CN215093694U

CN215093694U - Three-finger diameter-variable multi-degree-of-freedom clamping device

Info

Publication number: CN215093694U
Application number: CN202121562296.8U
Authority: CN
Inventors: 周文
Original assignee: Wuhan Heitiandou Technology Co ltd
Current assignee: Wuhan Heitiandou Technology Co ltd
Priority date: 2021-07-09
Filing date: 2021-07-09
Publication date: 2021-12-10
Anticipated expiration: 2031-07-09

Abstract

The utility model discloses a three-finger diameter-variable multi-degree-of-freedom clamping device, which belongs to the field of clamping mechanisms, and comprises a clamping device body A, wherein one side of the clamping device body A is provided with an mechanical arm connecting piece, the clamping device body A comprises a driving structure which is arranged inside and is used for driving clamping, the other side of the clamping device body A is in a V-shaped branching arrangement and is provided with a clamping mechanism capable of realizing multi-diameter clamping, the driving structure comprises a cylinder which is fixedly arranged inside the clamping device body A, the telescopic end of the cylinder is connected with an adjusting screw rod through a coupler, the V-shaped opening of the clamping device body A is fixedly provided with a push rod connecting piece, the adjusting screw rod axially penetrates through the push rod connecting piece and is fixedly connected with the push rod connecting piece, the clamping device can realize diameter-variable clamping, and aims at articles with different diameters and sizes, the adjustment is adapted at any time, the cost is saved under the corresponding working environment, and the production efficiency is improved.

Description

Three-finger diameter-variable multi-degree-of-freedom clamping device

Technical Field

The utility model relates to a fixture field, more specifically say, relate to a three indicate but reducing multi freedom clamping device.

Background

The robot system consists of a vision sensor, a mechanical arm system and a main control computer, wherein the mechanical arm system comprises a modularized mechanical arm and a mechanical arm, the mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling, and the robot system is widely applied to the fields of industrial assembly, safety, explosion prevention and the like due to the unique operation flexibility.

The mechanical arm is a complex system, uncertainty such as parameter perturbation, external interference, unmodeled dynamic state and the like exists, so that uncertainty also exists in a modeling model of the mechanical arm, for different tasks, the motion trail of a joint space of the mechanical arm needs to be planned, and the tail end pose is formed by cascading.

SUMMERY OF THE UTILITY MODEL

1. Technical problem to be solved

To the problem that exists among the prior art, the utility model aims to provide a three indicate variable diameter multi freedom clamping device, it can realize that reducing multi freedom presss from both sides and gets, to the different article of diameter specification size, adapts to the adjustment at any time, practices thrift the cost under the corresponding operational environment, improves production efficiency.

2. Technical scheme

In order to solve the above problems, the utility model adopts the following technical proposal.

The utility model provides a three indicate variable footpath multi freedom clamping device, includes clamping device body A, the arm connecting piece is installed to one side of clamping device body A, clamping device body A is including setting up the drive structure that is used for driving the centre gripping in inside, and clamping device body A's opposite side is "V" shape branching setting and installs the fixture that can change footpath centre gripping.

Further, the driving structure comprises a cylinder fixedly installed inside the clamping device body A, the telescopic end of the cylinder is connected with an adjusting screw rod through a coupler, a push rod connecting piece is fixedly installed at a V-shaped opening of the clamping device body A, and the adjusting screw rod penetrates through the push rod connecting piece in the axial direction and is fixedly connected with the push rod connecting piece.

Further, the push rod connecting piece is the cross setting, and the upper and lower both ends of push rod connecting piece are articulated to be installed the connecting rod, two the both ends that the connecting rod deviates from mutually are connected with fixture respectively.

Furthermore, fixture is including two installations at the upper end the top portion clamping jaw of connecting rod, one install at the lower extreme the lower part clamping jaw of connecting rod, three clamping jaw all with connecting rod hinged joint.

Furthermore, the cylinder is connected in series to drive the adjusting screw rod, the connecting rod, the upper clamping jaw and the lower clamping jaw to be matched to form a swing rod mechanism.

