CN215701808U

CN215701808U - Clamping jaw mechanism

Info

Publication number: CN215701808U
Application number: CN202120656216.9U
Authority: CN
Inventors: 王鲁钰; 赵荣
Original assignee: Shanghai Xuanren Technology Co ltd
Current assignee: Shanghai Xuanren Technology Co ltd
Priority date: 2021-03-31
Filing date: 2021-03-31
Publication date: 2022-02-01
Anticipated expiration: 2031-03-31

Abstract

The utility model provides a clamping jaw mechanism which comprises two clamping jaws distributed at intervals, wherein the two clamping jaws can be close to and far away from each other, the two clamping jaws are installed on a lower plate, the lower plate is connected with an upper plate through a slewing bearing, the central axis of the slewing bearing is positioned between the two clamping jaws, the clamping jaw mechanism further comprises a rotary driving assembly, and the rotary driving assembly can drive the lower plate to rotate around the central axis of the slewing bearing relative to the upper plate. This clamping jaw mechanism, its two clamping jaws can be as required around being located the central axis rotation between the two to be convenient for adjust two clamping jaws respectively with the article on set for the position accuracy to correspond, and then need not to rotate article, just can make this clamping jaw mechanism accurately centre gripping set for position department on article, this clamping jaw mechanism's flexibility is higher, and it is more convenient to use.

Description

Clamping jaw mechanism

Technical Field

The utility model relates to a clamping jaw mechanism, in particular to a clamping jaw mechanism with higher flexibility.

Background

When some articles are transferred, the clamping jaw mechanism is usually adopted to grab the articles until the articles are transferred to a set position, and the clamping jaw mechanism releases the articles again, so that the articles are transferred. In the clamping jaw mechanism in the prior art, two clamping jaws cannot rotate, so that the flexibility is poor; in the process of grabbing articles, the relative positions of the two clamping jaws and the articles cannot be flexibly adjusted, so that the set positions on the articles cannot be clamped conveniently, accurately and quickly, the use is inconvenient, and the efficiency of grabbing the articles is low.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned drawbacks of the prior art, the object of the present invention is to provide a gripper mechanism with increased flexibility.

In order to achieve the purpose, the utility model provides a clamping jaw mechanism which comprises two clamping jaws distributed at intervals, wherein the two clamping jaws can be close to and far away from each other, the two clamping jaws are installed on a lower plate, the lower plate is connected with an upper plate through a slewing bearing, the central axis of the slewing bearing is positioned between the two clamping jaws, and the clamping jaw mechanism further comprises a rotary driving assembly which can drive the lower plate to rotate around the central axis of the slewing bearing relative to the upper plate.

Further, the rotary driving assembly comprises a rotary driving motor mounted on the upper plate, a rotary driving gear mounted at an output end of the rotary driving motor, and an arc-shaped rack engaged with the rotary driving gear, and the arc-shaped rack is fixed on the lower plate.

Further, be equipped with the arc slot hole on the hypoplastron, the arc rack is installed on a lateral wall of arc slot hole, just install spacing axle on the upper plate, spacing axle is worn to establish in the arc slot hole.

Furthermore, the upper plate is fixedly connected with an inner ring of the slewing bearing through a bolt, and the lower plate is fixedly connected with an outer ring of the slewing bearing through a bolt.

Further, the upper plate is mounted on one end of a support cantilever extending in the front-rear direction, the jaw is movably connected with the lower plate through a hinge shaft extending in the left-right direction, and the jaw can rotate relative to the lower plate around the central axis of the hinge shaft.

Furthermore, a limiting piece is mounted on the lower plate, and the limiting piece can limit the angle range of the clamping jaw relative to the lower plate.

Furthermore, the other end of the supporting cantilever is fixedly connected with the translation sliding block, the translation sliding block is installed on a translation guide rail extending along the front-back direction, the translation guide rail is installed on a lifting platform capable of reciprocating along the up-down direction, and a translation driving assembly is further installed on the lifting platform and can drive the translation sliding block to reciprocate along the translation guide rail.

