CN214772145U - Clamping device of multi-joint mechanical gripper - Google Patents
Clamping device of multi-joint mechanical gripper Download PDFInfo
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- CN214772145U CN214772145U CN202120551965.5U CN202120551965U CN214772145U CN 214772145 U CN214772145 U CN 214772145U CN 202120551965 U CN202120551965 U CN 202120551965U CN 214772145 U CN214772145 U CN 214772145U
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Abstract
The utility model discloses a clamping device of articulated gripper, its characteristic includes the gripper body, transmission gear box, universal joint transmission, nearly basic joint, well joint, tip joint. The transmission gear box comprises a main transmission gear and an auxiliary transmission gear, and the universal joint transmission device comprises an upper universal joint and a lower universal joint. The near-base joint comprises a worm gear, a group of belt wheel transmission systems and a right baffle. The middle joint comprises a left baffle, a right baffle, another group of belt wheel transmission systems and a middle joint sleeve. The distal joint comprises a large pulley shaft and a distal joint sleeve. Three different joints are connected through a belt wheel system to form a claw, and three claws are provided in total. When the main transmission gear is rotated by the outside, the mechanical claw starts to work, the three claws gather to the center to form clamping, the problem that the thin-wall part cannot be machined or the precision is insufficient due to the fact that the thin-wall part is difficult to clamp for a small part of the lathe is solved, and the machining efficiency of the lathe is continuously improved.
Description
Technical Field
The utility model relates to a clamping device, concretely relates to be clamping device of articulated mechanical gripper.
Background
In recent decades, the traditional manufacturing industry in China has been vigorously developed, especially in the aspect of machining at a high speed, wherein lathe machining plays a very important role, and the three-jaw chuck can not be used for clamping a series of operations of a revolving body. The traditional clamping device on various lathes utilizes a three-jaw chuck to carry out fastening clamping, although a certain clamping task can be completed, the clamping device is difficult to process parts with high dimensional precision and high coaxiality requirements, and is difficult to clamp box parts for irregular parts such as cast parts, especially for clamping thin-wall parts, and deformation and indentation of the parts can be generated due to the fact that contact points and pressing force cannot be accurately controlled.
SUMMERY OF THE UTILITY MODEL
The utility model provides a be in view of prior art's not enough, provide a clamping device of articulated mechanical gripper when guaranteeing the centre gripping requirement of certain axiality for the lathe can process the higher part of size precision requirement. Meanwhile, in the process of clamping the thin-wall part, the contact surface is increased, the contact point is changed, the pressure intensity of the surface of the thin-wall part is dispersed under the condition of ensuring that the clamping force is not changed, the deformation is reduced to the maximum extent, and the production efficiency is improved.
In order to realize the purpose of the utility model, the utility model provides a following technical scheme:
a clamping device of a multi-joint mechanical gripper comprises a mechanical gripper body, a transmission gear box, a universal joint transmission device, a near base joint, a middle joint and a tip joint;
the transmission gear box comprises a main transmission shaft, a main transmission gear, a 1 st auxiliary transmission gear, a 2 nd auxiliary transmission gear and a 3 rd auxiliary transmission gear;
the universal joint transmission device comprises an upper universal joint group, a universal joint transmission shaft and a lower universal joint group;
the near-base joint comprises a worm, a worm wheel shaft, a rolling bearing, a sliding bearing, a small belt wheel shaft, a small belt wheel of the first group of belt wheel transmission systems, a near-base joint right baffle and a large belt wheel of the first group of belt wheel transmission systems;
the middle joint comprises a small belt wheel of a second group of belt wheel transmission systems, a large belt wheel of the second group of belt wheel transmission systems, a middle joint left baffle and a middle joint right baffle;
the tip joint comprises a large pulley shaft and a tip joint sleeve;
a main transmission gear of the transmission gear box is meshed with three auxiliary transmission gears, the auxiliary transmission gears are connected with an upper group universal joint, a coupler in a lower group universal joint is connected with a worm in a near-base joint, a worm wheel is positioned on a worm wheel shaft, a large belt wheel of a first group belt wheel transmission system is also positioned on the worm wheel shaft, a small belt wheel of the first group belt wheel transmission system is positioned on a small belt wheel shaft, a small belt wheel of a second group belt wheel transmission system is also positioned on the small belt wheel shaft, a large belt wheel of the second group belt wheel transmission system is positioned on the large belt wheel shaft, and a peripheral joint sleeve is also positioned on the large belt wheel shaft.
