CN213562622U - Mechanical arm clamp - Google Patents
Mechanical arm clamp Download PDFInfo
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- CN213562622U CN213562622U CN202021576727.1U CN202021576727U CN213562622U CN 213562622 U CN213562622 U CN 213562622U CN 202021576727 U CN202021576727 U CN 202021576727U CN 213562622 U CN213562622 U CN 213562622U
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- clamping
- gear
- clamp
- clamping plate
- handle
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- 238000003780 insertion Methods 0.000 claims description 35
- 230000037431 insertion Effects 0.000 claims description 35
- 230000000694 effects Effects 0.000 abstract description 9
- 238000010030 laminating Methods 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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Abstract
The application provides arm clip includes: a housing; a first clamp lever pivotally connected to the housing; a second clamp holder pivotally connected to the housing; a first clamping plate pivotally connected to the first clamping handle, the first clamping plate having a first clamping surface for clamping an object; the second clamping plate is pivoted to the second clamping handle and provided with a second clamping surface for clamping an object; and the driving mechanism is arranged on the shell and is used for driving the first clamping handle and the second clamping handle to rotate. This application is through first grip block of pin joint and second grip block respectively on first grip block and second grip block, when the centre gripping object, first grip block and second grip block can the free activity, can be according to the size and the surface shape self-adaptation of getting the object by the clamp adjust first clamping surface and second clamping surface respectively with the angle of being pressed from both sides the object, laminating area, effort direction etc. press from both sides the object tightly more easily, make the arm clip have the centre gripping effect of preferred.
Description
Technical Field
The application belongs to the technical field of clamping tools, and particularly relates to a mechanical arm clamp.
Background
The mechanical arm clamp is an important component of automatic equipment such as a mechanical arm and a robot, and when the existing mechanical arm clamp clamps workpieces in different shapes and sizes, the two clamping jaws can not adapt to the sizes and the surface shapes of clamped objects, so that the clamping effect of the mechanical arm clamp is poor.
Disclosure of Invention
An object of the embodiment of the application is to provide a mechanical arm clamp to solve the technical problem that the clamping effect of the mechanical arm clamp in the prior art is not good.
In order to achieve the purpose, the technical scheme adopted by the application is as follows: a robotic arm clip, comprising:
a housing;
a first clamp lever pivotally connected to the housing;
a second clamp holder pivotally connected to the housing;
a first clamping plate pivotally connected to the first clamping handle, the first clamping plate having a first clamping surface for clamping an object;
the second clamping plate is pivoted to the second clamping handle and provided with a second clamping surface for clamping an object; and
and the driving mechanism is arranged on the shell and is used for driving the first clamp holder and the second clamp holder to rotate.
Optionally, the drive mechanism comprises a drive member, a primary gear, a secondary gear and a tertiary gear; the driving part is arranged on the shell and used for driving the primary gear to rotate, the secondary gear is arranged on the first clamp holder, and the tertiary gear is arranged on the second clamp holder; the primary gear is meshed with the secondary gear, and the secondary gear is meshed with the tertiary gear.
Optionally, the driving part is a steering engine, and the primary gear is arranged on an output shaft of the steering engine.
Optionally, the secondary gear and the tertiary gear are both sector gears, and the secondary gear includes an upper half that is intermeshed with the primary gear and a lower half that is intermeshed with the tertiary gear.
Optionally, the housing is provided with a first insertion rod and a second insertion rod, the first clamping handle is provided with a first insertion hole in insertion fit with the first insertion rod, and the second clamping handle is provided with a second insertion hole in insertion fit with the second insertion rod.
Optionally, two first mounting seats are arranged on the first clamping handle, first mounting holes are formed in the two first mounting seats, a first rotating shaft is arranged on the first clamping plate, and two ends of the first rotating shaft are respectively in inserting fit with the two first mounting holes; the second clamping handle is provided with two second mounting seats, the second mounting seats are provided with second mounting holes, the second clamping plate is provided with a second rotating shaft, and two ends of the second rotating shaft are respectively in plug-in fit with the second mounting holes.
