45-degree mechanical gripper with self-locking bend

Abstract

The utility model discloses a 45-degree mechanical gripper with a self-locking bend. The 45-degree mechanical gripper comprises a base plate, a driving air cylinder, a flange, a rotating seat and a locking support. The driving air cylinder is fixedly connected to the base plate, the output end of the driving air cylinder is connected with the flange, and the flange is connected with one end of the rotating base. The rotating seat is rotationally connected with the middle of a rotating shaft A. The two ends of the rotating shaft A are connected with self-locking sliding blocks correspondingly, and the self-locking sliding blocks are slidably connected into sliding grooves formed in the corresponding locking supports. The locking support is fixedly connected to the base plate through screws. The connecting base is further rotationally connected with an integrally-formed connecting hole in the end of the locking support through a pin shaft. According to the mechanical gripper, the angle adjustment function and the self-locking function after angle adjustment of the mechanical gripper can be achieved, namely self-locking at the angle of 0 degree and 45 degrees can be achieved, and therefore the stability of the structure in the working process is improved.

Description

Technical Field

[0001] The utility model relates to a mechanical claw, in particular to a mechanical claw with a 45-degree self-locking bend. Background Technique

[0002] With the development of the manufacturing industry, the automation process has accelerated. Robotic arms are used in many assembly line productions. Generally, robotic arms are used in conjunction with mechanical claws, and the mechanical claws can be replaced according to different processes. Among them, there is a type used for clamping and transporting workpieces with a large area. For the convenience of use, its clamping claws are adjusted by hydraulic cylinders or air cylinders, so that the hand claws can be adjusted and used at a certain angle.

[0003] However, hydraulic cylinders and air cylinders may lose pressure due to factors such as excessive weight, and are not stable enough. Summary of the Invention

[0004] The purpose of the utility model is to provide a mechanical claw with a 45-degree self-locking bend to solve the problems raised in the above background technique.

[0005] To achieve the above purpose, the utility model provides the following technical solutions:

[0006] A mechanical claw with a 45-degree self-locking bend includes a base plate, a driving cylinder, a flange, a rotating seat and a locking bracket; the driving cylinder is fixedly connected to the base plate, the output end of the driving cylinder is connected to the flange, and the flange is connected to one end of the rotating seat; the rotating seat is rotatably connected to the middle of the rotating shaft A, and both ends of the rotating shaft A are connected with self-locking sliders, and the self-locking sliders are slidably connected in the chutes opened on the corresponding locking brackets; the locking brackets are fixedly connected to the base plate by screws; the connecting seat is also rotatably connected to the integrally formed connecting hole at the end of the locking bracket through a pin shaft; both ends of the rotating seat are fixedly connected to the rotating shaft B, the rotating shaft B is rotatably connected to one end of the connecting rod through a bearing, the other end of the connecting rod is rotatably connected to one end of the connecting piece, and the other end of the connecting piece is fixedly connected to the connecting seat.

[0007] As a further scheme of the utility model: the connecting seat is fixedly connected to the hand claw fixing frame through bolts, and several suction cups are connected to the hand claw fixing frame.

[0008] As a further solution of the present utility model: The self-locking slider includes a track bracket, an inner locking member, an outer locking member, a locking bolt A, a locking bolt B, and a rotating shaft A; wherein the number of track brackets is two, and the track brackets are both located on one side of the locking bracket; wherein the track bracket is formed by opening a U-shaped groove on a metal plate; locking grooves are opened on the upper part of the sliding groove of the track bracket, and the number of locking grooves is two and they are distributed at both ends of the upward side of the sliding groove; inner locking members are arranged on the opposite inner sides of the two track brackets; outer locking members are arranged on the opposite outer sides of the two locking brackets; the inner locking member and the outer locking member are connected by the locking bolt A, the locking bolt B, and the rotating shaft A, wherein both ends of the rotating shaft A penetrate through the corresponding inner locking member, the U-shaped groove on the track bracket, the sliding groove on the locking bracket, and the outer locking member, and the inner locking member and the outer locking member are fixedly connected to the rotating shaft A.

[0009] As a further solution of the present utility model: The locking bolt A, the locking bolt B, and the rotating shaft A are slidably arranged in the U-shaped groove on the track bracket and the sliding groove on the locking bracket.

[0010] As a further solution of the present utility model: The locking bolt A is arranged away from the driving cylinder, the locking bolt B is arranged close to the driving cylinder, and the rotating shaft A is located between the locking bolt A and the locking bolt B; the distance from the locking bolt A to the rotating shaft A is greater than the height of the sliding groove, and the distance from the locking bolt B to the rotating shaft A is also greater than the height of the sliding groove.

[0011] Compared with the prior art, the beneficial effects of the present utility model are: The present utility model can realize the angle adjustment of the mechanical claw and the function of self-locking after the angle adjustment, that is, it can realize the self-locking at 0 degrees and 45 degrees, thereby improving the structural stability during the working process. Description of the Drawings

[0012] Figure 1 It is a schematic structural diagram of a mechanical claw with a 45-degree self-locking bend.

