Mechanical claw for picking spherical materials

Abstract

The utility model relates to the technical field of mechanical claws, and provides a mechanical claw for picking up spherical materials. The plurality of groups of connecting blocks are uniformly distributed and fixedly mounted at the bottom of the main shell in the circumferential direction; the two hinge shafts I are detachably mounted on each group of connecting blocks; the clamping jaws are arranged on one side of each group of connecting blocks; and the articulated shaft II is detachably mounted on the clamping jaw. A second hinge shaft is matched with a first tension spring to drive a clamping jaw to move along a movable groove, for example, in the non-grabbing process, under the action of the first tension spring, the second hinge shaft and the clamping jaw can be pulled to be close to the picking center, when a large-size object is picked, the first tension spring can move and stretch the clamping jaw and the second hinge shaft along the movable groove to be away from the picking center, and then the clamping jaw is pulled to be close to the picking center. Therefore, the effect that the moving range of the clamping jaw can be adjusted in a self-adaptive mode according to the size of a picked object is achieved, and the application range and flexibility of the mechanical claw are effectively improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical claw technical field, concretely relates to a kind of mechanical claw for spherical material pickup. BACKGROUND

[0002] Mechanical claw is a kind of device for grasping and controlling object, commonly used in robot, automation system, production line and other fields. It has flexible control and stable grasping ability, and can complete various complex tasks.

[0003] Known application number for: CN202420197789.3 authorized patent, it discloses a kind of mechanical hand with three claw grabbing structure, its background technology proposes "the existing mechanical hand is difficult to limit and fix ball object when grabbing, ball object is prone to rolling deflection, prone to mechanical hand friction and lead to damage" problem, therefore, the technical scheme for solving this problem of this scheme is "including casing, the bottom wall of the casing is uniformly provided with clamping claw, the bottom wall of the inner chamber of the casing is provided with lifting screw, the top wall of the casing is provided with motor, the output of the motor is provided with gear, the top wall of the inner chamber of the casing is provided with fixed tube" and so on.

[0004] However, in the implementation of related technology, it is found that the above technical scheme has the following problems: although the technical scheme provided by it realizes the effect of clamping and limiting ball object, when using, it is not convenient to adaptively adjust the activity range of clamping claw according to the size of the grasped object, the distance of its clamping claw from pickup center is relatively fixed, only fixed size and symmetry material can be picked up, it is difficult to pick up uncertain and asymmetric size material, easy to cause small applicable range, there is certain use limitation, thereby leading to the reduction of the applicable range and flexibility of mechanical claw. UTILITY MODEL CONTENTS

[0005] The utility model provides a kind of mechanical claw for spherical material pickup, solve the problem of not being convenient to adaptively adjust the activity range of clamping claw according to the size of the grasped object in relevant technology.

[0006] The technical scheme of the utility model is as follows: a kind of mechanical claw for spherical material pickup, comprising: main casing;

[0007] Multiple groups of connecting blocks are fixedly installed on the bottom of the main casing in circumferential uniform distribution;

[0008] Two hinged shafts one are detachably installed on each group of connecting blocks;

[0009] Clamping claw is arranged on one side of each group of connecting blocks;

[0010] Hinged shaft two is detachably installed on the clamping claw;

[0011] The movable sleeve is sleeved with a limiting pull rod on the surface of one of the hinged shafts;

[0012] The movable grooves are formed on the surface of one end of the limiting pull rod, and the second hinged shaft penetrates through the movable grooves and is movably connected with the movable grooves;

[0013] The first pull spring is installed between the second hinged shaft and the first hinged shaft;

[0014] The power mechanism is arranged in the main shell and is used to drive the clamping jaw to rotate to open and close the material taking and placing.

[0015] Preferably, the power mechanism comprises a plurality of sliding grooves formed in the bottom of the main shell, a movable block slidably connected in the sliding grooves, a second pull spring installed between the movable block and the other first hinged shaft, a fixed disc fixedly installed in the inner bottom wall of the main shell and having a T-shaped cross section, a planar screw pair rotatably connected on the surface of the fixed disc, and a driving part arranged in the main shell and used to drive the planar screw pair to rotate.

[0016] The driving part comprises a rotating gear ring fixedly installed on the top of the planar screw pair, a gear arranged in the main shell and engaged with the rotating gear ring, and a motor fixedly installed on the top of the main shell, and the output end of the motor is movably connected with the gear through the main shell.

[0017] The surface of the planar screw pair is similar to a ratchet wheel and has a plurality of arc-shaped protrusions, and the number of the protrusions is consistent with the number of the clamping jaw and the movable block.

[0018] Preferably, the vertical section of the fixed disc is rotatably connected with a reinforcing ring, the surface of the reinforcing ring is fixedly installed with a plurality of protrusions, and the inner surfaces of the planar screw pair and the rotating gear ring are formed with recesses matched with the protrusions.

[0019] Preferably, the inner surface of the clamping jaw is fixedly installed with an anti-skid strip made of rubber.

