CN216030880U - Electric clamping jaw and clamp assembly thereof - Google Patents
Electric clamping jaw and clamp assembly thereof Download PDFInfo
- Publication number
- CN216030880U CN216030880U CN202122697487.1U CN202122697487U CN216030880U CN 216030880 U CN216030880 U CN 216030880U CN 202122697487 U CN202122697487 U CN 202122697487U CN 216030880 U CN216030880 U CN 216030880U
- Authority
- CN
- China
- Prior art keywords
- clamping
- positioning
- chuck
- plate
- clamping jaw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to an electric clamping jaw and a clamp assembly thereof in the technical field of robots, comprising a clamping jaw, a chuck and a positioning pin; the clamping jaw comprises a connecting plate and a clamping plate, the connecting plate and the clamping plate are integrally formed, and one end of the positioning pin is connected to the clamping plate; the clamping head is provided with a positioning hole, and when the clamping plate clamps the clamping head, the other end of the positioning pin is inserted into the positioning hole. According to the utility model, the positioning pin is arranged on the clamping jaw and the positioning hole which is in plug-in fit with the positioning pin arranged on the chuck is arranged on the chuck, so that the relative position relationship between the clamping jaw and the chuck is fixed and unique after the chuck is clamped by the clamping jaw, and meanwhile, the relative sliding or rotation of the clamping jaw and the chuck caused by insufficient friction force can be effectively prevented.
Description
Technical Field
The utility model relates to the field of robots, in particular to an electric clamping jaw and a clamp assembly thereof.
Background
With the continuous development and application of the robot technology, the advantages of the robot are more and more prominent, for example, the robot can assist or even replace a human to complete heavy and complex work, such as a hotel cleaning robot, and can replace the work of cleaning a hotel toilet.
In the prior art, the manipulator includes an electric clamping jaw and a clamping jaw at the tail end thereof, and the working process of the manipulator generally comprises: the clamping jaws are opened, the electric clamping jaws move to the side of the corresponding position for placing the execution tool, the clamping jaws are closed to grasp the execution tool, and the electric clamping jaws are planned to a place needing to work according to the previous movement to drive the execution tool to start working. Whether the clamping jaw can smoothly and accurately take the corresponding execution tool is related to the operation precision of the robot, and whether the clamping jaw can complete corresponding work or not is influenced, and the effect and the efficiency of work execution are influenced.
The search of the prior art shows that the Chinese invention patent publication number is CN110919681A, discloses a robot end tool rapid switching device and a switching method, and relates to the technical field of automatic switching of robot end effectors. Comprising a first assembly body and a second assembly body; when first assembly body and second assembly body are connected, the second assembly body passes through hook portion B and the mutual hook of hook portion A of first assembly body, and the locking arm on the instrument dish offsets with the location breach on the base, and butt joint locking Assembly drives female joint and the butt joint of male joint when being used for the locking arm, or drives female joint and male joint separation when unblock locking arm. Although the device can be exchanged, the structure design is complex, and the operation efficiency is not good.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects in the prior art, the utility model aims to provide a clamp assembly for an electric clamping jaw and the electric clamping jaw.
The clamp assembly for the electric clamping jaw comprises a clamping jaw, a clamping head and a positioning pin;
the clamping jaw comprises a connecting plate and a clamping plate, the connecting plate and the clamping plate are integrally formed, and one end of the positioning pin is connected to the clamping plate;
the clamping head is provided with a positioning hole, and when the clamping plate clamps the clamping head, the other end of the positioning pin is inserted into the positioning hole.
In some embodiments, the clamping plate is provided with a connecting hole, and one end of the positioning pin is connected in the connecting hole.
In some embodiments, the positioning pin comprises a flange plate and a positioning column, the positioning column is located on the flange plate to form a T-shaped structure, and the flange plate is connected in the connecting hole.
In some embodiments, the flange plate and the connecting hole are connected by a threaded connection, a welding connection or an interference fit.
In some embodiments, the connection hole is a stepped through hole.
In some embodiments, the positioning pin further includes a guiding head, the guiding head is a cone structure extending outward from a free end of the positioning column, and the free end of the positioning column refers to an end opposite to the flange plate.
In some embodiments, there are a plurality of the positioning pins connected to the clamping plate, and the positioning pins are distributed on the same circumference at intervals.
In some embodiments, the surface of the clamping plate, which is attached to the clamping head, is a frosted rough surface or a knurled rough surface.
