CN109623859A - A kind of novel mechanical gripper with pressure buffer structure - Google Patents
A kind of novel mechanical gripper with pressure buffer structure Download PDFInfo
- Publication number
- CN109623859A CN109623859A CN201910121784.6A CN201910121784A CN109623859A CN 109623859 A CN109623859 A CN 109623859A CN 201910121784 A CN201910121784 A CN 201910121784A CN 109623859 A CN109623859 A CN 109623859A
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- China
- Prior art keywords
- block
- slide plate
- guide rod
- fixedly connected
- side wall
- Prior art date
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 22
- 230000000694 effects Effects 0.000 claims abstract description 9
- 229920001971 elastomer Polymers 0.000 claims description 14
- 239000000806 elastomer Substances 0.000 claims description 14
- 238000000926 separation method Methods 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 4
- 230000003139 buffering effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000013536 elastomeric material Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of novel mechanical grippers with pressure buffer structure, including the bracket being connect with outside robotic arm, the both ends of bracket are connected with pedestal, the first guide rod and the second guide rod are equipped between pedestal, first guide rod is socketed with adjusting block, sliding sleeve is connected to the first slide plate and the second slide plate on second guide rod, clamping jaw is fixedly connected on the downside of first slide plate and the second slide plate, multiple guide posts are fixedly connected on the right side wall of first slide plate, third spring is socketed on the lateral wall of guide post and between adjusting block and the first slide plate, mandril is equipped on second slide plate, the present invention slides adjusting block to the right by screw rod rotation, it is slided to the right to make adjusting block push the first slide plate by third spring, realize two clamping jaws slowly close to the effect for then clamping article, and third spring plays the role of clamping buffering, make the device It is more steady when grabbing article.
Description
Technical field
The present invention relates to technical field of industrial manipulator, specially a kind of novel mechanical gripping with pressure buffer structure
Hand.
Background technique
Nowadays, factory starts to be replaced with industrial robot to improve the efficiency of factory and manually goes to carry out some machinery
The repetitive operation of change, robot needs mechanical gripper and can just take object, but existing standard machinery handgrip is mostly
Pneumatic clamping jaw, this clamping jaw do not have pressure buffer structure mostly, cannot control well when clamping article and adjust clamping jaw
Dynamics, stability is poor, and clamping force just will increase when air pressure is excessively high, causes the article accommodated to damage, air pressure is lower
When, but be possible to clamping force it is smaller, can not by article clamp get up；And mostly after mechanical gripper clamping article is to pass through machinery
The rotation of arm is carried, and since common clamping jaw is to keep clamping force degree by air pressure, the unstability of air pressure usually can
Article is caused to fall from mechanical gripper, therefore we provide a kind of novel mechanical grippers with pressure buffer structure.
Summary of the invention
The purpose of the present invention is to provide a kind of novel mechanical grippers with pressure buffer structure, to solve above-mentioned background
The problem of being proposed in technology.
To achieve the above object, the invention provides the following technical scheme: a kind of novel machinery with pressure buffer structure
The both ends downside of handgrip, including bracket, the bracket is fixedly connected to pedestal, is fixedly connected on the side wall of left side pedestal
There is the first guide rod, the right end of first guide rod is fixedly connected with the second guide rod, and the right end of the second guide rod is fixedly connected on the right side
On the side wall of side group seat, the inner rotation of first guide rod is connected with screw rod, and the screw rod is through the first guide rod and extends to
It the inside of the pedestal in left side and being fixedly connected with the output shaft of motor, the motor is fixedly connected on the inside of the pedestal in left side,
Engagement is socketed with spiral shell block on the lateral wall of the screw rod, and the spiral shell block is connect by clamping mechanism with adjusting block, and the adjusting
Block is slidably socketed in the outside of the first guide rod；
Sliding sleeve is connected to the first slide plate and the second slide plate on second guide rod, under first slide plate and the second slide plate
Side is respectively connected with clamping jaw, and multiple guide posts are fixedly connected on the left side wall of first slide plate, and the left end of each guide post is run through
The side wall of adjusting block simultaneously extends to outside it, is socketed on the lateral wall of the guide post and between adjusting block and the first slide plate
Third spring.
