Mechanical gripper

Abstract

The utility model discloses a mechanical gripper in the field of carrying equipment. The mechanical gripper comprises a base plate, a driving body is arranged on the base plate, a locking rod is movably installed on the base plate, and the telescopic end of the driving body is hinged to the locking rod; the arm claw is provided with a quick-change groove, the locking rod and the quick-change groove are provided with a first position and a second position, the first position is fixed in a matched mode, the second position is disintegrated from the first position, and the driving body drives the locking rod to switch between the first position and the second position; during use, the locking rod is arranged at the position of the quick-changing groove and tightened through the driving body, so that the locking rod tightens the arm claw, the locking rod is reversely driven during disassembly to achieve unlocking of the arm claw and the locking rod, operation is quick, the locking degree is high, quick changing of the arm claw is achieved, and meanwhile the mounting strength of the arm claw is guaranteed.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of handling equipment design, in particular to a mechanical hand grab. BACKGROUND

[0002] In the production process of modern manufacturing industry, mechanical grippers are widely used in automatic production lines to replace people to complete the handling of large quantities and high quality requirements; generally, the products handled by the hand grab are single, and only the same or the same type of products can be used, which leads to the need to replace the arm claw when handling different types of products. The existing arm claw is directly fixed on the main body, and some can be disassembled and replaced, generally by bolt connection, but the replacement process is relatively cumbersome, time-consuming and laborious, which affects the overall production efficiency. At this time, the technical personnel need to design a new mechanical hand grab. CONTENT OF THE UTILITY MODEL

[0003] The application aims to provide a mechanical hand grab to solve the defect that the arm claw and the main body cannot be quickly disassembled and replaced in the prior art.

[0004] In order to achieve the above-mentioned purpose, the application is realized by adopting the following technical scheme:

[0005] The application discloses a mechanical hand grab, which comprises:

[0006] A base plate is provided with a driving body, a locking rod is movably mounted on the base plate, and the telescopic end of the driving body is hinged to the locking rod;

[0007] An arm claw is provided with a quick-change groove,

[0008] The locking rod and the quick-change groove have a first position for cooperation and fixation and a second position for mutual disintegration, and the driving body drives the locking rod to switch between the first position and the second position.

[0009] Further schemes of the application are that the locking rod is provided with an irregularly shaped lock head, the quick-change groove is matched with the lock head, the lock head is placed in the quick-change groove, and the driving body drives the locking rod to abut against the side wall of the quick-change groove.

[0010] Further schemes of the application are that one side of the base plate is fixed with a pair of parallel limiting plates, the two limiting plates form a limiting channel with the base plate, the locking rod is movably placed in the limiting channel, and the arm claw abuts against one side of the limiting plate away from the locking rod.

[0011] Further schemes are that the base plate is further provided with a mounting seat, the two limiting plates are fixed in parallel on the mounting seat, the locking rod is provided with a sliding groove, and the locking rod is connected with the mounting seat through a pin shaft.

[0012] In a further embodiment of this application, the arm includes a quick-change component and a main rod, the quick-change slot is disposed on the quick-change component, the main rod is connected to the quick-change component, and the main rod is provided with an adjustable adsorption structure.

[0013] In a further embodiment, the adsorption structure includes a suction cup and a connector. The connector is snapped onto the main rod and connected to a tube via a support rod. The suction cup is connected to one end of the tube.

[0014] In a further embodiment, a mounting component is fixed to the suction cup, one end of the tube is movably installed in the cavity of the mounting component, a spring is sleeved on the tube, one end of the spring is connected to a support rod, and the other end is connected to the mounting component.

[0015] In a further embodiment of this application, the drive body is provided with two telescopic ends, and two locking rods and two claws are provided in matching configuration, with the two claws corresponding to the two locking rods one-to-one.

[0016] In a further embodiment of this application, the driving body and the locking rod are disposed on the same side of the substrate.

[0017] The beneficial effects of this application are as follows:

[0018] In this application, a quick-change slot is provided on the arm claw, and a locking rod is movably installed on the base plate. The locking rod is driven by a drive body to move back and forth to the quick-change slot. When in use, the locking rod is placed in the quick-change slot and tightened by the drive body, so that the locking rod pulls the arm claw. When disassembling, the locking rod is driven in the opposite direction to unlock the two. The operation is quick and the locking force is strong, which enables quick replacement of the arm claw, while also ensuring the installation strength of the arm claw.

[0019] The locking rod is equipped with a sliding groove, and the locking rod is connected to the mounting seat pin on the base plate. When the driving body drives the locking rod to move along the sliding groove, the locking head end of the locking rod will swing up and down. The locking head can be inserted into the quick-change groove. This effect is used to achieve a more stable connection of the quick-change part, and at the same time, it can achieve the effect of quick-change part quickly disengaging from the locking head, thereby further improving the replacement speed. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the robotic gripper in an embodiment of this application;

[0021] Figure 2 This is a schematic diagram of the reverse structure of the robotic gripper in the embodiments of this application;

[0022] Figure 3 This application is intended to illustrate the structure of the locking rod and quick-change component;

[0023] Figure 4 for Figure 1Enlarged view at A;

[0024] Figure 5 The schematic diagram of the state of the mechanical hand grabbing and adsorbing the part.

