Anti-falling mechanical gripper structure

Abstract

The utility model discloses an anti-falling mechanical gripper structure which comprises a frame body, and grippers are movably arranged on the frame body so that the two grippers can be close to or away from each other. A bottom supporting assembly is arranged at the end part of the gripper; the end face of the gripper is sunken upwards to form a groove body. The bottom supporting assembly comprises a U-shaped piece arranged in the groove body in a sliding mode, a supporting block is rotatably arranged in the U-shaped piece, the first end of the supporting block is located in the U-shaped piece, and the second end of the supporting block extends out of the U-shaped piece; a first air cylinder is arranged on the outer wall of the gripper, so that a piston rod of the first air cylinder can be in contact with the second end of the supporting block; the gripper structure solves the problems that when a gripper structure in the prior art grips a workpiece, only the surface of the workpiece can be clamped, and when the workpiece with the smooth surface or the heavy surface is clamped, the workpiece is prone to falling off in the transferring process.

Description

TECHNICAL FIELD

[0001] The utility model relates to the related field of mechanical arm, specifically, relate to a kind of anti-falling mechanical gripper structure. BACKGROUND

[0002] In the field of machining, it is often necessary to use mechanical gripper to transfer workpieces, for example, a Chinese patent with patent number CN220362594U provides a kind of mechanical claw that can be grabbed into rotation, the device includes installation base, first drive motor and side support on the installation base, square wrench is detachably installed on the output shaft end of first drive motor, second drive motor is fixedly installed on the side support, transmission part connected with the output end of second drive motor, support shaft connected with transmission part and installation base respectively, screw rod connected with support shaft, and clamping part is sleeved on the screw rod;Such as the gripper structure in the prior art, when claw takes workpiece, only workpiece surface can be clamped, when the workpiece is clamped on the surface relatively smooth or relatively heavy, workpiece is prone to fall off during transfer process. SUMMARY

[0003] The utility model aims at providing a kind of anti-falling mechanical gripper structure, solve the problem that the gripper structure in the prior art, when claw takes workpiece, only workpiece surface can be clamped, when the workpiece is clamped on the surface relatively smooth or relatively heavy, workpiece is prone to fall off during transfer process.

[0004] To achieve the above object, the utility model provides a kind of anti-falling mechanical gripper structure, the anti-falling mechanical gripper structure includes frame body, the frame body movably is provided with gripper, so that two the gripper can be close or far away;The end of the gripper is provided with bottom support assembly;The end surface of the gripper is recessed upwards and forms groove;The bottom support assembly includes U-shaped piece slidably arranged in the groove, support block is rotatably arranged in the U-shaped piece, the first end of the support block is located in the U-shaped piece, and the second end of the support block extends out of the U-shaped piece;The outer wall of the gripper is provided with first air cylinder, so that the piston rod of the first air cylinder can be in contact with the second end of the support block.

[0005] Preferably, the inner wall of the groove is formed with sliding groove, and the two ends of the U-shaped piece are provided with sliding columns, and the sliding columns are slidably clamped in the sliding groove.

[0006] Preferably, a rotating shaft is rotatably arranged in the U-shaped piece, the support block is fixed on the rotating shaft, a torsional spring is sleeved on the rotating shaft, one end of the torsional spring is connected with the rotating shaft, and the other end of the torsional spring is connected with the U-shaped piece.

[0007] Preferably, the upper inner wall of the groove is formed with a sliding hole, the upper end of the U-shaped piece is provided with a sliding column, the sliding column is located at least partially in the sliding hole, and a return spring is sleeved on the sliding column.

[0008] Preferably, the inner wall of the gripper and the supporting block are both provided with rubber pads.

[0009] Preferably, the frame body is provided with a limiting groove, the upper end of the gripper is provided with a limiting column, and the limiting column is movably clamped in the limiting groove.

[0010] The upper end of the frame body is provided with a second air cylinder, and the piston rod of the second air cylinder is hinged to the gripper through a plurality of connecting rods.

