A mechanical gripper

Abstract

The utility model relates to a manipulator gripper, including a mounting seat, the mounting seat is provided with a driving assembly and a moving seat, the driving assembly drives the two moving seats to move closer or further away, the driving assembly includes a first connecting rod, a second connecting rod, a connecting plate and a driver, the driver is connected to the first moving seat, drives the first moving seat to slide, the first connecting rod is pivotally connected to the first moving seat, the second connecting rod is pivotally connected to the second moving seat, the connecting plate is pivotally connected to the first connecting rod and the second connecting rod respectively, the connecting plate is sleeved on the shaft of the mounting seat, the moving seat is provided with a plurality of locating pins, at least one of which is a floating locating pin. A manipulator gripper of the utility model can facilitate the moving seats to move closer or further away, has less noise during the working process, and has a longer service life; in addition, it can provide better tolerance when clamping objects, and has better clamping stability.

Description

Technical Field

[0001] The utility model relates to the technical field of component clamping, in particular to a manipulator clamping claw. Background Art

[0002] A manipulator is an automatic operating 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. The characteristic is that it can complete various expected operations through programming. When grabbing objects, the manipulator usually clamps the objects with claws. For example, the patent with publication number CN113878608A discloses a manipulator clamping claw, which drives the rack to move through a first drive device, and adjusts the claw bidirectionally to clamp the cylinder workpiece. At the same time, a positioning block is set on the claw for positioning. In the above technical solution, since the two racks are driven to move by gears, the friction between the meshing teeth when the gears are working will generate certain noise. In addition, the gears are prone to wear after long-term use, which affects the service life. Utility Model Content

[0003] In order to solve the problems of the prior art, the utility model provides a mechanical hand clamping claw which can be easily clamped or released, has good clamping stability, reduces use noise and prolongs service life.

[0004] The specific technical scheme is as follows: A manipulator gripper comprises a mounting seat, the mounting seat is provided with a driving assembly and a movable seat, the driving assembly drives the two movable seats to move closer or further away, the driving assembly comprises a first connecting rod, a second connecting rod, a connecting plate and a driver, the driver is connected to the first movable seat, drives the first movable seat to slide, the first connecting rod is pivotally connected to the first movable seat, the second connecting rod is pivotally connected to the second movable seat, the connecting plate is pivotally connected to the first connecting rod and the second connecting rod respectively, the connecting plate is sleeved on the shaft rod of the mounting seat, the movable seat is provided with a plurality of locating pins, at least one of which is a floating locating pin.

[0005] In some embodiments, the mounting seat is provided with a first slide rail and a second slide rail, and the two movable seats are arranged on the first slide rail and the second slide rail.

[0006] In some embodiments, the positioning pin includes a contact portion and a base, and an elastic pad is provided between the contact portion and the base.

[0007] In some embodiments, a conical protrusion is provided in the middle of the contact portion.

[0008] In some embodiments, the contact portion is circular.

[0009] In some embodiments, the first movable seat and the second movable seat have the same number of positioning pins, and the positioning pins on the two movable seats are arranged opposite to each other.

[0010] In some embodiments, there is only one floating positioning pin, and the floating positioning pin is arranged diagonally to a fixed positioning pin.

[0011] The technical effect of the utility model: a manipulator clamp of the utility model can facilitate the moving seat to move closer or apart, has low noise during the working process and a long service life; in addition, it can enable the object to have better tolerance capability when clamping and better clamping stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0013] Figure 1 It is a schematic diagram of a manipulator gripper according to an embodiment of the utility model.

[0014] Figure 2 This is another schematic diagram of a manipulator gripper according to an embodiment of the utility model.

[0015] Figure 3 It is a schematic diagram of a slide rail according to an embodiment of the utility model.

[0016] Figure 4 This utility model Figure 2 Enlarged view of part A. DETAILED DESCRIPTION

[0017] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are 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.