[0025] Wherein:

[0026] 1, base plate; 11, limiting plate; 2, arm claw; 3, driving body; 21, quick change part; 22, quick change groove; 41, main rod; 42, adsorption structure; 421, pipe; 422, suction cup; 423, spring; 424, connecting piece; 51, locking rod; 52, lock head; 53, mounting seat; 54, sliding groove; 100, part. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. The description of the at least one exemplary embodiment is actually only illustrative, not as any limitation on the present application and its application or use.

[0028] As Figures 1 to 3 shown, the mechanical hand grab disclosed in the embodiment can realize quick replacement of the arm claw 2. The mechanical hand grab comprises a base plate 1 and an arm claw 2. The base plate 1 is provided with a driving body 3 on one side. The base plate 1 is movably provided with a locking rod 51. The locking rod 51 and the driving body 3 are coplanarly installed. The extension end of the driving body 3 is hingedly connected to one end of the locking rod 51. The arm claw 2 is provided with a quick change groove 22. The locking rod 51 and the quick change groove 22 in motion are provided with a first position for cooperation and fixation and a second position for mutual disintegration. The driving body 3 is started to switch the first position and the second position of the locking rod 51 and the quick change groove 22.

[0029] As shown in the accompanying Figure 2 , the locking rod 51 is provided with an irregularly shaped lock head 52. Generally, a wedge-shaped fixed area is arranged on the lock head 52. The quick change groove 22 is matched with the lock head 52. The inner wall of the side of the quick change groove 22 close to the lock head 52 is provided with a wedge-shaped locking area. In this way, the driving body 3 drives the lock head 52 on the locking rod 51 to move into the quick change groove 22. The driving body 3 drives the locking rod 51 to pull back so that the locking area and the fixed area in the quick change groove 22 are matched with each other, and the quick installation of the arm claw 2 is completed.

[0030] In a further embodiment, to make the arm claw 2 installation faster and more accurate, a pair of parallel limiting plates 11 are fixed on one side of the base plate 1. The two limiting plates 11 and the driving body 3 are set on the same side of the base plate 1. When installing the limiting plates 11, the base plate 1 needs to be partially exposed. The exposed limiting plates 11 can be used to support the arm claw 2. After the locking head 52 and the quick-change slot 22 are connected, the entire arm claw 2 is more stable when in use. The two limiting plates 11 and the base plate 1 can form a limiting channel. The locking rod 51 moves back and forth in the limiting channel. With the guidance of the two limiting plates 11, the locking rod 51, i.e. the locking head 52, can move in a precise direction, preventing the locking head 52 from deviating from its path during movement and speeding up the replacement speed of the arm claw 2.

[0031] In addition, a mounting base 53 is fixed on the base plate 1. During manufacturing, two limiting plates 11 are fixed parallel to the mounting base 53. The locking rod 51 is provided with a sliding groove 54. The locking rod 51 is connected to the mounting base 53 by a pin. After the normal drive body 3 is installed, there is a height difference between its telescopic end and the mounting base. At this time, the height difference is compensated by the mounting base 53. The telescopic end of the drive body 3 and the mounting base 53 are connected by a pin. However, in actual production, when opening the sliding groove 54, the groove opening diameter of the sliding groove 54 can be slightly larger than the diameter of the pin. When the drive body 3 pushes the locking rod 51 to move, the end of the locking rod 51 near the quick-change groove 22 will have a small amplitude high-low switching action so as to fix the lock head 52.

[0032] In a further embodiment, if attached Figure 2 and Figure 3 As shown, the claw arm 2 includes a quick-change component 21 and a main rod 41. The quick-change slot 22 is provided on the quick-change component 21. Regardless of the type of claw arm 2, the structure of the quick-change component 21 will not change, which can realize standardized production. The main rod 41 is connected to the quick-change component 21. The main rod 41 is provided with an adjustable adsorption structure 42. During production, the installation position of the main rod 41 can be arranged according to the shape of the part 100 being transported. If necessary, a secondary rod can also be fixed on the main rod 41, and the adsorption structure 42 is connected to the secondary rod. The adsorption structure 42 provides adsorption force for the part 100 being transported.

[0033] As attached Figure 4 As shown, in this embodiment, the adsorption structure 42 includes a suction cup 422 and a connector 424. The connector 424 is provided with a slot and is snapped onto the main rod 41. The connector 424 is connected to the tube 421 through the support rod, and the suction cup 422 is connected to one end of the tube 421.