Furthermore, the universal joint transmission devices are divided into an upper universal joint transmission device and a lower universal joint transmission device which are spatially arranged, the transmission angle of the upper universal joint transmission device is 120 degrees, and the transmission angle of the lower universal joint transmission device is 120 degrees.
Furthermore, the upper end and the lower end of the right baffle plate close to the base joint are connected with the worm wheel shaft and the small belt wheel shaft through rolling bearings.
Further, the middle joint left baffle and the middle joint right baffle are arranged on the small pulley shaft.
Further, the main transmission wheel of the first group of belt wheel systems is a large belt wheel of the first group of belt wheel transmission systems, and the main transmission wheel of the second group of belt wheel systems is a small belt wheel of the second group of belt wheel transmission systems.
Further, the large belt wheel of the first group of belt wheel transmission system and the small belt wheel of the second group of belt wheel transmission system have different diameters and different transmitted rotating speeds, so that the formed clamping angles are different.
The utility model discloses a gripper body, drive gear box, universal joint transmission, nearly basic joint, well joint, the tip joint's that forms clamping device of a many joints gripper has guaranteed higher axiality to and solved to the finding, the centre gripping difficulty of irregular part and thin wall part, thereby has guaranteed the machining precision.
Drawings
Fig. 1 is a schematic structural diagram of the present invention; in FIG. 1, 1 is a mechanical gripper body, 2 is a transmission gear box, 3 is a universal joint transmission device, 4 is a proximal joint, 5 is a middle joint, and 6 is a distal joint;
FIG. 2 is a schematic structural view of a transmission gearbox according to an embodiment; 2-1 is a main transmission shaft, 2-2 is a main transmission gear, 2-3 is a 1 st auxiliary transmission gear, 2-4 is a 2 nd auxiliary transmission gear, and 2-5 is a 3 rd auxiliary transmission gear;
FIG. 3 is a schematic structural diagram of a universal joint actuator according to an embodiment; 3-1 is an upper group of universal joints, 3-2 is a universal joint transmission shaft, and 3-3 is a lower group of universal joints;
FIG. 4 is a schematic view of a proximal joint according to an embodiment; 4-1 is a worm, 4-2 is a worm wheel, 4-3 is a worm wheel shaft, 4-4 is a rolling bearing, 4-5 is a sliding bearing, 4-6 is a small pulley shaft, 4-7 is a small pulley of a first group of pulley transmission systems, 4-8 is a near-base joint right baffle, and 4-9 is a large pulley of the first group of pulley transmission systems;
FIG. 5 is a schematic illustration of a mid-joint according to an embodiment; 5-1 is a small belt wheel of the second group of belt wheel transmission systems, 5-2 is a large belt wheel of the second group of belt wheel transmission systems, 5-3 is a middle joint left baffle, and 5-4 is a middle joint right baffle;
FIG. 6 is a schematic view of a distal joint according to an embodiment; 6-1 is a large pulley shaft, and 6-2 is a tip joint sleeve;
FIG. 7 is a schematic view of a gripper body according to an embodiment; 7-1 is a proximal joint sleeve, and 7-2 is a middle joint sleeve;
fig. 8 is a schematic view of a transmission structure of a gripper body according to an embodiment.
Detailed Description
The present invention will be described in detail with reference to the drawings, which are provided for illustrative and explanatory purposes only and should not be construed as limiting the scope of the present invention in any way.
