CN211916875U - Single-drive self-adaptive clamping jaw - Google Patents
Single-drive self-adaptive clamping jaw Download PDFInfo
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- CN211916875U CN211916875U CN202020204098.3U CN202020204098U CN211916875U CN 211916875 U CN211916875 U CN 211916875U CN 202020204098 U CN202020204098 U CN 202020204098U CN 211916875 U CN211916875 U CN 211916875U
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Abstract
The utility model belongs to the technical field of robot clamping jaw and specifically relates to a single drive self-adaptation clamping jaw, including drive module, two finger modules, two modules that reset, base casing, drive module includes the steering wheel that provides power, intermeshing synchronous pivoted main drive crank and vice drive crank, finger module includes that distal end clamp gets the knuckle, near-end rotation knuckle, drive connecting rod, main drive crank reaches vice drive crank drives drive connecting rod motion, thereby drives near-end rotation knuckle and distal end clamp and get the knuckle motion, realizes self-adaptation and snatchs; has the advantages that: the utility model provides a single drive self-adaptation clamping jaw only needs a transmission structure, a drive arrangement, and design compact structure, simple has realized the self-adaptation of different shapes object simultaneously and has snatched, has effectively solved current simple clamping jaw and can only press from both sides and get specific shape, and self-adaptation clamping jaw structure is complicated, occupation space is big, with high costs, maintain inconvenient problem.
Description
Technical Field
The utility model belongs to the technical field of the robot clamping jaw and specifically relates to a single drive self-adaptation clamping jaw.
Background
The existing industrial clamping jaws mostly adopt a clamping mode with parallel tail ends, the clamping mode is stable in holding and low in processing cost, however, the clamping jaws can only grab specific types of objects, the degree of freedom is very low, and the clamping modes are set one to one and cannot clamp other types of objects; to solve this problem, jaws with adaptive gripping function have been developed. The adaptive robot clamping jaw is designed to be more flexible, and when the adaptive robot clamping jaw is used for clamping an object, parallel clamping or envelope clamping can be performed according to the difference of the geometric shape and the position of the target object. Parallel grasping means that during grasping a small-sized object or a larger object with an opposite surface, the end finger sections of the fingers of the clamping jaw are kept parallel for grasping; the enveloping grasping means to envelop the target object with a plurality of finger segments of the fingers of the gripping jaw, and to stably grasp by multi-point contact. Accordingly, the mechanical structure and control system of the clamping jaws become more complex due to the increase of the degrees of freedom and the drivers, the rigidity is reduced, the gripping force is reduced, and the cost is greatly increased. Therefore, the robot clamping jaw on the market at present has the following problems: or the tail end grabbing device is mostly used for parallel grabbing and only can clamp a specific shape, and the tail end grabbing device cannot adapt to adaptive grabbing of various shapes; or the self-adaptive grabbing is realized through a plurality of drives, a plurality of transmissions, a plurality of sensors and a complex structure, the occupied space is large, the cost is high, and the maintenance is inconvenient.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is: at present, robot clamping jaws or tail end grabbing devices in the market mostly grab in parallel, only clamp a specific shape and cannot adapt to adaptive grabbing in various shapes; or the self-adaptive grabbing is realized through a plurality of drives, a plurality of transmissions, a plurality of sensors and a very complex structure, so that the occupied space is large, the cost is high and the maintenance is inconvenient; in order to solve and simplify the problem that there is the conflict between structure and the self-adaptation snatchs, the utility model provides a single drive self-adaptation clamping jaw only needs a transmission structure, a drive arrangement, and compact structure is simple, has realized the self-adaptation of different shapes object simultaneously and has snatched, and effectual having solved current simple clamping jaw can only press from both sides and get specific shape, and self-adaptation clamping jaw structure is complicated, occupation space is big, with high costs, maintain inconvenient problem.
The utility model provides a technical scheme that its technical problem adopted is: a single-drive self-adaptive clamping jaw comprises a drive module, two finger modules, two reset modules and a base shell, wherein the drive module comprises a steering engine and two drive cranks, the two drive cranks are respectively a main drive crank and an auxiliary drive crank, the steering engine is connected to the main drive crank through a steering wheel, the main drive crank is meshed with the auxiliary drive crank, and a long connecting shaft is arranged at the center of the auxiliary drive crank and is fixed in the base shell;
the two finger modules are symmetrically installed in the direction of a normal line of a plane of the base shell, each finger module comprises a far-end clamping knuckle, a near-end rotating knuckle and a driving connecting rod, the far-end clamping knuckle comprises a fingertip and a finger root connecting part, the finger root connecting part is provided with two groups of connecting holes, a connecting shaft is respectively hinged to the near-end rotating knuckle and the driving connecting rod in a rotating mode through the two groups of connecting holes, the other end of the near-end rotating knuckle is rotatably connected to the base shell through a pin shaft, the other end of the driving connecting rod is movably connected to the driving crank through the connecting shaft, a fixing seat is arranged on the upper portion of the driving connecting rod, and a V-shaped;
the two reset modules are two spring members, one end of each spring member is fixedly connected to the fixed seat of the driving connecting rod, and the other end of each spring member is fixedly connected to the driving crank;
in an initial state, the spring member, the driving connecting rod and the driving crank form a limiting structure, the limiting lug of the driving connecting rod is correspondingly matched with the tooth socket of the driving crank, the driving connecting rod is perpendicular to the driving crank, and the two far-end clamping knuckles are in a vertical state and are parallel to each other;
under the operating state, the steering engine drives the main drive crank to rotate, the main drive crank and the auxiliary drive crank are meshed to synchronously rotate, and the main drive crank and the auxiliary drive crank drive the drive connecting rod to move, so that the near-end rotating knuckle and the far-end clamping knuckle are driven to move, and self-adaptive grabbing is realized. The steering engine provides power to the main driving crank and the auxiliary driving crank which are meshed with each other and rotate synchronously, the main driving crank and the auxiliary driving crank drive the driving connecting rod to move, so that the near-end rotating knuckle and the far-end clamping knuckle are driven to move, self-adaptive clamping is realized, and the far-end clamping knuckle can only rotate inwards. Simple structure, compactness, finger module flexibility is high, not only can parallel clamp get regular shape ground object, can also envelop grasp cylindrical and other irregular shape ground object, and finger adaptability is strong.
Specifically, the spring member comprises a large plastic cylinder, a small plastic cylinder and an elastic element, the large plastic cylinder and the small plastic cylinder are mutually sleeved together, and the elastic element penetrates through the large plastic cylinder and the small plastic cylinder. By the design, the stability of the spring component is improved, and the service life of the spring component is prolonged.
Specifically, the base shell comprises a top cover and a bottom cover, wherein the top cover and the bottom cover are fixedly connected together to form a cavity structure.
Specifically, the two ends of the long connecting shaft and the two ends of the connecting shaft are fixedly connected through jackscrews.
Specifically, the elastic element comprises a tension spring and a torsion spring.
The utility model has the advantages that: the utility model provides a single-drive self-adaptive clamping jaw technical scheme, which comprises a drive module, two finger modules, two reset modules and a base shell, wherein the drive module comprises a steering engine for providing power, a main drive crank and an auxiliary drive crank which are meshed with each other and synchronously rotate, the finger modules comprise a far-end clamping knuckle, a near-end rotating knuckle and a drive connecting rod, the main drive crank and the auxiliary drive crank drive the drive connecting rod to move, so that the near-end rotating knuckle and the far-end clamping knuckle are driven to move, and self-adaptive grabbing is realized; the problem that the existing robot clamping jaws or tail end grabbing devices on the market mostly grab in parallel, only clamp a specific shape and cannot adapt to self-adaptive grabbing in various shapes is solved; or the self-adaptive grabbing is realized through a plurality of drives, a plurality of transmissions, a plurality of sensors and a very complex structure, the occupied space is large, the cost is high, the maintenance is inconvenient, the simple structure and the flexible self-adaptive grabbing can not be compatible, the technical problems that only one transmission structure and one driving device are needed, the structure is compact and simple, and meanwhile, the technical effect of the self-adaptive grabbing of objects with different shapes can be realized. Single drive self-adaptation clamping jaw, simple structure, low cost, the transmission effect is stable, and the clamp is got the knuckle nimble.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a perspective view of the overall structure of the utility model (the grabbed objects are irregular in shape);
fig. 2 is a structural diagram of the driving module of the present invention;
FIG. 3 is a diagram of the finger module structure of the present invention;
FIG. 4 is a view of the structure of the driving connecting rod of the present invention;
FIG. 5-1 shows the effect of the connection between the driving connecting rod and the main driving crank according to the present invention;
fig. 5-2 is a diagram illustrating the effect of the connection between the driving connecting rod and the auxiliary driving crank according to the present invention;
FIG. 6 is a block diagram of the distal grasping knuckle of the present invention;
FIG. 7 is a block diagram of the spring member of the present invention;
figure 8 is the self-adaptation clamping jaw snatchs cuboid shape product effect picture.
In the figure: 1. the distal end clamps the knuckle; 2. a pin shaft; 3. a drive link; 4. proximal rotation knuckles; 5. a spring member; 6. a steering engine; 7. a main drive crank; 8. a secondary drive crank; 9. a base housing; 10. a connecting shaft; 11. a fingertip; 12. a finger root connecting portion; 13. connecting holes; 31. a fixed seat; 32. a limiting bump; 51. a large plastic cylinder; 52. a small plastic cylinder; 53. an elastic element; 91. a long connecting shaft; A. gripping an article; B. the driving connecting rod and the main driving crank limiting part are in an enlarged structure; C. the driving connecting rod and the auxiliary driving crank limiting part are in an enlarged structure.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic drawings and illustrate the basic structure of the present invention only in a schematic manner, and thus show only the components related to the present invention.
Example 1:
as shown in fig. 1, 2, 3, 4, 5 and 6, the single-drive adaptive clamping jaw comprises a drive module, two finger modules, two reset modules and a base shell, wherein the drive module comprises a steering engine 6 and two drive cranks, the two drive cranks are a main drive crank 7 and an auxiliary drive crank 8 respectively, the steering engine 6 is connected to the main drive crank 7 through a steering wheel, the main drive crank 7 is meshed with the auxiliary drive crank 8, and a long connecting shaft 91 is arranged at the center of the auxiliary drive crank 8 and fixed in the base shell 9;
the two finger modules are symmetrically installed in the plane normal direction of a base shell 9, each finger module comprises a far-end clamping knuckle 1, a near-end rotating knuckle 4 and a driving connecting rod 3, the far-end clamping knuckle 1 comprises a fingertip 11 and a knuckle connecting part 12, the knuckle connecting part 12 is provided with two groups of connecting holes 13, a connecting shaft 10 is respectively hinged to the near-end rotating knuckle 4 and the driving connecting rod 3 in a rotating mode through the two groups of connecting holes 13, the other end of the near-end rotating knuckle 4 is connected to the base shell 9 in a rotating mode through a pin shaft 2, the other end of the driving connecting rod 3 is movably connected to a driving crank through the connecting shaft 10, a fixing seat 31 is arranged on the upper portion of the driving connecting rod 3, and a V-shaped limiting lug 32 is arranged; the two reset modules are two spring members 5, one end of each spring member 5 is fixedly connected to the fixed seat 31 of the driving connecting rod 3, and the other end of each spring member is fixedly connected to the driving crank;
in an initial state, the spring member 5, the driving connecting rod 3 and the driving crank form a limiting structure, the limiting lug 32 of the driving connecting rod 3 is correspondingly matched with a tooth socket of the driving crank, the driving connecting rod 3 is perpendicular to the driving crank, and the two distal clamping knuckles 1 are in a vertical state and are parallel to each other;
under the operating condition, the steering engine 6 drives the main driving crank 7 to rotate, the main driving crank 7 and the auxiliary driving crank 8 are meshed to synchronously rotate, the main driving crank 7 and the auxiliary driving crank 8 drive the driving connecting rod 3 to move, so that the near-end rotating knuckle 4 and the far-end clamping knuckle 1 are driven to move, and self-adaptive grabbing is realized.
Preferably, as shown in fig. 7, the spring member 5 comprises a large plastic cylinder 51, a small plastic cylinder 52, and an elastic element 53, the large plastic cylinder 51 and the small plastic cylinder 52 are nested with each other, and the elastic element 5) penetrates therethrough.
Preferably, the base housing 9 includes a top cover and a bottom cover, and the top cover and the bottom cover are fixedly connected together to form a cavity structure.
Preferably, the long connecting shaft 91 and the two ends of the connecting shaft 10 are fixedly connected through jackscrews.
Preferably, the elastic member 53 includes a tension spring and a torsion spring.
The utility model relates to a single-drive self-adaptive clamping jaw, which utilizes single drive to convert five connecting rods into four connecting rods with different shapes, and can grab and lift the regular shape in a horizontal and symmetrical way; the cylindrical shape can be held; the complex shape can be grabbed adaptively.
In light of the foregoing, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (5)
1. The utility model provides a single drive self-adaptation clamping jaw, includes drive module, two finger modules, two modules, the base casing that resets, its characterized in that:
the driving module comprises a steering engine (6) and two driving cranks, wherein the two driving cranks are a main driving crank (7) and an auxiliary driving crank (8) respectively, the steering engine (6) is connected to the main driving crank (7) through a steering wheel, the main driving crank (7) is meshed with the auxiliary driving crank (8), a long connecting shaft (91) is arranged at the center of the auxiliary driving crank (8) and is fixed in the base shell (9);
two the finger module is with base casing (9) plane normal direction symmetry installation, each the finger module includes, and distal end clamp is got knuckle (1), near-end rotation knuckle (4), drive connecting rod (3), distal end clamp is got knuckle (1) and is included fingertip (11) and finger root connecting portion (12), finger root connecting portion (12) are equipped with two sets of connecting hole (13), connecting axle (10) are through two sets of connecting hole (13) rotate respectively articulated to near-end rotation knuckle (4) and drive connecting rod (3), the other end of near-end rotation knuckle (4) is connected to through round pin axle (2) rotation on base casing (9), the other end of drive connecting rod (3) passes through connecting axle (10) swing joint to drive crank, the upper portion of drive connecting rod (3) is provided with fixing base (31), the lower part is provided with a V-shaped limit lug (32);
the two reset modules are two spring members (5), one end of each spring member (5) is fixedly connected to the fixed seat (31) of the driving connecting rod (3), and the other end of each spring member is fixedly connected to the driving crank;
in an initial state, the spring member (5), the driving connecting rod (3) and the driving crank form a limiting structure, the limiting lug (32) of the driving connecting rod (3) is correspondingly matched with a tooth socket of the driving crank, the driving connecting rod (3) and the driving crank are mutually vertical, and the two distal clamping knuckles (1) are in a vertical state and are mutually parallel;
under the operating condition, steering wheel (6) drive main drive crank (7) rotate, main drive crank (7) with vice drive crank (8) meshing synchronous rotation, main drive crank (7) and vice drive crank (8) drive connecting rod (3) motion to the drive near-end rotates knuckle (4) and distal end clamp and gets knuckle (1) motion, realizes that the self-adaptation snatchs.
