CN108189070A - Clamping jaw - Google Patents
Clamping jaw Download PDFInfo
- Publication number
- CN108189070A CN108189070A CN201711329105.1A CN201711329105A CN108189070A CN 108189070 A CN108189070 A CN 108189070A CN 201711329105 A CN201711329105 A CN 201711329105A CN 108189070 A CN108189070 A CN 108189070A
- Authority
- CN
- China
- Prior art keywords
- axis pin
- clamping
- clamping jaw
- base
- finger
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
The present invention provides a kind of clamping jaw, including bottom plate, the metacarpal bone frame being fixed on bottom plate, the interdigital lid being fixed on metacarpal bone frame and two clamping devices being oppositely arranged；Further include two carry-over bars and elevating arc of intraskeletal positioned at the palm and opposite engagement；Each clamping device includes base finger joint be pivotally connected with the metacarpal bone frame, gear arm connect with corresponding elevating arc, the middle fingerboard being pivotally connected with the gear arm, the finger tip section being connect with the base finger joint and middle fingerboard and the finger tip plate being connect with the finger tip section, and the finger tip plates of two clamping devices can clamp object is parallel, encircles and clamp and interior expansion clamping.Clamping jaw of the present invention is applicable to carry out encircling clamping, parallel clamping strength and interior expansion clamping object, this adaptability, which imitates finger clamping jaw, can complete the clamping requirement of different operating requirement；The various ways of mechanical clamp holding action are greatly played, there is higher imitation human finger, the carrying load ability with larger unit mass.
Description
Technical field
The present invention relates to industrial robot fields, have and are related to a kind of clamping jaw.
Background technology
Industrial clamping jaw crawl technique is related to all trades and professions, for a kind of clamping jaw for being suitable for universal crawl and designing,
Design can realize parallel clamping, encircle clamping, internal diameter clamping.Traditional fixture is most common can to realize single clamping,
With the hair of industrial robot industry, it is clear that single clamping is unable to meet demand, and the present invention is using the rigidity such as screw gear
Transmission can keep stability during clamping work, while use five bar torsional spring the way of restraint, can ensure simply to discharge what is clasped
Workpiece greatly plays the clamping convenience of fixture；Can be had compared with large transmission ratio using screw gear transmission simultaneously, with this this folder
Tool have larger unit mass carrying load ability, i.e., fixture have smaller size smaller, quality and can have larger load-carrying ability；Separately
Outside, which has the characteristics that imitation human finger, can also use on consumption domestic robot.
Invention content
The purpose of the present invention is to provide a kind of fixtures, with a variety of method of clamping, give full play to fixture utilization rate,
It can complete to clamp under various working.
The present invention provides a kind of clamping jaw, including bottom plate, the metacarpal bone frame being fixed on bottom plate, is fixed on metacarpal bone frame
Interdigital lid and two clamping devices being oppositely arranged；Further include two of intraskeletal positioned at the palm and opposite engagement
Carry-over bar and elevating arc；Each clamping device includes the base finger joint being pivotally connected with the metacarpal bone frame, the tooth being connect with corresponding elevating arc
Wheel arm, with the middle fingerboard of gear arm pivot joint, the finger tip section that is connect with the base finger joint and middle fingerboard and with the finger
The finger tip plate of spike knot connection, the finger tip plates of two clamping devices can by the parallel clamping of object, encircle clamping and interior expand clamps.
Preferably, the clamping jaw includes being fixed on the interdigital tiger's jaw plate covered, and the tiger's jaw plate is equipped with positioning object
Groove.
Preferably, the clamping jaw includes connecting the first axis pin of the metacarpal bone frame and base finger joint and is fixed on the first pin
Torsional spring between axis and base finger joint.
Preferably, the clamping jaw includes connecting the second axis pin of the base finger joint and the finger tip section, the connection finger tip
The third axis pin of section and the middle fingerboard, the 4th axis pin for connecting the middle fingerboard and the gear arm and the 5th axis pin and
Connect the 6th axis pin of the gear arm and the elevating arc.
Preferably, each base finger joint including the first base refers to body and the second base refers to body, the first base refer to body and the second base to refer to body equal
It is connect by the first axis pin with metacarpal bone frame.
Preferably, the effective distance between the 4th axis pin and the 5th axis pin and the 6th axis pin is a, and the first axis pin connects
It is b, a=b in the distance that the first base refers to body and the second base refers between body；Between 4th axis pin and the 5th axis pin and the 6th axis pin
The parallel extending direction of finger tip section being located between the second axis pin and third axis pin of the extending direction of gear arm.
