Mechanical gripper

Abstract

The utility model discloses a mechanical gripper, which relates to the technical field of mechanical grippers, and comprises a mechanical arm, a connecting disc is arranged on the mechanical arm, a chuck is connected onto the connecting disc, the chuck comprises a jaw disc, a plurality of sliding chutes are arranged on the circumference of the jaw disc in an array manner, racks are arranged in the sliding chutes in a sliding manner, a clamping jaw is arranged on one side of each rack, and a driving mechanism is arranged on each clamping jaw. A first driving cylinder is arranged at the position, located on the connecting disc, of the mechanical arm, a connecting frame is arranged at the output end of the first driving cylinder, connecting arms with the same number as the clamping jaws are hinged to the connecting frame, clamping hooks are hinged to one ends of the connecting arms, and the other ends of the clamping hooks are connected with the corresponding clamping jaws through hinge pieces. According to the mechanical gripper, the clamping hook is driven by the first driving cylinder to do arc motion around the clamping jaw, the lifting effect on the bottom of a workpiece is achieved, the problem that the workpiece falls off is solved, and the safety of the whole mechanical gripper is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical claw hands, in particular to a mechanical claw hand. Background Art

[0002] As the name suggests, a robotic gripper uses a mechanical structure to replace manpower to grasp and move workpieces, thereby improving work efficiency.

[0003] The invention patent with the existing publication number CN 107900386 A and the publication date of 2018.04.13 discloses a switchable manual-automatic clamping mechanical chuck for machine tools, which includes a mechanical chuck mechanism and a manual-automatic switching mechanism. The manual-automatic switching mechanism is arranged on one side of the mechanical chuck mechanism. The manual-automatic switching mechanism includes a switching mechanism bracket, a double-headed cylinder, a lifting gear shaft, a long columnar gear, a driving gear and an air motor. Both ends of the double-headed cylinder are fixed on the switching mechanism bracket, the lifting gear shaft is slidably arranged in the switching mechanism bracket and the lifting gear shaft can rotate freely in the switching mechanism bracket, the lifting gear shaft is fixedly connected to the cylinder body of the double-headed cylinder through a connecting bracket, the long columnar gear is fixed at one end of the lifting gear shaft, the driving gear is meshed with the long columnar gear, the driving gear is arranged on the air motor and driven by the air motor, and the mechanical chuck mechanism is connected to the manual-automatic switching mechanism and driven by the manual-automatic switching mechanism.

[0004] The invention can switch between manual and automatic clamping mechanical chucks. It combines the advantages of mechanical chucks and pneumatic chucks, realizes automatic clamping and inching control, and can control the clamping force at the same time. In special cases, manual clamping can also be achieved, with stable and reliable clamping force, low cost, and easy work. At the same time, automatic clamping improves work efficiency and reduces the burden on operators.

[0005] However, the invention also has a problem that if the chuck in the invention is mounted upside down on the robot arm for grabbing as shown in the attached figure, Figure 1 When the workpiece is shown in the figure, the general way of grasping is to extend the claws into the inner hole of the workpiece, and then drive the claws to expand outward by means of the winding wire, and the workpiece is grasped by the outward internal support force of the claws. However, when grasping with this structure and method, the force acting on the workpiece is very single, with only an outward internal support force. If the internal support force is too small during the grasping process, the workpiece will fall, so there is a very large safety hazard.

[0006] Therefore, there is an urgent need for a mechanical gripper to increase the safety of the chuck when grasping the workpiece and prevent it from falling. Utility Model Content

[0007] In view of the above technical problems, the utility model provides a mechanical gripper for solving the problem that the existing chuck has a very single force on the workpiece when grabbing the workpiece, resulting in a safety hazard of falling.

[0008] The above technical object of the utility model is achieved by the following technical solutions:

[0009] A mechanical gripper, including a robotic arm, a connection disk is provided on the robotic arm, a chuck is connected to the connection disk, the chuck includes a jaw disk, a plurality of chutes are circumferentially arrayed on the jaw disk, racks are slidably arranged in the chutes, a clamping jaw is arranged on one side of the rack, and a driving mechanism is equipped on the clamping jaw;

[0010] A first driving cylinder is arranged at the position of the connection disk of the robotic arm, a connection frame is arranged at the output end of the first driving cylinder, a plurality of connection arms equal in number to the clamping jaws are hinged on the connection frame, a hook is hinged at one end of the connection arm, and the other end of the hook is connected to the corresponding clamping jaw through a hinge;

[0011] The hook makes an arc movement around the hinge under the action of the first driving cylinder.

