CN109910046A - A kind of small-sized translation clamper - Google Patents
A kind of small-sized translation clamper Download PDFInfo
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- CN109910046A CN109910046A CN201910164917.8A CN201910164917A CN109910046A CN 109910046 A CN109910046 A CN 109910046A CN 201910164917 A CN201910164917 A CN 201910164917A CN 109910046 A CN109910046 A CN 109910046A
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- translation
- clamp arm
- overhead guard
- card slot
- sliding
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Abstract
The present invention relates to robotic technology fields, in particular to the small-sized translation clamper of servo driving, including the overhead guard and pedestal mutually fastened, driving device is equipped in the pedestal, the two sides of the overhead guard are equipped with the direction of motion two translation clamp arm vertical with the driving device output shaft, the two sides of the pedestal are equipped with two side covers with sliding slot, two translation clamp arm can carry out opposite sliding by the sliding slot of the side cover, rack and pinion drive mechanism and bogie are disposed between the driving device and the overhead guard for driving the translation clamp arm to carry out sliding clamping.Inventive drive means driving translation clamp arm is slided by the sliding slot of side cover, realizes the horizontal folding of clamper, and structure is simple, low cost, light-weight, is capable of clamping a greater variety of objects.
Description
Technical field
The present invention relates to robotic technology fields, the in particular to small-sized translation clamper of servo driving.
Background technique
The clamper of robot requires have enough chucking powers and good timely reflection ability, while requiring gripper jaw energy
Effectively clamp a greater variety of objects.
The clamping limb of traditional clamper is connect with gear to be driven, and this clamper has the disadvantage in that small-sized
Object clamping effect is bad；It is single to clamp object type, mostly rod piece.
Summary of the invention
Present invention aims to overcome that the deficiency of traditional clamper, provide that a kind of structure is simple, and low cost is light-weight,
Adapt to the small-sized steering machine pinion and-rack clamper for more clamping object.
The technical scheme is that
A kind of small-sized translation clamper is equipped with driving device, institute in the pedestal including the overhead guard and pedestal mutually fastened
The two sides for stating overhead guard are equipped with the direction of motion two translation clamp arm vertical with the driving device output shaft, the two sides of the pedestal
Equipped with two side covers for having sliding slot, two translation clamp arm can carry out opposite sliding by the sliding slot of the side cover, described
Rack and pinion drive mechanism and bogie are disposed between driving device and the overhead guard for driving the translation clamp arm to carry out
Sliding clamping.
Further, the side of the overhead guard is disposed with the first fixture block and the first card slot, correspondingly, the other side of the overhead guard
It is disposed with the second fixture block and the second card slot.
Further, the side of the pedestal is equipped with third fixture block, the first fixture block of third card slot and the overhead guard, the first card
Slot is corresponding, and correspondingly, the other side of the pedestal is equipped with the 4th fixture block, the second fixture block of the 4th card slot and the overhead guard, second
Card slot is corresponding.
Further, when the pedestal and the overhead guard fasten, first fixture block and the third card slot cooperate, and described the
Two fixture blocks and the 4th card slot cooperate, and the third fixture block and first card slot cooperate, the 4th fixture block and described the
Two draw-in groove cooperation.
Further, the translation clamp arm is equipped with clamping jaw, and the clamping jaw is provided with umbilicate type structure and anti-sliding rib, realizes to object
Body it is effective clamping and it is anti-skidding.
Further, the side of the translation clamp arm is disposed with the first slide bar, and the other side is disposed with the second slide bar, and described second
Slide bar has rack structure.
Further, first sliding groove and second sliding slot are disposed on the side cover, the translation clamp arm is existed by the first slide bar
It is slided in the first sliding groove, the translation clamp arm is slided in the second sliding slot by the second slide bar, the second sliding slot
Side be disposed with reinforcing rib, it can be achieved that translation clamp arm disengaging movement limit function.
