Clamping device capable of switching two-claw clamping mode and four-claw clamping mode

Abstract

The utility model discloses a clamping device capable of switching a two-jaw clamping mode and a four-jaw clamping mode. The clamping device comprises a mounting plate, a cylinder body with two open ends, a first clamping jaw mechanism, a second clamping jaw mechanism and a driving device, wherein the driving device drives the first clamping jaw mechanism to ascend and descend so as to realize mode switching; the first clamping jaw mechanism comprises a frame body, a first air cylinder, a first hinge plate, a first connecting rod, a clamping rod and a first clamping jaw; the second clamping jaw mechanism comprises two clamping jaw supports, second clamping jaws, a second air cylinder, a second hinge plate and a second connecting rod, the driving device comprises a third air cylinder, a vertical plate, a T-shaped rod and a connecting rod, and the two first clamping jaws and the two second clamping jaws are arranged in an orthogonal cross shape. According to the utility model, the first clamping jaw and the second clamping jaw which are mutually independent and orthogonally arranged are arranged, and the lifting driving device is adopted to control the vertical displacement of the first clamping jaw, so that the disassembly-free quick switching of a two-jaw clamping mode and a four-jaw clamping mode is realized, and the technical advantages of high adaptability to various objects and convenience in adjustment are realized.

Description

Technical Field

[0001] This utility model relates to a clamping device that can switch between two-claw and four-claw clamping modes. Background Technology

[0002] A robotic gripper is an external accessory device for industrial robotic arms, used to cooperate with the robotic arm to grasp, hold, transfer, and transport workpieces. It has a wide range of applications. Most existing robotic grippers are two-jaw or four-jaw. Four-jaw robotic grippers are convenient for gripping irregular workpieces, but during the gripping process, it is difficult for the contact parts of the claws to make complete contact, leaving gaps, which is not suitable for gripping smaller workpieces. When the robotic gripper is two-jaw, it can make complete contact, but it is more difficult to grip irregular workpieces. Traditional switching methods require disassembling and reassembling the robotic gripper, which is relatively cumbersome and has low work efficiency. Therefore, we propose a gripping device that can switch between two-jaw and four-jaw gripping modes. Utility Model Content

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a clamping device that can switch between two-claw and four-claw clamping modes.

[0004] To achieve the above-mentioned technical objectives, the technical solution adopted by this utility model is as follows:

[0005] A clamping device that can switch between two-jaw and four-jaw clamping modes includes a mounting plate, a cylindrical body with openings at both ends, a first jaw mechanism, a second jaw mechanism, and a drive device for driving the first jaw mechanism to rise and fall to achieve mode switching.

[0006] The interior of the cylinder is divided into an upper cavity and a lower cavity by a partition;

[0007] The first gripper mechanism includes a frame, a first cylinder, a first hinge plate, a first connecting rod, a clamping rod, and a first gripper. The frame is located in the upper cavity. The bottom of the frame is equipped with a first cylinder. The output end of the first cylinder is equipped with a first hinge plate. The two sides of the first hinge plate are respectively hinged to a clamping rod through a first connecting rod. The two clamping rods pass through the frame and the partition and are rotatably connected to the frame through bolts. The lower ends of the two clamping rods are respectively equipped with first grippers.

[0008] The second gripper mechanism includes two gripper supports, a second gripper, a second cylinder, a second hinge plate, and a second connecting rod. The two gripper supports are located in the lower cavity and have a plate-like structure. The lower ends of the two gripper supports are respectively provided with second grippers. The second cylinder is installed at the bottom of the partition plate. The output end of the second cylinder is provided with a second hinge plate. The two sides of the second hinge plate are respectively hinged to the crossbar through the second connecting rod. The crossbar is fixed to the inner side of the gripper support.

[0009] The driving device includes a third cylinder, a vertical plate, a T-shaped rod, and a connecting rod. The vertical plate is provided on the mounting plate. The upper part of the vertical plate is hinged to the middle shaft of the T-shaped rod. The two sides of the T-shaped rod are respectively hinged to the connecting rod and the output end of the third cylinder. The third cylinder is located on the mounting plate. The connecting rod passes through the opening slot on the mounting plate and connects to the frame.

[0010] The two first grippers and the two second grippers are arranged in an orthogonal cross shape.

[0011] Furthermore, a pair of mounting ears are provided on one side of the mounting plate.

[0012] Furthermore, a guide rod is provided inside the lower cavity, and a guide hole that mates with the guide rod is provided through the upper part of the two gripper supports.

