Mechanical clamping device

Abstract

The utility model discloses a mechanical clamping device which comprises a mounting base, a driving mechanism support, a driving mechanism, a transmission mechanism and a tail end clamping mechanism, one end of the driving mechanism support is fixedly connected with a steering engine of the driving mechanism, the other end of the driving mechanism support is fixedly connected with the mounting base, and the mounting base is connected to other machine carriers through mounting holes. A main slide way and an auxiliary slide way of the installation base are movably connected with a transmission slide block and a supporting slide cap of the transmission mechanism respectively and support the transmission mechanism, the bottom end of the transmission mechanism is connected with a tail end clamping mechanism, and during clamping, clamping jaws of the tail end clamping mechanism get close to a clamped object, and after the clamping jaws make contact with the clamped object, the tail end clamping mechanism clamps the clamped object. The springs are compressed to provide clamping force to stably clamp a clamped object, the clamping jaws in the scheme are each connected with one spring, and each clamping jaw can independently move, so that the clamping jaw can better adapt to objects in different shapes, and objects with irregular surfaces can be more stably grabbed.

Description

Technical Field

[0001] This utility model relates to the field of clamping device technology, specifically a mechanical clamping device. Background Technology

[0002] With the development of automation technology, the application of robotic grippers is becoming increasingly widespread, such as in automated production lines and sampling in specific environments. However, existing robotic grippers still have shortcomings, such as: 1. Most objects that current robotic grippers can grasp are relatively regular in surface shape. However, when there are differences in size or shape between individual objects, it is difficult to grasp them accurately, and the objects are prone to falling off. 2. Generally, robotic grippers are driven by motors, and it is impossible to precisely control the rotation of the motor, making the gripping process unstable. Utility Model Content

[0003] The purpose of this invention is to provide a mechanical gripping device to solve the problems mentioned in the background art and achieve stable gripping of target objects of various shapes.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] A mechanical gripping device includes a mounting base, a drive mechanism bracket, a drive mechanism, a transmission mechanism, and at least one pair of end gripping mechanisms;

[0006] The mounting base is connected to other machine carriers through mounting holes formed on the mounting base, and the mounting base is movably connected to the transmission mechanism and supports the transmission mechanism;

[0007] The drive mechanism is fixedly connected to the mounting base via the drive mechanism bracket;

[0008] The transmission mechanism is connected to the moving end of the drive mechanism;

[0009] The end gripping mechanism is symmetrically fixed to the lower end face of the transmission mechanism. The end gripping mechanism includes several elastic grippers. The driving mechanism drives the transmission mechanism, and the transmission mechanism drives the symmetrically arranged end gripping mechanism to close. After the end gripping mechanism closes, it achieves the gripping of the object to be gripped through the elastic grippers arranged in pairs.

[0010] Furthermore, the mounting base is I-shaped, with a main slide and several secondary slides evenly distributed on both sides of the main slide. The main slide and the secondary slides are perpendicular, and both the main slide and the secondary slides have strip-shaped holes.

[0011] Furthermore, the transmission mechanism includes: a connecting rod, a transmission pin, at least one pair of driven connecting blocks, a transmission slider, a driven rack, and a support slide cap;

[0012] At least two connecting rods and transmission pins are provided. One end of each connecting rod is hinged to the transmission slider, and the other end is hinged to the transmission pin. The transmission pin is fixedly connected to the driven connecting block. The driven connecting block is symmetrically arranged on both sides of the transmission slider. The transmission slider is also fixedly connected to the driven rack. The driven rack is connected to the moving end of the drive mechanism. Several support slide caps are fixed to the upper end face of the driven connecting block. The lower part radius of the support slide cap is smaller than its upper part radius. The lower part of the support slide cap is placed in the strip-shaped hole of the secondary slide. The upper part of the support slide cap fits against the upper edge of the secondary slide to support the transmission mechanism. The lower part of the transmission slider is placed in the strip-shaped hole of the main slide. The upper part of the transmission slider fits against the upper edge of the main slide to support the transmission mechanism.

[0013] Furthermore, the drive mechanism includes a servo motor and a drive gear. The drive gear is fixedly connected to the output shaft of the servo motor as the moving end of the drive mechanism. The drive gear meshes with the driven rack and is used to drive the driven rack to move.

