Telescopic high-speed transplanting mechanical gripper

Abstract

The utility model relates to a telescopic high-speed transplanting mechanical gripper, which is innovatively designed to flexibly grab objects with different sizes and shapes, and meanwhile, the clamping stability is ensured. The chuck is mainly composed of a base, a cross-shaped sliding groove, a clamping jaw base and uniquely-designed clamping jaws. The clamping jaw is of a three-step-shaped structure and is provided with the rubber clamping face with the anti-skid texture, the clamping force is improved, and articles are effectively prevented from sliding off or being damaged. In addition, accurate and efficient operation of the clamping jaw is achieved through control of the air cylinder. According to the utility model, the working efficiency and the operation convenience are obviously improved, meanwhile, the uncertainty in the operation process is reduced, and the device has high practicability and wide application prospect.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of mechanical clamping, especially relates to a telescopic high -speed transplanting mechanical gripper. BACKGROUND

[0002] In the current mechanical hand technology, although the rapid grabbing function of different articles has been realized, there are still several significant problems.

[0003] Firstly, the mechanical hand gripper design in the prior art is usually large, which may not be a problem when grabbing large objects, but when facing small objects or objects located in narrow and deep containers, large grippers are very inconvenient. Due to the mismatch in size, these grippers often have difficulty in accurately positioning and grabbing small objects, and may even be unable to contact the target object due to the large size of the gripper, which greatly reduces the accuracy and efficiency of grabbing.

[0004] Secondly, the existing mechanical hand usually adopts a multi-cylinder control system to control the opening and closing of the gripper. Although this system can realize the grabbing function to a certain extent, due to the limited response speed and accuracy of the cylinder, the grabbing speed of the mechanical hand is relatively slow. In high-speed production lines, such slow grabbing becomes a key factor restricting production efficiency. Especially in scenarios where articles need to be quickly transplanted, this speed limitation is particularly prominent.

[0005] In summary, the mechanical hand in the prior art has obvious problems in gripper size and grabbing speed, which limits their use in fine operation and high-speed transplanting applications. In order to solve these problems, a new type of mechanical gripper that can adapt to different sizes of articles and has high-speed transplanting capability is needed. SUMMARY

[0006] The utility model aims at providing a telescopic high-speed transplanting mechanical gripper to realize fine grabbing and high-speed transplanting.

[0007] In order to achieve the above-mentioned purpose, the technical scheme of the utility model is to design a telescopic high-speed transplanting mechanical gripper, which comprises a gripper main body and a telescopic cylinder, the gripper main body is fixed to the lower part of the telescopic cylinder, and the gripper main body is driven by the telescopic cylinder to move up and down.

[0008] Furthermore, the gripper body includes an upper fixed plate, support rods, a lower fixed plate, an electromagnetic push rod, and four grippers. The upper end of the upper fixed plate is connected to the telescopic cylinder, which drives the upper fixed plate to move up and down. The lower end of the upper fixed plate is provided with four support rods, the lower ends of which are connected to the lower fixed plate. The electromagnetic push rod is provided in the middle of the lower fixed plate. The four grippers have a horizontal connecting part in the middle, which is connected to the lower fixed plate. The horizontal connecting part can drive the grippers to rotate horizontally. The upper middle of the grippers is provided with a telescopic connecting rod, which can slide up and down along the upper end of the grippers. The other end of the telescopic connecting rod is connected to the electromagnetic push rod. The length of the telescopic connecting rod is longer than the horizontal connecting part. The grippers are set at a certain angle inside the telescopic high-speed transplanting mechanical gripper. The extension and retraction of the electromagnetic push rod drives the grippers to move up and down through the telescopic connecting rod to grasp the object.

[0009] Furthermore, the upper fixing plate has a cross-shaped umbrella structure, and clamping grooves are respectively opened on the four sides of the upper fixing plate. The clamping grooves are rounded rectangles, and the upper part of the clamping claw is set in the clamping groove. The upper end of the clamping claw swings along the clamping groove.

[0010] Furthermore, the lower fixing plate has a "well" structure, the electromagnetic push rod is fixed in the middle of the lower fixing plate, and the horizontal connecting part of the gripper is connected to the notch around the lower fixing plate. The horizontal connecting part can rotate horizontally at the notch around the lower fixing plate through a rotatable connection.