Preferably, the distance between first axis pin and the second axis pin be c, the first axis pin be connected to the first base refer to body and
Second base refers to the distance between body as b, and third axis pin is e, i.e. c to the effective distance between the 4th axis pin and the 5th axis pin2+
b2=e2。
Preferably, the metacarpal bone frame portion is equipped with cavity, and the clamping jaw includes the lead screw shaft being located in the cavity, is fixed on
Tooth rest in lead screw shaft, the upper bearing (metal) for being connected to the lower bearing of lead screw shaft one end and being connected to the lead screw shaft other end；It is described
Two carry-over bars are fixed on the tooth rest.
Preferably, the clamping jaw include motor, the leading screw head that is set in the lead screw shaft and the connection motor and
The connection muscle axis of leading screw head.
Preferably, the clamping jaw includes fixed motor and the inner support of lead screw shaft.
Clamping jaw of the present invention be applicable to carry out to encircle clamping, parallel clamping strength and it is interior expand clamping object, this adaptability is imitated
The clamping requirement of different operating requirement can be completed by referring to clamping jaw；The various ways of mechanical clamp holding action are greatly played, are had
Higher imitation human finger has the carrying load ability of larger unit mass.
Description of the drawings
The invention will be further described in conjunction with the embodiments with reference to the accompanying drawings.
Fig. 1 is the external structure schematic diagram of clamping jaw of the present invention；
Fig. 2 is the internal structure schematic diagram of the metacarpal bone frame of clamping jaw shown in Fig. 1；
Fig. 3 is the transmission schematic diagram of clamping jaw shown in Fig. 1；
Fig. 4 is the schematic diagram encircled of clamping jaw shown in Fig. 1；
Fig. 5 is the schematic diagram of the gear pin of clamping jaw shown in Fig. 1；
Fig. 6 is the schematic diagram that the link design of clamping jaw shown in Fig. 1 is analyzed；
Fig. 7 is the structure diagram for encircling crawl transmission of clamping jaw shown in Fig. 1；
Fig. 8 is that the parallel crawl clamping jaw of clamping jaw shown in Fig. 1 transmits the structure diagram of power；
Fig. 9 is the structure diagram of the parallel crawl of clamping jaw shown in Fig. 1；
Figure 10 is that the interior expansion of clamping jaw shown in Fig. 1 captures the structure diagram that clamping jaw transmits power；
Figure 11 is the structure diagram that the interior expansion of clamping jaw shown in Fig. 1 captures.
Specific embodiment
The present invention discloses a kind of clamping jaw, this clamping jaw is as a kind of clamping jaw of imitative finger industrial robot, such as Fig. 1 to Fig. 5 institutes
Show, this clamping jaw includes：Bottom plate 5, the interdigital lid 2 being fixed on metacarpal bone frame 4, is located at the metacarpal bone frame 4 being fixed on bottom plate 5
The tiger's jaw plate 1 on interdigital 2 surface of lid and two clamping devices 100 for being fixed on metacarpal bone frame 4 and stretching out metacarpal bone frame 4.
Two clamping devices 100 are oppositely arranged, for clamping object.Each clamping device 100 include gear arm 8, with
Metacarpal bone frame 4 be pivotally connected base finger joint 3, with gear arm 8 be pivotally connected middle fingerboard 9, with middle 9 one end of fingerboard and 3 one end of base finger joint
The finger tip section 7 of pivot joint and the finger tip plate 6 being fixed on finger tip section 7, the finger tip plate 6 of two clamping devices 100 are oppositely arranged,
Object is clamped by the finger tip plate 6 of two clamping devices 100.The finger tip plate 6 of two clamping devices 100 can by object it is parallel clamping,
It encircles clamping and interior expand clamps (inside that i.e. finger tip plate 6 is located at object).
This clamping jaw further includes motor 10 inside bottom plate 5 and metacarpal bone frame 4, is connect with motor 10 control panel 11,
Inner support 12 on control panel 11, across lower bearing 14, the fixed lower bearing 14 being connect with control panel 11 after inner support 12
It goes up and is located at the connection muscle axis 13 on inner support 12, be fixed on the tooth rest 15 joined on muscle axis 13, be fixed on tooth rest 15 two
A moving gear 16, the elevating arc 17 engaged with each moving gear 16, screw head 18, the screw for being fixed on 15 end of tooth rest
Axis 19 and the upper bearing (metal) 20 being fixedly connected with screw axis 19.Wherein, one end connection upper bearing (metal) 20 of screw axis 19, lead screw shaft
19 other ends connect lower bearing 14, and lead screw shaft 19 passes through screw head 19 and tooth rest 15.The gear arm 8 of clamping device 100 and right
The elevating arc 17 answered connects.
Wherein, tiger's jaw plate 1 is located between two clamping devices 100 and is fixed on interdigital lid 2 by bolt or screw, tiger
The effect of oralia 1 is loading, and in the present embodiment, object is cylinder.Tiger's jaw plate 1 is equipped with groove 111, and groove 111 is V-type
Slot, the cylinder 200 of clamping can be positioned by groove 111, and tiger's jaw plate 1 can be also used for covering the upper bearing (metal) 20 of lead screw shaft 19
Debugging mouth.