[0011] Beneficial effects: the utility model provides a kind of anti-falling mechanical gripper structure, the anti-falling mechanical gripper structure includes frame body, the frame body movably is provided with gripper, so that two the gripper can be close or far away;The end of the gripper is provided with bottom support assembly;The end surface of the gripper is recessed upwards and forms groove;The bottom support assembly includes U-shaped piece slidably arranged in the groove, supporting block is rotatably arranged in the U-shaped piece, the first end of the supporting block is located in the U-shaped piece, and the second end thereof extends out of the U-shaped piece;The outer wall of the gripper is provided with first air cylinder, so that the piston rod of the first air cylinder can be contacted with the second end of the supporting block;During operation, gripper is first lowered, so that U-shaped piece is limited by table top and is displaced upwards, to retract into groove, then two grippers are close to each other to clamp workpiece on table top, then gripper is moved up by certain distance, U-shaped piece is displaced downwards under the action of gravity, and first air cylinder is opened simultaneously, so that the end of piston rod and supporting block is contacted, so that the other end of supporting block is lifted and contacted with the bottom of workpiece, to support workpiece, avoid workpiece from falling off during transfer, increase the safety of workpiece claw transfer.

[0012] Other features and advantages of the utility model will be described in detail in the following specific embodiment part. BRIEF DESCRIPTION OF DRAWINGS

[0013] The accompanying drawings are included to provide a further understanding of the utility model, and constitute a part of the specification, and are used to explain the utility model together with the following specific embodiment, but do not constitute the limitation to the utility model.In the drawings:

[0014] Fig. 1 It is the structure diagram of the anti-falling mechanical gripper structure provided by the utility model;

[0015] Fig. 2 It is the structure diagram of bottom support assembly in the anti-falling mechanical gripper structure provided by the utility model;

[0016] Fig. 3 is a structure diagram of the U-shaped piece in the anti-falling mechanical gripper structure provided by the utility model.

[0017] Explanation of reference signs

[0018] 1-frame body; 2-second cylinder; 3-piston rod; 4-gripper; 5-limiting column; 6-limiting groove; 7-connecting rod; 8-first cylinder; 9-bottom supporting assembly; 91-sliding column; 92-return spring; 93-sliding column; 94-supporting block; 95-rotation shaft; 96-U-shaped piece. DETAILED DESCRIPTION

[0019] The specific embodiments of the utility model are described in detail below in combination with the drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the utility model, and are not used to limit the utility model.

[0020] As Figs. 1-3 indicated: the utility model provides a kind of anti-falling mechanical gripper structure, the anti-falling mechanical gripper structure includes frame body 1, the frame body 1 movably with gripper 4 It is provided that two the gripper 4 can be close or far away;The end of the gripper 4 is provided with bottom supporting assembly 9;The end surface of the gripper 4 is recessed upwards and forms groove;The bottom supporting assembly 9 includes the U-shaped piece 96 slidably arranged in the groove, the supporting block 94 is rotatably arranged in the U-shaped piece 96, the first end of the supporting block 94 is located in the U-shaped piece 96, and the second end thereof extends out of the U-shaped piece 96;The outer wall of the gripper 4 is provided with first cylinder 8, so that the piston rod of the first cylinder 8 can be in contact with the second end of the supporting block 94.In operation, the gripper is first moved downward, so that the U-shaped piece is displaced upward after being limited by the table top, thereby retracting into the groove, then the two grippers are close to each other to clamp the workpiece on the table top, then the gripper is moved upward by a certain distance, the U-shaped piece is displaced downward under the action of gravity, and the first cylinder is opened at the same time, so that the piston rod is in contact with the end of the supporting block that is raised, so that the other end of the supporting block is raised and in contact with the bottom of the workpiece, thereby supporting the workpiece and preventing the workpiece from falling off during transfer, and the safety of workpiece claw transfer is increased.

[0021] In a preferred embodiment of the utility model, in order to limit the upward and downward displacement of the U-shaped piece, the inner wall of the groove is formed with a sliding groove, and the two ends of the U-shaped piece 96 are provided with sliding columns 93, which are slidably engaged in the sliding groove.

