Mechanical gripper with rolling-in function

Abstract

The utility model discloses a mechanical claw with a rolling-in function, which relates to the technical field of grabbing structures and comprises a base, an opening and closing mechanism and a rolling-in mechanism, the opening and closing mechanism comprises a translation driving part and two groups of opening and closing plates, the two groups of opening and closing plates are respectively and rotatably arranged on the base, and the rolling-in mechanism is arranged on the base. The translation driving piece is connected to one group of opening and closing plates, and an output shaft of the translation driving piece is connected to the other group of opening and closing plates; the rolling-in mechanism comprises a first rotary driving part and two sets of rolling-in wheels, the first rotary driving part is arranged on the base, the two sets of rolling-in wheels are rotationally arranged on the two sets of opening and closing plates correspondingly, and the first rotary driving part is used for driving the two sets of rolling-in wheels to rotate; the first rotary driving piece drives the two groups of rolling wheels to rotate inwards, the opening and closing plates can accurately and quickly clamp the conical barrels, the conical barrels are prevented from moving outwards under the clamping acting force, the situation that the opening and closing plates are empty in clamping is effectively avoided, the conical barrels in various placement forms can be clamped, and grabbing is more efficient.

Description

TECHNICAL FIELD

[0001] The utility model relates to a technical field of grabbing structure, specifically a mechanical claw with winding function. BACKGROUND

[0002] Mechanical finger can imitate some action functions of human hand and arm, and is used for automatic operating device of fixed program grabbing, carrying object or operating tool.

[0003] In production and operation, mechanical hand is often used to replace manual labor, for example, cone barrel is placed on the road to play warning role, since cone barrel needs to be collected and placed frequently, mechanical hand is used to replace manual labor. Due to the influence of people flow, cone barrel will present various postures finally, and the posture of cone barrel is difficult to determine when collecting cone barrel, therefore, the existing mechanical hand uses conventional opening and closing action and is difficult to grab cone barrel, and since the top of cone barrel is sharp angle, cone barrel is easy to push out when clamping, thereby being easy to clamp empty.

[0004] For example, the air claw mechanical hand with publication number CN103978489A discloses a cylinder body, a piston, a cylinder rod and a pair of clamping arms connected to the cylinder rod and capable of converging and opening, one end of the cylinder rod is provided with a U-shaped frame, the horizontal arm of the U-shaped frame is connected to the cylinder rod, the ends of the two vertical arms of the U-shaped frame are respectively provided with a bearing, a pair of clamping arms are respectively connected to the two vertical arms of the U-shaped frame through a support with a bearing groove, the bearing runs in the bearing groove, and the support is rotationally connected to the cylinder body through a support pin; the mechanical hand drives a pair of clamping arms to open and close through the cylinder body to realize clamping, and the clamping arms are easy to appear the situation of not clamping for different postures of cone barrel, therefore, the angle needs to be changed and clamping needs to be carried out repeatedly, or the cone barrel needs to be placed correctly to facilitate clamping, so that the adaptability is poor, thereby leading to low work efficiency. TECHNICAL SOLUTION

[0005] In order to solve the above technical problems, the utility model provides the following optimization technical scheme:

[0006] A mechanical claw with winding function, comprising:

[0007] A base;

[0008] An opening and closing mechanism, the opening and closing mechanism comprises a translation driving part and two groups of opening and closing plates, the two groups of opening and closing plates are rotationally arranged on the base, the translation driving part is connected to one group of the opening and closing plates, and the output shaft of the translation driving part is connected to the other group of the opening and closing plates;

[0009] A winding mechanism, the winding mechanism comprises a first rotation driving part and two groups of winding wheels, the first rotation driving part is arranged on the base, the two groups of winding wheels are rotationally arranged on the two groups of opening and closing plates respectively, and the first rotation driving part is used to drive the two groups of winding wheels to rotate.

[0010] Further, the opening and closing mechanism further comprises two driving gears, and the two driving gears are rotatably arranged on the two groups of opening and closing plates respectively.

[0011] Further, the rolling mechanism further comprises two groups of transmission members, and the first rotary driving member drives the two groups of rolling wheels to rotate through the two groups of transmission members respectively.

[0012] Further, the transmission member comprises a driving gear, a transmission belt and a driven gear, the driving gear is coaxially arranged with the driving gear, the output shaft of the first rotary driving member is engaged with one of the driving gears, the driven gear is connected with the rolling wheel, and the transmission belt is sleeved on the driving gear and the driven gear.

[0013] Further, the rolling mechanism further comprises a plurality of fixing blocks, and the fixing blocks connect the rolling wheel with the driven gear.

[0014] Further, the utility model further includes a steering mechanism, the steering mechanism is arranged on the base, and the steering mechanism is connected on the mechanical arm and is used for driving the mechanical claw to rotate.

[0015] Further, the steering mechanism comprises a second rotary driving member, a shaft coupling, a bottom plate and a top plate, the second rotary driving member is connected with the base through the shaft coupling, and the bottom plate and the top plate are connected below and above the second rotary driving member respectively.

