Internal supporting type mechanical claw

Abstract

The utility model provides an inner supporting type mechanical claw which is characterized in that a mounting cavity is formed in a mounting cylinder, an upper cover plate is fixed at the upper end of the mounting cylinder, a lower cover plate is fixed at the lower end of the mounting cylinder, a lifting seat is arranged in the mounting cavity, the lower end of a lifting buffer assembly is fixed on the lifting seat, and an elastic telescopic end is mounted on the upper cover plate; the upper end of the clamping air cylinder is fixed to the lower end of the lifting base, at least three sets of power output ends are arranged at the lower end of the clamping air cylinder, the multiple sets of power output ends are annularly and evenly distributed, the power output ends of the clamping air cylinder move in the radial direction of the mounting barrel, and the multiple sets of clamping jaw assemblies are fixed to the multiple sets of power output ends of the clamping air cylinder in a one-to-one correspondence mode. The mechanical gripper has the advantages that materials are clamped in an inner supporting mode, the size of the mechanical gripper is greatly reduced, the rigid clamping jaw structure is adopted, reliable clamping force can be provided, and the mechanical gripper is suitable for grabbing heavy objects.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of mechanical hand structure, especially relates to a inner bracing type mechanical claw. BACKGROUND

[0002] The mechanical claw is an important component of the mechanical hand, is used for grabbing various parts and products on the production line, and common mechanical claws have two kinds, one is rigidly clamping the outer contour of the material to provide larger clamping force and firmly grab the material, but the mechanical claw has complex structure, occupies large space and is not flexible to use, and the other is adsorbing the upper end face of the material by the suction cup, and although the mechanical claw has simple structure and small size, the grabbing force is provided by air pressure, and the grabbing force is insufficient when grabbing heavy material, and it is difficult to grab heavy objects. UTILITY MODEL CONTENTS

[0003] The utility model aims at providing a inner bracing type mechanical claw to solve the problems mentioned in the background art.

[0004] In order to realize the above-mentioned purpose, the utility model provides the following technical scheme:

[0005] A kind of inner bracing type mechanical claw, including installation cylinder, upper cover plate, lower cover plate, lifting buffer assembly, lifting seat, clamping cylinder and clamping jaw assembly, installation cylinder is equipped with installation cavity, upper cover plate is fixed at the upper end of installation cylinder, lower cover plate is fixed at the lower end of installation cylinder, lifting seat is arranged in installation cavity, the lower end of lifting buffer assembly is fixed on lifting seat and elastic expansion end is installed on upper cover plate, the upper end of clamping cylinder is fixed at the lower end of lifting seat, at least three groups of power output ends are arranged at the lower end of clamping cylinder, multiple power output ends are evenly distributed along annular, the power output end of clamping cylinder moves along the radial direction of installation cylinder, clamping jaw assembly is set up multiple and is fixed on the multiple power output ends of clamping cylinder one by one, the inner side of clamping jaw assembly is provided with downward protruding clamping block.

[0006] Further description of the utility model: clamping jaw assembly includes guide plate and clamping block, guide plate is arranged along the radial direction and inner end is fixed at the power output end of clamping cylinder, clamping block is fixed at the inner end lower side of guide plate, lower cover plate includes multiple arc-shaped plates, arc-shaped plate is fixed below installation cylinder and corresponds to between adjacent two guide plates, guide slot is formed between adjacent two arc-shaped plates, guide plate corresponds to in guide slot.

[0007] Further description of the utility model: guide plate, clamping block and arc-shaped plate are all provided with three groups.

[0008] Further description of the utility model: The lifting buffer assembly includes an adjusting screw, a buffer spring and an elastic gasket. The lower end of the upper cover plate is provided with a first limit groove, the upper end of the upper cover plate is provided with a T-shaped slot, the lower end of the T-shaped slot is connected to the first limit groove, the upper end of the lifting seat is provided with a second limit groove, the lower end of the lifting seat is provided with a threaded hole, the upper end of the threaded hole is connected to the second limit groove, the upper end of the adjusting screw is provided with a convex ring, the lower end of the adjusting screw passes through the T-shaped slot, the first limit groove and the second limit groove in sequence and is threadedly connected to the threaded hole, the buffer spring is sleeved on the adjusting screw, the upper and lower ends of the buffer spring correspond to the first limit groove and the second limit groove respectively, and the elastic gasket is sleeved on the adjusting screw and corresponds to between the convex ring and the T-shaped slot.