Further, the center arrangement of the overhead guard has the first circular shape hole, and first circular shape hole is disposed with
One deep groove ball bearing, overhead guard two sides center arrangement is there are two first boss, it can be achieved that the limit of translation clamp arm closing motion
Function.
Further, the bogie is fixedly mounted on the drive means, and the second circular shape is disposed in the bogie
Hole, second circular shape are disposed with the second deep groove ball bearing in hole.
Further, the rack and pinion drive mechanism include with driving device output axis connection first gear axis and with
The second gear axis of first gear axis engaged transmission, second gear axis both ends are deep with the first deep groove ball bearing and second respectively
The cooperation of ditch ball bearing inner race, thus second gear axis is in clamper center driving, the second gear axis and the translation clamp arm
Rack structure engagement, when driving device output shaft output torque, torque is transmitted by first gear axis and second gear axis and is arrived
In translation clamp arm with rack structure, two translation clamp arm realize translation open and close movement, achieve the purpose that clamp object.
Wherein, steering engine can be used in above-mentioned driving device.
The present invention has the following advantages and effect the prior art:
The present invention passes through first gear axis and second gear using steering engine output end and first gear axis connection output torque
The engagement of axis is torque transmitting to clamper center, while second gear axis is engaged with a pair of rack gear being translatable under clamp arm, is realized
The open and close movement of clamper.The features such as clamper has reaction, and structure is simple in time, light-weight, adaptable, by folder
The umbilicate type structure of pawl and the design of anti-sliding rib, are adapted to the clamping of the objects such as rod piece, cabinet.Clamper base exterior has larger sky
Between, it can arrange various robot connection structures, can be widely applied to robotic technology field.
Detailed description of the invention
Fig. 1 is the axonometric drawing of the small-sized translation clamper of the specific embodiment of the invention；
Fig. 2 is the explosive view of the small-sized translation clamper of the specific embodiment of the invention；
Fig. 3 is the axonometric drawing of the overhead guard of the specific embodiment of the invention；
Fig. 4 is the axonometric drawing of the pedestal of the specific embodiment of the invention.
In Fig. 1-Fig. 4:
Overhead guard -1, the first fixture block -111, the first card slot -112, the second fixture block -121, the second card slot -122, the first deep-groove ball
Bearing -13, first boss -14, pedestal -2, third fixture block -211, third card slot -212, the 4th fixture block -221, the 4th card slot -
222, driving device -3, translation clamp arm -4, the first slide bar -41, the second slide bar -42, rack structure -43, umbilicate type structure -44,
Anti- sliding rib -45, side cover -5, first sliding groove -51, second sliding slot -52, reinforcing rib -521, first gear axis -61, second gear axis -
62, bogie -7, the second deep groove ball bearing -71.
Specific embodiment
The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；In order to better illustrate this embodiment, attached
Scheme certain components to have omission, zoom in or out, does not represent the size of actual product；To those skilled in the art,
The omitting of some known structures and their instructions in the attached drawings are understandable.Being given for example only property of positional relationship is described in attached drawing
Illustrate, should not be understood as the limitation to this patent.
Embodiment 1:
As shown in Fig. 1-Fig. 4, a kind of small-sized translation clamper, including the overhead guard 1 and pedestal 2 mutually fastened, the pedestal
It is equipped with driving device 3 in 2, the two sides of the overhead guard 1 are equipped with two vertical with 3 output shaft of driving device of the direction of motion and put down
The two sides of dynamic clamp arm 4, the pedestal 2 are equipped with two side covers 5 with sliding slot, and two translation clamp arm 4 can pass through the side
The sliding slot of lid 5 carries out opposite sliding, is disposed with rack and pinion drive mechanism and drive between the driving device 3 and the overhead guard 1
Moving frame 7 is for driving the translation clamp arm 4 to carry out sliding clamping.
Refering to Fig. 3, the side of the overhead guard 1 is disposed with the first fixture block 111 and the first card slot 112, correspondingly, the overhead guard
1 other side is disposed with the second fixture block 121 and the second card slot 122.First fixture block 111, the first card slot 112 and the second fixture block
121, the second card slot 122 is about clamper central axes central symmetry.
