CN221561374U - Mechanical gripper for clamping heavy parts - Google Patents

Abstract

The utility model provides a mechanical gripper for clamping heavy parts, which belongs to the technical field of automatic production lines. The hand claw comprises a hand claw base, wherein a speed reducer and a servo motor are fixed in the middle of the hand claw base, and a left hand claw and a right hand claw are symmetrically arranged on two sides of the upper part of the hand claw base; the lower part of the left paw is connected with the left side of the upper part of the paw base in a sliding way, a left mechanical transmission component is arranged in the left side of the paw base, the left output of the speed reducer is connected with a left paw through a left mechanical transmission component; the lower part of the right hand claw is in sliding connection with the right side of the upper part of the hand claw base, a right mechanical transmission assembly is arranged in the right side of the hand claw base, the right output of the speed reducer is connected with the right hand claw through the right mechanical transmission assembly, and the servo motor drives the left hand claw and the right hand claw to synchronously and reversely move so as to clamp and loosen a workpiece; the opposite clamping surfaces of the inner sides of the left hand claw and the right hand claw are adjustable V-shaped clamping structures. The utility model has stable clamping, is suitable for grabbing heavy-load parts, has reliable control moment, ensures the clamping of thin-wall workpieces and prevents the thin-wall workpieces from being deformed by clamping.

Description

Mechanical gripper for clamping heavy parts

Technical Field

The utility model belongs to the technical field of automatic production lines, and particularly relates to a mechanical gripper for clamping heavy parts.

Background

In the production and processing process, workpieces are often required to be clamped so as to realize positioning or transferring of the workpieces, particularly in the processing field of an automatic production line, the reliability of workpiece clamping is important, and the processing precision and the processing efficiency of products are determined to a great extent. The gripper used in the prior art is generally driven in a pneumatic manner, and the gripper with the driving structure is only suitable for clamping small parts. The method has the following defects: 1. the clamping force is too small, so that the clamping device is not suitable for clamping heavy parts; 2. the cylinder clamping mode is not suitable for clamping large-volume and large-diameter parts. Therefore, a mechanical gripper with stable and reliable clamping needs to be redesigned for clamping large heavy parts.

Disclosure of utility model

The utility model solves the technical problems that: the utility model provides a mechanical gripper for clamping heavy parts, which is used for clamping heavy cylindrical thin-wall parts in a mode of driving and holding by a screw rod structure, wherein the two grippers are simultaneously tightened and simultaneously loosened, so that the gripper is stable in clamping and suitable for grabbing heavy-load parts with large volume and large diameter; the servo motor is used for controlling the moment effectively, so that the thin-wall workpiece is clamped and prevented from being clamped and deformed.

In order to achieve the above purpose, the utility model adopts the technical scheme that:

The mechanical gripper for clamping the heavy parts comprises a gripper base, wherein a speed reducer and a servo motor are fixed in the middle of the gripper base, and the output of the servo motor is connected with the input of the speed reducer; the left paw and the right paw are symmetrically arranged on two sides of the upper part of the paw base; the lower part of the left paw is connected with the left side of the upper part of the paw base in a sliding way, a left mechanical transmission component is arranged in the left side of the paw base, the left output of the speed reducer is connected with a left paw through a left mechanical transmission assembly; the lower part of the right hand claw is in sliding connection with the right side of the upper part of the hand claw base, a right mechanical transmission assembly is arranged in the right side of the hand claw base, the right output of the speed reducer is connected with the right hand claw through the right mechanical transmission assembly, and the servo motor drives the left hand claw and the right hand claw to synchronously and reversely move so as to clamp and loosen a workpiece; the opposite clamping surfaces of the inner sides of the left hand claw and the right hand claw are of adjustable V-shaped clamping structures.