Optionally, the first clamping surface and the second clamping surface respectively comprise a first plane, a second plane and a concave arc surface, and the arc surface is located between the first plane and the second plane.
Optionally, a rubber pad is disposed on each of the first clamping surface of the first clamping plate and the second clamping surface of the second clamping plate.
Optionally, the surface of the rubber pad is provided with an anti-slip groove.
Optionally, the housing includes an upper shell and a lower shell, the upper shell and the lower shell enclose and form a mounting cavity, and the driving mechanism is disposed in the mounting cavity; the upper shell and the lower shell are surrounded to form a first opening for the first clamping handle to pass through and a second opening for the second clamping handle to pass through.
The embodiment of the application has at least the following beneficial effects: through pin joint first grip block and second grip block on first grip block and second grip block respectively, when the centre gripping object, first grip block and second grip block can the free activity, can press from both sides the size and the surface shape self-adaptation ground adjustment first clamping face and second clamping face of getting the object according to being pressed from both sides respectively with the angle, laminating area, effort direction etc. of being pressed from both sides the clamp object, press from both sides the clamp object more easily, make the arm clip have the centre gripping effect of preferred.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic view of the first and second clamp holders of an embodiment of the present application shown in an open configuration;
FIG. 2 is a schematic view of the first and second clamp holders of the present application when closed;
fig. 3 is a schematic structural diagram of the embodiment of the present application after the upper case is removed.
Wherein, each mark in the figure is:
1. a housing; 11. a first plunger; 12. a second plunger; 13. an upper shell; 14. a lower case; 15. a second opening; 2. a first clamp handle; 21. a first jack; 22. a first mounting seat; 23. a first mounting hole; 3. a second clamp handle; 31. a second jack; 32. a second mounting seat; 33. a second mounting hole; 4. a first clamping plate; 41. a first clamping surface; 42. a first rotating shaft; 5. a second clamping plate; 51. a second clamping surface; 52. a second rotating shaft; 6. a drive mechanism; 61. a drive member; 62. a primary gear; 63. a secondary gear; 631. an upper half part; 632. a lower half; 64. a third-stage gear; 81. a first plane; 82. a second plane; 83. a cambered surface; 9. a non-slip mat; 91. and (4) an anti-slip groove.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and operate, and thus are not to be construed as limiting the patent, and the specific meanings of the above terms will be understood by those skilled in the art according to specific situations. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.
Referring to fig. 1 to 3, an embodiment of the present application provides a robot arm clamp, including: the clamping device comprises a shell 1, a first clamping handle 2, a second clamping handle 3, a first clamping plate 4, a second clamping plate 5 and a driving mechanism 6. The first clamping handle 2 and the second clamping handle 3 are both pivoted on the shell 1, the first clamping plate 4 is pivoted on the first clamping handle 2, and the second clamping plate 5 is pivoted on the second clamping handle 3. The first clamping plate 4 is provided with a first clamping surface 41 for clamping an object, the second clamping plate 5 is provided with a second clamping surface 51 for clamping the object, and when the mechanical arm clamp clamps the object, the first clamping surface 41 and the second clamping surface 51 are respectively attached to two opposite surfaces of the clamped object. The driving mechanism 6 is arranged on the housing 1 and is used for driving the first clamping handle 2 and the second clamping handle 3 to rotate so as to enable the first clamping handle 2 and the second clamping handle 3 to be mutually opened or closed.
