A rotatable gripped mechanical hand

Abstract

The utility model discloses a rotatable clamping's mechanical grab hand, including base, the fixed mounting of base top wall has the fixed frame, the fixed frame inner wall installs the rotating component, the fixed mounting of fixed frame top wall has the top, the fixed mounting of rotating component top wall has the connecting seat, the mechanical arm of connecting seat top wall installation, the movable bottom end hinged mounting of mechanical arm has the clamping component, the utility model relates to mechanical grab hand technical field, rotatable clamping's mechanical grab hand, through the mutual cooperation of each component in rotating component work under, when clamping and shifting to material, the work of rotating component, can adjust the position of the facing material of mechanical arm and manipulator correspond, when clamping material is completed, through rotating component and shifts material, makes whole device can adjust the position of the facing material of mechanical arm and manipulator reaches each material's location direction, through multidirectional rotation angle, can improve the overall use range, keeps good work adaptability.

Description

Technical Field

[0001] This utility model relates to the field of mechanical gripper technology, specifically a rotatable gripper. Background Technology

[0002] A mechanical gripper is a device used to grip and move objects. It is widely used in industrial automation production and can be controlled by machines such as robots, machining centers, and CNC machine tools. According to its structure, mechanical grippers can be divided into various types such as pneumatic, hydraulic, mechanical, electromagnetic, and servo. Different types of mechanical grippers have their own characteristics and can adapt to different working environments and task requirements.

[0003] The patent with patent number CN217168550U discloses a rotatable gripper, which includes a mounting base, a steering device, a connecting rod, and a gripping part. The steering device is disposed in the mounting base, and the upper and lower ends of the connecting rod are respectively connected to the steering device and the gripping part. By setting the steering device, the lower gripping part can be rotated by a predetermined angle as needed.

[0004] The above-mentioned device has certain shortcomings when in use: when the device is working, the lower clamping part can be rotated by a predetermined angle as needed, but being able to rotate only by a predetermined angle will result in a small working range for the entire device. When other angles need to be rotated, the device is not suitable.

[0005] To address these issues, this invention provides a rotatable mechanical gripper. Utility Model Content

[0006] In view of the shortcomings of the existing technology, this utility model provides a rotatable gripper, which solves the above problems.

[0007] To achieve the above objectives, this utility model is implemented through the following technical solution: a rotatable clamping mechanical gripper, including a base, a fixed frame fixedly installed on the top wall of the base, a rotating component installed on the inner wall of the fixed frame, a top cover fixedly installed on the top wall of the fixed frame, a connecting seat fixedly installed on the top wall of the rotating component, a mechanical arm installed on the top wall of the connecting seat, and a clamping component hinged to the movable bottom end of the mechanical arm;

[0008] The rotating assembly includes a drive shaft, which is rotatably mounted at the center of the inner wall of the fixed frame via a bearing seat. A first drive gear is fixedly mounted on the outer wall of the drive shaft. A support plate is fixedly mounted on the top of the drive shaft via a bearing through the top cover. A rotating shaft is rotatably mounted on the inner wall of the fixed frame and located behind the drive shaft. A second drive gear is fixedly mounted on the bottom of the rotating shaft. A first bevel gear is fixedly mounted on the bottom of the outer wall of the rotating shaft. A mounting base is fixedly mounted on the inner wall of the fixed frame. A drive motor is fixedly mounted on the rear wall of the fixed frame. A drive rod is fixedly mounted on the power shaft of the drive motor via a bearing through the fixed frame. A second bevel gear is fixedly mounted on the front end of the drive rod via a bearing through the mounting base.

[0009] Through the above technical solution, the rotating component can adjust the facing angle of the robotic arm and the clamping component during operation. Before clamping and fixing the material, the robotic arm and the clamping component are turned to the placement position of the material. After clamping and fixing the material, the material movement position is adjusted.

[0010] Furthermore, the support plate is located above the top cover. The support plate is circular, and support rollers are evenly installed on the bottom wall of the support plate. Several support rollers are connected and roll along the top wall of the top cover. A support plate is fixedly installed on the top wall of the support plate, and the top wall of the support plate is fixedly connected to the bottom wall of the connecting seat.

[0011] Through the above technical solution, the support rollers can rotate along the top cover and at the same time support the bottom of the support plate.

