Columnar object grabbing mechanical claw with axial self-positioning function

Abstract

The utility model relates to the technical field of metal workpiece machining auxiliary equipment, and provides a columnar object grabbing mechanical claw with an axial self-positioning function, which comprises a shell, the right side of the shell is in threaded connection with an air cylinder link plate, the air cylinder link plate is hinged with mechanical grabbing fingers, and the output end of a pushing air cylinder penetrates through the air cylinder link plate and is in threaded connection with a metal pushing plate. The metal push plate is hinged with Y-shaped pull arms, each group of Y-shaped pull arms is hinged with each group of mechanical grabbing fingers which are correspondingly arranged, and one end of each mechanical grabbing finger is hinged with a grabbing movable block. According to the utility model, the pushing air cylinder and the mechanical arms are combined, so that the efficiency is greatly improved compared with the manual carrying when metal pieces are machined, especially during production; and more accurate and more efficient workpiece moving is realized. By means of the mechanical grabbing fingers driven by the four sets of motors, one shaft of a workpiece can be mechanically locked, friction force generated at the contact position of the workpiece is greatly enhanced, parts are prevented from falling off, the structure is simple, and repair and maintenance are convenient.

Description

TECHNICAL FIELD

[0001] The utility model relates to metal workpiece processing auxiliary equipment field, concretely is a columnar object grabbing mechanical claw with axial self -positioning function. BACKGROUND

[0002] Mechanical hand is a kind of tool that can imitate the action function of human hand and arm, to grab, carry object or operate tool according to fixed program, and is widely applied in many fields, can improve production efficiency, logistics efficiency, and is the important development direction of modern industry and robot technology.

[0003] Patent application number CN202410497013.8 discloses a kind of replaceable mechanical claw of grabbing robot, including base, the top of the base is equipped with main arm, the top of the main arm one side is equipped with two-stage arm, the top of the two-stage arm one side is equipped with taking arm, the end of taking arm away from two-stage arm is equipped with connecting arm, the end of connecting arm away from taking arm is equipped with upper side connecting shell, the outer wall of the upper side connecting shell is equipped with upper side sealing ring, the bottom of the upper side connecting shell is equipped with lower side connecting shell, the inside of the upper side connecting shell is equipped with upper interface block, the inside of the lower side connecting shell is equipped with lower interface block, when clamping different material products and different specification products, the replacement of mechanical claw is more simple and convenient, installation is fast, stability is high, product grabbing effect is good, will not damage product, production efficiency is guaranteed, fixed effect is better, limit is better.

[0004] For the processing of metal parts, especially in production, the carrying capacity and efficiency of manpower are limited, so it is necessary to use mechanical arm to realize more accurate and efficient workpiece moving. The existing grabbing mechanical device is mostly double claw driven by motor. The double claw structure can only mechanically lock one axis of the workpiece due to its few claws, and the displacement of the workpiece is controlled by the friction force generated by the contact position of the mechanical claw and the workpiece in other directions to prevent the parts from falling and keeping relative static, but the friction force is relatively difficult to control, so the general carrying capacity is limited. UTILITY MODEL CONTENT

[0005] The utility model content aims at providing a kind of columnar object grabbing mechanical claw with axial self-positioning function to solve the problems raised in the above background technology.

[0006] To achieve the above object, the utility model provides the following technical scheme: A cylindrical object grabbing mechanical claw with axial self -positioning function, including the shell, the inside installation of shell has the push -and -pull cylinder, the right side screw connection cylinder link plate of shell, the cylinder link plate articulates mechanical grab finger, the mechanical grab finger sets right four groups, the output end of push -and -pull cylinder passes through cylinder link plate screw connection metal push -plate, the metal push -plate articulates " Y " shape pull -and -pull arm, " Y " shape pull -and -pull arm is provided with four groups, every group " Y " shape pull -and -pull arm with corresponding every group mechanical grab finger articulates, one end of mechanical grab finger articulates grab movable block.

[0007] Preferably, the shell is a hollow structure, and the right side and the bottom are open.

[0008] Preferably, the cylinder link plate includes an "L" shaped frame, a support side plate, a connecting disc, a fixed seat and a friction rubber ring. The right side of the shell is screw connected with the "L" shaped frame. The two sides of the "L" shaped frame are fixedly connected with the support side plate. The support side plate is a right triangle. The top end surface of the "L" shaped frame is fixedly connected with the connecting disc. The right side end surface of the "L" shaped frame is fixedly connected with the fixed seat. Every two fixed seats are arranged as a group.

[0009] Preferably, the metal push plate includes a connecting frame and a connecting seat. The output end of the push cylinder is screw connected with the shaft center of the connecting frame through the center hole of the cylinder link plate. The side surface of the connecting frame is fixedly connected with the connecting seat. Every two connecting seats correspond to a group of fixed seats.

[0010] Preferably, the grab movable block is a double-inclined-surface wedge block.

