Mechanical gripper device

Abstract

The utility model relates to the field of industrial automation equipment, in particular to a mechanical gripper device. Comprising a bottom plate, an air cylinder is arranged on the side edge of the bottom plate, a synchronous moving device is arranged on the bottom face of the bottom plate, and the synchronous moving device is connected with the power output end of the air cylinder; the clamping arm comprises a left clamping arm body and a right clamping arm body which are arranged face to face, the tops of the left clamping arm body and the right clamping arm body are connected with a synchronous moving device, a left supporting plate and a right supporting plate are symmetrically installed in the middles of the bottoms of the left clamping arm body and the right clamping arm body respectively, and limiting assemblies are arranged on the two sides of the left supporting plate and the two sides of the right supporting plate. The limiting assembly comprises polyurethane rolling wheels, and the polyurethane rolling wheels are installed on the two side edges of the left clamping arm and the two side edges of the right clamping arm through installation blocks. The problems that an existing gripper device is poor in positioning precision, and workpieces of different specifications cannot be grabbed stably are solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to industrial automation equipment field especially relates to a mechanical hand claw device. BACKGROUND

[0002] Due to the migration and addition of machine tool equipment in the factory, part of the equipment needs manual feeding and discharging of workpieces, and the operator directly faces the high-temperature workpiece, which has poor labor environment and high labor intensity. Therefore, the mechanical hand claw plays an extremely important role in the links of workpiece carrying and processing. On the traditional industrial production line, the common simple mechanical clamping claw structure is relatively single, relies on fixed mechanical structure to realize opening and closing action, and has poor adaptability. Once the workpiece model is replaced, the workpiece shape and size have slight changes, and the workpiece cannot be accurately grabbed, and the workpiece is not stable during grabbing and carrying. Frequent replacement of clamping claw parts not only consumes time and effort, but also seriously reduces production efficiency, increases equipment downtime, and causes the production cost of enterprises to rise sharply. SUMMARY

[0003] The utility model provides a mechanical hand claw device to solve the problem of poor positioning accuracy of the existing hand claw device and unstable grabbing of different specifications of workpieces.

[0004] The utility model is realized through the following technical schemes, provide a kind of mechanical hand claw device, including bottom plate, the bottom plate side is provided with pneumatic cylinder, the bottom plate bottom is provided with synchronous movement device, the power output end of synchronous movement device is connected with pneumatic cylinder;Clamping arm, the clamping arm includes left clamping arm and right clamping arm set face to face, the top of left clamping arm and right clamping arm is connected with synchronous movement device, the bottom of left clamping arm and right clamping arm middle position is respectively symmetrically installed with left supporting plate and right supporting plate, the both sides of left supporting plate and right supporting plate are provided with limiting component, the limiting component includes polyurethane roller, the polyurethane roller is installed in the both sides of left clamping arm and right clamping arm by mounting block.

[0005] Further, the polyurethane roller is connected with the mounting block through the pin shaft, the pin shaft is fixed with the clamping block through the screw, the clamping block is arranged at the head end and tail end of the polyurethane roller, and the tail end of the pin shaft is provided with a split pin.

[0006] Further, the synchronous movement device includes a linear guide rail and a gear rotating shaft, the linear guide rail is arranged on both sides of the bottom plate, the gear rotating shaft is rotatably connected to the center position of the bottom plate through a deep groove ball bearing, a spur gear is fixed on the gear rotating shaft, straight toothed racks one and two are respectively engaged on both sides of the spur gear, the end of the straight toothed rack one away from the spur gear is connected with the left clamping arm, and the end of the straight toothed rack two away from the spur gear is connected with the right clamping arm.

[0007] Further, the air cylinder is provided with a cylinder connecting support connected with the bottom plate through a cushion block, one end of the cylinder is connected with a floating joint, the floating joint is connected with a cylinder push block, the cylinder push block is slidably connected with a linear guide rail on one side, and the cylinder push block is connected with the left clamping arm through a connecting seat.

[0008] Further, the straight rack is provided with a rack guide sleeve on one side, and the straight gear is provided with a gear cover plate.

