CN209599245U - A kind of mechanical gripper - Google Patents

Abstract

The utility model discloses a kind of mechanical grippers, it include mounting rack, active clamp arm, passive clamp arm and actuator, active clamp arm, passive clamp arm are installed in opposite directions and are rotatably assorted respectively and be installed on mounting rack, and the junction between active clamp arm and passive clamp arm forms the linkage of the two by gear pair；It is also rotatably equipped with swing rod on mounting rack, is fixedly installed swing arm block on swing rod, the upper end of swing arm block and active clamp arm offsets and formed with the upper end of active clamp arm and is slidably matched；Actuator drives swing arm block to drive the movement of active clamp arm around swing rod pivot to be constituted the movement that active clamp arm and passive clamp arm are opened or closed up with the linkage of passive clamp arm by swing rod.Actuator indirect is opened or is closed up with passive clamp arm by swing rod control active clamp arm, the influence for reducing actuator travel limit expands grasping stroke range, is also sequentially connected using gear pair, the stability and precision for effectively promoting grasping, are designed more new reasonable.

Description

A kind of mechanical gripper

Technical field

The utility model relates to automatic production line technical field, especially a kind of mechanical gripper.

Background technique

The development of modern production and science and technology, to automation increasingly higher demands, and current Machinery Enterprises In, it often needs to clamp workpiece using mechanical gripper, to meet the requirement of automatic assembly line.The mechanical gripper of the prior art is usual It directly uses cylinder as power source, according to being grabbed the shape of object, size and being grabbed position size, selects appropriate size Cylinder is as its power source, and the stroke of cylinder is reflected directly in the grasping stroke range of mechanical gripper, due on cylinder stroke Limitation and the reason of this body structure of mechanical gripper, the grasping stroke range of mechanical gripper is narrow, for smaller or biggish object Part needs to exchange for cylinder and is just able to achieve grasping, this causes certain puzzlement to enterprise.

Summary of the invention

The purpose of this utility model: in order to overcome the drawbacks of the prior art, the utility model provides a kind of grasping range Greatly, great efforts, the more reasonable effective mechanical gripper of structure design are grasped.

The technical solution of the utility model includes: mechanical gripper includes mounting rack, active clamp arm, passive clamp arm and driving Part, the active clamp arm, passive clamp arm are installed in opposite directions and are rotatably assorted respectively and be installed on mounting rack, the active clamp arm with The linkage that junction between the passive clamp arm both is formed by gear pair, the active clamp arm and the passive clamp arm it Between junction below formed grasping position；It is also rotatably equipped with swing rod on the mounting rack, pendulum is fixedly installed on the swing rod The upper end of arm block, the swing arm block and active clamp arm offsets and is formed with the upper end of active clamp arm and is slidably matched, the actuator It is connect with swing rod to control swing rod swing；The actuator drives swing arm block to drive around swing rod pivot actively by swing rod Clamp arm movement is to constitute the movement that active clamp arm and passive clamp arm are opened or closed up with the linkage of passive clamp arm.

By adopting the above technical scheme, actuator indirect by swing rod control active clamp arm and passive clamp arm open or Close up, compared with being directly controlled by cylinder, reduces the influence of actuator stroke and space installation limitation, expand grasping Stroke range effectively promotes grasp, precision and grasping also using gear pair transmission connection active clamp arm and passive clamp arm Power, crawl is solid and reliable, improves crawl efficiency, and grasping is flexibly, entirely different with the prior art in structure, and it is more novel to design Rationally, the application range of mechanical gripper has been expanded, and above structure arranges that its transmission parts is less, compact-sized, weight It is relatively light, the failure rate of device can be effectively reduced, greatly promotes the service life of mechanical gripper, while also greatly reducing The manufacturing cost of mechanical gripper can greatly improve the production efficiency of enterprise.

The further setting of the utility model: one end of the swing rod is in the radial direction inserted with pin shaft, in the pin shaft Fixed to have penetrated brake cable and connect by brake cable with actuator, the actuator is by pulling brake cable and pin shaft to drive swing rod pendulum It is dynamic.

Using above-mentioned further setting, brake cable pulls pin shaft to swing swing rod, practical by way of flexible connecting transmission It controls active clamp arm and passive clamp arm acts, allow brake cable to turn back, brake cable workplace can flexibly change.