The utility model relates to a clamping device of a multi-joint mechanical gripper, which comprises a mechanical gripper body 1, a transmission gear box 2, a universal joint transmission device 3, a near base joint 4, a middle joint 5 and a tip joint 6, wherein the mechanical gripper body is provided with a plurality of clamping grooves;
the transmission gear box 2 comprises a main transmission shaft 2-1, a main transmission gear 2-2, a 1 st auxiliary transmission gear 2-3, a 2 nd auxiliary transmission gear 2-4 and a 3 rd auxiliary transmission gear 2-5;
the universal joint transmission device 3 comprises an upper universal joint 3-1, a universal joint transmission shaft 3-2 and a lower universal joint 3-3;
the near-base joint 4 comprises a worm 4-1, a worm wheel 4-2, a worm wheel shaft 4-3, a rolling bearing 4-4, a sliding bearing 4-5, a small belt wheel shaft 4-6, a small belt wheel 4-7 of a first group of belt wheel transmission systems, a near-base joint right baffle 4-8 and a large belt wheel 4-9 of the first group of belt wheel transmission systems;
the middle joint 5 comprises a small belt wheel 5-1 of a second group of belt wheel transmission systems, a large belt wheel 5-2 of the second group of belt wheel transmission systems, a middle joint left baffle 5-3 and a middle joint right baffle 5-4;
the tip joint 6 comprises a large pulley shaft 6-1 and a tip joint sleeve 6-2;
a main transmission gear 2-2 of the transmission gear box is meshed with three auxiliary transmission gears, the auxiliary transmission gears are connected with an upper group universal joint 3-1, a coupler in a lower group universal joint 3-3 is connected with a worm 4-1 in a near base joint 4, a worm wheel 4-2 is arranged on a worm wheel shaft 4-3, a large belt wheel 4-9 of a first group belt wheel transmission system is also arranged on the worm wheel shaft 4-3, a small belt wheel 4-7 of the first group belt wheel transmission system is arranged on a small belt wheel shaft 4-6, a small belt wheel 5-1 of a second group belt wheel transmission system is also arranged on a small belt wheel shaft 4-6, and a large belt wheel 5-2 of the second group belt wheel transmission system is arranged on a tail end joint sleeve 6-2 of the large belt wheel shaft 6-1 and is also arranged on the large belt wheel shaft 6-1.
The universal joint transmission devices 3 are arranged in a space mode, the upper universal joint 3-1 is arranged at a transmission angle of 120 degrees, and the lower universal joint 3-3 is arranged at a transmission angle of 120 degrees.
The upper end and the lower end of the right baffle plate 4-8 close to the base joint are connected with the worm wheel shaft 4-3 and the small belt wheel shaft 4-6 through rolling bearings 4-4.
Wherein, the middle joint left baffle 5-3 and the middle joint right baffle 5-4 are positioned on the small pulley shaft 4-6.
The main transmission wheel of the first group of belt wheel systems is a large belt wheel 4-9 of the first group of belt wheel transmission systems, and the main transmission wheel of the second group of belt wheel systems is a small belt wheel 5-1 of the second group of belt wheel transmission systems.
The large belt wheel 4-9 of the first group of belt wheel transmission system and the small belt wheel 5-1 of the second group of belt wheel transmission system have different diameters, different transmission rotating speeds and different formed clamping angles.
The utility model discloses a theory of operation: a main transmission shaft 2-1 of the transmission gear box 2 drives a main transmission gear 2-2 by applying a rotating speed from the outside, the main transmission gear 2-2 is meshed with three auxiliary transmission gears to drive the three auxiliary transmission gears to rotate, an auxiliary transmission gear shaft drives an upper group universal joint 3-1 to rotate, thereby driving a lower group of universal joints 3-3 through a universal joint transmission shaft 3-2, connecting a coupler in the lower group of universal joints 3-3 with a worm 4-1 in a near base joint, driving a worm wheel 4-2 by the worm 4-1, driving a first group of belt wheel transmission systems on a worm wheel shaft 4-3 by the worm wheel 4-2, because the two ends of the turbine shaft 4-3 and the small pulley shaft 4-6 are connected with the near-base joint right baffle plate 4-8 through the rolling bearing 4-4, the near-base joint sleeve 7-1 is not bent. The small belt wheel 4-7 in the first group of belt wheel transmission system drives the small belt wheel shaft 4-6 to rotate, the small belt wheel shaft 4-6 drives the small belt wheel 5-1 of the second group of belt wheel transmission system on the shaft, the rotation of the small belt wheel 5-1 enables the middle joint left baffle 5-3 and the middle joint right baffle 5-4 to rotate, then the middle joint sleeve 7-2 bends, meanwhile, the large belt wheel 5-2 in the second group of belt wheel transmission system rotates, the large belt wheel shaft 6-1 of the end joint drives the end joint sleeve 6-2 to rotate, and the middle joint 5 and the end joint 6 rotate to a certain degree so as to form clamping.
The principle and advantages of this embodiment:
the clamping device of the multi-joint manipulator solves the problem that small parts cannot be machined due to difficulty in clamping in a lathe;
the clamping device of the multi-joint manipulator solves the problem that irregular parts cannot be machined due to difficulty in clamping in a lathe;
the clamping device of the multi-joint manipulator solves the problem that the thin-wall part is deformed due to uneven stress on a lathe;
the clamping device of the multi-joint manipulator is reasonable in layout and simple and convenient to manufacture, and production efficiency is improved while various costs are reduced.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications and variations can be made to the present invention without departing from the spirit and scope of the invention.