Further, install the lifting slide on the lift platform, the lifting slide cooperatees with the lift guide rail who installs on the support and extend along upper and lower direction, the last lift driving motor that installs of lift platform, lift drive gear is installed to lift driving motor's output, lift drive gear meshes with the lifting rack phase of installing on the support.

Furthermore, the number of the supporting cantilevers is two, the two supporting cantilevers are distributed at intervals along the left and right directions, and one ends of the two supporting cantilevers are fixedly connected with the left end and the right end of the upper plate respectively.

Further, two the clamping jaw is along left right direction interval distribution, install two sets of sharp modules on the hypoplastron, two sets of sharp modules are used for driving two clamping jaws respectively and remove along left right direction.

As described above, the jaw mechanism according to the present invention has the following advantageous effects:

in the process of grabbing articles, the rotary driving assembly can drive the lower plate to rotate relative to the upper plate around the central axis of the rotary bearing so as to adjust the positions of the two clamping jaws on the lower plate in the circumferential direction of the rotary bearing until the two clamping jaws respectively correspond to two to-be-clamped parts of the articles, and the two clamping jaws approach to each other until the two to-be-clamped parts on the articles are respectively clamped, so that the articles are clamped and are respectively clamped at set positions on the articles. This clamping jaw mechanism, its two clamping jaws can be as required around being located the central axis rotation between the two to be convenient for adjust two clamping jaws respectively with the article on set for the position accuracy to correspond, and then need not to rotate article, just can make this clamping jaw mechanism accurately centre gripping set for position department on article, this clamping jaw mechanism's flexibility is higher, and it is more convenient to use.

Drawings

Fig. 1 is a schematic structural view of a gripper mechanism in an embodiment of the present invention.

Figure 2 is a partial schematic view of a jaw mechanism in an embodiment of the utility model.

Description of the element reference numerals

1 clamping jaw 41 translation slide block

11 articulated shaft 42 translation guide

21 lower plate 43 translation driving motor

211 arc long hole 44 translation rack

22 slewing bearing 5 lifting platform

23 lifting driving motor for upper plate 52

231 spacing shaft 6 support

24 rotating drive motor 61 lifting guide rail

25 arc-shaped rack 62 lifting rack

26 straight line module 7 camera

3 support cantilever 8 range sensor

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.

It should be understood that the structures, ratios, sizes, and the like shown in the drawings are only used for matching the disclosure of the present disclosure, and are not used for limiting the conditions of the present disclosure, so that the present disclosure is not limited to the technical essence, and any modifications of the structures, changes of the ratios, or adjustments of the sizes, can still fall within the scope of the present disclosure without affecting the function and the achievable purpose of the present disclosure. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for convenience of description only, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention unless otherwise specified.

As shown in fig. 1 and 2, the present embodiment provides a clamping jaw mechanism, which includes two clamping jaws 1 distributed at intervals, the two clamping jaws 1 can move close to and away from each other, the two clamping jaws 1 are mounted on a lower plate 21, the lower plate 21 is connected with an upper plate 23 through a slewing bearing 22, a central axis of the slewing bearing 22 is located between the two clamping jaws 1, and the clamping jaw mechanism further includes a rotary driving assembly, and the rotary driving assembly can drive the lower plate 21 to rotate around the central axis of the slewing bearing 22 relative to the upper plate 23. In the process of grabbing an article, the rotary driving assembly can drive the lower plate 21 to rotate around the central axis of the rotary bearing 22 relative to the upper plate 23, so as to adjust the positions of the two clamping jaws 1 on the lower plate 21 in the circumferential direction of the rotary bearing 22 until the two clamping jaws 1 respectively correspond to two parts to be clamped of the article, and the two clamping jaws 1 approach each other again until the two parts to be clamped of the article are respectively clamped, so that the article is clamped and respectively clamped at the set positions on the article. This clamping jaw mechanism, its two clamping jaws 1 can be as required around being located the central axis rotation between the two to be convenient for adjust two clamping jaws 1 respectively with the article on set for the position accurate correspond, and then need not to rotate article, just can make this clamping jaw mechanism accurately centre gripping set for position department on article, this clamping jaw mechanism's flexibility is higher, and it is more convenient to use.