In the embodiment of the application, the first clamping plate 4 and the second clamping plate 5 are respectively pivoted on the first clamping handle 2 and the second clamping handle 3, when the mechanical arm clamps clamp an object, the driving mechanism 6 drives the first clamping handle 2 and the second clamping handle 3 to rotate, the first clamping surface 41 of the first clamping plate 4 and the second clamping surface 51 of the second clamping plate 5 respectively contact two opposite side surfaces of the clamped object, since the first clamping plate 4 is pivoted to the first clamping bar 2, the second clamping plate 5 is pivoted to the second clamping bar 3, therefore, the first clamping plate 4 and the second clamping plate 5 can move freely, the angles, the attaching areas, the acting force directions and the like of the first clamping surface 41 and the second clamping surface 51 with the clamped object can be adjusted in a self-adaptive manner according to the size and the surface shape of the clamped object, the clamped object can be clamped more easily, and the mechanical arm clamp has a better clamping effect.
In one of the embodiments, the drive mechanism 6 includes a drive member 61, a primary gear 62, a secondary gear 63, and a tertiary gear 64; the driving part 61 is arranged on the shell 1, the driving part 61 is used for driving the primary gear 62 to rotate, the secondary gear 63 is arranged on the first clamp holder 2, and the tertiary gear 64 is arranged on the second clamp holder 3; the primary gear 62 is intermeshed with the secondary gear 63, and the secondary gear 63 is intermeshed with the tertiary gear 64. The driving part 61 drives the first-stage gear 62 to rotate, the second-stage gear 63 synchronously rotates, and further the third-stage gear 64 synchronously rotates, so that the first clamp holder 2 and the second clamp holder 3 are mutually opened or closed, and the first clamp holder 2 and the second clamp holder 3 can be synchronously and reversely rotated by using one driving part 61 through the transmission connection of the first-stage gear 62, the second-stage gear 63 and the third-stage gear 64, so that the structure is simple and compact.
In one embodiment, the driving member 61 is a steering engine, and the primary gear 62 is mounted on an output shaft of the steering engine. Through installing one-level gear 62 on the output shaft of steering wheel, by steering wheel drive one-level gear 62 rotation, simple structure and simple to operate.
In one embodiment, the secondary gear 63 and the tertiary gear 64 are each sector gears, and the secondary gear 63 includes an upper half 631 that intermeshes with the primary gear 62 and a lower half 632 that intermeshes with the tertiary gear 64. Specifically, the lower half portion 632 of the secondary gear 63 is integrally formed on the surface of the first clamp holder 2, the upper half portion 631 of the secondary gear 63 is integrally formed on the lower half portion 632, and the tertiary gear 64 is integrally formed on the surface of the second clamp holder 3. The upper half portion 631 of the secondary gear 63 meshes with the primary gear 62, and the lower half portion 632 of the secondary gear 63 meshes with the tertiary gear 64, so that the assembly positions of the primary gear 62 and the tertiary gear 64 can be shifted to avoid interference; because the rotation angle of the first clamp holder 2 and the second clamp holder 3 usually does not exceed 90 degrees, the second gear 63 and the third gear 64 are both provided as sector gears, so that the rotation angle of the first clamp holder 2 and the second clamp holder 3 can be satisfied, and the occupied space of the second gear 63 and the third gear 64 can be reduced, so that the structure of the driving mechanism 6 is more compact.
In one embodiment, the housing 1 is provided with a first insertion rod 11 and a second insertion rod 12, the first clamping handle 2 is provided with a first insertion hole 21 which is in insertion fit with the first insertion rod 11, and the second clamping handle 3 is provided with a second insertion hole 31 which is in insertion fit with the second insertion rod 12. Through the insertion and connection matching of the first insertion rod 11 and the first insertion hole 21, and the second insertion rod 12 and the second insertion hole 31, the first clamp holder 2 and the second clamp holder 3 can be respectively pivoted on the shell 1 through the first insertion rod 11 and the second insertion rod 12, the first clamp holder 2 rotates around the first insertion rod 11 of the shell 1, and the second clamp holder 3 rotates around the second insertion rod 12 of the shell 1, so that the first clamp holder 2 and the second clamp holder 3 are opened or closed mutually, and the structure is simple and the installation is convenient.