In some embodiments, the number of jaws matingly coupled to the chuck is 2-4.
The utility model also provides an electric clamping jaw, which adopts the clamp component for the electric clamping jaw and also comprises a mechanical arm, a depth camera and an execution tool;
the clamping jaws are connected to the tail end of the mechanical arm, the depth camera is installed on the mechanical arm and used for identifying and positioning an object to be clamped, and the chuck clamps the execution tool.
Compared with the prior art, the utility model has the following beneficial effects:
1. the utility model has simple structure, small volume, compactness, high space utilization rate and low manufacturing cost.
2. According to the utility model, the positioning pin is arranged on the clamping jaw and the positioning hole which is in plug-in fit with the positioning pin arranged on the chuck is arranged on the chuck, so that the relative position relationship between the clamping jaw and the chuck is fixed and unique after the chuck is clamped by the clamping jaw, and meanwhile, the relative sliding or rotation of the clamping jaw and the chuck caused by insufficient friction force can be effectively prevented.
3. According to the utility model, the matching precision between the clamping jaw and the chuck and the diversity of matching modes are improved by optimizing the structure of the positioning pin and the structural layout of the positioning pin on the connecting plate.
4. The utility model can reduce the holding force of the clamping jaw on the clamp and reduce the requirement on the clamping force of the clamping jaw, thereby using the clamping jaw with smaller size, leading the arm to be lighter and more flexible and saving energy.
5. The utility model can automatically guide and position, has high tolerance to the absolute precision and the repeated positioning precision of the mechanical arm, thereby reducing the requirements on machine vision and a corresponding 3D camera, the algorithm precision of the mechanical arm and the system precision of the whole robot.
Drawings
Other features, objects and advantages of the utility model will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural view of a clamp assembly for a motorized clamp jaw of the present invention mounted to a robotic arm;
FIG. 2 is a schematic view of the jaw of the present invention;
FIG. 3 is a schematic view of the chuck of the present invention;
FIG. 4 is a schematic structural view of a locating pin of the present invention;
fig. 5 is a schematic diagram of an exploded structure of the motorized jaw of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the utility model, but are not intended to limit the utility model in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the utility model. All falling within the scope of the present invention.
Example 1
The utility model provides a clamp assembly for an electric clamping jaw, which comprises a clamping jaw 1, a clamping head 2 and a positioning pin 3 as shown in figures 1-4. The clamping jaws 1 are mounted at the end of a robot arm of the electric clamping jaws for clamping the clamping head 2, the clamping head 2 is used for clamping an actuating tool, the actuating tool is used for grabbing objects, and the clamping jaws 1 for clamping the clamping head 2 are multiple, at least 2, or 3 or more clamping jaws, preferably, the number of the clamping jaws 1 matched with one clamping head 2 is 2-4. Clamping jaw 1 includes connecting plate 11 and splint 12, and connecting plate 11 and splint 12 are integrated into one piece, and preferably, the width of connecting plate 11 is less than the width of splint 12, and carries out the rounding off curve from the transition department that connecting plate 11 passes through to splint 12 and handle, alleviates clamping jaw 1's weight when strengthening clamping jaw 1 overall structure intensity. The connecting plate 11 is provided with a fixing screw hole which is used for being connected with a driving structure corresponding to the tail end of a mechanical arm of the electric clamping jaw, the connecting plate 11 is preferably a folded plate with an obtuse included angle, the obtuse angle range is larger than or equal to 135 degrees, the clamping plate 12 is used for clamping the chuck 2, the shape of the clamping plate 12 is matched with the shape of a shell of the chuck 2, and if the shell of the chuck 2 is rectangular, the clamping plate 12 is of a flat plate structure.
The positioning pin 3 is mounted on the clamping plate 12, and the connection mode can be welding, threaded connection, interference fit connection and the like. Preferably, the clamping plate 12 is provided with a connecting hole 121, an inner ring of the connecting hole 121 is provided with an inner thread, an end of the positioning pin 3 is provided with an outer thread, and the positioning pin 3 is in threaded connection with the connecting hole 121, so that the clamping plate is convenient to detach. The shell of the chuck 2 is provided with a positioning hole 21, and the positioning hole 21 is used for being in adaptive insertion connection with the positioning pin 3.
