CN117565098B - Electric clamping jaw and mechanical arm - Google Patents
Electric clamping jaw and mechanical arm Download PDFInfo
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- CN117565098B CN117565098B CN202311630223.1A CN202311630223A CN117565098B CN 117565098 B CN117565098 B CN 117565098B CN 202311630223 A CN202311630223 A CN 202311630223A CN 117565098 B CN117565098 B CN 117565098B
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- guide rail
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- 238000012986 modification Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 5
- 210000000078 claw Anatomy 0.000 description 4
- 238000010276 construction Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
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- 238000013459 approach Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
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Classifications
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, in particular to an electric clamping jaw and a mechanical arm, which comprise: the clamping fingers are arranged at least two and symmetrically arranged at the end part of the shell; the clamping driving mechanism is arranged in the shell; the interior of the housing includes a track layer; the clamping fingers are arranged on the first end face of the track layer, track pairs corresponding to the clamping index number are uniformly arranged on the track layer, each track pair comprises a first track and a second track, and the ends of the first track and the second track at the mutually approaching parts are overlapped; the clamping fingers are mutually close to or far away from each other in the first track, so that the clamping of the first weight object is realized; the clamping fingers are close to or far from each other in the second track, so that the clamping of the second weight object is realized. The invention can adaptively adjust the grabbing objects, adapts to the characteristics of different objects by switching the first track and the second track, automatically adjusts the grabbing mode of the clamping jaw, has a plurality of grabbing modes and can adapt to more application scenes.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an electric clamping jaw and a mechanical arm.
Background
The electric clamping jaw is a clamp which realizes the clamping function by means of an electric actuating mechanism, is widely applied to various fields, and provides an efficient solution for production lines, logistics transportation and other works. The electric clamping jaw has the functions of opening, closing, clamping and releasing. The main clamping part comprises a movable claw and a fixed claw. When the power is on, the motor drives the movable claw to move along the guide rail, so that the movable claw clamps or releases the clamped object, and the automatic clamping operation of the clamped object is realized. Compared with the traditional manual clamping jaw, the electric clamping jaw is more stable and reliable, and can clamp objects with different shapes and weights. The intelligent robot not only can rapidly grasp and carry objects, but also can carry out intelligent operation according to requirements, and has multifunction. The electric clamping jaw has the function of improving production efficiency. In the field of manufacturing, it can be used for grabbing and assembling parts on an assembly line. In the logistics storage field, the cargo can be rapidly and accurately carried. In addition, the electric clamping jaw can be connected with a computer system or other equipment to realize intelligent automatic operation. The device can also become a core component of a robot arm to realize precise control and operation.
Based on the prior art, there are still many areas where improvements are needed to improve the performance, reliability and adaptability of the motorized clasps. In the prior art, the electric clamping jaw has a single grabbing mode, so that the application scene is single.
Disclosure of Invention
Object of the invention
The invention aims to provide an electric clamping jaw and a mechanical arm which can be used for automatically switching different modes and can be suitable for more application scenes.
(II) technical scheme
In order to solve the above problems, the present invention provides an electric jaw comprising: the clamping finger, the clamping driving mechanism and the shell,
The number of the clamping fingers is at least two, and the clamping fingers are symmetrically arranged at the end part of the shell;
the clamping driving mechanism is arranged in the shell;
The interior of the housing includes a track layer; the clamping fingers are arranged on the first end face of the track layer, track pairs corresponding to the clamping indexes are uniformly arranged on the track layer, each track pair comprises a first track and a second track, and the ends of the first track and the second track at the mutually approaching parts are overlapped;
The clamping fingers are mutually close to or far away from each other in the first track, so that the clamping of the first weight object is realized;
The clamping fingers are close to or far away from each other in the second track, so that the clamping of the second weight object is realized.
In another aspect of the present invention, preferably, the first track is set as an arc track or an involute track; the second track is set as an involute track.
In another aspect of the present invention, preferably, the housing further includes a track guiding layer and an electromagnet layer, and the track guiding layer is disposed between the electromagnet layer and the track layer; the electromagnet layer comprises an electromagnet;
When the electromagnet is abutted with the track guiding layer, the clamping fingers are mutually close to or far away from each other in the first track;
When the track layer is abutted with the track guiding layer, the clamping fingers are close to or far away from each other in the second track.
