Clamping jaw mechanism for grabbing cylindrical object

Abstract

The utility model belongs to the technical field of clamping jaws, and particularly relates to a clamping jaw mechanism for grabbing cylindrical objects, which comprises a fixing frame and a fixing device, the surface of the fixing frame is fixedly connected with an air cylinder, and the output end of the air cylinder is fixedly connected with a connecting block; fixing devices are arranged on the surfaces of the fixing frame and the connecting block, each fixing device comprises a rotating column, the surface of each rotating column is rotationally connected with the inner wall of the fixing frame, four clamping blocks are fixedly connected to the surface of each rotating column, the surfaces of the clamping blocks are sleeved with clamping blocks, and positioning pins are in threaded connection with the inner walls of the clamping blocks and the inner walls of the clamping blocks; the connecting device comprises a placing plate, the bottom end of the placing plate is fixedly connected with the upper surface of the fixing frame, the inner wall of the placing plate is slidably connected with a moving plate, and the inner wall of the moving plate is in threaded connection with two fixing pins; through the arrangement of the whole device, cylindrical objects can be conveniently taken, meanwhile, the device can also adapt to objects of different specifications, and the time wasted by replacing clamping parts is shortened.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of clamping jaw, specifically a clamping jaw mechanism for grabbing cylindrical articles. BACKGROUND

[0002] Clamping jaw is the "hand" of industrial robot and automation equipment, as the end effector, directly responsible for grabbing, carrying or operating objects, realizing high-speed transfer of materials on the automation production line (such as bread sorting in food processing); at the same time, clamping jaw supports complex actions such as rotation and overturning (such as surgical robot assisted instrument implantation).

[0003] For the above and prior art related technology: when it is necessary to take the articles, the clamping jaw mechanism is used to take, most of the clamping jaw mechanisms use the cylinder to drive, because the clamping jaw mechanism lacks a replaceable structure, and the shapes and specifications of the articles to be taken are different, when a group of articles are taken and different shaped articles are taken, the taking part is not easy to replace; therefore, the clamping jaw mechanism for grabbing cylindrical articles is provided for the above problems. UTILITY MODEL CONTENT

[0004] In order to make up for the deficiencies of the prior art, at least one technical problem in the background art is solved.

[0005] The utility model discloses a kind of clamping jaw mechanisms for grabbing cylindrical articles, including fixed frame and fixed device, the surface of the fixed frame is fixedly connected with cylinder, the output end of the cylinder is fixedly connected with connecting block;The surface of the fixed frame and connecting block is equipped with fixed device, the fixed device includes rotating column, the surface of the rotating column is rotatably connected with fixed frame inner wall, the surface of the rotating column is fixedly connected with four clamping blocks, the surface of the clamping block is sleeved with clamping block, the inner wall of the clamping block and clamping block is threadedly connected with positioning pin, rotating rotating column makes rotating column rotate in fixed frame inner wall, rotating column drives clamping block and clamping block to rotate, when cylinder starts, two clamping blocks will clamp article, by being provided rotating column, clamping block, clamping block and positioning pin can be clamped to different shaped articles.

[0006] Preferably, the surface of the X clamping block is provided with a clamping groove, and the clamping block is inserted into the inner surface of the clamping groove of the clamping block. When the clamping block moves, the clamping block is sleeved on the surface of the clamping block through the clamping groove. The clamping groove can facilitate the storage of the clamping block.

[0007] Preferably, the surface of the clamping block is provided with a rubber layer. When the clamping block contacts the object, the rubber layer on the clamping block is pressed against the surface of the object. The provision of the rubber layer can increase the friction between the clamping block and the object.

[0008] Preferably, the surface of the X-fixed frame is provided with multiple adapter holes, and the inner wall of the rotating column is threaded with two limiting pins. The surface of the limiting pins is threaded to the inner wall of the adapter hole of the fixed frame. After the rotating column is rotated to a suitable angle, the limiting pins are rotated to the inner wall of the rotating column and the inner wall of the adapter hole of the fixed frame. The setting of the limiting pins can limit the angle of the rotating column.

