CN215701811U - Clamping jaw finger structure - Google Patents
Clamping jaw finger structure Download PDFInfo
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- CN215701811U CN215701811U CN202122052140.1U CN202122052140U CN215701811U CN 215701811 U CN215701811 U CN 215701811U CN 202122052140 U CN202122052140 U CN 202122052140U CN 215701811 U CN215701811 U CN 215701811U
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- finger
- fingers
- clamping jaw
- jaw
- needle
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Abstract
The utility model discloses a clamping jaw finger structure, and relates to the field of manipulators. The gripping mechanism comprises two groups of symmetrically arranged gripping jaw fingers, and the gripping driving mechanism drives the two groups of gripping jaw fingers to perform gripping action; the device also comprises a needle-shaped extending finger arranged on the finger of the clamping jaw and a surface contact grabbing extending finger; extending a needle-shaped extending finger on the finger of the clamping jaw to carry out point contact type grabbing action; and surface contact grabbing extension fingers are extended from the fingers of the clamping jaws to carry out surface contact grabbing action. This device is through snatching actuating mechanism drive two sets ofly the action is snatched to the clamping jaw finger to can snatch the form by the line contact of clamping jaw finger and switch into needle extension finger and snatch the action in order carrying out the point contact formula, perhaps switch the face contact and snatch the extension finger and snatch the action in order carrying out the face contact, make then this clamping jaw can deal with snatching of the object of various shapes, improve commonality and work efficiency, also avoid because of the circumstances of the increase cost when changing different forms clamping jaw.
Description
Technical Field
The utility model relates to the technical field of mechanical arms, in particular to a clamping jaw finger structure.
Background
A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance. Manipulators with jaw finger structures are also common today;
the clamping jaw finger structure of present manipulator is single mode of snatching generally, all realize snatching the action through pressing from both sides tight object, but if facing the object of different shapes, single form of snatching snatchs like line contact, point contact snatchs or face contact snatchs, what all can't accomplish compromise snatchs article such as sphere, graininess or rectangle box, consequently make present clamping jaw finger commonality poor, what can't compromise snatchs different shapes objects, reduce clamping jaw commonality and work efficiency, and change different clamping jaws not only time-wasting, influence work efficiency, still can increase cost. In order to improve the above problems, it is necessary to design a structure of the finger of the clamping jaw.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a clamping jaw finger structure.
In order to achieve the above purpose, the utility model provides the following technical scheme:
the clamping jaw finger structure comprises two groups of clamping jaw fingers which are symmetrically arranged, and the two groups of clamping jaw fingers are driven by a grabbing driving mechanism to grab;
the device also comprises a needle-shaped extending finger arranged on the finger of the clamping jaw and a surface contact grabbing extending finger;
extending the needle-shaped extending fingers on the fingers of the clamping jaw to perform point contact type grabbing action;
and extending the surface contact grabbing extension fingers on the clamping jaw fingers to carry out surface contact grabbing action.
Preferably, the needle-shaped extending fingers are symmetrically arranged in two groups and are respectively arranged on the two groups of clamping jaw fingers.
Preferably, the surface contact grabbing extension fingers are symmetrically arranged in two groups and are respectively arranged on the two groups of clamping jaw fingers.
Preferably, the clamping jaw fingers comprise front end finger joints and tail end finger joints, the front end finger joints are connected with the tail end finger joints to form an included angle, and included angle sides of the two groups of clamping jaw fingers are arranged oppositely;
and the driving mechanism drives the front end knuckle of the two groups of clamping jaw fingers to perform grabbing action through the transmission of the tail end knuckle.
Preferably, the driving mechanism is connected with a mechanical arm.
Preferably, the drive mechanism includes:
one end knuckle of the two groups of clamping jaw fingers is fixedly connected to the base, and the other end knuckle of the two groups of clamping jaw fingers is connected to the base in a sliding mode through a connecting sliding rail;
the two end parts of the ball screw are rotationally connected to the base through bearings;
the tail end knuckle arranged on the connecting slide rail is connected with a nut pair, and the nut pair is coaxially sleeved on the ball screw and is in threaded fit with the ball screw;
and the stepping motor is arranged on the base, and the rotating end of the stepping motor is coaxially connected with the ball screw.
Preferably, the needle-like extended finger includes:
the strip-shaped accommodating groove is formed in the side surface, opposite to the side where the included angle is located, of the front end knuckle;
the clamping needle is arranged in the strip-shaped accommodating groove, can move along the strip-shaped accommodating groove and extends out of the tail end of the front end knuckle;
and the first electric control telescopic rod is arranged on the front end knuckle and is opposite to the side surface of the side where the included angle is located, and the telescopic end of the first electric control telescopic rod is connected with the clamping needle to drive the clamping needle to move in the strip-shaped accommodating groove.
