CN213592874U

CN213592874U - Clamping jaw

Info

Publication number: CN213592874U
Application number: CN202021103512.8U
Authority: CN
Inventors: 王建峰; 蔡颖鹏; 陈希; 杨超众
Original assignee: Suzhou Inshi Robot Technology Co ltd
Current assignee: Suzhou Inshi Robot Technology Co ltd
Priority date: 2020-06-15
Filing date: 2020-06-15
Publication date: 2021-07-02
Anticipated expiration: 2030-06-15

Abstract

The utility model discloses a clamping jaw, include: the device comprises at least two chucks, a buffer device and a driving mechanism, wherein the chucks are matched for use to clamp; wherein, buffer includes: the mounting seat, the elastic component and the sliding component are arranged on the mounting seat in a sliding way; one end of the elastic component is connected with the mounting seat, the other end of the elastic component is connected with the sliding component, and the elastic component deforms in the sliding process of the sliding component; the chuck is fixedly connected with the sliding part, and the mounting seat is fixedly connected with the driving mechanism. Above-mentioned clamping jaw through setting up buffer, has realized the effective buffering to the collision to collision when having avoided grabbing leads to the mistake to shut down because of grabbing.

Description

Clamping jaw

Technical Field

The utility model relates to a mechanical automation technical field, more specifically say, relate to a clamping jaw.

Background

With the spread of mechanical automation, manipulators and robots are widely used. In manipulators and robots, the gripping jaw is one of the important parts. The electric clamping jaw is widely applied due to the advantages of complex gas path system, low cost, high reliability and the like.

In the grabbing process, the clamping jaw is easy to collide with an object, the collision force is large, the machine can be stopped by mistake, and the normal grabbing of the clamping jaw is influenced.

In summary, how to design the clamping jaw to avoid the malfunction caused by the collision when grasping is a problem to be solved urgently by those skilled in the art.

SUMMERY OF THE UTILITY MODEL

In view of this, the present invention provides a clamping jaw to avoid the malfunction caused by the collision when grasping.

In order to achieve the above object, the utility model provides a following technical scheme:

a jaw, comprising:

the device comprises at least two chucks, a buffer device and a driving mechanism, wherein the chucks are matched for use to clamp;

wherein, buffer includes: the mounting seat, the elastic component and the sliding component are arranged on the mounting seat in a sliding way;

one end of the elastic component is connected with the mounting seat, the other end of the elastic component is connected with the sliding component, and the elastic component deforms in the sliding process of the sliding component;

the chuck is fixedly connected with the sliding part, and the mounting seat is fixedly connected with the driving mechanism.

Preferably, the clamping jaw further comprises a guide post, and the sliding part is sleeved on the guide post.

Preferably, the sliding part is provided with a through hole for the guide post to pass through, and a guide sleeve sleeved on the guide post is fixed in the through hole.

Preferably, the jaw further comprises: the linear guide rail is matched with the moving piece; the linear guide rail is arranged on the mounting seat, and the moving piece is fixed on the sliding piece.

Preferably, the number of the elastic members is at least two, and the elastic members are distributed side by side in a direction perpendicular to the sliding direction of the sliding member.

Preferably, the chuck is detachably and fixedly connected with the sliding part, and the mounting seat is detachably and fixedly connected with the driving mechanism.

Preferably, the elastic member is a compression spring.

Preferably, the elastic member is a tension spring.

Preferably, the elastic component is a torsion spring, an air spring, a plate spring or a rubber band.

Preferably, the jaw further comprises: the clamping jaw support is connected with the clamping jaw support in a sealing mode to form a clamping jaw shell of an accommodating cavity, and the driver and the driving circuit board are arranged in the accommodating cavity; the driver is connected with the driving mechanism in a driving mode, the driving circuit board is connected with the driver, and the driving mechanism is arranged on the clamping jaw support.

Preferably, the clamping jaw housing is provided with an aerial joint and the aerial joint is in sealing connection with the clamping jaw housing.

Preferably, the jaw housing is provided with a seal provided with a profiled bore for the output shaft of the driver to pass through, and the profiled bore cooperates with the output shaft to form a compression seal.

Preferably, the jaw housing and the jaw housing are removably fixedly connected.

Preferably, the driver includes: the linear actuator comprises a linear actuator body and a force control sensor for detecting the output force of the linear actuator body; the force control sensor is connected with the clamping jaw shell through a joint bearing, and the joint bearing only transmits load along the driving direction of the linear driver body.