Refering to Fig. 4, the side of the pedestal 2 is equipped with the first card of third fixture block 211, third card slot 212 and the overhead guard 1
Block 111, the first card slot 112 are corresponding, and correspondingly, the other side of the pedestal 2 is equipped with the 4th fixture block 221, the 4th card slot 222 and institute
The second fixture block 121, the second card slot 122 for stating overhead guard 1 are corresponding.The third fixture block 211, third card slot 212 and the 4th fixture block
221, the 4th card slot 222 is about clamper central axes central symmetry.
When the pedestal 2 is fastened with the overhead guard 1, first fixture block 111 cooperates with the third card slot 212, described
Second fixture block 121 cooperates with the 4th card slot 222, and the third fixture block 211 cooperates with first card slot 112, and described the
Four fixture blocks 221 cooperate with second card slot 122.Clamper shell overall stiffness can be improved, pedestal 2 and overhead guard 1 are not easy inwardly
Outer deformation.
Referring to Fig.2, the translation clamp arm 4 is equipped with clamping jaw, the clamping jaw is provided with umbilicate type structure 44, in actually clamping
Rod-like articles can be formed it is parcel-like, two translation clamp arm 4 clamping jaw be mainly plane, can have to the object of surfacing
Effect clamps, and is additionally provided with anti-sliding rib 45 on clamping jaw, can effectively reduce the sliding between object and clamper.
Referring to Fig.2, the side of the translation clamp arm 4 is disposed with the first slide bar 41, the other side is disposed with the second slide bar 42, institute
The second slide bar 42 is stated with rack structure 43.Two translation clamp arm 4 are centrosymmetrically arranged about clamper central axes.The present embodiment
Described in the first slide bar 41 be wedge-shaped slide bar, second slide bar 42 is T-type slide bar.
Referring to Fig.2, be arranged with first sliding groove 51 and second sliding slot 52 on two side covers 5, the translation clamp arm 4 passes through the
One slide bar 41 slides in the first sliding groove 51, and the translation clamp arm 4 is by the second slide bar 42 in the second sliding slot 52
Sliding, 52 side of second sliding slot be disposed with reinforcing rib 521, it can be achieved that translation 4 disengaging movement of clamp arm limit function.This reality
The length for applying first sliding groove 51 described in example is less than the half of 5 width of side cover, and the length of the second sliding slot 52 is less than or equal to
5 width of side cover, and the length of first sliding groove 51 is shorter than the length of second sliding slot 52, the first sliding groove 51 is wedge-shaped sliding slot, institute
Stating second sliding slot 52 is T-type sliding slot.Described two side covers 5 are all made of screw and connect with overhead guard 1, pedestal 2.
Refering to Fig. 3, the center arrangement of the overhead guard 1 has the first circular shape hole, and first circular shape hole is disposed with
First deep groove ball bearing 13, the 1 two sides center arrangement of overhead guard is there are two first boss 14, it can be achieved that the translation closure fortune of clamp arm 4
Dynamic limit function.When two translation clamp arm 4 closures close to each other when being clamped, the first slide bar 41 moves closer to side cover 5
Center, go to the end of first sliding groove 51, the first boss 14 being equipped at the end of first sliding groove 51 at this time is sliding to first
Bar 41 forms limit, and two translation clamp arm 4 is prevented excessively to be closed.
Referring to Fig.2, the bogie 7 is fixedly mounted in driving device 3 by several screws, cloth in the bogie 7
It is equipped with the second circular shape hole, the second deep groove ball bearing 71 is disposed in second circular shape hole.Described in the present embodiment
First deep groove ball bearing 13 is identical as 71 model of the second deep groove ball bearing.
