CN218927834U

CN218927834U - Clamping jaw part of manipulator

Info

Publication number: CN218927834U
Application number: CN202223343662.8U
Authority: CN
Inventors: 王奕
Original assignee: Anhui University of Technology AHUT
Current assignee: Anhui University of Technology AHUT
Priority date: 2022-12-13
Filing date: 2022-12-13
Publication date: 2023-04-28
Anticipated expiration: 2032-12-13

Abstract

The utility model discloses a clamping jaw part of a mechanical arm, and relates to the technical field of mechanical clamping jaws. The hand claw and thumb claw comprise a first claw body and a second claw body respectively, a connecting shaft is arranged at a turning position of the palm center of the first claw body, the first claw body is connected with the second claw body through the connecting shaft, an inner cavity is arranged at the palm center of the first claw body, a retaining plate is fixedly connected to the bottom of the palm root of the first claw body, a threaded rod is connected between the retaining plate and the inner wall of one end of the inner cavity in a rotating mode, and a connecting rod is arranged at the top of the second claw body. According to the utility model, through the arrangement of the palm claw, the thumb claw and the like, the clamping jaw of the manipulator is driven by the simple threaded screw principle, so that the clamping and holding functions of the clamping jaw can be realized, the daily life requirement of disabled patients is met, the driving mode can effectively reduce the use of a manipulator compact device, the use cost and the production cost of the manipulator are reduced, the later maintenance and repair are convenient, and the effect is better.

Description

Clamping jaw part of manipulator

Technical Field

The utility model relates to the technical field of mechanical clamping jaws, in particular to a clamping jaw part of a mechanical arm.

Background

The robot claw is a robot part that can realize a function similar to a human hand. A robot hand is a member for holding a workpiece or a tool, and is one of the important actuators.

The mechanical claw with the authorized bulletin number of CN214293158U discloses that the claw piece assembly comprises a plurality of opening and closing claw piece parts which are arranged at intervals along the circumferential direction, the opening and closing claw piece parts comprise clamping claw pieces and supporting claw pieces, the rear ends of the supporting claw pieces are hinged with the rotating frame, the front ends of the supporting claw pieces are hinged with the front middle parts of the clamping claw pieces, and the front ends of the clamping claw pieces are hinged with the connecting frame. The mechanical claw provided by the utility model is flexible in action, can continuously rotate by 360 degrees, and is high in opening and closing action accuracy.

The mechanical claw has wide application and is always applicable to some disabled-aiding wheelchairs, but most mechanical claws on the market are similar to those of the patent, have a large number of compact devices, have a complex transmission structure, not only increase the purchase cost of applicable people, but also cause high maintenance cost due to the loss and failure problems caused by the structure after long-time use.

Disclosure of Invention

The utility model aims to provide a clamping jaw part of a manipulator, so as to solve the problems in the background art.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the clamping jaw component of the mechanical hand comprises a palm claw and a thumb claw, wherein the palm claw and the thumb claw respectively comprise a first claw body and a second claw body, a connecting shaft is arranged at a palm center turning position of the first claw body, and the first claw body is connected with the second claw body through the connecting shaft;

an inner cavity is formed in the palm center of the claw body, a retaining plate is fixedly connected to the bottom of the palm root of the claw body, and a threaded rod is rotatably connected between the retaining plate and the inner wall of one end of the inner cavity;

a connecting rod is arranged at the top of the second claw body, a sliding block is movably connected to the surface of the threaded rod, and the threaded rod is connected with the connecting rod through the sliding block.

Preferably, a groove is formed in the palm back of the first claw body, a second motor is arranged in the groove, and the output end of the second motor is fixedly connected to one end of the threaded rod.

Preferably, an oil cylinder is arranged at the top of the first claw body, a notch is arranged at the tail end of the oil cylinder, the inner wall of the notch is fixedly connected with a first motor, and the output end of the first motor is fixedly connected to the palm back plane of the first claw body.

Preferably, the two tops of the claw bodies are provided with a yielding groove, a shaft lever is fixedly connected between the inner walls of the two ends of the yielding groove, and one end of the connecting rod is rotationally connected to the surface of the middle part of the shaft lever.

Preferably, the bottom of the sliding block is provided with a notch, and the other end of the connecting rod is rotationally connected between the inner walls at two sides of the notch.

Compared with the prior art, the utility model has the beneficial effects that:

the clamping jaw part of the manipulator is driven by the simple screw thread screw principle through the palm claw, the thumb claw and the like, the clamping jaw of the manipulator can realize the clamping and holding functions, the requirement of daily life of disabled patients is met, the driving mode can effectively reduce the use of the manipulator compact device, the use cost and the production cost of the manipulator are reduced, the later maintenance and the repair are convenient, and the effect is better.

Simultaneously, the clamping jaw part of the manipulator can effectively reduce the weight of the manipulator, the manipulator is more flexible to use, and meanwhile, the manipulator is close to the shape of a human hand, the object is clamped more easily, and the use is simpler.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present utility model;

FIG. 2 is a schematic view of the thumb pawl structure of the present utility model;

FIG. 3 is a schematic cross-sectional view of the present utility model;

fig. 4 is a schematic view of the paw structure of the present utility model.

In the figure: 1. palm claws; 101. a first claw body; 102. a retaining plate; 103. an inner cavity; 104. a threaded rod; 105. a slide block; 106. a connecting shaft; 2. thumb claws; 201. a second claw body; 202. a shaft lever; 203. a relief groove; 204. a connecting rod; 3. an oil cylinder; 4. a first motor; 5. and a second motor.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that, in the description of the present utility model, the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, only for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or elements to be referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

Furthermore, it should be understood that the dimensions of the various elements shown in the figures are not drawn to actual scale, e.g., the thickness or width of some layers may be exaggerated relative to other layers for ease of description.

