CN111618894A

CN111618894A - Flexible automatic clamping mechanical claw

Info

Publication number: CN111618894A
Application number: CN202010597249.0A
Authority: CN
Inventors: 靳其宝; 吴志豪; 李威强; 谢智鹏
Original assignee: Guangdong Ocean University
Current assignee: Guangdong Ocean University
Priority date: 2020-06-28
Filing date: 2020-06-28
Publication date: 2020-09-04

Abstract

The invention relates to the technical field of intelligent equipment, in particular to a flexible automatic clamping mechanical claw. The mechanical claw comprises a driving part, a driving shaft, a shaft sleeve, a connecting rod and at least two clamping jaws, wherein one end of the driving shaft is connected to the driving part and is driven by the driving part; the shaft sleeve is tightly sleeved on the driving shaft and integrally moves along with the driving shaft; two ends of the connecting rod are respectively hinged with the shaft sleeve and the clamping jaw, and the shaft sleeve drives the clamping jaw to move through the connecting rod; the clamping jaws are annularly distributed around the straight line where the driving shaft is located; guide rods are respectively fixed on the clamping jaws, penetrate through the corresponding clamping jaws and are in sliding fit with the clamping jaws; the guide rod is perpendicular to the driving shaft. The mechanical claw has a simple and reasonable structure, can automatically grab goods or workpieces without external force, is provided with a part for protection and buffering, can better protect the integrity of the goods in the grabbing process, and prevents the mechanical claw from rigidly colliding with the goods and the parts of the mechanical claw.

Description

Flexible automatic clamping mechanical claw

Technical Field

The invention relates to the technical field of intelligent equipment, in particular to a flexible automatic clamping mechanical claw.

Background

With the continuous development of industry 4.0, automation equipment has been widely applied to various production fields, and a mechanical claw is a key structure of a parallel robot and is a mechanism directly participating in a goods grabbing process. In order to meet the requirements of intellectualization of industrial production and improvement of production efficiency, the clamping and opening of a robot mechanical claw and the moving speed of a movable platform are required to be high. However, in the process of industrial production or goods transportation, the mechanical claw is driven to clamp and open by external force, errors are easily caused, the mechanical claw is easy to rigidly collide with an assembly base or goods, the buffering effect is poor, workpieces or easily damaged goods are often unnecessarily damaged, the qualification rate is reduced, and even the production efficiency is influenced.

The publication number CN208663853U discloses an adaptive mechanical gripper, which adopts multiple sensors to determine and adapt to workpieces of different shapes, and the finger tip generates stable gripping postures due to adaptive deformation according to different contact points with an object. Although the technical scheme can be used for protecting the workpiece from being damaged in a self-adaptive manner, the number of mechanical claw parts is large, the overall structure is complex, and the manufacturing and assembling cost is not high.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, and provides the flexible automatic clamping mechanical claw which is simple and reasonable in structure, can automatically grab goods or workpieces without external force, is provided with a part for protecting and buffering, can better protect the integrity of the goods in the grabbing process, and can prevent the mechanical claw from rigidly colliding with the goods and the parts of the mechanical claw.

In order to solve the technical problems, the invention adopts the technical scheme that:

a flexible automatic clamping mechanical claw comprises a driving part, a driving shaft, a shaft sleeve, a connecting rod and at least two clamping jaws, wherein one end of the driving shaft is connected to the driving part and is driven by the driving part; the shaft sleeve is tightly sleeved on the driving shaft and integrally moves along with the driving shaft; two ends of the connecting rod are respectively hinged with the shaft sleeve and the clamping jaw, and the shaft sleeve drives the clamping jaw to move through the connecting rod; the clamping jaws are annularly distributed around the straight line where the driving shaft is located; guide rods are respectively fixed on the clamping jaws, penetrate through the corresponding clamping jaws and are in sliding fit with the clamping jaws; the guide rod is perpendicular to the driving shaft. Wherein, each clamping jaw takes the radial motion, and the cooperation is tight. The driving part drives the driving shaft to vertically move, and the driving shaft is linked with the clamping jaw through the shaft sleeve and the connecting rod, so that the clamping jaw is driven to slide back and forth along the guide rod, and clamping is realized.