Preferably, the number of the chucks is two, and the driver is a linear driver;

the driving mechanism comprises a first driving rod which is slidably arranged on the clamping jaw support, two second driving rods which are respectively hinged with two ends of the first driving rod, a third driving rod and a fourth driving rod which are hinged with the clamping jaw support and arranged in parallel, and a fifth driving rod which is hinged with the third driving rod and the fourth driving rod;

the fourth driving rod is hinged to the second driving rod, and the mounting seat is fixed to the fifth driving rod.

In the clamping jaw provided by the utility model, when the clamping head is not applied with external force, the sliding part does not slide; when the chuck is subjected to an external force, the sliding part slides, so that the elastic part is deformed. Specifically, in the grasping process, when the chuck touches an object, the chuck is subjected to external force, namely the sliding part is subjected to the external force, so that the sliding part slides, the elastic part deforms, and the touch force is effectively buffered; when the external force applied by collision is removed, the elastic component resets, so that the sliding part also resets. Therefore, the clamping jaw realizes effective buffering of collision by arranging the buffering device, so that the error halt caused by the collision when the clamping jaw is grabbed is avoided.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic structural view of a clamping jaw provided in an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a driver in a clamping jaw according to an embodiment of the present invention;

fig. 3 is an exploded schematic view of a jaw support and a jaw housing in a jaw according to an embodiment of the present invention;

figure 4 is a schematic view of an assembly of a driver and a jaw housing in a jaw according to an embodiment of the present invention;

fig. 5 is a schematic structural view of a damping device in a clamping jaw according to an embodiment of the present invention;

fig. 6 is another schematic structural diagram of a damping device in a clamping jaw according to an embodiment of the present invention;

fig. 7 is a schematic structural view of a buffer device and a chuck in a clamping jaw according to an embodiment of the present invention;

FIG. 8 is an exploded view of the structure shown in FIG. 7;

FIG. 9 is a side view of the structure shown in FIG. 7;

fig. 10 is an exploded view of the structure shown in fig. 9.

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 work belong to the protection scope of the present invention.

As shown in fig. 1-10, the embodiment of the present invention provides a clamping jaw comprising: at least two chucks 8, which are used cooperatively to be able to hold, a buffer device 7, and a driving mechanism 6 for driving the chucks 8 to move.

The buffer device 7 includes: a mount 703, an elastic member 706, and a slider 705 slidably provided on the mount 703; one end of the elastic member 706 is connected to the mount 703, and the other end of the elastic member 706 is connected to the slider 705, so that the elastic member 706 deforms during the sliding of the slider 705.

The collet 8 is fixedly connected to the slider 705 and the mount 703 is fixedly connected to the driving mechanism 6.

In the clamping jaw provided by the embodiment of the utility model, when the clamping head is not applied with external force, the sliding part 705 does not slide; when the joint is subjected to an external force, the slider 705 slides, so that the elastic member 706 is deformed. Specifically, in the grasping process, when the chuck 8 touches an object, the chuck 8 is subjected to an external force, that is, the sliding member 705 is also subjected to the external force, so that the sliding member 705 slides, the elastic member 706 deforms, and the touch force is effectively buffered; when the external force due to the collision is removed, the elastic member 706 is restored, so that the slider 705 is also restored. Therefore, the clamping jaw realizes effective buffering of collision by arranging the buffering device 7, so that the phenomenon of mistaken shutdown caused by the collision during grasping is avoided.

Moreover, the clamping jaw can avoid the collision and alarm of the mechanical arm when the clamping head 8 is contacted with the working table surface in certain automatic movement occasions, such as occasions with low positioning precision and flexible grabbing occasions of ultrathin objects, so the clamping jaw is more suitable for occasions with flexible positioning, such as visual operation and the like.

In order to ensure that the elastic member 706 deforms in a predetermined direction, the clamping jaw further comprises a guide post, and the sliding member 705 is sleeved on the guide post. Thus, the above structure restricts the movement of the sliding member 705 in other directions, and also realizes guidance so as to ensure that the sliding member 705 moves in a set direction.

The shape of the guide post is selected according to actual needs, for example, the cross section of the guide post is circular, rectangular or elliptical, and the like, which is not limited in this embodiment.

