Mechanical clamping jaw capable of achieving automatic positioning

Abstract

The utility model relates to a mechanical clamping jaw capable of automatically positioning in the technical field of mechanical clamping jaws. The first clamping jaw and the second clamping jaw are arranged in a bilateral symmetry mode, the first clamping jaw and the second clamping jaw are the same in size and structure, a first limiting block used for limiting the first clamping jaw is installed at one end of the first clamping jaw, the first limiting block comprises a torsional spring used for controlling the first clamping jaw to reset, and the first limiting block comprises a stirring assembly used for controlling the first clamping jaw to rotate. When a first limiting block and a second limiting block get close to each other, a first clamping jaw is matched with a second clamping jaw to clamp a tubular workpiece, and through starting of a servo motor, a rotating shaft is matched with a rotating block to synchronously drive a shifting rod to rotate, so that the shifting rod shifts a second connecting rod, and the second connecting rod synchronously drives a disc to rotate; the first connecting rod synchronously drives the clamping block to rotate, so that the angle of the tubular workpiece clamped by the clamping block and the second clamping jaw is changed, and the tubular workpiece can be stored according to needs.

Description

Technical Field

[0001] This utility model relates to the field of mechanical gripper technology, and in particular to a mechanical gripper that can be automatically positioned. Background Technology

[0002] Mechanical grippers are used to grasp, transport, and place workpieces in a specific position to achieve automatic loading and unloading. For example, Chinese patent application CN202221402893.9 discloses a gripper device for automatic positioning. The device's gripping position can rotate freely using a rolling ball to adapt to test tubes placed at a certain degree of inclination, ensuring surface-to-surface contact during gripping and avoiding stress concentration, material damage, localized deformation, and insufficient gripping force caused by line contact. However, similar structures have the following technical problems: when gripping tubular workpieces, the above structure can only grip vertically placed tubular workpieces; if the tubular object is horizontally placed, it cannot be gripped. Summary of the Invention

[0003] The main purpose of this invention is to provide an automatically positioning mechanical gripper that can effectively solve the problem that the existing technology in the background cannot grip horizontally placed tubular workpieces.

[0004] This utility model provides the following technical solution:

[0005] An automatically positioning mechanical gripper includes gripper one and gripper two for gripping a workpiece.

[0006] The first gripper and the second gripper are arranged symmetrically on the left and right, and the first gripper and the second gripper are the same size and structure. One end of the first gripper is equipped with a first limiting block for limiting the first gripper.

[0007] The first limiting block includes a torsion spring for controlling the first gripper to reset, and the first limiting block includes a toggle assembly for controlling the first gripper to rotate.

[0008] Furthermore, a second limiting block for limiting the gripper is installed at one end of the gripper two, a bottom limiting plate two is installed at the lower end of the second limiting block, and a bottom limiting plate one is installed at the lower end of the first limiting block.

[0009] Furthermore, the first limiting block includes a fixing block, a connecting plate is installed on the upper end of the fixing block, and a bolt is installed on the upper end of the connecting plate.

[0010] Furthermore, the fixing block has an internal mounting hole, and a torsion spring is installed in the mounting hole. An arc-shaped groove is provided on one side of the mounting hole, and a first stop block is installed at the upper right end of the mounting hole.

[0011] Furthermore, the actuating assembly is installed on the side of the fixed block. The actuating assembly includes a rotating block, and a lever is installed on the outer wall of the rotating block. A servo motor for controlling the rotation of the rotating block is installed at one end of the lever, and a rotating shaft is installed at the output end of the servo motor.

[0012] Furthermore, the gripper includes a clamping block for gripping the workpiece, a clamping groove is machined on one side of the clamping block, and a first connecting rod is installed on one side of the clamping block.

[0013] Furthermore, a disc is installed at one end of the first connecting rod, and a second stop is installed on the outer wall of the disc to limit the disc in conjunction with the first stop. A second connecting rod is installed on one side of the disc to control the rotation of the clamping block in conjunction with the lever. A limiting hole is opened at one end of the disc to control the clamping block to reset in conjunction with the torsion spring.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] When the first and second limiting blocks approach each other, the tubular workpiece is clamped by the first clamp and the second clamp. When the servo motor is started, the rotating shaft and the rotating block drive the lever to rotate synchronously, so that the lever moves the second connecting rod, which in turn drives the disc to rotate synchronously. The first connecting rod drives the clamping block to rotate synchronously, so that the angle of the tubular workpiece held by the clamping block and the second clamp changes, so that the tubular workpiece can be stored as needed. Attached Figure Description

[0016] 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.