[0012] Furthermore, transmission gear two meshes with transmission gear one, and the transmission ratio between transmission gear two and transmission gear one is 3:1. Bevel gear two meshes with bevel gear one.

[0013] By using the above technical solution, the rotational speed of transmission gear one can be reduced by driving transmission gear one to rotate through transmission gear two, thereby reducing the rotational speed of transmission gear one through differential speed.

[0014] Furthermore, the clamping assembly includes a U-shaped frame, the top wall of which is hinged to the movable bottom end of the robotic arm, and connecting shafts are rotatably installed on both the left and right sides of the inner wall of the U-shaped frame, with robotic arms fixedly installed on the outer walls of both connecting shafts.

[0015] Through the above technical solution, the connecting shaft can drive the mechanical device to rotate within the inner wall of the U-shaped frame.

[0016] Furthermore, transmission plates are fixedly installed on the top walls of both robotic arms, and hydraulic rods are hinged to the adjacent sides of the two transmission plates.

[0017] The above technical solution uses the contraction of the movable end of the hydraulic rod to drive the transmission plate and the robotic arm to open and close.

[0018] Furthermore, several anti-slip pads are evenly fixedly installed on the inner walls of the two robotic arms.

[0019] Through the above technical solution, anti-slip pads are installed on the inner wall of the robotic arm, which can increase the friction between the robotic arm and the material when clamping and fixing the material.

[0020] Furthermore, fastening bolts are rotatably installed at all four corners of the top wall of the base.

[0021] With the above technical solution, the base can be used to fix the entire device to the position of the external base by means of fastening bolts.

[0022] Beneficial effects

[0023] This invention provides a rotatable gripper. Compared with the prior art, it has the following advantages:

[0024] (1) The rotatable gripper, through the cooperation of various components in the rotating assembly, can adjust the position of the robotic arm and robotic hand facing the material when gripping and transferring the material. After the material is gripped, the material is transferred through the rotating assembly, so that the entire device can adjust the robotic arm and robotic hand to reach the position of each material. Through multi-directional rotation angle, the overall application range can be improved and good work adaptability can be maintained.

[0025] (2) The rotatable gripper, through the cooperation of various components in the gripping assembly, drives the opening and closing of the transmission plate and the manipulator by the contraction of the movable end of the hydraulic rod, can clamp and fix materials of different sizes, and the anti-slip pads can increase the friction with the materials, making it more stable during clamping. Attached Figure Description

[0026] Figure 1 This is a front view of the external structure of this utility model;

[0027] Figure 2 This is a rear view of the external structure of this utility model;

[0028] Figure 3 This is a schematic diagram of the robotic arm and gripping assembly of this utility model;

[0029] Figure 4 This is an exploded view of the internal structure of the clamping component of this utility model;

[0030] Figure 5 This is a schematic diagram of the internal structure of the base, fixing frame, and rotating assembly of this utility model;

[0031] Figure 6 This is a schematic diagram of the internal structure of the rotating component of this utility model.

[0032] In the diagram: 1. Base; 2. Fastening bolt; 3. Fixing frame; 4. Rotating assembly; 41. Drive motor; 42. Transmission rod; 43. Mounting seat; 44. Rotating shaft; 45. Bevel gear one; 46. Bevel gear two; 47. Transmission gear two; 48. Transmission shaft; 49. Transmission gear one; 410. Support plate; 411. Support roller; 412. Support plate; 5. Connecting seat; 6. Robotic arm; 7. Clamping assembly; 71. U-shaped frame; 72. Connecting shaft; 73. Transmission plate; 74. Hydraulic rod; 75. Robotic arm; 76. Anti-slip pad; 8. Top cover. Detailed Implementation

[0033] 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.

[0034] Example 1:

[0035] Please see Figures 1-6 A rotatable gripper includes a base 1, a fixed frame 3 fixedly installed on the top wall of the base 1, a rotating component 4 installed on the inner wall of the fixed frame 3, a top cover 8 fixedly installed on the top wall of the fixed frame 3, a connecting seat 5 fixedly installed on the top wall of the rotating component 4, a robotic arm 6 installed on the top wall of the connecting seat 5, and a gripping component 7 hinged to the movable bottom end of the robotic arm 6.