Further, the sliding member 705 is provided with a through hole for the guide post to pass through, and a guide sleeve 704 sleeved on the guide post is fixed in the through hole. Thus, by providing the guide sleeve 704, the sliding of the sliding member 705 along the guide post is facilitated, and the wear on the sliding member 705 is also reduced.

In the clamping jaw, the number of the guide columns is selected according to actual requirements. Specifically, the number of the guide posts may be one, or may be two or more. For the sake of reliability, it is preferable that the two guide posts are arranged side by side in a direction perpendicular to the sliding direction of the sliding member 705. At this time, the two guide posts are the first guide post 701 and the second guide post 702, respectively.

The clamping jaw can also realize guiding through other structures. Specifically, as shown in fig. 7-10, the above-mentioned clamping jaw further comprises: a linear guide 707, a moving member 708 engaged with the linear guide 707; the linear guide 707 is provided on the mount 703, and the moving member 708 is fixed to the slider 705.

Specifically, the linear guide 707 is a groove guide, a ball guide, a roller guide, or a cross-roller guide, and the moving member 708 is selected according to the type of the linear guide 707, which is not limited in this embodiment.

In practice, the clamping jaw may include a guiding column, a linear guiding rail 707 and a moving member 708.

In the above-mentioned clamping jaw, the number of the elastic parts 706 is selected according to actual requirements. Specifically, one or more elastic members 706 may be provided. For the sake of reliability, it is preferable that at least two of the elastic members 706 are arranged side by side in a direction perpendicular to the sliding direction of the slider 705.

To facilitate mounting and dismounting, the collet 8 is detachably and fixedly connected to the slider 705, and the mounting base 703 is detachably and fixedly connected to the driving mechanism 6. For example, the collet 8 is detachably and fixedly connected to the slider 705 by a bolt, and the mount 703 is detachably and fixedly connected to the driving mechanism 6 by a screw. The present embodiment does not limit the specific connection structure.

The specific structure and type of the elastic member 706 are selected according to actual needs. Preferably, the elastic member 706 is a compression spring, as shown in fig. 5 and 7-10. Only one compression spring is shown in fig. 5, that is, only the compression spring on the second guide column 702 is shown, and the compression spring is also sleeved on the first guide column 701, which is not shown in the figure.

The connection to the mount 703 is at a location where the mount 703 is away from the collet 8.

In order to reduce the volume, the slider 705 is provided with a placing cavity in which a compression spring is located. At this time, the compression spring is connected to the sliding member 705 by abutting against the inner wall of the placing chamber. Of course, the entire compression spring may be located completely outside the sliding member 705, and is not limited to the above-described embodiment.

When the elastic member 706 is a compression spring, the compression spring is located at an end of the slider 705 away from the collet 8. When the clamping jaw comprises the guide post, the pressure spring is preferentially selected to be sleeved on the guide post, and the pressure spring is guaranteed to deform along the set direction.

In the above-mentioned clamping jaw, the elastic member 706 may be a tension spring, as shown in fig. 6. At this time, the connection position of the tension spring and the mounting seat 703 is located at a position where the mounting seat 703 is close to the collet 8.

The tension springs are located on one side or both sides of the sliding member 705, and are selected according to actual needs.

The elastic member may be other elastic members, such as a torsion spring, an air spring, a plate spring, or a rubber band, which is not limited in this embodiment.

The shape and size of the mounting seat 703 are selected according to actual needs, and this embodiment is not limited to this.

In order to further optimize the above technical solution, the above clamping jaw further comprises: the clamping jaw support 4, the clamping jaw shell 3 which is connected with the clamping jaw support 4 in a sealing mode to form a containing cavity, and the driver 2 and the driving circuit board 10 which are arranged in the containing cavity; the driver 2 is connected with the driving mechanism 6 in a driving mode, the driving circuit board 10 is connected with the driver 2, and the driving mechanism 6 is arranged on the clamping jaw support 4.

It should be noted that the above-mentioned drive circuit board 10 is used for controlling the operation of the driver 2.

In the clamping jaw, the driver 2 and the driving circuit board 10 are integrated in the accommodating cavity formed by the clamping jaw support 4 and the clamping jaw shell 3, so that the functions of force feedback, stroke control, power-off self-locking, position memory and the like can be realized in one cavity, the control is convenient, the volume is reduced, and the occupied space is reduced; simultaneously, the above-mentioned chamber that holds is sealed for whole structure has waterproof function and dustproof function.