[0013] Figure 2 It is a schematic diagram of the track bracket in the mechanical claw with a 45-degree self-locking bend.

[0014] Figure 3 It is a schematic structural diagram of the self-locking slider when the claw is at a 45-degree angle.

[0015] Figure 4 It is a schematic structural diagram of the self-locking slider when the claw is at a 0-degree angle. Detailed Embodiment

[0016] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0017] Please refer to Figures 1 to 4 , in the embodiments of the present invention, a manipulator claw with a 45-degree self-locking bend includes a substrate 1, a driving cylinder 2, a flange 3, a rotating seat 4, a track bracket 5, an inner locking member 6, a locking bracket 7, a connecting rod 8, a connecting member 9, a connecting seat 10, an outer locking member 11, a locking bolt A 12, a locking bolt B 13, a rotating shaft A 14, a rotating shaft B 15, a claw fixing frame 16, a suction cup 17, a U-shaped groove 18, and a sliding groove 19;

[0018] The driving cylinder 2 is fixedly connected to the substrate 1. The substrate 1 is used to connect devices such as a robotic arm to realize the operation of the device. The output end of the driving cylinder 2 is connected to the flange 3, and the flange 3 is connected to one end of the rotating seat 4; the rotating seat 4 is rotatably connected to the middle of the rotating shaft A 14, and self-locking sliders are connected to both ends of the rotating shaft A 14. The self-locking sliders are slidably connected in the sliding grooves 19 opened on the corresponding locking brackets 7; the locking brackets 7 are fixedly connected to the substrate 1 by screws.

[0019] Both ends of the rotating shaft B 15 are fixedly connected to the rotating seat 4. The rotating shaft B 15 is rotatably connected to one end of the connecting rod 8 through a bearing. The other end of the connecting rod 8 is rotatably connected to one end of the connecting member 9. The other end of the connecting member 9 is fixedly connected to the connecting seat 10. The connecting seat 10 is fixedly connected to the claw fixing frame 16 by bolts. A plurality of suction cups 17 are connected to the claw fixing frame 16.

[0020] The connecting seat 10 is also rotatably connected to the integrally formed connecting hole at the end of the locking bracket 7 through a pin shaft.

[0021] The self-locking slider includes a track bracket 5, an inner locking member 6, an outer locking member 11, a locking bolt A 12, a locking bolt B 13, and a rotating shaft A 14; where the number of track brackets 5 is two, and the track brackets 5 are both located on one side of the locking bracket 7; the track brackets 5 are formed by opening U-shaped grooves 18 on a metal plate; sliding grooves 19 are opened on the track brackets 5, and locking grooves 20 are opened on the sliding grooves 19. The locking grooves 20 are two and are distributed at both ends of the upper side of the sliding groove 19.

[0022] Inner locking members 6 are provided on the opposite inner sides of the two track brackets 5;

[0023] Outer locking members 11 are provided on the opposite outer sides of the two locking brackets 7;

[0024] The inner locking member 6 and the outer locking member 11 are connected by a locking bolt A12, a locking bolt B13 and a rotating shaft A14. The two ends of the rotating shaft A14 penetrate through the corresponding inner locking member 6, the U-shaped groove 18 on the track bracket 5, the sliding groove 19 on the locking bracket 7 and the outer locking member 11, and the inner locking member 6 and the outer locking member 11 are fixedly connected to the rotating shaft A14.

[0025] The inner locking member 6 and the outer locking member 11 are also connected by a locking bolt A12 and a locking bolt B13. The locking bolt A12 and the locking bolt B13 are slidably arranged in the U-shaped groove 18 on the track bracket 5 and the sliding groove 19 on the locking bracket 7. The locking bolt A12, the rotating shaft A14 and the locking bolt B13 are arranged in sequence and slidably arranged in the U-shaped groove 18 of the track bracket 5. The locking bolt A12 is arranged away from the driving cylinder 2, the locking bolt B13 is arranged close to the driving cylinder 2, and the rotating shaft A14 is located between the locking bolt A12 and the locking bolt B13. This structure is used to ensure that when the self-locking slider performs a locking action, it can rotate around the rotating shaft A14 and cooperate with the locking grooves 20 at both ends of the sliding groove 19 to achieve locking.

[0026] Preferred embodiment: The distance from the locking bolt A12 to the rotating shaft A14 is equal to the distance from the locking bolt B13 to the rotating shaft A14, and is equal to the height of the sliding groove 19 plus the height of the locking groove 20. The distance from the locking bolt A12 to the rotating shaft A14 is greater than the height of the sliding groove 19, and the distance from the locking bolt B13 to the rotating shaft A14 is also greater than the height of the sliding groove 19, which is used to limit the rotation of the self-locking slider.