[0009] Preferably, a rotating hole is provided on the surface of the fixing frame near the rotating column. The inner wall of the rotating hole of the fixing frame is rotatably connected to the surface of the rotating column. When the rotating column rotates, the rotating column rotates on the inner wall of the rotating hole. The opening of the rotating hole facilitates the rotation of the rotating column on the inner wall of the fixing frame.

[0010] Preferably, the upper surface of the fixing frame is provided with a connecting device, the connecting device including a placement plate, the bottom end of the placement plate being fixedly connected to the upper surface of the fixing frame, a movable plate being slidably connected to the inner wall of the placement plate, and two fixing pins being threadedly connected to the inner wall of the movable plate. The movable plate is then attached to other equipment, and the fixing pins are rotated to the inner wall of the movable plate and other equipment. By setting the placement plate, the movable plate, and the positioning pins, the fixing frame and other equipment can be fixed together.

[0011] Preferably, the inner surface of the placement plate is rotatably connected to a threaded rod, the surface of which has two opposite thread lines, and the surface of the threaded rod is threadedly connected to the inner wall of the movable plate. A filling pad is fixedly connected to the upper surface of the movable plate. When the movable plate is attached to other equipment, the filling pad will be squeezed on the other equipment. By setting the threaded rod, the position of the movable plate can be easily adjusted, while the position of the movable plate can be restricted.

[0012] The advantages of this utility model are:

[0013] 1. When it is necessary to pick up cylindrical objects, this utility model uses different shaped clamping blocks to fit onto the surface of the clamping block through the slot. Then, the positioning pin is rotated to the inner wall of the clamping block and the clamping block. When it is necessary to pick up objects of different shapes, the rotating column is pushed to rotate on the inner wall of the rotating hole on the fixed frame or the connecting block. When the rotating column rotates, it will drive the clamping block and the clamping block to rotate. After the clamping block rotates to a suitable angle, the limiting pin is rotated to the inner wall of the fixed frame and the inner wall of the matching hole of the rotating column. When the cylinder is started, the cylinder drives the connecting block to move, and the connecting block drives the clamping block to move. The two clamping blocks will clamp the object. By setting the entire device, it is convenient to pick up cylindrical objects, and it can also adapt to objects of different sizes, reducing the time wasted by changing clamping parts.

[0014] 2. When using the gripper structure, this utility model rotates the threaded rod to rotate on the inner surface of the placement plate and the inner wall of the moving plate. The threaded rod drives the moving plate to move. After the moving plate moves to the appropriate position, it is attached to other equipment. Then, the fixing pin is rotated to the inner wall of the moving plate and other equipment. When the moving plate moves, it will drive the filling pad to move. The filling pad is pressed against the surface of other equipment. By setting the entire device, the position of the fixing frame can be fixed, and it can also adapt to different mounting holes on other equipment to a certain extent. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a three-dimensional structural diagram of the fixing frame in a gripper mechanism for grasping cylindrical objects;

[0017] Figure 2 In a gripper mechanism for grasping cylindrical objects Figure 1 A schematic diagram of the structure at point A;

[0018] Figure 3 This is an exploded structural diagram of a fixing device in a gripper mechanism for grasping cylindrical objects.

[0019] Figure 4 This is a top view schematic diagram of the fixing frame in a gripper mechanism for grasping cylindrical objects;

[0020] Figure 5 In a gripper mechanism for grasping cylindrical objects Figure 4 A schematic diagram of the structure at point B.