[0022] In a preferred embodiment of the utility model, in order to make the piston rod of first cylinder and support block separate, support block can reset quickly, U type piece 96 rotatably be provided with pivot 95, support block 94 is fixed on pivot 95, pivot 95 is sleeved with torsion spring, one end of torsion spring is connected with pivot 95, and the other end is connected with U type piece 96.

[0023] In a preferred embodiment of the utility model, in order to make the piston rod of first cylinder and support block separate, support block can reset quickly, U type piece 96 rotatably be provided with pivot 95, support block 94 is fixed on pivot 95, pivot 95 is sleeved with torsion spring, one end of torsion spring is connected with pivot 95, and the other end is connected with U type piece 96.

[0024] In a preferred embodiment of the utility model, in order to avoid damage to the surface of workpiece, the inner wall of gripper 4 and support block 94 are provided with rubber pads.

[0025] In a preferred embodiment of the utility model, in order to be able to drive two grippers to approach or move away from each other, the frame body 1 is provided with a limiting groove 6, and the upper end of the gripper 4 is provided with a limiting column 5, which is horizontally movably clamped in the limiting groove 6.

[0026] The upper end of the frame body 1 is provided with a second cylinder 2, and the piston rod 3 of the second cylinder 2 is hinged to the gripper 4 through a plurality of connecting rods 7.

[0027] The preferred embodiments of the utility model are described in detail above in combination with the drawings, but the utility model is not limited to the specific details in the above embodiments, and various simple modifications can be made to the technical solutions of the utility model within the technical concept of the utility model, and these simple modifications all belong to the protection scope of the utility model.

[0028] In addition, it should be noted that various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction, and in order to avoid unnecessary repetition, the utility model will not further describe various possible combination manners.

[0029] In addition, various different embodiments of the utility model can also be combined arbitrarily, as long as they do not deviate from the idea of the utility model, and they should also be considered as disclosed by the utility model.

Claims

1. A non-dropping mechanical gripper structure, characterized by, The anti-falling mechanical gripper structure comprises a frame body (1) which is movably provided with grippers (4) so that the two grippers (4) can be close or far away from each other; The end of the gripper (4) is provided with a bottom supporting assembly (9); The end face of the gripper (4) is concave upward to form a groove; The bottom supporting assembly (9) comprises a U-shaped piece (96) slidably arranged in the groove, a supporting block (94) rotatably arranged in the U-shaped piece (96), the first end of the supporting block (94) is located in the U-shaped piece (96), and the second end of the supporting block (94) extends out of the U-shaped piece (96); The outer wall of the gripper (4) is provided with a first air cylinder (8), so that the piston rod of the first air cylinder (8) can contact the second end of the supporting block (94).

2. The anti-drop mechanical gripper structure according to claim 1, wherein, The inner wall of the groove is formed with a sliding groove, and the two ends of the U-shaped piece (96) are provided with sliding columns (93) which are slidably clamped in the sliding groove.

3. The anti-drop mechanical gripper structure according to claim 2, wherein, The U-shaped piece (96) is rotatably provided with a rotating shaft (95), the supporting block (94) is fixed on the rotating shaft (95), a torsional spring is sleeved on the rotating shaft (95), one end of the torsional spring is connected with the rotating shaft (95), and the other end of the torsional spring is connected with the U-shaped piece (96).

4. The anti-drop mechanical gripper structure according to claim 3, wherein, The upper inner wall of the groove is formed with a sliding hole, the upper end of the U-shaped piece (96) is provided with a sliding column (91), the sliding column (91) is at least partially located in the sliding hole, and a return spring (92) is sleeved on the sliding column (91).

5. The anti-drop mechanical gripper structure according to claim 4, wherein, The inner wall of the gripper (4) and the supporting block (94) are both provided with rubber pads.

6. The anti-drop mechanical gripper structure according to claim 5, wherein, The frame body (1) is provided with a limiting groove (6), the upper end of the gripper (4) is provided with a limiting column (5), and the limiting column (5) is clamped in the limiting groove (6) in a horizontally movable manner; The upper end of the frame body (1) is provided with a second air cylinder (2), and the piston rod (3) of the second air cylinder (2) is hinged to the gripper (4) through a plurality of connecting rods (7).

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