[0011] Furthermore, the telescopic linkage includes a slider, a connecting rod, and a pusher block. The slider is fitted onto the upper end of the gripper. The pusher block has a "well" structure and is fixed to the electromagnetic push rod. The slider and the pusher block are connected by the connecting rod. One end of the connecting rod is rotatably connected to the slider, and the connecting rod rotates as the slider moves up and down. The other end of the connecting rod is rotatably connected to a notch around the pusher block, and the connecting rod rotates as the pusher block moves up and down. The extension and retraction of the electromagnetic push rod drives the telescopic linkage to move, and the telescopic linkage drives the gripper to move up and down.

[0012] Furthermore, the gripper also includes a sleeve and a gripper head, the gripper head being disposed in the sleeve and capable of extending and retracting within the sleeve.

[0013] Preferably, the horizontal connecting part is provided with a cylinder nozzle, which can control the extension and retraction of the gripper head by connecting a cylinder.

[0014] The utility model discloses the advantage and beneficial effect lies in: the utility model discloses the combination of telescopic air cylinder and the gripper main part, makes the gripper can adapt to the container of different depth, and the small article in the container in deep or narrow is caught easily. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical scheme in the embodiment of the utility model, the drawings needed to be used in the embodiment description will be briefly introduced, and obviously, the drawings in the following description are only some embodiments of the utility model, and for the person skilled in the art, other drawings can be obtained according to these drawings without creating creative labor.

[0016] Figure 1 It is the whole schematic view of the utility model.

[0017] Figure 2 It is the lower part schematic view of the utility model.

[0018] Wherein, 1 - upper end fixed plate, 11 - clamping rod groove, 2 - support rod, 3 - lower end fixed plate, 4 - electromagnetic push rod, 5 - clamping jaw, 51 - sleeve, 52 - horizontal connecting part, 53 - clamping jaw head, 6 - telescopic connecting rod, 61 - sliding block, 62 - connecting rod, 63 - push rod block, 7 - telescopic air cylinder. DETAILED DESCRIPTION

[0019] The technical scheme in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model, obviously, the described embodiment is only a part of the embodiment of the utility model, not all the embodiment. Based on the embodiment in the utility model, all other embodiments obtained by the person skilled in the art without creating creative labor are within the protection scope of the utility model. In addition, it should be understood that the specific embodiment described here is only used for illustrating and explaining the utility model, and is not used for limiting the utility model. In the utility model, the orientation words such as "up" and "down" are usually the up and down of the device actual use or working state without making the opposite statement, and the specific is the drawing direction in the drawing, and "inner" and "outer" are the contour of the device.

[0020] As Figure 1 And Figure 2As shown, the technical solution of this utility model is to design a retractable high-speed transplanting mechanical gripper, including a gripper body and a telescopic cylinder 7. The gripper body includes an upper fixed plate 1, a support rod 2, a lower fixed plate 3, an electromagnetic push rod 4, and four grippers 5.

[0021] The telescopic cylinder 7 is the power unit of the mechanical gripper, responsible for providing the power for the gripper body to move up and down. It is located above the gripper body and is connected to the upper fixed plate 1 through a connector.

[0022] Main part of the gripper:

[0023] The upper fixing plate 1 is the top structure of the gripper body. It is designed in the shape of a cross umbrella and has strong structural stability. Its top is connected to the telescopic cylinder 7, and the clamping rod grooves 11 on its four sides are used to place the upper part of the gripper 5.

[0024] The support rod 2 is a component that connects the upper fixed plate 1 and the lower fixed plate 3, and plays the role of supporting and stabilizing the main body of the gripper. Its upper and lower ends are fixed to the upper fixed plate 1 and the lower fixed plate 3, respectively.

[0025] The lower fixing plate 3 is designed with a "well" structure to provide an installation position for the horizontal connection part 52 of the electromagnetic push rod 4 and the gripper 5. It is located at the bottom of the gripper body, and the horizontal connection part of the gripper 5 is connected to the notch around its perimeter.

[0026] The electromagnetic push rod 4 is a key component for controlling the opening and closing of the gripper 5. It controls the movement of the gripper through its telescopic action. It is fixed in the middle of the lower fixing plate 3, and its telescopic end is connected to the telescopic connecting rod 6.

[0027] Gripper part:

[0028] The gripper 5 is the main component for grasping objects, consisting of a sleeve 51, a horizontal connecting part 52, and a gripper head 53. The middle part of the gripper 5 is connected to the lower fixing plate 3 via the horizontal connecting part 52, allowing it to rotate horizontally. The gripper head 53 is located at the end of the sleeve 51 and can extend and retract within the sleeve.

