CN210879707U - Clamping jaw with adjustable friction force for robot - Google Patents
Clamping jaw with adjustable friction force for robot Download PDFInfo
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- CN210879707U CN210879707U CN201921466217.6U CN201921466217U CN210879707U CN 210879707 U CN210879707 U CN 210879707U CN 201921466217 U CN201921466217 U CN 201921466217U CN 210879707 U CN210879707 U CN 210879707U
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- clamping jaw
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- jaw
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Abstract
The utility model discloses a friction force adjustable clamping jaw for a robot, which is used for solving the problems that the existing mechanical arm clamping jaw has a complex structure, the clamping end can not be adjusted according to the characteristics of a workpiece, and the clamping jaw is mostly replaced to clamp, so that the use is troublesome and the limitation is large; the mechanical claw clamping device comprises a mechanical claw shell, a first clamping jaw and a second clamping jaw, wherein one side of the mechanical claw shell is connected with a motor mounting plate, a motor is fixedly connected onto the motor mounting plate through a screw, the end head of the main shaft end of the motor penetrates through the mechanical claw shell and is positioned on the other side of the mechanical claw shell, a fixing block is welded at the end head of the motor, and the fixing block is clamped in a fixing groove formed in a cam; the utility model discloses a set up different mat surface lateral walls on the lateral wall of clamp splice, according to the characteristic of snatching the work piece, rotatory clamp splice uses the clamp splice combination of different mat surface lateral walls to form to press from both sides and gets the end, then fixed through inserting post and fixed block, adjusts through the frictional force of getting to the clamp, and the work piece is got to convenient better clamp.
Description
Technical Field
The utility model relates to a manipulator clamping jaw field for the robot specifically is a clamping jaw for robot of adjustable frictional force.
Background
In machine part's manufacturing process, often can need carry out the centre gripping to machine part and shift, among the prior art, carry out the centre gripping through mechanical clamping jaw to machine part mostly and shift, and current manipulator clamping jaw structure is complicated, presss from both sides the end moreover and can not adjust according to the characteristic of work piece, adopts the change clamping jaw mostly to press from both sides to get to lead to the use comparatively troublesome, the limitation is big.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problems, the utility model aims to provide a clamping jaw for solving the problems that the existing mechanical arm clamping jaw has a complex structure, the clamping end can not be adjusted according to the characteristics of a workpiece, and the clamping jaw is mostly replaced to clamp, so that the use is troublesome and the limitation is large;
the purpose of the utility model can be realized by the following technical scheme: a clamping jaw for a robot capable of adjusting friction force comprises a mechanical jaw shell, a first clamping jaw and a second clamping jaw, wherein one side of the mechanical jaw shell is connected with a motor mounting plate, a motor is fixedly connected onto the motor mounting plate through a screw, a main shaft end of the motor penetrates through the mechanical jaw shell and is located on the other side of the mechanical jaw shell, a first fixing block is welded at the end head of the main shaft end of the motor, and the first fixing block is clamped in a fixing groove formed in a cam;
a first fixing shaft and a second fixing shaft are symmetrically arranged on the other side of the mechanical claw shell, a first shaft hole is formed in one end head of the first clamping jaw, the first clamping jaw is arranged on the first fixing shaft through the first shaft hole, and a plurality of first teeth are uniformly arranged at one end head of the first clamping jaw; a second shaft hole is formed in one end head of the second clamping jaw, the second clamping jaw is installed on the second fixed shaft through the second shaft hole, and a plurality of second teeth are evenly installed at one end head of the second clamping jaw; one end head of the first clamping jaw is meshed and connected with one end head of the second clamping jaw through first teeth and second teeth;
the equal rigid coupling of the other end department of first clamping jaw and second clamping jaw has the one end of fixed column, the other end department of first clamping jaw and second clamping jaw is located the fixed column all around equal symmetry and has seted up two first jacks, and the other end of fixed column is seted up threaded hole, has cup jointed a plurality of clamp splice on the fixed column.
As a further aspect of the present invention: the center of the clamping block is provided with a center hole, the clamping block is uniformly provided with four second insertion holes around the center hole, the side walls of the clamping block comprise four rectangular side walls, one rectangular side wall is a smooth side wall, the other three rectangular side walls are rough side walls, and a plurality of convex blocks are arranged on the rough side walls; one end of each of the two inserting columns is symmetrically installed on one side of the second fixing block, the other end of each inserting column penetrates through a second inserting hole formed in the clamping block to be inserted into the first inserting hole, a bolt inserting hole is formed in the second fixing block, and one end of each fastening bolt penetrates through the bolt inserting hole to be installed in the threaded hole in a threaded mode.
As a further aspect of the present invention: first solid fixed ring is installed to the top that lies in first fixed axle on the gripper casing, and second clamping jaw integrated into one piece has the push rod, installs the solid fixed ring of second on the push rod, and first solid fixed ring passes through spring fixed connection with the solid fixed ring of second, and the one end of spring is equipped with first couple, and the other end of spring is equipped with the second couple, and first couple is fixed on first solid fixed ring, and the second couple is fixed on the solid fixed ring of second.
As a further aspect of the present invention: the top of the mechanical claw shell is provided with a mounting hole, the other side of the mechanical claw shell is provided with a groove, a plurality of second threaded holes are formed in the groove, and the top end of the cover plate is mounted in the groove through a second bolt; one end of the second bolt is fixed in the second threaded hole in a threaded manner.
The utility model has the advantages that:
1. the motor drives the fixing block to rotate anticlockwise so as to drive the cam to rotate, the cam drives the push rod to rotate around the second fixed shaft while rotating, then the second clamping jaw is driven to rotate clockwise around the second fixed shaft, the first clamping jaw is driven to rotate anticlockwise through meshing connection of the first clamping jaw and the second clamping jaw, and the first clamping jaw is close to the second clamping jaw so as to realize the grabbing of the clamping jaw; when the push rod rotates, the spring is pulled by the push rod through the second fixing ring, when the cam rotates to 90-180 degrees, the push rod is driven to rotate anticlockwise around the second fixing shaft through the contraction of the spring, so that the first clamping jaw and the second clamping jaw are separated and restored to the original state, and then the clamping jaws are loosened;
2. through setting up different mat surface lateral walls on the lateral wall at the clamp splice, according to the characteristic of snatching the work piece, rotatory clamp splice uses the clamp splice combination formation of different mat surface lateral walls to get the end, then fixed through inserting post and fixed block, through the frictional force regulation of getting to the clamp, the work piece is got to convenient better clamp.
Drawings
The present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an exploded view of the overall structure of the present invention;
FIG. 3 is an enlarged view of the structure A of FIG. 2 according to the present invention;
FIG. 4 is an enlarged view of the structure B in FIG. 2 according to the present invention;
fig. 5 is a schematic view of the overall structure of the clamping block of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
Referring to fig. 1-5, the utility model relates to a friction force adjustable clamping jaw for robot, which comprises a mechanical jaw housing 1, a first clamping jaw 16 and a second clamping jaw 15, wherein one side of the mechanical jaw housing 1 is connected with a motor mounting plate 13, the motor mounting plate 13 is fixedly connected with a motor 14 through a screw, a spindle end of the motor 14 penetrates through the mechanical jaw housing 1 and is positioned at the other side of the mechanical jaw housing 1, a first fixing block 18 is welded at the end head of the spindle end of the motor 14, and the first fixing block 18 is clamped in a fixing groove 171 formed in a cam 17; the first fixing block 18 is driven to rotate anticlockwise through the motor 14, so that the cam 17 is driven to rotate, the push rod 153 is driven to rotate around the second fixing shaft 102 while the cam 17 rotates, the second clamping jaw 15 is driven to rotate clockwise around the second fixing shaft 102, the first clamping jaw 16 is driven to rotate anticlockwise through the meshed connection of the first clamping jaw 16 and the second clamping jaw 15, and the first clamping jaw 16 is close to the second clamping jaw 15, so that the clamping jaws can be grabbed;
a first fixing shaft 101 and a second fixing shaft 102 are symmetrically installed on the other side of the mechanical claw shell 1, a first shaft hole 162 is formed in one end head of the first clamping jaw 16, the first clamping jaw 16 is installed on the first fixing shaft 101 through the first shaft hole 162, and a plurality of first teeth 161 are evenly installed at one end head of the first clamping jaw 16; a second shaft hole 152 is formed in one end head of the second clamping jaw 15, the second clamping jaw 15 is installed on the second fixed shaft 102 through the second shaft hole 152, and a plurality of second teeth 151 are evenly installed at one end head of the second clamping jaw 15; one end of the first clamping jaw 16 is meshed and connected with one end of the second clamping jaw 15 through a first tooth 161 and a second tooth 151;
the other end heads of the first clamping jaw 16 and the second clamping jaw 15 are fixedly connected with one end of a fixing column 156, the other end heads of the first clamping jaw 16 and the second clamping jaw 15 are positioned on the periphery of the fixing column 156 and symmetrically provided with two first insertion holes 155, the other end of the fixing column 156 is provided with a threaded hole 1561, and the fixing column 156 is sleeved with a plurality of clamping blocks 157;
a center hole 1571 is formed in the center of the clamping block 157, four second insertion holes 1572 are uniformly formed in the clamping block 157 at the periphery of the center hole 1571, the side walls of the clamping block 157 comprise four rectangular side walls, one rectangular side wall is a smooth side wall, the other three rectangular side walls are rough side walls, and a plurality of convex blocks 1573 are mounted on the rough side walls; the rough surfaces of the three rectangular side walls are different in roughness degree through the lugs 1573 with different sizes, and then the friction force of the rough surfaces is different, wherein the larger the roughness degree is, the larger the corresponding friction force is; one end of each of two inserting columns 1582 is symmetrically arranged on one side of the second fixing block 158, the other end of each inserting column 1582 penetrates through a second inserting hole 1572 formed in the clamping block to be inserted into the first inserting hole 155, a bolt inserting hole 1581 is formed in the second fixing block 158, and one end of a fastening bolt 159 penetrates through the bolt inserting hole 1581 to be installed in the threaded hole 1561 in a threaded mode; the side walls of the clamping blocks 157 are provided with different rough surface side walls, the clamping blocks 157 are rotated according to the characteristics of the workpieces to be clamped, the clamping blocks 157 with different rough surface side walls are combined to form clamping ends, then the clamping ends are fixed through the inserting columns 1582 and the second fixing blocks 158, and the workpieces can be clamped better conveniently through adjustment of the clamping friction force;
a first fixing ring 103 is arranged above the first fixing shaft 101 on the mechanical claw shell 1, a push rod 153 is integrally formed on the second clamping jaw 15, a second fixing ring 154 is arranged on the push rod 153, the first fixing ring 103 and the second fixing ring 154 are fixedly connected through a spring 2, a first hook 21 is arranged at one end of the spring 2, a second hook 22 is arranged at the other end of the spring 2, the first hook 21 is fixed on the first fixing ring 103, and the second hook 22 is fixed on the second fixing ring 154; when the push rod 153 rotates, the push rod 153 pulls the spring 2 through the second fixing ring 154, when the cam 17 rotates to 90-180 degrees, the cam 17 has no thrust on the push rod 153, and the push rod 153 is driven to rotate anticlockwise around the second fixing shaft 102 through the contraction of the spring 2, so that the first clamping jaw 16 and the second clamping jaw 15 are separated and restored to the original state, and then the clamping jaws are loosened;
the top of the gripper housing 1 is provided with a mounting hole 11, the other side of the gripper housing 1 is provided with a groove 105, a plurality of second threaded holes 104 are formed in the groove 105, and the top end of the cover plate 12 is mounted in the groove 105 through a second bolt 121; one end of the second bolt 121 is fixed in the second threaded hole 104 by screw thread; when the push rod 153 rotates, the push rod 153 pulls the spring 2 through the second fixing ring 154, when the cam 17 rotates to 90-180 degrees, the cam 17 has no thrust on the push rod 153, and the push rod 153 is driven to rotate anticlockwise around the second fixing shaft 102 through the contraction of the spring 2, so that the first clamping jaw 16 and the second clamping jaw 15 are separated and restored to the original state, and then the clamping jaws are loosened;
the working principle is as follows: the first fixing block 18 is driven to rotate anticlockwise through the motor 14, so that the cam 17 is driven to rotate, the push rod 153 is driven to rotate around the second fixing shaft 102 while the cam 17 rotates, the second clamping jaw 15 is driven to rotate clockwise around the second fixing shaft 102, the first clamping jaw 16 is driven to rotate anticlockwise through the meshed connection of the first clamping jaw 16 and the second clamping jaw 15, and the first clamping jaw 16 is close to the second clamping jaw 15, so that the clamping jaws can be grabbed; when the push rod 153 rotates, the push rod 153 pulls the spring 2 through the second fixing ring 154, when the cam 17 rotates to 90-180 degrees, the cam 17 has no thrust on the push rod 153, and the push rod 153 is driven to rotate anticlockwise around the second fixing shaft 102 through the contraction of the spring 2, so that the first clamping jaw 16 and the second clamping jaw 15 are separated and restored to the original state, and then the clamping jaws are loosened; through set up different mat surface lateral walls on the lateral wall at clamp splice 157, according to the characteristic of snatching the work piece, rotatory clamp splice 157 uses the combination of clamp splice 157 of different mat surface lateral walls to form and presss from both sides and get the end, then fixes through inserting post 1582 and two 158 fixed blocks, through the frictional force regulation of pressing from both sides and getting, conveniently better clamp and get the work piece.
The foregoing is merely exemplary and illustrative of the structure of the invention, and various modifications, additions and substitutions as described in the detailed description may be made by those skilled in the art without departing from the structure or exceeding the scope of the invention as defined in the claims.
Claims (4)
1. The clamping jaw capable of adjusting friction force for the robot comprises a mechanical jaw shell (1), a first clamping jaw (16) and a second clamping jaw (15), and is characterized in that one side of the mechanical jaw shell (1) is connected with a motor mounting plate (13), a motor (14) is fixedly connected onto the motor mounting plate (13) through a screw, a main shaft end of the motor (14) penetrates through the mechanical jaw shell (1) and is located on the other side of the mechanical jaw shell (1), a first fixing block (18) is welded at the end of the main shaft end of the motor (14), and the first fixing block (18) is clamped in a fixing groove (171) formed in a cam (17);
a first fixing shaft (101) and a second fixing shaft (102) are symmetrically installed on the other side of the mechanical claw shell (1), a first shaft hole (162) is formed in one end of the first clamping jaw (16), the first clamping jaw (16) is installed on the first fixing shaft (101) through the first shaft hole (162), and a plurality of first teeth (161) are evenly installed at one end of the first clamping jaw (16); a second shaft hole (152) is formed in one end head of the second clamping jaw (15), the second clamping jaw (15) is installed on the second fixed shaft (102) through the second shaft hole (152), and a plurality of second teeth (151) are evenly installed at one end head of the second clamping jaw (15); one end head of the first clamping jaw (16) is meshed and connected with one end head of the second clamping jaw (15) through a first tooth (161) and a second tooth (151);
the other end of first clamping jaw (16) and second clamping jaw (15) end department equal rigid coupling has the one end of fixed column (156), the other end of first clamping jaw (16) and second clamping jaw (15) end department is located all around of fixed column (156) and has all the symmetry seted up two first jack (155), and threaded hole (1561) is seted up to the other end of fixed column (156), has cup jointed a plurality of clamp splice (157) on fixed column (156).
2. The clamping jaw for the robot with the adjustable friction force according to claim 1, wherein a center hole (1571) is formed in the center of the clamping block (157), four second inserting holes (1572) are uniformly formed in the clamping block (157) located on the periphery of the center hole (1571), the side walls of the clamping block (157) comprise four rectangular side walls, one rectangular side wall is a smooth side wall, the other three rectangular side walls are rough side walls, and a plurality of protruding blocks (1573) are mounted on the rough side walls; one side of the second fixing block (158) is symmetrically provided with two ends of each inserting column (1582), the other end of each inserting column (1582) penetrates through a second insertion hole (1572) formed in the clamping block to be inserted into the first insertion hole (155), a bolt insertion hole (1581) is formed in the second fixing block (158), and one end of a fastening bolt (159) penetrates through the bolt insertion hole (1581) and is installed in the threaded hole (1561) in a threaded mode.
3. The clamping jaw capable of adjusting friction force for the robot according to claim 1, wherein a first fixing ring (103) is installed on the mechanical jaw housing (1) above the first fixing shaft (101), a push rod (153) is integrally formed on the second clamping jaw (15), a second fixing ring (154) is installed on the push rod (153), the first fixing ring (103) and the second fixing ring (154) are fixedly connected through a spring (2), a first hook (21) is arranged at one end of the spring (2), a second hook (22) is arranged at the other end of the spring (2), the first hook (21) is fixed on the first fixing ring (103), and the second hook (22) is fixed on the second fixing ring (154).
4. The clamping jaw with the friction force adjustable for the robot is characterized in that a mounting hole (11) is formed in the top of the mechanical jaw housing (1), a groove (105) is formed in the other side of the mechanical jaw housing (1), a plurality of second threaded holes (104) are formed in the groove (105), and the top end of the cover plate (12) is mounted in the groove (105) through a second bolt (121); one end of the second bolt (121) is fixed in the second threaded hole (104) in a threaded manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921466217.6U CN210879707U (en) | 2019-09-04 | 2019-09-04 | Clamping jaw with adjustable friction force for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921466217.6U CN210879707U (en) | 2019-09-04 | 2019-09-04 | Clamping jaw with adjustable friction force for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210879707U true CN210879707U (en) | 2020-06-30 |
Family
ID=71333941
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921466217.6U Active CN210879707U (en) | 2019-09-04 | 2019-09-04 | Clamping jaw with adjustable friction force for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210879707U (en) |
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2019
- 2019-09-04 CN CN201921466217.6U patent/CN210879707U/en active Active
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