CN111360861A - Clamping jaw with built-in wire - Google Patents
Clamping jaw with built-in wire Download PDFInfo
- Publication number
- CN111360861A CN111360861A CN202010231793.3A CN202010231793A CN111360861A CN 111360861 A CN111360861 A CN 111360861A CN 202010231793 A CN202010231793 A CN 202010231793A CN 111360861 A CN111360861 A CN 111360861A
- Authority
- CN
- China
- Prior art keywords
- arm
- hinge shaft
- built
- jaw
- hinge
- 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
- 210000000245 forearm Anatomy 0.000 claims abstract description 14
- 230000037431 insertion Effects 0.000 claims description 3
- 238000003780 insertion Methods 0.000 claims description 3
- 239000004020 conductor Substances 0.000 claims 9
- 230000000994 depressogenic effect Effects 0.000 claims 3
- 230000000149 penetrating effect Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
Images
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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
-
- 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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention provides a clamping jaw with a built-in wire, wherein a clamping jaw body of the clamping jaw is provided with an electric component and a clamping arm, the clamping arm comprises a front arm, a rear arm and an outer arm, the rear arm and the outer arm are arranged in parallel, a gap is reserved between the rear arm and the outer arm, the far ends of the rear arm and the outer arm are respectively provided with a front hinge shaft, and the rear arm and the outer arm are respectively hinged on different points of the front arm through the respective front hinge shafts; the near-end of the two of trailing arm and outer arm articulates respectively on the different points of clamping jaw main part, is equipped with electrical apparatus on the forearm, and above-mentioned electrical components is received to the wire termination electric appliance of electrical apparatus and the other end on the forearm, has seted up first through wires hole on the forearm, and a department in from a preceding hinge to another preceding hinge is seted up to first through wires hole, and the wire passes through behind the first through wires hole from electrical apparatus toward above-mentioned electrical components space. The lead is not easy to be pinched off when the forearm rotates, so the lead can be installed in a built-in mode, and the lead is prevented from being accidentally damaged by external force.
Description
Technical Field
The invention relates to a clamping jaw, in particular to a clamping jaw with a built-in wire.
Background
At present, reference is made to the U.S. patent publication No. US20140265401a1 in the prior art, and fig. 1 to 3 in the present application are attached to the drawings, as shown in the drawings: the clamping arms comprise a front arm 132, a rear arm 102 and an outer arm, the distal ends of the rear arm 102 and the outer arm are respectively hinged on the proximal end of the front arm 132, and the proximal end of the rear arm 102 is provided with a torsion spring 123. The outer arm includes an outer short arm 104 and an outer long arm 105, and a proximal end of the outer long arm 105 is hinged to a distal end of the outer short arm 104 by a second hinge shaft 109. If the wires connected to the front arms from the rear and outer arms, respectively, are built-in, the wires at the connection between the front arms and both the outer and rear arms are easily pinched off, either by the pinching force generated by the rotation of the front arms relative to the outer long arm or by the pinching force generated by the rotation of the front arms relative to the outer short arm. Therefore, the prior art has adopted external wires and lengthened the wires to bypass the connection.
The defects of the prior art are as follows: the external arrangement of the lead easily causes the lead to be damaged by external force accident.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the clamping jaw with the built-in lead on the premise of avoiding the lead from being pinched off when the front arm rotates, thereby avoiding the lead from being accidentally damaged by external force.
The clamping jaw body of the clamping jaw is provided with an electric component and a clamping arm, the clamping arm comprises a front arm, a rear arm and an outer arm, the rear arm and the outer arm are arranged in parallel, a gap is reserved between the rear arm and the outer arm, the far ends of the rear arm and the outer arm are respectively provided with a front hinge shaft, and the rear arm and the outer arm are respectively hinged on different points of the front arm through the respective front hinge shafts; the near-end of the two of trailing arm and outer arm articulates respectively on the different points of clamping jaw main part, is equipped with electrical apparatus on the forearm, and above-mentioned electrical components is received to the wire termination electric appliance of electrical apparatus and the other end on the forearm, has seted up first through wires hole on the forearm, and a department in from a preceding hinge to another preceding hinge is seted up to first through wires hole, and the wire passes through behind the first through wires hole from electrical apparatus toward above-mentioned electrical components space.
