Fabricated gripper

Abstract

The utility model relates to the technical field of manipulators, and provides an assembled gripper which comprises two connecting plates, a first motor is arranged on the opposite sides of the two connecting plates, the output end of the first motor is fixedly connected with a connecting support, and a mounting plate is fixedly mounted at the bottom of the connecting support; the first motor is started to drive the connecting support to rotate, then the horizontal clamping position of the gripper supports is adjusted, the vacuum generator is started, the vacuum generator generates negative pressure suction force through the suction connecting pipe, materials are sucked through the vacuum suction cup, and the two gripper supports are driven to be close to each other through the adjusting mechanism. According to the material clamping device, the material is clamped in an auxiliary mode, the phenomenon that the material falls off is effectively prevented, the pressure sensor is used for detecting the clamping pressure, the problems that the material is damaged due to too large pressure and the material is not clamped tightly due to too small pressure are solved, and therefore the purpose that the clamping force is detected when the material is clamped is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, and specifically to an assembled gripper. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms to grasp, carry objects or operate tools according to a fixed program. It is mainly composed of three parts: an actuator, a drive mechanism and a control system. It can replace heavy labor to achieve mechanization and automation of production, and can operate in a harmful environment to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy. The manipulator is of great significance in improving production efficiency and production safety.

[0003] Known Chinese public authorized patent: (publication number: CN201822027143.8) discloses a mechanical gripper, including a base plate, a clamping assembly and a supporting mechanism, including a left clamping member and a right clamping member, at least one of which is slidably connected to the base plate and can approach or move away from each other in the left and right directions; the supporting mechanism includes a left supporting member rotatably connected to the left clamping member and whose rotation axis is in the front-to-back direction, a left driver for driving the left supporting member to rotate, a right supporting member rotatably connected to the right clamping member and whose rotation axis is in the front-to-back direction, and a right driver for driving the right supporting member to rotate. When clamping a material with a large volume and a fixed shape, the utility model realizes the clamping and loosening of the material through the left clamping member and the right clamping member. When grasping a material with a small volume or a variable shape, the material is grasped or dropped by the reciprocating motion of the left supporting member and the right supporting member in the grasping state and the open state.

[0004] However, in the implementation of relevant technologies, it was found that the above-mentioned mechanical gripper has the following problems: during use, the prior art is difficult to prevent the gripper from falling off when clamping materials, and the material may fall off and fall, causing damage to the material. It is also difficult to detect the clamping force when clamping the material, which can easily lead to damage to the material when the clamping pressure is too large, and the material may not be clamped tightly when the clamping pressure is too small. Therefore, an assembled gripper is proposed. Utility Model Content

[0005] The utility model proposes an assembled gripper, which solves the problems in the related art that it is difficult to prevent the gripper from falling off when clamping materials, which in turn causes the materials to fall off and fall and cause damage to the materials, and it is difficult to detect the clamping force when clamping materials, which easily leads to the problem that when the clamping pressure is too large, the materials are damaged, and when the clamping pressure is too small, the materials are not clamped tightly.

[0006] The technical solution of the utility model is as follows: an assembled gripper, comprising: two connecting plates, a first motor is arranged on one side opposite to the two connecting plates, a connecting bracket is fixedly connected to the output end of the first motor, a mounting plate is fixedly installed at the bottom of the connecting bracket, a connecting pipe is fixedly installed at the bottom of the mounting plate, and a plurality of vacuum suction cups are fixedly installed on the outer side wall of the connecting pipe;

[0007] The mounting plate is provided with a mounting groove inside, a vacuum generator is fixedly mounted on the inner bottom wall of the mounting groove, and the vacuum generator is connected to the connecting pipe through a pipeline;

[0008] An adjustment mechanism is arranged at the bottom of the mounting plate, and two gripper brackets are arranged on the adjustment mechanism. A pressure sensor is arranged on the inner wall of one of the two gripper brackets through a slot.

[0009] Preferably, the adjustment mechanism includes two slide grooves relatively opened at the bottom of the mounting plate, the interiors of the two slide grooves are relatively slidably connected with two sliders, and the bottoms of the two sliders are connected to the two gripper brackets.