In another aspect of the present invention, preferably, the end surface of the track guiding layer, which is close to the track layer, is uniformly provided with protruding portions corresponding to the number of the clamping numbers, the shape of the protruding portions is adapted to the shape of the track groove minus the second track, and when the track layer abuts against the track guiding layer, the protruding portions are clamped in the first track.
In another aspect of the present invention, preferably, the electromagnet layer further includes a first spring, the electromagnet abuts against the track guiding layer when the electromagnet is energized, and the track guiding layer abuts against the track layer under the action of the first spring when the electromagnet is deenergized.
In another aspect of the present invention, preferably, the device further comprises a pin shaft and a pin shaft bearing, the clamping finger moves in the track through the pin shaft, and the pin shaft and the track layer are connected through the pin shaft bearing.
In another aspect of the present invention, preferably, the apparatus further includes a guide rail, and the guide rail is disposed on the first end surface of the track layer, and guides the movement of the gripping finger.
In another aspect of the present invention, it is preferable that the present invention further comprises a rail ball provided between the clip finger and the rail, and the clip finger and the rail are rollingly connected by the rail ball.
In another aspect of the present invention, preferably, the device further includes a second spring, one end of the second spring is connected to the pin shaft, the other end of the second spring is connected to the guide rail, and the second spring applies a force to the pin shaft away from the center of the track layer.
In another aspect of the invention, preferably, a robotic arm includes a motorized jaw as described above.
(III) beneficial effects
The technical scheme of the invention has the following beneficial technical effects:
According to the invention, the first track and the second track are arranged, track sections of which the first track and the second track are close to each other are overlapped at the tail ends, so that the clamping fingers are close to each other or are far away from each other in the first track, and the clamping of the first weight object is realized; the clamping fingers are mutually close to or far away from each other in the second track, so that the clamping of the second weight object is realized; the gripping articles can be adaptively adjusted. Through the switching of the first track and the second track, the characteristics of different objects can be adapted, and the grabbing mode of the clamping jaw can be automatically adjusted according to the size, the shape and the weight of the objects. Under the condition of the same output power, a relatively longer track can be used for the occasion which needs large clamping force and is insensitive to the speed requirement; for applications where clamping force is insensitive and speed is a requirement, a relatively short track may be used. The invention has a plurality of track combination modes and a plurality of clamp index number combination modes, has wider application range, can have a plurality of grabbing modes and can be suitable for more application scenes.
Drawings
FIG. 1 is a cross-sectional view of the overall construction of a motorized jaw according to one embodiment of the present invention;
FIG. 2 is a left side view of the overall construction of a motorized jaw according to one embodiment of the present invention;
FIG. 3 is an overall block diagram of a motorized clasps according to one embodiment of the present invention;
FIG. 4 is a top view of the trace layer structure of the motorized clasps of one embodiment of the present invention;
FIG. 5 is a side view of the trace layer structure of a motorized jaw according to one embodiment of the present invention;
FIG. 6 is a top view of the track guide layer structure of the motorized clasps of one embodiment of the present invention;
FIG. 7 is a side view of the track guide layer structure of the motorized jaw of one embodiment of the present invention;
Reference numerals:
1: a clamping finger; 2: a clamping driving mechanism; 3: a housing; 3-1: a track layer; 3-1-1: a first track; 3-1-2: a second track; 3-2: a track guiding layer; 3-3: an electromagnet layer; 3-3-1: an electromagnet; 3-2-1: a protruding portion; 3-3-2: a first spring; 4: a pin shaft; 5: a pin shaft bearing; 6: a guide rail; 7: guide rail balls; 8: and a second spring.
Detailed Description
The objects, technical solutions and advantages of the present invention will become more apparent by the following detailed description of the present invention with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
A layer structure schematic diagram according to an embodiment of the present invention is shown in the drawings. The figures are not drawn to scale, wherein certain details may be exaggerated and some details may be omitted for clarity. The shapes of the various regions, layers and relative sizes, positional relationships between them shown in the drawings are merely exemplary, may in practice deviate due to manufacturing tolerances or technical limitations, and one skilled in the art may additionally design regions/layers having different shapes, sizes, relative positions as actually required.
It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
The invention will be described in more detail below with reference to the accompanying drawings. Like elements are denoted by like reference numerals throughout the various figures. For clarity, the various features of the drawings are not drawn to scale.