The further setting of the utility model: it is set above the junction between the active clamp arm and the passive clamp arm It is equipped with reset tension spring, the reset tension spring both ends are separately fixed in active clamp arm and passive clamp arm.

Further it is arranged using above-mentioned, reset tension spring can assist entirety to carry out opening reset.

The further setting again of the utility model: the active clamp arm and the passive clamp arm are respectively provided at least one Clamp arm part, corresponding clamp arm part synchronized links.

Using above-mentioned setting further again, in groups, grasping surface area is bigger for multiple clamp arm parts, expands the scope of application.

The further setting again of the utility model: clamp arm part includes upper arm, lower arm and between upper arm, lower arm Lug, the upper arm, lower arm around lug swing；Bearing and guide shaft are installed in the lug and turned by bearing and guide shaft It is dynamic to be installed on mounting rack, the tooth form outer rim of gear shape is wholely set on the lug；Silica gel is installed on the lower arm Item.

Using above-mentioned setting further again, tooth form outer rim is for the engagement between active clamp arm and passive clamp arm to reach The purpose of linkage, this kind of kind of drive is high-efficient, and stable structure is reliable, and physical life is long；When silica gel strip can increase grasping Frictional force, avoids being grabbed object and falls.

The further setting again of the utility model: being also equipped with limit shaft on mounting rack, the limit shaft is in described Above junction between active clamp arm and the passive clamp arm, and opens when stroke reaches maximum and support in the passive clamp arm In on limit shaft.

Using above-mentioned setting further again, limit shaft is excessive for limiting passive clamp arm opening stroke, avoids passively pressing from both sides Arm and the excessive limit of active clamp arm cause to damage.

The further setting again of the utility model: actuator is cylinder or motor etc..

Using above-mentioned setting further again, actuator pulls pin shaft to generate active clamp arm and passive clamp arm by brake cable Movement.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of the utility model specific embodiment；

Fig. 2 is the structural schematic diagram that the utility model hides mounting rack；

The schematic diagram that Fig. 3 is the utility model actuator when being cylinder；

Wherein, mounting rack 1, active clamp arm 2, passive clamp arm 3, actuator 4, swing rod 5, swing arm block 51, pin shaft 52, brake cable 53, reset tension spring 6, clamp arm part 7, upper arm 71, lower arm 72, lug 73, bearing 731, guide shaft 732, tooth form outer rim 733, silica gel strip 721, hole 711, limit shaft 11.

Specific embodiment

As shown in Figure 1-Figure 3, mechanical gripper includes mounting rack 1, active clamp arm 2, passive clamp arm 3 and actuator 4, master Dynamic clamp arm 2, passive clamp arm 3 are installed in opposite directions and are rotatably assorted respectively and be installed on mounting rack 1, active clamp arm 2 and passive clamp arm 3 Between the linkage that both is formed by gear pair of junction, formed below the junction between active clamp arm 2 and passive clamp arm 3 Grasp position, grabbed object enter grasping position can be grasped；It is also rotatably equipped with swing rod 5 on mounting rack 1, is fixed on the outer wall of swing rod It is provided with swing arm block 51,51 installation direction of swing arm block is in swing rod 5 in the radial direction, and swing arm block 51 is upper with active clamp arm 2 End offsets and is formed with the upper end of active clamp arm 2 and is slidably matched, and actuator 4 is connect to control the swing of swing rod 5 with swing rod 5.Work When, when grabbed object be in grasping position when, actuator 4 driving drive swing rod 5 act, swing arm block 51 around 5 pivot of swing rod simultaneously Active clamp arm 2 is driven to act, to linked with passive clamp arm 3 by gear pair so that active clamp arm 2 is opened with passive clamp arm 3 Perhaps the movement closed up is so that object is grabbed in placement or grasping.Being grabbed object can be electric equipment products, such as breaker.

Swing rod 5 is penetrated from 1 side of mounting rack to other side, and one end insertion outside one side is equipped with pin shaft 52, pin shaft 52 are in swing rod 5 in the radial direction, fixed in pin shaft 52 to have penetrated brake cable 53 and connect by brake cable with actuator 4, drive The driving of part 4 pulls brake cable 53, makes pin shaft 52 that swing rod 5 be driven to swing.