[0009] Compared with the prior art, the mechanical hand claw device has the following beneficial effects:

[0010] (1) The mechanical hand claw device is driven by a pneumatic synchronous movement device, when the cylinder operates, the connecting seat and the cylinder push block drive the left clamping arm to slide on the linear guide rail, and drive the straight rack to move, the straight rack drives the straight rack two to move through the gear, so that the left clamping arm and the right clamping arm are synchronously clamped.

[0011] (2) The four polyurethane rollers installed on the left clamping arm and the right clamping arm can center different specifications of workpieces, realize automatic centering and grabbing of the workpieces, improve the positioning accuracy of the hand claw device, and play a limiting role for the workpieces when the hand claw device is lifted, improve the stability of grabbing the workpieces, and the polyurethane rollers can protect the workpieces from being damaged by pressure. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 It is a front view of the mechanical hand claw device of the utility model;

[0013] Figure 2 It is a front view of the mechanical hand claw device of the utility model; Figure 1 It is a B-B sectional view of the utility model;

[0014] Figure 3 It is a B-B sectional view of the utility model; Figure 1 It is an A-A sectional view of the utility model;

[0015] Figure 4 It is a top view of the mechanical hand claw device of the utility model;

[0016] Figure 5 It is a bottom view of the mechanical hand claw device of the utility model;

[0017] Figure 6 It is a perspective view of the mechanical hand claw device of the utility model.

[0018] In the drawings, 1 is a bottom plate; 2 is a left clamping arm; 3 is a right clamping arm; 4 is a gear cover plate; 5 is a gear rotating shaft; 6 is a straight gear; 7 is a straight rack I; 71 is a straight rack II; 8 is a cylinder push block; 9 is a rack guide sleeve; 10 is a cushion block; 11 is a clamping block; 12 is a cylinder connecting support; 13 is a left supporting plate; 131 is a right supporting plate; 14 is a mounting block; 15 is a connecting seat; 16 is an elastic retaining ring for shaft; 17 is a deep groove ball bearing; 18 is an elastic retaining ring for hole; 19 is a linear guide rail; 20 is a pin shaft; 21 is a polyurethane roller; 22 is a split pin; 23 is a cylinder; 24 is a speed regulating valve; 25 is a floating joint; 26 is a position sensor. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical scheme and advantages of the utility model more clearly, the utility model is further explained in detail below with reference to the drawings.

[0020] Please refer to Figures 1-6 The utility model provides a mechanical hand claw device, include: bottom plate 1, clamping arm and limit component,

[0021] The bottom plate 1 side is provided with cylinder 23, and the bottom surface of the bottom plate 1 is provided with a synchronous movement device, and the synchronous movement device is connected with the power output end of the cylinder 23; the clamping arm includes the left clamping arm 2 and the right clamping arm 3 arranged face to face, and the top of the left clamping arm 2 and the right clamping arm 3 is connected with the synchronous movement device; the bottom of the left clamping arm 2 and the right clamping arm 3 is symmetrically installed with the left supporting plate 13 and the right supporting plate 131 respectively near the middle position, and the left supporting plate 13 and the right supporting plate 131 are used for holding workpieces; the two sides of the left supporting plate 13 and the right supporting plate 131 are provided with limit components, and the limit components include polyurethane rollers 21, and the polyurethane rollers 21 are installed on the two sides of the left clamping arm 2 and the right clamping arm 3 through mounting blocks 14. When the cylinder 23 drives the synchronous movement device, the left clamping arm 2 and the right clamping arm 3 close and clamp workpieces, and the four polyurethane rollers 21 installed on the left clamping arm 2 and the right clamping arm 3 can center the workpieces, and play a role of limiting the workpieces when the hand claw device is lifted, and since the workpieces are mostly aluminum parts, and the outer circular surface is painted, the polyurethane material is used for the rollers, the surface is soft, so that the workpieces are protected when the clamping arms grab the workpieces, and the workpieces are not damaged by pressure injury, and the stability of grabbing the workpieces is improved.

[0022] Further, the polyurethane roller 21 is connected with the mounting block 14 through the pin shaft 20, the pin shaft 20 is fixed with the clamping block 11 through a screw, the clamping block 11 is arranged at the head end and the tail end of the polyurethane roller 21, and the tail end of the pin shaft 20 is installed with the split pin 22.