As shown in fig. 1, the rotary driving assembly in this embodiment includes a rotary driving motor 24 mounted on the upper plate 23, a rotary driving gear mounted at an output end of the rotary driving motor 24, and an arc-shaped rack 25 engaged with the rotary driving gear, the arc-shaped rack 25 being fixed to the lower plate 21. The output end of the rotary driving motor 24 drives the rotary driving gear to rotate, so as to drive the arc-shaped rack 25 and the lower plate 21 to rotate around the central axis of the rotary bearing 22, and thus the two clamping jaws 1 are driven to rotate around the central axis of the rotary bearing 22. The central axis of the arc-shaped rack 25 coincides with the central axis of the slewing bearing 22. And the center axis of the slewing bearing 22 extends in the vertical direction. Meanwhile, as shown in fig. 1, in the present embodiment, the arc-shaped long hole 211 is formed in the lower plate 21, the arc-shaped rack 25 is installed on one side wall of the arc-shaped long hole 211, the limiting shaft 231 is installed on the upper plate 23, and the limiting shaft 231 is inserted into the arc-shaped long hole 211, so that the rotation amplitude of the lower plate 21 relative to the upper plate 23 is limited by the contact action between the limiting shaft 231 and the two end walls of the arc-shaped long hole 211, and the rotation amplitude of the lower plate 21 is prevented from being too large. The limiting shaft 231 is located in the arc-shaped long hole 211, and plays a certain role in guiding the rotation of the lower plate 21.

As shown in fig. 1, in the present embodiment, the upper plate 23 is fixedly connected to the inner ring of the slewing bearing 22 through a bolt, and the lower plate 21 is fixedly connected to the outer ring of the slewing bearing 22 through a bolt, so that the upper plate 23 and the slewing bearing 22, and the lower plate 21 and the slewing bearing 22 are detachably connected, thereby facilitating the assembling and disassembling work.

As shown in fig. 1, in this embodiment, the two clamping jaws 1 are distributed at intervals along the left-right direction, two sets of linear modules 26 are installed on the lower plate 21, and the two sets of linear modules 26 are respectively used for driving the two clamping jaws 1 to move along the left-right direction. The two linear modules 26 can respectively drive the two clamping jaws 1 to approach each other or move away from each other, and the two linear modules 26 can also respectively drive the two clamping jaws 1 to move leftwards or rightwards synchronously. The linear module 26 in this embodiment includes a jaw motor. The jaw 1 is driven by a jaw motor to move in the left-right direction. In this embodiment, the two clamping jaws 1 driven by the two linear modules 26 can be independently or synchronously opened or tightened, and can also synchronously move in the same direction, so that the flexibility of grabbing articles is high, and the clamping jaws can also be used for compensating the deviation in the left and right directions during positioning.

As shown in fig. 1, in the present embodiment, the upper plate 23 is mounted on one end of the support arm 3 extending in the front-rear direction, and the jaw 1 is movably connected to the lower plate 21 via the hinge shaft 11 extending in the left-right direction, and the jaw 1 can rotate relative to the lower plate 21 about the center axis of the hinge shaft 11. When the clamping jaw mechanism grabs a heavy object, one end of the supporting cantilever 3 is slightly deformed to drop downwards under the action of the gravity of the object, the upper plate 23 and the lower plate 21 are inclined to a certain extent, and the clamping jaw 1 can rotate relative to the lower plate 21 around the central axis of the hinge shaft 11, so that the clamping jaw 1 and the lower plate 21 can be prevented from inclining together, the clamping jaw 1 can be kept in a normal suspension state, and a good clamping fit relation with the object can be kept. Meanwhile, in the present embodiment, the lower plate 21 is provided with a limiting member, and the limiting member can limit the rotation angle range of the clamping jaw 1 relative to the lower plate 21. In the present embodiment, the holding jaw 1 can rotate within a range of 3 degrees with respect to the lower plate 21.

