Anti-shaking material taking paw

Abstract

The utility model discloses an anti-shake reclaiming paw in the field of reclaiming paws, which comprises a base, a first buffer mechanism, a reclaiming paw body and a second buffer mechanism, the second buffer mechanism is connected to the inside of the base, the first buffer mechanism is connected to the top of the second buffer mechanism, and the reclaiming paw body is connected to the top of the first buffer mechanism. The material taking paw body is connected to the top of the first buffering mechanism, a first mounting box is connected to the top of the second buffering mechanism, according to the anti-shaking material taking paw, when the second mounting box moves, a first buffering spring deforms, potential energy of the first buffering spring is absorbed through a first damper, and when a mounting block moves, the first buffering spring is prevented from being deformed; and a second damper is used for absorbing potential energy of the second buffer spring and buffering front, back, left and right vibration, so that when the gripper is started or stopped, gripper shaking caused by the inertia effect is relieved, a workpiece is prevented from falling off, and the reliability of the device is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of material retrieving claws, in particular to an anti-shake material retrieving claw. Background Art

[0002] The manipulator is the earliest industrial robot and also the earliest modern robot. It can replace heavy human labor to realize the mechanization and automation of production. It can operate in harmful environments to protect personal safety. When machining workpieces, it is necessary to use mechanical material handling grippers to transfer the workpieces between different processing positions so that the workpieces can be processed by different processing devices.

[0003] The current mechanical material-grabbing gripper cannot alleviate the hand shaking caused by inertia when starting or stopping, which makes the grasped workpiece easily fall, reducing the operation reliability. For this reason, we propose an anti-shake material-grabbing gripper. Utility Model Content

[0004] The purpose of the present utility model is to provide an anti-shake material-grabbing gripper to solve the problem raised in the above background technology that the current mechanical material-grabbing gripper cannot alleviate the hand shaking caused by inertia when starting or stopping, and the grasped workpiece is easily dropped, thereby reducing the operating reliability.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an anti-shake material-picking claw, comprising a base, a first buffer mechanism, a material-picking claw body and a second buffer mechanism, the second buffer mechanism being connected to the inside of the base, the first buffer mechanism being connected to the top of the second buffer mechanism, the material-picking claw body being connected to the top of the first buffer mechanism, the first buffer mechanism comprising a first mounting box, a first slide bar, a second mounting box, a first buffer spring, a first damper, a second slide bar, a mounting block, a second buffer spring and a second damper, the top of the second buffer mechanism being connected to There is a first installation box, the front and rear parts between the left and right sides of the inner cavity of the first installation box are fixedly connected to the first sliding rod, the outer side wall of the first sliding rod is slidably connected to the second installation box, the left and right outer sides of the first sliding rod are sleeved with a first buffer spring, the middle part of the left and right sides of the first installation box is fixedly connected to the first damper, the left and right parts between the front and back sides of the inner cavity of the second installation box are fixedly connected to the second sliding rod, the outer side wall of the second sliding rod is slidably connected to the installation block, the front and back outer sides of the second sliding rod are sleeved with a second buffer spring, and the middle part of the front and back sides of the inner cavity of the second installation box is fixedly connected to the second damper.

[0006] As a further description of the above technical solution:

[0007] The left and right ends of the first buffer spring are respectively fixedly connected to the left side of the inner cavity of the first installation box and the left side of the second installation box, and the left and right ends of the first buffer spring are respectively fixedly connected to the right side of the inner cavity of the first installation box and the right side of the second installation box.

[0008] As a further description of the above technical solution:

[0009] The front and rear ends of the second buffer spring are respectively fixedly connected to the front side of the inner cavity of the second mounting box and the front side of the mounting block, and the front and rear ends of the second buffer spring are respectively fixedly connected to the rear side of the second mounting box and the rear side of the mounting block.

[0010] As a further description of the above technical solution:

[0011] The right end of the first damper on the left is fixedly connected to the left side of the second mounting box, the left end of the first damper on the right is fixedly connected to the right side of the second mounting box, the rear end of the second damper on the front is fixedly connected to the front side of the mounting block, and the front end of the second damper on the rear is fixedly connected to the rear side of the mounting block.

[0012] As a further description of the above technical solution:

[0013] The second buffer mechanism includes a mounting plate, a connecting block, a first connecting seat, a third damper, a third buffer spring, a connecting rod, a fixing plate, a connecting rod, a fourth buffer spring and a second connecting seat, the base is slidably connected to the mounting plate, the connecting block is fixedly connected at the four corner edges of the bottom of the mounting plate, the middle of the opposite sides of the connecting blocks on the left and right parts are fixedly connected to the first connecting seat, the middle of the bottom of the connecting block is fixedly connected to the third damper, the middle of the bottom of the connecting block is fixedly connected to the third buffer spring, and the third buffer spring is sleeved on the outside of the third damper, the first connecting seat is rotatably connected to the connecting rod inside, the front and rear left and right parts of the bottom of the inner cavity of the base are fixedly connected to the fixing plate, the middle of the opposite sides of the fixing plates on the left and right parts are fixedly connected to the connecting rod, the middle of the outer side of the connecting rod is sleeved with the fourth buffer spring, and the outer side wall of the connecting rod is symmetrically slidably connected to the second connecting seat.