[0034] In further embodiments, the operator finds that the rigidly connected suction cup 422 is not easy to control the force between the part 100 and the contact in use, and the part 100 or the suction cup 422 is easily injured, so the connection mode of the suction cup 422 is improved, the original rigid connection is changed to flexible connection, that is, the suction cup 422 has a certain buffering function in use, and has a fixed mounting piece on the suction cup 422, the pipe 421 is movably mounted in the cavity of the mounting piece, the spring 423 is sleeved on the pipe 421, one end of the spring 423 is connected with the support rod, and the other end is connected with the mounting piece. The cavity of the mounting piece provides a space for the pipe 421 to move when buffering, and the suction cup 422 can be properly installed and attached after contacting the part 100, so that the contact surface is ensured and the part 100 is not injured.

[0035] In further embodiments, the driving body 3 uses a double-head air cylinder, and the locking rod 51 and the arm claw 2 are matched and arranged in two, the two arm claws 2 are connected with the two locking rods 51 one by one, and the two arm claws 2 are symmetrically installed on the two sides of the base plate 1. The double-head air cylinder has two telescopic rods, which can simultaneously install the two arm claws 2, so as to increase the carrying capacity and efficiency of the mechanical claw and improve the production capacity.

[0036] Specific use:

[0037] The base plate 1 is installed at the mounting port of the mechanical arm, the mechanical arm is controlled to horizontally place the base plate 1, the arm claw 2 is placed on the limiting plate 11 by hand, the quick-change piece 21 on the arm claw 2 contacts the limiting plate 11 at this time, the quick-change groove 22 is located at the gap between the two limiting plates 11, the driving body 3 is started to push the lock head 52 of the locking rod 51 into the quick-change groove 22, and the driving body 3 is started again to pull back the locking rod 51. At this time, the entire wall claw can be installed, and when disassembling, the above steps are operated in reverse to save time and labor. The mechanical arm moves to switch the position of the arm claw 2 to adsorb and fix the part 100 and transfer it. The part 100 in the embodiment is a cover plate of a motor, which is transferred to a punch press to be punched and formed.

[0038] In the description of the application, it needs to be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the purpose of facilitating the description of the application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application. In addition, the terms "first", "second" and the like are only for the purpose of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" and the like can explicitly or implicitly include one or more of the features. In the description of the application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0039] In the description of the application, it needs to be understood that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

Claims

1. A robot hand, characterized in that, Include: The substrate (1) is provided with a driving body (3), the substrate (1) is movably mounted with locking rod (51), the telescopic end of the driving body (3) is hinged with the locking rod (51); Claw (2), the claw (2) is provided with quick change groove (22), Wherein, the locking rod (51) and the quick change groove (22) have the first position of cooperation and the second position of mutual disintegration, the driving body (3) drives the locking rod (51) to switch the first position and the second position.

2. The robot gripper of claim 1, wherein, The locking rod (51) is provided with an irregularly shaped lock head (52), the quick change groove (22) is matched with the lock head (52), the lock head (52) is placed in the quick change groove (22), and the driving body (3) drives the locking rod (51) to abut against the side wall of the quick change groove (22).

3. The robot gripper of claim 1, wherein, One side of the substrate (1) is fixed with a pair of parallel limit plates (11), the two limit plates (11) form a limit channel with the substrate (1), the locking rod (51) is movably arranged in the limit channel, and the claw (2) abuts against one side of the limit plate (11) away from the locking rod (51).

4. The robot gripper of claim 3, wherein, The substrate (1) is further provided with a mounting seat (53), the two limit plates (11) are fixed in parallel on the mounting seat (53), the locking rod (51) is provided with a sliding groove (54), and the locking rod (51) is connected with the mounting seat (53) through a pin shaft.

5. The robot gripper of claim 1, wherein, The claw (2) comprises a quick change part (21) and a main rod (41), the quick change groove (22) is arranged on the quick change part (21), the main rod (41) is connected with the quick change part (21), and the main rod (41) is provided with an adjustable adsorption structure (42).

6. The robot gripper of claim 5, wherein, The adsorption structure (42) comprises a suction disc (422) and a connecting piece (424), the connecting piece (424) is clamped on the main rod (41), the connecting piece (424) is connected with the support rod connecting pipe (421), and the suction disc (422) is connected with one end of the pipe (421).

7. The robot gripper of claim 6, wherein, The suction disc (422) is fixed with a mounting part, one end of the pipe (421) is movably mounted in the cavity of the mounting part, a spring (423) is sleeved on the pipe (421), one end of the spring (423) is connected with the support rod, and the other end is connected with the mounting part.

8. The robot gripper of claim 1, wherein, The driving body (3) is provided with two telescopic ends, the locking rod (51) and the claw (2) are matched with two, and the two claws (2) are connected with the two locking rods (51) one by one.

9. The robot gripper according to any one of claims 1 to 8, characterized in that The driving body (3) and the locking rod (51) are arranged on the same side of the plate surface of the substrate (1).

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