Referring to Fig.2, the rack and pinion drive mechanism include with driving device 3 export axis connection first gear axis 61 with
And the second gear axis 62 with the engaged transmission of first gear axis 61,62 both ends of second gear axis are round boss, described the
Two gear shafts, 62 both ends cooperate with the first deep groove ball bearing 13 and 71 inner ring of the second deep groove ball bearing respectively, thus reach the second tooth
Wheel shaft 62 is in the minimum frictionally rotation in center and positioningly purpose.The second gear axis 62 and the translation clamp arm 4
Rack structure 43 engages, and when 3 output shaft output torque of driving device, passes through 62 transmission force of first gear axis 61 and second gear axis
On square to the translation clamp arm 4 with rack structure 43, two translation clamp arm 4 realize translation open and close movement, reach clamping object
Purpose.
First gear axis described in the present embodiment 61 is not overlapped with the rack structure 43 in any plane.Described first
The sum of thickness of the thickness of 61 gear parts of gear shaft and the rack structure 43 is less than or equal to the second gear shaft gear
The thickness of 62 parts.
Wherein, steering engine can be used to be realized for the driving device 3 in the present embodiment.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (10)
1. a kind of small-sized translation clamper, which is characterized in that including the overhead guard and pedestal mutually fastened, be equipped with and drive in the pedestal
Dynamic device, the two sides of the overhead guard are equipped with the direction of motion two translation clamp arm vertical with the driving device output shaft, described
The two sides of pedestal are equipped with two side covers with sliding slot, and two translation clamp arm can be carried out opposite by the sliding slot of the side cover
Sliding is disposed with rack and pinion drive mechanism and bogie for driving the translation between the driving device and the overhead guard
Clamp arm carries out sliding clamping.
2. a kind of small-sized translation clamper according to claim 1, which is characterized in that the side of the overhead guard is disposed with
One fixture block and the first card slot, correspondingly, the other side of the overhead guard is disposed with the second fixture block and the second card slot.
3. a kind of small-sized translation clamper according to claim 2, which is characterized in that the side of the pedestal is equipped with third
Fixture block, the first fixture block of third card slot and the overhead guard, the first card slot are corresponding, and correspondingly, the other side of the pedestal is equipped with the
Four fixture blocks, the second fixture block of the 4th card slot and the overhead guard, the second card slot are corresponding.
4. a kind of small-sized translation clamper according to claim 3, which is characterized in that the pedestal and the overhead guard fasten
When, first fixture block and the third card slot cooperate, and second fixture block and the 4th card slot cooperate, the third fixture block
Cooperate with first card slot, the 4th fixture block and second card slot cooperate.
5. a kind of small-sized translation clamper according to claim 1, which is characterized in that the translation clamp arm is equipped with clamping jaw,
The clamping jaw is provided with umbilicate type structure and anti-sliding rib, realize effective clamping to object with it is anti-skidding.
6. a kind of small-sized translation clamper according to claim 1, which is characterized in that the side arrangement of the translation clamp arm
There is the first slide bar, the other side is disposed with the second slide bar, and second slide bar has rack structure.
7. a kind of small-sized translation clamper according to claim 6, which is characterized in that it is sliding to be disposed with first on the side cover
Slot and second sliding slot, the translation clamp arm are slided in the first sliding groove by the first slide bar, and the translation clamp arm passes through the
Two slide bars slide in the second sliding slot, and the second sliding slot side is disposed with reinforcing rib, it can be achieved that translation clamp arm separation fortune
Dynamic limit function.
8. a kind of small-sized translation clamper according to claim 1, which is characterized in that the center arrangement of the overhead guard has
One circular shape hole, first circular shape hole are disposed with the first deep groove ball bearing, and overhead guard two sides center arrangement has two
A first boss, it can be achieved that translation clamp arm closing motion limit function.
9. a kind of small-sized translation clamper according to claim 8, which is characterized in that the bogie is fixedly mounted on drive
On dynamic device, the second circular shape hole is disposed in the bogie, second circular shape is disposed with the second zanjon in hole
Ball bearing.
