Mechanical gripper structure with self-locking function

Abstract

The utility model discloses a mechanical claw structure with a self-locking function. The mechanical claw structure comprises a wedge mechanism driven by an air cylinder or a hydraulic cylinder, more than two groups of sliding block swing mechanisms driven by the wedge mechanism, and clamping claws fixed on swing rods of the sliding block swing mechanisms. According to the mechanical gripper, the bearing capacity of the mechanical gripper can be improved, the mechanical gripper has the self-locking capacity, and a clamped part is prevented from loosening.

Description

Technical Field

[0001] The utility model relates to the technical field of universal clamp manufacturing, in particular to a mechanical claw structure with a self-locking function. Background Art

[0002] As the concepts of digital control and flexible manufacturing continue to be applied in traditional manufacturing, various flexible cutting machine tools that use mechanical claws to pick and place processed parts are widely used in various industries. Compared with traditional manufacturing, they greatly reduce manufacturing costs while meeting the manufacturing requirements of various personalized non-standard parts.

[0003] However, with the continuous improvement of the manufacturing requirements for various personalized non-standard parts, the weight of various parts that need to be processed continues to increase.

[0004] In the prior art, Figure 1 and Figure 2 In the conventional mechanical claw shown, the piston 2 drives the claw arm 6 to move left and right, so that the claw arm can be opened and closed.

[0005] The existing mechanical claw makes the force acting on the piston be converted to a 1:1 force when the claw arm opens or closes. If the friction force when the slider moves is taken into account, the magnitude of the friction force is not only the contact area of ​​the slider, but also the weight of the part grasped by the claw arm. The heavier the grasped part, the greater the friction. Therefore, the force when the claw arm closes and opens is much smaller than the force acting on the piston.

[0006] In actual use, the mechanical claw may grab a heavier part and then be unable to open it.

[0007] Therefore, how to improve the load-bearing capacity of the mechanical claw and enable it to have a self-locking ability to prevent the clamped parts from loosening has become a technical problem that technical personnel in this field urgently need to solve. Utility Model Content

[0008] In view of the above-mentioned defects of the prior art, the utility model provides a mechanical claw structure with a self-locking function, the purpose of which is to improve the load-bearing capacity of the mechanical claw and enable it to have a self-locking ability to prevent the clamped parts from loosening.

[0009] To achieve the above-mentioned purpose, the utility model discloses a mechanical claw structure with a self-locking function, including an inclined wedge mechanism driven by a pneumatic cylinder or a hydraulic cylinder, two or more sets of slider swing mechanisms driven by the inclined wedge mechanism, and a claw fixed on the swing rod of each slider swing mechanism.

[0010] Preferably, the wedge mechanism comprises a piston driven by the air cylinder or hydraulic cylinder connected to the frame in a moving pair, and a push rod outputting the converted motion;

[0011] The reciprocating directions of the moving pair formed by the piston, the push rod and the frame are not parallel;

[0012] The piston and the push rod transmit motion through a group of inclined wedges and corresponding wedge grooves connected in a moving pair.

[0013] More preferably, the oblique wedge is a rod structure, one end of which is fixedly connected to the piston, and the length direction extends along a direction forming an angle of 15°±10% with the reciprocating direction of the piston;

[0014] The wedge groove is a hole arranged in the push rod.

[0015] Preferably, each group of the slider swing mechanism comprises a swing plate hingedly connected to the frame;

[0016] Each of the swinging pieces is driven by a push plate fixed to the motion output end of the wedge mechanism to swing back and forth relative to the frame;

[0017] Each of the swing plates has a first groove opening toward the push plate at one end thereof facing the swing plate;

[0018] The push plate includes a toggle portion corresponding to each of the first grooves that can extend into the corresponding first groove;

[0019] The two side walls of each first groove are respectively located in two directions of the reciprocating movement of the corresponding toggle portion, and the lengths thereof can ensure that the corresponding toggle portion does not disengage after moving to the limit position.

[0020] More preferably, each of the claws is a cantilever structure, and includes a claw arm and a bayonet;

[0021] One end of each of the claw arms is fixed to the corresponding swing plate;

[0022] Each of the bayonet holes is fixed to the corresponding claw arm and has a second groove matching the shape of the corresponding position of the part to be grasped.