Further, a first threading hole is formed between the two front hinge shafts.
Further, the proximal end of the outer arm is provided with a first hinge shaft and is hinged on the clamping jaw body through the first hinge shaft; the outer arm near-end has seted up the second through wires hole, and the wire that is located the second through wires hole passes through the extension line of first hinge, the wire is followed the space is toward above-mentioned electrical components, and the system passes the second through wires hole.
Furthermore, the length of the shaft hole of the proximal end of the outer arm, which is matched with the first hinge shaft, exceeds the insertion requirement of the first hinge shaft, and the second threading hole is formed in the shaft hole where the length of the second threading hole exceeds the insertion requirement.
Further, the rear arm is provided with a third hinge shaft and is hinged to the jaw body by the third hinge shaft, and the outer arm proximal end extends rearward and beyond the third hinge shaft.
Further, the outer arm comprises an outer long arm and an outer short arm, the distal end of the outer long arm is connected with the front arm, the proximal end of the outer long arm is hinged with the distal end of the outer short arm through a second hinge shaft, and the first hinge shaft is positioned on the outer short arm; the first hinge shaft is located between the second hinge shaft and the third hinge shaft.
Further, the electrical component includes a power supply device.
Furthermore, a sunken part is formed in the front arm, the electric appliance is located in the sunken part, and the first threading hole is formed in the side wall of the sunken part.
Further, the electric appliance includes a light emitting electric element.
Furthermore, the front arm is provided with a concave part as above, the electric appliance is positioned in the concave part, and the concave part is provided with a light-transmitting shell.
Has the advantages that: the first threading hole is formed in one position from one front hinge shaft to the other front hinge shaft, the wire passes through the first threading hole and then passes through a gap between the outer arm and the rear arm, and the two front hinge shafts are basically fixed in position and cannot clamp the wire in the first threading hole, so that the clamping force generated by the rotation of the front arm relative to the outer long arm and the clamping force generated by the rotation of the front arm relative to the outer short arm cannot clamp the wire. The lead is not easy to be pinched off when the forearm rotates, so the lead can be installed in a built-in mode, and the lead is prevented from being accidentally damaged by external force.
Drawings
FIG. 1 is a schematic view of a single-sided forearm of a prior art jaw;
FIG. 2 is an overall schematic view of a prior art clamping jaw;
FIG. 3 is a schematic view of a prior art clamping jaw clamping a workpiece;
FIG. 4 is a view of the same front arm of the present invention and a prior art jaw having a high drive accuracy;
FIG. 5 is an overall schematic view of the forearm of the jaw of the present invention;
FIG. 6 is a schematic view of the force application arm of the jaws of the present invention;
FIG. 7 is a schematic view of the jaw of the present invention in an open position;
FIG. 8 is a schematic view of the jaw clamping condition of the present invention;
FIG. 9 is a schematic view of the jaw of the present invention in a retracted state;
FIG. 10 is a perspective view of a jaw of the present invention;
FIG. 11 is another perspective view of a jaw of the present invention;
in the figure: 102. a rear arm; 104. an outer short arm; 105. an outer long arm; 108. a first hinge shaft; 109. a second hinge shaft; 123. a torsion spring; 132. a forearm; 20. a rear extension; 21. a third hinge shaft; 23. a shaft hole; 40. a light-emitting electric element; 41. a first threading hole; 42. a second threading hole; 51. a tension arm; 52. a fourth hinge shaft; 53. a lifting nut; 54. a screw rod; 60. a front hinge shaft.