Interdigital lid 2 uses for seal cavity and positioning upper bearing (metal) 20, interdigital lid 2 and blocks 210 positioning end of torsional spring.It is interdigital
Lid 2 coordinates with metacarpal bone frame 3, tiger's jaw plate 1 and upper bearing (metal) 19, and height can influence entire clamping jaw working range, and when design carries out ruler
Very little optimization plays an important role coordinating two clamping devices 100.
One of the kinematic link of base finger joint 3 as clamping device 100, the parallel clamping object of principal security so that two refer to
Sharp 6 parallel opposed longer sides of plate press object.Base finger joint 3 is connect with metacarpal bone frame 4 by the first axis pin 21, and is carried out about using torsional spring 210
Beam base finger joint 3；Base finger joint 3 is connect with finger tip section 7 by the second axis pin 26, ensures that 7 running orbit of finger tip section determines；Base finger joint 3
As drive link, need to carry out strength check.
In the present embodiment, each base finger joint 3 refers to 31 and second base of body including the first base and refers to body 32, and the first base refers to body 31 and
Diyl refers to body 32 and is connect by the first axis pin 21 with metacarpal bone frame 4, and the first base refers to 31 and second base of body and refers to 32 equal first axis pin of body
21 junctions are equipped with torsional spring 210.
Bottom plate 5 is for closed cavity and the assembly flange of complete machine.Bottom plate 5 coordinates with metacarpal bone frame 4, needs compared with Gao Ding
, there is positioning and demarcating effect in position, while ensure output flange stress to ensure that this clamping jaw is assembled to robot end, and when design carries out
Cross intensity and deformation quantity analysis.
Metacarpal bone frame 4 is internally provided with cavity, and as main capsule components, metacarpal bone frame 4 is used to fix gear arm 8 and base finger joint
3 and constraint torsional spring 210, inner support 12 and control panel 11.Gear arm 8 is constrained as rocker device by the first axis pin 21；
By 21 connection constraints base finger joint 3 of the first axis pin and coordinate torsional spring 210 that base finger joint 3 is pressed to tiger's jaw plate 1, effectively eliminate one
Degree of freedom；Inner support 12 coordinates with 4 circumference of metacarpal bone frame, is the main rack of internal drive part, it is desirable that have the machining accuracy increased；
Control panel 11 is also placed in the cavity of metacarpal bone frame 4 simultaneously, convenient to arrange with the power supply of motor 10 and communication line.
One of the kinematic link of finger tip section 7 as clamping device 100 for performing end, ensures it by Multi simulation running
Running orbit meets design requirement.Finger tip section 7 is connect with base finger joint 3 by the second axis pin 26, is had relative rotation angle, is needed to ensure
Precision；Finger tip section 7 is connect with middle fingerboard 9 by third axis pin 25, there is relative rotation angle, need to ensure precision；7 end of finger tip section
Finger tip plate 6 is assembled, other clamping ends can be assembled；Finger tip section 7 is used as drive link, need to carry out strength check.
One of the kinematic link of middle fingerboard 9 as clamping device 100, the torque that gear arm 8 is transmitted is transferred to by middle fingerboard 9
Finger tip section 7.Middle fingerboard 9 crosses the 4th axis pin 23 together with gear arm 8 and the 5th axis pin 24 is connect, the 4th axis pin 23 and the 5th axis pin 24
Fingerboard 9 and the angle of gear arm 8, cooperatively form and are equivalent to parallelogram linkage, length has higher requirements in control；In
Fingerboard 9 is connect with finger tip section 7 by the second axis pin, output torque and movement；Middle fingerboard 9 is used as drive link, needs to carry out strong
Degree is checked.
One of the kinematic link of gear arm 8 as clamping device 100 drives gear arm 8 by elevating arc 17 and carry-over bar 16,
Power is output to by the cavity of metacarpal bone frame 4 outside the chamber of metacarpal bone frame 4.Gear arm 8 is coordinated with elevating arc 17 by the 6th axis pin 22, is had
Higher requirement on machining accuracy；Gear arm 8 coordinates with middle fingerboard 9, transmits movement and torque；Gear arm 8 is used as drive link, needs
Carry out strength check.
Execution end of the finger tip plate 6 as this clamping jaw, replaceable other structures select wear-resisting, high hardness material, in need
Can adhere to rubber skin.
Motor 10 is used as driving source, can select different type according to Control Cooling, load.Control panel 11 provides electricity
Source and control clamping jaw operation.
Fixed platform of the inner support 12 as motor 10, screw axis 19.Inner support 12 fixes lower bearing 14 and accepts motor
10 and screw axis 19, there is high position precision requirement.
Joining muscle axis 13 and connect motor 10 and leading screw head 18, connection muscle axis 13 coordinates with lower bearing 14,13 high-speed rotation of connection muscle axis,
Axial symmetry has higher requirements.