Numerous specific details of the invention, such as device structures, materials, dimensions, processing techniques and technologies, are set forth in the following description in order to provide a thorough understanding of the invention. However, as will be understood by those skilled in the art, the present invention may be practiced without these specific details. Unless specifically indicated below, the various portions of the semiconductor device may be composed of materials known to those skilled in the art.
Example 1
FIG. 1 shows a cross-sectional view of the overall construction of a motorized jaw according to one embodiment of the present invention; FIG. 2 shows a left side view of the overall construction of a motorized jaw according to one embodiment of the present invention; FIG. 3 shows an overall block diagram of a motorized jaw according to one embodiment of the present invention; as shown in fig. 1,2 and 3, the device comprises: a clamping finger 1, a clamping driving mechanism 2 and a shell 3,
The number of the clamping fingers 1 is at least two, and the clamping fingers are symmetrically arranged at the end part of the shell 3;
the clamping driving mechanism 2 is arranged in the shell 3;
The interior of the housing 3 comprises a track layer 3-1; the track layer 3-1 is uniformly provided with track pairs corresponding to the number of the clamp fingers 1, the track pairs comprise a first track 3-1-1 and a second track 3-1-2, and the ends of the first track 3-1-1 and the second track 3-1-2 at mutually approaching parts are overlapped;
The specific structure of the clamping finger 1 is not limited, different forms and specifications can be switched at will, more application scenes can be adapted, the clamping finger with one degree of freedom can be adopted, the clamping finger with multiple degrees of freedom can be adopted, and the clamping finger 1 can be arranged in two, three or four modes; are uniformly arranged at the end part of the shell 3; alternatively, in this embodiment, two clamping fingers 1 are symmetrically disposed at the end of the housing 3; the specific structure of the clamping finger 1 is not limited, and the clamping finger can be designed according to the shape and the size of a clamping jaw, the clamping range, the clamping stability and the like, the opposite surface can be flat, the opposite surface can be provided with a wave shape or other friction-increasing structures, and the opposite surface can be provided with a pressing plate for clamping and the like; here, the specific position of the symmetrical arrangement at the end of the housing 3 is not limited, and the specific manner of arranging the clip finger 1 at the end of the housing 3 is not limited, and the clip finger may be arranged directly at the end of the housing 3, may be arranged at the end of the housing 3 through other components, may be arranged at the edge of the end of the housing 3, or may be arranged at any position of the end of the housing 3;
The specific content of the clamping driving mechanism 2 is not limited, and a motor or an air cylinder can be used for providing power, and the motor can drive the clamping fingers to open and close through a transmission mechanism such as a screw rod, a gear and the like; the cylinder can drive the clamping fingers to open and close through the change of air pressure, the motor can adopt a direct current motor or a stepping motor as a power source, and the direct current motor has good low-speed performance and torque characteristics and is suitable for application scenes requiring low-speed and large torque; the stepping motor has the characteristics of high precision and high response, and can realize fine motion control;
A clamping driving mechanism 2 arranged inside the housing 3; the clamping driving mechanism 2 is a component for providing power for the clamping finger 1, the specific structure of the shell 3 is not limited, a cavity is formed in the shell 3, the clamping driving mechanism 2 is arranged in the cavity in the shell 3, and the shell 3 can be cylindrical, rectangular or any shape; as will be appreciated by those skilled in the art, the grip driving mechanism 2 may be provided inside the housing 3;
FIG. 4 illustrates a top view of the trace layer structure of the motorized clasps of one embodiment of the present invention; FIG. 5 illustrates a side view of the trace layer structure of the motorized clasps of one embodiment of the present invention; as shown in fig. 4 and 5, the inside of the housing 3 includes a track layer 3-1; the specific structure of the track layer 3-1 is not limited, alternatively, the track layer 3-1 can be circular, oval or rectangular, alternatively, in the embodiment, the track layer 3-1 is circular, the clamping fingers 1 are arranged on the first end face of the track layer, the pair of clamping fingers 1 in the embodiment are symmetrically arranged at the end part of the shell 3, namely the track layer 3-1 is arranged at the end part of the shell 3, the pair of clamping fingers 1 are arranged at the end part of the shell 3 through the track layer 3-1, the track layer 3-1 is symmetrically provided with a pair of tracks, the tracks of the electric clamping jaws are designed to have a movement track of the clamping jaws under the condition of a given starting point and an end point, the specific structure of the track layer 3-1 is not limited, the specific materials of the track layer 3-1 are not limited, the pair of clamping fingers are respectively arranged in a pair of tracks, in the embodiment, the movement of the track is realized, the driving mode of the clamping driving mechanism 2 for clamping the clamping fingers 1 is not limited, the output shaft of the clamping mechanism 2 is connected with the track layer 3-1, the first track 1 and the second track 1 is not limited to the first track 1 and the second track 1 is not limited, the first track 1 and the second track 1 is not limited to be completely circular, and the first track 1 and the second track 1 is not limited to the same as the first track 1 and the second track 1 is different from the first track 1 and the second track 1 is respectively;