Detailed Description
The clamping jaw with high driving precision comprises a clamping jaw body and two clamping arms. Fig. 4 shows the same parts of the clip arm of the present invention as the clip arm of the prior art, the clip arm comprising a front arm 132, a rear arm 102 and an outer arm, the rear arm 102 and the outer arm being juxtaposed in the width direction with a gap therebetween, the rear arm 102 and the outer arm being respectively hinged at different points on the front arm 132 by respective front hinge shafts 60, the proximal ends of the rear arm 102 and the outer arm being respectively provided with a third hinge shaft 21 and a first hinge shaft 108 and the rear arm 102 being provided with a torsion spring 123 for the third hinge shaft 21, the third hinge shaft 21 and the first hinge shaft 108 being provided in the jaw body; the outer arm comprises an outer short arm 104 and an outer long arm 105, the proximal end of the outer long arm 105 is hinged to the distal end of the outer short arm 104 by a second hinge shaft 109, and the first hinge shaft 108 is located at the proximal end of the outer short arm 104. The difference between the clip arm of the present invention and the clip arm of the prior art is that as shown in figures 5 and 6, the proximal end of the outer short arm 104 extends with the rearward extension 20 in a direction away from the distal end of the outer short arm 104, the distal end of the rearward extension 20 passing alongside the third hinge shaft 21 of the rear arm 102; the first hinge shaft 108 is located between the second hinge shaft 109 and the third hinge shaft 21. As shown in fig. 7, a motor and a lead screw 54 nut mechanism are arranged in the jaw body, the motor drives the lead screw 54 to rotate, so that the lifting nut 53 is lifted along the axial direction of the lead screw 54, two pulling arms 51 are respectively arranged on two sides of the lifting nut 53, the proximal ends of the two pulling arms 51 are respectively hinged on two sides of the lifting nut 53, the distal ends of the two pulling arms 51 are respectively provided with two fourth hinge shafts 52, and the distal ends of the two pulling arms 51 are hinged on the proximal ends of the rear extension parts 20 of the two outer short arms 104 through the respective fourth hinge shafts 52. It should be noted that the nut 53 may not be moved up and down, and the screw 54 may be moved up and down by rotating the nut 53.
Referring to fig. 7 to 8, taking the clamping arm on the left as an example, the working principle is as follows: the motor drives the lifting nut 53 to ascend, so that the tension arm 51 applies tension to the rear extension portion 20 of the outer short arm 104, the outer short arm 104 rotates anticlockwise around the first hinge shaft 108, the outer long arm 105 is applied with force, so that the outer long arm 105 rotates and clamps, meanwhile, the torsion spring 123 applies torsion to the rear arm 102, so that the rear arm 102 rotates and clamps, and the front arm 132 is driven by the rear arm 102 and the outer long arm 105 to rotate and clamp. When the rear arm 102 clamps the workpiece, the lifting nut 53 continues to ascend, so that the outer arm and the front arm 132 continue to rotate and clamp, the rear arm 102 is blocked by the workpiece so that the rear arm does not move, and the outer short arm 104 pushes the front arm 132 to rotate rightwards through the outer long arm 105, so that the workpiece is held. If the arms are rotated to clamp without gripping the workpiece, the arms are in the condition shown in figure 9, with the front arms 132 of the two arms remaining parallel to each other at all times during the rotational clamping of the two arms.
The present invention further provides a clamping jaw with a built-in wire, as shown in fig. 10 and 11, a recessed portion is provided on a side of the front arm 132 away from the clamping side, the recessed portion is provided with a light-transmitting casing, and the light-transmitting casing is mounted on the recessed portion in a magnetic attraction manner; the recessed portion is provided with a luminous electric element 40, the main body of the clamping jaw is provided with a power supply device, the luminous electric element 40 is connected with the power supply device through a lead to obtain electricity, and the power supply device is a battery or a transformer for obtaining electricity from commercial power. The specific threading structure is as follows: the proximal end of the front arm 132 is provided with a first threading hole 41, and the first threading hole 41 is provided between the front hinge shafts 60 of the rear arm 102 and the outer arm. The wires of the luminous electric element 40 penetrate into the first threading hole 41 from the side wall of the concave part, and the wires penetrating out of the first threading hole 41 reach the gap between the outer arm and the rear arm 102; referring to fig. 6, a shaft hole 23 is formed through the middle of the outer short arm 104, a first hinge shaft 108 located at the proximal end of the outer short arm 104 is inserted into the shaft hole 23, the length of the shaft hole 23 exceeds the length of the first hinge shaft 108, and a second threading hole 42 is formed in the shaft hole 23 beyond the length of the first threading hole. As shown in fig. 10 and 11, the outer short arm 104 is provided with a second threading hole 42 penetrating through the shaft hole 23, a wire penetrates into the second threading hole 42 from a gap between the outer arm and the rear arm 102, and the wire penetrating out of the second threading hole 42 is connected to a power supply device in the clamping jaw body to get power. Non-preferably, the light emitting electric element 40 may be changed to other electric appliances; the power supply device can also be changed into other electric components, such as a controller, and the conducting wire can transmit current and signals.