[0021] In the diagram: 1. Fixing frame; 2. Cylinder; 3. Connecting block; 4. Fixing device; 41. Rotating column; 42. Clamping block; 43. Clamping block; 44. Positioning pin; 45. Slot; 46. Adaptor hole; 47. Limiting pin; 48. Rotating hole; 5. Connecting device; 51. Placement plate; 52. Moving plate; 53. Fixing pin; 54. Threaded rod; 55. Filler pad. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0023] Please see Figures 1-5 As shown, a gripper mechanism for grasping cylindrical objects includes a fixed frame 1 and a fixing device 4. A cylinder 2 is fixedly connected to the surface of the fixed frame 1, and a connecting block 3 is fixedly connected to the output end of the cylinder 2. Both the fixed frame 1 and the connecting block 3 are provided with fixing devices 4. Each fixing device 4 includes a rotating column 41, the surface of which is rotatably connected to the inner wall of the fixed frame 1. Four locking blocks 42 are fixedly connected to the surface of the rotating column 41, and clamping blocks 43 are fitted onto the surface of each locking block 42. The inner walls of the clamping block 43 and the locking block 42 are threaded with positioning pins 44. During operation, the clamping block 43 is placed on the surface of the locking block 42, and then the positioning pin 44 is rotated to the inner wall of the clamping block 43 and the locking block 42. Then, the rotating column 41 is rotated to make the rotating column 41 rotate on the inner wall of the fixed frame 1. The rotating column 41 drives the locking block 42 and the clamping block 43 to rotate. When the cylinder 2 is started, the two clamping blocks 43 will clamp the object. By setting the rotating column 41, the locking block 42, the clamping block 43 and the positioning pin 44, objects of different shapes can be clamped.

[0024] The surface of the clamping block 43 is provided with a slot 45, and the clamping block 42 is inserted into the inner surface of the slot 45 of the clamping block 43. During operation, the clamping block 43 is fitted onto the surface of the clamping block 42 through the slot 45. The slot 45 facilitates the clamping block 43 to store the clamping block 42.

[0025] The surface of the clamping block 43 is provided with a rubber layer; during operation, the rubber layer on the clamping block 43 will be pressed against the surface of the object, and the rubber layer can increase the friction between the clamping block 43 and the object.

[0026] The surface of the fixing frame 1 is provided with multiple adapter holes 46, and the inner wall of the rotating column 41 is threaded with two limiting pins 47. The surface of the limiting pins 47 is threaded to the inner wall of the adapter holes 46 of the fixing frame 1. During operation, the limiting pins 47 are rotated to the inner wall of the rotating column 41 and the inner wall of the adapter holes 46 of the fixing frame 1. The setting of the limiting pins 47 can limit the angle of the rotating column 41.

[0027] A rotating hole 48 is provided on the surface of the fixed frame 1 near the rotating column 41. The inner wall of the rotating hole 48 of the fixed frame 1 is rotatably connected to the surface of the rotating column 41. During operation, the rotating column 41 rotates on the inner wall of the rotating hole 48. The opening of the rotating hole 48 facilitates the rotation of the rotating column 41 on the inner wall of the fixed frame 1.

[0028] The upper surface of the fixed frame 1 is provided with a connecting device 5, which includes a placement plate 51. The bottom end of the placement plate 51 is fixedly connected to the upper surface of the fixed frame 1. A movable plate 52 is slidably connected to the inner wall of the placement plate 51. Two fixing pins 53 are threadedly connected to the inner wall of the movable plate 52. During operation, the movable plate 52 is pushed to slide on the inner wall of the placement plate 51. The movable plate 52 moves to a suitable position, and then the movable plate 52 is attached to other equipment. Then the fixing pins 53 are rotated to the inner wall of the movable plate 52 and other equipment. By setting the placement plate 51, the movable plate 52 and the positioning pins 44, the fixed frame 1 and other equipment can be fixed together.

[0029] The inner surface of the placement plate 51 is rotatably connected to a threaded rod 54. The surface of the threaded rod 54 has two opposite thread lines. The surface of the threaded rod 54 is threadedly connected to the inner wall of the movable plate 52. A filling pad 55 is fixedly connected to the upper surface of the movable plate 52. During operation, rotating the threaded rod 54 causes it to rotate within the inner walls of the two movable plates 52, which in turn moves the position of the movable plate 52. When the movable plate 52 is in contact with other equipment, the filling pad 55 will press against the other equipment. By setting the threaded rod 54, the position of the movable plate 52 can be easily adjusted, while also restricting its position.