10. a kind of small-sized translation clamper according to claim 9, which is characterized in that the rack and pinion drive mechanism
It is described including the first gear axis with driving device output axis connection and the second gear axis with first gear axis engaged transmission
Second gear axis both ends cooperate with the first deep groove ball bearing and the second deep groove ball bearing inner ring respectively, and thus second gear axis is pressing from both sides
Holder center driving, the second gear axis are engaged with the rack structure of the translation clamp arm, driving device output shaft power output
It when square, is transmitted in torque to the translation clamp arm with rack structure by first gear axis and second gear axis, two translation folders
Arm realizes translation open and close movement, achievees the purpose that clamp object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910164917.8A CN109910046A (en) | 2019-03-05 | 2019-03-05 | A kind of small-sized translation clamper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910164917.8A CN109910046A (en) | 2019-03-05 | 2019-03-05 | A kind of small-sized translation clamper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109910046A true CN109910046A (en) | 2019-06-21 |
Family
ID=66963275
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910164917.8A Withdrawn CN109910046A (en) | 2019-03-05 | 2019-03-05 | A kind of small-sized translation clamper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109910046A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112025753A (en) * | 2020-09-18 | 2020-12-04 | 清华大学 | Compact clamping end effector |
| CN116810446A (en) * | 2023-08-25 | 2023-09-29 | 淄博纽氏达特行星减速机有限公司 | Device for clamping and displacing machine tool |
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| CN206029924U (en) * | 2016-09-22 | 2017-03-22 | 慧灵科技（深圳）有限公司 | Built -in controller's electronic clamping jaw |
| CN207206462U (en) * | 2017-10-09 | 2018-04-10 | 郑州大学 | A kind of flat folder adaptive robot finger apparatus of straight line |
| CN207402531U (en) * | 2017-11-08 | 2018-05-25 | 余姚市昕宇液压机件有限公司 | A kind of opening and closing rotating and clamping device |
| CN108214479A (en) * | 2018-01-25 | 2018-06-29 | 深圳市固胜智能科技有限公司 | Electronic clamping jaw |
| CN108326885A (en) * | 2017-01-17 | 2018-07-27 | 慧灵科技（深圳）有限公司 | A kind of electronic clamping jaw of big stroke of built-in controller |
| CN207841328U (en) * | 2018-01-25 | 2018-09-11 | 深圳市固胜智能科技有限公司 | Electronic clamping jaw |
| CN209793771U (en) * | 2019-03-05 | 2019-12-17 | 广东工业大学 | Small-size translation holder |
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2019
- 2019-03-05 CN CN201910164917.8A patent/CN109910046A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206029924U (en) * | 2016-09-22 | 2017-03-22 | 慧灵科技（深圳）有限公司 | Built -in controller's electronic clamping jaw |
| CN108326885A (en) * | 2017-01-17 | 2018-07-27 | 慧灵科技（深圳）有限公司 | A kind of electronic clamping jaw of big stroke of built-in controller |
| CN207206462U (en) * | 2017-10-09 | 2018-04-10 | 郑州大学 | A kind of flat folder adaptive robot finger apparatus of straight line |
| CN207402531U (en) * | 2017-11-08 | 2018-05-25 | 余姚市昕宇液压机件有限公司 | A kind of opening and closing rotating and clamping device |
| CN108214479A (en) * | 2018-01-25 | 2018-06-29 | 深圳市固胜智能科技有限公司 | Electronic clamping jaw |
| CN207841328U (en) * | 2018-01-25 | 2018-09-11 | 深圳市固胜智能科技有限公司 | Electronic clamping jaw |
| CN209793771U (en) * | 2019-03-05 | 2019-12-17 | 广东工业大学 | Small-size translation holder |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112025753A (en) * | 2020-09-18 | 2020-12-04 | 清华大学 | Compact clamping end effector |
| CN116810446A (en) * | 2023-08-25 | 2023-09-29 | 淄博纽氏达特行星减速机有限公司 | Device for clamping and displacing machine tool |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190621 |