Mechanical gripper

Abstract

The utility model belongs to the technical field of manipulators, and provides a mechanical gripper which comprises a clamping seat, a first clamping arm and a second clamping arm, the first clamping arm and the second clamping arm are respectively installed on the clamping seat, the first clamping arm and the second clamping arm are oppositely arranged, both the first clamping arm and the second clamping arm are pivoted with the clamping seat, and the first clamping arm and the second clamping arm form an annular structure after being closed. The opening and closing power piece drives the first clamping arm and the second clamping arm to be opened and closed, and the opening and closing power piece is in transmission connection with the first clamping arm and / or the second clamping arm. According to the mechanical gripper, the first clamping arm and the second clamping arm are driven by the opening and closing power part to swing, so that opening and closing are achieved, the first clamping arm and the second clamping arm form an annular structure after being closed, sectional materials are grabbed in an encircling mode, the requirements for the shape, the placing posture and the number of the sectional materials are low, universality is good, and when thin and long sectional materials are grabbed, the clamping force is large, and the clamping force is large. And two or more mechanical grippers are matched for parallel simultaneous operation, so that the sectional materials can be efficiently and quickly transferred, the working efficiency is improved, and the labor intensity of workers is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical hand technical field, especially relates to a mechanical grab hand. BACKGROUND

[0002] Mechanical grab hand is a kind of commonly used handling, stacking etc. Device, mechanical grab hand usually is divided into two categories, one is adsorption type, usually is by magnetic attraction or vacuum chuck adsorption and is grabbed article;Another is clamping type, usually is by two clamping arms opening and closing and is clamped article.

[0003] The frame of photovoltaic cell is made of slender section, in the production process, the frame section of photovoltaic cell inevitably produces NG material (defective product), these NG materials need to be collected and handled, and the collection and transfer of these NG materials are carried out manually in the past, in order to reduce the labor intensity of workers and improve work efficiency, mechanical grab hand is used to replace manual collection and transfer of NG material. But the conventional adsorption type mechanical grab hand is not suitable for the grabbing of slender section, because the conventional adsorption type is only suitable for the article that can be magnetically attracted or has enough large plane. Although the clamping type mechanical grab hand has relatively low requirements on the material and shape of the grabbed article, the conventional clamping type mechanical grab hand grabs a small amount of article each time, and the working efficiency is low, which cannot meet the demand of large quantity section transfer, and the section needs to be arranged neatly before clamping.

[0004] The technical problem to be solved by the utility model is how to solve the problem that the conventional mechanical grab hand is not suitable for the grabbing of slender section. UTILITY MODEL CONTENT

[0005] In order to overcome the defects of prior art, the utility model aims at providing a kind of mechanical grab hand, it has the characteristics such as simple structure, good versatility and high working efficiency.

[0006] The technical scheme adopted by the utility model is as follows: a kind of mechanical grab hand, including clamping seat, first clamping arm and second clamping arm respectively installed on clamping seat, first clamping arm and second clamping arm are oppositely arranged, and first clamping arm and second clamping arm are both pivoted with clamping seat, first clamping arm and second clamping arm form annular structure after closing, further include the opening and closing power element of driving first clamping arm and second clamping arm opening and closing, opening and closing power element and first clamping arm and / or second clamping arm transmission connection.

[0007] The mechanical gripper of the present application drives the first clamping arm and the second clamping arm to swing through the opening and closing power element, thereby realizing opening and closing, and the first clamping arm and the second clamping arm constitute a ring structure after being closed, so as to grasp the profile in a ring embracing manner. The shape, placement posture and quantity of the profile are less required, and the versatility is good. When the slender profile is grasped, two or more mechanical grippers are matched and operated in parallel, so that the profile can be transferred efficiently and quickly, the work efficiency is improved, and the labor intensity of workers is reduced.

[0008] In some embodiments, the output end of the opening and closing power element is connected with the first clamping arm, and the first clamping arm and the second clamping arm are connected through a transmission assembly.

[0009] By using the above technical scheme, the first clamping arm and the second clamping arm can be driven to open and close through one opening and closing power element, the number of power components can be saved, the equipment cost can be reduced, and synchronous swinging of the first clamping arm and the second clamping arm can be ensured, thereby improving the accuracy of clamping.

[0010] In some embodiments, the transmission assembly includes a first gear and a second gear, the first gear is installed on the first clamping arm, the second gear is installed on the second clamping arm, and the first gear and the second gear are in meshing transmission.