[0018] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0019] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" 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 indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0020] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0021] like Figures 1 to 4 As shown, a manipulator gripper of this embodiment comprises a mounting seat 1, wherein the mounting seat 1 is provided with a driving assembly 2 and a moving seat 3, wherein the driving assembly 2 drives the two moving seats 3 to move closer or further away, thereby clamping or releasing an object. The driving assembly 2 comprises a first connecting rod 21, a second connecting rod 22, a connecting plate 23 and a driver 24, wherein the driver 24 is connected to the first moving seat 31, and drives the first moving seat 31 to slide. The driver 24 of this embodiment is a cylinder, and drives the first moving seat through a cylinder telescopic rod. The first connecting rod 21 is pivotally connected to the first moving seat 31, and the second connecting rod 22 is pivotally connected to the second moving seat 32. The connecting plate 23 is pivotally connected to the first connecting rod 21 and the second connecting rod 22, respectively, and the connecting plate 23 is sleeved on the shaft 11 of the mounting seat 1. The moving seat 3 is provided with a plurality of locating pins 4, wherein at least one locating pin is a floating locating pin 41, and the floating locating pin 41 can have a certain floating ability, so that when there is a tolerance between the locating pin and the locating hole on the object, it can also correspond to the locating hole, so that the gripper can clamp more stably. In the above technical solution, when clamping an object, the driver 24 drives the first movable seat 31 to move inward, and drives the connecting plate 23 to rotate through the first connection 21, thereby driving the second connecting rod 22 to rotate, and the second connecting rod 22 pulls the second movable seat 32 to move inward, so that the first and second movable seats are close to each other, and the object is clamped by the positioning pin. When releasing the object, the driver 24 drives the first movable seat 31 to move outward, so that the first and second movable seats are away from each other. Through the above technical solution, it is possible to facilitate the first and second movable seats to move closer or apart, the driving component has less noise during operation, and has a longer service life; in addition, it can enable the object to have better tolerance when clamping, that is, it can avoid the tolerance causing the inability to clamp.

[0022] In this embodiment, the mounting seat 1 is provided with a first slide rail 51 and a second slide rail 52, and two moving seats 3 are arranged on the first slide rail 51 and the second slide rail 52, so that the first and second moving seats can move smoothly. The positioning pin 4 includes a contact portion 42 and a base 43, and an elastic pad 44 is arranged between the contact portion 42 and the base 43, so that a plurality of positioning pins can contact an object and can buffer the contact impact. The contact surface of the contact portion is a plane, which increases the contact area. A conical protrusion 45 is provided in the middle of the contact portion 42, so as to avoid shaking after contact. The contact portion 42 of this embodiment is circular. The number of positioning pins on the first moving seat 31 and the second moving seat 32 is the same, and the positioning pins on the two moving seats 3 are arranged oppositely. There is only one floating positioning pin 41, and the floating positioning pin 41 is arranged diagonally with a fixed positioning pin 46 to form an oblique positioning. There are four positioning pins 4 in this embodiment, one of which is a floating positioning pin, and the others are fixed positioning pins.

[0023] A robot gripper of the present embodiment can facilitate the moving seat to move closer or apart, has low noise during operation and a long service life; in addition, it can provide better tolerance when clamping objects and better clamping stability.

[0024] The above describes a robot gripper of the present invention. However, the present invention is not limited to the above specific implementations. Various modifications or changes can be made as long as they do not depart from the scope of the claims. The present invention includes various modifications and changes within the scope of the claims.

[0025] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the utility model.

Claims

1. A manipulator gripper, comprising a mounting seat, the mounting seat being provided with a driving assembly and a moving seat, the driving assembly driving the two moving seats to move closer or further away, characterized in that: The driving assembly includes a first connecting rod, a second connecting rod, a connecting plate and a driver. The driver is connected to the first movable seat to drive the first movable seat to slide. The first connecting rod is pivotally connected to the first movable seat, and the second connecting rod is pivotally connected to the second movable seat. The connecting plate is pivotally connected to the first connecting rod and the second connecting rod respectively, and the connecting plate is sleeved on the shaft rod of the mounting seat. The movable seat is provided with a plurality of locating pins, at least one of which is a floating locating pin.

2. The manipulator gripper according to claim 1, characterized in that: The mounting seat is provided with a first slide rail and a second slide rail, and the two moving seats are arranged on the first slide rail and the second slide rail.

3. The manipulator gripper according to claim 1, characterized in that: The positioning pin comprises a contact portion and a base, and an elastic pad is arranged between the contact portion and the base.

4. The manipulator gripper according to claim 3, characterized in that: A conical protrusion is provided at the middle of the contact portion.

5. The manipulator gripper according to claim 4, characterized in that: The contact portion is circular.

6. The robot gripper according to claim 5, characterized in that: The number of positioning pins on the first movable seat and the second movable seat is the same, and the positioning pins on the two movable seats are arranged opposite to each other.

7. The robot gripper according to claim 1, characterized in that: There is only one floating positioning pin, and the floating positioning pin is arranged diagonally with a fixed positioning pin.

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