[0010] Preferably, one side of the inner wall of the two slide grooves is rotatably connected with a bidirectional screw rod, and the bidirectional screw rod is threadedly connected to the two sliding blocks.

[0011] Preferably, a second motor is fixedly mounted on one side of the mounting plate, and the inner walls of the two slide grooves in which the bidirectional screw rods are provided are provided with through holes matching the second motor, and the output end of the second motor is connected to the bidirectional screw rod via the through holes.

[0012] Preferably, one end of the outer side walls of the two connecting plates is connected with four bolts through four threaded openings, and the outer side walls of the four bolts are all threadedly connected with nuts.

[0013] Preferably, the first motor is fixedly mounted to the two connecting plates by bolts.

[0014] The working principle and beneficial effects of the utility model are:

[0015] 1. By starting the first motor, the first motor drives the connecting bracket to rotate, thereby adjusting the horizontal clamping position of the gripper bracket. After adjusting to a suitable position, the vacuum generator is started, and the vacuum generator generates negative pressure suction through the suction connecting pipe, and the material is sucked through the vacuum suction cup, and the two gripper brackets are driven to approach each other through the adjustment mechanism to assist in clamping the material, effectively preventing the material from falling off;

[0016] 2. The pressure sensor is used to detect the clamping pressure to prevent the material from being damaged by excessive pressure and the material from being loosely clamped due to insufficient pressure, thereby achieving the purpose of detecting the clamping force when clamping the material. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0018] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the utility model;

[0019] Figure 2 It is a schematic diagram of the overall side-view stereoscopic structure of the utility model;

[0020] Figure 3 It is a schematic diagram of the overall bottom three-dimensional structure of the utility model;

[0021] Figure 4 It is a schematic diagram of the cross-sectional three-dimensional structure of the mounting plate of the utility model.

[0022] In the figure: 1. connecting plate; 2. first motor; 3. bracket; 4. mounting plate; 5. connecting pipe; 6. vacuum suction cup; 7. mounting groove; 8. vacuum generator; 9. adjusting mechanism; 10. gripper bracket; 11. pressure sensor; 12. bolt; 13. nut; 90. slide groove; 91. slider; 92. bidirectional screw rod; 93. second motor. DETAILED DESCRIPTION

[0023] The following will be combined with 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.

[0024] Embodiment 1

[0025] See also Figure 1 - Figure 4 , an assembled gripper, comprising: two connecting plates 1, a first motor 2 is arranged on one side opposite to the two connecting plates 1, a connecting bracket 3 is fixedly connected to the output end of the first motor 2, a mounting plate 4 is fixedly installed at the bottom of the connecting bracket 3, a connecting pipe 5 is fixedly installed at the bottom of the mounting plate 4, and a plurality of vacuum suction cups 6 are fixedly installed on the outer wall of the connecting pipe 5;

[0026] The mounting plate 4 has a mounting groove 7 formed inside, and a vacuum generator 8 is fixedly mounted on the inner bottom wall of the mounting groove 7. The vacuum generator 8 is connected to the connecting pipe 5 through a pipeline.

[0027] An adjusting mechanism 9 is disposed at the bottom of the mounting plate 4 , and two gripping brackets 10 are disposed on the adjusting mechanism 9 . A pressure sensor 11 is disposed on the inner wall of one of the two gripping brackets 10 through a slot.

[0028] The utility model provides a method of adjusting the horizontal clamping position of the gripper bracket 10 by starting the first motor 2, which drives the connecting bracket 3 to rotate. After adjusting to the appropriate position, the vacuum generator 8 is started, and the vacuum generator 8 generates negative pressure suction through the suction connecting pipe 5, sucks the material through the vacuum suction cup 6, and drives the two gripper brackets 10 to approach each other through the adjustment mechanism 9, so as to assist in clamping the material and effectively prevent the material from falling off. The pressure sensor 11 is used to detect the clamping pressure to prevent the material from being damaged by excessive pressure and the material from being loosely clamped due to insufficient pressure, thereby achieving the purpose of detecting the clamping force when clamping the material.