[0011] By using the above technical scheme, synchronous opening and closing of the first clamping arm and the second clamping arm can be realized through meshing of the first gear and the second gear, and the meshing of the gears has the characteristic of self-locking, so that the reliability of the gripper in grasping the article can be improved.

[0012] In some embodiments, the first clamping arm is provided with a first swing shaft and a second swing shaft, the first gear is sleeved on the first swing shaft, the second gear is sleeved on the second swing shaft, and the ends of the first swing shaft and the second swing shaft away from the clamping seat are connected through a connecting piece.

[0013] By using the above technical scheme, the first swing shaft and the second swing shaft are connected through the connecting piece, so that the clamping seat, the first swing shaft and the second swing shaft form a closed whole, and the structure is more stable and reliable.

[0014] In some embodiments, the side of the first clamping arm close to the second clamping arm is provided with a first clamping plate, the first clamping plate protrudes from the edge of the first clamping arm, the side of the second clamping arm close to the first clamping arm is provided with a second clamping plate, and the second clamping plate protrudes from the edge of the second clamping arm.

[0015] By using the above technical scheme, the first clamping plate and the second clamping plate can be provided, so that the contact area of the gripper and the grasped article can be increased, and the stability of grasping the article can be improved.

[0016] In some embodiments, the end of the first clamping arm away from the clamping seat is provided with a slot, and the end of the second clamping arm away from the clamping seat is provided with a plug corresponding to the slot.

[0017] By adopting the above technical solution, through the cooperation of the slot and the plug, after the first clamping arm and the second clamping arm are closed, the joint of the two can be interlocked to form a closed ring structure at the bottom, preventing the profile from falling off from the joint of the first clamping arm and the second clamping arm.

[0018] In some embodiments, the opening and closing power component is a cylinder, the extension rod of the cylinder is hinged to the first clamping arm, and the cylinder body is pivotally connected to the clamping seat or an external frame.

[0019] In some embodiments, a mounting base is also included, which is detachably connected to the clamp.

[0020] By adopting the above technical solution, the mechanical gripper of this application can be easily installed on an external frame by setting a mounting base.

[0021] In some embodiments, a drive arm is provided on the first clamping arm, and the output end of the opening and closing power component is connected to the drive arm.

[0022] By adopting the above technical solution and setting a drive arm, it is easy to connect the opening and closing power component with the first clamping arm.

[0023] In some implementations, a protective cover is provided on the clamp, and the transmission components are built into the protective cover.

[0024] By adopting the above technical solution, the transmission frame can work in a relatively enclosed environment, improving safety and reducing external interference to the transmission. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the mechanical gripper in an open state according to a preferred embodiment of the present invention;

[0026] Figure 2 for Figure 1 The diagram shows another view of the mechanical gripper, in which the protective cover is not shown.

[0027] Figure 3 for Figure 2 The diagram shows a structural schematic of the mechanical gripper from another perspective, where the protective cover and mounting base are not shown.

[0028] Figure 4 for Figure 1 The diagram shows the mechanical gripper in a closed state.

[0029] In the figure: 100, mechanical gripper; 10, clamping seat; 11, first swing shaft; 12, second swing shaft; 13, connecting piece; 14, protective cover; 20, first clamping arm; 21, first clamping plate; 22, insertion slot; 23, driving arm; 30, second clamping arm; 31, second clamping plate; 32, insertion block; 40, opening and closing power element; 50, transmission assembly; 51, first gear; 52, second gear; 60, mounting seat. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0031] It should be noted that when an element is referred to as being "on" another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements can be present. When an element is referred to as being "comprise a plurality of" it can be two or more of any number. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are used for illustrative purposes only and are not intended to be limiting.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this description, the terms "therefore" and "because" are merely used to introduce an explanation of associated elements. The term "and / or" includes any and all combinations of one or more of the associated listed items.

[0033] Please refer to Figures 1 to 4A mechanical gripper 100 of a preferred embodiment of the utility model, including clamping seat 10, first clamping arm 20 and second clamping arm 30 are respectively installed on clamping seat 10, first clamping arm 20 and second clamping arm 30 are oppositely arranged, and first clamping arm 20 and second clamping arm 30 are all pivotally connected with clamping seat 10, first clamping arm 20 and second clamping arm 30 constitute annular structure after closing, still including the opening and closing power element 40 of driving first clamping arm 20 and second clamping arm 30, and the opening and closing power element 40 is transmission connection with first clamping arm 20 and / or second clamping arm 30. The mechanical gripper 100 of the present application, first clamping arm 20 and second clamping arm 30 are driven to swing by opening and closing power element 40, so as to realize opening and closing, and first clamping arm 20 and second clamping arm 30 constitute annular structure after closing, and the profiled bar is grabbed in the form of embracing, the shape, the posture of placing and the quantity of the profiled bar are required lower, and the versatility is good, when the slender profiled bar is grabbed, two or more mechanical grippers 100 are operated in parallel, the profiled bar can be transferred efficiently, the working efficiency is improved, and the labor intensity of workers is reduced.