[0016] Compared with the prior art, the utility model has the following beneficial effects:

[0017] The mechanical claw provided by the utility model is provided with a rolling mechanism, two groups of rolling wheels are driven to rotate inward through the first rotary driving member, the two groups of rolling wheels play a role of rolling the cone barrel between the two groups of opening and closing plates, the opening and closing plates can accurately and quickly clamp the cone barrel, prevent the cone barrel from moving outward under the clamping force, effectively avoid the opening and closing plate from being clamped empty, can clamp the cone barrel in various placing modes, and is more efficient in grabbing. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is the structure schematic of the utility model Figure One .

[0019] Figure 2 It is the structure schematic of the utility model Figure Two .

[0020] Figure 3 It is the side view of the utility model.

[0021] Figure 4 It is the structure explosion drawing of the utility model.

[0022] In the figure: 1, base; 2, opening and closing plate; 3, translation driving part; 4, winding wheel; 5, fixed block; 6, bearing; 7, driven gear; 8, first rotary driving part; 9, support frame; 10, bottom plate; 11, driving gear; 12, shaft coupling; 13, second rotary driving part; 14, top plate; 15, driving gear. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work belong to the scope of protection of the present application.

[0024] The mechanical claw of the present application includes but is not limited to a mechanical claw for clamping a cone barrel, which is taken as an example below for illustration.

[0025] Referring to Figures 1-4 A mechanical claw with winding function, comprising a base 1, an opening and closing mechanism and a winding mechanism, the opening and closing mechanism comprising a translation driving part 3 and two groups of opening and closing plates 2, the two groups of opening and closing plates 2 being rotatably arranged on the base 1 respectively, the translation driving part 3 being connected to one of the two groups of opening and closing plates 2, with its output shaft being connected to the other group of opening and closing plates 2; the winding mechanism comprising a first rotary driving part 8 and two groups of winding wheels 4, the first rotary driving part 8 being arranged on the base 1, the two groups of winding wheels 4 being rotatably arranged on the two groups of opening and closing plates 2 respectively, the first rotary driving part 8 being used to drive the two groups of winding wheels 4 to rotate.

[0026] The working principle of the mechanical claw is as follows: the two groups of opening and closing plates 2 are in an unfolded state, the two groups of opening and closing plates 2 are close to the cone barrel and make the cone barrel located between the two groups of opening and closing plates 2, the first rotary driving part 8 drives the two groups of winding wheels 4 to rotate inward, at this time the two groups of winding wheels 4 wind the cone barrel into the two groups of opening and closing plates 2, the output shaft of the translation driving part 3 extends to make the upper ends of the two groups of opening and closing plates 2 away from each other, the opening and closing plates 2 rotate around the connection between the opening and closing plates 2 and the base 1, at this time the lower ends of the two groups of opening and closing plates 2 are close to each other, thereby clamping the cone barrel. The two groups of opening and closing plates 2 are in a state of clamping the cone barrel, the output shaft of the translation driving part 3 extends to make the upper ends of the two groups of opening and closing plates 2 close to each other, the opening and closing plates 2 rotate around the connection between the opening and closing plates 2 and the base 1, at this time the lower ends of the two groups of opening and closing plates 2 are away from each other, thereby releasing the cone barrel, the first rotary driving part 8 drives the two groups of winding wheels 4 to rotate outward, at this time the two groups of winding wheels 4 push the cone barrel outward, thereby ensuring the release of the cone barrel.

[0027] It is to be noted that each group of the opening and closing plates 2 is provided with two opening and closing plates 2, the opening and closing plates 2 are right-angled triangular plate structures, the translation driving member 3 is connected to the right angle of one group of the opening and closing plates 2, the output shaft of the translation driving member 3 is connected to the right angle of the other group of the opening and closing plates 2, the acute angle of the short side of the opening and closing plates 2 is rotationally connected to the base 1, and the acute angle of the long side of the opening and closing plates 2 is used for mounting the winding wheels 4 thereon. Each group of the winding wheels 4 is provided with two winding wheels 4, and the two winding wheels 4 are arranged on the two opening and closing plates 2 respectively.

[0028] It is to be further noted that the translation driving member 3 is a cylinder, the first rotation driving member 8 is an electric motor, the opening and closing plates 2 are rotationally connected to the base 1 by the bearings 6, the base 1 is a "N" shaped structure, the two groups of the opening and closing plates 2 are connected to the two side walls of the "N" shaped structure respectively, and the two side walls are connected by the support frames 9, which have a stabilizing effect on the two side walls.

[0029] In the embodiment, the opening and closing mechanism further comprises two driving gears 15, which are rotationally arranged on the two groups of the opening and closing plates 2 respectively, and the two driving gears 15 are in mesh with each other. When the translation driving member 3 drives the upper ends of the opening and closing plates 2 to move away from each other, the lower ends move close to each other to make a clamping action, the opening and closing plates 2 rotate with the connection parts with the base 1 as the center, at this time, the two driving gears 15 rotate inward under the driving of the two groups of the opening and closing plates 2, so as to further reduce the opening and closing angle, which helps the two groups of the opening and closing plates 2 to shrink to the minimum angle; when the translation driving member 3 drives the upper ends of the opening and closing plates 2 to move close to each other, the lower ends move away from each other to make an unfolding action, the opening and closing plates 2 rotate with the connection parts with the base 1 as the center, at this time, the two driving gears 15 rotate outward under the driving of the two groups of the opening and closing plates 2, so as to further increase the opening and closing angle, which helps the two groups of the opening and closing plates 2 to unfold to the minimum angle.

