CN217801751U

CN217801751U - Mechanical claw

Info

Publication number: CN217801751U
Application number: CN202221900224.4U
Authority: CN
Inventors: 黄飞扬; 关东东; 李中伟; 汪子航; 刘晓鹏
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-07-22
Filing date: 2022-07-22
Publication date: 2022-11-15
Anticipated expiration: 2032-07-22

Abstract

The utility model relates to a gripper technical field just discloses a gripper, which comprises a mainboard, the side fixed mounting of mainboard has the slide, the side fixed mounting of slide has the slider. This gripper, thereby the function through first motor drives two-way lead screw and rotates and drive first fixed block and be close to each other and drive the backup pad and be close to each other, thereby the backup pad moves down through spacing shell and slider connection and keep stable, thereby the distance between the adjustable gripper jaw of displacement through the backup pad adapts to not article of equidimension and carries out the centre gripping, thereby the function through first pivot drives layer board angular adjustment and drives the air pump adjustment, thereby the function through the air pump drives the adjusting block displacement and makes the second pivot drive the support bar angular adjustment and drive the rotation post and rotate, thereby it drives the gripper jaw adjustment through the rotation post and carries out the centre gripping to article to rotate, thereby the problem of the stability when carrying out the centre gripping and guaranteeing the centre gripping to article and flexible packaging bag etc. of different volumes has been solved to the above structure.

Description

Mechanical claw

Technical Field

The utility model relates to a gripper technical field specifically is a gripper.

Background

The manipulator is an automatic operating device which can imitate some action functions of human hand and arm, and can be used for gripping and conveying article or operating tool according to fixed program, and is characterized by that it can implement various expected operations by means of programming, and has the advantages of both human and manipulator machines in structure and performance.

Along with the improvement of industrialization degree, can adopt the manipulator to snatch the year of carrying to article at present, but present manipulator snatchs the effect not good when snatching the flexible packaging bag that is full of the form material that looses, for example in occasions such as production line, warehouse, pier use the manipulator of robot to snatch the flexible packaging bag that is full of the form material that looses, remove again and put appointed position, because current manipulator only is equipped with two sets of rotatable hooks, when snatching the flexible packaging bag, can be because the gesture is not good when getting into the hook and snatching the position, two sets of hooks open reasons such as asynchronous or atress are unbalanced, including when putting the flexible packaging belt on the manipulator directly with article directly drop stack this meeting and cause and stack the untidy condition that falls off, influence the work effect

SUMMERY OF THE UTILITY MODEL

The utility model provides a not enough to prior art, the utility model provides a gripper, possess the stability when carrying out the centre gripping and guaranteeing the centre gripping to the article of different volumes and flexible packaging bag etc. in addition can assist when putting to lay flat and prevent to stack untidy and collapse the advantage to flexible packaging article, it is not good to have solved present manipulator and snatch the effect when snatching the flexible packaging bag that is full of the form material that looses, for example at the production line, a warehouse, the flexible packaging bag that occasion use robots such as pier snatchs the form material that is full of that looses is picked up to the gripper, the assigned position is put to the removals, because present gripper only is equipped with two sets of rotatable fingers, when snatching the flexible packaging bag, can be because the gesture is not good when getting into the finger snatch the position, two sets of fingers open reasons such as asynchronous or the atress is unbalanced, in addition all directly drop article when putting in the flexible packaging belt on the gripper and stack this condition that causes and stack untidy and not neat the appearance of falling, influence the working effect problem.

The utility model provides a following technical scheme: the utility model provides a gripper, includes the mainboard, the side fixed mounting of mainboard has the slide, the side fixed mounting of slide has the slider, the side slidable mounting of slider has spacing shell, the side fixed mounting of spacing shell has the backup pad, the side fixed mounting of backup pad has first supporting block, the side movable mounting of first supporting block has first pivot, the side fixed mounting of first pivot has the layer board, the side fixed mounting of layer board has the air pump, the one end fixed mounting of air pump has the adjustment block, the side fixed mounting of adjustment block has the second pivot, the surface movable mounting of second pivot has the support bar, the side movable mounting of backup pad has the rotation post, the surface of support bar inner wall and the fixed surface of rotation post are connected, the fixed surface of rotation post installs the second supporting block, the side fixed mounting of second supporting block has the gripper, the fixed surface of rotation post installs the auxiliary pawl.