[0020] The working principle and beneficial effects of the utility model are as follows:

[0021] In the process of picking up the material, the clamping jaw can be moved along the movable groove through the cooperation of the second hinged shaft and the first pull spring, in the non-grabbing process, the second hinged shaft and the clamping jaw can be pulled towards the picking center under the action of the first pull spring, when picking a large size object, the first pull spring can move the clamping jaw and the second hinged shaft along the movable groove to move away from the picking center to lengthen, so as to form an elastic drive to the clamping jaw, which is convenient for adjusting the distance between the clamping jaw and the picking center, thus realizing the effect of self-adaptive adjustment of the clamping jaw activity range according to the size of the picked object, facilitating the picking of the asymmetric size spherical material, ensuring the picking versatility of the clamping jaw, and effectively improving the application range and flexibility of the mechanical claw. BRIEF DESCRIPTION OF DRAWINGS

[0022] The utility model will be described in further detail below in combination with the drawings and specific embodiments.

[0023] Figure 1 It is the whole three-dimensional structure schematic diagram of the utility model;

[0024] Figure 2 It is the bottom view three-dimensional structure schematic diagram of the utility model;

[0025] Figure 3 It is the partial three-dimensional structure schematic diagram of the utility model's clamping jaw;

[0026] Figure 4 It is the section three-dimensional structure schematic diagram of the utility model's main casing;

[0027] Figure 5 It is the explosion three-dimensional structure schematic diagram of the utility model's plane helical pair;

[0028] In the drawing: 1, main casing;2, connecting block;3, hinged shaft one;4, clamping jaw;5, hinged shaft two;6, limit pull rod;7, movable groove;8, pull spring one;9, sliding slot;10, movable block;11, pull spring two;12, fixed disc;13, plane helical pair;14, rotating tooth ring;15, gear;16, motor;17, reinforcing ring;18, protruding block;19, antiskid strip. DETAILED DESCRIPTION

[0029] The technical scheme in the embodiments of the utility model will be described clearly and completely below in combination with the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor are involved in the protection scope of the utility model.

[0030] Embodiment one

[0031] Please refer to Figure 1 - Figure 5 The utility model provides a kind of mechanical claw for picking up spherical material, it include: main casing 1;

[0032] Multiple groups of connecting blocks 2 are fixedly installed in the bottom of main casing 1 in circumferential uniform distribution;

[0033] Two hinged shafts one 3 are detachably installed on each group of connecting blocks 2;

[0034] Clamping jaw 4 is arranged in one side of each group of connecting blocks 2;

[0035] Hinged shaft two 5 is detachably installed on clamping jaw 4;

[0036] The movable sleeve is sleeved with a limiting pull rod 6 on the surface of the second hinge shaft 5;

[0037] The movable groove 7 is arranged on the surface of one end of the limiting pull rod 6, the second hinge shaft 5 penetrates the movable groove 7 and is movably connected with the movable groove 7;

[0038] The first pull spring 8 is arranged between the second hinge shaft 5 and the first hinge shaft 3;

[0039] The power mechanism is arranged in the main shell 1 and is used for driving the clamping jaw 4 to rotate to open and close the material taking and placing.

[0040] In use, the clamping jaw 4 is rotated around the second hinge shaft 5 by the power mechanism, and the effect of taking and placing the spherical material is achieved by cooperating with the limiting pull rod 6. The second hinge shaft 5 can drive the clamping jaw 4 to move along the movable groove 7. In the non-grabbing process, the second hinge shaft 5 and the clamping jaw 4 are pulled towards the picking center under the action of the first pull spring 8. When a large-size object is picked up, the first pull spring 8 moves the clamping jaw 4 and the second hinge shaft 5 along the movable groove 7 away from the picking center to lengthen, thereby forming an elastic drive to the clamping jaw 4, facilitating adjustment of the distance between the clamping jaw 4 and the picking center. Therefore, the effect of self-adaptive adjustment of the clamping jaw 4 activity range according to the size of the picked object is achieved, the spherical material with asymmetric size is conveniently picked up, the picking versatility of the clamping jaw 4 is ensured, and the application range and flexibility of the mechanical claw are effectively improved.

[0041] Further, the power mechanism comprises a plurality of sliding grooves 9 arranged in the bottom of the main shell 1, a movable block 10 slidably connected in the sliding groove 9, a second pull spring 11 arranged between the movable block 10 and the other first hinge shaft 3, a fixed disc 12 fixedly arranged in the inner bottom wall of the main shell 1 and having a T-shaped cross section, a planar screw pair 13 rotatably connected to the surface of the fixed disc 12, and a driving part arranged in the main shell 1 and used for driving the planar screw pair 13 to rotate. The surface of the planar screw pair 13 is similar to a ratchet wheel and has a plurality of arc-shaped protrusions, and the number of the protrusions is consistent with the number of the clamping jaw 4 and the movable block 10.

[0042] The driving part comprises a rotating gear ring 14 fixedly arranged on the top of the planar screw pair 13, a gear 15 arranged in the main shell 1 and engaged with the rotating gear ring 14, and a motor 16 fixedly arranged on the top of the main shell 1. The output end of the motor 16 is movably connected with the gear 15 through the main shell 1.