Claims (6)
1. A clamping device of a multi-joint mechanical paw is characterized by comprising a mechanical paw body (1), a transmission gear box (2), a universal joint transmission device (3), a proximal joint (4), a middle joint (5) and a distal joint (6);
the transmission gear box (2) comprises a main transmission shaft (2-1), a main transmission gear (2-2), a 1 st auxiliary transmission gear (2-3), a 2 nd auxiliary transmission gear (2-4) and a 3 rd auxiliary transmission gear (2-5);
the universal joint transmission device (3) comprises an upper group of universal joints (3-1), a universal joint transmission shaft (3-2) and a lower group of universal joints (3-3);
the near-base joint (4) comprises a worm (4-1), a worm wheel (4-2), a worm wheel shaft (4-3), a rolling bearing (4-4), a sliding bearing (4-5), a small belt wheel shaft (4-6), a small belt wheel (4-7) of a first group of belt wheel transmission systems, a near-base joint right baffle (4-8) and a large belt wheel (4-9) of the first group of belt wheel transmission systems;
the middle joint (5) comprises a small belt wheel (5-1) of a second group of belt wheel transmission systems, a large belt wheel (5-2) of the second group of belt wheel transmission systems, a middle joint left baffle (5-3) and a middle joint right baffle (5-4);
the tip joint (6) comprises a large pulley shaft (6-1) and a tip joint sleeve (6-2);
a main transmission gear (2-2) of the transmission gear box is meshed with three auxiliary transmission gears, the auxiliary transmission gears are connected with an upper group universal joint (3-1), a coupler in a lower group universal joint (3-3) is connected with a worm (4-1) in a near base joint (4), a worm gear (4-2) is arranged on a worm gear shaft (4-3), a large belt wheel (4-9) of a first group of belt wheel transmission systems is also arranged on the worm gear shaft (4-3), a small belt wheel (4-7) of the first group of belt wheel transmission systems is arranged on a small belt wheel shaft (4-6), a small belt wheel (5-1) of a second group of belt wheel transmission systems is also arranged on the small belt wheel shaft (4-6), a large belt wheel (5-2) of the second group of belt wheel transmission systems is arranged on the large belt wheel shaft (6-1), and a peripheral joint sleeve (6-2) is also arranged on the large belt wheel shaft (6-1).
2. The multi-joint gripper device according to claim 1, wherein the universal joint transmission devices (3) are arranged in two groups, one above the other, in a spatial arrangement, the upper group of universal joints (3-1) has a transmission angle of 120 ° and the lower group of universal joints (3-3) has a transmission angle of 120 °.
3. The multi-joint gripper device according to claim 1, wherein the upper and lower ends of the right barrier (4-8) near the base joint are connected to the worm gear shaft (4-3) and the small pulley shaft (4-6) through rolling bearings (4-4).
4. The multi-joint gripper device according to claim 1, wherein the middle joint left flap (5-3) and the middle joint right flap (5-4) are on the small pulley shaft (4-6).
5. A multi-joint gripper according to claim 1, wherein the primary drive wheel of the first set of pulley systems is a large pulley (4-9) of the first set of pulley systems and the primary drive wheel of the second set of pulley systems is a small pulley (5-1) of the second set of pulley systems.
6. The multi-joint gripper device according to claim 1, wherein the large pulleys (4-9) of the first set of pulley transmission systems and the small pulleys (5-1) of the second set of pulley transmission systems transmit different rotation speeds due to different diameters, and the formed gripping angles are different.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120551965.5U CN214772145U (en) | 2021-03-17 | 2021-03-17 | Clamping device of multi-joint mechanical gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120551965.5U CN214772145U (en) | 2021-03-17 | 2021-03-17 | Clamping device of multi-joint mechanical gripper |
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| Publication Number | Publication Date |
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| CN214772145U true CN214772145U (en) | 2021-11-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202120551965.5U Active CN214772145U (en) | 2021-03-17 | 2021-03-17 | Clamping device of multi-joint mechanical gripper |
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| CN (1) | CN214772145U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114425784A (en) * | 2021-03-17 | 2022-05-03 | 兰州交通大学 | Clamping device of multi-joint mechanical gripper |
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2021
- 2021-03-17 CN CN202120551965.5U patent/CN214772145U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114425784A (en) * | 2021-03-17 | 2022-05-03 | 兰州交通大学 | Clamping device of multi-joint mechanical gripper |
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