The clamping jaw is characterized by further comprising a fixed seat, wherein the fixed seat is of a hollow structure, and all parts except the clamping jaw are wrapped in the fixed seat; the driving piece and the guide rod are fixedly connected with the fixed seat, and the clamping jaw extends out of the fixed seat so as to perform clamping operation. The fixing base plays on the one hand and fixes each part as an organic whole, and on the other hand wraps up each part and protects.

The support rod is arranged away from the driving piece, a blind hole is hollowed in one end, away from the driving piece, of the driving shaft, one end of the support rod is fixed on the fixing seat, and the other end of the support rod is movably sleeved in the blind hole; the buffer spring is arranged in the blind hole, and two ends of the buffer spring are respectively connected with the driving shaft and the supporting rod; the depth of the blind hole is larger than the movement stroke of the driving shaft. Wherein the outer diameter of the support rod is smaller than the aperture of the blind hole. The driving piece drives the driving piece to move downwards, the buffer spring is compressed, when the driving piece releases power, the driving piece moves upwards, the buffer spring is changed into a pulling force effect from an elastic force effect at the moment, the pulling force buffering is provided, and the rigid collision is prevented.

Furthermore, the guide rod sleeve is provided with a return spring, and the return spring is arranged on one side of the clamping jaw, which is far away from the driving shaft, and is always kept in a compressed state. The reset spring is mainly used for pushing the clamping jaw to clamp under the action of no external force of the mechanical jaw.

Furthermore, the number of the clamping jaws is three, and the included angles between every two clamping jaws are the same. The three-jaw type is a common manipulator type, and the included angle between every two clamping jaws is 60 degrees.

Further, the number of the clamping jaws is two, and the two clamping jaws are symmetrically arranged on the straight line where the driving shaft is located. The two-jaw type is also a common manipulator type, and the two clamping jaws are symmetrically arranged so as to clamp.

Furthermore, the clamping jaw is L-shaped, one end of the clamping jaw is a fixed end, and the other end of the clamping jaw is a clamping end; the fixed end is hinged with the connecting rod, and the clamping end faces the driving shaft.

Furthermore, the clamping end is provided with a silica gel claw pad for elastic protection. The silica gel claw pad directly contacts with the object when being clamped, and the silica gel claw pad is soft in texture, so that the object is not afraid of being damaged.

Further, the driving part is a cylinder or a hydraulic cylinder, and the driving shaft is a piston main shaft. The driving piece is externally connected with a power supply.

Further, the fixing seat is integrally cylindrical.

Compared with the prior art, the invention has the beneficial effects that: the invention discloses a flexible automatic clamping mechanical claw which is simple and reasonable in structure, can automatically grab goods or workpieces without external force through a return spring, simplifies control operation, and effectively improves production efficiency and transportation efficiency. Simultaneously, increased silica gel claw pad, buffer spring, made the integrality of gripper protection goods that can be better in snatching the in-process, prevented that gripper and goods, gripper self part from taking place the rigidity collision.

Drawings

Fig. 1 is a partial cross-sectional view of the overall structure of the present invention.

Fig. 2 is a sectional view a-a.

Wherein, 1 driving piece, 2 drive shafts, 3 axle sleeves, 4 connecting rods, 5 clamping jaws, 6 guide rods, 7 fixing seats, 8 bracing pieces, 9 buffer springs, 10 blind holes, 11 reset springs and 12 silica gel claw pads.

Detailed Description

The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "long", "short", etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the drawings, it is only for convenience of description and simplicity of description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationships in the drawings are only used for illustrative purposes and are not to be construed as limitations of the present patent, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.