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the structure of the first limiting block of this utility model;

[0019] Figure 3 This is a schematic diagram of the structure of the toggle assembly of this utility model;

[0020] Figure 4 This is a schematic diagram of the structure of the gripper of this utility model.

[0021] The following is a list of component names represented by the various reference numerals in the attached figures:

[0022] 100-First limiting block, 10-Bottom limiting plate one, 110-Fixing block, 120-Connecting plate, 121-Bolt, 130-Mounting hole, 131-Arc groove, 132-First stop block, 140-Torsion spring, 150-Toggle assembly, 151-Rotating block, 152-Toggle lever, 153-Servo motor, 154-Rotating shaft;

[0023] 200 - Second limiting block, 20 - Bottom limiting plate two, 400 - Gripper two;

[0024] 300-Gripper 1, 310-Grip block, 311-Grip groove, 312-First connecting rod, 320-Disc, 321-Second stop block, 322-Second connecting rod, 323-Limiting hole. Detailed Implementation

[0025] 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 protection scope of the present utility model.

[0026] Please see Figures 1-4 This utility model provides an automatically positioning mechanical gripper, including a first gripper 300 and a second gripper 400 for gripping a workpiece. The first gripper 300 and the second gripper 400 are symmetrically arranged from left to right and have the same size and structure. A first limiting block 100 is installed at one end of the first gripper 300 to limit its movement. A second limiting block 200 is installed at one end of the second gripper 400 to limit its movement. A bottom limiting plate 20 is installed at the lower end of the second limiting block 200, and a bottom limiting plate 10 is installed at the lower end of the first limiting block 100. By setting the bottom limiting plate 10 and the bottom limiting plate 20, it is convenient to disassemble and assemble the parts inside the first limiting block 100 and the second limiting block 200. Over time, torsion springs may lose elasticity or become damaged, requiring regular inspection and potential replacement; the actuation assembly may require inspection, repair, or replacement due to wear, malfunction, or performance degradation. Therefore, the installation of removable limit plate 10 and bottom limit plate 20 simplifies access to the torsion spring 140 and actuation assembly 150, allowing maintenance personnel easier access to the internal components, thereby improving maintenance efficiency and reducing downtime.

[0027] The first limiting block 100 includes a fixing block 110. A connecting plate 120 is fixedly installed on the upper end of the fixing block 110, and a bolt 121 is installed on the upper end of the connecting plate 120. The connecting plate 120 facilitates the installation of this invention on the robotic arm of the gripper, enabling control of the movement of gripper 300 and gripper 400 to grasp the tubular workpiece. When the robotic arm controls the first limiting block 100 and the second limiting block 200 to move closer together, gripper 300 and gripper 400 move closer together to grasp the tubular workpiece. That is, the movement control of the two grippers is achieved through an external robotic arm, which is existing technology.

[0028] The first limiting block 100 includes a torsion spring 140 for controlling the resetting of the gripper 300. A mounting hole 130 is provided inside the fixing block 110, and the torsion spring 140 is installed inside the mounting hole 130. A small hole is provided on the left side of the cavity of the mounting hole 130, and the left end of the torsion spring 140 is inserted into this small hole, preventing the torsion spring 140 from moving. An arc-shaped groove 131 is provided on one side of the cavity of the mounting hole 130. A first stop 132 is fixedly installed on the upper right side of the mounting hole 130. The first stop 132 is used to limit the gripper 300, allowing the gripper 300 to easily clamp a horizontally placed tubular workpiece under the limitation of the first stop 132.

[0029] The first limiting block 100 also includes a toggle assembly 150 for controlling the rotation of the gripper 300. The toggle assembly 150 is installed on the side of the fixed block 110. The toggle assembly 150 includes a rotating block 151. A lever 152 is fixedly installed on the outer wall of the rotating block 151. A servo motor 153 for controlling the rotation of the rotating block 151 is installed at one end of the lever 152. A rotating shaft 154 is installed at the output end of the servo motor 153. The rotating shaft 154 is fixedly installed in the middle of the rotating block 151. When the servo motor 153 is started, the rotating shaft 154 and the rotating block 151 synchronously drive the lever 152 to rotate, so as to drive the gripper 300 to rotate, so that the gripper 300 and the gripper 400 can adjust the clamping angle of the tubular workpiece. A fixed bracket for limiting the servo motor 153 is fixedly installed on the side of the first limiting block 100. The rotating block 151 is located between the fixed bracket and the first limiting block 100 so that the servo motor 153 can drive the rotating block 151 to rotate.