[0030] In the embodiment, the winding mechanism further comprises two groups of transmission members, the first rotation driving member 8 drives the two groups of the winding wheels 4 to rotate through the two groups of the transmission members respectively, so as to control the winding wheels 4 to rotate to wind or release the cone barrel.

[0031] In the embodiment, the transmission member comprises a driving gear 11 coaxially arranged with the driving gear 15, an output shaft of the first rotary driving member 8 is engaged with one of the driving gears 15, a driven gear 7 is connected with the winding-in wheels 4, and a transmission belt is sleeved on the driving gear 11 and the driven gear 7. When the first rotary driving member 8 drives the two driving gears 15 to rotate inward, the driving gear 11 drives the two winding-in wheels 4 to rotate inward through the transmission belt and the driven gear 7, so as to wind the cone barrel between the two sets of opening and closing plates 2; when the first rotary driving member 8 drives the two driving gears 15 to rotate outward, the driving gear 11 drives the two winding-in wheels 4 to rotate outward through the transmission belt and the driven gear 7, so as to push the cone barrel outward to facilitate the release of the cone barrel.

[0032] In the embodiment, the winding-in mechanism further comprises a plurality of fixing blocks 5, the fixing blocks 5 connect the winding-in wheels 4 to the driven gear 7, and the fixing blocks 5 stably connect the winding-in wheels 4 to the driven gear 7. The number of the fixing blocks 5 is specifically four, and the four fixing blocks 5 one-to-one correspond to the four winding-in wheels 4.

[0033] In the embodiment, the utility model further comprises a steering mechanism, the steering mechanism is arranged on the base 1, the steering mechanism is connected to the mechanical arm and is used for driving the mechanical claw to rotate, and the steering mechanism is used for driving the mechanical claw to rotate by 360 degrees.

[0034] In the embodiment, the steering mechanism comprises a second rotary driving member 13, a shaft coupling 12, a bottom plate 10 and a top plate 14, the second rotary driving member 13 is connected to the base 1 through the shaft coupling 12, the bottom plate 10 and the top plate 14 are connected below and above the second rotary driving member 13 respectively, and the top plate 14 is used for being connected to the mechanical arm, so as to connect the mechanical claw to the mechanical arm.

[0035] Supplementarily, the second rotary driving member 13 is a rotary motor.

[0036] The above merely describes specific embodiments of the utility model, so that those skilled in the art can understand or implement the utility model. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the utility model. Therefore, the utility model will not be limited to these embodiments shown in the text, but will be consistent with the widest scope of the principles and novel features applied in the text.

Claims

1. A mechanical gripper having a roll-in function, characterized by, The utility model relates to a kind of automatic mechanical arm, including: Base; Opening and closing mechanism, the opening and closing mechanism includes translational drive and two groups of opening and closing plate, two groups of the opening and closing plate are rotationally arranged on the base respectively, the translational drive is connected in one group of the opening and closing plate, and its output shaft is connected in another group of the opening and closing plate; Rolling mechanism, the rolling mechanism includes first rotary drive and two groups of rolling wheel, the first rotary drive is arranged on the base, and two groups of the rolling wheel are rotationally arranged on two groups of the opening and closing plate respectively, and the first rotary drive is used to drive two groups of the rolling wheel rotation.

2. The mechanical gripper with a rolling-in function according to claim 1, characterized in that, The opening and closing mechanism further includes two drive gears, two drive gears are rotationally arranged on two groups of the opening and closing plate respectively, and two drive gears are engaged with each other.

3. The mechanical gripper with a rolling-in function according to claim 2, characterized in that, The rolling mechanism further includes two groups of transmission member, and the first rotary drive drives two groups of rolling wheel rotation respectively by two groups of transmission member.

4. The mechanical gripper with a rolling-in function according to claim 3, characterized in that, The transmission member includes driving gear, transmission belt and driven gear, the driving gear is coaxially arranged with the drive gear, the output shaft of the first rotary drive is engaged with one of the drive gears, the driven gear is connected with the rolling wheel, and the transmission belt is sleeved on the driving gear and the driven gear.

5. The mechanical gripper with a rolling-in function according to claim 4, characterized in that, The rolling mechanism further includes a plurality of fixed blocks, and the fixed block connects the rolling wheel with the driven gear.

6. The mechanical gripper with a rolling-in function according to claim 1, characterized in that, Further including steering mechanism, the steering mechanism is arranged on the base, and the steering mechanism is connected on the mechanical arm and is used to drive mechanical gripper rotation.

7. The mechanical gripper with a rolling-in function according to claim 6, characterized in that, The steering mechanism includes second rotary drive, coupling, bottom plate and top plate, the second rotary drive is connected base through the coupling, and the bottom plate and the top plate are connected below and above the second rotary drive respectively.

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