[0036] Rotating assembly 4 includes a drive shaft 48, which is rotatably mounted at the center of the inner wall of the fixed frame 3 via a bearing seat. A first drive gear 49 is fixedly mounted on the outer wall of the drive shaft 48. A support plate 410 is fixedly mounted on the top end of the drive shaft 48 via a bearing through the top cover 8. A rotating shaft 44 is rotatably mounted on the inner wall of the fixed frame 3 and located behind the drive shaft 48. A second drive gear 47 is fixedly mounted on the bottom end of the rotating shaft 44. A first bevel gear 45 is fixedly mounted on the bottom of the outer wall of the rotating shaft 44. A mounting base 43 is fixedly mounted on the inner wall of the fixed frame 3. A mounting plate 43 is fixedly mounted on the rear wall of the fixed frame 3. There is a drive motor 41. The drive shaft of the drive motor 41 passes through the fixed bracket 3 through the bearing and is fixedly installed with a transmission rod 42. The front end of the transmission rod 42 passes through the mounting seat 43 through the bearing and is fixedly installed with a bevel gear 46. The support plate 410 is located above the top cover 8. The support plate 410 is circular. The bottom wall of the support plate 410 is evenly mounted with support rollers 411. Several support rollers 411 roll and connect along the top wall of the top cover 8. The top wall of the support plate 410 is fixedly installed with a support plate 412. The top wall of the support plate 412 is fixedly connected to the bottom wall of the connecting seat 5.

[0037] In this embodiment of the utility model, the purpose of this arrangement is that, when the rotating component 4 is in operation, the position of the robotic arm 6 and the clamping component 7 can be adjusted through the cooperation of various components, so as to clamp and transfer materials at different positions and expand the working range and adaptability of the entire device.

[0038] Example 2:

[0039] Please see Figures 1-6 This embodiment provides a technical solution based on embodiment one: the clamping assembly 7 includes a U-shaped frame 71, the top wall of the U-shaped frame 71 is hinged to the movable bottom end of the robotic arm 6, the left and right sides of the inner wall of the U-shaped frame 71 are rotatably mounted with connecting shafts 72, the outer walls of the two connecting shafts 72 are fixedly mounted with robotic arms 75, the top walls of the two robotic arms 75 are fixedly mounted with transmission plates 73, the adjacent sides of the two transmission plates 73 are hinged with hydraulic rods 74, the inner walls of the two robotic arms 75 are evenly fixedly mounted with a number of anti-slip pads 76, and the four corners of the top wall of the base 1 are rotatably mounted with fastening bolts 2;

[0040] In this embodiment of the utility model, the purpose of this arrangement is that the clamping component 7, when working, can control the opening and closing of the robot arm 75 through the contraction of the movable end of the hydraulic rod 74, so as to clamp and fix materials of different sizes. The anti-slip pad 76 increases the contact friction between the robot arm 75 and the material, making it more stable when clamping, fixing, transferring and transporting.

[0041] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0042] During operation, the entire device is first installed on a suitable base using the cooperation of the base 1 and the fastening bolts 2, and then secured with bolts 2. The drive motor 41, robotic arm 6, and hydraulic rod 74 are electrically connected via an external power supply and controller. When clamping materials, the drive motor 41 first drives the transmission rod 42 and bevel gear 46 to rotate. When bevel gear 46 rotates, it drives bevel gear 45, which in turn drives the rotating shaft 44 and transmission gear 47 to rotate. Transmission gear 47 then drives transmission gear 49, which in turn rotates. The transmission gear 49 synchronously drives the transmission shaft 48 and the support plate 410 to rotate slowly. The support plate 410 drives the support roller 411 to roll along the top wall of the top cover 8. In turn, the support plate 410 drives the support plate 412 and the connecting seat 5 to rotate. The connecting seat 5 simultaneously drives the robotic arm 6 and the clamping assembly 7 to rotate to the position of the material. At the same time, the controller controls the robotic arm 6 to start moving and drive the clamping assembly 7 to move to the position of the material. The movable end of the hydraulic rod 74 retracts, thereby driving the transmission plate 73 and the robotic arm 75 to rotate on the outer wall of the connecting shaft 72. The robotic arm 75 simultaneously drives the anti-slip pad 76 to open. The mechanical arm 6 adjusts the position of the clamping assembly 7 to match the position of the robotic arm 75 and the anti-slip pad 76 with the material. The movable end of the hydraulic rod 74 extends, thereby driving the transmission plate 73 and the robotic arm 75 to rotate on the outer wall of the connecting shaft 72. The robotic arm 75 simultaneously drives the anti-slip pad 76 to retract and clamp the material. The mechanical arm 6 controls the transfer position of the clamping assembly 7 and the clamped material. When the mechanical arm 6, the clamping assembly 7, and the material need to rotate, the drive motor 41 drives the transmission rod 42 and the bevel gear 46 to rotate. When the bevel gear 46 rotates, it drives the meshing gear to rotate. The bevel gear 45 rotates, which in turn drives the rotating shaft 44 and the transmission gear 47 to rotate. The transmission gear 47 drives the transmission gear 49, which meshes with it, to rotate. The transmission gear 49 simultaneously drives the transmission shaft 48 and the support plate 410 to rotate slowly. The support plate 410 rolls along the top wall of the top cover 8, which in turn drives the support plate 412 and the connecting seat 5 to rotate. The connecting seat 5 simultaneously drives the robotic arm 6, the clamping assembly 7, and the material to rotate to the placement location. The retraction of the movable end of the hydraulic rod 74 drives the robotic arm 75 to open, thereby placing the clamped material in the designated position.