[0009] The beneficial effects of the present utility model are as follows: the internally supported mechanical claw of the present design is suitable for materials with holes. When grabbing the material, the manipulator drives the mechanical claw to move above the material and gradually descend. After the clamping claw assembly contacts the upper end surface of the material, as the mounting cylinder continues to descend, the lifting buffer assembly is compressed, thereby playing a buffering role to avoid crushing the material. After descending into place, the clamping block corresponds to the hole position of the material. Then, the clamping cylinder drives multiple groups of clamping blocks to move outward at the same time. Multiple groups of clamping blocks expand outward and clamp the material, thereby completing the grabbing of the material. The advantage of this design is that it uses internal support to clamp the material, which greatly reduces the size of the mechanical claw, and uses a rigid clamping claw structure, which can provide reliable clamping force and is suitable for grabbing heavy objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Fig. 1 This is the overall structure diagram of the utility model (top view);

[0011] Fig. 2 This is the overall structural diagram of the utility model (looking up);

[0012] Fig. 3 It is a cross-sectional view of the utility model;

[0013] Description of reference numerals:

[0014] 1. Mounting cylinder; 11. Mounting cavity; 2. Upper cover; 21. First limiting groove; 22. T-slot; 3. Lower cover; 31. Arc plate; 32. Guide groove; 4. Lifting buffer assembly; 41. Adjusting screw; 411. Convex ring; 42. Buffer spring; 43. Elastic gasket; 5. Lifting seat; 51. Second limiting groove; 52. Threaded hole; 6. Clamping cylinder; 7. Clamping jaw assembly; 71. Guide plate; 72. Clamping block. DETAILED DESCRIPTION

[0015] The present invention will be further described below with reference to the accompanying drawings:

[0016] like Figs. 1 to 3As shown, an inner support type mechanical claw includes a mounting cylinder 1, an upper cover plate 2, a lower cover plate 3, a lifting buffer assembly 4, a lifting seat 5, a clamping cylinder 6 and a clamping claw assembly 7. The mounting cylinder 1 is provided with a mounting cavity 11. The upper cover plate 2 is fixed to the upper end of the mounting cylinder 1. The lower cover plate 3 is fixed to the lower end of the mounting cylinder 1. The lifting seat 5 is arranged in the mounting cavity 11. The lower end of the lifting buffer assembly 4 is fixed to the lifting seat 5 and the elastic expansion end is mounted on the upper cover plate 2. The upper end of the clamping cylinder 6 is fixed to the lower end of the lifting seat 5. The lower end of the clamping cylinder 6 is provided with at least three groups of power output ends. The multiple groups of power output ends are uniformly distributed in a ring shape. The power output ends of the clamping cylinder 6 move along the radial direction of the mounting cylinder 1. The clamping claw assembly 7 is arranged in multiple groups and is fixed to the multiple groups of power output ends of the clamping cylinder 6 in one-to-one correspondence. The inner side of the clamping claw assembly 7 is provided with downwardly protruding clamping blocks 72.

[0017] The inner support type mechanical claw of the design is suitable for materials with hole positions. When the material is grabbed, the mechanical hand drives the mechanical claw to move above the material and gradually descend. When the clamping claw assembly 7 contacts the upper end surface of the material, as the mounting cylinder 1 continues to descend, the lifting buffer assembly 4 is compressed, thereby playing a buffering role and avoiding crushing the material. After descending to the position, the clamping blocks 72 correspond to the hole positions of the material. Then, the clamping cylinder 6 drives multiple groups of clamping blocks 72 to move outward at the same time. The multiple groups of clamping blocks 72 are spread outward and clamp the material, thereby completing the grabbing of the material. The advantage of the design is that the material is clamped in an inner support manner, which greatly reduces the volume of the mechanical claw. Moreover, the rigid clamping claw structure can provide reliable clamping force and is suitable for grabbing heavy objects.

[0018] The clamping claw assembly 7 includes a guide plate 71 and a clamping block 72. The guide plate 71 is arranged along the radial direction and the inner end is fixed to the power output end of the clamping cylinder 6. The clamping block 72 is fixed to the inner end of the lower side of the guide plate 71. The lower cover plate 3 includes multiple groups of arc-shaped plates 31. The arc-shaped plates 31 are fixed below the mounting cylinder 1 and correspond to the adjacent two groups of guide plates 71. The adjacent two groups of arc-shaped plates 31 form a guide groove 32. The guide plate 71 corresponds to the guide groove 32.

[0019] When the material is grabbed, the clamping blocks 72 correspond to the hole positions of the material. The clamping cylinder 6 drives the guide plate 71 to move outward. The guide plate 71 slides in the guide groove 32, thereby making the action of the clamping block 72 smooth.

[0020] The guide plate 71, the clamping block 72 and the arc-shaped plate 31 are all arranged in three groups. They can stably clamp the material and also can save materials to the maximum extent.

