CN111136681B

CN111136681B - Clamping jaw

Info

Publication number: CN111136681B
Application number: CN202010115864.3A
Authority: CN
Inventors: 汤健华; 区伟健; 江励; 黄辉; 陈荣满; 严子豪; 陈晓波; 王利; 熊达明; 刘乐章
Original assignee: Wuyi University
Current assignee: Wuyi University
Priority date: 2020-02-25
Filing date: 2020-02-25
Publication date: 2021-06-08
Anticipated expiration: 2040-02-25
Also published as: CN111136681A

Abstract

The invention discloses a clamping jaw, wherein a rack is provided with a driving mechanism and a plurality of driving rods, the driving rods are rotationally connected with the rack, and the driving mechanism drives the driving rods to swing; the gripper jaw is provided with a plurality of, the gripper jaw is installed on the actuating lever, including mounting panel and a plurality of gyro wheel, the gyro wheel offsets with the product surface, the gyro wheel with be connected with first connecting rod between the mounting panel, the both ends of first connecting rod respectively with the gyro wheel reaches the gyro wheel rotates to be connected, the gyro wheel with the mounting panel offsets. A plurality of gyro wheel comes to adjust according to the appearance of different products through the swing to effectively make the gripper jaw hug closely the surface of product, guarantee to press from both sides tightly different products, adapt to different work scenes.

Description

Clamping jaw

Technical Field

The invention relates to manipulator equipment, in particular to a clamping jaw.

Background

In the production process of modern manufacturing industry, mechanical grippers are widely used in automatic production lines to replace people to carry out large-batch and high-quality transportation work. However, most of holders have poor adaptability to different shapes of objects, are single in holding mode, limited in stroke and unadjustable in holding force, and can only be applied to single station and working scenes.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the clamping jaw is suitable for different working scenes.

A jaw according to an embodiment of the first aspect of the invention, comprising:

the driving mechanism drives the driving rod to swing;

the gripper jaw is provided with a plurality of, the gripper jaw is installed on the actuating lever, including mounting panel and a plurality of gyro wheel, the gyro wheel offsets with the product surface, the gyro wheel with be connected with first connecting rod between the mounting panel, the both ends of first connecting rod respectively with the gyro wheel reaches the mounting panel rotates to be connected, the gyro wheel with the mounting panel offsets, the mounting panel is provided with the arch, first connecting rod with the arch rotates to be connected, the arch with the gyro wheel offsets, the arch with the edge that the gyro wheel offseted with bellied movement track overlaps.

The clamping jaw has the following beneficial effects: a plurality of gyro wheel comes to adjust according to the appearance of different products through the swing to effectively make the gripper jaw hug closely the surface of product, guarantee to press from both sides tightly different products, adapt to different work scenes.

According to some embodiments of the invention, the protrusion is provided with a first stopper portion provided below the first link.

According to some embodiments of the invention, the protrusion is provided with a second stopper portion provided above the first link.

According to some embodiments of the invention, the drive mechanism comprises:

a motor;

the rotating disc is fixedly connected with a rotating shaft of the motor;

and one end of the pull rod is rotationally connected with the edge of the rotating disc, the other end of the pull rod is rotationally connected with a steering block, and the steering block is rotationally connected with the driving rod through a second connecting rod.

According to some embodiments of the invention, one end of the driving rod, which is rotatably connected to the frame, is provided with a driving end, and the driving end is rotatably connected to the second connecting rod.

According to some embodiments of the invention, two drive levers are provided connecting the same gripping claw, the two drive levers being arranged in parallel.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic view of an installation structure of an embodiment of the present invention;

FIG. 2 is a schematic view of a mounting structure of a clamping jaw according to an embodiment of the present invention;

fig. 3 is a schematic view of an installation structure of the driving mechanism and the driving rod according to the embodiment of the present invention.