As shown in fig. 1, there are two supporting cantilevers 3 in this embodiment, two supporting cantilevers 3 are distributed at intervals along the left and right direction, and one ends of two supporting cantilevers 3 are respectively fixedly connected to the left and right ends of the upper plate 23, so as to support the upper plate 23 by using the two supporting cantilevers 3, increase the supporting strength, and ensure that the stress of the upper plate 23 is balanced, thereby ensuring that the clamping jaw mechanism can stably grab articles to move.

As shown in fig. 2, in this embodiment, the other end of the supporting cantilever 3 is fixedly connected to the translation slider 41, the translation slider 41 is installed on a translation guide rail 42 extending along the front-back direction, the translation guide rail 42 is installed on the lifting platform 5 capable of reciprocating along the up-down direction, the lifting platform 5 is further installed with a translation driving assembly, and the translation driving assembly can drive the translation slider 41 to reciprocate along the translation guide rail 42, so as to drive the supporting cantilever 3, the upper plate 23, and the lower plate 21 to reciprocate along the front-back direction together. And the supporting cantilever 3 is connected with the lifting platform 5 through the translation sliding block 41 and the translation guide rail 42, and when the lifting platform 5 moves up and down, the upper plate 23, the lower plate 21 and the two clamping jaws 1 can be driven to move up and down through the supporting cantilever 3. The translation driving assembly in this embodiment includes a translation driving motor 43 fixedly connected to the translation slider 41, a translation driving gear installed at an output end of the translation driving motor 43, and a translation rack 44 engaged with the translation driving gear, and the translation rack 44 is fixedly installed on the lifting platform 5.

As shown in fig. 2, in the embodiment, the lifting platform 5 is provided with a lifting slider, the lifting slider is matched with a lifting guide rail 61 which is installed on the support 6 and extends along the vertical direction, the lifting platform 5 is provided with a lifting driving motor 52, the output end of the lifting driving motor 52 is provided with a lifting driving gear, and the lifting driving gear is engaged with a lifting rack 62 installed on the support 6. The lifting driving motor 52 drives the lifting driving gear to rotate, and the lifting driving gear and the lifting rack 62 are engaged to drive the lifting platform 5 and the lifting slider to reciprocate along the lifting guide rail 61 and along the up-down direction, so as to realize the lifting function of the lifting platform 5. The support 6 serves to support the lifting platform 5. In this embodiment, both the translation guide rail 42 and the lifting guide rail 61 are linear guide rails.

As shown in fig. 1, the camera 7 is mounted on the upper plate 23, and the camera 7 is used for positioning for taking a picture and providing correction data for each driving motor. Specifically, the camera 7 is electrically connected to the controller, and the controller is electrically connected to the translation driving motor 43, the elevation driving motor 52, the rotation driving motor 24, and the gripper motor. The camera 7 shoots the position information of the two clamping jaws 1 and the object, and feeds the shot position information back to the controller, and the controller sequentially controls the corresponding driving motors to act so as to adjust the two clamping jaws 1 to the set positions according to the positions of the object, thereby ensuring that the two clamping jaws 1 can accurately grab the object and accurately clamp the set positions on the object. Simultaneously, install range sensor 8 with controller electric connection on the hypoplastron 21 in this embodiment, this range sensor 8 can vertically be measured range downwards to record the distance and feed back to the controller, the controller controls lift driving motor 52 action in proper order, and the distance of surveying reaches the settlement distance, and the height of shooing of camera 7 reaches the settlement height this moment, realizes the accurate positioning of the height of shooing of camera 7. The camera 7 in this embodiment is mounted on the rear side of the upper plate 23, and is located at the middle of the upper plate 23 in the left-right direction; the distance measuring sensor 8 is mounted on the front side of the lower plate 21 at the middle of the lower plate 21 in the left-right direction. In addition, two jaws 1 are mounted at both left and right ends of the lower plate 21, respectively.