It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined or illustrated in one figure, no further detailed discussion or description thereof will be necessary in the following description of the figures.

As shown in fig. 1 to 4, the present utility model provides a technical solution: the clamping jaw component of the mechanical hand comprises a palm jaw 1 and a thumb jaw 2, wherein the palm jaw 1 and the thumb jaw 2 respectively comprise a first jaw body 101 and a second jaw body 201, a connecting shaft 106 is arranged at a palm center turning position of the first jaw body 101, and the first jaw body 101 is connected with the second jaw body 201 through the connecting shaft 106;

an inner cavity 103 is formed in the palm center of the first claw body 101, a retaining plate 102 is fixedly connected to the bottom of the palm root of the first claw body 101, and a threaded rod 104 is rotatably connected between the retaining plate 102 and the inner wall of one end of the inner cavity 103;

a connecting rod 204 is arranged at the top of the second claw body 201, the surface of the threaded rod 104 is movably connected with a sliding block 105, and the threaded rod 104 is connected with the connecting rod 204 through the sliding block 105.

The clamping jaw of the manipulator is driven by a simple threaded screw principle, so that the clamping and holding functions of the clamping jaw can be realized, the daily life requirement of disabled patients is met, the driving mode can effectively reduce the use of a manipulator compact device, the use cost and the production cost of the manipulator are reduced, and the later maintenance and the repair are facilitated

To ensure smooth implementation of this embodiment, it should be appreciated that the palm back of the first claw body 101 is provided with a groove, a second motor 5 is disposed in the groove, the output end of the second motor 5 is fixedly connected to one end of the threaded rod 104, the threaded rod 104 can be driven to rotate by the second motor 5, the threaded rod 104 can act on the slide block 105 and the connecting rod 204, the second motor 5 is a stepper motor, the stepper motor has excellent start-stop and reverse response, no electric brush is provided, the structure is simpler, and more excellent control can be obtained by using the motor, and meanwhile, the cost can be controlled.

Furthermore, the top of the first claw body 101 is provided with the oil cylinder 3, the tail end of the oil cylinder 3 is provided with a notch, the inner wall of the notch is fixedly connected with the first motor 4, the output end of the first motor 4 is fixedly connected to the palm back plane of the first claw body 101, the whole mechanical claw is driven to rotate through the first motor 4, and the distance that the mechanical claw can touch can be further increased due to the arrangement of the oil cylinder 3, so that the mechanical claw is more flexible and higher in practicability.

It should be understood that, regarding the scheme, the top of the second jaw 201 is provided with a yielding groove 203, a shaft lever 202 is fixedly connected between inner walls of two ends of the yielding groove 203, one end of a connecting rod 204 is rotatably connected to the middle surface of the shaft lever 202, under the support of the structure, one end of the connecting rod 204 can prop against the second jaw, when the connecting rod 204 changes under the action of the threaded rod 104, the end can brake the second jaw 201 to rotate, and the second jaw 201 is driven to clamp and release.

In order to ensure smooth implementation of this embodiment, it should be noted that a notch is provided at the bottom of the slider 105, the other end of the connecting rod 204 is rotatably connected between the inner walls at two sides of the notch, and under the support of this structure, the connecting rod 204 is rotatably connected with the slider 105, so that the connecting rod 204 continuously pushes the thumb claw 2 to perform angle conversion without interference under the change of the position of the slider 105, and meanwhile, the slider 105 also provides a certain position limit for the connecting rod 204, so that the slider 105 can act on the connecting rod 204 and meanwhile, the stability of the connecting rod 204 is ensured.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The clamping jaw part of the manipulator comprises a palm claw (1) and a thumb claw (2), and is characterized in that: the palm claw (1) and the thumb claw (2) respectively comprise a first claw body (101) and a second claw body (201), a connecting shaft (106) is arranged at the turning position of the palm center of the first claw body (101), and the first claw body (101) is connected with the second claw body (201) through the connecting shaft (106);

an inner cavity (103) is formed in the palm center of the first claw body (101), a retaining plate (102) is fixedly connected to the bottom of the palm root of the first claw body (101), and a threaded rod (104) is rotatably connected between the retaining plate (102) and the inner wall of one end of the inner cavity (103);

a connecting rod (204) is arranged at the top of the second claw body (201), a sliding block (105) is movably connected to the surface of the threaded rod (104), and the threaded rod (104) is connected with the connecting rod (204) through the sliding block (105).

2. A jaw assembly for a manipulator as claimed in claim 1, wherein: the palm back of the claw body I (101) is provided with a groove, a motor II (5) is arranged in the groove, and the output end of the motor II (5) is fixedly connected with one end of a threaded rod (104).

3. A jaw assembly for a manipulator as claimed in claim 1, wherein: the claw body I (101) is provided with hydro-cylinder (3) at the top, and hydro-cylinder (3) end is provided with the notch, notch inner wall fixedly connected with motor I (4), motor I (4) output fixed connection in the palm back plane department of claw body I (101).

4. A jaw assembly for a manipulator as claimed in claim 1, wherein: and a yielding groove (203) is formed in the top of the second claw body (201), a shaft lever (202) is fixedly connected between the inner walls of the two ends of the yielding groove (203), and one end of a connecting rod (204) is rotatably connected to the surface of the middle part of the shaft lever (202).

5. A jaw assembly for a manipulator as claimed in claim 1, wherein: the bottom of the sliding block (105) is provided with a notch, and the other end of the connecting rod (204) is rotationally connected between the inner walls at two sides of the notch.