Preferably, the clamping mechanism includes ring set, and ring set is slidably socketed on the lateral wall of the first guide rod, the spiral shell
The two sides up and down of block are run through the side wall of the first guide rod and are fixedly connected on the inner sidewall of ring set, and the two sides of the adjusting block are opened
There is sliding slot, the inside of the sliding slot is connected with sliding block by the first spring slide, is fixedly connected with card on the side wall of the sliding block
Column, one end of the card column are run through the side wall of adjusting block and are clamped with card slot activity, and the card slot is opened on the lateral wall of ring set；
The two sides of first guide rod and be located at adjusting block side wall on pushing block is connected with by the 4th spring slide, institute
It states and fixture block is rotatably connected to by second spring on the side wall of pushing block, and the helical teeth that the side wall of fixture block and the first guide rod is equipped with is living
Dynamic clamping, the both ends of second slide plate are equipped with mandril, the left end of the mandril run through the first slide plate and with set on sliding block
Some guide grooves are flexibly connected.
Preferably, it being set on the side wall of the ring set there are two block is separated, the separation block is flexibly connected with pushing block, and described point
Top from block is wedge shape.
Preferably, first guide rod is made of two square being welded on flange for rail symmetric form, and two sides
The accommodating space of installation screw rod and spiral shell block is stayed between rail.
Preferably, elastomer block is fixedly connected on the right side of second slide plate, engagement is connected with extruding in the elastomer block
Block, and the cross section of the inner sidewall of crushing block is trapezoidal faces.
Preferably, articulated joint is fixedly connected in the middle part of the bracket.
Preferably, first slide plate and the second slide plate and clamping jaw are in detachable connection, and between the pawl on two clamping jaws
Seam is distributed in alternating expression.
Compared with prior art, the beneficial effects of the present invention are: the present invention slides adjusting block to the right by screw rod rotation,
It is slided to the right to make adjusting block push the first slide plate by third spring, realizes that two clamping jaws are slowly close and then clamp article
Effect, and third spring play the role of clamping buffering, keep the device more steady when grabbing article；Work as adjusting block
When sliding to the right, sliding block is stirred in sliding slot internal slide by mandril left end, is then detached from card column and card slot and is clamped, and turn
Motion block and the first guide rod side wall are clamped, and in this way when spiral shell block continues to rotate, the position of adjusting block is motionless, the folder of two such clamping jaw
Holding force will not change, so that the dynamics of clamping jaw clamping article be made to remain unchanged, it is therefore prevented that firmly excessive when clamping article
Article is caused to damage；And by the slip limiting plate on bolt, the position of mandril left end is made to change, such third spring
When decrement difference, mandril left end can stir sliding block, can adjust the clamping force of clamping jaw in this way, and the device is made to be suitble to press from both sides
Take the article for being able to bear different clamping forces.
Detailed description of the invention
Fig. 1 is deployed configuration schematic diagram of the invention；
Fig. 2 is closing structure schematic diagram of the invention；
Fig. 3 is the structural schematic diagram at ring set of the invention, card column, card slot and sliding block；
Fig. 4 is the cross-sectional view of adjusting block of the invention；
Fig. 5 is enlarged drawing at the A of Fig. 4 of the invention；
Fig. 6 is the cross-sectional view at fixture block of the invention, pushing block and the 4th spring；
Fig. 7 is the structural schematic diagram at ring set of the invention, adjusting block and the first slide plate；
Fig. 8 is the cross-sectional view at elastomer block and crushing block of the invention；
Fig. 9 is the explosive view at the first guide rod of the invention, screw rod, spiral shell block and ring set；
Figure 10 is the positive structure schematic of adjusting block of the invention；
Figure 11 is the structure schematic diagram of adjusting block of the invention；
Figure 12 is the structural schematic diagram of fixture block and pushing block of the invention.