The working principle of the utility model is as follows: the clamping jaws 1 are mounted at the tail end of a mechanical arm of the electric clamping jaw through the connecting plate 11, the opening and closing movement of the clamping jaws 1 mounted on a tail end component is realized through a driving mechanism of the mechanical arm, when the clamping jaws 1 clamp the chuck 2, firstly, the positioning pins 3 on the clamping plate 12 are in adaptive insertion connection with the positioning holes 21 on the shell of the chuck 2, and then, the chuck 2 is clamped by the clamping jaws 1 by further increasing the driving force. According to the utility model, the positioning pin is arranged on the clamping jaw and the positioning hole which is matched with the positioning pin in an inserted manner is arranged on the chuck, so that the relative position relationship between the clamping jaw and the chuck is fixed and unique after the clamping jaw clamps the chuck, and meanwhile, the relative sliding or rotation of the clamping jaw and the chuck caused by insufficient friction force can be effectively prevented.
Example 2
This embodiment 2 is formed on the basis of embodiment 1, through the structure of optimizing the locating pin and the structural layout of locating pin on the connecting plate, improves the cooperation precision between clamping jaw and chuck and the flexibility of cooperation mode. Specifically, the method comprises the following steps:
as shown in fig. 1 to 4, the positioning pin 3 includes a flange plate 31 and a connecting column 32, the flange plate 31 is preferably a circular plate, and the connecting column 32 is preferably a cylinder. One end of the connecting column 32 is located on the surface of the flange plate 31, and preferably, the central axes of the two are coincident. At this time, the positioning hole 21 of the housing of the cartridge 2 is preferably a stepped hole, so that the outer surface of the flange plate 31 is flush with the outer surface of the housing of the cartridge 2 after the flange plate 31 is inserted into the positioning hole 21. The matching precision between the clamping jaw and the clamping head can be further improved through the stepped hole and the positioning pin of the flange type structure. Further, the positioning pin 3 further comprises a guiding head 33, the guiding head 33 is a cone structure extending outwards from the free end of the connecting column 32, and the guiding head 33 is preferably a cone structure in the form of a bullet structure. The seeker can effectively improve the matching connection efficiency of the clamping jaws and the clamping heads, and meanwhile, the precision requirement of the visual recognition device on objects is lowered.
Further, the number of the positioning pins 3 arranged on the connecting plate 12 is plural, and accordingly, the positioning holes 21 provided on the collet 2 are adapted to the number and positions of the positioning pins 3. The matching precision of the clamping jaw and the clamping head can be further improved by inserting the positioning pins and the positioning holes on the same side face. Preferably, the plurality of positioning pins 3 are arranged on the connecting plate 12 at intervals along the same circumference, that is, the plurality of positioning pins 3 are arranged at intervals along the circumference, preferably at equal intervals. For example, when the quantity of locating pin 3 is 4, 4 locating pins 3 distribute along same circumference equidistant, and at this moment, clamping jaw 1 can be connected with chuck 2 cooperation through vertical and horizontal two directions, has increased the flexibility that the chuck mode was got to the clamping jaw clamp to adapt to different operation scenes better.
Furthermore, a frosted rough surface is formed on the surface of the connecting plate 12, which is in contact with the shell of the chuck 2, through frosting treatment or a knurled rough surface is formed through hob processing, the static friction force between the clamping jaw 1 and the chuck 2 is increased through the frosted rough surface or the knurled rough surface, and the matching precision of the clamping jaw and the chuck is improved.
Example 3
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the utility model. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. The clamp assembly for the electric clamping jaw is characterized by comprising a clamping jaw (1), a clamping head (2) and a positioning pin (3);
the clamping jaw (1) comprises a connecting plate (11) and a clamping plate (12), the connecting plate (11) and the clamping plate (12) are integrally formed, and one end of the positioning pin (3) is connected to the clamping plate (12);
the clamping head (2) is provided with a positioning hole (21), and when the clamping head (2) is clamped by the clamping plate (12), the other end of the positioning pin (3) is inserted into the positioning hole (21).
2. The clamp assembly for electric clamping jaws according to claim 1, characterized in that the clamping plate (12) is provided with a connecting hole (121), and one end of the positioning pin (3) is connected in the connecting hole (121).
3. The clamp assembly for power-driven clamping jaws as claimed in claim 2, characterized in that said positioning pins (3) comprise a flange plate (31) and positioning posts (32), said positioning posts (32) are seated on said flange plate (31) to form a T-shaped structure, and said flange plate (31) is connected in said connecting holes (121).