Furthermore, three the clamping jaw all is provided with the jump ring with the link connection.

Furthermore, three semi-enclosed inner walls formed by the clamping jaws and the clamping device body A are symmetrically provided with rubber anti-slip rods, and the rubber anti-slip rods are in a round strip shape and partially protrude out of the three clamping jaws.

3. Advantageous effects

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

(1) according to the scheme, the swing rod mechanism is formed by matching the adjusting screw rod, the connecting rod, the upper clamping jaw and the lower clamping jaw, the three clamping jaws can be used as the swing rod, the swing included angle of a rocker of the driven piece is changed by changing the included angle of the adjusting screw rod and the connecting rod at the limit position through the air cylinder, namely, the relative position of the adjusting screw rod and the push rod connecting piece is changed, the included angle of the push rod connecting piece and the connecting rod is changed, so that the swing angle of the three clamping jaws is changed, the function of clamping with variable-diameter and multiple-degree of freedom is achieved, and the purpose of adapting to articles of different specifications and sizes is achieved.

Drawings

Fig. 1 is a schematic side view structure diagram of the mechanical claw of the present invention;

fig. 2 is a front view structure diagram of the gripper of the present invention.

The reference numbers in the figures illustrate:

A. a clamping device body; 1. a mechanical arm connecting piece; 2. a drive structure; 3. a cylinder; 4. adjusting the screw rod; 5. a push rod connector; 6. a connecting rod; 8. a clamping mechanism; 9. a top jaw; 10. a lower jaw; 11. a clamp spring; 12. a rubber anti-slip rod.

Detailed Description

The technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiment of the present invention; obviously, the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention based on the embodiments of the present invention.

Example 1:

referring to fig. 1-2, a three-finger variable-diameter multi-degree-of-freedom clamping device includes a clamping device body a, a mechanical arm connector 1 is installed on one side of the clamping device body a, the clamping device body a includes a driving structure 2 arranged inside the clamping device body a for driving clamping, and the other side of the clamping device body a is bifurcated in a V shape and is installed with a clamping mechanism 8 capable of variable-diameter clamping.

Further, the clamping device body A further comprises a cover plate arranged on the protective internal structure.

Further, a connecting plate is further arranged at the joint of the clamping device body A and the mechanical arm connecting piece 1.

Referring to fig. 1-2, the driving structure 2 includes a cylinder 3 fixedly installed inside the clamping device body a, a telescopic end of the cylinder 3 is connected to an adjusting screw rod 4 through a coupling, a push rod connector 5 is fixedly installed at a V-shaped opening of the clamping device body a, and the adjusting screw rod 4 axially penetrates through the push rod connector 5 and is fixedly connected to the push rod connector 5.

Referring to fig. 1-2, the push rod connecting member 5 is disposed in a cross shape, the upper and lower ends of the push rod connecting member 5 are hinged with connecting rods 6, and the two ends of the two connecting rods 6 which are away from each other are respectively connected with the clamping mechanism 8.

Referring to fig. 1-2, the clamping mechanism 8 includes two top clamping jaws 9 mounted on the upper end connecting rod 6, and one bottom clamping jaw 10 mounted on the lower end connecting rod 6, the three clamping jaws are hinged to the connecting rod 6, the hinged positions of the top clamping jaw 9 and the bottom clamping jaw 10 with the connecting rod 6 are located at the end portions thereof, and the top clamping jaw 9 and the bottom clamping jaw 10 are hinged to the V-shaped forked end of the clamping device body a.

Referring to fig. 1-2, the cylinder 3 is connected in series to drive the adjusting screw 4, the connecting rod 6, the upper clamping jaw 9 and the lower clamping jaw 10 to form a swing rod mechanism, so that the swing angles of the three clamping jaws are changed, variable-diameter multi-degree-of-freedom clamping is realized, the adjustment is adapted at any time according to articles with different diameters, the applicability of the clamping jaws is improved, the clamping is stable and reliable, the cost is saved under a corresponding working environment, and the production efficiency is improved.