[0012] Further, the driving mechanism includes a gear disk and a second driving cylinder, the gear disk is sleeved on the jaw disk, a gear ring is arranged on the outer circle of the gear disk, a driving frame is arranged at the output end of the second driving cylinder, a driving motor is arranged on the driving frame, and a driving gear is arranged at the output end of the driving motor, and the driving gear meshes with the gear ring.

[0013] Further, sliding blocks are also arranged on both sides of the driving frame, and slide rails are arranged in cooperation with the sliding blocks.

[0014] Further, the connection arm includes a connecting rod, threads are symmetrically arranged at both ends of the connecting rod, and a first hinge joint and a second hinge joint are respectively connected to both ends of the connecting rod through the threads.

[0015] Further, a rotating part is arranged in the middle of the connecting rod.

[0016] Further, the clamping jaw is provided with a connecting part connected to the rack, an inner supporting part is vertically arranged at one end of the connecting part, and the inner supporting part realizes the hinge with the hook.

[0017] Further, the length of the inner supporting part is not less than the thickness of the workpiece.

[0018] To sum up, the beneficial technical effects of the utility model are as follows:

[0019] (1) The clamping jaw is placed in the inner circular hole of the workpiece, and then an outward inner supporting force is applied to the workpiece to realize the first grasping. Then, the hook hinged on the clamping jaw is driven by the first driving cylinder to act on the bottom of the workpiece, applying an upward lifting effect to the workpiece, so as to achieve the purpose of double insurance for the whole workpiece, replacing the simple reliance on the action of the clamping jaw, avoiding the dropping of the workpiece during grasping, and improving safety.

[0020] (2) The cooperation between the second driving cylinder and the driving motor replaces the human-powered driving gear disk, which not only reduces the labor intensity of the staff, but also improves the stability and timeliness of the action on the gear disk. Manual operation is not required, and the action efficiency of the claw is improved. Description of the Drawings

[0021] Figure 1 is a schematic structural diagram of the workpiece;

[0022] Figure 2 is a schematic diagram of the overall structure of the present utility model;

[0023] Figure 3 is Figure 2 a schematic diagram from another angle;

[0024] Figure 4 is a schematic diagram of the internal structure of the robotic arm;

[0025] Figure 5 is Figure 4 a schematic diagram with the robotic arm hidden;

[0026] Figure 6 is Figure 5 a schematic diagram with the drive mechanism hidden;

[0027] Figure 7 is Figure 6 a schematic diagram from another angle;

[0028] Figure 8 is a schematic diagram when the present utility model grabs the workpiece;

[0029] Figure 9 is Figure 8 a schematic diagram from another angle.

[0030] Reference Numerals: 1, robotic arm; 2, connecting disk; 3, claw disk; 4, first driving cylinder; 5, claw; 6, connecting frame; 7, connecting arm; 8, hook; 9, hinge; 10, rack; 11, second driving cylinder; 12, driving frame; 13, driving motor; 14, driving gear; 15, gear disk; 16, gear ring; 17, slider; 18, slide rail; 19, support arm; 20, limit bolt; 21, abutting portion; 22, connecting portion; 23, inner support portion; 24, connecting rod; 25, rotating portion; 26, first hinge head; 27, second hinge head; 28, movable opening; 29, workpiece; 30, inner circular hole. Detailed Embodiment

[0031] The present utility model will be clearly and completely described below in conjunction with the embodiments.

[0032] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present utility model are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0033] In the description of the embodiments, unless otherwise clearly specified and limited, terms such as "set" and "connect" 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 directly connected, or connected through an intermediate medium, or there can also be a connection inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0034] See the appendix Figure 1 , which shows a structural schematic diagram of a workpiece 29. An inner circular hole 30 is axially penetrated through the center of the workpiece 29. The present utility model designs a mechanical claw hand for the grasping problem of such workpieces 29.

