Mechanical gripper

Abstract

The utility model provides a mechanical gripper, and relates to the technical field of mechanical arms. A reversing driving piece is fixedly mounted on the butt joint supporting shaft through a connecting frame; the number of the rotating sleeve frames is four, and the four rotating sleeve frames are all rotationally connected to the butt joint supporting shaft. The pneumatic suction cup and a driving piece of the grabbing driving mechanism are the same driving piece, a pneumatic driving mechanism used for controlling the suction cup does not need to be arranged, the manufacturing cost of equipment is saved, the overall weight of the mechanical gripper is reduced, the burden of the driving mechanism of the mechanical gripper is relieved, and the problem that for a traditional mechanical arm, part of existing grippers are combined with an electric control suction cup, and the mechanical gripper cannot be driven easily is solved. The problems that in the prior art, two working modes of grabbing and adsorption are adopted, a driving mechanism of a claw rod needs to be arranged, meanwhile, a pneumatic driving mechanism for controlling a suction cup needs to be arranged, the total weight of the mechanical claw is increased, the operation burden of the driving mechanism of the mechanical claw is increased, the total size of the mechanical claw is increased, and work of the mechanical claw in a narrow space is not facilitated are solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical arms, and more specifically, particularly relates to a mechanical claw arm. Background Art

[0002] Robots are often used in the field of intelligent manufacturing. Robots can achieve different motion controls through multiple sets of drive motors or electric-controlled push cylinders. The control center controls the driving parts of the robot to move in a certain order and angle, thereby controlling the robot to grasp and transfer objects.

[0003] For traditional manipulators, the workpiece is grasped by closing the claw, and for plate workpieces, a suction cup is needed to adsorb and grasp the workpiece. Some existing grippers are combined with an electric-controlled suction cup, which has two working modes: grasping and adsorption. For such mechanical grippers, it is necessary to configure a driving mechanism for the claw rod and a pneumatic driving mechanism for controlling the suction cup, which increases the total weight of the mechanical gripper, increases the operating burden of the driving mechanism of the mechanical gripper, and increases the total volume of the mechanical gripper, which is not conducive to its operation in a small space. Utility Model Content

[0004] In order to solve the above technical problems, the utility model provides a mechanical gripper to solve the problem that, for a traditional mechanical gripper, the workpiece is grasped by closing the gripper, and for a plate workpiece, a suction cup is needed to adsorb and grasp the workpiece. Some existing grippers are combined with an electric-controlled suction cup, and have two working modes: grasping and adsorption. For such mechanical grippers, it is necessary to configure a driving mechanism for the claw rod and a pneumatic driving mechanism for controlling the suction cup, which increases the total weight of the mechanical gripper, increases the operating burden of the driving mechanism of the mechanical gripper, and increases the total volume of the mechanical gripper, which is not conducive to its work in a small space.

[0005] The purpose and effect of the mechanical claw hand of the utility model are achieved by the following specific technical means:

[0006] A mechanical claw hand specifically includes a docking support shaft; a reversing drive member is fixedly installed on the docking support shaft through a connecting frame; a rotating sleeve frame, the rotating sleeve frame is provided with four places, and the four rotating sleeve frames are rotatably connected to the docking support shaft; a clamping push cylinder, the clamping push cylinder is fixedly connected to the rotating sleeve frame by screws; a telescopic support rod, the telescopic support rod is movably connected to the inside of the rotating sleeve frame; a fixed clamping rod, the fixed clamping rod is fixedly connected to the outer end of the lower surface of the telescopic support rod; an air compression sleeve, the air compression sleeve is fixedly connected to the outer end of the upper surface of the rotating sleeve frame; a docking suction cup, the docking suction cup is fixedly connected above the air compression sleeve.

[0007] Furthermore, an active bevel gear is rotatably connected to the docking support shaft via a bearing, and four support shaft branch connecting rods are fixedly connected to the lower end of the docking support shaft. The four support shaft branch connecting rods are all perpendicular to the axis of the docking support shaft, and there is an angle of ninety degrees between two adjacent support shaft branch connecting rods.

[0008] Furthermore, a gear driving sleeve with a ring structure is fixedly connected to the upper surface of the active bevel gear, and gear teeth are formed on the outer surface of the gear driving sleeve. The rotating shaft of the reversing drive member is connected and drives the gear driving sleeve through a gear.