In figure: 1, bracket, 2, articulated joint, 3, pedestal, the 4, first guide rod, the 5, second guide rod, 6, screw rod, 7, motor, 8, spiral shell
Block, 9, ring set, 10, adjusting block, 11, sliding slot, the 12, first spring, 13, sliding block, 14, card column, 15, card slot, 16, fixture block, 17,
Two springs, 18, pushing block, 19, separation block, the 20, first slide plate, the 21, second slide plate, 22, clamping jaw, 23, guide post, 24, third spring,
25, mandril, 26, limit plate, 27, elastomer block, 28, crushing block, 29, nut, 30, bolt, the 31, the 4th spring, 32, guide groove,
33, block, 34, baffle, 35, stop block, 36, shaft.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-12 is please referred to, the present invention provides a kind of technical solution of novel mechanical gripper with pressure buffer structure,
Including bracket 1, the middle part of the bracket 1 is fixedly connected with articulated joint 2, and articulated joint 2 is rotatably connected on the machinery of industrial robot
Arm end changes the position of the device by the mechanical arm rotation of industrial robot, to reach after the device clamps article
To the effect of mobile article, (being certainly not limited to this form equipped with articulated joint 2 can also be directly solid by screw, flange etc.
It is fixed), the both ends downside of the bracket 1 is fixedly connected with pedestal 3 by connectors such as flanges, positioned at the side wall of left side pedestal 3
On be fixedly connected with the first guide rod 4, the right end of first guide rod 4 is fixedly connected with the second guide rod 5, and the right side of the second guide rod 5
End is fixedly connected on the side wall of right side pedestal 3, industrializes processing and installation the first guide rod 4,5 both ends of the second guide rod for convenience
Also easy disassembly is attached in the form of the connectors such as flange, bracket 1 supports the effect of whole device, the first guide rod 4
Shape is square, and can enable adjusting block 10 is horizontal to horizontally slip in this way, and guarantees that adjusting block 10 cannot be led first
It is rotated on bar 4, also can guarantee that the first slide plate 20 slides on the second guide rod 5 with 21 meetings of the second slide plate in this way, described first leads
The inner rotation of bar 4 is connected with screw rod 6, and the left end of the screw rod 6 runs through the first guide rod 4 and extends to the interior of the pedestal 3 in left side
It portion and is fixedly connected with the output shaft of motor 7, the motor 7 is fixedly connected on the inside of the pedestal 3 in left side, the screw rod 7
Engagement is socketed with spiral shell block 8 on lateral wall, and the spiral shell block 8 is connected by clamping mechanism (being such as directly connected to by screw) and adjusting block 10
It connects, and the adjusting block 10 is slidably socketed in the outside of the first guide rod 4, motor 7 passes through cable and external controller and electricity
Source connection, when motor 7 is rotated forward with screw rod 6, screw rod 6 can make spiral shell block 8 move right with ring set 9, to make 9 band of ring set
Adjusting block 10 move right, sliding sleeve is connected to the first slide plate 20 and the second slide plate 21 on the second guide rod 5, and the first slide plate 20 can be with
Free to slide on the second guide rod 5, since article may vary, the second slide plate 21 is solid after sliding on the second guide rod 5
It is fixed, the shift motion when clamping article of the second slide plate 21 can be made to change, the article of clamping is got over hour, the second slide plate 21
Fixation position place more to the left at the second guide rod 5, the sliding stroke of such second slide plate 21 will shorten, to save folder
The used time to be held, is improved work efficiency, the second slide plate 21 is fixed by the relative position of pre-tightening mechanism and the second guide rod 5,
Specific pre-tightening mechanism can be connected by screw etc. or be fixedly connected with elastomer block using the right side of second slide plate 21
27, engagement is connected with crushing block 28 in the elastomer block 27, and the cross section of the inner sidewall of crushing block 28 is trapezoidal faces, elastomer block
27 and second guide rod 5 contact surface be elastomeric material, when crushing block 28 rotates forward, elastomer block 27 is squeezed block 28
Extruding after, inner sidewall is tightly attached on the second guide rod 5 to contract, according to the frictional force of elastomer block 27 and the second guide rod 5, from
And it is fixed on the second slide plate 21 on second guide rod 5, when wanting to adjust the position of the second slide plate 21, turn lower crushing block 28, in this way
Elastomer block 27 will elastic reset, reduce its inner sidewall to the extruding of the second guide rod 5, so as to so that the second slide plate 27 can
It is moved on the second guide rod 5.
