: When in use, the hydraulic rod 2 adjusts the height of the fixed seat 1, and then the supporting cylinder 15 moves the fixed frame 16, and then the telescopic cylinder 17 moves the grabbing assembly 18 to clamp the object, and at the same time the air pump structure 19 extracts the air inside the adsorption plate 21 through the connecting pipe 20, thereby generating negative pressure, which makes the object adsorbed more firmly, and the third motor 11 can rotate the grabbing body 14 through the third power shaft 12 and the rotating block 13, so that it can grab objects in different directions and positions, and the second motor 8 rotates the fixed block 10 through the second power shaft 9 to adjust the angle of the object clamping and placement, and the first motor 3 moves the clamped object through the reciprocating screw 4 and the ball slider assembly 5 to place it in different positions.

[0037] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A mechanical gripper with a multi-directional gripping structure, comprising a fixing seat (1), characterized in that: The lower end of the fixed seat (1) is fixedly connected to a hydraulic rod (2), one end of the fixed seat (1) is fixedly connected to a first motor (3), one end of the first motor (3) is connected to a reciprocating screw (4), the outer wall of the reciprocating screw (4) is movably connected to a ball slider assembly (5), the front of the ball slider assembly (5) is fixedly connected to a fixed slider (6), the lower end of the ball slider assembly (5) is fixedly connected to a support frame (7), the upper end of the support frame (7) is fixedly connected to a second motor (8), the lower end of the second motor (8) is connected to a second power shaft (9), the lower end of the second power shaft (9) is fixedly connected to a fixed block (10), the back of the fixed block (10) is fixedly connected to a third motor (11), the third motor (11) is fixedly connected to the outer wall of the fixed block (10), and the third motor (11) is fixedly connected to the outer wall of the fixed block (10). The front of the machine (11) is connected to a third power shaft (12), the outer wall of the third power shaft (12) is fixedly connected to a rotating block (13), the lower end of the rotating block (13) is fixedly connected to a grabbing body (14), the interior of the grabbing body (14) is fixedly connected to a supporting cylinder (15), the lower end of the supporting cylinder (15) is fixedly connected to a fixed frame (16), the outer wall of the fixed frame (16) is fixedly connected to a telescopic cylinder (17), the outer wall of the telescopic cylinder (17) is fixedly connected to a grabbing assembly (18), the outer wall of the grabbing assembly (18) is fixedly connected to an air pump structure (19), the back of the air pump structure (19) is fixedly connected to a connecting pipe (20), and the back of the connecting pipe (20) is fixedly connected to a suction plate (21).

2. The mechanical gripper with a multi-directional gripping structure according to claim 1, characterized in that: The fixed sliding blocks (6) are distributed on the front and back sides of the ball slider assembly (5), and the outer wall of the fixed sliding blocks (6) is slidably connected to the fixed seat (1).

3. The mechanical gripper with a multi-directional gripping structure according to claim 1, characterized in that: The fixing block (10) is rotatably connected to the fixing seat (1) via a second power shaft (9), and a long hole is provided at the lower end of the fixing seat (1).

4. The mechanical gripper with a multi-directional gripping structure according to claim 1, characterized in that: The number of the telescopic cylinders (17) is two groups, and the number of the grabbing components (18) is two groups.

5. The mechanical gripper with a multi-directional gripping structure according to claim 1, characterized in that: The support frame (7) is connected to the ball slider assembly (5) by welding, and the gripping body (14) is connected to the rotating block (13) by welding.

6. The mechanical gripper with a multi-directional gripping structure according to claim 1, characterized in that: A hole is provided at the lower end of the fixed block (10), and the grabbing body (14) is rotatably connected to the fixed block (10) via a rotating block (13) and a third power shaft (12).

7. The mechanical gripper with a multi-directional gripping structure according to claim 1, characterized in that: The shape of the adsorption disk (21) is funnel-shaped, and the outer wall of the fixed frame (16) is slidably connected to the grabbing body (14).

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