CN210998790U - Self-clamping clamp holder - Google Patents
Self-clamping clamp holder Download PDFInfo
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- CN210998790U CN210998790U CN201921068848.2U CN201921068848U CN210998790U CN 210998790 U CN210998790 U CN 210998790U CN 201921068848 U CN201921068848 U CN 201921068848U CN 210998790 U CN210998790 U CN 210998790U
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- clamping jaw
- clamping
- shaft sleeve
- actuating
- execution
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Abstract
The utility model discloses a self-clamping clamper, which comprises a clamping mechanism, a connecting frame, a supporting shaft sleeve, a first clamping jaw and a second clamping jaw, wherein the connecting frame is connected with the base and is provided with a containing cavity; the connecting frame is internally and rotatably connected with the first clamping jaw and the second clamping jaw, a torsion spring is arranged outside the supporting shaft sleeve, one end of the torsion spring is connected with one side, facing the accommodating cavity, of the first clamping jaw, and the other end of the torsion spring is connected with one side, facing the accommodating cavity, of the second clamping jaw; the actuating mechanism comprises a first actuating clamping jaw and a second actuating clamping jaw which can move, and the first actuating clamping jaw and the second actuating clamping jaw can respectively abut against the outer sides of the first clamping jaw and the second clamping jaw. The utility model provides a pair of self-holding holder can simplify the structure of holder and the control step of holder, improves centre gripping efficiency.
Description
Technical Field
The utility model relates to a robot holder technical field especially relates to a self-holding holder.
Background
A robot gripper (i.e., a gripper of a robot) is a device in which a robot manipulator directly contacts a workpiece, a tool, or the like to perform work, and is one of key components of the robot, and the performance of the robot gripper has a great influence on the improvement of the robot efficiency, and the exertion of the robot function.
The inventor is implementing the utility model discloses an in-process discovery, the holder structure among the self-holding holder prior art among the prior art is complicated, and operating system is complicated, and the centre gripping action is slow, and efficiency is not high
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a self-holding holder is provided, the structure of holder and the control step of holder can be simplified, centre gripping efficiency is improved.
In order to achieve the above object, an embodiment of the present invention provides a self-clamping holder, including: the clamping mechanism and the actuating mechanism;
the clamping mechanism comprises a base, a connecting frame which is connected with the base and provided with an accommodating cavity, a supporting shaft sleeve arranged in the accommodating cavity, a first clamping jaw and a second clamping jaw; the connecting frame is internally and rotatably connected with a first clamping jaw and a second clamping jaw, a torsion spring is arranged outside the supporting shaft sleeve, one end of the torsion spring is connected with one side, facing the accommodating cavity, of the first clamping jaw, and the other end of the torsion spring is connected with one side, facing the accommodating cavity, of the second clamping jaw;
the actuating mechanism comprises a first actuating clamping jaw and a second actuating clamping jaw which can move, and the first actuating clamping jaw and the second actuating clamping jaw can respectively abut against the outer sides of the first clamping jaw and the second clamping jaw.
As an improvement of the above scheme, a first rotating shaft sleeve and a second rotating shaft sleeve are arranged at the front part of the connecting frame;
the first rotating shaft sleeve is used for fixing the first clamping jaw so as to enable the first clamping jaw to rotate around the first transmission shaft sleeve;
the second rotating shaft sleeve is used for fixing the second clamping jaw so as to enable the second clamping jaw to rotate around the second transmission shaft sleeve;
the front part of the connecting frame is a part between one side of the connecting frame, extending out of the connecting frame, of the first clamping jaw and the second clamping jaw and the supporting shaft sleeve.
As an improvement of the above scheme, the actuating mechanism further comprises a connecting seat, and the support rod and the two-way screw rod are connected to the connecting seat and arranged in parallel;
the first execution clamping jaw and the second execution clamping jaw are connected with the supporting rod; and the bidirectional thread section of the bidirectional screw rod is in threaded connection with the first execution clamping jaw and the second execution clamping jaw respectively.
As an improvement of the above scheme, the connecting seat is further connected with a connecting rod, the connecting rod is slidably connected with a transmission seat used for being connected with the mechanical arm, and springs are arranged on the outer sides of the connecting rods at the two ends of the transmission seat;
one end of the spring is connected with the connecting seat, and the other end of the spring is connected with the transmission seat.
The embodiment of the utility model provides a pair of self-holding holder compares with prior art, has following beneficial effect:
the opening and the closing of the clamping opening between the two clamping jaws are realized through the two clamping jaws and the torsion spring, so that a target object is clamped, and a clamping effect is realized; the first execution clamping jaw and the second execution clamping jaw can fix the clamping mechanism, so that the target object can be conveniently moved after being clamped, when the clamping mechanism moves to have deviation, the relative position between the transmission seat and the execution clamping jaw is finely adjusted through the spring so as to avoid interference, and therefore, the object is more accurately and conveniently clamped; the clamping device can rapidly clamp an object to be clamped, has high clamping efficiency and simple operation steps, and can be used as a robot claw.
Drawings
Fig. 1 is a schematic structural diagram of a self-clamping holder according to an embodiment of the present invention.
Fig. 2 is a schematic structural view of a first rotating sleeve and a second rotating sleeve in a first specific implementation manner provided by the present invention.
Fig. 3 is a schematic structural view of a first rotating sleeve and a second rotating sleeve in another embodiment of the present invention.
Fig. 4 is a front view of a self-clamping holder according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of an actuator according to a first embodiment of the present invention.
Fig. 6 is a schematic structural diagram of an actuator according to another embodiment of the present invention.
The clamping device comprises a clamping mechanism 1, a base 101, a connecting frame 102, a supporting shaft sleeve 103, a first clamping jaw 104, a second clamping jaw 105, a torsion spring 106, a first rotating shaft sleeve 107, a second rotating shaft sleeve 108, an actuating mechanism 2, a first actuating jaw 201, a second actuating jaw 202, a connecting seat 203, a supporting rod 204, a bidirectional screw rod 205, a connecting rod 206, a transmission seat 207 and a spring 208.
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 in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Referring to fig. 1, it is a schematic structural diagram of a self-clamping holder according to a first embodiment of the present invention, including: a clamping mechanism 1 and an actuating mechanism 2;
the clamping mechanism 1 comprises a base 101, a connecting frame 102 which is connected with the base 101 and is provided with an accommodating cavity, a supporting shaft sleeve 103 arranged in the accommodating cavity, a first clamping jaw 104 and a second clamping jaw 105; the connecting frame 102 is internally and rotatably connected with a first clamping jaw 104 and a second clamping jaw 105, a torsion spring 106 is arranged outside the supporting shaft sleeve 103, one end of the torsion spring 106 is connected with one side, facing the accommodating cavity, of the first clamping jaw 104, and the other end of the torsion spring 106 is connected with one side, facing the accommodating cavity, of the second clamping jaw 105;
the actuator 2 comprises a movable first 201 and a second 202 actuator jaw, which first 201 and second 202 actuator jaws may abut against the outer sides of the first 104 and second 105 clamping jaws, respectively.
Further, a first rotating shaft sleeve 107 and a second rotating shaft sleeve 108 are arranged at the front part of the connecting frame;
the first rotating shaft sleeve 107 is used for fixing the first clamping jaw 104, so that the first clamping jaw 104 rotates around the first rotating shaft sleeve 107;
a second rotation sleeve 108 for holding the second clamping jaw 105 such that the second clamping jaw 105 rotates 108 around the second rotation sleeve;
wherein the front part of the connecting frame 102 is the part of the first clamping jaw 104 and the second clamping jaw 105 protruding between the side of the connecting frame 102 and the support sleeve 103.
Fig. 2 is a schematic structural view of the first rotating sleeve and the second rotating sleeve in a specific implementation manner provided in the first embodiment of the present invention. Fig. 3 is a schematic structural view of a first rotating sleeve and a second rotating sleeve in another specific implementation manner provided by the first embodiment of the present invention.
Fig. 4 is a front view of a self-clamping holder according to an embodiment of the present invention.
Further, the actuating mechanism further comprises a connecting seat 203, and the supporting rod 204 and the bidirectional screw rod 205 are connected to the connecting seat 203 and arranged in parallel;
the first execution clamping jaw 201 and the second execution clamping jaw 202 are connected with a supporting rod 204; the bidirectional threaded section of the bidirectional screw 205 is in threaded connection with the first and second actuating jaws 201 and 202, respectively.
Furthermore, the connecting base 203 is also connected with a connecting rod 206, the connecting rod 206 is slidably connected with a transmission base 207 for connecting with the mechanical arm, and springs 208 are arranged on the outer sides of the connecting rods 206 at the two ends of the transmission base 207;
one end of the spring 208 is connected to the connecting seat 203, and the other end is connected to the driving seat 207.
Fig. 5 is a schematic structural diagram of an actuator according to a specific implementation manner provided in the first embodiment of the present invention.
Preferably, refer to fig. 6, which is a schematic structural diagram of an actuator according to another specific implementation manner provided in the first embodiment of the present invention. Two parallel connecting rods 206 are provided in the actuator 2 to more stably control the movement of the transmission base 207.
In a specific embodiment, in order to realize the rotation of the clamping jaw, the front part of the clamping jaw is connected with a rotating shaft sleeve, a connecting seat is fixedly connected with the rotating shaft sleeve through a bolt, and the clamping jaw can rotate around the rotating shaft sleeve; the execution clamping jaw is arranged at the rear part of the clamping jaw.
In order to realize the left and right movement of the first execution clamping jaw and the second execution clamping jaw, the execution mechanism is provided with a connecting seat, the first execution clamping jaw and the second execution clamping jaw are connected with a supporting rod and a rotatable two-way screw rod, the supporting rod and the two-way screw rod are connected to the connecting seat and arranged in parallel in the height direction, and the two-way thread section of the two-way screw rod is respectively in threaded connection with the first execution clamping jaw and the second execution clamping jaw.
In order to further realize the fine setting of fixture position, still be connected with two connecting rods at direction of height parallel arrangement on the connecting seat, be connected with the driving seat that is used for being connected with the arm on the connecting rod slidable, the connecting rod outside at the both ends of driving seat all is equipped with the spring, and the one end and the connecting seat of spring are connected, and the other end and the driving seat of spring are connected.
When the clamping mechanism is in the tool library, the transmission seat is connected with the mechanical arm with the controllable position, and the motor drives the bidirectional screw rod to rotate; when an object needs to be clamped, the mechanical arm sends the execution mechanism to the position of the clamping mechanism, in the left-right direction, when the two clamping jaws are positioned at the center between the first execution jaw and the second execution jaw, and in the front-back direction, the first execution jaw and the second execution jaw are positioned at the rear part of the clamping jaws, the mechanical arm is not moved, the motor starts to act, the motor drives the two-way screw rod to rotate, the rotation direction of the motor is adjusted, the first execution jaw and the second execution jaw move towards the position of the connecting frame, when the first execution jaw is contacted with the first clamping jaw and the second execution jaw is contacted with the second clamping jaw, the clamping jaws rotate around the rotating shaft sleeve, when the two-way screw rod continues to rotate, and when the first execution jaw and the second execution jaw are contacted with the connecting frame, the first execution jaw and the second execution jaw are in a clamping state under the resistance, and the first clamping jaw and the second clamping jaw open a clamping opening between the clamping jaws, the mechanical arm drives the clamping mechanism to move towards the target to be clamped, when the clamping opening is located at the target to be clamped, the motor reversely acts, the first execution clamping jaw and the second execution clamping jaw move towards the position far away from the connecting frame, the clamping jaws return to contract due to the elastic force of the torsion spring, the clamping opening between the two clamping jaws is tightly closed, and therefore the target object is clamped, and the clamping effect is achieved; when the clamping mechanism moves with deviation, the relative between the transmission seat and the execution clamping jaw is finely adjusted through the spring so as to avoid interference, thereby the utility model can clamp objects more accurately and conveniently; the utility model has simple structure, can fast clamp the object to be clamped, has high efficiency and simple operation; can be used as a robot claw.
The embodiment of the utility model provides a pair of self-holding holder compares with prior art, has following beneficial effect:
the opening and the closing of the clamping opening between the two clamping jaws are realized through the two clamping jaws and the torsion spring, so that a target object is clamped, and a clamping effect is realized; the first execution clamping jaw and the second execution clamping jaw can fix the clamping mechanism, so that the target object can be conveniently moved after being clamped, when the clamping mechanism moves to have deviation, the relative position between the transmission seat and the execution clamping jaw is finely adjusted through the spring so as to avoid interference, and therefore, the object is more accurately and conveniently clamped; the clamping device can rapidly clamp an object to be clamped, has high clamping efficiency and simple operation steps, and can be used as a robot claw.
The foregoing is a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations are also considered as the protection scope of the present invention.
Claims (4)
1. A self-clamping holder, comprising: the clamping mechanism and the actuating mechanism;
the clamping mechanism comprises a base, a connecting frame which is connected with the base and provided with an accommodating cavity, a supporting shaft sleeve arranged in the accommodating cavity, a first clamping jaw and a second clamping jaw; the connecting frame is internally and rotatably connected with the first clamping jaw and the second clamping jaw, a torsion spring is arranged outside the supporting shaft sleeve, one end of the torsion spring is connected with one side, facing the accommodating cavity, of the first clamping jaw, and the other end of the torsion spring is connected with one side, facing the accommodating cavity, of the second clamping jaw;
the actuating mechanism comprises a first actuating clamping jaw and a second actuating clamping jaw which can move, and the first actuating clamping jaw and the second actuating clamping jaw can respectively abut against the outer sides of the first clamping jaw and the second clamping jaw.
2. A self-clamping gripper according to claim 1 wherein: the front part of the connecting frame is provided with a first rotating shaft sleeve and a second rotating shaft sleeve;
the first rotating shaft sleeve is used for fixing the first clamping jaw so as to enable the first clamping jaw to rotate around the first rotating shaft sleeve;
the second rotating shaft sleeve is used for fixing the second clamping jaw so that the second clamping jaw can rotate around the second rotating shaft sleeve;
the front part of the connecting frame is a part between one side of the connecting frame, extending out of the connecting frame, of the first clamping jaw and the second clamping jaw and the supporting shaft sleeve.
3. A self-clamping gripper according to claim 1 wherein: the actuating mechanism also comprises a connecting seat, and the support rod and the bidirectional screw rod are connected to the connecting seat and arranged in parallel;
the first execution clamping jaw and the second execution clamping jaw are connected with the supporting rod; and the bidirectional thread section of the bidirectional screw rod is in threaded connection with the first execution clamping jaw and the second execution clamping jaw respectively.
4. A self-clamping gripper according to claim 3 wherein: the connecting seat is also connected with a connecting rod, the connecting rod is slidably connected with a transmission seat used for being connected with the mechanical arm, and springs are arranged on the outer sides of the connecting rods at the two ends of the transmission seat;
one end of the spring is connected with the connecting seat, and the other end of the spring is connected with the transmission seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921068848.2U CN210998790U (en) | 2019-07-09 | 2019-07-09 | Self-clamping clamp holder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921068848.2U CN210998790U (en) | 2019-07-09 | 2019-07-09 | Self-clamping clamp holder |
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| Publication Number | Publication Date |
|---|---|
| CN210998790U true CN210998790U (en) | 2020-07-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921068848.2U Active CN210998790U (en) | 2019-07-09 | 2019-07-09 | Self-clamping clamp holder |
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| CN (1) | CN210998790U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115477025A (en) * | 2022-10-31 | 2022-12-16 | 哈尔滨工业大学 | Passive modular interface clamping device for realizing auxiliary expansion of satellite fault sailboard |
-
2019
- 2019-07-09 CN CN201921068848.2U patent/CN210998790U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115477025A (en) * | 2022-10-31 | 2022-12-16 | 哈尔滨工业大学 | Passive modular interface clamping device for realizing auxiliary expansion of satellite fault sailboard |
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