[0014] As a further description of the above technical solution:

[0015] The bottom of the third damper and the bottom end of the third buffer spring are fixedly connected to the bottom of the inner cavity of the base, the other end of the connecting rod is rotatably connected to the inside of the second connecting seat, and the two ends of the fourth buffer spring are fixedly connected to the opposite sides of the second connecting seat on the left and right parts.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] 1. The anti-shake material picking gripper, when the second mounting box moves, causes the first buffer spring to deform, and uses the first damper to absorb the potential energy of the first buffer spring; when the mounting block moves, causes the second buffer spring to deform, and uses the second damper to absorb the potential energy of the second buffer spring, thereby buffering the front, back, left and right vibrations, thereby alleviating the gripper shaking caused by inertia when the gripper starts or stops, preventing the workpiece from falling, and improving the reliability of the device.

[0018] 2. When the device shakes up and down, the anti-shake material picking claw moves the mounting plate, drives the connecting block to move, deforms the third buffer spring, and moves the first connecting seat, deflects the connecting rod, drives the second connecting seats closer to each other, squeezes the fourth buffer spring, and uses the third damper to absorb the potential energy of the spring, thereby absorbing and buffering the up and down shaking of the device. At the same time, in conjunction with the first buffer mechanism, the device can be fully buffered in the upper and lower, front and back, left and right parts, reducing the shaking of the device and improving the stability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of an anti-shake material retrieving gripper proposed by the utility model;

[0020] Figure 2 This is a schematic structural diagram of the first buffer mechanism of an anti-shake material retrieving gripper proposed in the utility model;

[0021] Figure 3 This is a schematic structural diagram of the second buffer mechanism of the anti-shake material picking claw proposed by the utility model;

[0022] Figure 4 This is a schematic diagram of the main structure of the second buffer mechanism of the anti-shake material picking gripper proposed by the utility model.

[0023] In the figure: 100, base; 200, first buffer mechanism; 210, first mounting box; 220, first slide bar; 230, second mounting box; 240, first buffer spring; 250, first damper; 260, second slide bar; 270, mounting block; 280, second buffer spring; 290, second damper; 300, material picking claw body; 400, second buffer mechanism; 410, mounting plate; 420, connecting block; 430, first connecting seat; 440, third damper; 450, third buffer spring; 460, connecting rod; 470, fixing plate; 480, connecting rod; 481, fourth buffer spring; 490, second connecting seat. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0025] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying 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 a limitation on the present invention. In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0026] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0027] The utility model provides an anti-shake material picking gripper, which can alleviate the hand shaking caused by inertia when the gripper starts or stops, prevent the workpiece from falling, and improve the reliability of the device. Figure 1-4 , including a base 100, a first buffer mechanism 200, a material picking claw body 300 and a second buffer mechanism 400;

[0028] Please refer again Figure 1 The base 100 is used to install the first buffer mechanism 200, the material picking claw body 300 and the second buffer mechanism 400;

[0029] Please refer again Figure 1The second buffer mechanism 400 is connected to the inside of the base 100 for installing the first buffer mechanism 200. The first buffer mechanism 200 is connected to the top of the second buffer mechanism 400. The material grabbing claw body 300 is connected to the top of the first buffer mechanism 200.

[0030] Please refer again Figure 2 The first buffer mechanism 200 includes a first mounting box 210, a first slide bar 220, a second mounting box 230, a first buffer spring 240, a first damper 250, a second slide bar 260, a mounting block 270, a second buffer spring 280 and a second damper 290;

[0031] Please refer again Figure 2 The top of the second buffer mechanism 400 is connected to the first installation box 210. The front and rear parts between the left and right sides of the inner cavity of the first installation box 210 are fixedly connected to the first sliding rod 220. The outer wall of the first sliding rod 220 is slidably connected to the second installation box 230. The left and right outer parts of the first sliding rod 220 are sleeved with first buffer springs 240. The middle parts of the left and right sides of the first installation box 210 are fixedly connected to the first damper 250.

[0032] Please refer again Figure 2 The second slide bar 260 is fixedly connected to the left and right parts between the front and rear sides of the inner cavity of the second installation box 230, the outer wall of the second slide bar 260 is slidably connected to the mounting block 270, the outer front and rear parts of the second slide bar 260 are sleeved with a second buffer spring 280, and the middle part of the front and rear sides of the inner cavity of the second installation box 230 is fixedly connected to the second damper 290.