The technical scheme of the invention is further described in detail by the following specific embodiments in combination with the attached drawings:

example 1

As shown in fig. 1, the present embodiment provides a flexible automatic clamping mechanical gripper, which includes a fixed seat 7, a driving member 1, a driving shaft 2, a shaft sleeve 3, a connecting rod 4 and three clamping jaws 5.

Wherein, fixing base 7 wholly is hollow cylindrical structure, and each part except clamping jaw 5 all wraps up in fixing base 7. Specifically, the driving member 1 is connected and fixed to a bottom surface of the fixing seat 7, while the driving member 1 is externally connected with a power supply, and one end of the driving shaft 2 is connected to the driving member 1 and driven by the driving member 1, in this embodiment, the driving member 1 is a cylinder, and the driving shaft 2 is a piston spindle thereof.

Meanwhile, the shaft sleeve 3 is tightly sleeved on the driving shaft 2 and moves integrally along with the driving shaft 2, two ends of the connecting rod 4 are respectively hinged with the shaft sleeve 3 and the clamping jaw 5, and the shaft sleeve 3 drives the clamping jaw 5 to move through the connecting rod 4. In this embodiment, clamping jaw 5 is the L type, and one end is the stiff end, and the other end is for pressing from both sides the end of getting, and wherein stiff end and connecting rod 4 articulate, press from both sides the end of getting towards drive shaft 2. The clamping end of the clamping jaw 5 extends out of the fixed seat 7 so as to carry out clamping operation. Specifically, the clamping end is also provided with a silica gel claw pad 12 for elastic protection, the silica gel claw pad 12 directly contacts with an object when clamping, and the silica gel claw pad 12 is soft in texture, so that the object is not afraid of being damaged.

Specifically, the three clamping jaws 5 are annularly arranged around the straight line where the driving shaft 2 is located, and the included angles between every two clamping jaws 5 are the same. Guide rods 6 are respectively fixed on the clamping jaws 5, the guide rods 6 are perpendicular to the driving shaft 2, and the guide rods 6 penetrate through the corresponding clamping jaws 5 and are in sliding fit with the clamping jaws 5. Specifically, the guide rod 6 is fixedly connected with the fixed seat 7, and the clamping jaws 5 slide along the guide rod 6 and are matched with each other to clamp. Further, 6 covers of guide arm have reset spring 11, and reset spring 11 locates clamping jaw 5 and keeps away from one side of drive shaft 2, is pressed from both sides tightly by clamping jaw 5 and fixing base 7, and reset spring 11 remains compression state moreover all the time.

In addition, this embodiment still includes bracing piece 8 and buffer spring 9, and bracing piece 8 keeps away from driving piece 1 and sets up, and 8 one ends of bracing piece are fixed in fixing base 7, and the other end cooperates with drive shaft 2. Specifically, a blind hole 10 is hollowed at one end of the driving shaft 2, which is far away from the driving member 1, the blind hole 10 is movably sleeved at the end of the supporting rod 8, and the outer diameter of the supporting rod 8 is smaller than the aperture of the blind hole 10. Meanwhile, a buffer spring 9 is arranged in the blind hole 10, and two ends of the buffer spring are respectively connected with the driving shaft 2 and the supporting rod 8 for providing tension buffering. To avoid movement interference, the blind bore 10 needs to be deeper than the movement stroke of the drive shaft 2, as shown in fig. 2.

The specific implementation process is as follows:

1) clamping a mechanical claw: when the cylinder exhausts, namely the driving part 1 releases the driving force, and the mechanical claw has no driving force, the return spring 11 provides mechanical energy to drive the clamping jaw 5 to slide along the guide rod 6 to clamp an object centripetally, and meanwhile, the clamping jaw 5 pushes the connecting rod 4 to push the driving shaft 2 to move upwards. At this time, the buffer spring 9 in the blind hole 10 of the driving shaft 2 is converted from elastic force action into pulling force action, so that the pulling force buffer of the driving shaft 2 is provided, the upward movement of the driving shaft 2 is slowed down, and meanwhile, the collision of the clamping jaw 5 and an object is also slowed down.