[0011] Compared with the prior art, the utility model has the advantages that:

[0012] The utility model discloses a push cylinder and a mechanical arm are set up in combination, for the processing of metal parts, especially in production, relative to the carrying of manpower, the efficiency is greatly improved, realizes more accurate and more efficient workpiece removal. Through four groups of motor-driven mechanical grab fingers, the friction force generated at the contact position of the workpiece can be greatly enhanced to prevent the parts from falling, and the structure is simple, convenient to maintain and maintain. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 It is the whole structure schematic diagram of the utility model;

[0014] Figure 2 It is the whole top surface structure schematic diagram of the utility model;

[0015] Figure 3 It is the whole section structure schematic diagram of the utility model;

[0016] Figure 4 It is the schematic diagram of the whole side structure of the present application;

[0017] Figure 5 It is the schematic diagram of the detailed structure of the cylinder link plate in the present application;

[0018] Figure 6 It is the schematic diagram of the detailed structure of the metal push plate in the present application

[0019] Figure 7 It is the schematic diagram of the detailed structure of the “Y” shape pull arm in the present application;

[0020] Figure 8 It is the schematic diagram of the detailed structure of the mechanical grab finger in the present application.

[0021] In the figure: 1, the shell; 2, push cylinder; 3, cylinder link plate; 301, “L” shape frame; 302, support side plate; 303, connecting disc; 304, fixed seat; 305, friction rubber ring; 4, metal push plate; 401, connecting frame; 402, connecting seat; 5, “Y” shape pull arm; 6, mechanical grab finger; 7, grab movable block. DETAILED DESCRIPTION

[0022] In order to make the technical means, creative features, purposes and effects of the present application easy to understand, the present application will be further described in conjunction with the specific embodiments.

[0023] In the description of the present application, it should be pointed out that the orientation or position relationship indicated by the terms “upper”, “lower”, “inner”, “outer”, “front end”, “rear end”, “two ends”, “one end”, “the other end” and the like is the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the present application. In addition, the terms “first” and “second” are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0024] In the description of the present application, it should be pointed out that, unless otherwise explicitly specified and limited, the terms “mounting”, “provided with”, “connection” and the like should be understood broadly, for example, “connection” can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through intermediate medium; can be the communication inside two elements. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0025] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative efforts fall within the scope of the present application.

[0026] Please refer to Figures 1 to 8 As shown in FIG. 1, a cylindrical object grabbing mechanical claw with axial self-positioning function comprises a shell 1, a push cylinder 2 is installed on the inner side of the shell 1, a cylinder link plate 3 is threadedly connected to the right side of the shell 1, the cylinder link plate 3 is hinged to a mechanical claw finger 6, the mechanical claw finger 6 is provided in four groups, the output end of the push cylinder 2 is threadedly connected to a metal push plate 4 through the central through hole of the cylinder link plate 3, the metal push plate 4 is hinged to a "Y"-shaped pulling arm 5, the "Y"-shaped pulling arm 5 is provided in four groups, each group of the "Y"-shaped pulling arm 5 is hinged to each group of the mechanical claw finger 6 provided correspondingly, and one end of the mechanical claw finger 6 is hinged to a grabbing movable block 7.

[0027] Further, the shell 1 is of a hollow structure, and the right side and the bottom are open, facilitating the maintenance and installation of the push cylinder 2.

[0028] Further, the cylinder link plate 3 comprises an "L"-shaped frame 301, a supporting side plate 302, a connecting disc 303, a fixing seat 304 and a friction rubber ring 305, the right side of the shell 1 is threadedly connected to the "L"-shaped frame 301, the two sides of the "L"-shaped frame 301 are fixedly connected to the supporting side plate 302, the supporting side plate 302 is a right-angled triangle, the top end surface of the "L"-shaped frame 301 is fixedly connected to the connecting disc 303, and the right side end surface of the "L"-shaped frame 301 is fixedly connected to the fixing seat 304. Every two fixing seats 304 are provided in a group. Since the push cylinder 2 is a large-thrust cylinder, the thrust reaches 4.4 KN. Considering that the push rod of the push cylinder 2 not only needs to push out to bear pressure, but also needs to bear bending moment when the mechanical arm connected with the mechanical claw is lifted, the cylinder and the mechanical arm connecting seat are connected at both ends of the cylinder link plate 3. At this time, the push cylinder 2 is transversely arranged, the plane of the mechanical arm connecting seat points to the ground, and the bending moment generated when the mechanical claw lifts the object is transferred to the component and the mechanical arm. At this time, the push rod of the cylinder only bears pressure and does not bear the bending moment when the object is grabbed.

[0029] Further, the metal push plate 4 comprises a connecting frame 401 and a connecting seat 402, the output end of the push cylinder 2 is threadedly connected to the shaft center of the connecting frame 401 through the central through hole of the cylinder link plate 3, and the side surface of the connecting frame 401 is fixedly connected to the connecting seat 402. Every two connecting seats 402 correspond to a group of fixing seats 304.