Sliding sleeve is connected to adjusting block 10 on the lateral wall of first guide rod 4, when adjusting block 10 moves right, the device
Two clamping jaws 22 are clamped condition, and when adjusting block 10 is moved to the left, two clamping jaws 22 of the device are in an open state, described first
The downside of slide plate 20 and the second slide plate 21 is respectively connected with device of the clamping jaw 22 as clamping article, first slide plate 20 and second
Slide plate 21 and clamping jaw 22 are in detachable connection, and two clamping jaws 22 can intersect, so that clamping jaw 22 be made to clamp more tiny object
Product are fixedly connected with multiple guide posts 23 on the left side wall of first slide plate 20, and adjusting block is run through in the left end of each guide post 23
10 side wall simultaneously extends to outside it, and the left end of guide post 23 is equipped with block 33, when adjusting block 10 is moved to the left, adjusting block 10 with
Block 33 contacts, and will be moved to the left together with guide post 23, and such guide post 23 will haul the first slide plate 20 and be moved to the left, from
And two clamping jaws 22 separate, when adjusting block 10 is moved to the left end of the first guide rod 4, the first slide plate 20 is moved to the second guide rod 5
Left end, the spacing opened between two such clamping jaw 22 is maximum, on the lateral wall of the guide post 23 and be located at adjusting block 10 with
Third spring 24 is socketed between first slide plate 20, adjusting block 10 is push during sliding to the right by third spring 24
First slide plate 20 slides to the right, and the clamping jaw 22 on such first slide plate 20 will be close to article, the folder on the first slide plate 20
After pawl 22 is bonded with article, third spring 24 can be compressed, with constantly sliding to the right for adjusting block 10, the pressure of third spring 24
Contracting amount can be continuously increased, so that playing the role of buffer-type clamps article, motor 7 be may be implemented according to the dimension of object to be clamped
Stroke is set, to prevent tension from damaging, or using the motor 7 with current detecting part, when two clamping jaws 22 clamp
It will appear resistance when object, the torque that motor 7 operates at this time needs to increase, so electric current needs to increase, a threshold can be set
Value current value is represented when being more than this value to be clamped to disconnect the case where power supply prevents tension appearance.
During actual test is run, using the form of this current threshold sometimes because the fluctuation of power grid causes to miss
Report, so increasing a kind of clamping structure on this basis, the clamping mechanism includes ring set 9, and ring set 9 is slidably socketed first
On the lateral wall of guide rod 4, the two sides up and down of the spiral shell block 8 run through the side wall of the first guide rod 4 and are fixedly connected on the inside of ring set 9
On wall, ring set 9 can only slide as adjusting block 10 on the first guide rod 4, and when ring set 9 is contacted with adjusting block 10, ring set 9 is
Inside adjusting block 10, the two sides of the adjusting block 10 are provided with sliding slot 11, and the inside of the sliding slot 11 passes through the first bullet
Spring 12 slidably connects sliding block 13, and is equipped in sliding slot 11 and provides guiding role groove, the sliding block 13 to sliding block 13 is mobile
Side wall on one end far from the first spring 12 be fixedly connected with card column 14, the side of adjusting block 10 is run through in one end of the card column 14
Wall is simultaneously clamped with the activity of card slot 15, and when sliding block 13 is not under the action of by external force, sliding block 13 can be headed on always by the first spring 12, this
Sample sliding block 13 can persistently push card column 14 and card slot 15 is clamped, when card column 14 and the clamping of card slot 15, adjusting block 10 and ring set 9
Just it is connected together, adjusting block 10 can be moved with the movement of ring set 9, but card column 14 and card slot 15 are detached from when being clamped, and are adjusted
Locking nub 10 and ring set 9 are also clamped with regard to being detached from, and when such ring set 9 is mobile, adjusting block 10 will not be moved with the movement of ring set 9
Dynamic, the card slot 15 is opened on the lateral wall of ring set 9；
The two sides of first guide rod 4 and it is located on the side wall of adjusting block 10 and slidably connects and push away by the 4th spring 31
Block 18, (clamping of pushing block 18 and the T-shaped structure of adjusting block 10 is to ensure sliding for trend of the 4th spring 31 always with elongation
Guiding performance), it is the component being clamped with fixture block 16 that the side of the first guide rod 4, which is equipped with helical teeth wall, in this way can be with secured adjusted block 10
