Bidirectional guide high-precision mechanical gripper

Abstract

The utility model relates to a bi-directional guide high-precision mechanical gripper which is characterized by comprising a fixing seat, a driving part and two grippers, the driving part is fixedly arranged at the upper end of the fixing seat, power push rods are hinged to the upper ends of the two grippers, an output shaft of the driving part abuts against the power push rods, the fixing seat is connected with a shell, and the shell is connected with the driving part. The lower end face of the shell is provided with a through groove, a positioning pin and a positioning hole, the positioning pin and the positioning hole are located on the outer side of the through groove, the two paws are hinged to the shell, the upper ends of the paws are located in the shell, the lower ends of the paws are movably arranged outside the shell and move face to face or back to back under the action of a driving piece, and an output shaft of the driving piece is connected with a front pushing block. A spring is arranged between the upper end of the front push block and the power push rod, and the lower end of the front push block enters and exits the shell under the action of the driving piece. By adopting the technical scheme, the utility model provides the bidirectional guide high-precision mechanical gripper which is accurate in positioning and ensures that a product and the mechanical gripper are correctly grabbed and separated.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical claws, in particular to a high-precision mechanical claw with two-way alignment. Background Technique

[0002] A mechanical claw is a robot component that can achieve functions similar to those of a human hand. A mechanical claw is a component used to hold workpieces or tools and is one of the important actuators.

[0003] However, when the existing mechanical claws grasp workpieces, deviation is likely to occur, and the workpieces cannot be accurately grasped. At the same time, when the workpieces are placed on the placement station, the placement deviation of the workpieces is also likely to occur, affecting subsequent work. Summary of the Utility Model

[0004] The purpose of the utility model: In order to overcome the defects of the prior art, the utility model provides a high-precision mechanical claw with two-way alignment, which has accurate positioning and ensures the correct grasping and separation of the product and the mechanical claw.

[0005] The technical solution of the utility model: A high-precision mechanical claw with two-way alignment includes a fixed seat, a driving member and two claws. The driving member is fixedly arranged at the upper end of the fixed seat. Power push rods are hinged to the upper ends of the two claws. The output shaft of the driving member abuts against the power push rod. A housing is connected to the fixed seat. A through groove, a positioning pin and a positioning hole located outside the through groove are arranged on the lower end surface of the housing. The two claws are hinged to the housing. The upper ends of the claws are located inside the housing, and the lower ends of the claws are movably arranged outside the housing and move towards or away from each other under the action of the driving member. A front push block is connected to the output shaft of the driving member. A spring is arranged between the upper end of the front push block and the power push rod. The lower end of the front push block enters and exits the housing under the action of the driving member.

[0006] By adopting the above technical solution, the workpiece and the claw can be aligned and positioned through the positioning pin and the positioning hole, ensuring the accurate position between the claw and the workpiece, guaranteeing the correct grasping and separation of the workpiece and the claw. At the same time, the setting of the spring enables the claw to prevent the problem of workpiece adhesion caused by too small positioning clearance when separating from the workpiece.

[0007] The further setting of the utility model: Connecting rods are hinged to both ends of the power push rod. The two connecting rods are respectively located on both sides of the front push block. The upper ends of the two claws are respectively hinged to the corresponding connecting rods.

[0008] By adopting the above further setting, the movement range of the claw is increased, making it more flexible and the accuracy of the claw higher.

[0009] Further setting of the present utility model: An installation frame is provided inside the housing. The front push block is fixedly arranged at the lower end of the installation frame. The upper end of the installation frame is connected to the driving member. An activity space for the upper ends of the two claws to move is provided on the installation frame.

[0010] Further setting: A connecting rod connected to the driving member is provided on the installation frame. The power push rod and the spring are both sleeved on the connecting rod, and the end of the spring abuts against the power push rod.

[0011] With the above further setting, the structure is compact, the installation is convenient, and the structure is stable when the spring and the power push rod move. The connecting rod can slide with the power push rod during movement, which can play a guiding role and is more stable.

[0012] Further setting of the present utility model: The housing includes a separately arranged outer shell and a mounting seat. The middle parts of the two claws are hinged on the mounting seat, and the lower ends of the two claws are respectively located on both sides of the mounting seat.

[0013] With the above further setting, the split type setting is convenient for the installation of each component inside the housing. The mounting seat is fixed to the bottom of the outer shell by screws, and the disassembly and assembly are convenient.

[0014] Further setting of the present utility model: There are two positioning pins and two positioning holes. The two positioning pins are arranged diagonally on both sides of the through groove, and the two positioning holes are arranged diagonally on both sides of the through groove.