Preferably, a first pressure sensor in contact with the clamping needle is arranged on the inner side of the strip-shaped accommodating groove.
Preferably, the surface-contact gripping extension finger includes:
a surface contact splint having one end hinged to a side surface of the front knuckle on the side of the included angle and near an end of the front knuckle end;
and the second electric control telescopic rod is hinged to the tail end knuckle, and the telescopic end of the second electric control telescopic rod penetrates through the tail end knuckle and is hinged to the surface contact clamping plate.
Preferably, a second pressure sensor is embedded on the clamping surface of the surface contact clamping plate.
In the technical scheme, the clamping jaw finger structure provided by the utility model has the following beneficial effects:
this device is through snatching actuating mechanism drive two sets ofly the action is snatched to the clamping jaw finger to can snatch the form by the line contact of clamping jaw finger and switch into needle extension finger and snatch the action in order carrying out the point contact formula, perhaps switch the face contact and snatch the extension finger and snatch the action in order carrying out the face contact, make then this clamping jaw can deal with snatching of the object of various shapes, improve commonality and work efficiency, also avoid because of the circumstances of the increase cost when changing different forms clamping jaw.
Drawings
In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a schematic structural diagram of a finger structure of a clamping jaw according to an embodiment of the present invention;
FIG. 2 is a front view of a jaw finger configuration provided by an embodiment of the present invention;
fig. 3 is a schematic view of the simultaneous time-delay deployment of a needle-like extended finger and a surface-contact gripping extended finger of a jaw finger configuration according to an embodiment of the present invention.
Description of reference numerals:
1. a front end knuckle; 2. a terminal knuckle; 3. a base; 4. connecting a slide rail; 5. a ball screw; 6. a nut pair; 7. a stepping motor; 8. strip-shaped accommodating grooves; 9. a gripping needle; 10. a first electrically controlled telescopic rod; 11. a first pressure sensor; 12. a surface contact splint; 13. a second electrically controlled telescopic rod; 14. a second pressure sensor.
Detailed Description
In order to make the technical solutions of the present invention better understood, those skilled in the art will now describe the present invention in further detail with reference to the accompanying drawings.
Referring to fig. 1-3, a gripper finger structure includes two sets of symmetrically disposed gripper fingers, and the two sets of gripper fingers are driven by a gripping driving mechanism to perform a gripping action; the fingers of the two groups of clamping jaws are in a line contact type grabbing mode.
The device also comprises a needle-shaped extending finger arranged on the finger of the clamping jaw and a surface contact grabbing extending finger;
extending a needle-shaped extending finger on the finger of the clamping jaw to carry out point contact type grabbing action;
and surface contact grabbing extension fingers are extended from the fingers of the clamping jaws to carry out surface contact grabbing action.
Specifically, this device is through snatching actuating mechanism drive two sets ofly the action is snatched to the clamping jaw finger to can snatch the form by the line contact of clamping jaw finger and switch into needle extension finger and snatch the action in order carrying out the point contact formula, perhaps switch the face contact and snatch the extension finger and snatch the action in order carrying out the face contact, make then this clamping jaw can deal with the snatching of the object of various shapes, improve commonality and work efficiency, also avoid because of the circumstances of the increase cost when changing different forms clamping jaw.
Furthermore, the needle-shaped extending fingers are symmetrically arranged in two groups and are respectively arranged on the fingers of the two groups of clamping jaws. Specifically, two groups of needle-shaped extending fingers form clamping resultant force under the driving of two groups of clamping jaw fingers so as to perform grabbing action.
Furthermore, the surface contact grabbing extension fingers are symmetrically arranged in two groups and are respectively arranged on the fingers of the two groups of clamping jaws. Specifically, two groups of surface contact grabbing extension fingers form clamping resultant force under the drive of two groups of clamping jaw fingers so as to grab.
Furthermore, the clamping jaw fingers comprise a front end knuckle 1 and a tail end knuckle 2, the front end knuckle 1 and the tail end knuckle 2 are connected to form an included angle, and included angle sides of the two groups of clamping jaw fingers are arranged oppositely; wherein, the front end knuckle 1 and the tail end knuckle 2 both have moving width and thickness, and form linear contact when the tail end of the front end knuckle 1 is contacted with an object. When the two groups of clamping jaw fingers move oppositely to clamp an object, the tail end knuckle 2 is prevented from contacting the object before the front end knuckle 1, and the front end knuckle 1 is prevented from contacting the object.