[0030] Working principle: When a cylindrical object needs to be picked up, clamping blocks 43 of different shapes are fitted onto the surface of clamping block 42 through slots 45. Then, the positioning pin 44 is rotated to the inner wall of clamping block 43 and clamping block 42. When objects of different shapes need to be picked up, the rotating column 41 is pushed to rotate within the rotating hole 48 on the fixed frame 1 or connecting block 3. When the rotating column 41 rotates, it drives the clamping block 42 and clamping block 43 to rotate. After the clamping block 43 rotates to the appropriate angle, the limiting pin 47 is rotated to the inner wall of the fixed frame 1 and the inner wall of the matching hole 46 of the rotating column 41. When the cylinder 2 is started, the cylinder 2 drives the connecting block 3 to move, and the connecting block 3 drives the clamping block 43 to move. The two clamping blocks 43 will clamp the object. By setting the entire device, it can... It is convenient to pick up cylindrical objects and can also adapt to objects of different sizes, reducing the time wasted on changing clamping parts. When using the gripper structure, rotating the threaded rod 54 causes the threaded rod 54 to rotate on the inner surface of the placement plate 51 and the inner wall of the moving plate 52. The threaded rod 54 drives the moving plate 52 to move. After the moving plate 52 moves to the appropriate position, it is placed against other equipment. Then, the fixing pin 53 is rotated to the inner wall of the moving plate 52 and other equipment. When the moving plate 52 moves, it will drive the filling pad 55 to move. The filling pad 55 is pressed against the surface of other equipment. By setting the entire device, the position of the fixing frame 1 can be fixed, and it can also adapt to different mounting holes on other equipment to a certain extent.

[0031] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0032] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model.

Claims

1. A gripper mechanism for grasping cylindrical objects, comprising a fixed frame (1) and a fixing device (4), wherein a cylinder (2) is fixedly connected to the surface of the fixed frame (1), and a connecting block (3) is fixedly connected to the output end of the cylinder (2); characterized in that: The surfaces of the fixing frame (1) and the connecting block (3) are provided with fixing devices (4). The fixing device (4) includes a rotating column (41). The surface of the rotating column (41) is rotatably connected to the inner wall of the fixing frame (1). Four locking blocks (42) are fixedly connected to the surface of the rotating column (41). Clamping blocks (43) are sleeved on the surface of the clamping blocks (42). Positioning pins (44) are threadedly connected to the inner walls of the clamping blocks (43) and the clamping blocks (42).

2. The gripper mechanism for grasping cylindrical objects according to claim 1, characterized in that: The surface of the clamping block (43) is provided with a slot (45), and the clamping block (42) is inserted into the inner surface of the slot (45) of the clamping block (43).

3. A gripper mechanism for grasping cylindrical objects according to claim 1, characterized in that: The surface of the clamp (43) is provided with a rubber layer.

4. A gripper mechanism for grasping cylindrical objects according to claim 1, characterized in that: The surface of the fixing frame (1) is provided with multiple adapter holes (46), and the inner wall of the rotating column (41) is threaded with two limit pins (47). The surface of the limit pins (47) is threaded with the inner wall of the adapter holes (46) of the fixing frame (1).

5. A gripper mechanism for grasping cylindrical objects according to claim 1, characterized in that: The fixed frame (1) has a rotating hole (48) on its surface near the rotating column (41), and the inner wall of the rotating hole (48) of the fixed frame (1) is rotatably connected to the surface of the rotating column (41).

6. A gripper mechanism for grasping cylindrical objects according to claim 1, characterized in that: The upper surface of the fixed frame (1) is provided with a connecting device (5), the connecting device (5) includes a placement plate (51), the bottom end of the placement plate (51) is fixedly connected to the upper surface of the fixed frame (1), the inner wall of the placement plate (51) is slidably connected with a moving plate (52), and the inner wall of the moving plate (52) is threadedly connected with two fixing pins (53).

7. A gripper mechanism for grasping cylindrical objects according to claim 6, characterized in that: The inner surface of the placement plate (51) is rotatably connected to a threaded rod (54), the surface of the threaded rod (54) is provided with two opposite thread lines, the surface of the threaded rod (54) is threadedly connected to the inner wall of the moving plate (52), and a filling pad (55) is fixedly connected to the upper surface of the moving plate (52).

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