[0015] With the above further setting, the positioning is more accurate, ensuring the correct grasping and separation of the claws. Description of the Drawings

[0016] Figure 1 It is a schematic structural diagram of a specific embodiment of the present utility model;

[0017] Figure 2 It is a schematic diagram of the mounting seat and the claws of a specific embodiment of the present utility model;

[0018] Figure 3 It is a schematic diagram of the claws and the connecting rod of a specific embodiment of the present utility model;

[0019] Figure 4 It is a schematic diagram of the installation frame and the claws of a specific embodiment of the present utility model;

[0020] Figure 5 It is a schematic diagram of the bottom of the housing of a specific embodiment of the present utility model;

[0021] Figure 6 It is a schematic diagram of the mechanical claws and the workpiece of a specific embodiment of the present utility model.

[0022] In the figure, 1 is a fixed seat; 2 is a driving member; 21 is a front push block; 22 is a spring; 3 is a gripper; 4 is a power push rod; 5 is a housing; 51 is a through groove; 52 is a positioning pin; 53 is a positioning hole; 54 is an outer shell; 55 is a mounting seat; 6 is a connecting rod; 7 is a mounting bracket; 71 is a moving space; 72 is a connecting rod. Detailed implementation mode

[0023] Next, the technical solutions in this embodiment will be clearly and completely described in conjunction with the accompanying drawings. 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.

[0024] It should be noted that in the description of the present invention, all directional indications (such as up, down, front, back...) are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0025] In addition, in the present invention, descriptions such as "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. In the description of the present invention, the meaning of "several" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0026] In addition, the technical solutions between various embodiments of the present invention can be combined with each other, but it must be based on the fact that those skilled in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0027] Such as Figure 1-6As shown in the figure, a high-precision mechanical claw with bidirectional alignment includes a fixed seat 1, a driving member 2 and two claws 3. The driving member 2 is fixedly arranged at the upper end of the fixed seat 1. A power push rod 4 is hinged at the upper ends of the two claws 3. The output shaft of the driving member 2 abuts against the power push rod 4. A housing 5 is connected to the fixed seat 1. A through groove 51, a positioning pin 52 and a positioning hole 53 are arranged on the lower end surface of the housing 5. The two claws 3 are hinged to the housing 5, and the upper ends of the claws 3 are located inside the housing 5. The parts of the claws 3 located inside the housing 5 are arranged staggeredly, and are relatively closed or opened to drive the lower ends of the claws 3 to move. The lower ends of the claws 3 are movably arranged outside the housing 5, and move towards each other or away from each other under the action of the driving member 2. A front push block 21 is connected to the output shaft of the driving member 2. A spring 22 is arranged between the upper end of the front push block 21 and the power push rod 4. The lower end of the front push block 21 enters and exits the housing 5 under the action of the driving member 2. The workpiece and the claws 3 can be aligned and positioned through the positioning pin 52 and the positioning hole 53, ensuring the accurate position between the claws 3 and the workpiece, and ensuring the correct grasping and separation of the workpiece and the claws 3. At the same time, the setting of the spring 22 enables the claws 3 to prevent the workpiece adhesion problem caused by too small positioning clearance of the positioning pin 52 when separating from the workpiece. The fixed seat 1 is driven to move downward by an externally arranged cylinder or motor, driving the claws 3 to move downward. The claws 3 move to the grasping station, approach the workpiece, and the positioning pin 52 is inserted into the hole arranged on the outer periphery of the workpiece. The output shaft of the driving member 2 extends out, driving the front push block 21 to move out of the housing 5, and also driving the power push rod 4 to move. After the front push block 21 contacts the workpiece, the driving member 2 continues to move, the spring 22 is compressed, and the two claws 3 move away from each other and extend into the lower surface of the workpiece. The output shaft of the driving member 2 retracts, driving the front push block 21 to move upward. The front push block 21 releases the workpiece, and at the same time the spring 22 will reset the power push rod 4 to move it upward. The two claws 3 move towards each other and press the lower surface of the workpiece. The claws 3 are driven by an externally arranged cylinder or motor to move to the placing station. The output shaft of the driving member 2 extends out and approaches the placing station. Another set of positioning holes 53 and positioning pins 52 that cooperate with the positioning pin 52 and the positioning hole 53 are arranged on the placing station. The positioning pin 52 is inserted into the corresponding positioning hole 53 to align the workpiece and the claws 3. The driving member 2 pushes the power push rod 4 and the front push block 21 to move downward. The front push block 21 extends out of the housing 5. The front push block 21 presses against the upper surface of the workpiece. The two claws 3 move away from each other and release the workpiece. The workpiece falls into the placing station. During the upward movement of the claws 3, the front push block 21 presses the workpiece under the action of the spring 22 force until the positioning pin 52 on the housing 5 separates from the workpiece, preventing the positioning pin 52 from adhering.

