Clamp stable in grabbing

Abstract

The utility model relates to the technical field of automatic machining, in particular to a clamp stable in grabbing, which comprises a mounting rack, a plurality of rotary clamping mechanisms and a plurality of fixed clamping mechanisms. The multiple fixed clamping mechanisms are installed at the bottom of the installation rack in a position-adjustable mode, the multiple rotary clamping mechanisms are all installed on the installation rack, the rotary clamping parts of the rotary clamping mechanisms rotate when clamping materials, and the rotary clamping parts of the rotary clamping mechanisms and the fixed clamping parts of the corresponding fixed clamping mechanisms are arranged up and down to form clamping positions used for clamping the materials. According to the utility model, the rotary clamping part of the rotary clamping mechanism is matched with the fixed clamping part of the fixed clamping mechanism, so that materials can be stably clamped, and meanwhile, the rotary clamping part of the rotary clamping mechanism rotates when clamping the materials and is arranged up and down with the corresponding fixed clamping part of the fixed clamping mechanism; and the materials can be lifted.

Description

Technical Field

[0001] This utility model relates to the field of automated processing technology, specifically to a gripper for stable grasping. Background Technology

[0002] Robotic grippers are a crucial component in industrial robots and automation systems, used to perform various grasping, handling, and placement tasks. Depending on the application scenario, robotic grippers are designed in various ways to meet specific needs. Existing robotic grippers generally include two-finger grippers, three-finger grippers, vacuum suction cups, and magnetic grippers. However, when dealing with large or complex materials, existing robotic grippers cannot hold the materials securely, and accidents such as material tilting, damage, or detachment can easily occur during material handling. This makes them inconvenient to use and unsuitable for automated production. Utility Model Content

[0003] The technical problem to be solved by this utility model is that existing robot grippers cannot hold materials that are large in size and have a complex structure. During the material handling process, accidents such as material tilting, pinching, and falling off are likely to occur, making them inconvenient to use and unsuitable for automated production.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a gripping clamp that can hold materials firmly, including a mounting frame, a plurality of rotating clamping mechanisms and a plurality of fixed clamping mechanisms. The mounting frame is provided with a connecting mechanism for connecting a corresponding drive device. The plurality of fixed clamping mechanisms are adjustablely mounted at the bottom of the mounting frame. The plurality of rotating clamping mechanisms are all mounted on the mounting frame. The rotating clamping part of the rotating clamping mechanism rotates when clamping materials and is arranged vertically with the fixed clamping part of the corresponding fixed clamping mechanism to form a clamping position for clamping materials.

[0005] When this invention is in operation, the rotating clamping part of the rotating clamping mechanism and the fixed clamping part of the fixed clamping mechanism work together to stably clamp the material, preventing the material from tilting or falling off. At the same time, by rotating the rotating clamping part of the rotating clamping mechanism while clamping the material and arranging it vertically with the corresponding fixed clamping part of the fixed clamping mechanism, the material can be lifted, thereby avoiding the situation where excessive clamping force damages the material, resulting in good material transfer effect.

[0006] Preferably, the rotary clamping mechanism includes a rotary mounting bracket, a rotary clamping drive device, and a rotary clamping claw. The rotary clamping drive device is fixedly mounted on the mounting frame via the mounting bracket. One end of the rotary clamping claw is mounted on the output part of the rotary clamping drive device. The other end of the rotary clamping claw rotates when clamping materials and is arranged vertically with the fixed clamping part of the corresponding fixed clamping mechanism to form a clamping position for clamping materials.

[0007] Preferably, the other end of the rotating gripper is also provided with a gripping part, and the top of the gripping part is provided with a first gripping surface that is consistent with the shape of the contact part of the gripped material.

[0008] Preferably, the gripping claw is C-shaped, and the connection between the rotating gripping claw and the rotating gripping drive device and the part of the rotating gripping claw that contacts the material are kept in the same vertical direction.

[0009] Preferably, the fixed clamping mechanism includes a fixed mounting bracket and a fixed clamping claw. The fixed clamping claw is mounted on the bottom of the mounting frame via the fixed mounting bracket. The bottom of the fixed clamping claw is provided with a second clamping surface that has the same shape as the contact part of the clamped material.

[0010] Preferably, the device also includes several limiting blocks, one end of which is mounted on the mounting frame, and the other end of which extends downward and is located around the clamping position.

[0011] Preferably, the device also includes a clamping detection mechanism for detecting when the device is in place. The clamping detection mechanism is fixedly mounted on the mounting frame, and the detection end of the clamping detection mechanism is arranged around the clamping position.