In one embodiment, two first mounting seats 22 are disposed on the first clamping handle 2, first mounting holes 23 are disposed on the two first mounting seats 22, a first rotating shaft 42 is disposed on the first clamping plate 4, and two ends of the first rotating shaft 42 are respectively inserted into the two first mounting holes 23. The second clamping handle 3 is provided with two second mounting seats 32, the two second mounting seats 32 are provided with second mounting holes 33, the second clamping plate 5 is provided with a second rotating shaft 52, and two ends of the second rotating shaft 52 are respectively in inserting fit with the two second mounting holes 33. The two ends of the first rotating shaft 42 of the first clamping plate 4 are respectively inserted into the two first mounting holes 23, and the two ends of the second rotating shaft 52 of the second clamping plate 5 are respectively inserted into the two second mounting holes 33, so that the first clamping plate 4 can be pivoted on the first clamping handle 2, and the second clamping plate 5 can be pivoted on the second clamping handle 3, and the structure is simple and the installation is convenient.
In one embodiment, the first and second clamping surfaces 41 and 51 include a first flat surface 81, a second flat surface 82, and a concave arc surface 83, respectively, with the arc surface 83 being located on the first and second flat surfaces 81 and 82. The first clamping surface 41 and the second clamping surface 51 are respectively provided with a first plane 81 and a second plane 82, so that the first clamping plate 4 and the second clamping plate 5 can better clamp a plane object, the concave arc surface 83 is positioned in the middle of the first clamping surface 41 and the second clamping surface 51, and the concave arc surface 83 is designed to enable the first clamping plate 4 and the second clamping plate 5 to clamp a circular object more easily; the design that two planes (the first plane 81 and the second plane 82) of the first clamping surface 41 and the second clamping surface 51 are matched with the cambered surface 83 enables the mechanical arm clamp to adapt to and clamp objects with various shapes, and the use is more convenient.
In one embodiment, rubber pads are disposed on both the first clamping surface 41 of the first clamping plate 4 and the second clamping surface 51 of the second clamping plate 5. Through the great coefficient of friction of rubber pad, increase the static friction between arm clip and the centre gripping object, make arm clip press from both sides tight object more easily, also can the centre gripping heavier object.
In one embodiment, the surface of the rubber pad is provided with an anti-slip groove 91, so that the clamping effect of the mechanical arm clamp on the clamped object is further improved.
In one embodiment, the housing 1 includes an upper shell 13 and a lower shell 14 detachably connected to each other, the upper shell 13 and the lower shell 14 enclose a mounting chamber (not shown in the figure), and the driving mechanism 6 is disposed in the mounting chamber; in addition, the first insertion rod 11 and the second insertion rod 12 are integrally formed on the surface of the lower shell 14 and located in the installation cavity, and the first clamping handle 2 and the second clamping handle 3 are respectively located in the installation cavity. The upper shell 13 and the lower shell 14 enclose a first opening (not shown) through which the first clamp holder 2 passes and a second opening 15 through which the second clamp holder 3 passes. The structural design of the upper shell 13 and the lower shell 14 enables the driving mechanism 6, the first inserting rod 11, the second inserting rod 12, one end of the first clamping handle 2 and one end of the second clamping handle 3 to be hidden in an installation cavity formed by enclosing the upper shell 13 and the lower shell 14, so that the whole structure of the mechanical arm clamp is more compact, and the installation of each part is more convenient.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A manipulator clip, comprising:
a housing;
a first clamp lever pivotally connected to the housing;
a second clamp holder pivotally connected to the housing;
a first clamping plate pivotally connected to the first clamping handle, the first clamping plate having a first clamping surface for clamping an object;
the second clamping plate is pivoted to the second clamping handle and provided with a second clamping surface for clamping an object; and
and the driving mechanism is arranged on the shell and is used for driving the first clamp holder and the second clamp holder to rotate.