[0035] See the appendix Figures 2 - 7 , which shows a mechanical claw hand, including a robotic arm 1. The robotic arm 1 can be connected to an industrial robot, etc. during use. A connection disk 2 is installed at one end of the robotic arm 1 through bolts. A chuck for grasping the workpiece 29 is installed on the connection disk 2. The chuck includes a claw disk 3. A through hole is axially penetrated through the center of the claw disk 3. The claw disk 3 is connected to the connection disk 2. Four sliding grooves are circumferentially formed around the axis of the claw disk 3. A rack 10 is slidably arranged in each sliding groove. One side of the rack 10 is connected to an L-shaped claw 5 through bolts. The claw 5 is provided with a connecting portion 22 connected to the rack 10 and an inner supporting portion 23 vertically arranged at one end of the connecting portion 22. The length of the inner supporting portion 23 is not less than the thickness of the workpiece 29. During grasping, the four inner supporting portions 23 expand outwards and act on the inner circular hole 30 of the workpiece 29;

[0036] The connecting plate 2 is provided with a first driving cylinder 4 inside the support arm 19. The output end of the first driving cylinder 4 is provided with a connecting frame 6 inside the claw disc 3. The connecting frame 6 is hinged with a connecting arm 7 corresponding to the position of the claw 5. One end of the connecting arm 7 is hinged with a hook 8. The middle and lower end of the hook 8 is hinged with the corresponding inner support part 23 through a hinge 9. It can be seen that when grasping the workpiece 29, through the outward expansion of the inner support part 23 acting on the side wall of the inner circular hole 30, at the same time, the output end is controlled to extend outward by the first driving cylinder 4, and the hook 8 is made to perform an outward expanding circular motion around the hinge 9 by using the connecting frame 6, so that the end of the hook 8 is placed on the bottom of the workpiece 29, realizing an upward lifting effect on the workpiece 29. In this way, an outward clamping force and an upward lifting force are provided for the workpiece 29, realizing double insurance during grasping, further improving the safety of the gripper hand and preventing the dropping problem caused by simply relying on the claws 5;

[0037] Further, in order to accurately and efficiently control the movement of the claws 5, a driving mechanism is also provided for the claws 5. The driving mechanism includes a toothed disc 15 sleeved on the claw disc 3. A toothed ring 16 is provided on the outer circle of the toothed disc 15. And a wire coil is provided on the side of the toothed disc 15 close to the rack 10. Through the meshing of the wire coil with the rack 10, when the toothed disc 15 drives the wire coil to rotate, the wire coil further drives the claws 5 to slide along the chute. It should be noted that the specific structure of the toothed disc 15 and its cooperation with the rack 10 are already prior art and have been disclosed in the patent with the application number 201711181678.4, so it will not be elaborated here;

[0038] Further, the driving mechanism also includes a second driving cylinder 11 installed on the robotic arm 1. The output end of the second driving cylinder 11 is provided with a triangular driving frame 12. A driving motor 13 is installed on the driving frame 12. The driving motor 13 is located inside the robotic arm 1. And the robotic arm 1 is provided with a movable opening 28 around the driving motor 13 that can enable the driving motor 13 to move back and forth. Sliders 17 are installed at both ends of the driving frame 12. Slide rails 18 are provided in cooperation with the sliders 17. The slide rails 18 are installed on the robotic arm 1. In addition, a driving gear 14 is provided at the output end of the driving motor 13. During use, the second driving cylinder 11 drives the driving motor 13 to extend along the slide rails 18. At this time, the driving gear 14 meshes with the toothed ring 16 on the toothed disc 15. Then, the driving motor 13 drives the driving gear 14 to rotate, and the driving gear 14 further drives the toothed disc 15 to rotate around the claw disc 3. When the toothed disc 15 rotates, the wire coil drives the claws 5 to act along the chute. Therefore, the cooperation of the second driving cylinder 11 and the driving motor 13 is used to replace manual driving of the toothed disc 15, reducing the working intensity and at the same time improving the accuracy and efficiency of the action between the driving gear 14 and the toothed disc 15;

[0039] Furthermore, in order to better control the meshing of the driving gear 14 and the toothed disk 15, abutting portions 21 are provided at both ends of the driving frame 12. A support arm 19 is provided on the mechanical arm 1 opposite to the abutting portions 21, and a limit bolt 20 is provided on the support arm 19. When the driving frame 12 moves and the abutting portions 21 act on the end of the limit bolt 20, the meshing effect between the driving gear 14 and the toothed disk 15 is optimal at this time;