Less preferably, the first threading hole 41 is opened at one of the positions from one of the front hinge shafts 60 to the other front hinge shaft 60 (i.e., including the case where the wire passes through one of the front hinge shafts 60).
It should be noted that the axial hole 23 may alternatively not penetrate through the outer short arm 104, that is, the depth of the axial hole 23 is smaller than the thickness of the outer short arm 104, and the wire in the second threading hole 42 passes through the extension line of the first hinge shaft 108 (that is, the wire does not pass through the axial hole 23).
Claims (10)
1. The clamping jaw is internally provided with a lead, an electric component and a clamping arm are arranged on a clamping jaw body of the clamping jaw, the clamping arm comprises a front arm (132), a rear arm (102) and an outer arm, the rear arm (102) and the outer arm are arranged in parallel, a gap is reserved between the rear arm and the outer arm, the far ends of the rear arm and the outer arm are respectively provided with a front hinge shaft (60), and the rear arm (102) and the outer arm are respectively hinged on different points of the front arm (132) through the respective front hinge shafts (60); the near ends of the rear arm (102) and the outer arm are respectively hinged on different points of the clamping jaw body, and the clamping jaw is characterized in that: be equipped with the electrical apparatus on forearm (132), the wire termination electrical apparatus of electrical apparatus and above-mentioned electrical components is received to the other end, has seted up first through wires hole (41) on forearm (132), and one department in hinge (60) before from one to another hinge (60) is seted up in first through wires hole (41), and the wire passes through behind first through wires hole (41) from electrical apparatus toward above-mentioned electrical components the space.
2. The built-in conductor jaw of claim 1, wherein: the first threading hole (41) is arranged between the two front hinge shafts (60).
3. The built-in conductor jaw of claim 1, wherein: the proximal end of the outer arm is provided with a first hinge shaft (108) and is hinged on the clamping jaw body through the first hinge shaft (108); the outer arm near-end has seted up second through wires hole (42), and the wire that is located second through wires hole (42) passes through the extension line of first hinge (108), the wire is followed the space is to above-mentioned electrical components, and the second through wires hole (42) is worn to the system.
4. The built-in conductor jaw of claim 3, wherein: the shaft hole (23) matched with the first hinge shaft (108) at the proximal end of the outer arm has a length exceeding that required by the insertion of the first hinge shaft (108), and the second threading hole (42) is formed in the shaft hole (23) where the length exceeds that required.
5. The built-in conductor jaw of claim 3, wherein: the rear arm (102) is provided with a third hinge shaft (21) and is hinged to the jaw body by the third hinge shaft (21), and the outer arm proximal end extends rearward and passes beside the third hinge shaft (21).
6. The built-in conductor jaw of claim 5, wherein: the outer arm comprises an outer long arm (105) and an outer short arm (104), the distal end of the outer long arm (105) is connected with the front arm (132) and the proximal end of the outer long arm (105) is provided with a second hinge shaft (109), the proximal end of the outer long arm (105) is hinged on the distal end of the outer short arm (104) through the second hinge shaft (109), and the first hinge shaft (108) is positioned on the outer short arm (104); the first hinge shaft (108) is located between the second hinge shaft (109) and the third hinge shaft (21).
7. The built-in conductor jaw of claim 1 or 4, wherein: the electrical component includes a power supply device.
8. The built-in conductor jaw of claim 1, wherein: the depressed part has been seted up to forearm (132), electrical apparatus is located the depressed part, and first through wires hole (41) are seted up in the lateral wall of depressed part.