The driving mechanism drives the front end knuckle 1 of the two groups of clamping jaw fingers to carry out grabbing action through the transmission of the tail end knuckle 2. Concretely, actuating mechanism drive two sets of clamping jaw fingers carry out relative motion in opposite directions and opposite, and when two sets of clamping jaw fingers were done the relative opposite and are moved, two sets of clamping jaw finger distance was gradually far away to make the object get into between two sets of clamping jaw fingers, later drive two sets of clamping jaw fingers and move in opposite directions, make two sets of clamping jaw finger distances asymptotically, in order to reach the purpose of snatching the object through the centre gripping.
Further, a driving mechanism is connected with the mechanical arm. The mechanical arm is well known to workers in the field and is not described herein, and the clamping jaw fingers can be driven to reach a designated working area by connecting the mechanical arm with a driving mechanism.
Further, the drive mechanism includes:
one end knuckle 2 of the two groups of clamping jaw fingers is fixedly connected to the base 3, and the other end knuckle 2 is connected to the base 3 in a sliding mode through a connecting sliding rail 4;
the ball screw 5, two ends of the ball screw 5 are rotatably connected to the base 3 through bearings;
the tail end knuckle 2 arranged on the connecting slide rail 4 is connected with a nut pair 6, and the nut pair 6 is coaxially sleeved on the ball screw 5 and is in threaded fit with the ball screw 5;
and the stepping motor 7 is arranged on the base 3, and the rotating end of the stepping motor 7 is coaxially connected with the ball screw 5.
Specifically, the stepping motor 7 is controlled and driven by a related driver, a controller, and the like, and the specific electrical connection means thereof is well known to those skilled in the art and will not be described herein. Wherein step motor 7 drives ball 5 suitable angle, drives then and moves corresponding distance with its screw-thread fit's nut pair 6, drives a set of clamping jaw finger wherein and moves another set of clamping jaw finger relatively then to it is controllable to move the distance. The base 3 therein serves to mount and support the gripper fingers and the drive mechanism and is used in connection with the robot arm.
Further, the needle-shaped extended finger includes:
the strip-shaped accommodating groove 8 is formed in the side surface, opposite to the included angle, of the front end knuckle 1;
the clamping needle 9 is arranged in the strip-shaped accommodating groove 8, can move along the strip-shaped accommodating groove 8 and extends out of the tail end of the front end knuckle 1;
and a first electric control telescopic rod 10, wherein the first electric control telescopic rod 10 is arranged on the side surface of the front end knuckle 1 opposite to the side where the included angle is located, and the telescopic end of the first electric control telescopic rod 10 is connected with the clamping needle 9 to drive the clamping needle 9 to move in the strip-shaped accommodating groove 8.
Concretely, drive through first automatically controlled telescopic link 10 and press from both sides needle 9 and remove in bar holding tank 8 to when the centre gripping needle 9 stretches out bar holding tank 8 and extends to outstanding 1 end in front end knuckle, when driving two sets of clamping jaw fingers, make two sets of centre gripping needles 9 at first contact with the object, then can carry out syringe needle and object contact, reach the centre gripping of point contact formula.
Further, a first pressure sensor 11 contacting with the clamping needle 9 is arranged inside the strip-shaped accommodating groove 8. Specifically, when the gripping pin 9 grips an object, the gripping pin 9 receives a reverse force to measure the pressure of the reverse force acting on the first pressure sensor 11 when contacting the first pressure sensor 11, and then the gripping force can be controlled.
Further, the surface contact gripping extension finger comprises:
a surface contact splint 12, one end of the surface contact splint 12 is hinged on the side surface of the included angle on the front end knuckle 1 and is close to one end part of the tail end of the front end knuckle 1;
and the second electric control telescopic rod 13 is hinged to the tail end knuckle 2, and the telescopic end of the second electric control telescopic rod 13 penetrates through the tail end knuckle 2 and is hinged to the surface contact clamping plate 12.
Specifically, drive face contact splint 12 upset through second automatically controlled telescopic link 13, stop and keep this state when making two sets of face contact splint 12 upsets in two sets of clamping jaw fingers to be parallel to each other, utilize two sets of face contact splint 12 that are parallel to each other to carry out face contact clamp and get. When the surface contact type clamping is not needed, the surface contact clamping plate 12 is driven to overturn to an angle attached to the front end knuckle 1 through the second electric control telescopic rod 13 to be hidden, so that the normal use of other mechanisms is not influenced.
Further, a second pressure sensor 14 is fitted to the clamping surface of the surface contact clamp 12. Specifically, the grabbing force of the surface contact clamp plate 12 is adjusted by the pressure generated when the second pressure sensor 14 detects the object to be clamped.
