CN209831685U - Mechanical clamping jaw device and manipulator with same - Google Patents
Mechanical clamping jaw device and manipulator with same Download PDFInfo
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- CN209831685U CN209831685U CN201822268361.0U CN201822268361U CN209831685U CN 209831685 U CN209831685 U CN 209831685U CN 201822268361 U CN201822268361 U CN 201822268361U CN 209831685 U CN209831685 U CN 209831685U
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- clamping jaw
- guide rail
- mechanical clamping
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Abstract
The utility model discloses a mechanical clamping jaw device and have manipulator of this mechanical clamping jaw device, this mechanical clamping jaw device include the steering wheel, rotate piece, two at least connecting pieces, two at least sliders, guide rail and two at least clamping jaw parts, it is respectively through two at least to rotate the piece connecting piece and two at least the slider is connected, two at least the slider install in the guide rail, two at least clamping jaw parts fixed mounting are in two at least the slider. Based on the structure, the steering engine drives the rotating part to rotate, so that at least two sliding parts can be close to or far away from each other, and the steering engine can adjust the clamping force between at least two clamping jaw parts by controlling the rotating angle of the rotating part.
Description
Technical Field
The utility model relates to an automation equipment technical field especially relates to mechanical clamping jaw device and have manipulator of this mechanical clamping jaw device.
Background
The manipulator is a novel device developed in the process of mechanization and automation production. In the modern production process, the mechanical arm is widely applied to an automatic production line, the development and production of a robot become a new technology which is rapidly developed in the high-tech field, and the development of the mechanical arm is promoted, so that the mechanical arm can be organically combined with mechanization and automation better.
Mechanical jaws are an important component of a robot. At present, the power of the mechanical clamping jaw on the market is provided by an air cylinder or a hydraulic cylinder, so that the clamping force of the mechanical clamping jaw is not controllable, and when the mechanical clamping jaw is used for clamping fragile articles, the articles can be crushed or damaged.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the main technical problem who solves makes mechanical clamping jaw's clamping-force controllable.
The utility model discloses a technical scheme be: providing a mechanical clamping jaw device comprising:
a steering engine;
the rotating piece is connected with the steering engine;
at least two connectors;
the rotating piece is connected with the at least two sliding pieces through the at least two connecting pieces respectively;
the guide rail is provided with at least two sliding parts;
and the steering engine drives the rotating piece to rotate, so that the at least two sliding pieces can be close to or far away from each other.
In some embodiments, the rotating member is in a shape of a disk, and the rotating shaft of the steering engine is connected to the geometric center of the rotating member; one end of the connecting piece is hinged to the edge of the rotating piece.
In some embodiments, there are two of the connector and the slider and the jaw members.
In some embodiments, the rotating part is in a rod shape, the rotating shaft of the steering engine is connected to the middle of the rotating part, and the two connecting pieces are respectively hinged to two ends of the rotating part.
In some embodiments, the mechanical clamping jaw device further comprises a mounting base, the mounting base comprises a base and two mounting portions, and the two mounting portions are fixedly connected to two opposite sides of the base respectively; the guide rail comprises two guide rods, and two ends of each guide rod are fixedly connected with the two mounting parts respectively; two opposite sides of the sliding piece are respectively provided with a guide hole, the two guide rods respectively penetrate through the two guide holes, and the sliding piece can slide along the two guide rods.
In some embodiments, the guide rail is a guide slot, the guide rail opening into the base; the sliding part is provided with a lug which can be inserted into the guide rail and can slide along the guide rail, so that the sliding part can do reciprocating linear motion along the guide rail.
In some embodiments, the jaw member includes a fixing portion and a clamping portion, the fixing portion and the clamping portion are both in a flat plate shape, the clamping portion is fixedly connected to a side edge of the fixing portion, the clamping portion and the fixing portion are perpendicular to each other, and the fixing portion is fixedly mounted on the sliding member.
In some embodiments, there are two of said slides and said jaw members; the clamping portions of the two jaw members are parallel to each other.
In some embodiments, the mechanical clamping jaw arrangement further comprises an equal number of shims as the clamping jaw members, the shims being fixedly mounted to the mutually opposed surfaces of the clamping portions.