[0013] Furthermore, the bottom of the partition is provided with a sliding groove that mates with the upper part of the gripper bracket.

[0014] This invention enables quick and easy switching between two-jaw and four-jaw modes without disassembly, retaining the advantages of both types of claws while solving the problem of downtime and disassembly caused by mode switching in traditional mechanical claws.

[0015] This utility model sets up a first gripper and a second gripper that are independent and orthogonally arranged, and uses a lifting drive device to control the vertical displacement of the first gripper. When the first gripper descends, it combines with the second gripper to form a four-claw gripping mode. When it rises, it switches to an independent two-claw gripping mode. This realizes the rapid switching between two-claw and four-claw gripping modes without disassembly and has the technical advantages of strong adaptability to various types of objects and convenient adjustment. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a preferred embodiment of the present utility model;

[0017] Figure 2 This is another structural schematic diagram of a preferred embodiment of the present invention;

[0018] Figure 3 This is a front view of a preferred embodiment of the present invention;

[0019] Figure 4 This is a cross-sectional view of a preferred embodiment of the present invention;

[0020] Figure 5 This is a schematic diagram of the preferred embodiment of the present invention with the cylinder removed;

[0021] Figure 6 This is a schematic diagram of the structure of the present invention after removing the cylinder and mounting plate in a preferred embodiment;

[0022] Figure 7 This is a schematic diagram of the structure of this utility model installed on a robotic arm;

[0023] In the diagram: Mounting plate 1, cylinder 2, third cylinder 3, upright plate 4, T-shaped rod 5, connecting rod 6, frame 7, first cylinder 8, first hinge plate 9, first connecting rod 10, clamping rod 11, first gripper 12, bolt 13, gripper bracket 14, second gripper 15, guide rod 16, second cylinder 17, second hinge plate 18, second connecting rod 19, opening slot 101, mounting ear 102, crossbar 141, partition 201, robotic arm 300, slide 2011. Detailed Implementation

[0024] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0025] Example: See Figures 1 to 6 As shown, the device includes a mounting plate 1, a cylindrical body 2 with openings at both ends, a first gripper mechanism, a second gripper mechanism, and a drive device for driving the first gripper mechanism to rise and fall to achieve mode switching. The interior of the cylindrical body 2 is divided into an upper cavity and a lower cavity by a partition 201. The first gripper mechanism includes a frame 7, a first cylinder 8, a first hinge plate 9, a first connecting rod 10, a clamping rod 11, and a first gripper 12. The frame 7 is located in the upper cavity. The bottom of the frame 7 is equipped with the first cylinder 8. The output end of the first cylinder 8 is equipped with the first hinge plate 9. The two sides of the first hinge plate 9 are respectively hinged to a clamping rod 11 by the first connecting rod 10. The two clamping rods 11 pass through the frame 7 and the partition 201 and are rotatably connected to the frame 7 by bolts 13. The lower ends of the two clamping rods 11 are respectively equipped with first grippers 12. The second gripper mechanism includes two gripper supports 14, a second gripper 15, a second cylinder 17, and a second hinge. Plate 18 and second connecting rod 19, two gripper supports 14 are located in the lower cavity and are plate-shaped. The lower ends of the two gripper supports 14 are respectively provided with second grippers 15. The second cylinder 17 is installed at the bottom of the partition plate 201. The output end of the second cylinder 17 is provided with a second hinge plate 18. The two sides of the second hinge plate 18 are respectively hinged to the crossbar 141 through the second connecting rod 19. The crossbar 141 is fixed to the inner side of the gripper support 14. The driving device includes a third cylinder 3, a vertical plate 4, a T-shaped rod 5 and a connecting rod 6. The vertical plate 4 is provided on the mounting plate 1. The upper part of the vertical plate 4 is hinged to the middle shaft of the T-shaped rod 5. The two sides of the T-shaped rod 5 are respectively hinged to the connecting rod 6 and the output end of the third cylinder 3. The third cylinder 3 is located on the mounting plate 1. The connecting rod 6 passes through the opening slot 101 on the mounting plate 1 and is connected to the frame 7. The two first grippers 12 and the two second grippers 15 are arranged in an orthogonal cross shape.

[0026] In this embodiment, a pair of mounting ears 102 are provided on one side of the mounting plate 1.

[0027] In this embodiment, a guide rod 16 is provided in the lower cavity, and a guide hole that cooperates with the guide rod 16 is provided through the upper part of the two gripper brackets 14.

[0028] In this embodiment, the bottom of the partition 201 is provided with a sliding groove 2011 that cooperates with the upper part of the gripper bracket 14.