Optionally, in this embodiment, the first track 3-1-1 is set as an arc track or an involute track; the second track 3-1-2 is arranged as an involute track. The specific curvature of the arc track is not limited, the curvature of the involute track is not limited, and curvature design can be carried out according to actual requirements; the ends of the parts of the first track 3-1-1 and the second track 3-1-2 approaching each other are coincident; the specific size of the overlapping part of the ends of the first track 3-1-1 and the second track 3-1-2, which are close to each other, is not limited herein, optionally, the first end point of the first track 3-1-1 is at the part of the circular edge of the track layer 3-1, the second end point of the first track 3-1-1 is at the part of the circular edge of the track layer 3-1, which is close to the center of the circle, further, the third end point of the second track 3-1-2 is overlapped with the second end point of the first track 3-1-1, the third end point of the second track 3-1-2 is at the part of the circular edge of the track layer 3-1, which is close to the center of the circle, and the fourth end point of the second track 3-1-2 is at the opposite position to the first end point of the first track 3-1-1;
the specific relationship between the first track 3-1-1 and the second track 3-1-2 is not limited, and the length of the first track 3-1-1 may be smaller than the length of the second track 3-1-2, or the length of the first track 3-1-1 may be equal to or greater than the length of the second track 3-1-2, or alternatively, in this embodiment, the length of the first track 3-1-1 is smaller than the length of the second track 3-1-2;
The clamping fingers 1 are mutually close to or far away from each other in the first track 3-1-1, so that the clamping of the first weight object is realized; the clamping fingers 1 are mutually close to or far away from each other in the second track 3-1-2, so that the clamping of the second weight object is realized. The specific relation between the first weight and the second weight is not limited, and the first weight may be equal to or greater than the second weight, or the first weight may be less than the second weight; optionally, in this embodiment, the weight of the first weight is less than the weight of the second weight; i.e. the clamping force in the first track 3-1-1 is smaller than the clamping force in the second track 3-1-2; here, the first speed of the gripping fingers 1 when gripping the first weight article is achieved without limiting the gripping fingers 1 to approach or separate from each other in the first track 3-1-1, the second speed of the gripping fingers 1 when gripping the second weight article is achieved without limiting the gripping fingers 1 to approach or separate from each other in the second track 3-1-2, and the relation between the first speed and the second speed is not limited, and the first speed may be greater than or equal to the second speed, or the first speed may be less than the second speed, or alternatively, in this embodiment, the first speed is greater than the second speed; further optionally, in this embodiment, the first track 3-1-1 is an arc track, the second track 3-1-2 is an involute track, the length of the first track 3-1-1 is smaller than the length of the second track 3-1-2, the clamping force of the clamping finger 1 in the first track 3-1-1 is smaller than the clamping force of the clamping finger 1 in the second track 3-1-2, and the first speed of clamping the clamping finger 1 in the first track 3-1-1 is greater than the second speed of clamping the clamping finger 1 in the second track 3-1-2; the finger 1 moves along a straight line in the first track 3-1-1 and the second track 3-1-2 when the track layer 3-1 rotates.
In the embodiment, the first track and the second track are arranged, and the ends of the first track and the second track, which are close to each other, are overlapped, so that the clamping fingers are close to each other or are far away from each other in the first track, and the clamping of the first weight object is realized; the clamping fingers are close to or far from each other in the second track, so that the clamping of the second weight object is realized, the object can be adaptively adjusted and grabbed, the characteristics of different objects can be adapted through the switching of the first track and the second track, the grabbing mode of the clamping jaw can be automatically adjusted according to the size, the shape and the weight of the object, and the object judgment can be realized through a vision sensor, a laser radar, a force or moment sensor and the like. The application range is wider, a plurality of grabbing modes can be provided, and the method can be suitable for more application scenes.
In one embodiment of the present invention, further, the inside of the housing 3 further includes a track guiding layer 3-2 and an electromagnet layer 3-3, and the specific contents and materials of the track guiding layer 3-2 are not limited herein, nor are the specific contents and materials of the electromagnet layer 3-3. Optionally, in this embodiment, the electromagnet layer 3-3 includes an electromagnet 3-3-1, and the electromagnet 3-3-1 is configured to be adsorbed to or separated from the track guiding layer 3-2, so that the finger 1 realizes track switching between the first track 3-1-1 and the second track 3-1-2. The track guiding layer 3-2 is made of ferromagnetic materials which can be adsorbed by the electromagnet 3-3-1, and the track guiding layer 3-2 is arranged between the electromagnet layer 3-3 and the track layer 3-1; the electromagnet layer 3-3 comprises an electromagnet 3-3-1; when the electromagnet 3-3-1 is abutted against the track guiding layer 3-2, the clamping fingers 1 are mutually close to or far away from each other in the first track 3-1-1; when the track layer 3-1 abuts against the track guiding layer 3-2, the clip fingers 1 approach each other or are away from each other in the second track 3-1-2. The specific structure of the track guiding layer 3-2 is not limited here, nor is the specific content of the electromagnet layer 3-3 limited. Optionally, the electromagnet layer 3-3 includes an electromagnet 3-3-1 and a first spring 3-3-2; so that the track guiding layer 3-2 is abutted against the track layer 3-1 when the electromagnet 3-3-1 is powered off. Specifically, when the electromagnet 3-3-1 is electrified, the electromagnet 3-3-1 is abutted against the track guiding layer 3-2, and when the electromagnet 3-3-1 is powered off, the track guiding layer 3-2 is abutted against the track layer 3-1 under the action force of the first spring 3-3-2. Optionally, the electromagnet layer 3-3 further includes an electromagnet mounting seat, the output shaft of the clamping driving mechanism 2 is fixedly connected with the electromagnet mounting seat, the electromagnet mounting seat is fixedly connected with the electromagnet 3-3-1, the distance between the electromagnet 3-3-1 and the track layer 3-1 is larger than the axial thickness of the track guiding layer 3-2, the electromagnet mounting seat is circular, the diameter of the electromagnet mounting seat is larger than the diameter of the electromagnet 3-3-1, the first spring 3-3-2 is arranged at a position where the electromagnet mounting seat is not provided with the electromagnet 3-3-1, the specific number and the elastic size of the first spring 3-3-2 are not limited, and optionally, in the embodiment, the first spring 3-3-2 is arranged in a plurality, the electromagnet mounting seat is uniformly arranged at a position where the electromagnet 3-3-1 is not arranged, elasticity of the first spring is not limited, optionally, when the electromagnet 3-3-1 is in contact with the track guiding layer 3-2, the state of the first spring 3-3-2 is in a first compression state, when the track layer 3-1 is in contact with the track guiding layer 3-2, the state of the first spring 3-2 is in a second compression state or a natural state, compression force in the first compression state is larger than compression force in the second compression state, two ends of the first spring 3-3-2 are respectively connected with the electromagnet mounting seat and the track guiding layer 3-2, further, the electromagnet mounting seat and the track guiding layer 3-1 are fixed together by a pin penetrating through the track guiding layer 3-2, optionally, the pin sets up in the cavity of first spring 3-3-2, is favorable to reducing whole space, and the pin sets up in the cavity of first spring 3-3-2, and first spring 3-3-2 is askew when still can preventing to rotate, and clamping driving mechanism 2 passes through the output shaft and drives the rotation of electro-magnet mount pad, and the electro-magnet mount pad passes through the pin and drives track guide layer 3-2 and track layer 3-1 rotation, and is further, drives and presss from both sides the motion of finger 1 in the track of track layer 3-1. When the electromagnet 3-3-1 is electrified, the electromagnet 3-3-1 is abutted with the track guiding layer 3-2, the clamping finger 1 moves in the first track, when the electromagnet 3-3-1 is powered off, the track guiding layer 3-2 is abutted with the track layer 3-1 under the acting force of the first spring 3-3-2, the clamping finger 1 moves in the second track, the grabbing object can be adjusted in a self-adaptive mode, and the characteristics of different objects can be adapted through switching of the first track and the second track.
In one embodiment of the present invention, further, FIG. 6 illustrates a top view of the track guiding layer structure of the motorized clasps of one embodiment of the present invention; FIG. 7 illustrates a side view of the track guide layer structure of the motorized jaw of one embodiment of the present invention; in this embodiment, as shown in fig. 6 and fig. 7, the end surface of the track guiding layer, which is close to the track layer, is provided with a pair of protruding parts 3-2-1, and the shape of the protruding parts 3-2-1 is adapted to the shape of the track groove minus the second track, and when the track layer abuts against the track guiding layer, the protruding parts are clamped in the first track. The switching of the first track and the second track is achieved by the protrusion 3-2-1.
In one embodiment of the invention, the device further comprises a pin 4 and a pin bearing 5, wherein the clamping finger 1 moves in the track through the pin 4, and the pin 4 is in switching connection with the track layer 3-1 through the pin bearing 5. The pin shaft bearing 5 is arranged between the pin shaft 4 and the track layer 3-1 for switching, so that transmission friction is reduced, the specific structure of the pin shaft 4 is not limited, and optionally, in the embodiment, the pin shaft 4 is of a cross structure in cross section, a first part of a vertical shaft part of the cross structure is arranged in the track of the track layer 3-1, and a horizontal shaft part of the cross structure is arranged outside the track of the track layer 3-1; the second part of the vertical shaft part of the cross structure is fixedly connected with the clamping finger. The purpose that the clamping finger moves in the track is achieved.
In one embodiment of the present invention, the device further comprises a guide rail 6, wherein the guide rail 6 is arranged on the first end surface of the track layer 3-1, and the clamping finger is arranged on the end surface of the guide rail 6 far away from the track layer to guide the movement of the clamping finger 1. Further, the clamp comprises a guide rail ball 7, wherein the guide rail ball 7 is arranged between the clamp finger 1 and the guide rail 6, and the clamp finger 1 and the guide rail 6 are in rolling connection through the guide rail ball 7. The specific structure of the guide rail 6 is not limited herein, and optionally, the guide rail 6 includes a first guide rail portion and a second guide rail portion, the first guide rail portion is disposed on the first end face of the track layer 3-1, the second guide rail portion is disposed on a side face portion of the clamping finger 1, the pin shaft 4 passes through the first guide rail portion and is fixed to the bottom face of the clamping finger 1, a gap for moving the clamping finger 1 is disposed in the middle of the second guide rail portion, the guide rail plays a guiding role, and the guide rail ball 7 is disposed between the second guide rail portion and the clamping finger 1, so that friction of movement is reduced.
In one embodiment of the present invention, the device further includes a second spring 8, one end of the second spring 8 is connected with the pin 4, optionally, in this embodiment, when the pin 4 has a cross structure in cross section, one end of the second spring 8 is connected with a cross shaft portion of the cross structure, and the other end of the second spring is connected with the guide rail 6, optionally, in this embodiment, the other end of the second spring 8 is connected with the first portion of the guide rail, and the second spring 8 generates a force on the pin 4 away from the center of the track layer 3-1. Optionally, the second spring 8 is arranged to maintain an outward tension on the pin 4, the second spring 8 being in tension, and further, after the second spring 8 passes the central position of the first track, optionally, the compressed state of the second spring 8 applies a force to the center, which is arranged to utilize the space saving size to reduce the volume of the spring.
Example two
The mechanical arm comprises the electric clamping jaw and a control system of the electric clamping jaw, wherein the control system can control the rotating speed and the rotating direction of the motor as well as the clamping force and the clamping position of the clamping jaw according to requirements, so that accurate positioning and clamping operation are realized. Meanwhile, the control system can realize automatic and intelligent operation through integration with a sensor and other equipment. The robotic arm of the present invention may also be referred to as a robot.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explanation of the principles of the present invention and are in no way limiting of the invention. Accordingly, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present invention should be included in the scope of the present invention. Furthermore, the appended claims are intended to cover all such changes and modifications that fall within the scope and boundary of the appended claims, or equivalents of such scope and boundary.
In the above description, technical details of patterning, etching, and the like of each layer are not described in detail. It will be appreciated by those skilled in the art that layers, regions, etc. of the desired shape may be formed by various means known in the art. In addition, to form the same structure, those skilled in the art can also devise methods that are not exactly the same as those described above.