[0028] Specifically, there are two positioning pins 52 and two positioning holes 53. The two positioning pins 52 are diagonally arranged on both sides of the through groove 51, and the two positioning holes 53 are diagonally arranged on both sides of the through groove 51, so the positioning is more accurate, ensuring the correct grasping and separation of the claws 3.

[0029] Both ends of the power push rod 4 are hinged with connecting rods 6. The two connecting rods 6 are respectively located on both sides of the front push block 21. The upper ends of the two claws 3 are respectively hinged to the corresponding connecting rods 6, increasing the movement range of the claws 3, making them more flexible, and making the claws 3 more accurate.

[0030] An installation frame 7 is provided in the housing 5. The front push block 21 is fixedly arranged at the lower end of the installation frame 7. The upper end of the installation frame 7 is connected to the driving member 2. An activity space 71 for the upper ends of the two claws 3 to move is provided on the installation frame 7. A connecting rod 72 connected to the driving member 2 is provided on the installation frame 7. The power push rod 4 and the spring 22 are both sleeved on the connecting rod 72, and the end of the spring 22 abuts against the power push rod 4. The structure is compact and the installation is convenient. Moreover, the structures of the spring 22 and the power push rod 4 are stable during movement. When the connecting rod 72 moves, it can slide with the power push rod 4, which can play a guiding role and is more stable.

[0031] The housing 5 includes a separately arranged outer shell 54 and a mounting seat 55. The middle parts of the two claws 3 are hinged on the mounting seat 55. The lower ends of the two claws 3 are respectively located on both sides of the mounting seat 55. The separate setting facilitates the installation of the components inside the housing 5. The mounting seat 55 is fixed to the bottom of the outer shell 54 by screws, which is convenient for disassembly and assembly.

Claims

1. A high-precision two-way guiding robot gripper, characterized in that: The invention comprises a fixed seat (1), a driving member (2) and two hand claws (3), wherein the driving member (2) is fixedly arranged at the upper end of the fixed seat (1), the upper ends of the two hand claws (3) are hingedly provided with a power push rod (4), the output shaft of the driving member (2) is abutted against the power push rod (4), the fixed seat (1) is connected with a shell (5), and the lower end surface of the shell (5) is provided with a through groove (51) and a positioning pin (52) and a positioning hole (53) located outside the through groove (51). The two claws (3) are hinged on the housing (5), and the upper ends of the claws (3) are located inside the housing (5), and the lower ends of the claws (3) are movably arranged outside the housing (5), and move toward or away from each other under the action of the driving member (2). A forward push block (21) is connected to the output shaft of the driving member (2), and a spring (22) is provided between the upper end of the forward push block (21) and the power push rod (4). The lower end of the forward push block (21) enters and exits the housing (5) under the action of the driving member (2).

2. The high-precision mechanical gripper for guiding alignment according to claim 1, characterized in that: Both ends of the power push rod (4) are hingedly provided with connecting rods (6), the two connecting rods (6) are respectively located on both sides of the front push block (21), and the upper ends of the two hand claws (3) are hingedly connected to the corresponding connecting rods (6).

3. The high-precision robot gripper for guiding alignment according to claim 1 or 2, characterized in that: A mounting frame (7) is provided in the housing (5), the forward push block (21) is fixedly arranged at the lower end of the mounting frame (7), the upper end of the mounting frame (7) is connected to the driving member (2), and an activity space (71) is provided on the mounting frame (7) for the upper ends of the two hand claws (3) to move.

4. The high-precision mechanical gripper for guiding alignment according to claim 3 is characterized in that: The mounting frame (7) is provided with a connecting rod (72) connected to the driving member (2); the power push rod (4) and the spring (22) are both sleeved on the connecting rod (72), and the end of the spring (22) is arranged to abut against the power push rod (4).

5. The high-precision robot gripper for guiding alignment according to claim 1 or 2, characterized in that: The housing (5) comprises a separately arranged outer shell (54) and a mounting seat (55); the middle parts of the two hand claws (3) are hingedly arranged on the mounting seat (55); and the lower ends of the two hand claws (3) are respectively located on two sides of the mounting seat (55).

6. The high-precision mechanical gripper for guiding alignment according to claim 5, characterized in that: Two positioning pins (52) and two positioning holes (53) are provided, and the two positioning pins (52) are arranged diagonally on both sides of the through slot (51), and the two positioning holes (53) are arranged diagonally on both sides of the through slot (51).

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