Lower bearing 14 accepts inner support 12 and connection muscle axis 13.Lower bearing 14 is used cooperatively with upper bearing (metal) 20, ensures to transport at a high speed
The motor shaft of rotating motor 10 is stablized when driving screw to be performed, so as to ensure the stability of clamping jaw.
Rack frame 15 is for assembling carry-over bar 16, to transmit 18 power output of screw head and movement, has higher plus precision will
It asks.
Carry-over bar 16 is assemblied on rack frame 15, and carry-over bar 16 moves up and down with screw head 18, carry-over bar 16 and elevating arc
17 engagements, transmit torque.
Elevating arc 17 coordinates with gear arm 8, forms rocker arm body, and carry-over bar 16 engages carry-over bar 16, exports power.
Motor 10 is had enough to meet the need conversion of motion for linear motion by screw head 18 and 19 matable assembly of screw axis, while by torque
It exports as the axial thrust along screw axis 19, passes to carry-over bar 16.
Screw axis 19 accepts torque and the rotation that motor 10 exports by joining muscle axis 13, passes to screw head 18, lower bearing
14 are fixedly connected on one end of lead screw shaft 19, and upper bearing (metal) 20 is fixedly connected on the other end of lead screw shaft 19, and leading screw head 18 is set in
On silk axis axis 19 and positioned at the top of rack frame 15.
20 positioning screw rod axis 19 of upper bearing (metal) ensures its installation accuracy and stablizes to rotate, and upper bearing (metal) 20 coordinates with interdigital lid 2.
Link design analysis schematic diagram is illustrated in figure 6, design requirement is as follows：
1st, a=d and AB ∥ DE：It is required that machine adds finger tip section 7 and metacarpal bone frame 4 dimensionally to have required precision, i.e.,：4th axis pin
23 and the 5th effective distance of the axis pin 24 between the 6th axis pin 22 be a, the first axis pin 21 is connected to the first base and refers to 31 He of body
Second base refers to the distance between body 32 as b, a=b；Gear arm between 4th axis pin 23 and the 5th axis pin 24 and the 6th axis pin 22
The extending direction of the parallel finger tip section 7 being located between the second axis pin 26 and third axis pin 25 of 8 extending direction.
2、∠BCD≥90°：Connecting rod CD and connecting rod CB relative rotations are constrained with axis pin at C, 9 structure of gear arm 8 and middle fingerboard
There is design requirement, position and the stress of obligatory point are determined by simulation.
3、c2+b2=e2：Connecting rod BC is that gear arm 8 passes through 22 fitted shaft of the 6th axis pin to itself and middle fingerboard with metacarpal bone frame 4
9 cooperation the distance between the 4th axis pins 23 and the 5th axis pin 24, fingerboard 9 distinguishes gear arm 8 and finger tip section 7 with dowel pin during CD is
Distance between axis, AE length be 3 both ends pin shaft holes distance of base finger joint (i.e. between the first axis pin 21 and the second axis pin 26 away from
From), therefore, the pore size of axis pin that metacarpal bone frame 4, gear arm 8, finger tip section 7, middle fingerboard 9 connect strictly controls.
I.e.：The distance between first axis pin 21 and the second axis pin 26 are c, and the first axis pin 21 is connected to the first base and refers to 31 He of body
Second base refers to the distance between body 32 as b, and third axis pin 23 is to the effective distance between the 4th axis pin 23 and the 5th axis pin 24
For e, i.e. c2+b2=e2。
4th, BC is power source：BC is gear arm 8 and metacarpal bone frame 4 is combined into gear rocker arm body, output torque clamping fortune
Capable load for different load requirements, need to check different rod sizes.
5th, AE connecting rods press to the 1 direction torsional spring effect of tiger's jaw plate around point A rotations：Increase a torsional spring constraint, meet design
The execution of three kinds of clampings, and stability is not interfered with again, torsional spring coefficient of elasticity need to be checked.
Five-bar mechanism N=5, movable rod quantity n=4 have revolute pl=5, and substituting into formula has, and 5 connecting rod of plane connects
Bar degree of freedom：
F=3*n- (2*p1+pn)=3*4- (2*5+0)=2
Degree of freedom is 2, and only there are one power source, it is not known if not applying in addition constraint and may result in connecting rod operation,
Therefore, it is necessary to a constraints, torsional spring energy operative constraint, and with regard to that can meet parallelogram, two finger tip plates 6 just can keeping parallelism phase
To movement, that is, realize parallel clamping.And the state of unlocking can be being needed, it being capable of applied force progress unlocking state.
Similarly, when mode is to encircle the elastic force that clamping needs the object that clamps to overcome torsional spring, with this, base finger joint 3 and refer to
The largest contours that sharp plate 6 adapts to object are clasped, and can be achieved with encircling clamping.