[0034] In an embodiment, the output end of the opening and closing power element 40 is connected with the first clamping arm 20, and the first clamping arm 20 and the second clamping arm 30 are connected through the transmission assembly 50. By driving the first clamping arm 20 and the second clamping arm 30 to open and close through one opening and closing power element 40, the number of power components can be saved, the equipment cost is reduced, and synchronous swinging of the first clamping arm 20 and the second clamping arm 30 can be ensured, and the precision of clamping is improved.

[0035] In other embodiments, the corresponding opening and closing power element 40 can also be separately provided for the first clamping arm 20 and the second clamping arm 30.

[0036] In the embodiment, the transmission assembly 50 includes a first gear 51 and a second gear 52, the first gear 51 is installed on the first clamping arm 20, the second gear 52 is installed on the second clamping arm 30, and the first gear 51 and the second gear 52 are engaged in transmission. The synchronous opening and closing of the first clamping arm 20 and the second clamping arm 30 can be realized by engaging the first gear 51 and the second gear 52, and the gear engagement has the characteristics of self-locking, which can improve the reliability of the gripper in grabbing the articles.

[0037] In other embodiments, other transmission assemblies 50 can also be used to realize the synchronous opening and closing of the first clamping arm 20 and the second clamping arm 30, such as double-head screw rod and nut cooperation, rack and pinion cooperation and other transmission structures.

[0038] Preferably, a protective cover 14 is arranged on the clamping seat 10, and the transmission assembly 50 is built-in in the protective cover 14. The transmission frame can work in a relatively closed environment, improve safety and reduce external interference on transmission.

[0039] As Figure 2As shown, in an embodiment, the first swing shaft 11 and the second swing shaft 12 are arranged on the clamping seat 10, the first gear 51 is sleeved on the first swing shaft 11, the second gear 52 is sleeved on the second swing shaft 12, and the ends of the first swing shaft 11 and the second swing shaft 12 away from the clamping seat 10 are connected through the connecting piece 13. The first swing shaft 11 and the second swing shaft 12 are connected through the connecting piece 13, so that the clamping seat 10, the first swing shaft 11 and the second swing shaft 12 form a closed whole, and the structure is more stable and reliable.

[0040] Further, the first bearing matched with the first swing shaft 11 is arranged in the inner circle of the first gear 51, and the second bearing matched with the second swing shaft 12 is arranged in the inner circle of the second gear 52.

[0041] In the embodiment, the first gear 51 and the first clamping arm 20 are detachable structures, and the second gear 52 and the second clamping arm 30 are also detachable structures, so that gears of different sizes can be assembled according to actual needs, and the flexibility is better. In other embodiments, the first gear 51 and the first clamping arm 20 can be integrally formed, and the second gear 52 and the second clamping arm 30 can be integrally formed.

[0042] In the embodiment, the opening and closing power element 40 is a gas cylinder, the telescopic rod of the gas cylinder is hinged to the first clamping arm 20, and the cylinder body of the gas cylinder is pivoted to the clamping seat 10 or an external rack. In other embodiments, the opening power element can be provided with power components that can achieve the same function, such as a motor, a hydraulic cylinder, etc.

[0043] Further, the first clamping arm 20 is provided with a driving arm 23, and the output end of the opening and closing power element 40 is connected with the driving arm 23. By arranging the driving arm 23, the opening and closing power element 40 can be conveniently connected with the first clamping arm 20.

[0044] Preferably, the side of the first clamping arm 20 close to the second clamping arm 30 is provided with a first clamping plate 21, the first clamping plate 21 protrudes from the edge of the first clamping arm 20, and the side of the second clamping arm 30 close to the first clamping arm 20 is provided with a second clamping plate 31, the second clamping plate 31 protrudes from the edge of the second clamping arm 30. By arranging the first clamping plate 21 and the second clamping plate 31, the contact area between the gripper and the grabbed object can be increased, and the stability of grabbing the object can be improved.