Preferably, the side fixed mounting of backup pad has first fixed block, the surface threaded connection of first fixed block inner wall has two-way lead screw, the one end fixed mounting of two-way lead screw has the second fixed block, the side of second fixed block and the side fixed connection of mainboard, the side fixed mounting of second fixed block has first motor, the one end of first motor is passed the side of extending the second fixed block and is passed the one end fixed connection of two-way lead screw, first spout has been seted up to the side of backup pad, the side fixed mounting of backup pad has the third supporting shoe, the side movable mounting of third supporting shoe has the threaded rod, the side fixed mounting of third supporting shoe has the second motor.

Preferably, one end of the second motor extends through the side surface of the third supporting block and is fixedly connected with one end of the threaded rod, an extending block is connected to the surface of the threaded rod through threads, a third motor is fixedly mounted on the side surface of the extending block, one end of the third motor extends through the side surface of the extending block, a threaded column is fixedly mounted at one end of the third motor, and a casing is connected to the surface of the threaded column through threads.

Preferably, the one end fixed mounting of cover shell has the clamp plate, the surface of cover shell and one side sliding connection of first spout inner wall, the side fixed mounting of backup pad has the second spout, the side fixed mounting of backup pad has the fourth supporting shoe, the side movable mounting of fourth supporting shoe has the support column, the surface slidable mounting of support column has the sliding block.

Preferably, the side face of the sliding block is fixedly provided with a sliding rod, and the surface of the sliding rod is provided with a sleeve in a sliding manner.

Preferably, the surface of the sleeve is in sliding connection with one side of the inner wall of the second sliding groove, and one end of the sleeve is fixedly connected with the side face of the pressing plate.

Compared with the prior art, the utility model discloses possess following beneficial effect:

1. this gripper, thereby the function through first motor drives two-way lead screw and rotates and drive first fixed block and be close to each other and drive the backup pad and be close to each other, thereby the backup pad moves down through spacing shell and slider connection and keep stable, thereby the distance between the adjustable gripper jaw of displacement through the backup pad adapts to not article of equidimension and carries out the centre gripping, thereby the function through first pivot drives layer board angular adjustment and drives the air pump adjustment, thereby the function through the air pump drives the adjusting block displacement and makes the second pivot drive the support bar angular adjustment and drive the rotation post and rotate, thereby it drives the gripper jaw adjustment through the rotation post and carries out the centre gripping to article to rotate, thereby the problem of the stability when carrying out the centre gripping and guaranteeing the centre gripping to article and flexible packaging bag etc. of different volumes has been solved to the above structure.

2. This gripper, thereby the function through the third motor drives the threaded rod and rotates and drive the cover shell displacement, the displacement through the cover shell makes clamp plate height adjustment, thereby the height adjustment through the clamp plate makes the sleeve obtain the supporting role in the surface movement of slide bar, decline through the clamp plate can push down the article on the gripper jaw and put, thereby the function through the second motor drives the threaded rod and rotates and drive the displacement of extension piece, thereby the displacement through the extension piece makes the cover shell slide in first spout thereby drive the clamp plate and remove and control, make the sleeve slide in the second spout through the sliding block surface movement and can support when removing the clamp plate, thereby pave when putting article, above the effectual solution of structure can assist the paving when putting soft-packing article and prevent to stack untidy and the problem that collapses.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the clamping jaw of FIG. 1 according to the present invention;

fig. 3 is a schematic bottom view of the present invention shown in fig. 1;

FIG. 4 is a schematic diagram of the right side structure of FIG. 1 according to the present invention;

fig. 5 is a schematic top cross-sectional view of fig. 1 according to the present invention;

fig. 6 is a schematic view of the threaded rod of fig. 5 according to the present invention.

In the figure: 1. a main board; 2. a slide plate; 3. a slider; 4. a limiting shell; 5. a support plate; 6. a first support block; 7. a first rotating shaft; 8. a support plate; 9. an air pump; 10. an adjusting block; 11. a second rotating shaft; 12. a supporting strip; 13. rotating the column; 14. a second support block; 15. a gripper jaw; 16. an auxiliary claw; 17. a first fixed block; 18. a second fixed block; 19. a first motor; 20. a bidirectional screw rod; 21. a first chute; 22. a third support block; 23. a threaded rod; 24. a second motor; 25. an extension block; 26. a third motor; 27. a threaded post; 28. a housing; 29. pressing a plate; 30. a second chute; 31. a fourth support block; 32. a support column; 33. a slider; 34. a slide bar; 35. a sleeve.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.

Referring to fig. 1-6, a gripper includes a main board 1, a sliding plate 2 is fixedly mounted on a side surface of the main board 1, a sliding block 3 is fixedly mounted on a side surface of the sliding plate 2, a limiting shell 4 is slidably mounted on a side surface of the sliding block 3, a supporting plate 5 is fixedly mounted on a side surface of the limiting shell 4, the supporting plate 5 is driven to move by the sliding block 3 sliding in the limiting shell 4, a first supporting block 6 is fixedly mounted on a side surface of the supporting plate 5, a first rotating shaft 7 is movably mounted on a side surface of the first supporting block 6, a supporting plate 8 is fixedly mounted on a side surface of the first rotating shaft 7, the supporting plate 8 is angularly adjusted by the first rotating shaft 7, an air pump 9 is fixedly mounted on a side surface of the supporting plate 8, the air pump 9 is angularly adjusted by the supporting plate 8, an adjusting block 10 is fixedly mounted at one end of the air pump 9, side fixed mounting of adjusting block 10 has second pivot 11, the movable surface mounting of second pivot 11 has support bar 12, the function through air pump 9 drives adjusting block 10 displacement messenger second pivot 11 and drives support bar 12 angular adjustment, the side movable mounting of backup pad 5 has rotation post 13, angular adjustment through support bar 12 drives rotation post 13 and rotates, the surface of support bar 12 inner wall and the fixed surface connection who rotates post 13, the fixed surface of rotation post 13 installs second supporting shoe 14, the side fixed mounting of second supporting shoe 14 has gripper jaw 15, thereby it rotates to drive second supporting shoe 14 through the rotation of rotation post 13 and drive gripper jaw 15 and carry out angular adjustment, the fixed surface of rotation post 13 installs supplementary claw 16, thereby it carries out angular adjustment to drive supplementary claw 16 through the rotation of rotation post 13.

Wherein; the side fixed mounting of backup pad 5 has first fixed block 17, the surface threaded connection of the inner wall of first fixed block 17 has two-way lead screw 20, the one end fixed mounting of two-way lead screw 20 has movable mounting second fixed block 18, the side of second fixed block 18 and the side fixed connection of mainboard 1, the side fixed mounting of second fixed block 18 has first motor 19, the one end of first motor 19 extends the side of second fixed block 18 and the one end fixed connection of two-way lead screw 20, thereby it is close to each other to drive backup pad 5 when driving the displacement of first fixed block 17 to rotate two-way lead screw 20 through the function of first motor 19, first spout 21 has been seted up to the side of backup pad 5, the side fixed mounting of backup pad 5 has third supporting shoe 22, the side movable mounting of third supporting shoe 22 has threaded rod 23, the side fixed mounting of third supporting shoe 22 has second motor 24.

Wherein; the one end of second motor 24 is extended the side of extending third supporting shoe 22 and the one end fixed connection of threaded rod 23, operation through second motor 24 can drive threaded rod 23 and rotate, the surperficial threaded connection of threaded rod 23 has extension piece 25, the rotation through threaded rod 23 drives extension piece 25 and carries out position shifting, the side fixed mounting of extension piece 25 has third motor 26, the one end of third motor 26 is extended the side of extending piece 25, the one end fixed mounting of third motor 26 has threaded post 27, threaded post 27's surperficial threaded connection has shell 28, it removes to drive third motor 26 through the removal of extending piece 25, thereby the operation through third motor 26 drives threaded post 27 and rotates and drive shell 28 position adjustment.

Wherein; one end of the sleeve 28 is fixedly provided with a pressing plate 29, the pressing plate 29 is adjusted in height through adjustment of the sleeve 28, the surface of the sleeve 28 is in sliding connection with one side of the inner wall of the first sliding groove 21, the side surface of the supporting plate 5 is fixedly provided with a second sliding groove 30, the side surface of the supporting plate 5 is fixedly provided with a fourth supporting block 31, the side surface of the fourth supporting block 31 is movably provided with a supporting column 32, and the surface of the supporting column 32 is provided with a sliding block 33 in a sliding manner.

Wherein; the sliding rod 34 is fixedly mounted on the side surface of the sliding block 33, and the sleeve 35 is slidably mounted on the surface of the sliding rod 34.

Wherein; the surface of sleeve 35 and one side sliding connection of second spout 30 inner wall, one end of sleeve 35 and the side fixed connection of clamp plate 29, thereby it drives slide bar 34 to slide to make sliding block 33 slide through the setting of support column 32 and remove, thereby it drives clamp plate 29 height adjustment to make sleeve 35 carry out height adjustment through the setting of slide bar 34.

The working principle, the operation of the first motor 19 drives the bidirectional screw rod 20 to rotate so as to drive the first fixing block 17 to approach each other so as to drive the supporting plate 5 to approach each other, the supporting plate 5 moves under the connection with the sliding block 3 through the limiting shell 4 so as to maintain stability, the distance between the clamping claws 15 can be adjusted through the displacement of the supporting plate 5 so as to adapt to the objects with different sizes for clamping, the operation of the first rotating shaft 7 drives the supporting plate 8 to adjust the angle so as to drive the air pump 9 to adjust, the operation of the air pump 9 drives the adjusting block 10 to move so as to drive the second rotating shaft 11 to drive the supporting bar 12 to adjust the angle so as to drive the rotating column 13 to rotate, the rotating column 13 rotates so as to drive the second supporting block 14 to drive the clamping claws 15 to adjust so as to clamp the objects, the operation of the third motor 26 drives the threaded rod 23 to rotate so as to drive the displacement of the pressing plate 29 through the displacement of the casing 28, the height of the pressing plate 29 is adjusted through the height of the pressing plate 29 so as to move the sleeve 35 on the surface of the sliding block 34, thereby enabling the sliding plate 29 to move when the sliding block 29 moves in the sliding chute 30, and the sliding block 30 moves so as to move, thereby enabling the sliding block 29 to move the sliding plate 29 to move when the sliding block to move in the sliding chute 30.

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

Claims

1. The mechanical claw is characterized by comprising a main plate (1), a sliding plate (2) is fixedly arranged on the side surface of the main plate (1), a sliding block (3) is fixedly arranged on the side surface of the sliding plate (2), a limiting shell (4) is arranged on the side surface of the sliding block (3) in a sliding manner, a supporting plate (5) is fixedly arranged on the side surface of the limiting shell (4), a first supporting block (6) is fixedly arranged on the side surface of the supporting plate (5), a first rotating shaft (7) is movably arranged on the side surface of the first supporting block (6), a supporting plate (8) is fixedly arranged on the side surface of the first rotating shaft (7), an air pump (9) is fixedly arranged on the side surface of the supporting plate (8), one end of the air pump (9) is fixedly provided with an adjusting block (10), a second rotating shaft (11) is fixedly arranged on the side surface of the adjusting block (10), a support strip (12) is movably arranged on the surface of the second rotating shaft (11), a rotating column (13) is movably arranged on the side surface of the supporting plate (5), the surface of the inner wall of the supporting bar (12) is fixedly connected with the surface of the rotating column (13), a second supporting block (14) is fixedly arranged on the surface of the rotating column (13), a clamping claw (15) is fixedly arranged on the side surface of the second supporting block (14), and an auxiliary claw (16) is fixedly arranged on the surface of the rotating column (13).

2. The gripper as claimed in claim 1, wherein a first fixing block (17) is fixedly mounted on a side surface of the support plate (5), a bidirectional screw rod (20) is connected to a surface thread of an inner wall of the first fixing block (17), a second fixing block (18) is movably mounted at one end of the bidirectional screw rod (20), a side surface of the second fixing block (18) is fixedly connected with a side surface of the main board (1), a first motor (19) is fixedly mounted at a side surface of the second fixing block (18), one end of the first motor (19) extends through a side surface of the second fixing block (18) and is fixedly connected with one end of the bidirectional screw rod (20), a first sliding groove (21) is formed in the side surface of the support plate (5), a third support block (22) is fixedly mounted at a side surface of the support plate (5), a threaded rod (23) is movably mounted at a side surface of the third support block (22), and a second motor (24) is fixedly mounted at a side surface of the third support block (22).

3. A gripper according to claim 2, wherein one end of the second motor (24) extends through the side of the third support block (22) and is fixedly connected with one end of the threaded rod (23), an extension block (25) is screwed on the surface of the threaded rod (23), a third motor (26) is fixedly mounted on the side of the extension block (25), one end of the third motor (26) extends through the side of the extension block (25), a threaded column (27) is fixedly mounted on one end of the third motor (26), and a casing (28) is screwed on the surface of the threaded column (27).

4. A gripper according to claim 3, characterized in that a pressing plate (29) is fixedly mounted at one end of the casing (28), the surface of the casing (28) is slidably connected to one side of the inner wall of the first sliding slot (21), a second sliding slot (30) is fixedly mounted at the side of the supporting plate (5), a fourth supporting block (31) is fixedly mounted at the side of the supporting plate (5), a supporting column (32) is movably mounted at the side of the fourth supporting block (31), and a sliding block (33) is slidably mounted at the surface of the supporting column (32).

5. A gripper according to claim 4, characterized in that the sliding block (33) is fixed with a sliding rod (34) on its side, the sliding rod (34) being slidably fitted with a sleeve (35) on its surface.

6. A gripper according to claim 5, characterized in that the surface of the sleeve (35) is slidably connected to one side of the inner wall of the second runner (30), and one end of the sleeve (35) is fixedly connected to the side of the pressure plate (29).