[0043] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0044] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A rotatable gripping mechanical gripper, characterized in that: Includes a base (1), a fixed frame (3) is fixedly installed on the top wall of the base (1), a rotating component (4) is installed on the inner wall of the fixed frame (3), a top cover (8) is fixedly installed on the top wall of the fixed frame (3), a connecting seat (5) is fixedly installed on the top wall of the rotating component (4), a robotic arm (6) is installed on the top wall of the connecting seat (5), and a clamping component (7) is hinged to the movable bottom end of the robotic arm (6); The rotating assembly (4) includes a drive shaft (48), which is rotatably mounted at the center of the inner wall of the fixed frame (3) via a bearing seat. A first drive gear (49) is fixedly mounted on the outer wall of the drive shaft (48). A support plate (410) is fixedly mounted on the top of the drive shaft (48) through a bearing and passing through the top cover (8). A rotating shaft (44) is rotatably mounted on the inner wall of the fixed frame (3) and located at the rear of the drive shaft (48). A second drive gear (47) is fixedly mounted on the bottom of the rotating shaft (44). A first bevel gear (45) is fixedly mounted on the bottom of the outer wall of the rotating shaft (44). A mounting seat (43) is fixedly mounted on the inner wall of the fixed frame (3). A drive motor (41) is fixedly mounted on the rear wall of the fixed frame (3). A drive rod (42) is fixedly mounted on the power shaft of the drive motor (41) through a bearing and passing through the fixed frame (3). A second bevel gear (46) is fixedly mounted on the front end of the drive rod (42) through a bearing and passing through the mounting seat (43).

2. The rotatable gripper according to claim 1, characterized in that: The support plate (410) is located above the top cover (8). The support plate (410) is circular. Support rollers (411) are evenly mounted on the bottom wall of the support plate (410). Several support rollers (411) are connected to each other along the top wall of the top cover (8). A support plate (412) is fixedly mounted on the top wall of the support plate (410). The top wall of the support plate (412) is fixedly connected to the bottom wall of the connecting seat (5).

3. The rotatable gripper according to claim 1, characterized in that: The transmission gear two (47) is meshed with the transmission gear one (49), and the transmission ratio between the transmission gear two (47) and the transmission gear one (49) is 3:

1. The bevel gear two (46) is meshed with the bevel gear one (45).

4. The rotatable gripper according to claim 1, characterized in that: The clamping assembly (7) includes a U-shaped frame (71), the top wall of which is hinged to the movable bottom end of the robotic arm (6), and connecting shafts (72) are rotatably installed on both the left and right sides of the inner wall of the U-shaped frame (71), and robotic arms (75) are fixedly installed on the outer walls of the two connecting shafts (72).

5. The rotatable gripper according to claim 4, characterized in that: Both of the robotic arms (75) have transmission plates (73) fixedly installed on their top walls, and hydraulic rods (74) are hinged to the adjacent sides of the two transmission plates (73).

6. The rotatable gripper according to claim 4, characterized in that: Several anti-slip pads (76) are evenly fixedly installed on the inner walls of the two robotic arms (75).

7. The rotatable gripper according to claim 1, characterized in that: The base (1) has fastening bolts (2) installed at the four corners of its top wall.

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