The left mechanical transmission assembly comprises a left lead screw, a left bearing seat and a left connecting nut, the left bearing seat is fixed on the left side of the paw base, the left end of the left lead screw is supported in the left bearing seat through a bearing, the right end of the left lead screw is fixedly connected with a left output shaft of the speed reducer, and the left connecting nut is coupled with the left lead screw;

The right mechanical transmission assembly comprises a right lead screw, a right bearing seat and a right connecting nut, the right bearing seat is fixed on the right side of the paw base, the right end of the right lead screw is supported in the right bearing seat through a bearing, the left end of the right lead screw is fixedly connected with a right output shaft of the speed reducer, and the right connecting nut is coupled with the right lead screw;

the left lead screw and the right lead screw respectively rotate in a left rotation mode and a right rotation mode;

The left slide plate is fixedly connected with the left paw, and the left slide plate is also fixedly connected with a left connecting nut; the right slide plate is fixedly connected with the upper part of the slide block on the right side of the guide rail, the right slide plate is fixedly connected with the right paw, and the right slide plate is also fixedly connected with the right connecting nut.

Further, the left lead screw, the right lead screw and the guide rail adopt a self-lubricating mode.

Further, the left sliding plate and the right sliding plate are made of titanium alloy materials.

Wherein, the inboard adjustable V type clamp structure of left hand claw and right hand claw is: the V-shaped lower inclined planes formed by the inner side lower parts of the left hand claw and the right hand claw are of an integrated fixed inclined plane structure, and the V-shaped upper inclined planes formed by the inner side upper parts of the left hand claw and the right hand claw are of an up-down adjustable inclined plane structure.

Further, the upper part of the inner side of the left paw is a vertical plane, the plane is connected with a left adjustable base paw in an up-down movable way through a guide groove, the left adjustable base paw is in adjustable fixed connection with the left paw through a waist-shaped hole and a bolt, the left adjustable base paw is provided with an upper inclined plane which forms a V-shaped clamping structure together with a lower inclined plane of the lower part of the left paw, and a left contact block is fixedly embedded on the upper inclined plane of the left adjustable base paw; the upper part of the inner side of the right hand claw is a vertical plane, the right adjustable base claw is connected to the plane in an up-down movable way through a guide groove, the right adjustable base claw is fixedly connected with the right hand claw through a waist-shaped hole and a bolt, an upper inclined surface which is formed by the right adjustable base claw and a lower inclined surface of the lower part of the right hand claw together form a V-shaped clamping structure is arranged on the right adjustable base claw, and a right contact block is fixedly inlaid on the upper inclined surface of the right adjustable base claw.

Further, the left hand claw and the right hand claw are both of a frame design and adopt casting structures, and manufacturing materials of the left hand claw and the right hand claw adopt casting aluminum alloy.

Further, the left contact block and the right contact block are made of NBR materials.

Further, the speed reducer is fixedly connected with the paw base through a speed reducer connecting plate.

Compared with the prior art, the utility model has the advantages that:

1. According to the scheme, aiming at the heavy-duty cylindrical thin-wall part, the clamping is realized by adopting a screw structure to drive the holding mode, the two claws are simultaneously clamped and released, the clamping is stable, and the clamping device is suitable for grabbing the heavy-duty part with large volume and large diameter; the servo motor is used for controlling the moment effectively, so that the thin-wall workpiece is clamped and prevented from being clamped and deformed;

2. In the scheme, a V-shaped clamping structure is adopted, and the two claws are clamped in a same-motion mode, so that the centering can be performed quickly; the V-shaped paw not only can be used for grabbing a workpiece, but also can be used for overturning and turning the workpiece, and the paw can be mechanically self-locked after clamping the workpiece so as to prevent the workpiece from falling off;

3. In the scheme, the claw adopts a V-shaped structure, a workpiece is clamped in the V shapes of the left claw and the right claw, and the workpiece clamping of various specifications can be realized by combining the arrangement of the adjustable base claws on the claws;

4. in the scheme, the left lead screw, the right lead screw and the guide rail are self-lubricating, so that maintenance can be avoided for a long time, and the problems of complex arrangement pipelines and high failure rate of an external lubricating oil way are solved;

5. in the scheme, the mechanical gripper adopts a lightweight design, is structurally started from the aspects of material selection, the left and right grippers adopt a frame design, a casting structure is adopted, cast aluminum alloy is used as the material, and titanium alloy is used as the left and right sliding plate materials, so that the running load of the robot or the truss is lighter, the connection strength is ensured, and the weight is reduced; the left contact block and the right contact block are made of NBR materials, and friction force contacted with a workpiece is increased during clamping.