In order to facilitate sealing, the clamping jaw support 4 is provided with a sealing groove, a sealing strip is embedded in the sealing groove, and the sealing strip is made of rubber or other sealing materials. After the clamping jaw support 4 is fixedly connected with the clamping jaw shell 3, the sealing strip is hermetically connected with the clamping jaw shell 3, so that the clamping jaw support 4 is hermetically connected with the clamping jaw shell 3.

Of course, the jaw housing 3 and the jaw support 4 may be in other structures to achieve the sealing connection, and are not limited to the above embodiments.

Preferably, the jaw housing 3 is provided with an aero joint 11, and the aero joint 11 is hermetically connected with the jaw housing 3. As will be appreciated, the air connector 11 is connected to the driver circuit board 10.

The output shaft 201 of the driver 2 needs to extend out of the receiving cavity. Specifically, the jaw housing 3 is provided with a sealing member 9, the sealing member 9 is provided with a profiling hole for the output shaft 201 of the driver 2 to pass through, and the profiling hole and the output shaft 201 are matched to form compression sealing. In this way, the sealing and the movement restraint of the driver 2 are simultaneously achieved, so that the entire structure has the waterproof function and the dustproof function.

The contour hole is slightly smaller than the output shaft 201, and the output shaft 201 forms a compression seal when passing through the contour hole.

The jaw housing 3 and the jaw support 4 are detachably fixed to each other for maintenance purposes. For example, the jaw housing 3 and the jaw holder 4 are fixedly connected by bolts.

Preferably, the above-mentioned driver 2 includes: a linear actuator body 202 and a force control sensor 203 for detecting the output force of the linear actuator body 202; wherein the force control sensor 203 is connected with the clamping jaw housing 3 through a joint bearing 1, and the joint bearing 1 only transmits the load along the driving direction of the linear driver body 202.

Specifically, the inner ring of the joint bearing 1 is fixedly connected with the force control sensor 203; the outer ring of the joint bearing 1 is fixedly connected with the clamping jaw shell 3.

Further, the force control sensor 203 is only under tension load to realize accurate measurement.

For the purpose of gripping and control, the above-mentioned two chucks 8 are provided and the driver 2 is a linear driver. The specific structure of the driving mechanism 6 is selected according to actual needs. Preferably, the driving mechanism 6 includes a first driving rod 601 slidably disposed on the jaw support 4, two second driving rods 602 respectively hinged to two ends of the first driving rod 601, a third driving rod 603 and a fourth driving rod 604 both hinged to the jaw support 4 and disposed in parallel, and a fifth driving rod 605 both hinged to the third driving rod 603 and the fourth driving rod 604; the fourth driving rod 604 is hinged to the second driving rod 602, and the mounting base 703 is fixed to the fifth driving rod 605.

It can be understood that both ends of the first driving lever 601 are symmetrically arranged.

In order to facilitate the sliding of the first driving rod 601, the jaw support 4 is provided with a sliding rail 5, the sliding rail 5 is provided with a slidable sliding block, and the first driving rod 601 is fixedly connected with the sliding block.

In the above-mentioned clamping jaw, when the output shaft 201 of the driver 2 reciprocates, the first driving rod 601 is driven to move together, so as to drive the fifth driving rod 605 to swing left and right, that is, the mounting base 703 and the chuck 8 are driven to swing left and right.

For the convenience of installation, the clamping jaw support 4 comprises two support plates and an installation shaft, wherein two ends of the installation shaft are fixedly connected with the two support plates respectively; the two support plates are respectively located at two sides of the clamping jaw housing 3, the support plates are hermetically connected with the clamping jaw housing 3, the first driving rod 601 is slidably arranged on the two support plates, and the third driving rod 603 and the fourth driving rod 604 are both hinged on the mounting shaft. It will be appreciated that the drive mechanism 6 is located between the two bracket plates.

Specifically, the two rack plates are a first rack plate 401 and a second rack plate 402, respectively, and the drive mechanism 6 is disposed between the first rack plate 401 and the second rack plate 402.

In the above-described jaws, the driving mechanism 6 may be selected to have another structure, and is not limited to the above-described embodiment. In the above-mentioned clamping jaw, the specific structure of the driver 2 is selected according to actual requirements, for example, the driver 2 is an electric driver, a pneumatic driver or a hydraulic driver. When the driver 2 is a linear driver, the linear driver is preferably selected to be a force control electric driver, and the linear driver has the functions of stroke control, power-off self-locking, position memory and the like. The specific structure of the force-controlled electric driver is designed according to actual needs, and this embodiment does not limit this.