[0033] To sum up, when the second mounting box 230 moves, the first buffer spring 240 is deformed, and the first damper 250 is used to absorb the potential energy of the first buffer spring 240. When the mounting block 270 moves, the second buffer spring 280 is deformed, and the second damper 290 is used to absorb the potential energy of the second buffer spring 280, thereby buffering the front, back, left and right vibrations. Therefore, when the gripper starts or stops, the gripper shaking caused by inertia is alleviated, the workpiece is prevented from falling, and the reliability of the device is improved.

[0034] Please refer again Figure 2 The left and right ends of the first buffer spring 240 are fixedly connected to the left side of the inner cavity of the first installation box 210 and the left side of the second installation box 230 respectively, and the left and right ends of the first buffer spring 240 are fixedly connected to the right side of the inner cavity of the first installation box 210 and the right side of the second installation box 230 respectively.

[0035] Please refer again Figure 2The front end and the rear end of the front second buffering spring 280 are fixedly connected with the front side of the inner cavity of the second mounting box 230 and the front side of the mounting block 270 respectively, and the front end and the rear end of the rear second buffering spring 280 are fixedly connected with the rear side of the second mounting box 230 and the rear side of the mounting block 270 respectively.

[0036] Please refer again to Figure 2 The right end of the left first damper 250 is fixedly connected with the left side of the second mounting box 230, the left end of the right first damper 250 is fixedly connected with the right side of the second mounting box 230, the rear end of the front second damper 290 is fixedly connected with the front side of the mounting block 270, and the front end of the rear second damper 290 is fixedly connected with the rear side of the mounting block 270.

[0037] Please refer again to Figure 3 The second buffering mechanism 400 comprises a mounting plate 410, a connecting block 420, a first connecting seat 430, a third damper 440, a third buffering spring 450, a connecting rod 460, a fixed plate 470, a connecting rod 480, a fourth buffering spring 481 and a second connecting seat 490. The mounting plate 410 is slidably connected to the inside of the base 100. The connecting block 420 is fixedly connected to the bottom corners of the mounting plate 410. The first connecting seat 430 is fixedly connected to the middle of the opposite sides of the left and right connecting blocks 420. The third damper 440 is fixedly connected to the middle of the bottom of the connecting block 420. The third buffering spring 450 is fixedly connected to the middle of the bottom of the connecting block 420, and is sleeved on the outside of the third damper 440. The connecting rod 460 is rotatably connected to the inside of the first connecting seat 430. The fixed plate 470 is fixedly connected to the bottom of the inner cavity of the base 100. The connecting rod 480 is fixedly connected to the middle of the opposite sides of the left and right fixed plates 470. The fourth buffering spring 481 is sleeved on the middle of the outside of the connecting rod 480. The second connecting seat 490 is slidably connected to the outside wall of the connecting rod 480.

[0038] Please refer again to Figure 3 The bottom of the third damper 440 and the bottom end of the third buffering spring 450 are fixedly connected to the bottom of the inner cavity of the base 100. The other end of the connecting rod 460 is rotatably connected to the inside of the second connecting seat 490. The two ends of the fourth buffering spring 481 are fixedly connected to the opposite sides of the left and right second connecting seats 490.

[0039] To sum up, when the device shakes up and down, the mounting plate 410 moves, driving the connecting block 420 to move, causing the third buffer spring 450 to deform, and at the same time causing the first connecting seat 430 to move, causing the connecting rod 460 to deflect, driving the second connecting seat 490 to approach each other, squeezing the fourth buffer spring 481, and using the third damper 440 to absorb the potential energy of the spring, thereby absorbing and buffering the up and down shaking of the device, and at the same time cooperating with the first buffer mechanism 200, the device can be fully buffered in the upper and lower, front and back, left and right parts, reducing the shaking of the device and improving the stability of the device.

[0040] In specific use, when used by personnel in this technical field, when the second mounting box 230 moves, the first buffer spring 240 is deformed, and the first damper 250 is used to absorb the potential energy of the first buffer spring 240; when the mounting block 270 moves, the second buffer spring 280 is deformed, and the second damper 290 is used to absorb the potential energy of the second buffer spring 280, thereby buffering the vibrations in the front, back, left and right directions; when the device shakes up and down, the mounting plate 410 moves, driving the connecting block 420 to move, causing the third buffer spring 450 to deform, and at the same time causing the first connecting seat 430 to move, causing the connecting rod 460 to deflect, driving the second connecting seat 490 to approach each other, squeezing the fourth buffer spring 481, and using the third damper 440 to absorb the potential energy of the spring, thereby absorbing and buffering the up and down shaking of the device, and at the same time cooperating with the first buffer mechanism 200, the device is fully buffered in the up and down, front and back, left and right directions.