When expanding method of clamping in execution, torsional spring acts on finger tip section 7 as trimming moment, and the load of interior expansion mode needs root
It is matched according to torsional spring coefficient of elasticity.
Transmission and kinematic analysis between component are illustrated in figure 3, motor 10 exports rotary motion by motor shaft, there is connection muscle
The locking motor shaft of axis 13 is simultaneously exported by the screw axis of embracing of connection muscle axis 12, that is, completes to be transferred to screw axis 19 by motor 10,
It is direct-connected using axle hung type and in connection muscle axis 13 equipped with lower bearing 14, ensure to transmit stability and screw to neutrality.
Screw axis 19 and screw head 18, which coordinate convert rotational motion being in line, moves simultaneously amplifying moment, can be according to difference
Load select different screw axis and screw head, and screw rod transmission pair is also that clamping jaw performs the important control part of precision, needle
Different grades of screw is matched to different accuracy requirement, screw axis 19 coordinates with screw head 18 with regard to completing to have screw axis 19 to arrive screw
First 18 movement and power transmit, and screw head 18 and rack frame 15 coordinate is transferred to 16 carry-over bars 16 by power, elevating arc 17 with
The engagement output power of carry-over bar 16 forms rocker arm body, via 23 He of the 4th axis pin by gear arm 8 around the rotation of the 6th axis pin 22
5th axis pin 24 constraint output torque drives entire middle fingerboard 9, and then pushes finger tip section 7.Pass through in base finger joint 3 and metacarpal bone frame 4
First axis pin match and, and with 210 fiting constraint base finger joint 3 of torsional spring press to clamping jaw clamping inside, just can complete entire holding action.
The structure diagram for encircling crawl transmission is illustrated in figure 7, encircles each rod piece stress of method of clamping, F1 and F2 are
The reaction force of pressure that clamping jaw base finger joint 3 and finger tip section 7 apply during clamping, Tin are motor 10 by screw axis 19, carry-over bar
16 and elevating arc 17 transmit torque of the output around the 6th axis pin 22, Fi passes through the 4th axis pin 23 and the 5th axis pin 25 for gear arm 9
Coordinate the power of output, Fi is transferred to the second axis pin 26 by Fr for middle fingerboard 9 makes the power of finger tip section 7, and Ts is the power that torsional spring 210 exports
Square.Encircle clamping realize condition be F2 >=0, therefore the structure for encircling clamping is requirement, can be required according to different operating into
Row selection, F2 and Ts are greater than the torque of torsional spring generation.
The structure diagram that parallel crawl clamping jaw transmits power is illustrated in figure 8, Fig. 9 is the structure diagram of parallel crawl,
Parallel each rod piece stress of method of clamping, the reaction force of pressure that clamping jaw base finger joint 3 and finger tip section 7 apply when F is clamping, Tin
Torque of the output around the 6th axis pin 22 is transmitted by screw axis 19, carry-over bar 16 and elevating arc 17 through 10 for motor, Fi is gear
For arm 8 by the 4th axis pin 23 and the power of the 5th axis pin 25 cooperation output, Fi is transferred to the second axis pin 26 by Fr for middle fingerboard 9 makes finger
The power of spike knot 7, Ts are the torque that torsional spring 210 exports.
Expand the structure diagram for capturing clamping jaw and transmitting power to be interior as shown in Figure 10, Figure 11 is the interior structural representation for expanding crawl
Figure, interior expansion each rod piece stress of method of clamping, the pressure that clamping jaw finger tip section 7 applies when F is clamped, Tin pass through screw for motor through 10
Axis 19, carry-over bar 16 and elevating arc 17 transmit torque of the output around the 6th axis pin 22, Fi passes through the 4th axis pin 23 for gear arm 8
Cooperation output is to the power of middle fingerboard 9, the component that Fb is exported 8 torque of gear arm by middle fingerboard 9 for the 5th axis pin 25, Fr
For Fi and Fb force actions in the 5th axis pin 25 to the active force of finger tip section 7.Being handed to the 5th axis pin 26 makes the power of finger tip section 7, Ts
The torque exported for torsional spring 210.It is interior that expand the condition that clamping is realized be that horizontally right component requirement is less than Ts in the 5th pin to Fr
The power that the effect of axis 26 generates.
Clamping jaw of the present invention uses five link transmissions, a large amount of track and movement analog simulation, determines each length of connecting rod, clamping jaw
Choose one group of a:b:c:d:E=5:5:12:13, the chucking power exported according to needed for bringing onto load, due to different rod piece corresponding angles
Difference, the power of required transmission will be different, and when it is F [N] to require output pressure, the said gear arm 8 of design exports
Torque is Tin=23.776*F [mm.N].
The present invention constrains one of articulation using torsional spring, effectively eliminates one degree of freedom, ensures jaw action
Uniqueness, this structure can also timely discharge power-off locking state clamped object.