Drawings

FIG. 1 is a schematic top view of the present utility model;

FIG. 2 is a cross-sectional view of the structure of FIG. 1 taken along the direction A-A in accordance with the present utility model;

FIG. 3 is a left side view of the present utility model;

Fig. 4 is a schematic perspective view of the present utility model.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more in the limited case. The inclusion of an element as defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.

Referring to fig. 1-4, embodiments of the present utility model are described in detail.

Examples: the mechanical gripper for clamping the heavy parts comprises a gripper base 1, wherein a speed reducer 2 and a servo motor 17 are fixed in the middle of the gripper base 1, the speed reducer 2 is fixedly connected with the gripper base 1 through a speed reducer connecting plate 16, and the output of the servo motor 17 is connected with the input of the speed reducer 2; the left paw 3 and the right paw 9 are symmetrically arranged on two sides of the upper part of the paw base 1; the lower part of the left paw 3 is in sliding connection with the left side of the upper part of the paw base 1, a left mechanical transmission component 4 is arranged in the left side of the paw base 1, and the left output of the speed reducer 2 is connected with the left paw 3 through the left mechanical transmission component 4; the lower part of the right hand claw 9 is in sliding connection with the right side of the upper part of the hand claw base 1, a right mechanical transmission assembly 10 is arranged in the right side of the hand claw base 1, the right output of the speed reducer 2 is connected with the right hand claw 9 through the right mechanical transmission assembly 10, and the servo motor 17 drives the left hand claw 3 and the right hand claw 9 to synchronously and reversely move so as to clamp and loosen a workpiece 22.

In an embodiment, the left mechanical transmission assembly 4 comprises a left lead screw 5, a left bearing seat 6 and a left connecting nut 8, the left bearing seat 6 is fixed at the left side of the paw base 1, the left end of the left lead screw 5 is supported in the left bearing seat 6 through a bearing, the right end of the left lead screw 5 is fixedly connected with the left output shaft of the speed reducer 2, and the left connecting nut 8 is coupled with the left lead screw 5;

the right mechanical transmission assembly 10 comprises a right lead screw 11, a right bearing seat 12 and a right connecting nut 14, wherein the right bearing seat 12 is fixed on the right side of the paw base 1, the right end of the right lead screw 11 is supported in the right bearing seat 12 through a bearing, the left end of the right lead screw 11 is fixedly connected with a right output shaft of the speed reducer 2, and the right connecting nut 14 is coupled with the right lead screw 11;

the left screw rod 5 and the right screw rod 11 respectively rotate in a left-handed mode and a right-handed mode, and the screw thread design of the left-handed screw and the right-handed screw can achieve simultaneous opening and closing of the claws and ensure concentricity of clamping.

Two guide rails 15 are arranged on the upper plane of the paw base 1 in a left-right through manner, the upper part of a sliding block on the left side of the guide rails 15 is fixedly connected with a left sliding plate 7, the left sliding plate 7 is fixedly connected with the left paw 3, and the left sliding plate 7 is also fixedly connected with a left connecting nut 8; the upper part of the right sliding block on the guide rail 15 is fixedly connected with a right sliding plate 13, the right sliding plate 13 is fixedly connected with the right paw 9, and the right sliding plate 13 is also fixedly connected with a right connecting nut 14.

Preferably, the left screw rod 5, the right screw rod 11 and the guide rail 15 all adopt a self-lubricating mode, so that the maintenance can be avoided for the whole life, and the problems of complex arrangement pipeline and high failure rate of an external lubricating oil way are solved.

Preferably, the left slide plate 7 and the right slide plate 13 are made of titanium alloy materials, so that the connection strength is ensured, and the weight is reduced.