[0012] Preferably, the system also includes an anti-collision mechanism, which has several anti-collision top rods. One end of each anti-collision top rod is fixedly mounted on the mounting frame, and the other end of each anti-collision top rod extends downward.

[0013] The beneficial technical effects of this utility model include:

[0014] This utility model has a simple structure and reasonable design. Through the cooperation between the rotating clamping part of the rotating clamping mechanism and the fixed clamping part of the fixed clamping mechanism, the material can be stably clamped, avoiding material tilting and falling off. At the same time, by rotating the rotating clamping part of the rotating clamping mechanism while clamping the material and arranging it vertically with the corresponding fixed clamping part of the fixed clamping mechanism, the material can be lifted, thereby avoiding the situation where excessive clamping force damages the material, and the material transfer effect is good.

[0015] Other features and advantages of this utility model will be disclosed in detail in the following specific embodiments and accompanying drawings. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings:

[0017] Appendix Figure 1 A schematic diagram of the structure of a gripper for securing a stable object. Figure 1 ;

[0018] Appendix Figure 2 A schematic diagram of the structure of a gripper for securing a stable object. Figure 2 ;

[0019] Appendix Figure 3 for Figure 2 A magnified view of a portion of point A in the middle. Detailed Implementation

[0020] The technical solutions of the present utility model will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present utility model and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present utility model.

[0021] In the following description, terms such as “inner,” “outer,” “upper,” “lower,” “left,” and “right” are used only to facilitate the description of the embodiments and simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0022] Please see the appendix Figure 1 This embodiment discloses a gripping fixture that provides a stable gripping mechanism, including a mounting frame 1, several rotating gripping mechanisms 2, and several fixed gripping mechanisms 3. The following is a detailed description in conjunction with the accompanying drawings.

[0023] Please see the appendix Figure 1 To be continued Figure 3 In this embodiment, the mounting frame 1 is provided with a connecting mechanism 11 for connecting the corresponding drive device. The clamp can be installed on the corresponding robotic arm through the connecting mechanism 11. Several fixed clamping mechanisms 3 are installed at the bottom of the mounting frame 1 in adjustable positions. Several rotating clamping mechanisms 2 are installed on the mounting frame 1. The rotating clamping part 231 of the rotating clamping mechanism 2 rotates when clamping the material and is arranged vertically with the fixed clamping part 231 of the corresponding fixed clamping mechanism 3 to form a clamping position for clamping the material.

[0024] In this embodiment, the rotating clamping part 231 of the rotating clamping mechanism 2 and the fixed clamping part 231 of the fixed clamping mechanism 3 cooperate with each other to stably clamp the material and prevent the material from tilting or falling off. At the same time, the rotating clamping part 231 of the rotating clamping mechanism 2 rotates when clamping the material and is arranged vertically with the corresponding fixed clamping part 231 of the fixed clamping mechanism 3, which can lift the material and avoid the situation of excessive clamping force damaging the material. The material transfer effect is good.

[0025] Preferably, the rotary clamping mechanism 2 includes a rotary mounting bracket 21, a rotary clamping drive device 22, and a rotary clamping claw 23. The rotary clamping drive device 22 is fixedly mounted on the mounting frame 1 via the mounting bracket. One end of the rotary clamping claw 23 is mounted on the output part of the rotary clamping drive device 22. The other end of the rotary clamping claw 23 rotates when clamping materials and is arranged vertically with the fixed clamping part 231 of the corresponding fixed clamping mechanism 3 to form a clamping position for clamping materials. During operation, the multiple clamping positions are optimized according to the center of gravity distribution of the clamped materials, which can further reduce the damage to the materials during material handling.

[0026] Preferably, the other end of the rotating gripper 23 is also provided with a gripping part 231. The top of the gripping part 231 is provided with a first gripping surface 2311 that is consistent with the shape of the contact part of the gripped material. The fixed gripping mechanism 3 includes a fixed mounting bracket 31 and a fixed gripper 32. The fixed gripper 32 is mounted on the bottom of the mounting frame 1 through the fixed mounting bracket 31. The bottom of the fixed gripper 32 is provided with a second gripping surface 321 that is consistent with the shape of the contact part of the gripped material, which can further improve the stability of gripping the material.

[0027] As a further improvement of this embodiment, the shape of the gripper is set to C-shape. The connection part of the rotating gripper 23 and the rotating gripper drive device 22 and the part of the rotating gripper 23 that contacts the material are kept in the same vertical direction. By lifting the material, it is possible to avoid material damage caused by tilting when handling large-volume and heavy materials.