Reference numerals

The device comprises a machine frame-100, a driving rod-110, a clamping claw-200, a mounting plate-210, a roller-230, a first connecting rod-220, a protrusion-213, a first limiting part-212, a second limiting part-212, a motor-121, a rotating disc-122, a pull rod-123, a steering block-124, a second connecting rod-125 and a driving end-111.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

Referring to fig. 1, the clamping jaw includes a frame 100 and a clamping jaw 200, the frame 100 is provided with a driving mechanism and a plurality of driving rods 110, the driving rods 110 are rotatably connected with the frame 100, and the driving mechanism drives the driving rods 110 to swing; the clamping claws 200 are provided with a plurality of clamping claws 200, the clamping claws 200 are mounted on the driving rod 110 and comprise mounting plates 210 and a plurality of rollers 230, the rollers 230 abut against the surface of a product, a first connecting rod 220 is connected between the rollers 230 and the mounting plates 210, two ends of the first connecting rod 220 are respectively rotatably connected with the rollers 230 and the rollers 230, and the rollers 230 abut against the mounting plates 210.

In the practical use, a plurality of driving rods 110 are driven by the driving mechanism to swing, so that the clamping jaws 200 are attached to the surface of a product to be clamped, in the clamping process, a plurality of rollers 230 are adjusted according to the appearances of different products through swinging, and the degree of freedom of the rollers 230 is 0 when the rollers 230 of the clamping jaws 200 are attached to the product, so that the surfaces of the products are effectively attached to the clamping jaws 200, different products are guaranteed to be clamped, and different work scenes are adapted.

In addition, the roller 230 of the present embodiment is made of low hardness rubber, and has moderate elasticity and plasticity, so as to prevent excessive wear caused by excessive hardness. Specifically, the hardness of the roller 230 is 40-60 Shore hardness, so that the roller can be prevented from being excessively worn while clamping the product.

In some embodiments, referring to fig. 2, the mounting plate 210 is provided with a protrusion 213, the first link 220 is rotatably connected to the protrusion 213, the protrusion 213 abuts against the roller 230, and an edge of the protrusion 213 abutting against the roller 230 overlaps with a movement track of the protrusion 213. In the process of swinging the first link 220, the roller 230 forms a linear contact kinematic pair along the edge roller 230 of the protrusion 213, and the degree of freedom of the swinging mechanism of the whole pulley is 0 when the plurality of clamping claws 200 are tightly attached to a product by matching with a revolute pair formed by the first link 220 and the mounting plate 210 and a revolute pair formed by the first link 220 and the pulley, so that the product can be clamped by mechanical self-locking.

In the present embodiment, since the protrusion 213 is driven by the first link 220 to swing, the edge wheel of the protrusion 213 abutting against the roller 230 has an arc shape.

It should be mentioned that when gripping the product, a large gripping pressure is not required, which not only reduces the output torque requirement of the motor 121, but also does not easily damage the surface of the product. The product is gripped as follows, the jaws 200 begin to close and the individual rollers 230 begin to contact the product surface. With the clamping jaws 200 being closed, the rollers 230 are squeezed when the rollers 230 contact the surface of the product, and since the total degree of freedom between the rollers 230 and the first link 220 is 1, the rollers 230 can be forced to move upward along the arc-shaped track with a small force, and can move to a certain position according to the degree of the concave-convex shape of the surface of the product. When the grasped product is lifted, the relative roller 230 moves relatively due to the gravity of the product, the roller 230 generates frictional force due to the relative movement, the roller 230 rolls downwards due to the frictional force, when the product cannot move downwards, the freedom degree of movement of the roller 230 is 0, self-locking is generated, by the above principle, the roller 230 can keep soft contact with the product all the time, and the function of the roller 230 being attached to the product in a self-adaptive manner through the gravity of the product is realized. Specifically, the above-mentioned upper direction means a direction opposite to the direction of gravity, and the lower direction means a direction swinging in the direction of gravity.

In some embodiments, the protrusion 213 is provided with a first position-limiting portion 212, and the first position-limiting portion 212 is disposed below the first link 220. The range of the swing of the first link 220 is limited, specifically, in this embodiment, the downward swing of the first link 220 is limited above the horizontal level, which effectively ensures that the clamping claw 200 realizes self-locking.