[0041] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the illustrative use of the above terms does not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0042] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and purpose of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. An anti-shake material picking claw, characterized by: The invention comprises a base (100), a first buffer mechanism (200), a material picking claw body (300) and a second buffer mechanism (400), wherein the second buffer mechanism (400) is connected to the inside of the base (100), the first buffer mechanism (200) is connected to the top of the second buffer mechanism (400), the material picking claw body (300) is connected to the top of the first buffer mechanism (200), the first buffer mechanism (200) comprises a first mounting box (210), a first slide bar (220), a second mounting box (230), a first buffer spring (240), a first damper (250), a second slide bar (260), a mounting block (270), a second buffer spring (280) and a second damper (290), the top of the second buffer mechanism (400) is connected to the first mounting box ( 210), the front and rear parts between the left and right sides of the inner cavity of the first installation box (210) are fixedly connected with a first slide bar (220), the outer side wall of the first slide bar (220) is slidably connected with a second installation box (230), the left and right outer sides of the first slide bar (220) are sleeved with a first buffer spring (240), the middle part of the left and right sides of the first installation box (210) is fixedly connected with a first damper (250), the left and right parts between the front and rear sides of the inner cavity of the second installation box (230) are fixedly connected with a second slide bar (260), the outer side wall of the second slide bar (260) is slidably connected with a mounting block (270), the front and rear outer sides of the second slide bar (260) are sleeved with a second buffer spring (280), and the middle part of the front and rear sides of the inner cavity of the second installation box (230) is fixedly connected with a second damper (290).

2. The anti-shake material retrieving gripper according to claim 1, characterized in that: The left and right ends of the first buffer spring (240) are respectively fixedly connected to the left side of the inner cavity of the first installation box (210) and the left side of the second installation box (230), and the right and left ends of the first buffer spring (240) are respectively fixedly connected to the right side of the inner cavity of the first installation box (210) and the right side of the second installation box (230).

3. The anti-shake material retrieving gripper according to claim 1, characterized in that: The front and rear ends of the second buffer spring (280) are respectively fixedly connected to the front side of the inner cavity of the second mounting box (230) and the front side of the mounting block (270), and the front and rear ends of the second buffer spring (280) are respectively fixedly connected to the rear side of the second mounting box (230) and the rear side of the mounting block (270).

4. The anti-shake material retrieving gripper according to claim 1, characterized in that: The right end of the left first damper (250) is fixedly connected to the left side of the second mounting box (230), the left end of the right first damper (250) is fixedly connected to the right side of the second mounting box (230), the rear end of the front second damper (290) is fixedly connected to the front side of the mounting block (270), and the front end of the rear second damper (290) is fixedly connected to the rear side of the mounting block (270).

5. The anti-shake material retrieving gripper according to claim 1, characterized in that: The second buffer mechanism (400) comprises a mounting plate (410), a connecting block (420), a first connecting seat (430), a third damper (440), a third buffer spring (450), a connecting rod (460), a fixing plate (470), a connecting rod (480), a fourth buffer spring (481) and a second connecting seat (490), wherein the interior of the base (100) is slidably connected to the mounting plate (410), the connecting blocks (420) are fixedly connected at the four corners of the bottom of the mounting plate (410), the middle of the opposite sides of the connecting blocks (420) on the left and right sides are fixedly connected to the first connecting seat (430), and the middle of the bottom of the connecting block (420) is fixedly connected to the fourth buffer spring (481). Three dampers (440), the middle part of the bottom of the connecting block (420) is fixedly connected to a third buffer spring (450), and the third buffer spring (450) is sleeved on the outside of the third damper (440), the inside of the first connecting seat (430) is rotatably connected to a connecting rod (460), the front and rear left and right parts of the bottom of the inner cavity of the base (100) are fixedly connected to fixed plates (470), the middle parts of the opposite sides of the fixed plates (470) on the left and right parts are fixedly connected to connecting rods (480), the middle part of the outer side of the connecting rod (480) is sleeved with a fourth buffer spring (481), and the outer side wall of the connecting rod (480) is symmetrically slidably connected to the second connecting seat (490).

6. The anti-shake material retrieving gripper according to claim 5, characterized in that: The bottom of the third damper (440) and the bottom end of the third buffer spring (450) are fixedly connected to the bottom of the inner cavity of the base (100), the other end of the connecting rod (460) is rotatably connected to the inside of the second connecting seat (490), and the two ends of the fourth buffer spring (481) are fixedly connected to the opposite sides of the second connecting seat (490) on the left and right parts.

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