CN105904479A - Mechanical clamping jaw for clamping egg-shaped object - Google Patents

Abstract

The invention discloses a mechanical gripper used for clamping an egg-shaped object. A connecting joint is fixed in the middle of the upper end surface of the positioning seat, and a plurality of elastic clips circularly distributed around the connecting joint are fixedly connected on the lower end surface of the positioning seat. The elastic clip includes T-shaped fixing parts distributed on the lower end surface of the positioning seat. The lower end of the T-shaped fixing part is formed with an arc-shaped clamping part bent toward the center of the positioning seat, and the lower end of the arc-shaped clamping part is formed with a downward vertical extension. The limit part, the lower end of the limit part is formed with an arc-shaped guide part that bends to the outside of the positioning seat, the lower end of the arc-shaped guide part is formed with a connecting part that extends horizontally to the outside of the positioning seat, and the outer end of the connecting part is fixedly connected with a drive The piston rod of the cylinder and the driving cylinder are fixed on the lower end surface of the positioning seat. The present invention designs a mechanical gripper for spherical or egg-shaped objects, which can support the spherical or egg-shaped object when clamping, and can prevent the spherical or egg-shaped object from slipping during the clamping and transportation process.

Description

A mechanical gripper for holding egg-shaped objects

Technical field:

The invention relates to the technical field of robots, and more specifically relates to a mechanical gripper for clamping egg-shaped objects.

Background technique:

At present, in some industrial production, automation equipment is gradually replacing traditional manual operations, that is, some actions that cannot be completed by automation equipment can also be performed by the robotic arm of the robot, and the grasping operation is a common operation of the mechanical arm. Install grippers on the robotic arm and operate the grippers to achieve grabbing. When gripping a spherical or egg-shaped object, the contact point with the spherical or egg-shaped object is small, and the surface of the spherical or egg-shaped object is comparatively small. Smooth, so that during the clamping process with ordinary jaws, the spherical or egg-shaped objects are often easy to slip off. At the same time, for some egg-shaped objects with brittle shells like eggs, the clamping force of ordinary jaws is not controlled, and it is often easy to slip Crumble egg-shaped objects with a crispy shell.

Invention content:

The purpose of the present invention is to address the deficiencies of the prior art, and provide a mechanical gripper for clamping egg-shaped objects, which is convenient for clamping spherical or egg-shaped objects, and can prevent spherical or egg-shaped objects from being clamped and transported. slipped during the process.

A mechanical jaw for clamping an egg-shaped object, comprising a positioning seat, a connecting joint is fixed in the middle of the upper end surface of the positioning seat, and a plurality of elastic clips circularly distributed around the connecting joint are fixedly connected on the lower end surface of the positioning seat. The clip includes T-shaped fixing parts distributed on the lower end surface of the positioning seat. The lower end of the T-shaped fixing part is formed with an arc-shaped clamping part bent toward the center of the positioning seat, and the lower end of the arc-shaped clamping part is formed with a downward vertically extending Limiting part, the lower end of the limiting part is formed with an arc-shaped guide part that bends to the outside of the positioning seat, the lower end of the arc-shaped guide part is formed with a connecting part that extends horizontally to the outside of the positioning seat, and the outer end of the connecting part is fixedly connected with the driving cylinder The piston rod and the driving cylinder are fixed on the lower end surface of the positioning seat.

The positioning seat is circular or triangular in shape, and there are at least three elastic clips on the positioning seat, and the elastic clips are evenly distributed on the positioning seat in a ring around the connecting joint.

The length of the arc-shaped clamping portion on the elastic clip is greater than the length of the arc-shaped guiding portion or the limiting portion.

The piston rod of the driving cylinder is fixedly connected with an extension rod, and the lower end of the extension rod is formed with a stud, and the stud on the extension rod passes through the connecting part of the elastic clip and is screwed with a nut. The cross-sectional area is greater than the radial cross-sectional area of the stud on the extension rod.

An elastic leather pad is fixedly connected to the inner end surfaces of the arc-shaped clamping portion, the limiting portion and the arc-shaped guide portion of the elastic clip.

The top end of the T-shaped fixing part of the elastic clip is welded and fixed on the positioning seat, and the driving cylinder is fixed on the positioning seat by bolts.

The beneficial effects of the present invention are:

1. It designs a mechanical gripper for spherical or egg-shaped objects, which can support spherical or egg-shaped objects when clamping, and can prevent spherical or egg-shaped objects from slipping during clamping and transportation.

2. The claws it uses have a small force on the extrusion of egg-shaped objects, so that some egg-shaped objects with crisp shells can be clamped.

Description of drawings:

Fig. 1 is the three-dimensional structural schematic diagram of the invention;

Fig. 2 is a structural schematic diagram of the front view of the invention;

Fig. 3 is a structural schematic diagram of the invention viewed from above.