Clamping jaw of the present invention be applicable to carry out to encircle clamping, parallel clamping strength and it is interior expand clamping object, this adaptability is imitated
The clamping requirement of different operating requirement can be completed by referring to clamping jaw；The various ways of mechanical clamp holding action are greatly played, are had
Higher imitation human finger has the carrying load ability of larger unit mass.
Clamping jaw of the present invention effectively by it is parallel clamping, encircle clamping, it is interior expand clamp be blended in one；The present invention uses a large amount of moulds
Intend emulation, each rod length ratio is obtained, the follow-up clamping jaw stroke offer parameter that increases is supported；The present invention is carried out about using torsional spring
Beam makes the single driving source of multiple degrees of freedom that can also obtain stable clamping movement；The present invention uses screw and rack-and-pinion combination bar
The circular motion of motor is transformed into stable linear motion by part realization；Big retarding ratio of the present invention can export small torque motor greatly
Chucking power, realize the big load capacity of unit volume.
During the preferred embodiment of the present invention has been described above in detail, but present invention is not limited to the embodiments described above
Detail within the scope of the technical concept of the present invention, can carry out a variety of equivalents to technical scheme of the present invention, these
Equivalents all belong to the scope of protection of the present invention.
Claims (10)
1. a kind of clamping jaw, including bottom plate, the metacarpal bone frame being fixed on bottom plate, the interdigital lid being fixed on metacarpal bone frame, with
And two clamping devices being oppositely arranged；It is characterized in that, further include two of intraskeletal positioned at the palm and opposite engagement
Carry-over bar and elevating arc；Each clamping device includes the base finger joint being pivotally connected with the metacarpal bone frame, the tooth being connect with corresponding elevating arc
Wheel arm, with the middle fingerboard of gear arm pivot joint, the finger tip section that is connect with the base finger joint and middle fingerboard and with the finger
The finger tip plate of spike knot connection, the finger tip plates of two clamping devices can by the parallel clamping of object, encircle clamping and interior expand clamps.
2. clamping jaw according to claim 1, it is characterised in that：The clamping jaw includes being fixed on the interdigital tiger's jaw plate covered,
The tiger's jaw plate is equipped with the groove of positioning object.
3. clamping jaw according to claim 1, it is characterised in that：The clamping jaw includes connecting the metacarpal bone frame and base finger joint
First axis pin and the torsional spring being fixed between the first axis pin and base finger joint.
4. clamping jaw according to claim 1, it is characterised in that：The clamping jaw includes connecting the base finger joint and the finger tip
Second axis pin of section, connects the middle fingerboard and the gear arm at the third axis pin for connecting the finger tip section and the middle fingerboard
The 4th axis pin and the 5th axis pin and the 6th axis pin for connecting the gear arm and the elevating arc.
5. clamping jaw according to claim 4, it is characterised in that：Each base finger joint refers to body including the first base and the second base refers to
Body, the first base refers to body and the second base refers to body and connect by the first axis pin with metacarpal bone frame.
6. clamping jaw according to claim 5, it is characterised in that：Between 4th axis pin and the 5th axis pin and the 6th axis pin
Effective distance for a, the first axis pin is connected to that the first base refers to body and the second base refers to the distance between body as b, a=b；4th axis pin
And the parallel finger being located between the second axis pin and third axis pin of extending direction of the 5th gear arm between axis pin and the 6th axis pin
The extending direction of spike knot.
7. clamping jaw according to claim 5, it is characterised in that：The distance between first axis pin and the second axis pin are c,
First axis pin is connected to that the first base refers to body and the second base refers to the distance between body as b, and third axis pin is to the 4th axis pin and the 5th
Effective distance between axis pin is e, i.e. c2+b2=e2。
8. clamping jaw according to claim 1, it is characterised in that：The metacarpal bone frame portion is equipped with cavity, and the clamping jaw includes position
In in the cavity lead screw shaft, be fixed in lead screw shaft tooth rest, be connected to lead screw shaft one end lower bearing and connection
In the upper bearing (metal) of the lead screw shaft other end；Described two carry-over bars are fixed on the tooth rest.
9. clamping jaw according to claim 8, it is characterised in that：The clamping jaw includes motor, is set in the lead screw shaft
Leading screw head and the connection muscle axis of the connection motor and leading screw head.