The invention has been described above with reference to the embodiments thereof. These examples are for illustrative purposes only and are not intended to limit the scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be made by those skilled in the art without departing from the scope of the invention, and such alternatives and modifications are intended to fall within the scope of the invention.
Although embodiments of the present invention have been described in detail, it should be understood that various changes, substitutions, and alterations can be made hereto without departing from the spirit and scope of the invention.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.
Claims (8)
1. An electrically powered jaw, comprising: a clamping finger (1), a clamping driving mechanism (2) and a shell (3),
The number of the clamping fingers (1) is at least two, and the clamping fingers are symmetrically arranged at the end part of the shell (3);
the clamping driving mechanism (2) is arranged in the shell (3);
The interior of the shell (3) comprises a track layer (3-1); the track layer (3-1) is uniformly provided with track pairs corresponding to the number of the track layers (1), each track pair comprises a first track (3-1-1) and a second track (3-1-2), and the ends of the first track (3-1-1) and the second track (3-1-2) at mutually approaching parts are overlapped;
The clamping fingers (1) are close to or far away from each other in the first track (3-1-1) to clamp the first weight object;
the clamping fingers (1) are close to or far away from each other in the second track (3-1-2) to clamp a second weight object;
the inside of the shell (3) further comprises a track guiding layer (3-2) and an electromagnet layer (3-3), and the track guiding layer (3-2) is arranged between the electromagnet layer (3-3) and the track layer (3-1); the electromagnet layer (3-3) comprises an electromagnet (3-3-1);
When the electromagnet (3-3-1) is abutted against the track guiding layer (3-2), the clamping fingers (1) are mutually close to or mutually far away from each other in the first track (3-1-1);
when the track layer (3-1) is abutted with the track guiding layer (3-2), the clamping fingers (1) are mutually close to or far away from each other in the second track (3-1-2);
The track guiding layer is close to the end face of the track layer and is uniformly provided with protruding parts (3-2-1) corresponding to the clamping fingers (1), the shape of each protruding part (3-2-1) is matched with the shape of the track groove minus the second track, and when the track layer is abutted to the track guiding layer, the protruding parts are clamped in the first track.
2. The motorised jaw as claimed in claim 1, characterized in that said first trajectory (3-1-1) is provided as an arc trajectory or as an involute trajectory; the second track (3-1-2) is arranged as an involute track.
3. The motorized jaw as recited in claim 1, wherein the electromagnet layer (3-3) further comprises a first spring (3-3-2), wherein the electromagnet (3-3-1) abuts the track guiding layer (3-2) when the electromagnet (3-3-1) is energized, and wherein the track guiding layer (3-2) abuts the track layer (3-1) under the force of the first spring (3-3-2) when the electromagnet (3-3-1) is de-energized.
4. The motorized jaw as recited in claim 1, further comprising a pin (4) and a pin bearing (5), wherein said finger (1) is moved within said track by said pin (4), and wherein said pin (4) is adapted to said track layer (3-1) by said pin bearing (5).
5. The motorized jaw as recited in claim 4, further comprising a guide rail (6), said guide rail (6) being disposed at a first end face of said trace layer (3-1) for guiding movement of said gripping finger (1).
6. The motorized jaw as recited in claim 5, further comprising a guide rail ball (7), said guide rail ball (7) being disposed between said gripping finger (1) and said guide rail (6), said gripping finger (1) being in rolling connection with said guide rail (6) via said guide rail ball (7).
7. The motorized jaw as claimed in claim 5, further comprising a second spring (8), said second spring (8) being connected at one end to said pin (4) and at the other end to said guide rail (6), said second spring (8) exerting a force on said pin (4) away from the centre of said trajectory layer (3-1).
8. A robotic arm comprising a motorized jaw as claimed in any one of claims 1-7.
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| CN202311630223.1A CN117565098B (en) | 2023-12-01 | 2023-12-01 | Electric clamping jaw and mechanical arm |
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| CN202311630223.1A CN117565098B (en) | 2023-12-01 | 2023-12-01 | Electric clamping jaw and mechanical arm |
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| CN117565098B true CN117565098B (en) | 2024-05-10 |
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| Publication number | Publication date |
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| CN117565098A (en) | 2024-02-20 |
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