[0014] Furthermore, each of the end gripping mechanisms also includes a gripper magazine. The elastic gripper includes a gripper and a spring. The gripper magazine is fixedly connected to the driven connecting block. The lower end face of the gripper magazine is provided with a plurality of sliding grooves. The spring and the gripper are placed in the sliding grooves. One end of the spring is connected to the gripper, and the other end is connected to one end of the sliding groove, for providing gripping force to the gripper.

[0015] Furthermore, the chute is provided with a track for supporting and guiding the gripper, and the end of the chute in the track direction is open, with a cover plate installed at the open end of the chute for limiting the gripper.

[0016] Furthermore, the surface of the gripper that contacts the object to be gripped is an arc surface, which can accommodate objects of different shapes.

[0017] Compared with the prior art, the beneficial effects of this utility model are:

[0018] 1. In the end gripping mechanism of this utility model, each gripper is connected to a spring, and each gripper can move independently, which can better adapt to the gripped objects of different shapes.

[0019] 2. The transmission mechanism of this utility model adopts a linkage mechanism, which has a compact structure and transmits motion and force stably and reliably with a low failure rate.

[0020] 3. The drive mechanism of this utility model adopts servo motor drive, which can accurately control the rotation angle and thus accurately control the clamping force, making the clamping process more stable.

[0021] 4. The mounting base of this utility model is provided with two types of slides: a main slide and a secondary slide. The reaction force is more evenly distributed during clamping, making the clamping process more stable. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0023] Figure 2 This is a schematic diagram of the overall structure of this utility model from another angle;

[0024] Figure 3 This is a schematic diagram of the mounting base in this utility model;

[0025] Figure 4 This is a schematic diagram of the drive mechanism in this utility model;

[0026] Figure 5 This is a schematic diagram of the transmission mechanism in this utility model;

[0027] Figure 6 This is a schematic diagram of the end-gripping mechanism in this utility model;

[0028] Figure 7 This is a schematic diagram of the gripper compartment in this utility model;

[0029] Figure 8 This is a schematic diagram of an embodiment of the present invention in its closed state;

[0030] Figure 9 This is a schematic diagram of an embodiment of the present invention in its open state;

[0031] Among them, 10, mounting base; 11, main slide rail; 12, auxiliary slide rail; 13, mounting hole; 20, drive mechanism bracket; 30, drive mechanism; 31, servo motor; 32, drive gear; 40, transmission mechanism; 41, driven rack; 42, transmission slider; 43, transmission pin; 44, connecting rod; 45, support nut; 46, driven connecting block; 50, end gripping mechanism; 51, gripper; 52, gripper compartment; 521, slide groove; 53, cover plate; 54, spring. Detailed Implementation

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. It should be understood that the preferred embodiments described herein are only for illustration and explanation of the present utility model and do not limit the present utility model.

[0033] According to one embodiment of the present invention, a mechanical gripping device includes a mounting base 10, a drive mechanism bracket 20, a drive mechanism 30, a transmission mechanism 40, and at least one pair of end gripping mechanisms 50.

[0034] The mounting base 10 is connected to other machine carriers through mounting holes 13 formed on the mounting base 10. The mounting base 10 is movably connected to the transmission mechanism 40 and supports the transmission mechanism 40.

[0035] The drive mechanism 30 is fixedly connected to the mounting base 10 via the drive mechanism bracket 20;

[0036] The transmission mechanism 40 is connected to the moving end of the drive mechanism 30;

[0037] Each of the end gripping mechanisms 50 includes several elastic grippers. A pair of end gripping mechanisms 50 are symmetrically fixed to the lower end face of the transmission mechanism 40 so that the corresponding elastic grippers are opposite each other. The driving mechanism 30 drives the transmission mechanism 40, and the transmission mechanism 40 drives the symmetrically arranged end gripping mechanisms 50 to close. After the end gripping mechanisms 50 are closed, the object to be gripped is gripped by the elastic grippers that are opposite each other.

[0038] Example 1:

[0039] See Figure 1 , Figure 2 and Figure 3 A mechanical gripping device includes a mounting base 10, a drive mechanism bracket 20, a drive mechanism 30, a transmission mechanism 40, and an end gripping mechanism 50. One end of the drive mechanism bracket 20 is fixedly connected to the servo motor 31 of the drive mechanism 30, and the other end is fixedly connected to the mounting base 10. The mounting base 10 is connected to other machine carriers through mounting holes 13. The main slide rail 11 and the auxiliary slide rail 12 of the mounting base 10 are movably connected to the transmission slider 42 and the support slide cap 45 of the transmission mechanism 40, respectively, and support the transmission mechanism 40. Two end gripping mechanisms 50 are connected to the bottom end of the transmission mechanism 40.