[0023] Further, the synchronous moving device comprises linear guides 19 arranged on both sides of the base plate 1 and a gear rotating shaft 5 rotatably connected to the center of the base plate 1 through a deep groove ball bearing 17, and the gear rotating shaft 5 is provided with an elastic shaft baffle 16 and an elastic hole baffle 18 at the end thereof, and the gear rotating shaft 5 is fixed with a spur gear 6, and the spur gear 6 is engaged with a straight rack one 7 and a straight rack two 71 respectively at both sides thereof, and the end of the straight rack one 7 away from the spur gear 6 is connected with the left clamping arm 2, and the end of the straight rack two 71 away from the spur gear 6 is connected with the right clamping arm 3.

[0024] Further, the cylinder 23 is provided with a cylinder connecting support 12 connected with the base plate 1 through a cushion block 10, and the end of the cylinder 23 is connected with a floating joint 25 for preventing the cylinder 23 from being stuck during movement, and the end of the floating joint 25 is connected with a cylinder push block 8 slidably connected with the linear guide 19 on one side, and the cylinder push block 8 is connected with the left clamping arm 2 through a connecting seat 15 for connecting the cylinder push rod and the linear guide 19, and the cylinder 23 is further provided with a speed regulating valve 24 for regulating the speed of the cylinder 23 and a position sensor 26 for detecting the opening and closing of the cylinder 23. When the cylinder 23 operates, the connecting seat 15 and the cylinder push block 8 drive the left clamping arm 2 to slide on the linear guide 19 and drive the straight rack one 7 to move, and the straight rack one 7 drives the straight rack two 71 to operate through the gear to realize the movement of the right clamping arm 3, so as to realize the synchronous clamping of the left clamping arm 2 and the right clamping arm 3.

[0025] Further, the straight rack one 7 is provided with a rack guide sleeve 9 at the side thereof, and the spur gear 6 is provided with a gear cover plate 4.

Claims

1. A robotic gripper device, characterized in that, include: A base plate (1) is provided with a cylinder (23) on its side and a synchronous moving device is provided on the bottom surface of the base plate (1). The synchronous moving device is connected to the power output end of the cylinder (23). The clamping arms include a left clamping arm (2) and a right clamping arm (3) arranged facing each other. The top of the left clamping arm (2) and the right clamping arm (3) are connected to a synchronous moving device. The bottom middle positions of the left clamping arm (2) and the right clamping arm (3) are respectively symmetrically installed with a left support plate (13) and a right support plate (131). Limiting components are provided on both sides of the left support plate (13) and the right support plate (131). The limiting components include polyurethane rollers (21). The polyurethane rollers (21) are installed on both sides of the left clamping arm (2) and the right clamping arm (3) through mounting blocks (14).

2. The robotic gripper device according to claim 1, characterized in that: The polyurethane roller (21) is connected to the mounting block (14) via a pin (20). A clamping block (11) is fixed on the pin (20) by screws. The clamping block (11) is located at the head and tail ends of the polyurethane roller (21). A cotter pin (22) is installed at the tail end of the pin (20).

3. The robotic gripper device according to claim 1, characterized in that: The synchronous moving device includes a linear guide rail (19) and a gear rotating shaft (5). The linear guide rail (19) is set on both sides of the base plate (1). The gear rotating shaft (5) is rotatably connected to the center of the base plate (1) through a deep groove ball bearing (17). A spur gear (6) is fixed on the gear rotating shaft (5). A spur rack (7) and a spur rack (71) are respectively meshed on both sides of the spur gear (6). The end of the spur rack (7) away from the spur gear (6) is connected to the left clamping arm (2). The end of the spur rack (71) away from the spur gear (6) is connected to the right clamping arm (3).

4. The robotic gripper device according to claim 3, characterized in that: The cylinder (23) is provided with a cylinder connecting support (12), which is connected to the base plate (1) through a pad (10). One end of the cylinder (23) is connected to a floating joint (25), and the end of the floating joint (25) is connected to a cylinder push block (8). The cylinder push block (8) is slidably connected to a linear guide rail (19) on one side, and the cylinder push block (8) is connected to the left clamping arm (2) through a connecting seat (15).

5. The robotic gripper device according to claim 3, characterized in that: A rack guide sleeve (9) is installed on the side of the spur rack (7), and a gear cover plate (4) is provided on the spur gear (6).

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