10. clamping jaw according to claim 9, it is characterised in that：The clamping jaw includes the interior branch of fixed motor and lead screw shaft
Frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711329105.1A CN108189070A (en) | 2017-12-13 | 2017-12-13 | Clamping jaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711329105.1A CN108189070A (en) | 2017-12-13 | 2017-12-13 | Clamping jaw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108189070A true CN108189070A (en) | 2018-06-22 |
Family
ID=62574020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711329105.1A Pending CN108189070A (en) | 2017-12-13 | 2017-12-13 | Clamping jaw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108189070A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108714909A (en) * | 2018-06-26 | 2018-10-30 | 北京艾利特科技有限公司 | A kind of mechanical paw with self-adapting grasping ability |
| CN110640769A (en) * | 2018-06-26 | 2020-01-03 | 深圳市北科生物科技有限公司 | Clamping assembly with multiple stations and clamp |
| CN111730631A (en) * | 2020-08-19 | 2020-10-02 | 佛山隆深机器人有限公司 | A end execution anchor clamps and get manipulator of clamp for pipe fitting |
| CN111950109A (en) * | 2019-05-14 | 2020-11-17 | 大族激光科技产业集团股份有限公司 | Pipe cutting clamp and optimization method thereof |
| CN112221779A (en) * | 2020-09-29 | 2021-01-15 | 杨美兰 | Intelligent furniture manufacturing paint spraying device capable of achieving automatic paint spraying through linkage of remote rods |
| CN112454403A (en) * | 2020-12-25 | 2021-03-09 | 淄博职业学院 | Manipulator with function of preventing pipe from rotating and sliding |
| CN112621804A (en) * | 2020-12-09 | 2021-04-09 | 江苏科技大学 | Automobile shifting fork forging under-actuated clamp |
| CN113319877A (en) * | 2021-07-05 | 2021-08-31 | 兰州大学 | Force feedback large-stroke mechanical gripper |
| CN114507835A (en) * | 2022-03-15 | 2022-05-17 | 福州大学 | Zinc pot slag dragging robot with slag dragging device fast conversion device and method |
| US11376748B2 (en) * | 2019-04-29 | 2022-07-05 | Citic Dicastal Co., Ltd. | Wheel hub carrying manipulator |
| CN115366145A (en) * | 2022-08-03 | 2022-11-22 | 三峡大学 | Multifunctional modularized mechanical clamping jaw for clamping rod piece |
| WO2024042232A1 (en) * | 2022-08-26 | 2024-02-29 | Ocado Innovation Limited | End-of-arm tool assembly for a robotic manipulator |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6427874A (en) * | 1987-07-23 | 1989-01-30 | Toshiba Corp | Robot hand |
| CN101589980A (en) * | 2009-06-30 | 2009-12-02 | 哈尔滨工业大学 | Five degree-of-freedom manipulator |
| CN102513997A (en) * | 2011-12-07 | 2012-06-27 | 金华职业技术学院 | Mechanical arm |
| CN103395067A (en) * | 2013-07-31 | 2013-11-20 | 北京航空航天大学 | Self-adaption claw mechanism of spatial on-orbit service robot |
| CN104260101A (en) * | 2014-09-23 | 2015-01-07 | 苏州农业职业技术学院 | Electrical manipulator internal gripping device based on gears, racks and crank connection rods |
| CN104972475A (en) * | 2015-07-29 | 2015-10-14 | 苏州拓德机器人科技有限公司 | Under-actuated mechanical hand with self-adaptive shape |
| CN106426255A (en) * | 2016-11-28 | 2017-02-22 | 昆山顺诠达电子有限公司 | Clamping claw |
| CN107042522A (en) * | 2017-03-06 | 2017-08-15 | 广东工业大学 | A kind of robot end self-clamping module of servo driving |
-
2017
- 2017-12-13 CN CN201711329105.1A patent/CN108189070A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6427874A (en) * | 1987-07-23 | 1989-01-30 | Toshiba Corp | Robot hand |
| CN101589980A (en) * | 2009-06-30 | 2009-12-02 | 哈尔滨工业大学 | Five degree-of-freedom manipulator |
| CN102513997A (en) * | 2011-12-07 | 2012-06-27 | 金华职业技术学院 | Mechanical arm |
| CN103395067A (en) * | 2013-07-31 | 2013-11-20 | 北京航空航天大学 | Self-adaption claw mechanism of spatial on-orbit service robot |
| CN104260101A (en) * | 2014-09-23 | 2015-01-07 | 苏州农业职业技术学院 | Electrical manipulator internal gripping device based on gears, racks and crank connection rods |
| CN104972475A (en) * | 2015-07-29 | 2015-10-14 | 苏州拓德机器人科技有限公司 | Under-actuated mechanical hand with self-adaptive shape |
| CN106426255A (en) * | 2016-11-28 | 2017-02-22 | 昆山顺诠达电子有限公司 | Clamping claw |
| CN107042522A (en) * | 2017-03-06 | 2017-08-15 | 广东工业大学 | A kind of robot end self-clamping module of servo driving |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110640769A (en) * | 2018-06-26 | 2020-01-03 | 深圳市北科生物科技有限公司 | Clamping assembly with multiple stations and clamp |
