Mechanical gripper for shaft parts

Abstract

The utility model relates to a mechanical gripper for shaft parts, which comprises a mounting plate connected with a mechanical arm, a rotating component is arranged on the mounting plate, a main shaft is rotatably mounted below the mounting plate through the rotating component, the middle position of a transverse plate is fixed below the main shaft, and two groups of clamping components are symmetrically arranged on two sides of the transverse plate. The clamping assembly comprises at least two lower connecting claws, an upper pressing claw and a first air cylinder, the lower connecting claws are arranged below the transverse plate in parallel, the lower portions of the lower connecting claws are bent upwards to form grooves, the first air cylinder is fixed to the transverse plate, the upper portion of the upper pressing claw is fixed to a piston shaft of the first air cylinder, a groove is formed in the lower portion of the upper pressing claw, and the lower portion of the upper pressing claw is fixed to a piston shaft of the first air cylinder. And the upper pressing claw and the lower connecting claw are matched to tightly grasp the shaft part. The shaft part grabbing device can be suitable for grabbing shaft parts of various specifications, is stable and firm during grabbing and is not prone to falling off, and the transfer efficiency of the shaft parts is effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a mechanical gripper for shaft parts. 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 grasp, carry objects or operate tools according to a fixed procedure. It can replace heavy labor to achieve 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 and atomic energy. In the composition structure of the manipulator, its grasping mechanism is the final action execution component. When the manipulator moves to the specified position, the grasping mechanism operates to complete the clamping or loosening action, so as to realize the pick-up and processing of external parts.

[0003] However, during the process of grasping and carrying shaft parts, due to the particularity of their cylindrical shape, most manipulators have problems such as loose grasping, single specifications, and easy falling off. Utility Model Content

[0004] In view of the deficiencies in the prior art, the utility model provides a mechanical gripper for shaft parts, which can adapt to the gripping of shaft parts of various specifications, is stable and firm during gripping, and is not easy to fall off, thereby effectively improving the transportation efficiency of shaft parts.

[0005] The utility model is realized by the following technical solutions:

[0006] A mechanical gripper for shaft parts, including a mounting plate connected to a mechanical arm, a rotating assembly being arranged on the mounting plate, a main shaft being rotatably mounted below the mounting plate through the rotating assembly, a middle position of a cross plate being fixed below the main shaft, two groups of clamping assemblies being symmetrically arranged on both sides of the cross plate, the clamping assemblies including a lower connecting claw, an upper pressure claw and a cylinder 1, at least two lower connecting claws being arranged, the lower connecting claws being arranged in parallel below the cross plate, and the lower part of the lower connecting claws being bent upward to form a groove, the cylinder 1 being fixed on the cross plate and at least one of the cylinders being arranged, the upper part of the upper pressure claw being fixed on the piston shaft of the cylinder 1, a groove being provided below the upper pressure claw, and the upper pressure claw and the lower connecting claw cooperating to grip shaft parts.

[0007] Preferably, the rotating assembly includes cylinder 2, a rack, a gear and a slide rail slider group. The gear rotation is arranged below the mounting plate, the main shaft is fixed on the gear, and the slide rail slider group is provided with two groups. The two groups of slide rail slider groups are respectively fixed on the mounting plates on both sides of the gear, the rack is fixed on the inner side of the slider, the rack and the gear are meshed, the cylinder 2 is fixed on the mounting plate on the side of the pulley slider group, and the piston rod of the cylinder 2 is fixedly connected to the side of the slider.

[0008] Preferably, the lower claw is installed under the cross plate through a slide rail slider group, the slide rail is fixed under the cross plate, the lower claw is fixed under the slider, a fixed block is provided on the side of the slider, the side of the fixed block is fixed to the slider, a strip groove is provided on the cross plate corresponding to the moving track of the fixed block, and the top of the fixed block is fixed to the cross plate through the strip groove.

[0009] Preferably, a long bolt is arranged above the fixing block, and the long bolt passes through the strip groove to fix the fixing block on the transverse plate.

[0010] Preferably, a limit assembly is provided on the mounting plate, the limit assembly includes a limit cylinder, stop block 1 and stop block 2, the limit cylinder is fixed on the mounting plate, a through hole is opened on the mounting plate for the piston rod of the limit cylinder to pass through, stop block 1 is provided on the left side of the gear, stop block 1 is fixed on the piston rod of the limit cylinder, stop block 2 is provided on the right side of the gear, and stop block 2 is fixed below the mounting plate, and impact block 1 and impact block 2 are respectively provided on both side surfaces of the main shaft, and the rotation angle of the main shaft is limited by the cooperation of the stop block and the impact block.

[0011] Preferably, a triangular reinforcing plate is provided between the side surface of the main shaft and the transverse plate, and two ends of the reinforcing plate are respectively fixed to the main shaft and the transverse plate.