4. The clamp assembly for a power jaw according to claim 3, characterized in that the flange plate (31) is connected to the connection hole (121) by screwing, welding or interference fit.
5. A clamp assembly for a powered gripping jaw according to any of claims 2-4, characterized in that said connection holes (121) are stepped through holes.
6. The clamp assembly for electric clamping jaws as claimed in claim 3, characterized in that said positioning pin (3) further comprises a guiding head (33), said guiding head (33) is a cone structure extending outwards from a free end of said positioning post (32), said free end of said positioning post (32) is an end opposite to said flange plate (31).
7. The clamp assembly for electric clamping jaws according to claim 1, characterized in that a plurality of said positioning pins (3) are connected to said clamping plate (12), said positioning pins (3) being distributed at intervals on the same circumference.
8. A chuck assembly for use with an electrically powered gripping jaw as claimed in claim 1, wherein said clamping plate (12) is provided with a frosted or knurled surface facing said chuck (2).
9. A chuck assembly for electric clamping jaws according to claim 1, characterized in that the number of clamping jaws (1) to be coupled with the chuck (2) is 2-4.
10. A motorized gripper, characterized by the use of a gripper assembly for motorized grippers according to any of claims 1 to 9, further comprising a robotic arm (4), a depth camera (5) and an execution tool (6);
the clamping jaws (1) are connected to the tail end of the mechanical arm (4), the depth camera (5) is installed on the mechanical arm (4) and used for identifying and positioning an object to be clamped, and the chuck (2) clamps the execution tool (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122697487.1U CN216030880U (en) | 2021-11-05 | 2021-11-05 | Electric clamping jaw and clamp assembly thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122697487.1U CN216030880U (en) | 2021-11-05 | 2021-11-05 | Electric clamping jaw and clamp assembly thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216030880U true CN216030880U (en) | 2022-03-15 |
Family
ID=80613232
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122697487.1U Active CN216030880U (en) | 2021-11-05 | 2021-11-05 | Electric clamping jaw and clamp assembly thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216030880U (en) |
-
2021
- 2021-11-05 CN CN202122697487.1U patent/CN216030880U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111770810B (en) | End effector and robot thereof | |
| US20130313791A1 (en) | Robotic tool change system | |
| JPH0215989A (en) | Pickup head | |
| CN216030880U (en) | Electric clamping jaw and clamp assembly thereof | |
| CN211889608U (en) | Automobile side positioning and clamping system | |
| CN210704891U (en) | Flexible clamp holder | |
| CN102001092B (en) | Mechanical arm for swarm-robot | |
| JPS60255385A (en) | Robot-manipulator | |
| CN113005038A (en) | Mechanical arm for stem cell culture | |
| CN114770524B (en) | Live working robot for power distribution network | |
| CN211541008U (en) | Manual robot clamp convenient to disassemble | |
| CN111170005A (en) | Loading and unloading device | |
| US20220193925A1 (en) | Tool Changing System, Industrial Robot And Method Of Handling Tool By Industrial Robot | |
| CN211639838U (en) | Robot is from using repair tools storehouse | |
| CN210910076U (en) | Three-jaw robot end effector | |
| CN208601519U (en) | Commutate clamping manipulator | |
| CN218837768U (en) | Transfer robot | |
| CN110757494A (en) | Connecting part, manipulator and robot | |
| CN112828917A (en) | Robot system and tool replacement method | |
| CN219780528U (en) | Circuit board snatchs auxiliary fixtures | |
| CN216299342U (en) | Manipulator and multi-claw clamp thereof | |
| CN217475969U (en) | Paw device | |
| TW201831292A (en) | Guide slot type gripper device comprises a finger base, a driving unit, a pair of sliding members driven by the driving unit to generate a relative approaching or departing movement, and a pair of finger units respectively mounted on the sliding members | |
| CN220348434U (en) | Clamp holder and robot | |
| CN218018505U (en) | Mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 311231 building 3, No. 477, Hongxing Road, Qiaonan block, economic and Technological Development Zone, Xiaoshan District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Jingwu Intelligent Technology Co.,Ltd. Address before: Room 12, 3rd floor, No.2 Lane 1446, Yunguan Road, Lingang New District, Pudong New Area pilot Free Trade Zone, Shanghai, 201306 Patentee before: Shanghai Jingwu Intelligent Technology Co.,Ltd. |