Position, fixture block 16 is rotatably connected to by second spring 17 on the side wall of the pushing block 18, when fixture block 16 is towards the first guide rod 4
When direction is slided, 16 tip of fixture block as shown in Figure 3 and helical teeth are clamped, and the side wall activity clamping of fixture block 16 and the first guide rod 4, institute
State and be equipped with mandril 25 on the second slide plate 21, the right end of the mandril 25 run through the side wall of the first slide plate 20 and on sliding block 13
The guide groove 32 being equipped with is flexibly connected, and the left end of mandril 25 is equipped with inclined-plane, when sliding block 13 as adjusting block 10 constantly slides to the right
When, when sliding block 13 contacts with mandril 25 and continues to move right, mandril 25 is extend into guide groove 32, and the inclined-plane of mandril 25 will
Sliding block 13 is squeezed, makes sliding block 13 in the internal slide of sliding slot 11, is clamped so that card column 14 and card slot 15 on sliding block 13 be made to be detached from,
At this time adjusting block 10 just will not followed by motor 7 movement and move, so as to automatically control clamping dynamics, using top
The form scheme of bar 25 can allow very accurately predetermined stroke mentions to improve the tolerance of the present apparatus without the setting of motor 7
High durability and stability, such as the predetermined stroke of motor 7 is set as to be slightly less than the length of the first guide rod 4.Adjusting block 10
First slide plate 20 is headed on by third spring 24 and is moved right, the spacing between two clamping jaws 22 slowly becomes smaller at this time, in this way
The device is in holding action；When motor 7 is rotated backward with screw rod 6, screw rod 6 can be such that spiral shell block 8 is moved to the left with ring set 9,
Ring set 9 can head on adjusting block 10 and be moved to the left in this way, and clamping jaw 22 is in unfolded state at this time.
In addition it is set on the side wall of the ring set 9 there are two block 19 is separated, the separation block 19 is flexibly connected with pushing block 18, institute
The top of separation block 19 is stated as wedge shape, when relative movement, which occurs, for adjusting block 10 and ring set 9 separates, the inclined-plane of separation block 19 can be with
Pushing block 18 is opposite to be slided, and pushing block 18 can be headed on towards the first guide rod 4 by the 4th spring 31 and be slided at this time, and such fixture block 16 is convenient for the
One guide rod 4 has been clamped, and the separation block 19 is flexibly connected with pushing block 18, and opposite ring set 9 of working as restores initial position Shi Huitong
It crosses the extruding pushing block 18 of separation block 19 to move to two sides, be clamped to be detached from the first guide rod 4, and adjusting block 10 and ring set 9
The structure of position is socketed as shown in fig. 7, adjusting block 10 is equipped with baffle 34 close to the direction of the pedestal 3 in left side to make ring set 9
Adjusting block 10 can be pushed to move toward left side, so that mandril 25 be allowed to be detached from from the guide groove 32 that sliding block 13 is equipped with, make card column
14 and card slot 15 restore clamping, in case next time operation；The connection structure of the fixture block 16 and pushing block 18 is as shown in figure 12 and described
The two sides of fixture block 16 are integrally formed with stop block 35, and fixture block 16 is rotatablely connected with pushing block 18 by shaft 36, according to first
The helical teeth of 4 side of guide rod and the shape of fixture block 16 cooperate, so fixture block 16 can be to the right during contacting with the first guide rod 4
Sliding, but can not slide to the left, to guarantee to firmly grasp dynamics.
In addition to promptly dynamics can be adjusted by adapting to different situations, the right side of second slide plate 21 is connected by bolt 30
It is connected to limit plate 26, the both ends of the limit plate 26 are fixedly connected with two mandrils 25 respectively, on the lateral wall of the bolt 30
And the two sides for being located at limit plate 26 engage and are connected with nut 29, and after limit plate 26 is slided suitable position on bolt 30, top
Bar 25 can also be slided with limit plate 26, therefore corresponding variation occurs for the left position of mandril 25, then pass through nut 29
It is fixed, so that the left position of mandril 25 be made to fix, the clamping force of the device can be adjusted in this way.
Specifically, reduce cost to reduce difficulty of processing, first guide rod 4 by two square rail symmetric forms welding
It is formed on flange, and stays the accommodating space of installation screw rod 6 and spiral shell block 8 between described two square rails.