[0028] Preferably, it also includes several limit blocks 4, one end of each limit block 4 is mounted on the mounting frame 1, and the other end of each limit block 4 extends downward and is located on the periphery of the clamping position, which can realize the straightening of the material and avoid skewing. It also includes an anti-collision mechanism 6, which is provided with several anti-collision top rods 61, one end of each anti-collision top rod 61 is fixedly mounted on the mounting frame 1, and the other end of each anti-collision top rod 61 extends downward, which can impact and improve the handling effect.

[0029] In specific implementation, it also includes a clamping detection mechanism 5 for detecting the clamping position. The clamping detection mechanism 5 is fixedly installed on the mounting frame 1, and the detection end of the clamping detection mechanism 5 is arranged around the clamping position.

[0030] The beneficial technical effects of this embodiment include: the structure of this utility model is simple and the design is reasonable. Through the mutual cooperation between the rotating clamping part of the rotating clamping mechanism and the fixed clamping part of the fixed clamping mechanism, the material can be stably clamped, avoiding material tilting and falling off. At the same time, by rotating the rotating clamping part of the rotating clamping mechanism when clamping the material and arranging it vertically with the corresponding fixed clamping part of the fixed clamping mechanism, the material can be lifted, thereby avoiding the situation where excessive clamping force damages the material, and the material transfer effect is good.

[0031] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Those skilled in the art should understand that this utility model includes, but is not limited to, the content described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this utility model will be included within the scope of the claims.

Claims

1. A gripper for stable grasping, characterized in that: The device includes a mounting frame (1), several rotating clamping mechanisms (2) and several fixed clamping mechanisms (3). The mounting frame (1) is provided with a connecting mechanism (11) for connecting the corresponding drive device. The positions of the several fixed clamping mechanisms (3) are adjustablely installed at the bottom of the mounting frame (1). The several rotating clamping mechanisms (2) are all installed on the mounting frame (1). The rotating clamping part (231) of the rotating clamping mechanism (2) rotates when clamping the material and is arranged vertically with the fixed clamping part (231) of the corresponding fixed clamping mechanism (3) to form a clamping position for clamping the material.

2. The gripping clamp according to claim 1, characterized in that: The rotary clamping mechanism (2) includes a rotary mounting bracket (21), a rotary clamping drive device (22), and a rotary clamping claw (23). The rotary clamping drive device (22) is fixedly mounted on the mounting frame (1) by the mounting bracket. One end of the rotary clamping claw (23) is mounted on the output part of the rotary clamping drive device (22). The other end of the rotary clamping claw (23) rotates when clamping materials and is arranged vertically with the fixed clamping part (231) of the corresponding fixed clamping mechanism (3) to form a clamping position for clamping materials.

3. The gripping clamp according to claim 2, characterized in that: The other end of the rotating gripper (23) is also provided with a gripping part (231), and the top of the gripping part (231) is provided with a first gripping surface (2311) that is consistent with the shape of the contact part of the gripped material.

4. The gripping clamp according to claim 2, characterized in that: The shape of the clamping claw is set to C-shape, and the connection part of the rotating clamping claw (23) and the rotating clamping drive device (22) and the part of the rotating clamping claw (23) that contacts the material are kept in the same vertical direction.

5. The gripping clamp according to claim 1, characterized in that: The fixed clamping mechanism (3) includes a fixed mounting bracket (31) and a fixed clamping claw (32). The fixed clamping claw (32) is mounted on the bottom of the mounting frame (1) via the fixed mounting bracket (31). The bottom of the fixed clamping claw (32) is provided with a second clamping surface (321) that is consistent with the shape of the contact part of the clamped material.

6. The gripping clamp according to claim 1, characterized in that: It also includes several limit blocks (4), one end of each limit block (4) is mounted on the mounting frame (1), and the other end of each limit block (4) extends downward and is located on the periphery of the clamping position.

7. A gripping clamp according to claim 1, characterized in that: It also includes a clamping detection mechanism (5) for detecting that the clamping is in place. The clamping detection mechanism (5) is fixedly installed on the mounting frame (1), and the detection end of the clamping detection mechanism (5) is arranged around the clamping position.

8. A gripping clamp according to claim 1, characterized in that: It also includes an anti-collision mechanism (6), which has a plurality of anti-collision top rods (61), one end of each of the plurality of anti-collision top rods (61) is fixedly installed on the mounting frame (1), and the other end of each of the plurality of anti-collision top rods (61) extends downward.

Images