In some embodiments, the protrusion 213 is provided with a second position-limiting portion 211, and the second position-limiting portion 211 is disposed above the first link 220. The range of the first link 220 is limited to ensure that the roller 230 is attached to the surface of the product.

In certain embodiments, referring to fig. 3, the drive mechanism includes a motor 121, a turn disc 122, and a pull rod 123; the rotating disc 122 is fixedly connected with a rotating shaft of the motor 121; one end of the pull rod 123 is rotatably connected to the edge of the rotating disc 122, and the other end of the pull rod is rotatably connected to a steering block 124, and the steering block 124 is rotatably connected to the driving rod 110 through a second connecting rod 125. The motor 121 drives the rotating disc 122 to rotate, so as to drive the second connecting rod 125 to drag the rotating block, and further, the driving rod 110 is pulled to swing inwards or outwards, and the clamping claw 200 is controlled to grab a product.

In some embodiments, one end of the driving rod 110 rotatably connected to the frame 100 is provided with a driving end 111, and the driving end 111 is rotatably connected to the second link 125. By pulling the driving end 111, the driving lever 110 is simultaneously swung, carrying the gripping claw 200 to grip the product.

In some embodiments, two driving levers 110 connected to the same clamping jaw 200 are provided, and the two driving levers 110 are arranged in parallel. The strength of the driving lever 110 is improved, and the reliability of the gripping movement is ensured. In addition, in the embodiment, the mounting plate 210 is always perpendicular to the rack 100, and the two driving rods form a parallelogram lever structure, which can ensure that the mounting plate 210 is always perpendicular to the rack 100, and it should be mentioned that the mounting plate 210 and the rack 100 may also be at other angles.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.

Claims

1. A jaw, characterized in that, comprises:

the device comprises a rack (100) and a driving mechanism, wherein the rack (100) is provided with a driving mechanism and a plurality of driving rods (110), the driving rods (110) are rotatably connected with the rack (100), and the driving mechanism drives the driving rods (110) to swing;

the clamping jaw (200) is provided with a plurality of, the clamping jaw (200) is installed on actuating lever (110), including mounting panel (210) and a plurality of gyro wheel (230), gyro wheel (230) offsets with the product surface, gyro wheel (230) with be connected with first connecting rod (220) between mounting panel (210), the both ends of first connecting rod (220) respectively with gyro wheel (230) and mounting panel (210) rotate to be connected, gyro wheel (230) with mounting panel (210) offset, mounting panel (210) are provided with arch (213), first connecting rod (220) with arch (213) rotate to be connected, arch (213) with gyro wheel (230) offset, arch (213) with the edge that gyro wheel (230) offset with the motion trail of arch (213) overlaps.

2. A jaw as claimed in claim 1, characterized in that said projection (213) is provided with a first limit stop (212), said first limit stop (212) being provided below said first link (220).

3. A jaw as claimed in claim 1 or 2, characterized in that said projection (213) is provided with a second limit stop (211), said second limit stop (211) being provided above said first link (220).

4. A jaw as claimed in claim 1, characterized in that said drive mechanism comprises:

a motor (121);

the rotating disc (122), the rotating disc (122) is fixedly connected with the rotating shaft of the motor (121);

and one end of the pull rod (123) is rotatably connected with the edge of the rotating disc (122), the other end of the pull rod is rotatably connected with a steering block (124), and the steering block (124) is rotatably connected with the driving rod (110) through a second connecting rod (125).

5. A jaw as claimed in claim 4, characterized in that said driving rod (110) is provided with a driving end (111) at the end rotatably connected to said frame (100), said driving end (111) being rotatably connected to said second link (125).

6. A jaw as claimed in claim 1, 2, 4 or 5, characterized in that two drive rods (110) are provided connecting the same gripping jaw (200), the two drive rods (110) being arranged in parallel.