[0012] To sum up, the beneficial technical effects of the utility model are as follows: during transportation, the upper pressure claws and the lower claws cooperate with each other to press and fix the shaft parts, ensuring that they are stable and do not fall off during transportation; the lower claws are installed on the cross plate through the slide rail slider group, and the distance between the lower claws can be freely adjusted to adapt to shaft parts of different lengths and ensure stability during load-bearing; the notification cylinder 2 drives the gear to rotate by pushing the gear linear motion, which can drive the main shaft, cross plate and clamping assembly to rotate synchronously and flexibly adjust the transportation angle; the rotation angle of the main shaft is limited by the cooperation of the block and the bump block to prevent the rotation angle of the main shaft from being too large during transportation, which causes the transportation positioning to be offset. In summary, the utility model can adapt to the grasping of shaft parts of various specifications, is stable and firm during grasping, and is not easy to fall off, effectively improving the transportation efficiency of shaft parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0014] Figure 2 It is the front view of the utility model;

[0015] Figure 3 It is a plan view of a partial structure of the utility model.

[0016] In the figure, 1. mounting plate; 2. main shaft; 3. cross plate; 4. lower connecting claw; 5. upper pressing claw; 6. cylinder one; 7. cylinder two; 8. rack; 9. gear; 10. fixing block; 11. limiting cylinder; 12. stop block one; 13. stop block two; 14. bump block one; 15. bump block two. DETAILED DESCRIPTION

[0017] The utility model is further described in detail below in conjunction with the accompanying drawings.

[0018] Reference Figure 1-3 A mechanical gripper for shaft parts, including a mounting plate 1 for connecting to an external mechanical arm, a main shaft 2 is arranged above and below the mounting plate 1, the main shaft 2 is rotatably mounted on the mounting plate 1 through a rotating assembly, a cross plate 3 is arranged below the main shaft 2, the middle of the cross plate 3 is fixed to the main shaft 2 by bolts, a triangular reinforcement plate is arranged between the side of the main shaft 2 and the cross plate 3, the two ends of the reinforcement plate are respectively fixed to the main shaft 2 and the cross plate 3, two groups of clamping assemblies are symmetrically arranged on both sides of the cross plate 3, the clamping assemblies are used to clamp and fix shaft parts, and the main shaft 2, the cross plate 3 and the clamping assembly are driven to rotate synchronously through the rotating assembly.

[0019] The rotating assembly includes a cylinder 27, a rack 8, a gear 9 and a slide rail slider group. The gear 9 is rotatably hoisted under the mounting plate 1. The upper end of the main shaft 2 is fixed to the end face of the gear 9 by bolts. There are two groups of slide rail slider groups. The two groups of slide rail slider groups are respectively fixed on the mounting plates 1 on both sides of the gear 9. The slide rails are fixed under the mounting plate 1 by bolts. The sliders are slidably assembled on the slide rails. The rack 8 is fixed on the inner side of the slider. The rack 8 and the gear 9 are meshed. The cylinder 27 is fixed on the mounting plate 1 on the side of the pulley slider group. The piston rod of the cylinder 27 is fixedly connected to the side of the slider. The slider is pushed along the slide rail by the cylinder 27, thereby driving the rack 8 to move synchronously. Since the rack 8 and the gear 9 are meshed, when the rack 8 moves linearly, it drives the gear 9 to rotate, thereby driving the main shaft 2, the cross plate 3 and the clamping assembly to rotate synchronously.

[0020] The upper and lower ends of the upper and lower jaws 4 are provided with a plurality of upper and lower jaws 4, and the upper and lower jaws 4 are provided with a plurality of lower jaws 4. The upper and lower jaws 4 are provided with a plurality of upper and lower jaws 4, and the upper and lower jaws 4 are provided with a plurality of lower jaws 4. The upper and lower jaws 4 are provided with a plurality of upper and lower jaws 4, and the upper and lower jaws 4 are provided with a plurality of upper and lower jaws 4.

[0021] Furthermore, the lower claw 4 is also installed under the cross plate 3 through the slide rail slider group, the slide rail is fixed under the cross plate 3 by bolts, the lower claw 4 is fixed under the slider, a fixed block 10 is provided on the side of the slider, the fixed block 10 is fixed on the slider by bolts, and the fixed block 10 moves synchronously when the slider moves, and a strip groove is provided on the cross plate 3 corresponding to the moving track of the fixed block 10, and a long bolt is provided above the fixed block 10, and the long bolt passes through the strip groove to fix the fixed block 10 on the cross plate, thereby fixing the position of the slider and the lower claw 4 after moving. By setting the slide rail slider group, the distance between the lower claws 4 can be freely adjusted to adapt to shaft parts of different lengths and ensure stability during load bearing.