Referring to fig. 1-2, the connecting ends of the three clamping jaws and the connecting rod 6 are provided with clamp springs 11, and the two sides of the clamp springs 11 are arranged at the two sides of the three clamping jaws to achieve the fastening effect, so that the axial movement of the three clamping jaws is effectively prevented, and meanwhile, the three clamping jaws have certain flexibility in rotating and clamping.

Referring to fig. 1-2, the semi-enclosed inner wall formed by the three clamping jaws and the clamping device body a is symmetrically provided with rubber anti-slip bars 12, the rubber anti-slip bars 12 are in a round bar shape and partially protrude out of the three clamping jaws, the surface gaps of the rubber anti-slip bars 12 are dense, the friction with an object is large during clamping, the clamping reliability can be greatly improved, and the stability of the whole machine is improved.

When in use: in the swing rod mechanism formed by matching the adjusting screw rod 4, the connecting rod 6, the upper clamping jaw 9 and the lower clamping jaw 10, the three clamping jaws can be regarded as swing rods, the swing included angle of a rocker of a driven piece is changed by changing the included angle of the adjusting screw rod 4 and the connecting rod 6 at the limit position through the air cylinder 3, namely, the relative position of the adjusting screw rod 4 and the push rod connecting piece 5 is changed, the included angle of the push rod connecting piece 5 and the connecting rod 6 is changed, so that the swing angles of the three clamping jaws are changed, the function of clamping with variable diameter and multiple degrees of freedom is achieved, and the swing rod mechanism can adapt to articles with different specifications and sizes.

The above description is only the preferred embodiment of the present invention; the scope of the present invention is not limited thereto. Any person skilled in the art should also be able to cover the technical scope of the present invention by replacing or changing the technical solution and the improvement concept of the present invention with equivalents and modifications within the technical scope of the present invention.

Claims

1. The utility model provides a three indicate variable footpath multi freedom clamping device, includes clamping device body A, its characterized in that: arm connecting piece (1) is installed to one side of clamping device body A, clamping device body A is including setting up drive structure (2) that are used for driving the centre gripping in inside, and clamping device body A's opposite side is "V" shape branching setting and installs fixture (8) that can the clamping of multiple footpath.

2. The three-finger variable-diameter multi-degree-of-freedom clamping device according to claim 1, characterized in that: drive structure (2) including cylinder (3) of fixed mounting in clamping device body A inside, the flexible end of cylinder (3) has adjusting screw (4) through the coupling joint, and clamping device body A's "V" shape opening part fixed mounting has push rod connecting piece (5), adjusting screw (4) along the axial run through push rod connecting piece (5) and with push rod connecting piece (5) fixed connection.

3. The three-finger variable-diameter multi-degree-of-freedom clamping device as claimed in claim 2, wherein: push rod connecting piece (5) are the cross setting, and the articulated connecting rod (6) of installing in the upper and lower both ends of push rod connecting piece (5), two the both ends that deviate from mutually of connecting rod (6) are connected with fixture (8) respectively.

4. The three-finger variable-diameter multi-degree-of-freedom clamping device according to claim 3, wherein: fixture (8) are including two install in the upper end top clamping jaw (9), the one of installing in the lower extreme of connecting rod (6) lower part clamping jaw (10), and three clamping jaw all is connected with connecting rod (6) are articulated.

5. The three-finger variable-diameter multi-degree-of-freedom clamping device according to claim 4, wherein: the cylinder (3) is connected in series to drive the adjusting screw rod (4), the connecting rod (6), the upper clamping jaw (9) and the lower clamping jaw (10) to be matched to form a swing rod mechanism.

6. The three-finger variable-diameter multi-degree-of-freedom clamping device according to claim 4, wherein: the connecting ends of the three clamping jaws and the connecting rod (6) are provided with clamp springs (11).

7. The three-finger variable-diameter multi-degree-of-freedom clamping device according to claim 4, wherein: three semi-enclosed inner wall symmetry that clamping jaw and clamping device body A formed is provided with rubber anti-skidding stick (12), and rubber anti-skidding stick (12) are the round bar shape and partially outstanding in three clamping jaw.