Working principle: in use, the device is connected on the mechanical arm of industrial robot by articulated joint 2, in advance will
After second slide plate 21 slides into the suitable position of the second guide rod 5, receive the inner sidewall of elastomer block 27 inwardly by rotating crushing block 28
It tightens and is attached on the second guide rod 5, according to the frictional force of elastomer block 27 and the second guide rod 5, so that the second slide plate 21 be made to be fixed on
It on two guide rods 5, then on bolt 30 after slip limiting plate 26 to suitable position, is fixed by nut 29, to make to push up
The left position of bar 25 is fixed, and can adjust the clamping force of the device in this way；When clamping article, by mechanical arm by two
Clamping jaw 22 is moved to the two sides of article, starts motor 7, and such motor 7 will be rotated with screw rod 6, and screw rod 6 will make spiral shell block 8
Slided to the right with ring set 9, due on ring set 9 card slot 15 and card column 14 be now in clamped condition, adjusting block 10 also can be with
It slides to the right, adjusting block 10 pushes the first slide plate 20 by third spring 24 and slide to the right, in this way during sliding to the right
Clamping jaw 22 on first slide plate 20 will be close to article, after the clamping jaw 22 on the first slide plate 20 is bonded with article, third bullet
Spring 24 can be compressed, and when the continuation of adjusting block 10 at this time is slided to the right, the sliding block 13 inside sliding slot 11 can connect with the left end of mandril 25
Touching, the left end of such mandril 25 will stir sliding block 13, be clamped so that card column 14 and card slot 15 be made to be detached from, and card column 14 and card
After slot 15 is detached from clamping, separation block 19 can reduce the extruding to pushing block 18, to keep pushing block 18 sliding towards the direction of the first guide rod 4
It is dynamic, such fixture block 16 will be carried out with the tooth wall of the first guide rod 4 clamping make the position of adjusting block 10 will not be acted on by elastic force and
It has been flicked to guaranteeing clamping dynamics, when screw rod 6 continues to rotate, adjusting block 10 will not be with sliding, and article has been at this time
It is clamped by two clamping jaws 22；Somewhere, and reverse starting motor 7 are turned to by mechanical arm, such screw rod 6 will be with spiral shell
Block 8 is rotated backward with ring set 9, so that ring set 9 can be made to connect with adjusting block 10, the separation block 19 on ring set 9 can be by pushing block at this time
18 reversely open, and are clamped so that fixture block 16 and the first guide rod 4 be made to be detached from, and such adjusting block 10 can slide to the left with ring set 19,
Then the left end of top pillar 25 can be disconnected with sliding block 13, to make card column 14 that can be clamped again with card slot 15, (for clamping next time
Article is prepared), during turning left, two clamping jaws 22 can be separated slowly adjusting block 10, in the middle part of article will
It is laid down, clamping article process terminates.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (7)
1. a kind of novel mechanical gripper with pressure buffer structure, including bracket (1), the both ends downside of the bracket (1) is
Pedestal (3) are fixedly connected with, is located on the side wall of left side pedestal (3) and is fixedly connected with the first guide rod (4), first guide rod
(4) right end is fixedly connected with the second guide rod (5), and the right end of the second guide rod (5) is fixedly connected on the side wall of right side pedestal (3)
On, it is characterised in that: the inner rotation of first guide rod (4) is connected with screw rod (6), and the screw rod (6) runs through the first guide rod
(4) and extend to left side pedestal (3) inside and be fixedly connected with the output shaft of motor (7), the motor (7) is fixedly connected
It engages and is socketed with spiral shell block (8) on the inside of the pedestal (3) in left side, the lateral wall of the screw rod (7), the spiral shell block (8) passes through
Clamping mechanism is connect with adjusting block (10), and the adjusting block (10) is slidably socketed in the outside of the first guide rod (4)；
Sliding sleeve is connected to the first slide plate (20) and the second slide plate (21) on second guide rod (5), first slide plate (20) with
It is respectively connected on the downside of second slide plate (21) clamping jaw (22), is fixedly connected with multiple lead on the left side wall of first slide plate (20)
Column (23), the left end of each guide post (23) are run through the side wall of adjusting block (10) and are extended to outside it, the guide post (23)
It is socketed with third spring (24) on lateral wall and between adjusting block (10) and the first slide plate (20).