In the present embodiment, the upper plate 23 and the lower plate 21 are flat plates, and the central axis of the slewing bearing 22 is located at the center of the upper plate 23 and the lower plate 21 and perpendicular to the upper plate 23 and the lower plate 21. In this way, the rotary driving motor 24 drives the lower pair of clamping jaws 1 to rotate around the central axis of the slewing bearing 22 through the arc-shaped rack 25, so as to compensate the rotation deviation in positioning. The slewing bearing 22 is also referred to as a rotary bearing in this embodiment.

In conclusion, the present invention effectively overcomes various disadvantages of the prior art and has high industrial utilization value.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the utility model. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims

1. The clamping jaw mechanism comprises two clamping jaws (1) distributed at intervals, wherein the two clamping jaws (1) can be close to and far away from each other, the clamping jaw mechanism is characterized in that the two clamping jaws (1) are installed on a lower plate (21), the lower plate (21) is connected with an upper plate (23) through a slewing bearing (22), the central axis of the slewing bearing (22) is located between the two clamping jaws (1), and the clamping jaw mechanism further comprises a rotary driving assembly, wherein the rotary driving assembly can drive the lower plate (21) to rotate around the central axis of the slewing bearing (22) relative to the upper plate (23).

2. Gripper mechanism according to claim 1, characterized in that the rotary drive assembly comprises a rotary drive motor (24) mounted on the upper plate (23), a rotary drive gear mounted at the output of the rotary drive motor (24), and an arc-shaped toothed rack (25) engaging with the rotary drive gear, the arc-shaped toothed rack (25) being fixed to the lower plate (21).

3. The jaw mechanism as claimed in claim 2, wherein the lower plate (21) is provided with an arc-shaped long hole (211), the arc-shaped rack (25) is mounted on one side wall of the arc-shaped long hole (211), and the upper plate (23) is provided with a limiting shaft (231), and the limiting shaft (231) is inserted into the arc-shaped long hole (211).

4. Gripper mechanism according to claim 1, characterized in that the upper plate (23) is fixedly connected with an inner ring of the swivel bearing (22) by means of bolts and the lower plate (21) is fixedly connected with an outer ring of the swivel bearing (22) by means of bolts.

5. Gripper mechanism according to claim 1, characterized in that the upper plate (23) is mounted on one end of a support boom (3) extending in a front-rear direction, and that the gripper (1) is movably connected to the lower plate (21) by means of a hinge axis (11) extending in a left-right direction, the gripper (1) being rotatable relative to the lower plate (21) about the centre axis of the hinge axis (11).

6. Gripper mechanism according to claim 5, characterized in that a stop element is mounted on the lower plate (21), which stop element can limit the angular range of rotation of the gripper (1) relative to the lower plate (21).

7. The clamping jaw mechanism according to claim 5, characterized in that the other end of the supporting cantilever (3) is fixedly connected with a translation sliding block (41), the translation sliding block (41) is installed on a translation guide rail (42) extending along the front-back direction, the translation guide rail (42) is installed on a lifting platform (5) capable of reciprocating along the up-down direction, and a translation driving assembly is further installed on the lifting platform (5) and can drive the translation sliding block (41) to reciprocate along the translation guide rail (42).

8. Gripper mechanism according to claim 7, characterized in that a lifting slider is mounted on the lifting platform (5), the lifting slider cooperates with a lifting guide rail (61) mounted on the support (6) and extending in an up-down direction, a lifting driving motor (52) is mounted on the lifting platform (5), a lifting driving gear is mounted at an output end of the lifting driving motor (52), and the lifting driving gear is engaged with a lifting rack (62) mounted on the support (6).

9. Gripper mechanism according to claim 5, characterized in that there are two support cantilevers (3), that two support cantilevers (3) are spaced apart in the left-right direction, and that one end of each support cantilever (3) is fixedly connected to the left and right ends of the upper plate (23).

10. The clamping jaw mechanism as claimed in claim 1, wherein two clamping jaws (1) are spaced apart from each other in the left-right direction, and two linear modules (26) are mounted on the lower plate (21), and the two linear modules (26) are respectively used for driving the two clamping jaws (1) to move in the left-right direction.