2. A single drive adaptive jaw as claimed in claim 1, wherein: the spring component (5) comprises a large plastic cylinder (51), a small plastic cylinder (52) and an elastic element (53), wherein the large plastic cylinder (51) and the small plastic cylinder (52) are mutually sleeved together, and the elastic element (53) penetrates through the large plastic cylinder and the small plastic cylinder.
3. A single drive adaptive jaw as claimed in claim 1, wherein: the base shell (9) comprises a top cover and a bottom cover, wherein the top cover and the bottom cover are fixedly connected together to form a cavity structure.
4. A single drive adaptive jaw as claimed in claim 1, wherein: the two ends of the long connecting shaft (91) and the connecting shaft (10) are fixedly connected through jackscrews.
5. A single drive adaptive jaw according to claim 2, wherein: the elastic element (53) comprises a tension spring and a torsion spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020204098.3U CN211916875U (en) | 2020-02-25 | 2020-02-25 | Single-drive self-adaptive clamping jaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020204098.3U CN211916875U (en) | 2020-02-25 | 2020-02-25 | Single-drive self-adaptive clamping jaw |
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| Publication Number | Publication Date |
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| CN211916875U true CN211916875U (en) | 2020-11-13 |
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| CN202020204098.3U Active CN211916875U (en) | 2020-02-25 | 2020-02-25 | Single-drive self-adaptive clamping jaw |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111230915A (en) * | 2020-02-25 | 2020-06-05 | 常州市贝叶斯智能科技有限公司 | Single-drive self-adaptive clamping jaw |
| CN113751433A (en) * | 2021-09-07 | 2021-12-07 | 宁波格劳博智能工业有限公司 | Full intelligent cleaning and detecting device for lithium battery electrolyte ton barrel |
| CN113771016A (en) * | 2021-08-29 | 2021-12-10 | 北京工业大学 | Single-degree-of-freedom bionic multifunctional manipulator with adaptability |
| CN114467502A (en) * | 2022-02-17 | 2022-05-13 | 南京农业大学 | Swallowing type picking mechanical arm and robot system |
-
2020
- 2020-02-25 CN CN202020204098.3U patent/CN211916875U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111230915A (en) * | 2020-02-25 | 2020-06-05 | 常州市贝叶斯智能科技有限公司 | Single-drive self-adaptive clamping jaw |
| CN113771016A (en) * | 2021-08-29 | 2021-12-10 | 北京工业大学 | Single-degree-of-freedom bionic multifunctional manipulator with adaptability |
| CN113771016B (en) * | 2021-08-29 | 2023-07-21 | 北京工业大学 | Single-degree-of-freedom bionic multifunctional manipulator with adaptability |
| CN113751433A (en) * | 2021-09-07 | 2021-12-07 | 宁波格劳博智能工业有限公司 | Full intelligent cleaning and detecting device for lithium battery electrolyte ton barrel |
| CN114467502A (en) * | 2022-02-17 | 2022-05-13 | 南京农业大学 | Swallowing type picking mechanical arm and robot system |
| CN114467502B (en) * | 2022-02-17 | 2022-11-08 | 南京农业大学 | Swallowing type picking mechanical arm and robot system |
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Address after: Room 1001 and room 1002, building 16, Tianan Digital City, 588 Changwu South Road, Wujin national high tech Industrial Development Zone, Changzhou City, Jiangsu Province 213100 Patentee after: Jiangsu Bayes robot Co.,Ltd. Address before: Room 601-1, building 16, Tianan Digital City, 588 Changwu South Road, Wujin national high tech Industrial Development Zone, Changzhou City, Jiangsu Province 213100 Patentee before: CHANGZHOU BEIYESI INTELLIGENT TECHNOLOGY Co.,Ltd. |
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