According to the technical scheme, the clamping is realized by adopting a screw structure to drive the clamping mode for the heavy-duty cylindrical thin-wall part, the two claws are clamped simultaneously and loosened simultaneously, the clamping is stable, and the clamping device is suitable for grabbing large-size large-diameter heavy-duty parts; the servo motor is used for controlling the moment effectively, so that the thin-wall workpiece is clamped and prevented from being clamped and deformed.

In this embodiment, the opposite clamping surfaces of the inner sides of the left hand claw 3 and the right hand claw 9 are adjustable V-shaped clamping structures. The V-shaped clamping structure is adopted, and the two claws are clamped in a synchronous manner, so that the centering can be performed rapidly; the V-shaped paw not only can be used for grabbing a workpiece, but also can be used for turning the workpiece around, and the paw can be mechanically self-locked after clamping the workpiece, so that the workpiece is prevented from falling.

In one embodiment, the adjustable V-clamp structure is: the V-shaped lower inclined planes formed by the inner side lower parts of the left hand claw 3 and the right hand claw 9 are of an integrated fixed inclined plane structure, and the V-shaped upper inclined planes formed by the inner side upper parts of the left hand claw 3 and the right hand claw 9 are of an up-down adjustable inclined plane structure.

Specifically, the upper part of the inner side of the left claw 3 is a vertical plane, the plane is movably connected with a left adjustable base claw 18 up and down through a guide groove, the left adjustable base claw 18 is in adjustable fixed connection with the left claw 3 through a waist-shaped hole and a bolt, the left adjustable base claw 18 is provided with an upper inclined surface which forms a V-shaped clamping structure together with a lower inclined surface of the lower part of the left claw 3, and a left contact block 20 is fixedly embedded on the upper inclined surface of the left adjustable base claw 18; the upper portion of the inner side of the right hand claw 9 is a vertical plane, a right adjustable base claw 19 is movably connected to the plane up and down through a guide groove, the right adjustable base claw 19 is in adjustable fixed connection with the right hand claw 9 through a waist-shaped hole and a bolt, an upper inclined surface which is formed by the right adjustable base claw 19 and a lower inclined surface of the lower portion of the right hand claw 9 together is arranged on the right adjustable base claw 19, and a right contact block 21 is fixedly inlaid on the upper inclined surface of the right adjustable base claw 19.

According to the technical scheme, the claw is of a V-shaped structure, a workpiece is clamped in the V-shaped of the left claw and the right claw, and the workpiece clamping of various specifications can be realized by combining the arrangement of the adjustable base claw on the claw.

For weight reduction, the mechanical gripper body is preferable, the left gripper 3 and the right gripper 9 are both of a frame design and adopt casting structures, and the left gripper 3 and the right gripper 9 are made of casting aluminum alloy.

Preferably, the left contact block 20 and the right contact block 21 are made of NBR material, and the friction force for contacting the workpiece is increased during clamping.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims (8)

1. Mechanical gripper for clamping heavy parts, comprising a gripper base (1), and being characterized in that: a speed reducer (2) and a servo motor (17) are fixed in the middle of the paw base (1), and the output of the servo motor (17) is connected with the input of the speed reducer (2); the left paw (3) and the right paw (9) are symmetrically arranged on two sides of the upper part of the paw base (1); the lower part of the left paw (3) is in sliding connection with the left side of the upper part of the paw base (1), a left mechanical transmission assembly (4) is arranged in the left side of the paw base (1), and the left output of the speed reducer (2) is connected with the left paw (3) through the left mechanical transmission assembly (4); the lower part of the right hand claw (9) is in sliding connection with the right side of the upper part of the hand claw base (1), a right mechanical transmission assembly (10) is arranged in the right side of the hand claw base (1), the right output of the speed reducer (2) is connected with the right hand claw (9) through the right mechanical transmission assembly (10), and the servo motor (17) drives the left hand claw (3) and the right hand claw (9) to synchronously and reversely move so as to clamp and loosen a workpiece (22); clamping surfaces opposite to the inner sides of the left hand claw (3) and the right hand claw (9) are of adjustable V-shaped clamping structures;

the adjustable V-shaped clamping structure at the inner sides of the left paw (3) and the right paw (9) is as follows: the V-shaped lower inclined planes formed by the inner side lower parts of the left hand claw (3) and the right hand claw (9) are of an integrated fixed inclined plane structure, and the V-shaped upper inclined planes formed by the inner side upper parts of the left hand claw (3) and the right hand claw (9) are of an up-down adjustable inclined plane structure.