Opened for the ease of active clamp arm 2 and passive clamp arm 3 reset it is rapider, active clamp arm 2 and passive clamp arm 3 it Between junction above be provided with reset tension spring 6,6 both ends of reset tension spring are separately fixed in active clamp arm 2 and passive clamp arm 3, Active clamp arm 2 and passive 3 corresponding position of clamp arm, which are opened up, hooks hole 711 for reset tension spring 6.

Active clamp arm 2 and passive clamp arm 3 are respectively provided with four clamp arm parts 7, respectively 7 synchronized links of clamp arm part of respective sets, Such as four clamp arm parts 7 linkage of active clamp arm 2.Clamp arm part 7 include upper arm 71, lower arm 72 and be located at upper arm 71, lower arm Lug 73 between 72, whole is substantially in " crescent moon " shape, and upper arm 71, lower arm 72 are swung around lug 73；Installation in lug 73 There are a bearing 731 and guide shaft 732, the fixation of guide shaft 732 penetrates in mounting rack 1, and bearing 731 is mounted on guide shaft 732, and lug 73 can be with It is rotated on guide shaft 732.The tooth form outer rim 733 of gear shape is wholely set on lug 73, i.e. formation active clamp arm 2 and passive Gear pair between clamp arm 3.Silica gel strip 721 is installed, for increasing frictional force when grasping on lower arm 72.

Limit shaft 11, the connection that limit shaft 11 has the initiative between clamp arm 2 and passive clamp arm 3 are also equipped on mounting rack 1 Place top, when passive clamp arm 3 open stroke reach maximum when, the upper arm 71 of passive clamp arm 3 is resisted against on limit shaft 11, prevent by Dynamic clamp arm 3 is detached from the gear pair formed with active clamp arm 2.

If actuator 4 is cylinder, cylinder axially pulls brake cable 53；If actuator 4 is motor, brake cable 53 can be wound in electricity On the output shaft of machine, also mountable cam wedge is used to connect brake cable 53 on motor.

Claims (7)

1. a kind of mechanical gripper, it is characterised in that: the mechanical gripper include mounting rack, active clamp arm, passive clamp arm and Actuator, the active clamp arm, passive clamp arm are installed in opposite directions and are rotatably assorted respectively and be installed on mounting rack, the active folder Junction between arm and the passive clamp arm forms the linkage of the two, the active clamp arm and the passive folder by gear pair Grasping position is formed below junction between arm；

It is also rotatably equipped with swing rod on the mounting rack, swing arm block, the swing arm block and active are fixedly installed on the swing rod The upper end of clamp arm offsets and is formed with the upper end of active clamp arm and is slidably matched, and the actuator is connect to control swing rod pendulum with swing rod It is dynamic；

The actuator drives swing arm block to drive the movement of active clamp arm around swing rod pivot to press from both sides with passive by swing rod Arm linkage constitutes the movement that active clamp arm and passive clamp arm are opened or closed up.

2. a kind of mechanical gripper according to claim 1, it is characterised in that: one end of the swing rod is inserted into the radial direction There is pin shaft, is fixed in the pin shaft and penetrated brake cable and connect by brake cable with actuator, the actuator is by pulling brake cable Swing rod is driven to swing with pin shaft.

3. a kind of mechanical gripper according to claim 1 or 2, it is characterised in that: the active clamp arm and the passive folder It is provided with reset tension spring above junction between arm, the reset tension spring both ends are separately fixed at active clamp arm and passive clamp arm On.

4. a kind of mechanical gripper according to claim 1 or 2, it is characterised in that: the active clamp arm and the passive folder Arm is respectively provided at least one clamp arm part, corresponding clamp arm part synchronized links.

5. a kind of mechanical gripper according to claim 4, it is characterised in that: the clamp arm part include upper arm, lower arm with And the lug between upper arm, lower arm, the upper arm, lower arm are swung around lug；Bearing is installed in the lug and is led Axis is simultaneously rotatablely installed by bearing and guide shaft on mounting rack, and the outer rim of gear shape is wholely set on the lug；It is described Silica gel strip is installed on lower arm.

6. a kind of mechanical gripper according to claim 1 or 2, it is characterised in that: be also equipped with limit on the mounting rack Axis, the limit shaft are in above the junction between the active clamp arm and the passive clamp arm, and in the passive folder Arm, which opens when stroke reaches maximum, to be butted on limit shaft.

7. a kind of mechanical gripper according to claim 1 or 2, it is characterised in that: the actuator is cylinder or motor.