[0027] Refer to Figure 4 , during actual operation, the driving cylinder 2 is driven by a pneumatic driving system to extend, pushing the rotating seat 4 forward, thereby driving the self-locking slider and the connecting rod 8 forward. When the self-locking slider slides to one end of the sliding groove 19 and is restricted by the edge of the sliding groove (the end away from the driving cylinder 2), the self-locking slider will rotate around the rotating shaft A14 in a circular motion, causing the locking bolt A12 to rotate upward into the corresponding locking groove 20, thereby achieving positioning. At this time, the connecting rod 8 moves forward to drive the connecting member 9 to move and push the connecting seat 10 to rotate around the pin shaft, so that the connecting seat 10 can be parallel to the base plate 1, that is, the angle between the hand claw formed by the hand claw fixing frame 16 and the suction cup 17 and the base plate 1 is 0 degrees, to meet the use requirements.

[0028] Refer to Figure 3, during actual operation, the driving cylinder 2 is driven to contract by the pneumatic driving system, pushing the rotating seat 4 to retract and driving the self-locking slider and the connecting rod 8 to move backward. At this time, the locking bolt A12 on the self-locking slider moves downward to disengage from the corresponding locking groove 20; when the self-locking slider slides to the other end of the sliding groove 19 and is restricted by the edge of the sliding groove (the end close to the driving cylinder 2), the self-locking slider rotates around the rotating shaft A14 in a circular motion, causing the locking bolt B13 to rotate upward into the corresponding locking groove 20, thereby achieving positioning; at this time, the connecting rod 8 moves backward to pull the connecting member 9 to move and pull the connecting seat 10 to rotate around the pin shaft, so that the connecting seat 10 forms an angle relative to the substrate 1. The preferred angle is 45 degrees, that is, the angle between the hand claw formed by the hand claw fixing frame 16 and the suction cup 17 and the substrate 1 is 45 degrees, so as to meet the use requirements.

[0029] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A 45-degree self-locking bending robot gripper, comprising a base plate (1), a driving cylinder (2), a flange (3), a rotating seat (4) and a locking bracket (7); the driving cylinder (2) is fixedly connected to the base plate (1), the output end of the driving cylinder (2) is connected to the flange (3), and the flange (3) is connected to one end of the rotating seat (4), characterized in that: The rotating seat (4) is rotatably connected to the middle part of the rotating shaft A (14), and both ends of the rotating shaft A (14) are connected to self-locking sliders, which are slidably connected to the sliding grooves (19) provided on the corresponding locking brackets (7); the locking brackets (7) are fixedly connected to the base plate (1) by screws; the connecting seat (10) is rotatably connected to the integrally formed connecting hole at the end of the locking bracket (7) by a pin shaft; the rotating seat (4) is fixedly connected to the two ends of the rotating shaft B (15), and the rotating shaft B (15) is rotatably connected to one end of the connecting rod (8) through a bearing, and the other end of the connecting rod (8) is rotatably connected to one end of the connecting member (9), and the other end of the connecting member (9) is fixedly connected to the connecting seat (10).

2. The 45-degree self-locking bending robot gripper according to claim 1 is characterized in that: The connecting seat (10) is fixedly connected to a gripper fixing frame (16) by means of bolts, and a plurality of suction cups (17) are connected to the gripper fixing frame (16).

3. The 45-degree self-locking bending robot gripper according to claim 1 or 2, characterized in that: The self-locking slider comprises a track bracket (5), an inner locking piece (6), an outer locking piece (11), a locking bolt A (12), a locking bolt B (13) and a rotating shaft A (14); wherein the number of the track brackets (5) is two, and the track brackets (5) are both located on one side of the locking bracket (7); wherein the track bracket (5) is composed of a U-shaped groove (18) provided on a metal plate; a locking groove (20) is provided on the upper side of the sliding groove (19) of the track bracket (5), and the locking grooves (20) are two and distributed at both ends of the upper side of the sliding groove (19); the inner sides of the two track brackets (5) are both provided with inner locking pieces (6); the outer sides of the two locking brackets (7) are both provided with outer locking pieces (6) facing each other. The inner locking piece (6) and the outer locking piece (11) are connected by a locking bolt A (12), a locking bolt B (13) and a rotating shaft A (14), wherein two ends of the rotating shaft A (14) penetrate the corresponding inner locking piece (6), the U-shaped groove (18) on the track bracket (5), the sliding groove (19) on the locking bracket (7) and the outer locking piece (11), and the inner locking piece (6) and the outer locking piece (11) are fixedly connected to the rotating shaft A (14); the locking bolt A (12), the locking bolt B (13) and the rotating shaft A (14) are slidably arranged in the U-shaped groove (18) on the track bracket (5) and the sliding groove (19) on the locking bracket (7).

4. The 45-degree self-locking bending robot gripper according to claim 3 is characterized in that: The locking bolt A (12) is arranged away from the driving cylinder (2), the locking bolt B (13) is arranged close to the driving cylinder (2), and the rotating shaft A (14) is located between the locking bolt A (12) and the locking bolt B (13); the distance from the locking bolt A (12) to the rotating shaft A (14) is greater than the height of the sliding groove (19), and the distance from the locking bolt B (13) to the rotating shaft A (14) is also greater than the height of the sliding groove (19).

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