[0045] Optionally, the first clamping plate 21 can protrude from one side or both sides of the first clamping arm 20, and the second clamping plate 31 can protrude from one side or both sides of the second clamping arm 30.

[0046] Preferably, the first clamping arm 20 is provided with a slot 22 at one end away from the clamping base 10, and the second clamping arm 30 is provided with a plug 32 corresponding to the slot 22 at one end away from the clamping base 10. Through the cooperation of the slot 22 and the plug 32, when the first clamping arm 20 and the second clamping arm 30 are closed, the joint of the two can be embedded with each other to form a ring structure with a closed bottom, preventing the profile from falling off from the joint of the first clamping arm 20 and the second clamping arm 30.

[0047] The mechanical gripper 100 of the present application can also include a mounting seat 60, which is detachably connected with the clamping base 10. By providing the mounting seat 60, the mechanical gripper 100 of the present application can be conveniently mounted on an external rack.

[0048] The mechanical gripper 100 of the present application has the characteristics of simple and reliable structure and good versatility. The ring embracing mode is adopted, so that even if the profiles are not placed so neatly, the profiles can be grasped, and multiple profiles can be grasped at a time, as long as the total cross section of the profiles grasped each time does not exceed the ring structure formed by the first clamping arm 20 and the second clamping arm 30, and the profiles can be grasped, which has good versatility; when the elongated profiles are grasped, more than one mechanical gripper 100 is provided, so that the profiles can be stably and reliably grasped.

[0049] Finally, it should be pointed out that the above description is only a preferred example of the present application and is not intended to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modification, equivalent substitution, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A mechanical gripper comprising a holder (10), a first gripper arm (20) and a second gripper arm (30) mounted on the holder (10) respectively, characterized in that: The first clamping arm (20) is opposite to the second clamping arm (30), and the first clamping arm (20) and the second clamping arm (30) are both pivoted with the clamping base (10), the first clamping arm (20) and the second clamping arm (30) form a ring structure after being closed, further comprising an opening and closing power element (40) for driving the first clamping arm (20) and the second clamping arm (30) to open and close, the opening and closing power element (40) is in transmission connection with the first clamping arm (20) and / or the second clamping arm (30), one end of the first clamping arm (20) away from the clamping base (10) is provided with a slot (22), and one end of the second clamping arm (30) away from the clamping base (10) is provided with an insertion block (32) corresponding to the slot (22).

2. The mechanical gripper of claim 1, wherein, The output end of the opening and closing power element (40) is connected with the first clamping arm (20), and the first clamping arm (20) and the second clamping arm (30) are connected through a transmission assembly (50).

3. The mechanical gripper of claim 2, wherein, The transmission assembly (50) comprises a first gear (51) and a second gear (52), the first gear (51) is installed on the first clamping arm (20), the second gear (52) is installed on the second clamping arm (30), and the first gear (51) and the second gear (52) are in meshing transmission.

4. The mechanical gripper of claim 3, wherein, The clamping base (10) is provided with a first swing shaft (11) and a second swing shaft (12), the first gear (51) is sleeved on the first swing shaft (11), the second gear (52) is sleeved on the second swing shaft (12), and the first swing shaft (11) and the second swing shaft (12) are connected through a connecting piece (13) away from the clamping base (10).

5. The mechanical gripper of claim 1, wherein, The first clamping arm (20) is provided with a first clamping plate (21) on one side close to the second clamping arm (30), the first clamping plate (21) protrudes from the edge of the first clamping arm (20), the second clamping arm (30) is provided with a second clamping plate (31) on one side close to the first clamping arm (20), and the second clamping plate (31) protrudes from the edge of the second clamping arm (30).

6. The mechanical gripper according to claim 1 or 2, characterized in that The opening and closing power element (40) is a gas cylinder, the telescopic rod of the gas cylinder is hinged with the first clamping arm (20), and the cylinder body of the gas cylinder is pivoted with the clamping base (10) or an external rack.

7. The mechanical gripper of claim 1, wherein, Further comprising a mounting seat (60), the mounting seat (60) is detachably connected with the clamping base (10).

8. The mechanical gripper according to claim 1 or 2, characterized in that The first clamping arm (20) is provided with a driving arm (23), and the output end of the opening and closing power element (40) is connected with the driving arm (23).

9. The mechanical gripper of claim 2, wherein, The clamping base (10) is provided with a protective cover (14), and the transmission assembly (50) is built in the protective cover (14).

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