In the figure: 1. positioning seat; 2. connecting joint; 3. elastic clip; 31. T-shaped fixing part; 32. arc clamping part; 33. limit part; 34. arc guide part; 35. connection 4. Drive cylinder; 5. Extension rod; 6. Nut; 7. Elastic leather pad.

detailed description:

Embodiment: As shown in Figures 1 to 3, a mechanical gripper for clamping an egg-shaped object includes a positioning seat 1, a connecting joint 2 is fixed in the middle of the upper end surface of the positioning seat 1, and a connecting joint 2 is fixed on the lower end surface of the positioning seat 1. There are several elastic clips 3 distributed circularly around the connecting joint 2 in fixed connection. The elastic clips 3 include a T-shaped fixing part 31 distributed on the lower end surface of the positioning seat 1. The lower end of the T-shaped fixing part 31 is formed to bend toward the center of the positioning seat 1. The arc-shaped clamping portion 32, the lower end of the arc-shaped clamping portion 32 is formed with a limiting portion 33 extending vertically downward, and the lower end of the limiting portion 33 is formed with an arc-shaped guide portion 34 bent toward the outside of the positioning seat 1, The lower end of the arc guide portion 34 is formed with a connecting portion 35 extending horizontally to the outside of the positioning seat 1. The outer end of the connecting portion 35 is fixedly connected with the piston rod of the driving cylinder 4, and the driving cylinder 4 is fixed on the lower surface of the positioning seat 1.

The positioning seat 1 is circular or triangular in shape, and there are at least three elastic clips 3 on the positioning seat 1, and the elastic clips 3 are evenly distributed on the positioning seat 1 around the connecting joint 2 in a ring.

The length of the arc clamping portion 32 on the elastic clip 3 is greater than the length of the arc guide portion 34 or the limiting portion 33 .

The piston rod of the drive cylinder 4 is fixedly connected with an extension rod 5, the lower end of the extension rod 5 is formed with a stud, and the stud on the extension rod 5 passes through the connecting portion 35 of the elastic clip 3 and is screwed with a nut 6, so The radial cross-sectional area of the extension rod 5 is greater than the radial cross-sectional area of the stud on the extension rod 5 .

An elastic leather pad 7 is fixedly connected to the inner end surfaces of the arc-shaped clamping portion 32 , the limiting portion 33 and the arc-shaped guide portion 34 of the elastic clip 3 .

The top end of the T-shaped fixing part 31 of the elastic clip 3 is welded and fixed on the positioning seat 1, and the driving cylinder 4 is fixed on the positioning seat 1 by bolts.

Working principle: The present invention is a mechanical gripper specially designed for clamping spherical or egg-shaped objects installed on a robot. The mechanical gripper is driven by the driving cylinder 3 to realize the opening of the elastic clip 3 as the gripper hook. After the elastic clips 3 are opened, the egg-shaped object enters between the multiple elastic clips 3, and when the drive cylinder 3 is reset, the egg-shaped object is supported on the arc-shaped clamping portion 32 of the elastic clip 3, and its position is limited. Part 33 restricts the sliding of the egg-shaped object, so that the force of its jaws on the egg-shaped object is not only friction but also supporting force, which can prevent the spherical or egg-shaped object from slipping during clamping and transportation; at the same time, its elastic clip 3 The force of clamping and squeezing of egg-shaped objects is small, so that some egg-shaped objects with brittle shells can be clamped.

Claims (6)

1. A mechanical gripper for clamping egg-shaped objects, comprising a positioning seat (1), the middle part of the upper end surface of the positioning seat (1) is fixed with a connecting joint (2), characterized in that: the positioning seat (1) The lower end surface is fixedly connected with a number of elastic clips (3) distributed circularly around the connecting joint (2). The elastic clips (3) include T-shaped fixing parts (31) distributed on the lower end surface of the positioning seat (1). The lower end of the fixing part (31) is formed with an arc-shaped clamping part (32) bent toward the center of the positioning seat (1), and the lower end of the arc-shaped clamping part (32) is formed with a stopper (33) extending vertically downward. ), the lower end of the limiting portion (33) is formed with an arc-shaped guide portion (34) bent toward the outside of the positioning seat (1), and the lower end of the arc-shaped guide portion (34) is formed with a horizontally extending outside of the positioning seat (1) Connecting part (35), the outer end of connecting part (35) is fixedly connected with the piston rod of driving cylinder (4), and driving cylinder (4) is fixed on the lower end surface of positioning seat (1). 2. A mechanical gripper for clamping egg-shaped objects according to claim 1, characterized in that: the positioning seat (1) is circular or triangular in shape, and the elastic clip on the positioning seat (1) (3) There are at least three, and the elastic clips (3) are evenly distributed on the positioning seat (1) circularly around the connecting joint (2). 3. A mechanical gripper for clamping egg-shaped objects according to claim 1, characterized in that: the length of the arc-shaped clamping portion (32) on the elastic clip (3) is longer than the arc-shaped guide portion (34) or the length of the limiting portion (33). 4. A kind of mechanical gripper for clamping egg-shaped object according to claim 1, it is characterized in that: the piston rod of described driving cylinder (4) is fixedly connected with extension rod (5), extension rod ( The lower end of 5) is formed with a stud, and the stud on the extension rod (5) passes through the connecting part (35) of the elastic clip (3) and is screwed with a nut (6), and the radial extension of the extension rod (5) The cross-sectional area is greater than the radial cross-sectional area of the stud on the extension rod (5). 5. A mechanical gripper for clamping an egg-shaped object according to claim 1, characterized in that: the arc-shaped clamping portion (32) and the limiting portion (33) of the elastic clip (3) ) and the inner end surface of the arc guide portion (34) are fixedly connected with an elastic leather pad (7). 6. A kind of mechanical gripper for clamping an egg-shaped object according to claim 1, characterized in that: the top end of the T-shaped fixing part (31) of the elastic clip (3) is welded and fixed on the positioning seat ( 1), the drive cylinder (4) is fixed on the positioning seat (1) by bolts.