2. The mechanical gripper for clamping heavy parts according to claim 1, wherein: the left mechanical transmission assembly (4) comprises a left lead screw (5), a left bearing seat (6) and a left connecting nut (8), the left bearing seat (6) is fixed on the left side of the paw base (1), the left end of the left lead screw (5) is supported in the left bearing seat (6) through a bearing, the right end of the left lead screw (5) is fixedly connected with a left output shaft of the speed reducer (2), and the left connecting nut (8) is coupled with the left lead screw (5);

The right mechanical transmission assembly (10) comprises a right lead screw (11), a right bearing seat (12) and a right connecting nut (14), wherein the right bearing seat (12) is fixed on the right side of the paw base (1), the right end of the right lead screw (11) is supported in the right bearing seat (12) through a bearing, the left end of the right lead screw (11) is fixedly connected with a right output shaft of the speed reducer (2), and the right connecting nut (14) is coupled with the right lead screw (11);

The left lead screw (5) and the right lead screw (11) respectively rotate in a left-handed way and a right-handed way;

The left and right through of the upper plane of the paw base (1) is provided with a guide rail (15), the upper part of a sliding block on the left side of the guide rail (15) is fixedly connected with a left sliding plate (7), the left sliding plate (7) is fixedly connected with a left paw (3), and the left sliding plate (7) is also fixedly connected with a left connecting nut (8); the right sliding plate (13) is fixedly connected to the upper portion of the right sliding block on the guide rail (15), the right sliding plate (13) is fixedly connected with the right paw (9), and the right sliding plate (13) is also fixedly connected with the right connecting nut (14).

3. The mechanical gripper for clamping heavy parts according to claim 2, wherein: the left lead screw (5) and the right lead screw (11) and the guide rail (15) adopt a self-lubricating mode.

4. The mechanical gripper for clamping heavy parts according to claim 2, wherein: the left sliding plate (7) and the right sliding plate (13) are made of titanium alloy materials.

5. The mechanical gripper for clamping heavy parts according to claim 1, wherein: the upper part of the inner side of the left paw (3) is a vertical plane, a left adjustable base paw (18) is movably connected to the plane up and down through a guide groove, the left adjustable base paw (18) is in adjustable fixed connection with the left paw (3) through a waist-shaped hole and a bolt, an upper inclined plane which forms a V-shaped clamping structure together with a lower inclined plane of the lower part of the left paw (3) is arranged on the left adjustable base paw (18), and a left contact block (20) is fixedly embedded on the upper inclined plane of the left adjustable base paw (18); the upper portion of the inner side of the right hand claw (9) is a vertical plane, a right adjustable base claw (19) is movably connected to the plane up and down through a guide groove, the right adjustable base claw (19) is fixedly connected with the right hand claw (9) through a waist-shaped hole and a bolt, an upper inclined surface which is formed by the right adjustable base claw (19) and a lower inclined surface of the lower portion of the right hand claw (9) together forms a V-shaped clamping structure is arranged on the right adjustable base claw (19), and a right contact block (21) is fixedly embedded on the upper inclined surface of the right adjustable base claw (19).

6. The mechanical gripper for clamping heavy parts according to claim 1, wherein: the left hand claw (3) and the right hand claw (9) are of a frame design and adopt casting structures, and manufacturing materials of the left hand claw (3) and the right hand claw (9) adopt casting aluminum alloy.

7. The mechanical gripper for clamping heavy parts according to claim 5, wherein: the left contact block (20) and the right contact block (21) are made of NBR materials.

8. The mechanical gripper for clamping heavy parts according to claim 1, wherein: the speed reducer (2) is fixedly connected with the paw base (1) through a speed reducer connecting plate (16).