2. The robotic arm clamp of claim 1, wherein said drive mechanism comprises a drive member, a primary gear, a secondary gear, and a tertiary gear; the driving part is arranged on the shell and used for driving the primary gear to rotate, the secondary gear is arranged on the first clamp holder, and the tertiary gear is arranged on the second clamp holder; the primary gear is meshed with the secondary gear, and the secondary gear is meshed with the tertiary gear.
3. The mechanical arm clamp as claimed in claim 2, wherein the driving part is a steering engine, and the primary gear is arranged on an output shaft of the steering engine.
4. The robotic arm clamp of claim 2, wherein the secondary gear and the tertiary gear are each sector gears, the secondary gear including an upper half that intermeshes with the primary gear and a lower half that intermeshes with the tertiary gear.
5. The mechanical arm clamp as claimed in claim 1, wherein the housing is provided with a first insertion rod and a second insertion rod, the first clamping handle is provided with a first insertion hole in insertion fit with the first insertion rod, and the second clamping handle is provided with a second insertion hole in insertion fit with the second insertion rod.
6. The mechanical arm clamp as claimed in claim 1, wherein the first clamp holder is provided with two first mounting seats, each of the two first mounting seats is provided with a first mounting hole, the first clamping plate is provided with a first rotating shaft, and two ends of the first rotating shaft are respectively matched with the two first mounting holes in an inserting manner; the second clamping handle is provided with two second mounting seats, the second mounting seats are provided with second mounting holes, the second clamping plate is provided with a second rotating shaft, and two ends of the second rotating shaft are respectively in plug-in fit with the second mounting holes.
7. The robotic arm clamp of claim 1, wherein the first and second clamping surfaces comprise first and second flat surfaces, respectively, and a concave arcuate surface between the first and second flat surfaces.
8. The robotic arm clamp of claim 1, wherein a rubber pad is disposed on each of the first clamping surface of the first clamping plate and the second clamping surface of the second clamping plate.
9. The robot arm clip of claim 8, wherein the rubber pad has a surface defining a non-slip groove.
10. The robot arm clip of claim 1, wherein the housing comprises an upper shell and a lower shell enclosing a mounting chamber, the drive mechanism being disposed within the mounting chamber; the upper shell and the lower shell are surrounded to form a first opening for the first clamping handle to pass through and a second opening for the second clamping handle to pass through.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021576727.1U CN213562622U (en) | 2020-07-31 | 2020-07-31 | Mechanical arm clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021576727.1U CN213562622U (en) | 2020-07-31 | 2020-07-31 | Mechanical arm clamp |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213562622U true CN213562622U (en) | 2021-06-29 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021576727.1U Active CN213562622U (en) | 2020-07-31 | 2020-07-31 | Mechanical arm clamp |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213562622U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114159128A (en) * | 2021-11-12 | 2022-03-11 | 浙江大学 | Compact robot-assisted minimally invasive surgery clamp |
| CN114833860A (en) * | 2022-06-13 | 2022-08-02 | 上海非夕机器人科技有限公司 | Gripper and robot |
-
2020
- 2020-07-31 CN CN202021576727.1U patent/CN213562622U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114159128A (en) * | 2021-11-12 | 2022-03-11 | 浙江大学 | Compact robot-assisted minimally invasive surgery clamp |
| CN114159128B (en) * | 2021-11-12 | 2023-07-07 | 浙江大学 | Compact robot-assisted minimally invasive surgery clamp |
| CN114833860A (en) * | 2022-06-13 | 2022-08-02 | 上海非夕机器人科技有限公司 | Gripper and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231204 Address after: Room E388, 2nd Floor, No. 197 Binglang Xili, Siming District, Xiamen City, Fujian Province, 361010 Patentee after: Ubisoft (Xiamen) Software Technology Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Youbixuan Technology Co.,Ltd. |
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| TR01 | Transfer of patent right |