CN212553906U - Micro-motion mechanical clamping jaw - Google Patents
Micro-motion mechanical clamping jaw Download PDFInfo
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- CN212553906U CN212553906U CN202020743589.5U CN202020743589U CN212553906U CN 212553906 U CN212553906 U CN 212553906U CN 202020743589 U CN202020743589 U CN 202020743589U CN 212553906 U CN212553906 U CN 212553906U
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- frame body
- connecting rod
- arm
- manipulator frame
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Abstract
The utility model provides a fine motion mechanical clamping jaw, it includes the manipulator frame body, the central point of the manipulator frame body processing has the mid-mounting cavity, is located the inside of mid-mounting cavity to support and rotate between the manipulator frame body and install drive screw, drive screw constitutes screw-thread drive cooperation with the actuating arm, drive screw's end is installed and is used for driving its pivoted power device, the both ends of actuating arm link mechanism and crank arm hinge respectively and link to each other, the apex angle position of cranking arm articulates on the manipulator frame body through crank arm round pin axle, the other end of cranking arm indicates to articulate with pressing from both sides through third round pin axle and links to each other, it has parallel link mechanism to press from both sides to articulate between finger and the manipulator frame body. The clamping jaw adopts a micro-motion thread transmission mode to realize the clamping of the parts, so that the clamping precision of the parts is ensured, the subsequent positioning precision is ensured, and the clamping efficiency is ensured.
Description
Technical Field
The utility model belongs to the manipulator field especially relates to a fine motion mechanical clamping jaw.
Background
In the development process of the automatic assembly equipment of the parts, the mechanical clamping jaws are required to clamp the parts to be assembled, and particularly, the high-precision mechanical clamping jaws are required to clamp the parts with high precision. Although there are many types of mechanical clamping jaws, most of them use a pneumatic driving method to drive the clamping fingers, and then clamp the parts through the clamping fingers, but the above method is easy to generate impact, so that the clamping fingers are easy to skew or generate positioning error when clamping the parts, and cannot be used for high precision use.
SUMMERY OF THE UTILITY MODEL
For solving above technical problem, the utility model provides a fine motion mechanical clamping jaw, this clamping jaw adopt fine motion screw thread driven mode to realize that the clamp of spare part is tight, and then guaranteed that the clamp of spare part gets the precision, guaranteed subsequent positioning accuracy, guaranteed to get efficiency.
In order to realize the technical characteristics, the purpose of the utility model is realized as follows: micromotion mechanical clamping jaw, it includes the manipulator frame body, the central point of the manipulator frame body processing has the mid-mounting cavity, is located the inside of mid-mounting cavity to support and rotate between the manipulator frame body and install drive screw, drive screw constitutes screw thread transmission cooperation with the actuating arm, drive screw's end is installed and is used for driving its pivoted power device, the both ends of actuating arm link mechanism and crank arm hinge link to each other through linking mechanism respectively, the apex angle position of cranking arm articulates on the manipulator frame body through cranking arm round pin axle, the other end of cranking arm indicates articulated linking to each other through third round pin axle and clamp, it has parallel link mechanism to press from both sides to indicate and to articulate between the manipulator frame body.
And two ends of the transmission screw rod are respectively supported and installed on the mechanical arm frame body through bearings.
The power device comprises a motor fixing plate which is fixedly installed on the outer side wall of the manipulator frame body, a motor is fixedly installed on the motor fixing plate, and an output shaft of the motor is fixedly connected with the end of the transmission screw rod and transmits torque.
The middle part of the driving arm is provided with a through hole, the position of the through hole is provided with a nut sleeve, and the nut sleeve and the transmission screw form thread transmission fit.
The connecting rod mechanism comprises a connecting rod, one end of the connecting rod is hinged to the end of the driving arm through a first pin shaft, and the other end of the connecting rod is hinged to the end of the crank arm through a second pin shaft.
And a through groove is processed at the position, matched with the crank arm, on the manipulator frame body.
The parallel connecting rod mechanism comprises a parallel connecting rod, one end of the parallel connecting rod is hinged and connected with the mechanical arm frame body through a fourth pin shaft, and the other end of the parallel connecting rod is hinged and connected with the clamping finger through a fifth pin shaft.
And a V-shaped clamping opening and an arc-shaped clamping opening are processed on the inner side wall of each clamping finger.
The utility model discloses there is following beneficial effect:
1. the clamping jaw adopts a micro-motion thread transmission mode to realize the clamping of the parts, so that the clamping precision of the parts is ensured, the subsequent positioning precision is ensured, and the clamping efficiency is ensured.