The utility model discloses a technical scheme who still adopts is: there is provided a manipulator comprising a mechanical jaw apparatus as described above.
The utility model has the advantages that: be different from prior art's condition, the embodiment of the utility model provides an in mechanical clamping jaw device include the steering wheel, rotate piece, two at least connecting pieces, two at least sliders, guide rail and two at least clamping jaw parts, it is respectively through two at least to rotate the piece connecting piece with two at least the slider is connected, two at least the slider install in the guide rail, two at least clamping jaw parts fixed mounting are in two at least the slider. Based on the structure, the steering engine drives the rotating part to rotate, so that at least two sliding parts can be close to or away from each other, and the steering engine can adjust the clamping force between at least two clamping jaw parts by controlling the rotating angle of the rotating part.
Drawings
Fig. 1 is a perspective view of a mechanical jaw apparatus according to an embodiment of the present invention;
fig. 2 is an exploded view of a mechanical clamping jaw arrangement according to an embodiment of the present invention;
fig. 3 is a top view of a mechanical clamping jaw apparatus according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a mechanical clamping jaw device according to another embodiment of the present invention.
Detailed Description
In order to facilitate understanding of the present invention, the present invention will be described in more detail with reference to the accompanying drawings and specific embodiments. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for descriptive purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The utility model provides a controllable mechanical clamping jaw device of clamping-force please refer to fig. 1 and fig. 2, the embodiment of the utility model provides a mechanical clamping jaw device 100 includes: steering engine 10, rotating member 20, at least two connecting members 30, guide rail 40, at least two sliding members 50 and at least two jaw members 60. The steering engine 10 is connected with the rotating part 20 and used for driving the rotating part 20 to rotate. The rotating member 20 is connected to at least two sliding members 50 through at least two connecting members 30, respectively, the sliding members 50 are mounted on the guide rail 40, and the jaw members 60 are fixedly mounted on the sliding members 50. The steering engine 10 drives the rotating part 20 to rotate, so that at least two sliding parts 50 can move close to or away from each other, and the steering engine 10 can adjust the clamping force between at least two clamping jaw parts 60 by controlling the rotating angle of the rotating part 20.
In the embodiment of the present invention, two of the connecting member 30, the sliding member 50, and the jaw member 60 are taken as an example for detailed description.
In an embodiment of the present invention, the mechanical clamping jaw apparatus 100 further includes a mounting base 70. The mounting base 70 includes a base 71 and a mounting portion 72, the base 71 is rectangular and flat, the mounting portion 72 is long-strip plate-shaped, and the mounting portion 72 has two parts in total and is respectively fixedly connected to two opposite sides of the base 71.
The steering engine 10 is a position (angle) servo driver, and is suitable for a control system which needs to change the angle continuously and can keep the angle. The steering engine 10 is fixedly mounted on one surface of the base 71.
As shown in fig. 3, in the embodiment of the present invention, the rotating member 20 is in a disk shape, and the rotating shaft of the steering engine 10 passes through the geometric center of the rotating member 20 connected to the base 71, that is, the center line of the rotating member 20 coincides with the axis of the rotating shaft of the steering engine 10.
In the embodiment of the present invention, there are two connecting members 30, the connecting member 30 is a long rod, two, one end of the connecting member 30 is hinged to the edge of the rotating member 20, and two connecting members 30 are connected to the hinge point of the rotating member 20 to pass through the center of the rotating member 20.
It will be appreciated that in other embodiments, the rotating member 20 may be rod-shaped, and the rotating shaft of the steering engine 10 passes through the base 71 and is connected to the middle of the rotating member 20, i.e., the steering engine 10 is connected to the geometric center of the rotating member 20. The two connecting members 30 are respectively hinged to both ends of the rotating member 20.
In the present embodiment, the guide rail 40 is used for guiding the sliding member 50 to slide along. Specifically, the guide rail 40 includes two guide rods 41, the two guide rods 41 are mounted to the mounting base 70, and the two guide rods 41 are parallel to each other. Two ends of the guide rod 41 are fixedly connected with the two mounting parts 72 respectively.
