CN219095158U

CN219095158U - Snatch rotatory clamping jaw

Info

Publication number: CN219095158U
Application number: CN202223350183.9U
Authority: CN
Inventors: 曾翔宇
Original assignee: Sichuan Orienter Biotechnology Co Ltd
Current assignee: Sichuan Orienter Biotechnology Co Ltd
Priority date: 2022-12-14
Filing date: 2022-12-14
Publication date: 2023-05-30
Anticipated expiration: 2032-12-14

Abstract

The utility model discloses a grabbing rotary clamping jaw which comprises a base, a pair of power arms, a gear set and a pair of claw heads, wherein the base is rotationally connected with a rotary seat, and the rotary seat is provided with a grabbing motor; the grabbing motor is in transmission connection with the power arm through a gear set; the claw head is detachably connected with the mounting seat. The power arm is controlled by the grabbing motor to rotate, the installation seats are driven to be close to each other, so that two claw heads are driven to be close to each other to achieve grabbing, the angles are kept unchanged all the time in the moving process of the installation seats due to the parallelogram frame structure, grabbing can be achieved by being close to each other under the condition that the angles of the two claw heads are unchanged, no matter how large the articles are, the angles of the claw heads are unchanged all the time, the distance between the two claw heads is changed, therefore, the grabbing of articles with different sizes can be adapted, when the special-shaped articles are faced, a user only needs to rotate the rotation seat to drive the claw heads to revolve, and the faces, which are convenient to clamp, of the articles are selected for grabbing can be achieved.

Description

Snatch rotatory clamping jaw

Technical Field

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

Background

The mechanical clamping jaw is mainly used in the fields of robots and mechanical arms, and along with the increasing complexity and difficulty of working environments required to be dealt with in the fields, the mechanical clamping jaw needs to be subjected to adaptability improvement so as to meet various different use requirements.

One of the current use requirements includes the following key points: (1) The device can adaptively and stably grasp articles with different sizes and shapes; (2) The grabbing angle can be adaptively adjusted according to the shape of the article; (3) simple structure and convenient use.

Disclosure of Invention

The utility model aims to provide a grabbing rotary clamping jaw which can solve the technical problem that an existing mechanical clamping jaw cannot carry out adaptive grabbing according to the size and shape of an article.

The utility model is realized by the following technical scheme:

a gripping rotary jaw comprising: the base is used for being connected with an external environment, and is rotationally connected with a rotary seat which is provided with a grabbing motor; the power arms are symmetrically arranged, one end of each power arm is hinged with the rotary seat shaft through a first shaft, the other end of each power arm is hinged with an installation seat through a second shaft, the installation seat is hinged with a driven arm through a third shaft, the driven arm is hinged with the rotary seat shaft through a fourth shaft, and the first shaft, the second shaft, the third shaft and the fourth shaft are enclosed to form a parallelogram; the grabbing motor is in transmission connection with the power arm through the gear set, so that the power arm rotates by taking the first shaft as a shaft, and the two mounting seats can be mutually close to or far away from each other; the pair of claw heads are detachably connected with the mounting seat.

Optionally, the gear set includes an input gear and a pair of output gears, the input gear is sleeved on an output shaft of the grabbing motor; the pair of output gears are in one-to-one correspondence with the pair of power arms, are sleeved on the first shaft and are fixedly connected with the corresponding power arms; the two output gears are meshed, and any one of the output gears is meshed with the input gear.

Optionally, the rotary seat comprises a panel and a back plate, the grabbing motor, the input gear and the output gear are all arranged between the panel and the back plate, and two ends of the first shaft and two ends of the fourth shaft are respectively connected with the panel and the back plate.

Optionally, the rotary seat further comprises a bottom plate, the bottom plate is clamped between the face plate and the back plate, the bottom plate is connected with a rotating shaft, and the rotating shaft penetrates through the base and is in rotary connection with the base.

Optionally, the rotating shaft is screwed with the base through a bearing.

Optionally, the pivot link up the one end cover of base is equipped with the rotation gear, rotation gear transmission is connected with the rotating electrical machines, the rotating electrical machines with base and/or external environment fixed connection.

Optionally, the mount pad is equipped with the intermediate layer chamber, the power arm with the driven arm is kept away from the one end of seat soon all is located the intermediate layer intracavity, the width in intermediate layer chamber with the power arm reaches driven arm's thickness matches.

Optionally, the claw head includes installation department and clamping part, the installation department with the clamping part is L shape and connects, the installation department be used for with the mount pad can dismantle the connection, the clamping part is followed and is kept away from the direction of rotating the seat extends.

Optionally, the clamping parts are plate-shaped, and two clamping parts are arranged in parallel.

Optionally, the mounting portion is bolted to the mounting seat.

Compared with the prior art, the utility model has the following advantages and beneficial effects:

according to the grabbing rotary clamping jaw, the base is arranged and fixedly connected with the external environment, so that a supporting foundation and a structural foundation are provided for the grabbing rotary clamping jaw; on the basis, the rotary seat is rotatably connected with the base by arranging the rotary seat, so that the rotary seat can horizontally rotate on the basis of the base; on the basis, a pair of power arms, a pair of driven arms and a pair of mounting seats are arranged on the rotary seat, the rotary seat is hinged with the first shaft, the second shaft, the third shaft and the fourth shaft to form a parallelogram structure, and the parallelogram frame structure can be driven to compress and relax by rotating the power arms, so that the two mounting seats are driven to be close to or far away from each other; on the basis, the grabbing motor is in transmission connection with the power arm through the gear set by arranging the gear set and the grabbing motor, and the grabbing motor is used for controlling the rotation of the power arm, so that the installation seats are controlled to be close to or far from each other; on the basis, a pair of claw heads are arranged, the claw heads are detachably connected with the two mounting seats respectively, the power arm is controlled to rotate through the grabbing motor, the mounting seats are driven to approach each other, so that the two claw heads are driven to approach each other to achieve grabbing, in the process, the angle of the mounting seats is kept unchanged all the time due to the parallelogram frame structure, the claw heads can be guaranteed to be positioned close to each other under the condition that the angle of the claw heads is unchanged, grabbing stability can be effectively guaranteed, the angle of the claw heads is unchanged all the time no matter how large an article is, and the space between the two claw heads is only changed, so that the claw heads can adapt to grabbing of articles with different sizes; on this basis, when facing the article of shape dysmorphism, the user only need rotate the seat of revolve, drive the claw head revolution, select the face that the article is convenient for the centre gripping snatch can, can effectively solve current mechanical clamping jaw and can't carry out the technical problem that the adaptability snatched according to the size, the shape of article.

Drawings

The accompanying drawings, which are included to provide a further understanding of embodiments of the utility model and are incorporated in and constitute a part of this application, illustrate embodiments of the utility model. In the drawings:

FIG. 1 is a cross-sectional view of a gripping rotary jaw provided in an embodiment of the present utility model;

fig. 2 is a schematic front view of a grabbing rotary jaw according to an embodiment of the present utility model;

fig. 3 is a schematic side view of a grabbing rotary jaw according to an embodiment of the present utility model.

In the drawings, the reference numerals and corresponding part names:

10-a base; 20-rotating seats; 21-a panel; 22-a back plate; 23-a bottom plate; 24-rotating shaft; 241-a rotating gear; 242-rotating electrical machines; 25-bearings; 30-grabbing a motor; 40-a power arm; 41-a first shaft; 42-second axis; 43-third axis; 44-fourth axis; 50-mounting seats; 51-interlayer cavity; 60-driven arm; 70-claw heads; 71-an installation part; 72-clamping part; 80-input gear; 81-output gear.

Detailed Description

For the purpose of making apparent the objects, technical solutions and advantages of the present utility model, the present utility model will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present utility model and the descriptions thereof are for illustrating the present utility model only and are not to be construed as limiting the present utility model.

Examples

Referring to fig. 1 to 3, the present embodiment provides a grabbing rotary clamping jaw, which includes: the base 10 is used for being connected with an external environment, the base 10 is rotatably connected with a rotary seat 20, and the rotary seat 20 is provided with a grabbing motor 30; the second comprises a pair of power arms 40, two power arms 40 are symmetrically arranged, one end of each power arm 40 is hinged with the rotary seat 20 through a first shaft 41, the other end of each power arm is hinged with an installation seat 50 through a second shaft 42, the installation seat 50 is hinged with a driven arm 60 through a third shaft 43, the driven arm 60 is hinged with the rotary seat 20 through a fourth shaft 44, and the first shaft 41, the second shaft 42, the third shaft 43 and the fourth shaft 44 are enclosed to form a parallelogram; the third comprises a gear set, the grabbing motor 30 is in transmission connection with the power arm 40 through the gear set, so that the power arm 40 rotates by taking the first shaft 41 as a shaft, and the two mounting seats 50 can be mutually close to or far from each other; fourth, a pair of jaws 70 are included, the jaws 70 being removably coupled to the mount 50.

The grabbing rotary clamping jaw provided by the embodiment is fixedly connected with the external environment through the base 10, and provides a supporting foundation and a structural foundation for the grabbing rotary clamping jaw; on the basis, the rotary seat 20 is rotatably connected with the base 10 by arranging the rotary seat 20, so that the rotary seat 20 can horizontally rotate on the basis of the base 10; on the basis, a pair of power arms 40, a pair of driven arms 60 and a pair of mounting seats 50 are arranged on the rotary seat 20, and are hinged with the rotary seat 20 through a first shaft 41, a second shaft 42, a third shaft 43 and a fourth shaft 44 to form a parallelogram structure, and the parallelogram frame structure can be driven to compress and relax by rotating the power arms 40, so that the two mounting seats 50 are driven to be close to or far away from each other; on the basis, by arranging a gear set and a grabbing motor 30, the grabbing motor 30 is in transmission connection with the power arm 40 through the gear set, and the grabbing motor 30 is used for controlling the rotation of the power arm 40, so that the installation seats 50 are controlled to be close to or far from each other; on the basis, a pair of claw heads 70 are arranged, the claw heads 70 are detachably connected with two mounting seats 50 respectively, the power arm 40 is controlled to rotate through the grabbing motor 30, the mounting seats 50 are driven to approach each other, so that the two claw heads 70 are driven to approach each other to realize grabbing, in the process, the angle of the claw heads 70 is kept unchanged all the time due to the parallelogram frame structure in the moving process of the mounting seats 50, grabbing can be realized by approaching each other under the condition that the angle of the two claw heads 70 is unchanged, the grabbing stability can be effectively ensured, and the angle of the claw heads 70 is unchanged all the time regardless of the size of an article, only the interval between the two claw heads 70 is changed, so that the claw heads can adapt to grabbing of articles with different sizes; on the basis, when facing the shaped article, the user only needs to rotate the rotary seat 20 to drive the claw head 70 to revolve, and the surface of the article convenient to clamp is selected to grasp, so that the technical problem that the existing mechanical clamping jaw cannot grasp adaptively according to the size and shape of the article can be effectively solved.

To further explain the specific composition and implementation of the gear set in this embodiment, the gear set includes an input gear 80 and a pair of output gears 81, where the input gear 80 is sleeved on the output shaft of the grabbing motor 30; the pair of output gears 81 are in one-to-one correspondence with the pair of power arms 40, and the output gears 81 are sleeved on the first shaft 41 and fixedly connected with the corresponding power arms 40; two of the output gears 81 are engaged, and any one of the output gears 81 is engaged with the input gear 80.

In order to provide sufficient structural support for the first shaft 41 and the fourth shaft 44 and to protect the gear set to a certain extent, the rotary base 20 includes a front plate 21 and a back plate 22, the grabbing motor 30, the input gear 80 and the output gear 81 are all disposed between the front plate 21 and the back plate 22, and two ends of the first shaft 41 and two ends of the fourth shaft 44 are respectively connected with the front plate 21 and the back plate 22.

Through the arrangement, the panel 21 and the back plate 22 are utilized to form an interlayer, the gear set and the grabbing motor 30 are arranged in the interlayer, structural protection is provided for the gear set and the grabbing motor 30, and meanwhile, the two ends of the first shaft 41 and the fourth shaft 44 are simultaneously supported through the panel 21 and the back plate 22, and effective structural support is respectively carried out on the two shafts.

Preferably, the rotary seat 20 further includes a bottom plate 23, the bottom plate 23 is sandwiched between the front plate 21 and the back plate 22, the bottom plate 23 is connected with a rotating shaft 24, and the rotating shaft 24 penetrates through the base 10 and is screwed with the base 10.

By providing the bottom plate 23, the bottom plate 23 is used to connect the front plate 21 and the back plate 22 as one body and provide a mounting base for the rotation shaft 24.

Preferably, in order to improve the smoothness of rotation of the rotating shaft 24, the rotating shaft 24 is screwed with the base 10 through a bearing 25.

In order to realize automatic control of the rotating shaft 24, instead of manual rotation, a rotating gear 241 is sleeved at one end of the rotating shaft 24 penetrating through the base 10, the rotating gear 241 is in transmission connection with a rotating motor 242, and the rotating motor 242 is fixedly connected with the base 10 and/or the external environment.

In order to improve the connection performance between the power arm 40 and the driven arm 60 and the mounting seat 50, the mounting seat 50 is provided with an interlayer cavity 51, one ends of the power arm 40 and the driven arm 60, which are far away from the rotary seat 20, are located in the interlayer cavity 51, and the width of the interlayer cavity 51 is matched with the thicknesses of the power arm 40 and the driven arm 60.

To further explain the specific structure of the jaw 70, the jaw 70 includes a mounting portion 71 and a clamping portion 72, where the mounting portion 71 and the clamping portion 72 are connected in an L shape, the mounting portion 71 is configured to be detachably connected to the mounting base 50, and the clamping portion 72 extends in a direction away from the spin base 20.

Preferably, the clamping portion 72 is plate-shaped, and two clamping portions 72 are disposed in parallel.

Preferably, the mounting portion 71 is bolted to the mounting base 50.

The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the utility model, and is not meant to limit the scope of the utility model, but to limit the utility model to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the utility model are intended to be included within the scope of the utility model.

Claims

1. A gripping rotary jaw, comprising:

the base (10) is used for being connected with an external environment, the base (10) is rotationally connected with a rotary seat (20), and the rotary seat (20) is provided with a grabbing motor (30);

the pair of power arms (40) are symmetrically arranged, one end of each power arm (40) is hinged with the rotary seat (20) through a first shaft (41), the other end of each power arm is hinged with an installation seat (50) through a second shaft (42), the installation seats (50) are hinged with driven arms (60) through third shafts (43), the driven arms (60) are hinged with the rotary seat (20) through fourth shafts (44), and the first shafts (41), the second shafts (42), the third shafts (43) and the fourth shafts (44) are enclosed to form parallelograms;

the grabbing motor (30) is in transmission connection with the power arm (40) through the gear set, so that the power arm (40) rotates by taking the first shaft (41) as a shaft, and the two mounting seats (50) can be mutually close to or far away from each other;

-a pair of jaws (70), said jaws (70) being removably connected to said mounting base (50).

2. The gripping and rotating jaw as claimed in claim 1, characterized in that said gear set comprises an input gear (80) and a pair of output gears (81), said input gear (80) being housed in an output shaft of said gripping motor (30);

the pair of output gears (81) are in one-to-one correspondence with the pair of power arms (40), and the output gears (81) are sleeved on the first shafts (41) and fixedly connected with the corresponding power arms (40);

two of the output gears (81) are meshed, and any one of the output gears (81) is meshed with the input gear (80).

3. The grabbing rotary clamping jaw as claimed in claim 2, wherein the rotary seat (20) comprises a panel (21) and a back plate (22), the grabbing motor (30), the input gear (80) and the output gear (81) are all arranged between the panel (21) and the back plate (22), and two ends of the first shaft (41) and two ends of the fourth shaft (44) are respectively connected with the panel (21) and the back plate (22).

4. A gripping and rotating jaw according to claim 3, characterized in that the swivel base (20) further comprises a bottom plate (23), the bottom plate (23) being sandwiched between the face plate (21) and the back plate (22), the bottom plate (23) being connected with a rotation shaft (24), the rotation shaft (24) penetrating the base (10) and being screwed with the base (10).

5. Gripping and rotating jaw according to claim 4, characterized in that the shaft (24) is screwed to the base (10) by means of bearings (25).

6. The grabbing rotary clamping jaw as claimed in claim 4, wherein a rotary gear (241) is sleeved at one end of the rotary shaft (24) penetrating through the base (10), the rotary gear (241) is in transmission connection with a rotary motor (242), and the rotary motor (242) is fixedly connected with the base (10) and/or the external environment.

7. The grabbing and rotating clamping jaw according to claim 1, wherein the mounting base (50) is provided with an interlayer cavity (51), one end, far away from the rotating base (20), of the power arm (40) and the driven arm (60) are located in the interlayer cavity (51), and the width of the interlayer cavity (51) is matched with the thicknesses of the power arm (40) and the driven arm (60).

8. The grabbing and rotating jaw as claimed in claim 1, wherein said jaw head (70) comprises a mounting portion (71) and a clamping portion (72), said mounting portion (71) and said clamping portion (72) being L-shaped for connection, said mounting portion (71) being adapted for detachable connection with said mounting base (50), said clamping portion (72) extending in a direction away from said swivel base (20).

9. Gripping and rotating jaw according to claim 8, characterized in that the gripping portions (72) are plate-shaped, two gripping portions (72) being arranged in parallel.

10. Gripping and rotating jaw according to claim 8, characterized in that the mounting portion (71) is bolted to the mounting seat (50).