2. The smooth rotation of the transmission screw is ensured through the bearing.
3. The clamping power can be provided through the power device, in the working process, the transmission screw rod is driven through the motor, the driving arm is driven through the transmission screw rod, and finally the final clamping finger is driven through the driving arm.
4. The nut sleeve and the transmission screw can form thread transmission through the nut sleeve, and the nut sleeve is driven through the transmission screw.
5. The connecting rod mechanism can transmit power from the driving arm to the crank arm, and then the crank arm drives the clamping finger.
6. The parallel connecting rod mechanism can be matched with the crank arm, so that the clamping finger is driven stably.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a first perspective three-dimensional view of the present invention.
Fig. 2 is a second perspective three-dimensional view of the present invention.
In the figure: the manipulator comprises a motor 1, a motor fixing plate 2, a manipulator frame body 3, a bearing 4, a driving arm 5, a first pin shaft 6, a connecting rod 7, a second pin shaft 8, a transmission screw 9, a crank arm pin shaft 10, a fourth pin shaft 11, a parallel connecting rod 12, a crank arm 13, a third pin shaft 14, a fifth pin shaft 15, a clamping finger 16, a V-shaped clamping opening 17, an arc-shaped clamping opening 18, a through groove 19 and a middle mounting cavity 20.
Detailed Description
The following describes embodiments of the present invention with reference to the accompanying drawings.
Referring to fig. 1-2, a micro-motion mechanical clamping jaw comprises a mechanical arm frame body 3, a middle mounting cavity 20 is processed at the center of the mechanical arm frame body 3, the middle mounting cavity 20 is located inside the middle mounting cavity 20 and supports the mechanical arm frame body 3 to be rotatably mounted with a transmission screw 9, the transmission screw 9 and a driving arm 5 form a thread transmission fit, a power device for driving the transmission screw 9 to rotate is mounted at the end of the transmission screw 9, two ends of the driving arm 5 are respectively hinged with a crank arm 13 through a connecting rod mechanism, the vertex angle position of the crank arm 13 is hinged on the mechanical arm frame body 3 through a crank arm pin shaft 10, the other end of the crank arm 13 is hinged with a clamp finger 16 through a third pin shaft 14, and a parallel connecting rod mechanism is hinged between the clamp finger 16 and the mechanical arm frame body 3. The clamping jaw adopts a micro-motion thread transmission mode to realize the clamping of the parts, so that the clamping precision of the parts is ensured, the subsequent positioning precision is ensured, and the clamping efficiency is ensured. Through the mechanical clamping jaw with the structure, in a specific using process, the power device drives the transmission screw, the transmission screw is in transmission fit with the driving arm 5 through threads, the connecting rod mechanism is further driven, the connecting rod mechanism drives the crank arm 13, and finally the crank arm 13 drives the clamping finger 16 to realize clamping action.
Furthermore, two ends of the transmission screw 9 are respectively supported and installed on the manipulator frame body 3 through bearings 4. The smooth rotation of the drive screw 9 is ensured by the bearing 4.
Further, power device includes motor fixed plate 2, motor fixed plate 2 fixed mounting is on the lateral wall of manipulator frame body 3, fixed mounting has motor 1 on the motor fixed plate 2, the output shaft of motor 1 links to each other with the end of drive screw 9 is fixed to the transmission moment of torsion. The power device can provide clamping power, in the working process, the motor 1 drives the transmission screw rod 9, the driving arm 5 is driven through the transmission screw rod 9, and finally the final clamping finger 16 is driven through the driving arm 5.
Furthermore, a through hole is processed in the middle of the driving arm 5, a nut sleeve is installed at the position of the through hole, and the nut sleeve and the transmission screw rod 9 form thread transmission fit. The nut sleeve and the transmission screw rod 9 can form thread transmission through the nut sleeve, and the nut sleeve is driven through the transmission screw rod 9.
Further, the link mechanism comprises a connecting rod 7, one end of the connecting rod 7 is hinged to the end of the driving arm 5 through a first pin shaft 6, and the other end of the connecting rod 7 is hinged to the end of the crank arm 13 through a second pin shaft 8. The power can be transmitted from the drive arm 5 to the crank arm 13 by the link mechanism, and the gripper finger 16 can be driven by the crank arm 13.
Furthermore, a through groove 19 is processed at the position of the manipulator frame body 3 matched with the crank arm 13. Through the through slot 19 described above can be used for mounting the crank arm 13.
