CN210414591U - Gel driver based clamping jaw - Google Patents
Gel driver based clamping jaw Download PDFInfo
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- CN210414591U CN210414591U CN201921100308.8U CN201921100308U CN210414591U CN 210414591 U CN210414591 U CN 210414591U CN 201921100308 U CN201921100308 U CN 201921100308U CN 210414591 U CN210414591 U CN 210414591U
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- driver
- clamping jaw
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Abstract
The utility model discloses a clamping jaw based on gel driver, including supporting connection board and gel driver, the supporting connection board is used for being connected with external mechanism, the clamping jaw still includes the fixture who is connected with the supporting connection board, fixture gets the finger including having gel driver driven slide mechanism, slewing mechanism and clamp, slide mechanism rotates with slewing mechanism to be connected, slewing mechanism end connection presss from both sides and gets the finger, the gel driver shrink or reply drive slewing mechanism drive press from both sides get the finger and press from both sides tightly or loosen. The utility model discloses used PVC CPVC gel driver as the power supply of clamping jaw, not only can realize the flexible centre gripping to irregular, fragile article, but also had small, the quality is light, noiselessness, energy can be saved's advantage. The utility model discloses the clamping jaw clamp is got the angle extensively, article are wide, and the structure is succinct, is suitable for popularization and application.
Description
Technical Field
The utility model relates to an intelligent construction field especially relates to clamping jaw based on gel driver.
Background
At present, the clamping jaws are diversified in forms, and clamping jaws mainly take pneumatic clamping jaws and electric clamping jaws as power sources on the market. The pneumatic clamping jaw needs a whole set of gas supply equipment, and is large in occupied space, large in noise and inconvenient to use when in use; electronic clamping jaw needs motor drive, and overall structure is bulky, and the quality is big, and the energy consumption is high, and the clamping force is than more single, can't realize the flexible centre gripping to the object, and is breakable in the centre gripping, has the limitation in the aspect of the irregular object.
Disclosure of Invention
The utility model aims at the defect of prior art, provide a clamping jaw based on gel driver, the centre gripping wide range is wide and nimble.
In order to realize the above purpose, the utility model adopts the following technical scheme:
clamping jaw based on gel driver, including supporting connection board and gel driver, the supporting connection board is used for being connected with external mechanism, the clamping jaw still includes the fixture who is connected with the supporting connection board, fixture is including having gel driver driven slide mechanism, slewing mechanism and pressing from both sides and getting the finger, slide mechanism rotates with slewing mechanism to be connected, slewing mechanism end connection presss from both sides and gets the finger, the gel driver shrink or reply drive slewing mechanism drive press from both sides and get the finger and press from both sides tightly or loosen.
Further, the clamping mechanism comprises a shell of the gel driver, the gel driver is arranged in the shell, and the sliding mechanism is arranged on the front side of the shell.
Furthermore, slide mechanism includes slip push pedal and slip push rod, slip push rod rear side and gel driver bonding, slip push pedal front side is fixed with the slip push rod, the slip push rod front side is rotated with slewing mechanism and is connected, the slip push pedal is equipped with and supplies slip push rod gliding hole from top to bottom.
Furthermore, the clamping jaw is also provided with a fixed joint sleeve, the fixed joint sleeve is arranged on the outer side of the joint of the rotating mechanism and the sliding mechanism, and the top surface of the fixed joint sleeve is bonded with the lower end surface of the shell of the gel driver.
Furthermore, the rotating mechanism comprises a first fixed pin shaft, a second fixed pin shaft and a rotating connecting rod, the rotating connecting rod is connected with the front side of the sliding mechanism through the first fixed pin shaft, and two ends of the second fixed pin shaft are fixed on the fixed joint sleeve.
Furthermore, the rotating mechanism is provided with a connecting round hole and a connecting long hole, the first pin shaft is rotatably arranged in the connecting round hole, and the second fixed pin shaft slides in the connecting long hole to drive the rotating connecting rod to swing.
Further, the housing includes a bottom case and a fixed cover plate.
Further, the clamping fingers are made of metal or foam plastics.
Furthermore, the rotating mechanism drives the clamping fingers to rotate by an angle of 102-165 degrees.
Furthermore, the clamping jaw is provided with 2-4 clamping fingers.
Adopt the technical scheme of the utility model, the beneficial effects of the utility model are that: the utility model discloses used PVC CPVC gel driver as the power supply of clamping jaw, not only can realize the flexible centre gripping to irregular, fragile article, but also had small, the quality is light, noiselessness, energy can be saved's advantage. The utility model discloses the clamping jaw clamp is got the angle extensively, article are wide, and the structure is succinct, is suitable for popularization and application.
Drawings
FIG. 1 is a diagram of the gel driver based jaw structure of the present invention;
FIG. 2 is an exploded view of the gel actuator based jaw of the present invention;
FIG. 3 is a view of the four finger gripper of the present invention;
figure 4 is a view of the flexible jaw structure of the present invention.
The device comprises a base shell 1, a bottom shell 2, a gel driver 3, a fixed cover plate 4, a sliding push plate 5, a sliding push rod 6, a rotating mechanism 7, a clamping finger 8, a fixing screw 9, a fixed joint sleeve 10, a first fixing pin shaft 11, a second fixing pin shaft 12, a connecting round hole 13, a connecting long hole 14 and a supporting connecting plate.
Detailed Description
The specific embodiments of the present invention will be further explained with reference to the accompanying drawings.
The utility model discloses gel driver 2 refers to the gel driver 2 that patent CN109524538A disclosed.
Clamping jaw based on gel driver 2, including supporting connection board 14 and gel driver 2, supporting connection board 14 is used for being connected with external mechanism, the clamping jaw still includes the fixture who is connected with supporting connection board 14, fixture is including having 2 driven slide mechanism, slewing mechanism 6 of gel driver and pressing from both sides and get finger 7, slide mechanism rotates with slewing mechanism 6 to be connected, 6 end connection of slewing mechanism presss from both sides and gets finger 7, the shrink of gel driver 2 or reply drive slewing mechanism 6 drive press from both sides and get finger 7 and press from both sides tightly or loosen. The rotating mechanism 6 drives the clamping fingers 7 to rotate by an angle of 102-165 degrees.
The clamping mechanism comprises a shell of the gel driver 2, the gel driver 2 is arranged in the shell, and the sliding mechanism is arranged on the front side of the shell. The housing comprises a bottom shell 1 and a fixed cover plate 3. The shell has light weight and good strength, and can ensure the insulation of the driving body from the outside. The side wall of the shell is provided with a small hole led out by a lead, leads out the leads at two ends of the gel driver 2, and controls the clamping finger 7 by adjusting the voltage at two ends of the lead outside.
The sliding mechanism comprises a sliding push plate 4 and a sliding push rod 5, the rear side of the sliding push rod 5 is bonded with the gel driver 2, the sliding push plate 4 is fixed with the sliding push rod 5 at the front side, the sliding push rod 5 at the front side is rotatably connected with a rotating mechanism 6, and the sliding push plate 4 is provided with a hole for the sliding push rod 5 to slide up and down. The sliding push plate is provided with four holes to facilitate the up-and-down movement of the push rod. The gel driver 2 can also be provided with a base, one side of the base is connected with the gel driver 2, and the other side is bonded with the sliding push rod 5.
The restoring force provided when the gel driving body is powered off is used for pushing the sliding push rod 5 to move forward, and the contracting force is used for restoring when the driver is powered on; the sliding push rod 5 is connected with the rotating connecting rod through a hinge. The sliding cylinders on the periphery of the sliding push rod 5 are in sliding fit with the four through holes in the clamping jaw shell, so that the sliding push rod 5 can integrally move up and down relative to the shell.
The clamping jaw is further provided with a fixed joint sleeve 9, the fixed joint sleeve 9 is arranged on the outer side of the joint of the rotating mechanism 6 and the sliding mechanism, and the top surface of the fixed joint sleeve 9 is bonded with the lower end surface of the shell of the gel driver 2.
The rotating mechanism 6 comprises a first fixed pin shaft 10, a second fixed pin shaft 11 and a rotating connecting rod, the rotating connecting rod is connected with the front side of the sliding mechanism through the first fixed pin shaft 10, and two ends of the second fixed pin shaft 11 are fixed on the fixed joint sleeve 9.
The rotating mechanism 6 is provided with a connecting circular hole 12 and a connecting long hole 13, the first pin shaft is rotatably arranged in the connecting circular hole 12, and the second fixed pin shaft 11 slides in the connecting long hole 13 to drive the rotating connecting rod to swing.
The clamping fingers 7 are made of metal or foam plastic. The gripping fingers 7 are connected to the turning mechanism 6 by four fixing screws 8. The four holes below can be used for installing and replacing clamping jaw fingers with different shapes to clamp different articles. The clamping jaw is provided with 2-4 clamping fingers 7.
Through the mechanism stroke amplification, the horizontal stroke of the fingers of the clamping jaw reaches 0-30 mm, and the maximum horizontal force is 6.2N. The finger operating frequency is 9 HZ. Mass of finger 53g (actuator mass 22 g).
For example, two-finger jaws are used for clamping sheet-shaped objects with the thickness of 0.1 mm-30 mm, four-finger jaws are used for large-sized and strip-shaped objects, and flexible jaws are used for flexible, irregular and hard-to-rigidly clamp objects.
The specific embodiment of the two-finger clamping jaw is as follows, and the size parameters of the clamping jaw are designed as follows aiming at an object with the clamping thickness of 0.1-30 mm: the horizontal clamping stroke is 32mm, the angle of the clamping jaw is changed to 142.3-165 degrees, the closing clamping force of the two clamping jaws is 1.07N, the maximum clamping force is 6.2N, the clamping force for clamping 24mm objects is 4.3N, the size of the two fingers of the clamping jaws is 64 multiplied by 114 multiplied by 121mm, the weight of the clamping jaw is 131g (the weight of a driver is 22g multiplied by 2), regular and irregular objects can be clamped, rigid and flexible objects can be clamped, and objects with different shapes can be clamped by changing the shape of the clamping head.
The specific embodiment of the four-finger jaw shown in figure 3 is as follows, and can be extended from the original two-finger jaw to the multi-finger jaw by a similar arrangement. As the figure shows a four-finger clamping claw structure, clamping mechanisms are arranged on the supporting and connecting plate 14 in four directions, and cylinders, cuboids and other irregular objects and fragile objects can be flexibly clamped through different voltage controls.
As shown in fig. 4, an embodiment of the flexible jaw is shown in which a finger shell is made of a lighter, more resilient material and a jaw head is made of a foam material to provide the jaw with greater flexibility to accommodate gripping and transporting irregular and fragile objects. The control mode is the same as the two-finger clamping jaw control mode, and leads out wires to the outside through small holes at two sides for voltage control. Its internal basic structure is the same as that of two-finger clamping jaw.
Overall size: 100 × 53 × 110(mm), overall mass: 78g (actuator 22g × 2), maximum clamping force: 6.2N, horizontal stroke: 0-40 mm, jaw angle: 165-135 degrees.
The flexible clamping jaw is suitable for clamping objects with irregular peripheral diameters smaller than 40mm, the different properties of the objects are clamped according to actual conditions, the actual area of a driver can be reduced only for finishing clamping actions, and the quality of the clamping jaw can be controlled within 30g by changing the structure.
It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.
Claims (10)
1. Clamping jaw based on gel driver, including supporting connection board and gel driver, the supporting connection board is used for being connected with external mechanism, its characterized in that, the clamping jaw still includes the fixture who is connected with the supporting connection board, fixture is got the finger including slide mechanism, slewing mechanism and the clamp that has the drive of gel driver, slide mechanism rotates with slewing mechanism to be connected, slewing mechanism end connection presss from both sides and gets the finger, the shrink of gel driver or reply drive slewing mechanism drive press from both sides and get the finger and press from both sides tightly or loosen.
2. The gel driver-based jaw of claim 1, wherein the gripping mechanism comprises a housing for the gel driver, the gel driver being disposed within the housing, and the sliding mechanism being disposed on a front side of the housing.
3. The gel driver-based jaw of claim 2, wherein the sliding mechanism comprises a sliding push plate and a sliding push rod, the rear side of the sliding push rod is bonded to the gel driver, the sliding push plate is fixed with the sliding push rod on the front side, the sliding push rod is rotatably connected with the rotating mechanism on the front side, and the sliding push plate is provided with a hole for the sliding push rod to slide up and down.
4. The gel driver-based gripping jaw as claimed in claim 1, wherein the gripping jaw is further provided with a fixed joint sleeve, the fixed joint sleeve is arranged outside the joint of the rotating mechanism and the sliding mechanism, and the top surface of the fixed joint sleeve is adhered to the lower end surface of the shell of the gel driver.
5. The gel actuator-based gripper of claim 4, wherein said rotation mechanism comprises a first fixed pin connecting said rotation link to the front side of said sliding mechanism, a second fixed pin, and a rotation link, said second fixed pin being fixed at both ends to said fixed joint sleeve.
6. The gel actuator based gripper as claimed in claim 5, wherein said rotation mechanism has a circular connecting hole and a long connecting hole, said first fixed pin is rotatably disposed in the circular connecting hole, and said second fixed pin slides in the long connecting hole to swing the rotating link.
7. The gel driver-based jaw of claim 2, wherein the housing comprises a bottom shell and a stationary cover plate.
8. The gel driver-based jaw of claim 1, wherein said gripping fingers are metal or foam.
9. The gel actuator-based gripper jaw of claim 1, wherein the rotation mechanism rotates the gripping fingers through an angle of between 102 ° and 165 °.
10. The gel driver-based jaw of claim 1, wherein said jaw is provided with 2-4 gripping fingers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921100308.8U CN210414591U (en) | 2019-07-15 | 2019-07-15 | Gel driver based clamping jaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921100308.8U CN210414591U (en) | 2019-07-15 | 2019-07-15 | Gel driver based clamping jaw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210414591U true CN210414591U (en) | 2020-04-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921100308.8U Active CN210414591U (en) | 2019-07-15 | 2019-07-15 | Gel driver based clamping jaw |
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| CN (1) | CN210414591U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434884A (en) * | 2019-07-15 | 2019-11-12 | 浙江工业大学 | Clamping jaw based on gel driver |
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2019
- 2019-07-15 CN CN201921100308.8U patent/CN210414591U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434884A (en) * | 2019-07-15 | 2019-11-12 | 浙江工业大学 | Clamping jaw based on gel driver |
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