In the embodiment of the present invention, the other end of the connecting member 30 is hinged to the sliding member 50. The slide 50 has two in total. The other ends of the two connecting pieces are respectively hinged with the two sliding pieces 50. The slider 50 is provided with guide holes 51 at opposite sides thereof, the two guide rods 41 pass through the two guide holes 51, respectively, and the slider 50 is slidable along the two guide rods 41, that is, the slider 50 is linearly movable along the two guide rods 41 in a reciprocating manner.
It will be appreciated that in other embodiments, the guide rail 40 may be designed in other configurations as required by the actual situation. For example, the guide rails 40 can be designed as guide grooves which open out at the base 71; accordingly, the slider 50 is provided with a guide portion, which is a projection, which is inserted into the guide groove and is slidable along the guide groove, so that the slider 50 can perform a reciprocating linear motion along the guide groove. The number of the guide grooves can be designed to be one, two or more than two. When the number of the guide grooves is two or more, the plurality of guide grooves are parallel to each other.
In the present embodiment, there are two jaw members 60, and each jaw member 60 is fixedly mounted to one of the sliders 50. The jaw member 60 includes a fixing portion 61 and a clamping portion 62, the fixing portion 61 and the clamping portion 62 are both in a flat plate shape, the clamping portion 62 is fixedly connected to a side of the fixing portion 61, and the clamping portion 62 is perpendicular to the fixing portion 61. The fixing portion 61 is fixedly attached to the slider 50, and the clamping portions 62 of the two jaw members 60 are parallel to each other. Both of the clamping portions 62 are perpendicular to the guide bar 41.
To enable the jaw members 60 to cooperate with each other to better grip an object. The mechanical clamping jaw device 100 further comprises spacers 80, the number of the spacers 80 is equal to that of the clamping jaw members 60, and the spacers 80 are fixedly mounted on the surfaces of the clamping portions 62 opposite to each other.
The slides 50 and jaw members 60 are equal in number and correspond one to one. Each jaw member 60 is fixedly mounted to one of the slides 50. It will be appreciated that in other embodiments, the number of sliders 50 and jaw members 60 may be varied as required by the actual situation, and may be designed, for example, as three, four or more than four.
In another embodiment of the present invention, as shown in fig. 4, when the number of the sliders 50 and the jaw members 60 is three, the number of the connecting members 30 is also three, and one end of each connecting member 30 is hinged to one slider 50. And the other end of each of the connecting members 30 is hinged to the rotating member 20. The guide rail 40 includes three guide grooves or guide rods, and when the rotating member 20 rotates, the three sliding members 50 can move toward or away from each other, so that the steering engine 10 can adjust the magnitude of the clamping force between the three jaw members 60 by controlling the rotation angle of the rotating member 20.
The mechanical clamping jaw device 100 is applied to a manipulator and is a key component of the manipulator. The embodiment of the utility model provides a still provide a manipulator and include above-mentioned arm joint 100.
It should be noted that the preferred embodiments of the present invention are described in the specification and the drawings, but the present invention can be realized in many different forms, and is not limited to the embodiments described in the specification, and these embodiments are not provided as additional limitations to the present invention, and are provided for the purpose of making the understanding of the disclosure of the present invention more thorough and complete. Moreover, the above technical features are combined with each other to form various embodiments which are not listed above, and all the embodiments are regarded as the scope of the present invention; further, modifications and variations will occur to those skilled in the art in light of the foregoing description, and it is intended to cover all such modifications and variations as fall within the true spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A mechanical jaw apparatus (100), comprising:
a steering engine (10);
the rotating part (20), the rotating part (20) is connected with the steering engine (10);
at least two connecting pieces (30);
at least two sliding parts (50), wherein the rotating part (20) is connected with the at least two sliding parts (50) through at least two connecting parts (30) respectively;
a guide rail (40), at least two of the sliders (50) being mounted to the guide rail (40);
at least two clamping jaw parts (60) are fixedly arranged on at least two sliding parts (50), the steering engine (10) drives the rotating part (20) to rotate, and the at least two sliding parts (50) can be close to each other or far away from each other.