[0030] Further, the grabbing movable block 7 is a double-inclined-surface wedge block.

[0031] Working principle:

[0032] Firstly, the mechanical claw is correctly installed on the mechanical arm, and the cylinder link plate 3 has a connecting disc 303 at the top for the mechanical arm to link. After fixing, the push cylinder 2 is pushed to the control end, and the push cylinder 2 is kept in the retracted state. The mechanical arm sends the mechanical claw to the vicinity of the columnar object to be grabbed, swings the mechanical arm, and makes the plane composed of four grabbing movable blocks 7 coplanar with the axial plane of the columnar object grabbing groove.

[0033] Then the cylinder control system sends a signal, the push cylinder 2 pushes the push rod outward, and the metal push plate 4 at the top of the push rod gradually moves away from the cylinder. In order to prevent liquid from splashing into the push cylinder 2 during grabbing, causing the cylinder pushing force to decrease or lose working ability, a friction rubber ring 305 is installed on the edge of the through hole of the metal push plate 4, and a shell 1 is installed on the upper part. The four "Y" shaped pull arms 5 connected to the metal push plate 4 are pulled, and the angle between them and the push rod axis is reduced, and the middle part of the mechanical claw finger 6 is pulled through the movable hinge at both ends. Four mechanical claw fingers 6 are simultaneously moved towards the center of the mechanical claw.

[0034] With the tightening of the mechanical claw, the grabbing movable block 7 contacts the grabbing groove of the object. Since the grabbing movable block 7 has the ability to rotate at a certain angle, it can still automatically adjust the angle with the object grabbing groove through the clamping force when clamping various columnar objects with different clamping radii, to some extent, improving the adaptability of the mechanical claw. Due to the increase of clamping force, the axial component force generated by the double inclined plane increases, causing the axial displacement of the columnar object to achieve axial self-positioning. Then the mechanical arm lifts the object, and the four mechanical claw fingers 6 are symmetrically distributed at an angle of 45 degrees. The columnar object to be grabbed is symmetrically distributed at the lower position, which not only reduces the deformation or wear caused by the excessive surface pressure of the single hook claw and the object, but also reduces the burden of the lower mechanical claw finger 6, and reduces the probability of fatigue or fracture caused by excessive load.

[0035] Finally, after the grabbed object is placed at the designated position, the push cylinder 2 retracts the push rod, the grabbing movable block 7 is separated from the object, and the mechanical arm leaves the vicinity of the object, completing a transportation task.

[0036] The above only is the embodiment of the present application, and the well-known specific structure and characteristics and other common knowledge are not described in detail herein. For those skilled in the art, it is obvious that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or basic characteristics of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A cylindrical object gripper with axial self-positioning function, comprising a housing (1), characterized in that: A push cylinder (2) is installed on the inner side of the housing (1). A cylinder link plate (3) is threaded to the right side of the housing (1). A mechanical gripper (6) is hinged to the cylinder link plate (3). The mechanical gripper (6) is arranged in four groups. The output end of the push cylinder (2) is threaded to a metal push plate (4) through the cylinder link plate (3). The metal push plate (4) is hinged to a "Y"-shaped pull arm (5). There are four groups of "Y"-shaped pull arms (5). Each group of "Y"-shaped pull arms (5) is hinged to each corresponding group of mechanical grippers (6). One end of the mechanical gripper (6) is hinged to a gripping movable block (7).

2. A cylindrical object gripper with axial self-positioning function according to claim 1, characterized in that: The shell (1) is a hollow structure, and the right side and bottom are open.

3. A cylindrical object gripper with axial self-positioning function according to claim 1, characterized in that: The cylinder connecting plate (3) includes an "L" shaped frame (301), a support side plate (302), a connecting plate (303), a fixing seat (304), and a friction rubber ring (305). The right side of the housing (1) is threadedly connected to the "L" shaped frame (301). The two sides of the "L" shaped frame (301) are fixedly connected to the support side plate (302). The support side plate (302) is a right triangle. The top end face of the "L" shaped frame (301) is fixedly connected to the connecting plate (303). The right end face of the "L" shaped frame (301) is fixedly connected to the fixing seat (304). Every two fixing seats (304) are set as a group.

4. A cylindrical object gripper with axial self-positioning function according to claim 1, characterized in that: The metal push plate (4) includes a connecting frame (401) and a connecting seat (402). The output end of the push cylinder (2) is threaded through the center hole of the cylinder link plate (3) and connected to the axis of the connecting frame (401). The connecting frame (401) is fixedly connected to the side of the connecting seat (402). Every two connecting seats (402) correspond to a set of fixed seats (304).

5. A cylindrical object gripper with axial self-positioning function according to claim 1, characterized in that: The grasping block (7) is a double-sloping wedge block.

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