[0023] More preferably, each of the claw arms is in an "L" shape, and includes a vertical rod extending downward from the corresponding swing plate, and a horizontal rod arranged at the lower end of the corresponding vertical rod.

[0024] Beneficial effects of the utility model:

[0025] The utility model can improve the load-bearing capacity of the mechanical claw and enable it to have a self-locking ability to prevent the clamped parts from loosening.

[0026] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic diagram showing an existing mechanical claw arm when opened.

[0028] Figure 2 A schematic diagram showing a conventional mechanical claw arm when closed.

[0029] Figure 3 A schematic diagram of the three-dimensional structure of an embodiment of the utility model when two claw arms are opened is shown.

[0030] Figure 4 A schematic diagram of the three-dimensional structure of two claw arms in one embodiment of the utility model when they are closed is shown.

[0031] Figure 5 A schematic diagram of the structure in a top view when two claw arms are opened in one embodiment of the utility model is shown.

[0032] Figure 6 A schematic structural diagram of an inclined wedge mechanism and a slider swing mechanism in one embodiment of the utility model is shown.

[0033] Figure 7 A schematic diagram of motion conversion analysis of the inclined wedge mechanism in one embodiment of the utility model is shown.

[0034] Figure 8 A schematic diagram showing a hinged connection between a swing plate and a frame in an embodiment of the utility model is shown. DETAILED DESCRIPTION

[0035] Example

[0036] like Figures 3 to 8 As shown, a mechanical claw structure with a self-locking function includes an inclined wedge mechanism driven by a pneumatic cylinder or a hydraulic cylinder, two or more sets of slider swing mechanisms driven by the inclined wedge mechanism, and a claw fixed on the swing rod of each slider swing mechanism.

[0037] In some embodiments, the wedge mechanism includes a piston 2 driven by a pneumatic cylinder or a hydraulic cylinder connected to the frame 1 in a moving pair, and a push rod 3 that outputs the converted motion;

[0038] The reciprocating directions of the moving pair formed by the piston 2, the push rod 3 and the frame 1 are not parallel;

[0039] The motion between the piston 2 and the push rod 3 is transmitted through a set of inclined wedge blocks 21 and corresponding wedge grooves 31 connected in a moving pair.

[0040] In some embodiments, the oblique wedge 21 is a cylindrical pin, one end of which is fixedly connected to the piston 2, and the length direction extends along a direction that forms an angle of 15°±10% with the reciprocating direction of the piston 2;

[0041] The wedge groove 31 is a hole provided in the push rod 3 .

[0042] In some embodiments, each set of slider swing mechanisms includes a swing plate 4 hingedly connected to the frame 1;

[0043] Each swinging piece 4 is driven by a push plate 5 fixed to the output end of the wedge mechanism to swing back and forth relative to the frame 1;

[0044] Each swing plate 4 has a first groove 41 opened toward the push plate 5 at one end thereof facing the swing plate 4;

[0045] The push plate 5 includes a toggle portion 51 corresponding to each first groove 41 and capable of extending into the corresponding first groove 41;

[0046] The two side walls of each first groove 41 are respectively located in the two directions of the reciprocating movement of the corresponding toggle portion 51 , and the length is sufficient to ensure that the corresponding toggle portion 51 does not fall off after moving to the limit position.

[0047] In some embodiments, each claw is a cantilever structure, and includes a claw arm 6 and a clamping hole 7;

[0048] One end of each claw arm 6 is fixed to the corresponding swing plate 4;

[0049] Each bayonet 7 is fixed to the corresponding claw arm 6 and has a second groove 71 matching the shape of the corresponding position of the part to be grasped.

[0050] In some embodiments, each claw arm 6 is in an "L" shape, and includes a vertical rod extending downward from the corresponding swing plate 4, and a horizontal rod arranged at the lower end of the corresponding vertical rod.

[0051] In practical applications, when the piston 2 of the utility model moves, a cylindrical pin extending in the length direction along the direction at an angle of 15°±10% with the reciprocating movement direction of the piston 2 drives the push rod 3 to move, so that the push plate 5 fixed to the push rod 3 makes a linear motion and the swinging piece 4 rotates relative to the frame 1, so that the claw arm 6 is opened and closed.