[0043] Specifically, when picking up the material, the motor 16 drives the gear 15 on the output end to rotate, and the gear 15 drives the rotating tooth ring 14 to rotate, so that the rotating tooth ring 14 drives the planar screw pair 13 to rotate forward and backward, when the planar screw pair 13 rotates counterclockwise, the convex part on the surface of the planar screw pair 13 pushes the movable block 10 to slide from the shaft center to the edge in the sliding groove 9, so as to drive the clamping jaw 4 to rotate around the hinge shaft two 5 and stretch the tension spring two 11, and cooperate with the limiting pull rod 6 to make the clamping jaw 4 close to pick up the material, and vice versa, when rotating clockwise, the movable block 10 can move from the edge to the shaft center under the action of the tension spring two 11, thereby achieving the effect of picking up and releasing the spherical material.

[0044] It should be noted that: the driving of the motor 16, the gear 15 and the rotating tooth ring 14 is only one of the implementation forms, and the extension and retraction of the movable block 10 can also be realized by a linear micro-cylinder or a hinged connecting rod mechanism, which is not limited to the only one.

[0045] Further, the surface of the vertical section of the fixed disc 12 is rotationally connected with a reinforcing ring 17, a plurality of protrusions 18 are fixedly installed on the surface of the reinforcing ring 17, and the inner surfaces of the planar screw pair 13 and the rotating tooth ring 14 are provided with grooves matched with the protrusions 18.

[0046] Specifically, by arranging the reinforcing ring 17, the connection stability between the fixed disc 12 and the planar screw pair 13 and the rotating tooth ring 14 can be improved, and the rotation stability of the planar screw pair 13 can be improved.

[0047] Embodiment two

[0048] Based on the embodiment one, in this embodiment, the inner surface of the clamping jaw 4 is fixedly installed with an anti-skid strip 19 made of rubber material.

[0049] The technical scheme provided by the embodiment is: by arranging the anti-skid strip 19, the friction between the clamping jaw 4 and the picked material can be increased, the falling situation can be prevented, and the anti-skid strip 19 is made of rubber material, which can avoid the friction damage of the clamping jaw 4 to the picked material, and the picking stability and effect of the clamping jaw 4 can be ensured.

[0050] The above is only a preferred embodiment of the present application, and is not intended to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A mechanical gripper for picking up a spheroid, characterized in that, The utility model relates to a kind of material taking device, including: Main shell (1); Multiple groups of connecting blocks (2) are fixedly installed in the bottom of main shell (1) in circumferential uniform distribution; Two hinged shafts one (3) are detachably installed on each connecting block (2); Clamping jaw (4) is arranged on one side of each connecting block (2); Hinged shaft two (5) is detachably installed on clamping jaw (4); Limiting pull rod (6) is movably sleeved on the surface of one hinged shaft one (3); Movable slot (7) is opened in the surface of one end of limiting pull rod (6) two sides, and hinged shaft two (5) penetrates movable slot (7) and is movably connected with movable slot (7); Tension spring one (8) is installed between hinged shaft two (5) and one hinged shaft one (3); And power mechanism for driving clamping jaw (4) to rotate to open and close material taking is arranged in main shell (1).

2. A mechanical gripper for picking up a spherical object according to claim 1, wherein The power mechanism includes multiple sliding grooves (9) opened in the bottom of main shell (1), movable block (10) slidably connected in sliding groove (9), tension spring two (11) installed between movable block (10) and another hinged shaft one (3), fixed disc (12) fixedly installed in the inner bottom wall of main shell (1) and the cross section is T-shaped, plane screw pair (13) rotationally connected on the surface of fixed disc (12), and driving component for driving plane screw pair (13) to rotate is arranged in main shell (1).

3. A mechanical gripper for picking up a ball of material as claimed in claim 2, wherein, The driving component includes rotation tooth ring (14) fixedly installed on the top of plane screw pair (13), gear (15) arranged in main shell (1) and engaged with rotation tooth ring (14), and motor (16) fixedly installed on the top of main shell (1), and the output end of motor (16) movably penetrates main shell (1) and is connected with gear (15).

4. A mechanical gripper for picking up a ball of material as claimed in claim 2, wherein, The surface of plane screw pair (13) is similar to ratchet and has multiple arc-shaped protrusions, and the number of protrusions is consistent with the number of clamping jaw (4) and movable block (10).

5. A mechanical gripper for picking up a ball of material as claimed in claim 2, wherein, The vertical section of fixed disc (12) is rotationally connected with reinforcing ring (17), the surface of reinforcing ring (17) is fixedly installed with multiple protrusions (18), and the inner surface of plane screw pair (13) and rotation tooth ring (14) is provided with recess for clamping protrusion (18).

6. A mechanical gripper for picking up a spherical object according to claim 1, wherein The inner surface of clamping jaw (4) is fixedly installed with anti-skid strip (19), and the anti-skid strip (19) is made of rubber material.

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