[0040] See Figure 4 The drive mechanism 30 consists of a servo motor 31 and a drive gear 32. The drive gear 32 is fixedly connected to the servo motor 31 and meshes with the driven rack 41 of the transmission mechanism 40. When the drive gear 32 rotates, it drives the driven rack 41 to move horizontally, thereby driving the transmission slider 42 to move horizontally.

[0041] See Figure 5The transmission mechanism 40 consists of a driven rack 41, a transmission slider 42, four connecting rods 44, four transmission pins 43, four support slide caps 45, and two driven connecting blocks 46. One end of each connecting rod 44 is hinged to the transmission slider 42, and the other end is hinged to the transmission pin 43. The transmission pin 43 is then fixedly connected to the driven connecting block 46, so that the two driven connecting blocks 46 are symmetrically arranged on both sides of the transmission slider 42. The transmission slider 42 is also fixedly connected to the driven rack 41. Two support slide caps 45 are fixed to the upper end face of each driven connecting block 46. The lower radius of the support slide cap 45 is smaller than the upper radius. The lower part of the support slide cap 45 is connected to the secondary slide rail 12 of the mounting base 10. The movable connection is used for movement. The upper part of the support slide cap 45 is in contact with the upper edge of the secondary slide rail 12 to prevent the support slide cap 45 from coming out of the secondary slide rail 12. The lower part of the transmission slider 42 has a smaller radius than the upper part. The lower part of the transmission slider 42 is placed in the strip-shaped hole of the main slide rail 11. The movable connection is used for movement. The upper part of the transmission slider 42 is in contact with the upper edge of the main slide rail 11 to prevent the transmission slider 42 from coming out of the main slide rail 11. When the transmission slider 42 moves, it drives the connecting rod 44 to move, which in turn drives the driven connecting block 46 to move. The support slide cap 45 connected to the driven connecting block 46 is limited by the secondary slide rail 12 and moves horizontally.

[0042] See Figure 6 , Figure 7 Each end gripping mechanism 50 consists of a gripper 51, a gripper compartment 52, a cover plate 53, and a spring 54. The gripper compartment 52 is fixedly connected to the driven connecting block 46. The gripper compartment 52 has four sliding grooves 521, each of which opens on the same side and has a track inside for placing the spring 54 and the gripper 51. One end of the spring 54 is connected to the gripper 51, and the other end is connected to the side wall of the sliding groove 521 of the gripper compartment 52, which provides clamping force for the gripper 51. The cover plate 53 covers the opening end of the sliding groove 521 of the gripper compartment 52 to limit the displacement of the gripper 51. When the driven connecting block 46 moves, it drives the gripper compartment 52 to move, which in turn drives the gripper 51 to move.

[0043] Example 2:

[0044] According to Embodiment 1, a mechanical gripping device operates as follows: When the gripping action is performed, the servo motor 31 of the drive mechanism 30 drives the drive gear 32 to rotate in a pre-set gripping direction (i.e., clockwise), causing the driven rack 41 to move horizontally outward, which in turn causes the transmission slider 42 to move horizontally outward. The connecting rod 44 connected to the transmission slider 42 moves accordingly, thereby causing the driven connecting block 46 to move in a direction that causes the two end gripping mechanisms 50 to close. The support slide cap 45 connected to the driven connecting block 46 is limited by the secondary slide rail 12 and closes in the defined horizontal direction, thereby causing the grippers 51 of the two end gripping mechanisms 50 to move closer to the object being gripped. When the grippers 51 contact the object being gripped, the spring 54 is compressed and provides a gripping force to stably grip the object. Figure 8 As shown; when the servo 31 of the drive mechanism 30 drives the drive gear 32 to rotate in the preset release direction (i.e., counterclockwise), the movement direction of each component is opposite to the movement direction of the above-described clamping action embodiment, thereby realizing the release action of the clamping device, as shown. Figure 9 As shown.