[0040] Furthermore, in order to enable the hook 8 to adapt to inner round holes 30 with different diameters, the connecting arm 7 includes a connecting rod 24. Threads are symmetrically provided at both ends of the connecting rod 24. A first hinge head 26 and a second hinge head 27 are respectively provided at both ends of the connecting rod 24 through the threads. The first hinge head 26 is hinged to the connecting frame 6, and the second hinge head 27 is hinged to the hook 8. A rotating portion 25 for applying force with a wrench is provided on the connecting rod 24. During use, the connecting rod 24 is rotated forward and backward by driving the rotating portion 25, so as to change the length of the entire connecting arm 7, and further adjust the rotation angle of the hook 8 around the hinge member 9.

[0041] During use, refer to the attached Figures 8 - 9 , as shown. First, the second driving cylinder 11 and the driving motor 13 cooperate to drive the driving gear 14 to rotate the toothed disk 15. The toothed disk 15 further uses the disk wire to contract the four claws 5 inward along the chute, so that the diameter of the virtual circle where the four claws 5 are located is smaller than the diameter of the inner round hole 30 of the workpiece 29. Then, the four claws 5 are placed in the inner round hole 30 of the workpiece 29, and one side of the connecting portion 22 is attached to the side wall of the workpiece 29. Then, the toothed disk 15 rotates in reverse to control the four claws 5 to expand outward, so that the inner support portion 23 acts on the side wall of the inner round hole 30. Then, the first driving cylinder 4 is used to control the hook 8 to rotate outward around the hinge member 9, and the end of the hook 8 is hooked to the bottom of the workpiece 29. At this time, the grasping of the workpiece 29 is completed.

[0042] The above is only the preferred specific implementation manner of the present invention, and does not limit the protection scope of the present invention accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of the present invention should be covered within the protection scope of the present invention.

Claims

1. A mechanical gripper, comprising a robotic arm (1), a connecting plate (2) is provided on the robotic arm (1), and a chuck is connected to the connecting plate (2), characterized in that: The chuck includes a jaw plate (3). A plurality of chutes are circumferentially and arrayedly formed in the jaw plate (3). A rack (10) is slidably arranged in the chute. A clamping jaw (5) is arranged on one side of the rack (10). A driving mechanism is provided on the clamping jaw (5). A first driving cylinder (4) is arranged at the position of the connecting plate (2) where the robotic arm (1) is located. A connecting frame (6) is arranged at the output end of the first driving cylinder (4). A connecting arm (7) equal in number to the clamping jaws (5) is hinged on the connecting frame (6). A hook (8) is hinged at one end of the connecting arm (7). The other end of the hook (8) is connected to the corresponding clamping jaw (5) through a hinge member (9). The hook (8) makes an arc movement around the hinge member (9) under the action of the first driving cylinder (4).

2. The mechanical claw hand according to claim 1, characterized in that: The driving mechanism includes a gear disk (15) and a second driving cylinder (11). The gear disk (15) is sleeved on the jaw plate (3). A gear ring (16) is arranged on the outer circle of the gear disk (15). A driving frame (12) is arranged at the output end of the second driving cylinder (11). A driving motor (13) is arranged on the driving frame (12). A driving gear (14) is arranged at the output end of the driving motor (13). The driving gear (14) meshes with the gear ring (16).

3. The mechanical claw hand according to claim 2, characterized in that: Sliders (17) are further arranged on both sides of the driving frame (12). Slide rails (18) are arranged in a matching manner on the sliders (17).

4. A mechanical gripper according to claim 1, wherein: The connecting arm (7) includes a connecting rod (24). Threads are symmetrically arranged at both ends of the connecting rod (24). A first hinge head (26) and a second hinge head (27) are respectively connected to both ends of the connecting rod (24) through the threads.

5. The mechanical claw hand according to claim 4, characterized in that: A rotating part (25) is arranged in the middle of the connecting rod (24).

6. A mechanical claw hand according to claim 1, characterized in that: The clamping jaw (5) is provided with a connecting part (22) connected to the rack (10). An inner support part (23) is vertically arranged at one end of the connecting part (22). The inner support part (23) realizes the hinge connection with the hook (8).

7. The mechanical claw hand according to claim 6, characterized in that: The length of the inner support part (23) is not less than the thickness of the workpiece (29).

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