[0009] Furthermore, the inner end of the rotating sleeve is fixedly connected with a sleeve driven gear, the upper sleeve wall of the rotating sleeve is penetrated by a limited sleeve groove, and the sleeve driven gear is rotatably connected to the support shaft branch connecting rod through a bearing.

[0010] Furthermore, the inner end of the upper surface of the telescopic support rod is fixedly connected with a support rod limiting block, the outer surface of the support rod limiting block is fixedly connected with a support rod linkage push shaft, and the inner surface of the support rod limiting block is fixedly connected with the outer end of the push rod of the clamping push cylinder.

[0011] Furthermore, the outer end of the support rod linkage push shaft is fixedly connected with a linkage piston.

[0012] Furthermore, the air compression sleeve is a sleeve body with a rectangular cross-section, and a linkage piston is tightly and slidingly connected inside the sleeve body of the air compression sleeve. A connecting port with a circular hole structure is opened at the outer end of the upper surface of the air compression sleeve, and the connecting port is fixed to the air inlet of the docking suction cup.

[0013] Compared with the prior art, the utility model has the following beneficial effects:

[0014] 1. The mechanical claw hand in the present application has the functions of grasping and sucking with a suction cup, can grasp the workpiece, and can suck the plate-type workpiece with a smooth surface through the suction cup structure. It has diversified usage methods and good practicality. The two fixing methods can be quickly switched by remote control. The control method is convenient and can be automatically controlled by connecting to a PLC control system. The switching structure is simple, the transmission method is simple, the repair and maintenance are convenient, and the manufacturing cost is low.

[0015] 2. In the mechanical gripper of the present application, the driving element of the pneumatic suction cup and the grasping drive mechanism is the same driving element, and there is no need to set up a pneumatic drive mechanism for controlling the suction cup, which saves the manufacturing cost of the equipment, reduces the overall weight of the mechanical gripper, reduces the burden on the mechanical gripper drive mechanism (such as a mechanical arm), and has better practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the utility model.

[0017] Figure 2 It is a structural schematic diagram of the utility model when it is switched to the suction cup state.

[0018] Figure 3 It is a structural schematic diagram of the telescopic support rod of the utility model in an extended state.

[0019] Figure 4 It is a structural schematic diagram of the support shaft branch connecting rod of the utility model.

[0020] Figure 5 It is a structural schematic diagram of the telescopic support rod of the utility model.

[0021] Figure 6 It is a structural schematic diagram of the rotary sleeve frame of the utility model.

[0022] Figure 7 This utility model Figure 3 Schematic diagram of the structure with a partial enlargement at A.

[0023] In the figure, the corresponding relationship between the component names and the figure numbers is as follows:

[0024] 1. Docking support shaft; 101. Active bevel gear; 102. Gear drive sleeve; 103. Support shaft branch connecting rod; 2. Reversing drive member; 3. Rotating sleeve; 301. Sleeve driven gear; 302. Limit sleeve groove; 4. Clamping push cylinder; 5. Telescopic support rod; 501. Support rod limit connecting block; 502. Support rod linkage push shaft; 503. Linkage piston; 6. Fixed clamping rod; 7. Air compression sleeve; 701. Connecting port; 8. Docking suction cup. DETAILED DESCRIPTION

[0025] The implementation of the utility model is further described in detail below in conjunction with the drawings and examples.

[0026] As attached Figure 1 To Attachment Figure 7 As shown:

[0027] Embodiment 1: The utility model provides a mechanical claw, including a docking support shaft 1; a reversing drive member 2 is fixedly installed on the docking support shaft 1 through a connecting frame; a rotating sleeve frame 3, the rotating sleeve frame 3 is provided with four places, and the four rotating sleeve frames 3 are rotatably connected to the docking support shaft 1; a clamping push cylinder 4, the clamping push cylinder 4 is fixedly connected to the rotating sleeve frame 3 by screws; a telescopic support rod 5, the telescopic support rod 5 is movably connected to the inside of the rotating sleeve frame 3; a fixed clamping rod 6, the fixed clamping rod 6 is fixedly connected to the outer end of the lower surface of the telescopic support rod 5; an air compression sleeve 7, the air compression sleeve 7 is fixedly connected to the outer end of the upper surface of the rotating sleeve frame 3; a docking suction cup 8, the docking suction cup 8 is fixedly connected above the air compression sleeve 7.