In the above-mentioned clamping jaws, the shape and structure of the chuck 8 are designed according to actual needs, and this embodiment is not limited thereto.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A jaw, comprising:

at least two clamping heads (8) which are matched with each other to be capable of clamping, a buffer device (7) and a driving mechanism (6) for driving the clamping heads (8) to move;

wherein the damping device (7) comprises: a mounting base (703), an elastic member (706), and a slider (705) slidably disposed on the mounting base (703);

one end of the elastic component (706) is connected with the mounting seat (703), the other end of the elastic component (706) is connected with the sliding piece (705), and the elastic component (706) deforms in the sliding process of the sliding piece (705);

the clamping head (8) is fixedly connected with the sliding part (705), and the mounting seat (703) is fixedly connected with the driving mechanism (6).

2. A jaw as claimed in claim 1, further comprising a guide post, said slider (705) fitting over said guide post.

3. A jaw as claimed in claim 2, characterized in that said slider (705) is provided with a through hole for the passage of said guiding post, in which a guide sleeve (704) is fixed, externally applied to said guiding post.

4. A jaw as claimed in claim 1, further comprising: a linear guide (707), a moving member (708) engaged with the linear guide (707); wherein the linear guide rail (707) is arranged on the mounting seat (703), and the moving part (708) is fixed on the sliding part (705).

5. A jaw as claimed in claim 1, characterized in that said elastic members (706) are at least two and are distributed side by side along a direction perpendicular to the sliding direction of said slider (705).

6. A jaw as claimed in claim 1, characterized in that said gripping head (8) is removably and fixedly associated with said slide (705), and said mounting seat (703) is removably and fixedly associated with said actuating mechanism (6).

7. A jaw as claimed in claim 1, characterized in that said elastic member (706) is a compression spring.

8. A jaw as claimed in claim 1, said resilient member (706) being a tension spring.

9. A jaw as claimed in claim 1, characterized in that said elastic member (706) is a torsion spring, an air spring, a leaf spring or a rubber band.

10. A jaw as claimed in any one of claims 1 to 9, further comprising: the clamping jaw mechanism comprises a clamping jaw support (4), a clamping jaw shell (3) which is connected with the clamping jaw support (4) in a sealing mode to form a containing cavity, and a driver (2) and a driving circuit board (10) which are arranged in the containing cavity; the driver (2) is connected with the driving mechanism (6) in a driving mode, the driving circuit board (10) is connected with the driver (2), and the driving mechanism (6) is arranged on the clamping jaw support (4).

11. A jaw as claimed in claim 10, characterized in that said jaw housing (3) is provided with an aeronautical joint (11), and said aeronautical joint (11) is sealingly connected with said jaw housing (3).

12. A jaw as claimed in claim 10, characterized in that said jaw housing (3) is provided with a seal (9), said seal (9) being provided with a profiled bore through which an output shaft (201) of said driver (2) passes, and said profiled bore cooperating with said output shaft (201) to form a compression seal.

13. A jaw as claimed in claim 10, characterized in that said jaw housing (3) and said jaw support (4) are detachably fixedly connected.

14. A jaw as claimed in claim 10, characterized in that said driver (2) comprises: the linear actuator comprises a linear actuator body (202) and a force control sensor (203) for detecting the output force of the linear actuator body (202); wherein the force control sensor (203) is connected with the clamping jaw housing (3) through a joint bearing (1), and the joint bearing (1) only transmits the load along the driving direction of the linear driver body (202).

15. A jaw as claimed in claim 10, characterized in that said jaws (8) are two, said driver (2) being a linear driver;

the driving mechanism (6) comprises a first driving rod (601) which is slidably arranged on the clamping jaw support (4), two second driving rods (602) which are respectively hinged with two ends of the first driving rod (601), a third driving rod (603) and a fourth driving rod (604) which are hinged with the clamping jaw support (4) and arranged in parallel, and a fifth driving rod (605) which is hinged with the third driving rod (603) and the fourth driving rod (604);

the fourth driving rod (604) is hinged to the second driving rod (602), and the mounting seat (703) is fixed to the fifth driving rod (605).