Further, the parallel link mechanism comprises a parallel link 12, one end of the parallel link 12 is hinged to the manipulator frame body 3 through a fourth pin 11, and the other end of the parallel link 12 is hinged to the clamping finger 16 through a fifth pin 15. The parallel link mechanism can be engaged with the crank arm 13 to stably drive the gripping fingers 16.
Furthermore, a V-shaped clamping opening 17 and an arc-shaped clamping opening 18 are formed in the inner side wall of the clamping finger 16. The V-shaped clamping opening 17 and the arc-shaped clamping opening 18 are matched to form a rectangular clamping opening and an arc-shaped clamping opening, so that the clamping device can be suitable for parts with different appearance structures.
The utility model discloses a use as follows:
through adopting the mechanical clamping jaw of above-mentioned structure, in the specific use, at first, start power device, drive screw 9 through motor 1, and then drive arm 5 through drive screw 9 drive, and then drive link mechanism, drive bent arm 13 by link mechanism again, finally realize the clamping action through bent arm 13 drive clamp finger 16.
Claims (8)
1. The micro-motion mechanical clamping jaw is characterized in that: it comprises a manipulator frame body (3), a middle installation cavity (20) is processed at the central part of the manipulator frame body (3) and is positioned inside the middle installation cavity (20), and is supported between the manipulator frame bodies (3) and is rotatably provided with a transmission screw rod (9), the transmission screw (9) and the driving arm (5) form thread transmission fit, the end of the transmission screw (9) is provided with a power device for driving the transmission screw to rotate, two ends of the driving arm (5) are respectively hinged with the crank arm (13) through a connecting rod mechanism, the vertex angle position of the crank arm (13) is hinged on the manipulator frame body (3) through a crank arm pin shaft (10), the other end of the crank arm (13) is hinged with the clamping finger (16) through a third pin shaft (14), a parallel connecting rod mechanism is hinged between the clamping finger (16) and the manipulator frame body (3).
2. The micro-mechanical jaw of claim 1, wherein: and two ends of the transmission screw rod (9) are respectively supported and installed on the mechanical arm frame body (3) through bearings (4).
3. The micro-mechanical jaw of claim 1, wherein: the power device comprises a motor fixing plate (2), the motor fixing plate (2) is fixedly installed on the outer side wall of the manipulator frame body (3), a motor (1) is fixedly installed on the motor fixing plate (2), and an output shaft of the motor (1) is fixedly connected with the end of a transmission screw rod (9) and transmits torque.
4. The micro-mechanical jaw of claim 1, wherein: the middle part of the driving arm (5) is provided with a through hole, a nut sleeve is arranged at the position of the through hole, and the nut sleeve and the transmission screw rod (9) form thread transmission fit.
5. The micro-mechanical jaw of claim 1, wherein: the connecting rod mechanism comprises a connecting rod (7), one end of the connecting rod (7) is hinged to the end of the driving arm (5) through a first pin shaft (6), and the other end of the connecting rod (7) is hinged to the end of the crank arm (13) through a second pin shaft (8).
6. The micro-mechanical jaw of claim 1, wherein: and a through groove (19) is processed at the position, matched with the crank arm (13), on the manipulator frame body (3).
7. The micro-mechanical jaw of claim 1, wherein: the parallel connecting rod mechanism comprises a parallel connecting rod (12), one end of the parallel connecting rod (12) is hinged with the manipulator frame body (3) through a fourth pin shaft (11), and the other end of the parallel connecting rod (12) is hinged with the clamping finger (16) through a fifth pin shaft (15).
8. The micro-mechanical jaw of claim 1, wherein: and a V-shaped clamping opening (17) and an arc-shaped clamping opening (18) are processed on the inner side wall of the clamping finger (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020743589.5U CN212553906U (en) | 2020-05-08 | 2020-05-08 | Micro-motion mechanical clamping jaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020743589.5U CN212553906U (en) | 2020-05-08 | 2020-05-08 | Micro-motion mechanical clamping jaw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212553906U true CN212553906U (en) | 2021-02-19 |
Family
ID=74609764
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020743589.5U Expired - Fee Related CN212553906U (en) | 2020-05-08 | 2020-05-08 | Micro-motion mechanical clamping jaw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212553906U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112975782A (en) * | 2021-02-24 | 2021-06-18 | 深圳市豪博讯电子科技有限公司 | Clamp for processing circuit board |
-
2020
- 2020-05-08 CN CN202020743589.5U patent/CN212553906U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112975782A (en) * | 2021-02-24 | 2021-06-18 | 深圳市豪博讯电子科技有限公司 | Clamp for processing circuit board |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210219 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |