Multifunctional grabbing clamp with pressure supplementing function

Abstract

The utility model discloses a multifunctional gripping clip with a pressure supplementing function, which comprises a main frame body, a connecting plate is fixed at the top of the main frame body, a connecting shaft is fixed on the surface of the connecting plate, a three-finger clamping arm and a double-finger clamping arm are hinged on the surface of the main frame body, a first connecting frame is fixed on the surface of the three-finger clamping arm, and a second connecting frame is fixed on the surface of the double-finger clamping arm. A second connecting frame and a combined shaft are fixed to the surface of the double-finger clamping arm, a hydraulic cylinder is hinged to the surface of the first connecting frame, a balance valve is installed at the top of the hydraulic cylinder, the telescopic end of the hydraulic cylinder is hinged to the second connecting frame, two connecting rods are hinged to the surface of the first connecting frame, and the connecting rods are hinged to the surface of the combined shaft. A combined shovel is detachably connected to the surface of the three-finger clamping arm, and a plurality of first bolt holes used in cooperation are formed in the surfaces of the three-finger clamping arm and the combined shovel. Due to the fact that the balance valve and the hydraulic cylinder are installed, the grabbing clamp can have the automatic pressure supplementing function, and stability and safety of the grabbing clamp in the using process are improved.

Description

Technical Field

[0001] This utility model relates to the field of gripper technology, specifically a multi-functional gripper with pressure compensation function. Background Technology

[0002] Grippers, also known as robotic grippers or clamps, are key components in automated equipment and robotic systems used for grasping, handling, and placing objects. They mimic the function of a human hand, opening and closing to grasp or release workpieces. Grippers are widely used in manufacturing, logistics, medical, food processing, and many other fields, especially in tasks requiring high precision, repeatability, and stability.

[0003] In certain applications, such as fixing workpieces or moving goods, grippers need to remain closed for extended periods. However, factors such as thermal expansion and contraction, natural leakage, and external impacts and vibrations can easily lead to unstable pressure in the hydraulic system, causing the gripper's clamping force to gradually weaken. This can result in workpieces or goods becoming loose and slipping off, potentially leading to a series of safety accidents. Utility Model Content

[0004] The purpose of this utility model is to provide a multi-functional gripper with pressure compensation function. By setting a balance valve and installing it in conjunction with the hydraulic cylinder, the gripper can have an automatic pressure compensation function, thereby improving the stability and safety of the gripper during use.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a multi-functional gripper with pressure compensation function, comprising a main frame, a connecting plate fixed to the top of the main frame, a connecting shaft fixed to the surface of the connecting plate, a three-finger gripper arm and a two-finger gripper arm hinged to the surface of the main frame, a first connecting frame fixed to the surface of the three-finger gripper arm, a second connecting frame and a combined shaft fixed to the surface of the two-finger gripper arm, a hydraulic cylinder hinged to the surface of the first connecting frame, a balance valve installed on the top of the hydraulic cylinder, the telescopic end of the hydraulic cylinder hinged to the second connecting frame, two connecting rods hinged to the surface of the first connecting frame, the connecting rods hinged to the surface of the combined shaft, a combined shovel detachably connected to the surface of the three-finger gripper arm, multiple first bolt holes for cooperation are provided on the surfaces of the three-finger gripper arm and the combined shovel, two shovel plates detachably connected to the surface of the two-finger gripper arm, multiple matching second bolt holes are provided on the surfaces of the two-finger gripper arm and the shovel plates.

[0006] As a preferred embodiment of the multi-functional gripper with pressure compensation function of this utility model, a baffle is fixed at the bottom of the main frame.

[0007] As a preferred embodiment of the multi-functional gripper with pressure compensation function of this utility model, the inner wall of the main frame is fixed with reinforcing ribs, and the bottom of the reinforcing ribs is fixedly connected to the top of the baffle.

[0008] As a preferred embodiment of the multi-functional gripper with pressure compensation function of this utility model, a partition is fixed on the surface of the shovel plate.

[0009] As a preferred embodiment of the multi-functional gripper with pressure compensation function of this utility model, an avoidance groove is formed between the two shovel plates to cooperate with the three-finger gripper arm.

[0010] As a preferred embodiment of the multi-functional gripper with pressure compensation function of this utility model, both the combined shovel and the shovel plate are made of stainless steel.

[0011] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0012] 1. In this utility model, the combined shovel can be installed onto the surface of the three-finger gripper arm by using bolts and the first bolt hole, and the shovel plate can also be installed onto the surface of the two-finger gripper arm by using the second bolt hole and the bolt. This allows the combined shovel and shovel plate to be freely assembled and disassembled as needed to meet different material clamping requirements. Through the combination of the combined shovel and the three-finger gripper arm, as well as the two-finger gripper arm and the baffle, a bucket structure can be formed. This design enables the gripper not only to grab and move objects, but also to dig, load and transport materials like a bucket, which greatly increases the multifunctionality of the equipment and improves the practicality of the device.

[0013] 2. In this invention, when the gripper reaches the desired clamping position, the balance valve begins to function. It maintains the pressure inside the hydraulic cylinder according to the set pressure value. Without additional instructions, the balance valve prevents hydraulic oil from flowing out of the hydraulic cylinder. This effectively prevents the three-finger gripper and two-finger gripper from accidentally releasing due to changes in external load or other factors, ensuring that the force applied by the gripper to the workpiece and material is stable and consistent. As time goes by or due to minor leaks in the system, the pressure inside the hydraulic cylinder may drop. At this time, the sensor built into the balance valve will detect this change. If the detected pressure is lower than the preset safety threshold, the balance valve will automatically open a small passage to allow a small amount of oil from the high-pressure source to flow into the hydraulic cylinder, restoring the set working pressure. This process is continuous, ensuring that a stable clamping force can be maintained even during long-term operation. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0015] Figure 2 This is a three-dimensional structural schematic diagram of the present invention from another perspective;

[0016] Figure 3 This is a cross-sectional structural diagram of the present invention;

[0017] Figure 4This is a schematic diagram of the disassembled structure of this utility model;

[0018] Figure 5 This is a schematic diagram of the structure of this utility model from another perspective after it has been disassembled.

[0019] In the diagram: 1. Main frame; 2. Connecting plate; 3. Connecting shaft; 4. Three-finger gripper arm; 5. Two-finger gripper arm; 6. First connecting frame; 7. Second connecting frame; 8. Combined shaft; 9. Hydraulic cylinder; 10. Balance valve; 11. Connecting rod; 12. Combined shovel; 13. First bolt hole; 14. Shovel plate; 15. Second bolt hole; 16. Partition plate; 17. Clearance groove; 18. Baffle plate; 19. Reinforcing rib. Detailed Implementation

[0020] Please see Figure 1-5 A multi-functional gripper with pressure compensation function includes a main frame 1, a connecting plate 2 fixed to the top of the main frame 1, a connecting shaft 3 fixed to the surface of the connecting plate 2, a three-finger gripper arm 4 and a two-finger gripper arm 5 hinged to the surface of the main frame 1, a first connecting frame 6 fixed to the surface of the three-finger gripper arm 4, a second connecting frame 7 and a combined shaft 8 fixed to the surface of the two-finger gripper arm 5, a hydraulic cylinder 9 hinged to the surface of the first connecting frame 6, a balance valve 10 installed on the top of the hydraulic cylinder 9, the telescopic end of the hydraulic cylinder 9 hinged to the second connecting frame 7, two connecting rods 11 hinged to the surface of the first connecting frame 6, the connecting rods 11 hinged to the surface of the combined shaft 8, a combined shovel 12 detachably connected to the surface of the three-finger gripper arm 4, multiple first bolt holes 13 for cooperation are opened on the surface of both the three-finger gripper arm 4 and the combined shovel 12, and two shovel plates 14 detachably connected to the surface of the two-finger gripper arm 5, multiple matching second bolt holes 15 are opened on the surface of both the two-finger gripper arm 5 and the shovel plates 14.

[0021] The combination shovel 12 can be installed onto the surface of the three-finger gripper arm 4 using bolts and the first bolt hole 13. Similarly, the shovel plate 14 can be installed onto the surface of the two-finger gripper arm 5 using the second bolt hole 15 and bolts. This allows the combination shovel 12 and shovel plate 14 to be freely assembled and disassembled as needed to meet different material gripping requirements. The combination of the combination shovel 12 and the three-finger gripper arm 4, as well as the two-finger gripper arm 5 and the baffle 18, forms a bucket structure. This design allows the gripper to not only grab and move objects but also dig, load, and transport materials like a bucket, greatly increasing the equipment's versatility and practicality. During gripping operations, the hydraulic cylinder 9 extends, causing it to rotate on the surface of the first connecting frame 6, and the two-finger gripper arm 5 to rotate on the surface of the main frame 1. The connecting rod 11 also rotates, allowing the three-finger gripper arm 4 to rotate on the surface of the main frame 1, enabling the three-finger gripper arm 4 and the two-finger gripper arm 5 to move towards each other. The gripper rotates to grip the material. When the gripper reaches the desired clamping position, the balance valve 10 activates, maintaining the pressure within the hydraulic cylinder 9 according to a set pressure value. Without additional instructions, the balance valve 10 prevents hydraulic oil from flowing out of the hydraulic cylinder 9, effectively preventing accidental release of the three-finger gripper arm 4 and the two-finger gripper arm 5 due to external load changes or other factors. This ensures that the force applied to the workpiece and material by the gripper is stable and consistent. Over time, or due to minor leaks in the system, the pressure inside the hydraulic cylinder 9 may decrease. The sensor built into the balance valve 10 detects this change. If the detected pressure falls below a preset safety threshold, the balance valve 10 automatically opens a small passage, allowing a small amount of oil from the high-pressure source to flow into the hydraulic cylinder 9, restoring the set working pressure. This process is continuous, ensuring a stable clamping force even during prolonged operation.

[0022] Furthermore, a baffle 18 is fixed at the bottom of the main frame 1;

[0023] By designing the baffle 18, when the three-finger gripper 4 and the two-finger gripper 5 come close together, the baffle 18 can block the area above the three-finger gripper 4 and the two-finger gripper 5, so that the top of the material can contact the surface of the baffle 18, and the limiting effect on the material is better.

[0024] Furthermore, a reinforcing rib 19 is fixed to the inner wall of the main frame 1, and the bottom of the reinforcing rib 19 is fixedly connected to the top of the baffle 18.

[0025] The reinforcing rib 19 can enhance the overall rigidity of the main frame 1 and the baffle 18, so that the baffle 18 is less likely to deform when in contact with materials, and also makes the overall structural strength of the main frame 1 better.

[0026] Furthermore, a partition plate 16 is fixed to the surface of the shovel plate 14;

[0027] The design of the baffle 16 can block the material on the surface of the shovel plate 14, thereby reducing the amount of material falling.

[0028] Furthermore, a clearance groove 17 is formed between the two shovel plates 14 to cooperate with the three-finger clamping arm 4;

[0029] The design of the clearance groove 17 prevents the surface of the three-finger gripper 4 from colliding with the shovel plate 14 when the three-finger gripper 4 and the two-finger gripper 5 come close to each other.

[0030] Furthermore, both the combination shovel 12 and the shovel plate 14 are made of stainless steel;

[0031] Stainless steel has excellent corrosion resistance and can be used for a long time in harsh environments such as moisture, acid and alkali without easily rusting or corroding. This allows the combination shovel 12 and shovel plate 14 to have a longer service life and sufficient strength to support materials.

[0032] Working Principle: During the gripping operation, the hydraulic cylinder 9 extends, causing it to rotate on the surface of the first connecting frame 6. This, in turn, causes the two-finger gripper arm 5 to rotate on the surface of the main frame 1. The connecting rod 11 also rotates, allowing the three-finger gripper arm 4 to rotate on the surface of the main frame 1. This allows the three-finger gripper arm 4 and the two-finger gripper arm 5 to rotate in opposite directions, thus achieving the gripping operation. When the gripper reaches the desired clamping position, the balance valve 10 activates. It maintains the pressure within the hydraulic cylinder 9 according to a set pressure value. Without additional instructions, the balance valve 10 prevents hydraulic oil from flowing out of the hydraulic cylinder 9, effectively preventing leakage. If the three-finger gripper 4 and two-finger gripper 5 are accidentally released due to changes in external load or other factors, the force applied by the gripper to the workpiece and material is kept stable and consistent. As time goes by or due to minor leaks in the system, the pressure inside the hydraulic cylinder 9 may drop. At this time, the sensor built into the balance valve 10 will detect this change. If the detected pressure is lower than the preset safety threshold, the balance valve 10 will automatically open a small passage to allow a small amount of oil from the high-pressure source to flow into the hydraulic cylinder 9 to restore the set working pressure. This process is continuous, ensuring that a stable clamping force is maintained even during long-term operation.

[0033] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A multi-functional gripper with pressure compensation function, comprising a main frame (1), characterized in that: A connecting plate (2) is fixed to the top of the main frame (1), and a connecting shaft (3) is fixed to the surface of the connecting plate (2). A three-finger gripper (4) and a two-finger gripper (5) are hinged to the surface of the main frame (1). A first connecting frame (6) is fixed to the surface of the three-finger gripper (4), and a second connecting frame (7) and a combined shaft (8) are fixed to the surface of the two-finger gripper (5). A hydraulic cylinder (9) is hinged to the surface of the first connecting frame (6), and a balance valve (10) is installed on the top of the hydraulic cylinder (9). The telescopic end of the hydraulic cylinder (9) is connected to the second connecting frame (7). The connecting frame (7) is hinged, and two connecting rods (11) are hinged to the surface of the first connecting frame (6). The connecting rods (11) are hinged to the surface of the combined shaft (8). The three-finger clamping arm (4) is detachably connected to a combined shovel (12). The surfaces of the three-finger clamping arm (4) and the combined shovel (12) are provided with multiple first bolt holes (13) for cooperation. The surfaces of the two-finger clamping arm (5) are detachably connected to two shovel plates (14). The surfaces of the two-finger clamping arm (5) and the shovel plates (14) are provided with multiple matching second bolt holes (15).

2. The multi-functional gripper with pressure compensation function according to claim 1, characterized in that: The bottom of the main frame (1) is fixed with a baffle (18).

3. A multi-functional gripper with pressure compensation function according to claim 2, characterized in that: The inner wall of the main frame (1) is fixed with reinforcing ribs (19), and the bottom of the reinforcing ribs (19) is fixedly connected to the top of the baffle (18).

4. A multi-functional gripper with pressure compensation function according to claim 1, characterized in that: A partition (16) is fixed to the surface of the shovel plate (14).

5. A multi-functional gripper with pressure compensation function according to claim 4, characterized in that: A clearance groove (17) is formed between the two sides of the shovel plate (14) to cooperate with the three-finger clamping arm (4).

6. A multi-functional gripper with pressure compensation function according to claim 1, characterized in that: Both the combined shovel (12) and the shovel plate (14) are made of stainless steel.

Images