9. A built-in conductor jaw as claimed in claim 1 or 8, wherein: the appliance comprises a light-emitting electrical element (40).
10. The built-in conductor jaw of claim 9, wherein: the front arm (132) is provided with a recess as claimed in claim 8, the electrical appliance being located in the recess, the recess being provided with a light-transmitting housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010231793.3A CN111360861A (en) | 2020-03-27 | 2020-03-27 | Clamping jaw with built-in wire |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010231793.3A CN111360861A (en) | 2020-03-27 | 2020-03-27 | Clamping jaw with built-in wire |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111360861A true CN111360861A (en) | 2020-07-03 |
Family
ID=71202997
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010231793.3A Pending CN111360861A (en) | 2020-03-27 | 2020-03-27 | Clamping jaw with built-in wire |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111360861A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4585387A (en) * | 1983-10-11 | 1986-04-29 | William Jayne | Robot arm |
| US20140265401A1 (en) * | 2011-11-25 | 2014-09-18 | Robotiq Inc. | Gripper having a two degree of freedom underactuated mechanical finger for encompassing and pinch grasping |
| CN104827487A (en) * | 2015-05-14 | 2015-08-12 | 湖北航天技术研究院总体设计所 | Deformable space motion arm |
| CN204844205U (en) * | 2015-07-24 | 2015-12-09 | 安徽鸿森智能装备股份有限公司 | Intelligent robot clamping jaw |
| CN205735010U (en) * | 2016-05-09 | 2016-11-30 | 欢颜自动化设备（上海）有限公司 | A kind of industrial robot forearm structure of end load 20KG |
| CN108908309A (en) * | 2018-10-08 | 2018-11-30 | 哈尔滨工业大学 | A kind of mechanical arm device with eight degrees of freedom |
| CN108972611A (en) * | 2018-10-10 | 2018-12-11 | 倪天云 | A kind of electric automatization fixture |
| CN212601898U (en) * | 2020-03-27 | 2021-02-26 | 广州富港万嘉智能科技有限公司 | Clamping jaw with built-in wire |
-
2020
- 2020-03-27 CN CN202010231793.3A patent/CN111360861A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4585387A (en) * | 1983-10-11 | 1986-04-29 | William Jayne | Robot arm |
| US20140265401A1 (en) * | 2011-11-25 | 2014-09-18 | Robotiq Inc. | Gripper having a two degree of freedom underactuated mechanical finger for encompassing and pinch grasping |
| CN104827487A (en) * | 2015-05-14 | 2015-08-12 | 湖北航天技术研究院总体设计所 | Deformable space motion arm |
| CN204844205U (en) * | 2015-07-24 | 2015-12-09 | 安徽鸿森智能装备股份有限公司 | Intelligent robot clamping jaw |
| CN205735010U (en) * | 2016-05-09 | 2016-11-30 | 欢颜自动化设备（上海）有限公司 | A kind of industrial robot forearm structure of end load 20KG |
| CN108908309A (en) * | 2018-10-08 | 2018-11-30 | 哈尔滨工业大学 | A kind of mechanical arm device with eight degrees of freedom |
| CN108972611A (en) * | 2018-10-10 | 2018-12-11 | 倪天云 | A kind of electric automatization fixture |
| CN212601898U (en) * | 2020-03-27 | 2021-02-26 | 广州富港万嘉智能科技有限公司 | Clamping jaw with built-in wire |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20230328 Address after: 510700 501-2, Guangzheng science and Technology Industrial Park, No. 11, Nanyun 5th Road, Science City, Huangpu District, Guangzhou City, Guangdong Province Applicant after: GUANGZHOU FUGANG LIFE INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: 510700 501-1, Guangzheng science and Technology Industrial Park, No. 11, Yunwu Road, Science City, Huangpu District, Guangzhou City, Guangdong Province Applicant before: GUANGZHOU FUGANG WANJIA INTELLIGENT TECHNOLOGY Co.,Ltd. |
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