[0022] Furthermore, a limiting assembly is provided on the mounting plate 1, and the limiting assembly includes a limiting cylinder 11, a stopper 12 and a stopper 2 13. The limiting cylinder 11 is fixed on the mounting plate 1, and a through hole for the piston rod of the limiting cylinder 11 to pass through is opened on the mounting plate 1. The stopper 12 is provided on the left side of the gear 9, and the stopper 12 is fixed on the piston rod of the limiting cylinder 11. The stopper 2 13 is provided on the right side of the gear 9, and the stopper 13 is fixed below the mounting plate 1. The adjacent two side surfaces of the main shaft 2 are respectively provided with a bumper 14 and a bumper 2 15, and the rotation angle of the main shaft 2 is limited by the cooperation of the bumper and the bumper. By setting a limit component, the rotation angle of the main shaft 2 is prevented from being too large during transportation, which causes the handling positioning to be offset. During forward rotation, the stopper 12 can be raised by the limit cylinder 11, and the cylinder 2 7 controls the rotation of the main shaft 2. When the impact block 15 hits the stopper 13, it can no longer rotate, thereby limiting the rotation angle; during rotation, the height of the stopper 12 can be lowered by the limit cylinder 11. When the impact block 14 hits the stopper 12, it is hindered and cannot continue to rotate, thereby limiting the rotation angle.

[0023] The embodiments of this specific implementation method are all preferred embodiments of the utility model, and are not intended to limit the protection scope of the utility model. Therefore, all equivalent changes made based on the structure, shape, and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A mechanical gripper for shaft parts, characterized in that: The invention comprises a mounting plate (1) connected to a robot arm, wherein a rotating assembly is arranged on the mounting plate (1), a main shaft (2) is rotatably mounted below the mounting plate (1) through the rotating assembly, a middle position of a horizontal plate (3) is fixed below the main shaft (2), two groups of clamping assemblies are symmetrically arranged on both sides of the horizontal plate (3), the clamping assemblies comprise lower connecting claws (4), upper pressing claws (5) and a cylinder (6), at least two lower connecting claws (4) are arranged in parallel below the horizontal plate (3), and the lower part of the lower connecting claws (4) is bent upward to form a groove, the cylinder (6) is fixed on the horizontal plate (3), the upper part of the upper pressing claw (5) is fixed on the piston shaft of the cylinder (6), a groove is provided below the upper pressing claw (5), and the upper pressing claw (5) cooperates with the lower connecting claw (4) to grip the shaft-like parts.

2. A mechanical gripper for shaft parts according to claim 1, characterized in that: The rotating assembly comprises a second cylinder (7), a rack (8), a gear (9) and a slide rail slider group. The gear (9) is rotatably arranged below the mounting plate (1). The main shaft (2) is fixed on the gear (9). The slide rail slider group is provided with two groups. The two groups of slide rail slider groups are respectively fixed on the mounting plates (1) on both sides of the gear (9). The rack (8) is fixed on the inner side surface of the slider. The rack (8) and the gear (9) are meshed. The second cylinder (7) is fixed on the mounting plate (1) on the side of the pulley slider group. The piston rod of the second cylinder (7) is fixedly connected to the side surface of the slider.

3. The mechanical gripper for shaft parts according to claim 1, characterized in that: The lower claw (4) is installed below the transverse plate (3) through a slide rail and a slider group. The slide rail is fixed below the transverse plate (3). The lower claw (4) is fixed below the slider. A fixed block (10) is provided on the side of the slider. The side of the fixed block (10) is fixed to the slider. A strip groove is provided on the transverse plate (3) corresponding to the moving track of the fixed block (10). The upper part of the fixed block (10) is fixed to the transverse plate (3) through the strip groove.

4. A mechanical gripper for shaft parts according to claim 3, characterized in that: A long bolt is arranged above the fixing block (10), and the long bolt passes through the strip groove to fix the fixing block (10) on the transverse plate (3).

5. The mechanical gripper for shaft parts according to claim 1, characterized in that: A limit assembly is arranged on the mounting plate (1), the limit assembly comprising a limit cylinder (11), a stopper 1 (12) and a stopper 2 (13); the limit cylinder (11) is fixed on the mounting plate (1); a through hole is provided on the mounting plate (1) for the piston rod of the limit cylinder (11) to pass through; the stopper 1 (12) is arranged on the left side of the gear (9); the stopper 1 (12) is fixed on the piston rod of the limit cylinder (11); the stopper 2 (13) is arranged on the right side of the gear (9); and the stopper 2 (13) is fixed below the mounting plate (1); and a collision block 1 (14) and a collision block 2 (15) are respectively arranged on the two side surfaces of the main shaft (2).

6. The mechanical gripper for shaft parts according to claim 1, characterized in that: A triangular reinforcing plate is provided between the side surface of the main shaft (2) and the transverse plate (3), and two ends of the reinforcing plate are respectively fixed to the main shaft (2) and the transverse plate (3).

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