[0052] Through the above-mentioned movement principle, the cylindrical pin driving push rod 3 extending in the direction at an angle of 15°±10% with the reciprocating movement direction of the piston 2 can amplify the force input by the piston 2 by more than 3.7 times and then output it by the push rod 3, and then increase the self-locking ability through the claw arm 6 rotating relative to the frame 1.

[0053] like Figure 7As shown, the length of the claw arm 6 is obviously greater than that of the swing plate 4, that is, the force arm is larger. According to the lever principle, the larger the force arm, the smaller the force. In addition, the swing plate 4 and the claw arm 6 do not have a self-locking function.

[0054] like Figure 6 As shown in the figure, when the movement of piston 2 is X and the movement of push rod 3 is Y, when the Y movement needs to drive 100 kg, according to the law of conservation of energy,

[0055] 3.732*X the number of kilograms to be entered = 1*100;

[0056] X needs to be input in kilograms = 100 / 3.732 = 26.79;

[0057] That is, when the Y motion needs to drive 100 kg, the X motion only needs to input 26.79 kg of power.

[0058] The preferred specific embodiments of the utility model are described in detail above. It should be understood that ordinary technicians in this field can make many modifications and changes based on the concept of the utility model without creative work. Therefore, all technical solutions that can be obtained by technicians in this technical field based on the concept of the utility model through logical analysis, reasoning or limited experiments on the basis of the existing technology should be within the scope of protection determined by the claims.

Claims

1. A mechanical claw structure with a self-locking function; characterized in that: The utility model comprises an inclined wedge mechanism driven by an air cylinder or a hydraulic cylinder, two or more sets of sliding block swing mechanisms driven by the inclined wedge mechanism, and a clamping claw fixed on a swing rod of each sliding block swing mechanism.

2. The mechanical claw structure with self-locking function according to claim 1, characterized in that: The wedge mechanism comprises a piston (2) driven by the air cylinder or hydraulic cylinder connected to the frame (1) in a moving pair, and a push rod (3) for outputting the converted motion; The reciprocating directions of the moving pair formed by the piston (2) and the push rod (3) and the frame (1) are not parallel; The motion is transmitted between the piston (2) and the push rod (3) via a group of inclined wedge blocks (21) and corresponding wedge grooves (31) connected in a moving pair.

3. The mechanical claw structure with self-locking function according to claim 2, characterized in that: The inclined wedge block (21) is a rod structure, one end of which is fixedly connected to the piston (2), and the length direction of which extends in a direction forming an angle of 15°±10% with the reciprocating movement direction of the piston (2); The wedge groove (31) is a hole arranged on the push rod (3).

4. The mechanical claw structure with self-locking function according to claim 1, characterized in that: Each group of the slider swing mechanisms comprises a swing plate (4) hingedly connected to the frame (1); Each of the swing plates (4) is driven by a push plate (5) fixed to the motion output end of the wedge mechanism to swing back and forth relative to the frame (1); Each of the swing plates (4) has a first groove (41) on one end facing the swing plate (4) and opening in the direction of the push plate (5); The push plate (5) includes a shifting portion (51) corresponding to each of the first grooves (41) and capable of extending into the corresponding first groove (41); The two side walls of each first groove (41) are respectively located in the two directions of reciprocating movement of the corresponding toggle portion (51), and the length is such as to ensure that the corresponding toggle portion (51) does not disengage after moving to the limit position.

5. The mechanical claw structure with self-locking function according to claim 4, characterized in that: Each of the clamping claws is a cantilever structure, and comprises a clamping arm (6) and a clamping mouth (7); One end of each claw arm (6) is fixed to the corresponding swing plate (4); Each of the bayonet holes (7) is fixed to the corresponding claw arm (6) and has a second groove (71) matching the shape of the corresponding position of the part to be grasped.

6. The mechanical claw structure with self-locking function according to claim 5, characterized in that: Each of the claw arms (6) is in an "L" shape, and comprises a vertical rod extending downward from the corresponding swing plate (4), and a horizontal rod arranged at the lower end of the corresponding vertical rod.

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