[0045] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present utility model, and these improvements and substitutions should also be considered within the protection scope of the present utility model.

Claims

1. A mechanical gripping device, characterized in that The device comprises a mounting base (10), a driving mechanism support (20), a driving mechanism (30), a transmission mechanism (40) and at least one pair of end gripping mechanisms (50); The mounting base (10) is connected to other machine carriers through mounting holes (13) formed on the mounting base (10), and the mounting base (10) is movably connected with the transmission mechanism (40) and supports the transmission mechanism (40); The driving mechanism (30) is fixedly connected with the mounting base (10) through the driving mechanism support (20); The transmission mechanism (40) is connected with the moving end of the driving mechanism (30); Each end gripping mechanism (50) comprises a plurality of elastic clamping jaws, and a pair of the end gripping mechanisms (50) are symmetrically fixed to the lower end surface of the transmission mechanism (40) so that the corresponding elastic clamping jaws are opposite to each other; the driving mechanism (30) drives the transmission mechanism (40), the transmission mechanism (40) drives the symmetrically arranged end gripping mechanisms (50) to close, and the end gripping mechanisms (50) realize clamping of the object to be clamped through the elastic clamping jaws arranged opposite to each other after closing.

2. A mechanical gripping device according to claim 1, characterised in that The mounting base (10) is in the shape of an I-beam, is provided with a main slide (11) and a plurality of auxiliary slides (12) uniformly distributed on both sides of the main slide (11), the main slide (11) is perpendicular to the auxiliary slides (12), and the main slide (11) and the auxiliary slides (12) are each provided with a strip-shaped excavated hole.

3. A mechanical gripping device according to claim 2, characterised in that The transmission mechanism (40) comprises a connecting rod (44), a transmission pin (43), at least one pair of driven connecting blocks (46), a transmission sliding block (42), a driven rack (41) and a support sliding cap (45); The connecting rod (44) and the transmission pin (43) are each provided with at least two, one end of each connecting rod (44) is hingedly connected with the transmission sliding block (42), the other end is hingedly connected with the transmission pin (43), the transmission pin (43) is fixedly connected with the driven connecting block (46), the driven connecting block (46) is symmetrically arranged on both sides of the transmission sliding block (42), the transmission sliding block (42) is further fixedly connected with the driven rack (41), the driven rack (41) is connected with the moving end of the driving mechanism (30), the support sliding cap (45) is fixed on the upper end surface of the driven connecting block (46), the lower part of the support sliding cap (45) has a smaller radius than the upper part, the lower part of the support sliding cap (45) is arranged in the strip-shaped excavated hole of the auxiliary slide (12), the upper part of the support sliding cap (45) is attached to the upper edge of the auxiliary slide (12) for supporting the transmission mechanism (40), and the lower part of the transmission sliding block (42) is arranged in the strip-shaped excavated hole of the main slide (11), and the upper part of the transmission sliding block (42) is attached to the upper edge of the main slide (11) for supporting the transmission mechanism (40).

4. A mechanical gripping device according to claim 3, characterised in that The driving mechanism (30) comprises a steering engine (31) and a driving gear (32), the driving gear (32) is fixedly connected to the output shaft of the steering engine (31) as the motion end of the driving mechanism (30), and the driving gear (32) is engaged with the driven rack (41) for driving the driven rack (41) to move.

5. A mechanical gripping device according to claim 3, characterised in that Each of the end gripping mechanisms (50) further comprises a gripper bin (52), the elastic gripper comprises a gripper (51) and a spring (54), the gripper bin (52) is fixedly connected with the driven connecting block (46), and the lower end surface of the gripper bin (52) is provided with a plurality of sliding grooves (521), the spring (54) and the gripper (51) are placed in the sliding grooves (521), one end of the spring (54) is connected with the gripper (51), the other end of the spring (54) is connected with one end of the sliding groove (521), and the spring (54) is used for providing a clamping force for the gripper (51).

6. A mechanical gripping device according to claim 5, characterised in that The sliding groove (521) is provided with a track for supporting and guiding the gripper (51), and the end of the track of the sliding groove (521) is open, and the open end of the sliding groove (521) is provided with a cover plate (53).

7. A mechanical gripping device according to claim 5, wherein The surface of the gripper (51) in contact with the object to be gripped is a circular arc surface, which is used for adapting to different shapes of the object to be gripped.

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