[0029] Embodiment 2

[0030] Based on the first embodiment, the present embodiment includes: the adjusting mechanism 9 includes two slide grooves 90 relatively opened at the bottom of the mounting plate 4, the interiors of the two slide grooves 90 are relatively slidably connected with two sliders 91, the bottoms of the two sliders 91 are connected with the two gripper brackets 10, one side of the inner wall of the two slide grooves 90 is rotatably connected with a bidirectional screw rod 92, the bidirectional screw rod 92 is threadedly connected to the two sliders 91, a second motor 93 is fixedly installed on one side of the mounting plate 4, the inner walls of the two slide grooves 90 in which the bidirectional screw rod 92 is provided are provided with a through hole matching the second motor 93, and the output end of the second motor 93 is connected with the bidirectional screw rod 92 through the through hole.

[0031] The technical solution provided by this embodiment is: by starting the second motor 93, the second motor 93 drives the bidirectional screw rod 92 to rotate inside the slide groove 90, and the two sliders 91 are linked to slide inside the slide groove 90 and approach each other, and drive the two gripper brackets 10 on the two sliders 91 to approach each other, so as to clamp and grab the material, thereby realizing the forward or reverse rotation of the second motor 93 to drive the bidirectional screw rod 92 to rotate, and the distance between the two grippers can be adjusted to clamp materials of different sizes.

[0032] Furthermore, one end of the outer wall of the two connecting plates 1 is connected with four bolts 12 through four threaded openings, and the outer walls of the four bolts 12 are threadedly connected with nuts 13, and the first motor 2 and the two connecting plates 1 are fixedly installed by bolts.

[0033] Specifically, the connecting plate 1 is used to connect the connecting piece to the connecting plate 1 , the bolts 12 are used to fix the connecting plate 1 to the connecting piece, and the bolt 1 is used to connect and fix the connecting plate 1 to the first motor 2 .

[0034] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. 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. An assembled gripper, characterized in that: include: Two connecting plates (1), a first motor (2) being arranged on opposite sides of the two connecting plates (1), an output end of the first motor (2) being fixedly connected to a connecting bracket (3), a mounting plate (4) being fixedly mounted on the bottom of the connecting bracket (3), a connecting pipe (5) being fixedly mounted on the bottom of the mounting plate (4), and a plurality of vacuum suction cups (6) being fixedly mounted on the outer side wall of the connecting pipe (5); The mounting plate (4) is provided with a mounting groove (7) inside, a vacuum generator (8) is fixedly mounted on the inner bottom wall of the mounting groove (7), and the vacuum generator (8) is connected to the connecting pipe (5) via a pipeline; An adjustment mechanism (9) is provided at the bottom of the mounting plate (4), two gripper brackets (10) are provided on the adjustment mechanism (9), and a pressure sensor (11) is provided on the inner wall of one of the two gripper brackets (10) through a slot.

2. The assembled gripper according to claim 1, characterized in that: The adjustment mechanism (9) comprises two slide grooves (90) which are relatively opened at the bottom of the mounting plate (4), and two sliders (91) are relatively slidably connected inside the two slide grooves (90), and the bottoms of the two sliders (91) are connected to the two gripper brackets (10).

3. The assembled gripper according to claim 2, characterized in that: A bidirectional screw rod (92) is rotatably connected to one side of the inner wall of the two slide grooves (90), and the bidirectional screw rod (92) is threadedly connected to the two sliding blocks (91).

4. The assembled gripper according to claim 3, characterized in that: A second motor (93) is fixedly mounted on one side of the mounting plate (4); the inner walls of the two slide grooves (90) each having a bidirectional screw rod (92) are provided with a through hole for matching the second motor (93); and the output end of the second motor (93) is connected to the bidirectional screw rod (92) via the through hole.

5. The assembled gripper according to claim 1, characterized in that: One end of the outer side walls of the two connecting plates (1) is connected to four bolts (12) through four threaded openings, and the outer side walls of the four bolts (12) are all threadedly connected to nuts (13).

6. The assembled gripper according to claim 1, characterized in that: The first motor (2) and the two connecting plates (1) are fixedly mounted by bolts.

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