[0029] The working principle of this utility model is as follows:

[0030] When in use, mount the mounting ear 102 onto the robotic arm 300. See below. Figure 7 As shown;

[0031] When it is necessary to switch to the two-jaw gripping mode, the third cylinder 3 is controlled to retract, and the connecting rod 6, frame 7 and first gripper 12 are raised through the lever principle of T-shaped rod 5, so that the second gripper 15 is put into operation, and the independent two-jaw gripping mode is switched. In the two-jaw gripping mode, the second cylinder 17 is controlled to extend, and under the action of the second hinge plate 18 and the second connecting rod 19, the two gripper brackets 14 and the second gripper 15 are driven to move closer to each other to grip the object.

[0032] When switching to the four-jaw gripping mode, the third cylinder 3 is extended, and the connecting rod 6, frame 7 and first gripper 12 are lowered by lever principle of T-shaped rod 5. In the four-jaw gripping mode, the first cylinder 8 and the second cylinder 17 are extended. When the first cylinder 8 extends, it drives the two gripping rods 11 and the first gripper 12 to move closer to each other under the action of the first hinge plate 9 and the first connecting rod 10. When the second cylinder 17 extends, it drives the two gripper supports 14 and the second gripper 15 to move closer to each other under the action of the second hinge plate 18 and the second connecting rod 19, thereby realizing the four-jaw gripping of objects.

[0033] Finally, it should be noted that the above description only describes specific embodiments of the present utility model, but the present utility model is not limited to the specific embodiments described above. Therefore, all equivalent changes and modifications made without departing from the spirit and scope of the present utility model are covered within the scope of the present utility model.

Claims

1. A clamping device capable of switching between two-jaw and four-jaw clamping modes, characterized in that: It includes a mounting plate (1), a cylindrical body (2) with openings at both ends, a first gripper mechanism, a second gripper mechanism, and a drive device for driving the first gripper mechanism to rise and fall to achieve mode switching; The interior of the cylinder (2) is divided into an upper cavity and a lower cavity by a partition (201); The first gripper mechanism includes a frame (7), a first cylinder (8), a first hinge plate (9), a first connecting rod (10), a gripper (11), and a first gripper (12). The frame (7) is located in the upper cavity. The bottom of the frame (7) is provided with a first cylinder (8). The output end of the first cylinder (8) is provided with a first hinge plate (9). The two sides of the first hinge plate (9) are respectively hinged to a gripper (11) through the first connecting rod (10). The two grippers (11) pass through the frame (7) and the partition (201) and are rotatably connected to the frame (7) through bolts (13). The lower ends of the two grippers (11) are respectively provided with first grippers (12). The second gripper mechanism includes two gripper supports (14), a second gripper (15), a second cylinder (17), a second hinge plate (18), and a second connecting rod (19). The two gripper supports (14) are located in the lower cavity and have a plate-like structure. The lower ends of the two gripper supports (14) are respectively provided with second grippers (15). The second cylinder (17) is installed at the bottom of the partition (201). The output end of the second cylinder (17) is provided with a second hinge plate (18). The two sides of the second hinge plate (18) are respectively hinged to the crossbar (141) through the second connecting rod (19). The crossbar (141) is fixed to the inner side of the gripper support (14). The driving device includes a third cylinder (3), a vertical plate (4), a T-shaped rod (5) and a connecting rod (6). The vertical plate (4) is provided on the mounting plate (1). The upper part of the vertical plate (4) is hinged to the middle shaft of the T-shaped rod (5). The two sides of the T-shaped rod (5) are respectively hinged to the connecting rod (6) and the output end of the third cylinder (3). The third cylinder (3) is located on the mounting plate (1). The connecting rod (6) passes through the opening slot (101) on the mounting plate (1) and connects to the frame (7). The two first grippers (12) and the two second grippers (15) are arranged in an orthogonal cross shape.

2. The clamping device with switchable two-jaw and four-jaw clamping modes according to claim 1, characterized in that: A pair of mounting ears (102) are provided on one side of the mounting plate (1).

3. The clamping device with switchable two-jaw and four-jaw clamping modes according to claim 1, characterized in that: The lower cavity is provided with a guide rod (16), and the upper part of the two gripper brackets (14) is provided with a guide hole that cooperates with the guide rod (16).

4. The clamping device with switchable two-jaw and four-jaw clamping modes according to claim 1, characterized in that: The bottom of the partition (201) is provided with a groove (2011) that mates with the upper part of the gripper bracket (14).

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