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CN-224209970-U - Mechanical gripper

CN224209970UCN 224209970 UCN224209970 UCN 224209970UCN-224209970-U

Abstract

The utility model provides a mechanical gripper, and belongs to the technical field of machinery. The problem that the finger is not easy to replace due to the fact that the existing finger is fixed with the sliding block through the locating pin is solved. The mechanical gripper comprises a cylinder, a sliding block connected to the cylinder, a finger connected to the sliding block and a screw, wherein one end of the screw penetrates through the finger and is in threaded connection with the sliding block, the mechanical gripper further comprises a positioning pin, two ends of the positioning pin are respectively penetrated in the sliding block and the finger and are respectively in transition fit with the sliding block and the finger, a threaded hole is formed in the positioning pin, and a port at one end of the threaded hole is formed in the end face of one end of the positioning pin, which is located in the finger. The mechanical gripper has the advantage of convenient replacement.

Inventors

  • WU LINFENG
  • Xun Xiaoyuan
  • YANG XIAOLEI
  • ZHANG TAO

Assignees

  • 海德曼（上海）自动化技术有限公司

Dates

Publication Date
20260508
Application Date
20250429

Claims (5)

  1. 1. The utility model provides a mechanical gripper, includes cylinder (1), connects slider (2) on cylinder (1), connects finger (3) and screw (4) on slider (2), the one end of screw (4) pass finger (3) and with slider (2) threaded connection, a serial communication port, mechanical gripper still includes locating pin (5), the both ends of locating pin (5) wear to establish respectively in slider (2) and finger (3) and respectively with slider (2) and finger (3) transitional coupling, threaded hole (51) have in locating pin (5), the port of threaded hole (51) one end set up in locating pin (5) are located the terminal surface of one end in finger (3).
  2. 2. A manipulator claw according to claim 1, characterised in that the locating pin (5) is circular, and the inner bore of the locating pin (5) is the threaded bore (51).
  3. 3. A manipulator claw according to claim 1 or 2, characterised in that the finger (3) has a gripping end (32) for gripping a workpiece, that the screw (4) and the locating pin (5) are arranged parallel to each other, and that the locating pin (5) is closer to the gripping end (32) than the screw (4).
  4. 4. A manipulator claw according to claim 1 or 2, characterised in that the outer side of the end of the locating pin (5) has a conical guide surface (52).
  5. 5. A manipulator claw according to claim 1 or 2, characterised in that the inner wall of the slider (2) has an inwardly protruding annular shoulder (22), and that one end of the locating pin (5) abuts against the shoulder (22).

Description

Mechanical gripper Technical Field The utility model belongs to the technical field of machinery, and relates to a mechanical gripper. Background A robot is an automatic operation device that mimics some of the motion functions of a human hand and arm for grasping, handling objects or operating tools in a fixed program. The manipulator can replace heavy labor of people to realize mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to industries such as mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like. The manipulator claw is located the manipulator end for carry out work piece snatch. The existing mechanical gripper can be a common pneumatic gripper or the like, and generally comprises a driving cylinder, two sliding blocks and two fingers, wherein the two sliding blocks are arranged on the driving cylinder in a sliding mode, the two fingers are correspondingly fixed on the two sliding blocks, and the driving cylinder drives the two sliding blocks to move in opposite directions or move in opposite directions so as to drive the two fingers to move in opposite directions to grab a workpiece or move away from each other to loosen the workpiece. The fingers and the sliding blocks are often fixedly connected through fasteners. Along with the increase of the application range of the manipulator, one manipulator often needs to be compatible with grabbing of various workpieces. At this time, the fingers on the mechanical gripper need to be replaced to match the grabbing requirements of different workpieces. In the actual use, if the fastening pieces such as a plurality of screws are directly adopted between the finger and the sliding block for fixing, the disassembly is convenient, but a certain fit clearance is left due to the threaded connection mode, so that the grabbing precision of the finger of the manipulator can be influenced. Therefore, in addition to the connection of the finger and the slider by using the fastener such as the screw, a positioning pin is further inserted between the finger and the slider to ensure the grabbing precision of the finger, but the outer side surface of the positioning pin which is tightly matched is smooth and is not exposed, so that the finger is difficult to disassemble and replace. Disclosure of utility model The utility model aims at solving the problems existing in the prior art, and provides a mechanical gripper which solves the problem that the finger is not easy to replace due to the fact that a positioning pin is adopted between an existing finger and a sliding block for fixing. The aim of the utility model can be achieved by the following technical scheme: The utility model provides a manipulator claw, includes the cylinder, connects the slider on the cylinder, connects finger and screw on the slider, the one end of screw pass the finger with slider threaded connection, its characterized in that, manipulator claw still includes the locating pin, the both ends of locating pin wear to establish respectively in slider and finger and respectively with slider and finger transition fit, threaded hole has in the locating pin, the port of threaded hole one end is seted up the locating pin is located on the terminal surface of one end in the finger. The sliding block in the mechanical gripper and the finger are fixed through the screw and the locating pin, on one hand, the coarse positioning of the sliding block and the finger is carried out by utilizing the threaded connection of the screw, meanwhile, the disassembly and the assembly are convenient, and on the other hand, the transitional fit between the locating pin, the sliding block and the finger is utilized, the fit clearance is reduced, and the positioning precision of the finger on the sliding block is improved. In addition, set up the screw hole at the tip of locating pin, this end of locating pin has the internal thread promptly, even if the locating pin is located slider and finger, also can cooperate current parts such as screw with locating pin axial extraction, not only made things convenient for the dismantlement, and can reduce the damage when the locating pin dismantles for the locating pin repeatedly usable. In the mechanical gripper, the positioning pin is annular, and the inner hole of the positioning pin is the threaded hole. The threaded hole axially penetrates through the whole locating pin, so that a screw can penetrate through the whole locating pin, and the locating pin is smoother to pull out. In the above-mentioned manipulator claw, the finger has a gripping end for gripping the workpiece, the screw and the positioning pin are disposed parallel to each other, and the positioning pin is closer to the gripping end than the screw. The locating pin is closer to the grabbing end of the finger, so that the precision of the finger grabbing the workpiece can be better guaranteed. In