[0021] The lifting buffering assembly 4 comprises an adjusting screw 41, a buffering spring 42 and an elastic gasket 43, the upper end of the upper cover plate 2 is provided with a first limiting groove 21, the upper end of the upper cover plate 2 is provided with a T-shaped groove 22, the lower end of the T-shaped groove 22 is communicated with the first limiting groove 21, the upper end of the lifting seat 5 is provided with a second limiting groove 51, the lower end of the lifting seat 5 is provided with a threaded hole 52, the upper end of the threaded hole 52 is communicated with the second limiting groove 51, the upper end of the adjusting screw 41 is provided with a convex ring 411, the lower end of the adjusting screw 41 is sequentially threaded through the T-shaped groove 22, the first limiting groove 21 and the second limiting groove 51 and is threadedly connected with the threaded hole 52, the buffering spring 42 is sleeved on the adjusting screw 41, the upper and lower ends of the buffering spring 42 are respectively located in the first limiting groove 21 and the second limiting groove 51, and the elastic gasket 43 is sleeved on the adjusting screw 41 and corresponds to the space between the convex ring 411 and the T-shaped groove 22.

[0022] When the material is grabbed, the mounting cylinder 1 is lowered and contacts the upper end face of the material after the guide plate 71, the buffering spring 42 is compressed, thereby playing a buffering role, after the claw assembly 7 grabs the material, the mounting cylinder 1 is driven to rise by the manipulator, under the action of the weight, the convex ring 411 gradually enters the T-shaped groove 22, the elastic gasket 43 can avoid the direct collision between the convex ring 411 and the T-shaped groove 22, the lower end of the adjusting screw 41 is threadedly connected with the threaded hole 52, by rotating the adjusting screw 41, the height of the adjusting screw 41 relative to the lifting seat 5 can be adjusted, thereby controlling the maximum distance of the claw assembly 7 relative to the mounting cylinder 1 to be lowered, so as to adapt to different production scenes and flexibly adjust.

[0023] The above is not intended to make any limitation on the technical range of the utility model, any modification, equivalent change and modification made according to the technical essence of the utility model to the above embodiment still belongs to the range of the technical scheme of the utility model.

Claims

1. An inside prop mechanical gripper characterized by: The utility model provides a kind of lifting clamp, including installation cylinder, upper cover plate, lower cover plate, lifting buffer assembly, lifting seat, clamping cylinder and clamping jaw assembly, installation cylinder is equipped with installation cavity, upper cover plate is fixed in the upper end of installation cylinder, lower cover plate is fixed in the lower end of installation cylinder, lifting seat is arranged in the installation cavity, the lower end of lifting buffer assembly is fixed on the lifting seat and elastic telescopic end is installed on the upper cover plate, the upper end of clamping cylinder is fixed in the lower end of lifting seat, the lower end of clamping cylinder is provided with at least three groups of power output end, and multiple power output ends are evenly distributed along annular, the power output end of clamping cylinder moves along the radial direction of installation cylinder, clamping jaw assembly is arranged multiple and is fixed on the multiple power output ends of clamping cylinder one by one, and the inner side of clamping jaw assembly is provided with downward protruding clamping block.

2. An inner bolster mechanical gripper according to claim 1, wherein: The clamping jaw assembly includes a guide plate and the clamping block, the guide plate is arranged radially and the inner end is fixed to the power output end of the clamping cylinder, the clamping block is fixed to the inner end of the guide plate, the lower cover plate includes multiple arc-shaped plates, the arc-shaped plates are fixed below the installation cylinder and correspond to the adjacent two groups of guide plates, the adjacent two groups of arc-shaped plates form a guide groove, and the guide plate corresponds to the guide groove.

3. An inner bolster mechanical gripper according to claim 2, wherein: The guide plate, the clamping block and the arc-shaped plate are all arranged in three groups.

4. An inner bolster mechanical gripper as claimed in claim 1, wherein: The lifting buffer assembly includes an adjusting screw, a buffer spring and an elastic gasket, the upper end of the upper cover plate is provided with a T-shaped groove, the lower end of the T-shaped groove is communicated with the first limiting groove, the upper end of the lifting seat is provided with a second limiting groove, the lower end of the lifting seat is provided with a threaded hole, the upper end of the threaded hole is communicated with the second limiting groove, the upper end of the adjusting screw is provided with a convex ring, the lower end of the adjusting screw is sequentially threaded through the T-shaped groove, the first limiting groove and the second limiting groove and is threadedly connected with the threaded hole, the buffer spring is sleeved on the adjusting screw, the upper and lower ends of the buffer spring correspond to the first limiting groove and the second limiting groove respectively, and the elastic gasket is sleeved on the adjusting screw and corresponds to the convex ring and the T-shaped groove.

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