[0030] The gripper 300 includes a gripping block 310 for gripping a workpiece. A gripping groove 311 is machined on one side of the gripping block 310, and a first connecting rod 312 is fixedly installed on one side of the gripping block 310.

[0031] A disc 320 is fixedly installed at one end of the first connecting rod 312. A second stop 321 is fixedly installed on the outer wall of the disc 320 to limit the disc 320 in conjunction with the first stop 132. Under the limitation of the torsion spring 140, the second stop 321 and the first stop 132 abut against each other, so that the clamping block 310 can lift the horizontally placed tubular workpiece, and the first clamping jaw 300 and the second clamping jaw 400 simultaneously clamp the tubular workpiece. A second connecting rod 322 is installed on one side of the disc 320 to control the rotation of the clamping block 310 in conjunction with the lever 152. The second connecting rod 322 passes through the cavity of the arc-shaped groove 131, so that the second connecting rod 322 is on one side of the lever 152.

[0032] When the servo motor 153 drives the rotating block 151 to rotate via the rotating shaft 154, the rotating block 151 synchronously drives the lever 152 to rotate. The lever 152 moves the second connecting rod 322, causing the second connecting rod 322 to drive the disc 320 to rotate. The first connecting rod 312 synchronously drives the clamping block 310 to rotate, causing the angle of the tubular workpiece held by the clamping block 310 and the second jaw 400 to change, so as to place the tubular workpiece as needed. One end of the disc 320 is provided with a limiting hole 323 for cooperating with the torsion spring 140 to control the clamping block 310 to reset. One end of the torsion spring 140 is inserted into the limiting hole 323 so that the torsion spring 140 drives the clamping block 310 to rotate. The torsion spring 140 is sleeved on the outside of the first connecting rod 312.

[0033] The various embodiments in this specification are described in a related manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0034] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model are included within the scope of protection of this utility model.

Claims

1. A mechanical gripper capable of automatic positioning, comprising gripper one (300) and gripper two (400) for gripping a workpiece, characterized in that: The first gripper (300) and the second gripper (400) are arranged symmetrically on the left and right, and the first gripper (300) and the second gripper (400) are the same in size and structure. A first limiting block (100) for limiting the first gripper (300) is installed at one end of the first gripper (300). The first limiting block (100) includes a torsion spring (140) for controlling the first gripper (300) to reset, and the first limiting block (100) includes a toggle assembly (150) for controlling the first gripper (300) to rotate.

2. The automatically positioning mechanical gripper according to claim 1, characterized in that: One end of the gripper (400) is equipped with a second limiting block (200) for limiting the gripper (400). The lower end of the second limiting block (200) is equipped with a bottom limiting plate (20). The lower end of the first limiting block (100) is equipped with a bottom limiting plate (10).

3. The automatically positioning mechanical gripper according to claim 1, characterized in that: The first limiting block (100) includes a fixing block (110), a connecting plate (120) is installed on the upper end of the fixing block (110), and a bolt (121) is installed on the upper end of the connecting plate (120).

4. The automatically positioning mechanical gripper according to claim 3, characterized in that: The fixing block (110) has an installation hole (130) inside, and the torsion spring (140) is installed in the installation hole (130). An arc groove (131) is provided on one side of the cavity of the installation hole (130), and a first stop block (132) is installed on the upper right side of the installation hole (130).

5. The automatically positioning mechanical gripper according to claim 4, characterized in that: The actuating assembly (150) is installed on the side of the fixed block (110). The actuating assembly (150) includes a rotating block (151). A lever (152) is installed on the outer wall of the rotating block (151). A servo motor (153) for controlling the rotation of the rotating block (151) is installed at one end of the lever (152). A rotating shaft (154) is installed at the output end of the servo motor (153).

6. The automatically positioning mechanical gripper according to claim 5, characterized in that: The gripper (300) includes a gripping block (310) for gripping the workpiece, a gripping groove (311) is machined on one side of the gripping block (310), and a first connecting rod (312) is installed on one side of the gripping block (310).

7. The automatically positioning mechanical gripper according to claim 6, characterized in that: A disc (320) is installed at one end of the first connecting rod (312). A second stop (321) is installed on the outer wall of the disc (320) to limit the disc (320) in conjunction with the first stop (132). A second connecting rod (322) is installed on one side of the disc (320) to control the rotation of the clamp (310) in conjunction with the lever (152). A limiting hole (323) is opened at one end of the disc (320) to control the clamp (310) to reset in conjunction with the torsion spring (140).

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