| CN110640769B (en) * | 2018-06-26 | 2024-08-30 | 深圳赛动智造科技有限公司 | Clamping assembly with multiple stations and clamp |
| CN108714909A (en) * | 2018-06-26 | 2018-10-30 | 北京艾利特科技有限公司 | A kind of mechanical paw with self-adapting grasping ability |
| US11376748B2 (en) * | 2019-04-29 | 2022-07-05 | Citic Dicastal Co., Ltd. | Wheel hub carrying manipulator |
| CN111950109A (en) * | 2019-05-14 | 2020-11-17 | 大族激光科技产业集团股份有限公司 | Pipe cutting clamp and optimization method thereof |
| CN111730631A (en) * | 2020-08-19 | 2020-10-02 | 佛山隆深机器人有限公司 | A end execution anchor clamps and get manipulator of clamp for pipe fitting |
| CN112221779A (en) * | 2020-09-29 | 2021-01-15 | 杨美兰 | Intelligent furniture manufacturing paint spraying device capable of achieving automatic paint spraying through linkage of remote rods |
| CN112621804A (en) * | 2020-12-09 | 2021-04-09 | 江苏科技大学 | Automobile shifting fork forging under-actuated clamp |
| CN112454403A (en) * | 2020-12-25 | 2021-03-09 | 淄博职业学院 | Manipulator with function of preventing pipe from rotating and sliding |
| CN113319877A (en) * | 2021-07-05 | 2021-08-31 | 兰州大学 | Force feedback large-stroke mechanical gripper |
| CN113319877B (en) * | 2021-07-05 | 2024-04-19 | 兰州大学 | Large-stroke manipulator grab |
| CN114507835A (en) * | 2022-03-15 | 2022-05-17 | 福州大学 | Zinc pot slag dragging robot with slag dragging device fast conversion device and method |
| CN114507835B (en) * | 2022-03-15 | 2023-02-28 | 福州大学 | Zinc pot slag dragging robot with slag dragging device fast conversion device and method |
| CN115366145A (en) * | 2022-08-03 | 2022-11-22 | 三峡大学 | Multifunctional modularized mechanical clamping jaw for clamping rod piece |
| WO2024042232A1 (en) * | 2022-08-26 | 2024-02-29 | Ocado Innovation Limited | End-of-arm tool assembly for a robotic manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108189070A (en) | Clamping jaw | |
| CN106514681A (en) | Combined gripper for engine cylinder head | |
| CN101497196B (en) | Translational clamping mechanical claw with uniform speed | |
| CN107471197A (en) | A kind of apery both arms multiple degrees of freedom industrial robot | |
| CN104908027B (en) | Wheel hub blank loading and unloading Pneumatic balance assisted manipulator | |
| CN203818150U (en) | Gear-rack horizontal-moving connecting rod type clamp holder | |
| CN106426177B (en) | Precision assembly robot | |
| CN109605404A (en) | The flat folder adaptive robot finger apparatus of sliding slot parallel connection link linear | |
| CN112720545A (en) | Humanoid parallel robot dexterous hand | |
| CN107175654B (en) | Structure redundancy parallel mechanism with two rotation and two movement | |
| CN105127978B (en) | One kind three translates a rotating parallel device people | |
| CN108127648A (en) | A kind of numerically-controlled machine tool clamping manipulator executing agency | |
| CN106426230A (en) | Double-ring rotating multi-finger parallel clamping self-adaptive under-actuated robot hand device | |
| CN203460172U (en) | High-speed six-freedom-degree parallel connection mechanical hand | |
| CN203460173U (en) | Parallel mechanism capable of achieving three-dimensional translation and three-dimensional | |
| CN108748098A (en) | A kind of parallel manipulator of three translations, one rotation | |
| CN209902667U (en) | Three-freedom-degree parallel electric drill | |
| CN109129548A (en) | Become the flat folder adaptive robot finger apparatus of geometry straight line | |
| CN107053238A (en) | A kind of multi-functional six-joint robot | |
| CN109108949B (en) | Parallel mechanism with three motion modes of 3T, 2T1R and 1T2R | |
| CN207272836U (en) | Four-bar mechanism positioner | |
| CN206690081U (en) | Small-sized machine Pneumatic paw | |
| CN206436260U (en) | Engine cylinder cover combines handgrip | |
| CN206598299U (en) | A kind of new mechanical arm | |
| CN201278779Y (en) | Manipulator clip for ice-cream production |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180614 Address after: 518000 No. 9988 Shennan Road, Nanshan District, Shenzhen, Guangdong Applicant after: HANS LASER TECHNOLOGY INDUSTRY GROUP CO., LTD. Applicant after: Shenzhen Dazu robot Co., Ltd. Address before: 518000 No. 9988 Shennan Road, Nanshan District, Shenzhen, Guangdong Applicant before: HANS LASER TECHNOLOGY INDUSTRY GROUP CO., LTD. Applicant before: Shenzhen Hans Electric Motor Co., Ltd. |
|
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180622 |