All electrical components, drivers and electrical connection modes thereof of the device are well known to those skilled in the art, and the detailed connection is made by referring to the above working principle and will not be described herein.
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the utility model. Accordingly, the drawings and description are illustrative in nature and should not be construed as limiting the scope of the utility model.
Claims (10)
1. A clamping jaw finger structure is characterized by comprising two groups of symmetrically arranged clamping jaw fingers, wherein the two groups of clamping jaw fingers are driven by a grabbing driving mechanism to grab;
the device also comprises a needle-shaped extending finger arranged on the finger of the clamping jaw and a surface contact grabbing extending finger;
extending the needle-shaped extending fingers on the fingers of the clamping jaw to perform point contact type grabbing action;
and extending the surface contact grabbing extension fingers on the clamping jaw fingers to carry out surface contact grabbing action.
2. A jaw finger arrangement according to claim 1, characterised in that said needle-like extending fingers are symmetrically arranged in two groups and are arranged on two groups of said jaw fingers, respectively.
3. The gripper finger structure of claim 1, wherein said surface contact gripping extension fingers are symmetrically arranged in two sets and are respectively arranged on two sets of said gripper fingers.
4. A gripper finger structure according to claim 1, characterized in that the gripper finger comprises a front end knuckle (1) and a tail end knuckle (2), the front end knuckle (1) and the tail end knuckle (2) are connected with each other and form an included angle, and the included angle sides of the two sets of gripper fingers are arranged oppositely;
the driving mechanism drives the front end knuckle (1) of the two groups of clamping jaw fingers to perform grabbing action through the transmission of the tail end knuckle (2).
5. A jaw finger arrangement according to claim 1, characterised in that the drive mechanism is connected to a robotic arm.
6. A jaw finger arrangement according to claim 4, characterised in that said drive mechanism comprises:
one end knuckle (2) of the two groups of clamping jaw fingers is fixedly connected to the base (3), and the other end knuckle (2) of the two groups of clamping jaw fingers is connected to the base (3) in a sliding mode through a connecting sliding rail (4);
the two ends of the ball screw (5) are rotatably connected to the base (3) through bearings;
the tail end knuckle (2) arranged on the connecting slide rail (4) is connected with a nut pair (6), and the nut pair (6) is coaxially sleeved on the ball screw (5) and is in threaded fit with the ball screw (5);
and the stepping motor (7), the stepping motor (7) is arranged on the base (3), and the rotating end of the stepping motor (7) is coaxially connected with the ball screw (5).
7. A jaw finger arrangement according to claim 4, characterised in that said needle-like extending finger comprises:
the strip-shaped accommodating groove (8) is formed in the side surface, opposite to the side where the included angle is located, of the front end knuckle (1);
the clamping needle (9) is arranged in the strip-shaped accommodating groove (8), can move along the strip-shaped accommodating groove (8) and extends out of the tail end of the front end knuckle (1);
and a first electric control telescopic rod (10), wherein the first electric control telescopic rod (10) is arranged on the front end knuckle (1) in a direction opposite to the side surface of the side where the included angle is located, and the telescopic end of the first electric control telescopic rod (10) is connected with the clamping needle (9) to drive the clamping needle (9) to move in the strip-shaped accommodating groove (8).
8. A jaw finger structure according to claim 7, characterised in that inside said strip-shaped housing groove (8) there is a first pressure sensor (11) in contact with said gripping needle (9).
9. A jaw finger arrangement according to claim 4, characterised in that said face contact gripping extension finger comprises:
a surface contact splint (12), one end of the surface contact splint (12) is hinged on the side surface of the front end knuckle (1) on the side of the included angle and is close to one end part of the tail end of the front end knuckle (1);
and the second electric control telescopic rod (13), the second electric control telescopic rod (13) is hinged on the tail end knuckle (2), and the telescopic end of the second electric control telescopic rod (13) penetrates through the tail end knuckle (2) and is hinged on the surface contact clamping plate (12).
10. A jaw finger arrangement according to claim 9, characterised in that a second pressure sensor (14) is embedded in the gripping face of the face contact jaw (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122052140.1U CN215701811U (en) | 2021-08-27 | 2021-08-27 | Clamping jaw finger structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122052140.1U CN215701811U (en) | 2021-08-27 | 2021-08-27 | Clamping jaw finger structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215701811U true CN215701811U (en) | 2022-02-01 |
Family
ID=80008661
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122052140.1U Active CN215701811U (en) | 2021-08-27 | 2021-08-27 | Clamping jaw finger structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215701811U (en) |
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2021
- 2021-08-27 CN CN202122052140.1U patent/CN215701811U/en active Active
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