2. Mechanical clamping jaw arrangement (100) according to claim 1,
the rotating part (20) is disc-shaped, and a rotating shaft of the steering engine (10) is connected to the geometric center of the rotating part (20);
one end of the connecting piece (30) is hinged to the edge of the rotating piece (20).
3. Mechanical clamping jaw arrangement (100) according to claim 1,
there are two of said connecting member (30) and said slider (50) and said jaw members (60).
4. Mechanical clamping jaw arrangement (100) according to claim 3,
the connecting pieces (30) are rod-shaped, the rotating shaft of the steering engine (10) is connected to the middle of the rotating piece (20), and the two connecting pieces (30) are respectively hinged to the two ends of the rotating piece (20).
5. Mechanical clamping jaw arrangement (100) according to claim 3,
the mechanical clamping jaw device (100) further comprises a mounting base (70), the mounting base (70) comprises a base (71) and two mounting parts (72), and the two mounting parts (72) are respectively fixedly connected to two opposite sides of the base (71);
the guide rail (40) comprises two guide rods (41), and two ends of each guide rod (41) are fixedly connected with the two mounting parts (72) respectively;
two opposite sides of the sliding piece (50) are respectively provided with a guide hole (51), the two guide rods (41) respectively pass through the two guide holes (51), and the sliding piece (50) can slide along the two guide rods (41).
6. Mechanical clamping jaw arrangement (100) according to claim 5,
the guide rail (40) is a guide groove, and the guide rail (40) is arranged on the base (71);
the slider (50) is provided with a projection which is insertable into the guide rail (40) and slidable along the guide rail (40) so that the slider (50) can make a reciprocating linear motion along the guide rail (40).
7. Mechanical clamping jaw arrangement (100) according to claim 1,
the clamping jaw component (60) comprises a fixing portion (61) and a clamping portion (62), the fixing portion (61) and the clamping portion (62) are both flat-plate-shaped, the clamping portion (62) is fixedly connected to the side edge of the fixing portion (61), the clamping portion (62) and the fixing portion (61) are perpendicular to each other, and the fixing portion (61) is fixedly installed on the sliding piece (50).
8. Mechanical clamping jaw arrangement (100) according to claim 7,
-two of said slides (50) and said jaw members (60);
the clamping portions (62) of the two jaw members (60) are parallel to each other.
9. Mechanical clamping jaw arrangement (100) according to claim 7,
the mechanical clamping jaw device (100) further comprises spacers (80), the number of the spacers (80) is equal to that of the clamping jaw components (60), and the spacers (80) are fixedly installed on the surfaces of the clamping parts (62) opposite to each other.
10. A manipulator, characterized by comprising: mechanical clamping jaw arrangement (100) according to any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822268361.0U CN209831685U (en) | 2018-12-29 | 2018-12-29 | Mechanical clamping jaw device and manipulator with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822268361.0U CN209831685U (en) | 2018-12-29 | 2018-12-29 | Mechanical clamping jaw device and manipulator with same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209831685U true CN209831685U (en) | 2019-12-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822268361.0U Active CN209831685U (en) | 2018-12-29 | 2018-12-29 | Mechanical clamping jaw device and manipulator with same |
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| Country | Link |
|---|---|
| CN (1) | CN209831685U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112171710A (en) * | 2020-10-13 | 2021-01-05 | 上海非夕机器人科技有限公司 | Gripper and manipulator |
| US11986950B2 (en) | 2020-10-13 | 2024-05-21 | Shanghai Flexiv Robotics Technology Co., Ltd. | Gripper and robotic arm |
-
2018
- 2018-12-29 CN CN201822268361.0U patent/CN209831685U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112171710A (en) * | 2020-10-13 | 2021-01-05 | 上海非夕机器人科技有限公司 | Gripper and manipulator |
| CN112171710B (en) * | 2020-10-13 | 2022-08-12 | 上海非夕机器人科技有限公司 | Gripper and manipulator |
| US11986950B2 (en) | 2020-10-13 | 2024-05-21 | Shanghai Flexiv Robotics Technology Co., Ltd. | Gripper and robotic arm |
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