[0028] Among them, an active bevel gear 101 is rotatably connected to the docking support shaft 1 through a bearing, and four support shaft branch connecting rods 103 are fixedly connected to the lower end of the docking support shaft 1. The four support shaft branch connecting rods 103 are all perpendicular to the axis of the docking support shaft 1, and there is an angle of ninety degrees between two adjacent support shaft branch connecting rods 103. The upper surface of the active bevel gear 101 is fixedly connected to a gear driving sleeve 102 with a circular ring structure, and the outer surface of the gear driving sleeve 102 is provided with gear teeth. The rotating shaft of the reversing drive member 2 is connected and drives the gear driving sleeve 102 through a gear; the active bevel gear 101 can be driven to rotate on the docking support shaft 1 by rotating the reversing drive member 2.

[0029] Among them, the inner end of the rotating sleeve 3 is fixedly connected with a sleeve driven gear 301, and the upper sleeve wall of the rotating sleeve 3 is penetrated to provide a limited sleeve groove 302; the four sleeve driven gears 301 are meshed and connected with the active bevel gear 101 to form a gear transmission. When the active bevel gear 101 is driven by the reversing drive member 2 to rotate, the active bevel gear 101 drives the four sleeve driven gears 301 to rotate, and the four sleeve driven gears 301 rotate on the support shaft branch connecting rod 103, driving the rotating sleeve 3 to rotate. When the four rotating sleeves 3 rotate 180 degrees, the positions of the fixed clamping rod 6 and the docking suction cup 8 can be interchanged, and the suction cup connection and the clamping connection can be used separately.

[0030] Embodiment 2: The inner end of the upper surface of the telescopic support rod 5 is fixedly connected with a support rod limiting block 501, and the outer surface of the support rod limiting block 501 is fixedly connected with a support rod linkage push shaft 502, and the inner surface of the support rod limiting block 501 is fixedly connected to the outer end of the push rod of the clamping push cylinder 4; the outer end of the support rod linkage push shaft 502 is fixedly connected with a linkage piston 503; the air compression sleeve 7 is a sleeve body with a rectangular cross-section, and the sleeve body of the air compression sleeve 7 is tightly and slidably connected with the linkage piston 503 inside, and the outer end of the upper surface of the air compression sleeve 7 is provided with a connecting port 701 with a circular hole structure, and the connecting port 701 is fixed to the air inlet of the docking suction cup 8; when the telescopic support rod 5 is driven by the clamping push cylinder 4 to perform a telescopic movement, the fixed clamp The rod 6 is driven to move, and the workpiece is clamped and controlled by the fixed clamping rod 6. When the telescopic support rod 5 moves inward, the linkage piston 503 is pulled inward through the action of the support rod linkage push shaft 502, so that the linkage piston 503 moves inside the air compression sleeve 7 in the direction away from the connecting port 701, so that the air pressure inside the air compression sleeve 7 is reduced. When the suction cup fits the smooth surface of the workpiece, the workpiece can be adsorbed, and the control of the suction cup adsorbing the workpiece is realized. When the docking suction cup 8 is in the upper position and runs without load, the linkage piston 503 will also move with the telescopic support rod 5, so that the linkage piston 503 runs without load inside the air compression sleeve 7, and the suction cup will not increase the operating burden of the clamping push cylinder 4.

[0031] Specific usage and function:

[0032] In the utility model, firstly, when the workpiece is grasped by the mechanical claw, the mechanical claw can be connected to an external control mechanism such as a mechanical arm or a gantry, and when the fixed clamp rod 6 is facing downward, the clamping cylinders 4 at four locations are controlled to contract simultaneously, so that the telescopic support rods 5 at four locations are contracted inward at the same time, and the fixed clamp rods 6 at four locations are synchronously moved inward to clamp the workpiece in the middle. However, when the grasped workpiece is a plate with a thin-walled structure, the plate-like workpiece cannot be clamped by the fixed clamp rod 6. At this time, the reversing drive member 2 can be controlled to rotate, so that the reversing drive member 2 controls the rotation of the active bevel gear 101 through gear transmission, and the active bevel gear 101 and the driven gears 301 of the four frames simultaneously form a gear transmission, and the rotating frame 3 at four locations is controlled to rotate one hundred and eighty degrees at the same time. , so that the fixed clamp rod 6 originally located below the rotating sleeve frame 3 rotates to the top of the rotating sleeve frame 3, and the docking suction cup 8 originally located above the rotating sleeve frame 3 rotates to the top of the rotating sleeve frame 3, and then the mechanical claw is controlled to approach the workpiece, so that the docking suction cup 8 fits the outer surface of the workpiece, and then the clamping push cylinders 4 at all four sides are controlled to shrink at the same time. When the telescopic support rod 5 moves inward, the linkage piston 503 is pulled inward through the action of the support rod linkage push shaft 502, so that the linkage piston 503 moves in the air compression sleeve 7 away from the connecting port 701, so that the air pressure inside the air compression sleeve 7 is reduced. When the suction cup fits the smooth surface of the workpiece, the workpiece can be adsorbed and fixed by the suction cup, thereby realizing two different ways of fixing the workpiece.

Claims

1. A mechanical claw hand, characterized in that: The invention comprises a docking support shaft (1); a reversing driving member (2) is fixedly mounted on the docking support shaft (1) via a connecting frame; a rotating sleeve frame (3), the rotating sleeve frame (3) is provided with four positions, and the four rotating sleeve frames (3) are all rotatably connected to the docking support shaft (1); a clamping push cylinder (4), the clamping push cylinder (4) is fixedly connected to the rotating sleeve frame (3) via screws; a telescopic support rod (5), the telescopic support rod (5) is movably connected to the inside of the rotating sleeve frame (3); a fixed clamping rod (6), the fixed clamping rod (6) is fixedly connected to the outer end of the lower surface of the telescopic support rod (5); an air compression sleeve (7), the air compression sleeve (7) is fixedly connected to the outer end of the upper surface of the rotating sleeve frame (3); and a docking suction cup (8), the docking suction cup (8) is fixedly connected above the air compression sleeve (7).

2. A mechanical gripper as claimed in claim 1, characterized in that: The docking support shaft (1) is rotatably connected to an active bevel gear (101) via a bearing, and the lower end of the docking support shaft (1) is fixedly connected to four support shaft branch connecting rods (103), the four support shaft branch connecting rods (103) are all perpendicular to the axis of the docking support shaft (1), and an angle of ninety degrees is formed between two adjacent support shaft branch connecting rods (103).

3. A mechanical gripper as claimed in claim 2, characterized in that: A gear driving sleeve (102) with a circular ring structure is fixedly connected to the upper surface of the active bevel gear (101), and gear teeth are provided on the outer surface of the gear driving sleeve (102). The rotating shaft of the reversing drive member (2) is connected to and drives the gear driving sleeve (102) through a gear.

4. A mechanical gripper as claimed in claim 2, characterized in that: The inner end of the rotating sleeve (3) is fixedly connected with a sleeve driven gear (301), the upper sleeve wall of the rotating sleeve (3) is penetrated by a limited sleeve groove (302), and the sleeve driven gear (301) is rotatably connected to the support shaft branch connecting rod (103) through a bearing.

5. A mechanical gripper as claimed in claim 1, characterized in that: The inner end of the upper surface of the telescopic support rod (5) is fixedly connected to a support rod limiting connection block (501), the outer surface of the support rod limiting connection block (501) is fixedly connected to a support rod linkage push shaft (502), and the inner surface of the support rod limiting connection block (501) is fixedly connected to the outer end of the push rod of the clamping push cylinder (4).

6. A mechanical gripper as claimed in claim 5, characterized in that: The outer end of the support rod linkage push shaft (502) is fixedly connected with a linkage piston (503).

7. A mechanical gripper as claimed in claim 6, characterized in that: The air compression sleeve (7) is a sleeve body with a rectangular cross section, and a linkage piston (503) is tightly and slidably connected inside the sleeve body of the air compression sleeve (7). A connecting port (701) with a circular hole structure is opened at the outer end of the upper surface of the air compression sleeve (7), and the connecting port (701) is fixed to the air inlet of the docking suction cup (8).

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