2) Opening the mechanical claw: the cylinder admits air, and driving piece 1 promotes driving piece 1 downstream, compresses buffer spring 9, and simultaneously, drive shaft 2 drives axle sleeve 3, promotes connecting rod 4, orders about clamping jaw 5 and overcomes reset spring 11 elasticity and to the excircle removal, and the gripper opens promptly.

It is worth mentioning that the number of the clamping jaws 5 in the scheme can also be two, and the two clamping jaws 5 are symmetrically arranged about the straight line where the driving shaft 2 is located so as to be matched with each other for clamping.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The utility model provides a flexible self-holding gripper which characterized in that: comprises a driving piece (1), a driving shaft (2), a shaft sleeve (3), a connecting rod (4) and at least two clamping jaws (5),

one end of the driving shaft (2) is connected to the driving part (1) and is driven by the driving part (1);

the shaft sleeve (3) is tightly sleeved on the driving shaft (2) and integrally moves along with the driving shaft (2);

two ends of the connecting rod (4) are respectively hinged with the shaft sleeve (3) and the clamping jaw (5), and the shaft sleeve (3) drives the clamping jaw (5) to move through the connecting rod (4);

the clamping jaws (5) are annularly arranged around the straight line where the driving shaft (2) is located;

guide rods (6) are respectively fixed on the clamping jaws (5), and the guide rods (6) penetrate through the corresponding clamping jaws (5) and are in sliding fit with the clamping jaws (5);

the guide rod (6) is perpendicular to the driving shaft (2).

2. The flexible automated clamping gripper as defined in claim 1, wherein: the clamping jaw is characterized by further comprising a fixed seat (7), wherein the fixed seat (7) is of a hollow structure, and all parts except the clamping jaw (5) are wrapped in the fixed seat (7); the driving piece (1) and the guide rod (6) are fixedly connected with the fixing seat (7), and the clamping jaw (5) extends out of the fixing seat (7) so as to be clamped and placed.

3. A flexible automated clamping gripper according to claim 2 and further comprising: the driving device is characterized by further comprising a supporting rod (8) and a buffer spring (9), wherein the supporting rod (8) is arranged far away from the driving piece (1), a blind hole (10) is formed in one end, far away from the driving piece (1), of the driving shaft (2) in a hollowed mode, one end of the supporting rod (8) is fixed to the fixed seat (7), and the other end of the supporting rod is movably sleeved into the blind hole (10); the buffer spring (9) is arranged in the blind hole (10), and two ends of the buffer spring are respectively connected with the driving shaft (2) and the supporting rod (8); the depth of the blind hole (10) is larger than the movement stroke of the driving shaft (2).

4. A flexible automated clamping gripper according to claim 3 and further comprising: the guide rod (6) is sleeved with a return spring (11), and the return spring (11) is arranged on one side, away from the driving shaft (2), of the clamping jaw (5) and is always kept in a compressed state.

5. The flexible automated clamping gripper as defined in claim 4, wherein: the number of the clamping jaws (5) is three, and the included angles between every two clamping jaws (5) are the same.

6. The flexible automated clamping gripper as defined in claim 4, wherein: the number of the clamping jaws (5) is two, and the two clamping jaws (5) are symmetrically arranged relative to the straight line where the driving shaft (2) is located.

7. A flexible automated clamping gripper according to claim 5 or 6, wherein: the clamping jaw (5) is L-shaped, one end of the clamping jaw is a fixed end, and the other end of the clamping jaw is a clamping end; the fixed end is hinged to the connecting rod (4), and the clamping end faces the driving shaft (2).

8. The flexible automated clamping gripper as defined in claim 7, wherein: the clamping end is provided with a silica gel claw pad (12) for elastic protection.

9. The flexible automated clamping gripper as defined in claim 8, wherein: the driving piece (1) is a cylinder or a hydraulic cylinder, and the driving shaft (2) is a piston main shaft.

10. The flexible automated clamping gripper as defined in claim 9, wherein: the whole fixed seat (7) is cylindrical.