2. the novel mechanical gripper with pressure buffer structure of one kind according to claim 1, it is characterised in that: the card
Connection mechanism includes ring set (9), and ring set (9) is slidably socketed on the lateral wall of the first guide rod (4), above and below the spiral shell block (8)
Two sides are run through the side wall of the first guide rod (4) and are fixedly connected on the inner sidewall of ring set (9), and the two sides of the adjusting block (10) are equal
It is provided with sliding slot (11), the inside of the sliding slot (11) slidably connects sliding block (13), the sliding block by the first spring (12)
(13) it is fixedly connected on side wall card column (14), the side wall and and card slot of adjusting block (10) are run through in one end of the card column (14)
(15) activity clamping, the card slot (15) are opened on the lateral wall of ring set (9)；
Two sides of first guide rod (4) and being located on the side wall of adjusting block (10) are slidably connected by the 4th spring (31)
Pushing block (18) is rotatably connected to fixture block (16) on the side wall of the pushing block (18) by second spring (17), and fixture block (16) with
The helical teeth activity clamping that the side wall of first guide rod (4) is equipped with, the both ends of second slide plate (21) are equipped with mandril (25), institute
The left end for stating mandril (25) is run through the first slide plate (20) and is flexibly connected with the guide groove (32) that sliding block (13) is equipped with.
3. the novel mechanical gripper with pressure buffer structure of one kind according to claim 2, it is characterised in that: the ring
It covers and is set on the side wall of (9) there are two block (19) are separated, the separation block (19) is flexibly connected with pushing block (18), the separation block
(19) top is wedge shape.
4. the novel mechanical gripper with pressure buffer structure of one kind according to claim 2, it is characterised in that: described
One guide rod (4) is made of two square being welded on flange for rail symmetric form, and stays installation screw rod (6) between described two square rails
With the accommodating space of spiral shell block (8).
5. the novel mechanical gripper with pressure buffer structure of one kind according to claim 1, it is characterised in that: described
It being fixedly connected on the right side of two slide plates (21) elastomer block (27), engagement is connected with crushing block (28) on the elastomer block (27), and
The cross section of the inner sidewall of crushing block (28) is trapezoidal faces.
6. the novel mechanical gripper with pressure buffer structure of one kind according to claim 1, it is characterised in that: the branch
Articulated joint (2) are fixedly connected in the middle part of frame (1).
7. the novel mechanical gripper with pressure buffer structure of one kind according to claim 1, it is characterised in that: described
One slide plate (20) and the second slide plate (21) and clamping jaw (22) are in detachable connection, and submission is stitched between the pawl on two clamping jaws (22)
Wrong formula distribution.
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| CN201910121784.6A CN109623859A (en) | 2019-02-17 | 2019-02-17 | A kind of novel mechanical gripper with pressure buffer structure |
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| CN110666827A (en) * | 2019-09-29 | 2020-01-10 | 东莞华贝电子科技有限公司 | Clamping mechanism capable of providing constant clamping force and manipulator device |
| CN110789991A (en) * | 2019-10-22 | 2020-02-14 | 福建泉工股份有限公司 | Control method for clamping bricks by using stacker crane |
| CN111689308A (en) * | 2020-06-23 | 2020-09-22 | 朱一赞 | Textile yarn forming post-treatment equipment and treatment process |
| CN112224922A (en) * | 2020-10-26 | 2021-01-15 | 山东豪门铝业有限公司 | Automatic loading device for strip-shaped aluminum profiles |
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| CN112224922A (en) * | 2020-10-26 | 2021-01-15 | 山东豪门铝业有限公司 | Automatic loading device for strip-shaped aluminum profiles |
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| CN113618476A (en) * | 2021-08-19 | 2021-11-09 | 襄阳华中科技大学先进制造工程研究院 | A material loading transport mechanism for torsion shaft rolling equipment |
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| CN113910283B (en) * | 2021-10-11 | 2023-08-04 | 广州明珞装备股份有限公司 | Clamping device |
| CN114403654A (en) * | 2022-02-09 | 2022-04-29 | 深圳市海川五金制品有限公司 | Hardware product selling device with rust-proof function |
| CN114403654B (en) * | 2022-02-09 | 2022-11-15 | 深圳市海川五金制品有限公司 | Hardware product selling device with rust-proof function |
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