[0029] The telescopic linkage 6 consists of a slider 61, a connecting rod 62, and a pusher block 63, and is responsible for transmitting the telescopic movement of the electromagnetic push rod 4 to the gripper 5. The slider 61 is fitted onto the upper end of the gripper 5 and can move up and down with the gripper. The connecting rod 62 connects the slider 61 and the pusher block 63, so that the telescopic movement of the electromagnetic push rod 4 can drive the movement of the gripper 5. The pusher block 63 is fixed to the electromagnetic push rod 4.

[0030] Specific usage steps:

[0031] Activate the mechanical gripper and put it into standby mode. Set the target position and orientation through the control system so that the gripper knows the specific location where it will grasp or place the object.

[0032] The gripper is moved above the object to be gripped, ensuring that the relative position of the gripper to the object is accurate. The gripper is brought close to the object to be gripped by means of the telescopic cylinder 7, and the jaws 5 are then pushed to grip the object by means of the control of the electromagnetic push rod 4.

[0033] If the object is small, the jaws can also be extended and retracted by means of a cylinder nozzle on the horizontal connection 52, in order to grip smaller objects.

[0034] The above provides a detailed description of the telescopic high-speed transplanting machine gripper. The principles and implementation methods of the present application are described in this paper using specific examples. The above examples are only used to help understand the method and core idea of the present application. It should be noted that for ordinary skilled persons in the art, without departing from the principles of the present application, the present application can be improved and modified in several ways, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A retractable high-speed transplanting mechanical gripper, comprising a gripper body and a telescopic cylinder (7), wherein the gripper body is fixedly disposed at the lower part of the telescopic cylinder (7), characterized in that, The gripper body includes an upper fixed plate (1), a support rod (2), a lower fixed plate (3), an electromagnetic push rod (4), and four grippers (5). The upper end of the upper fixed plate (1) is connected to the telescopic cylinder (7). The lower end of the upper fixed plate (1) is provided with four support rods (2). The lower end of the support rods (2) is connected to the lower fixed plate (3). The electromagnetic push rod (4) is provided in the middle of the lower fixed plate (3). The four grippers (5) are provided with a horizontal connecting part (52) in the middle. The horizontal connecting part (52) is connected to the lower fixed plate (3). The upper middle of the gripper (5) is provided with a telescopic connecting rod (6). The other end of the telescopic connecting rod (6) is connected to the electromagnetic push rod (4). The length of the telescopic connecting rod (6) is longer than the horizontal connecting part (52). The grippers (5) are set at a certain angle inside the telescopic high-speed transplanting mechanical gripper.

2. The retractable high-speed transplanting mechanical gripper according to claim 1, characterized in that, The upper fixing plate (1) has a cross-shaped umbrella structure. The upper fixing plate (1) has clamping grooves (11) on its four sides. The clamping grooves (11) are rounded rectangles. The upper part of the clamping claw (5) is located in the clamping grooves (11).

3. The retractable high-speed transplanting mechanical gripper according to claim 2, characterized in that, The lower fixing plate (3) has a "well" structure. The electromagnetic push rod (4) is fixed in the middle of the lower fixing plate (3). The horizontal connecting part (52) of the gripper (5) is connected to the notch around the lower fixing plate (3). The horizontal connecting part (52) can rotate horizontally at the notch around the lower fixing plate (3) through rotational connection.

4. The retractable high-speed transplanting mechanical gripper according to claim 3, characterized in that, The telescopic link (6) includes a slider (61), a connecting rod (62), and a pusher block (63). The slider (61) is sleeved on the upper end of the gripper (5). The pusher block (63) has a "well" structure and is fixed on the electromagnetic push rod (4). The slider (61) and the pusher block (63) are connected by the connecting rod (62). One end of the connecting rod (62) is rotatably connected to the slider (61), and the other end of the connecting rod (62) is rotatably connected to the notch around the pusher block (63). The electromagnetic push rod (4) extends and retracts, causing the telescopic link (6) to move. The telescopic link (6) causes the gripper (5) to move up and down.

5. A retractable high-speed transplanting mechanical gripper according to claim 4, characterized in that, The gripper (5) further includes a sleeve (51) and a gripper head (53), the gripper head (53) being disposed in the sleeve (51) and being able to extend and retract within the sleeve (51).

6. A retractable high-speed transplanting mechanical gripper according to any one of claims 1 to 5, characterized in that, The horizontal connecting part (52) is provided with a cylinder nozzle.

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