CN219485742U

CN219485742U - Flexible clamping jaw structure

Info

Publication number: CN219485742U
Application number: CN202320921665.0U
Authority: CN
Inventors: 唐卫东; 邓伟; 管民祥; 李德华
Original assignee: Dongguan Aohai Technology Co ltd
Current assignee: Dongguan Aohai Technology Co ltd
Priority date: 2023-04-21
Filing date: 2023-04-21
Publication date: 2023-08-08
Anticipated expiration: 2033-04-21

Abstract

The utility model discloses a flexible clamping jaw structure, which comprises a connecting locking block, a rotary driving mechanism and a clamping jaw module, wherein the connecting locking block comprises a locking block main body and a clamping part formed by extending at one side of the locking block main body, a through hole is formed in the center of the clamping part along the height direction, and a gap communicated with the through hole is formed in the suspension end of the clamping part along the height direction; the rotary driving mechanism is arranged on the locking block main body and comprises a rotary air cylinder and an electromagnetic valve connected with the rotary air cylinder, and the rotary air cylinder is positioned below the locking block main body; the clamping jaw module comprises a clamping jaw air cylinder and two clamping jaw ends which are arranged on the output ends of the clamping jaw air cylinders, and the clamping jaw air cylinders are arranged on the output ends of the rotating air cylinders. The flexible clamping jaw structure is provided with the through holes and the clamping parts communicated with the through holes along the height direction, so that the flexible clamping jaw structure can be clamped on the connecting ends of the mechanical arms with different types and specifications through the clamping parts, and the flexible clamping jaw structure is convenient to install and maintain, convenient to update and high in practicability.

Description

Flexible clamping jaw structure

Technical Field

The utility model relates to the technical field of robots, in particular to a flexible clamping jaw structure.

Background

With the improvement of the technology level and the development of economy, robots become an important auxiliary means for industrial operation, equipment on automation is increasingly favored by society, the application field of manipulators is expanding continuously, concepts are expanding continuously, and the manipulators can replace hands to complete some simple operations and can also perform more complex shape-following grabbing and operation.

Today there is a need for gripping material to move and place it in a fixed position, and for this purpose, most of the jaw mechanisms on the market include a clamping assembly for clamping and a rotating assembly for providing the clamping assembly with rotational power, while most of the clamping assemblies are powered by a screw motor, but when such clamping assemblies are installed, there is a problem of inconvenience in installation between the clamping assembly and the manipulator due to the limitation of the screw itself.

Disclosure of Invention

The utility model aims to solve the technical problem of providing a flexible clamping jaw structure which is simple in structure and convenient to install with a manipulator.

In order to solve the technical problems, the aim of the utility model is realized by the following technical scheme: the utility model provides a flexible clamping jaw structure, including connecting locking piece, rotary driving mechanism and clamping jaw module, connect the locking piece including locking piece main part and in the clamp portion that one side of locking piece main part extends formation, the central authorities of clamp portion are equipped with the through-hole along the direction of height, the suspension end of clamp portion is equipped with the gap along the direction of height, the gap with the through-hole intercommunication; the rotary driving mechanism is arranged on the locking block main body and comprises a rotary air cylinder and an electromagnetic valve, wherein the rotary air cylinder is positioned below the locking block main body, and the electromagnetic valve is connected with the rotary air cylinder; the clamping jaw module comprises a clamping jaw air cylinder and two clamping jaw ends which are arranged in two, wherein the clamping jaw air cylinder is arranged on the output end of the rotary air cylinder, and the two clamping jaw ends are arranged on the output end of the clamping jaw air cylinder.

The further technical scheme is as follows: the rotary driving mechanism further comprises a mounting plate, and the rotary air cylinder is mounted on the mounting plate.

The further technical scheme is as follows: two connecting pieces used for fixing two ends of the locking block main body are arranged above the rotary cylinder, and the connecting pieces are connected with the mounting plate.

The further technical scheme is as follows: and the opposite sides of the connecting piece are respectively and fixedly connected with a connecting block, so that the connecting blocks are arranged between the connecting piece and the locking piece main body.

The further technical scheme is as follows: the bottom of the locking block main body is concavely provided with a containing cavity for the elastic element to be arranged towards the top, one end of the elastic element is placed in the containing cavity and connected with the locking block main body, and the other end of the elastic element extends out of the locking block main body.

The further technical scheme is as follows: the air pipe joint of the rotary air cylinder adopts an L-shaped air pipe joint.

The further technical scheme is as follows: the number of the electromagnetic valves is two, one electromagnetic valve is connected with the rotary cylinder, and the other electromagnetic valve is connected with the clamping jaw cylinder.

The further technical scheme is as follows: and a rubber claw sleeve is sleeved on the clamping jaw end.

The further technical scheme is as follows: the clamping face of clamping jaw end is equipped with protruding line.

The further technical scheme is as follows: and a rubber cushion is arranged on the clamping surface of the clamping jaw end.

The beneficial technical effects of the utility model are as follows: the flexible clamping jaw structure is provided with the through holes and the clamping parts communicated with the through holes along the height direction, so that the flexible clamping jaw structure can be clamped on the connecting ends of the mechanical arms of robots of different types and specifications through the clamping parts, is convenient to install and maintain, is convenient to update and has strong practicability, in addition, the rotating cylinder is matched with the electromagnetic valve to realize the rotation of the clamping jaw module, and the clamping jaw cylinder is used for realizing the working driving of the clamping jaw ends.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a flexible clamping jaw structure according to an embodiment of the present utility model;

FIG. 2 is a schematic view of a flexible jaw structure according to another embodiment of the present utility model;

fig. 3 is a schematic installation view of an elastic element of a flexible clamping jaw structure according to an embodiment of the present utility model.

The figure identifies the description: 1. connecting the locking blocks; 11. a lock block main body; 12. a clamping part; 2. a rotary driving mechanism; 21. a rotary cylinder; 211. an angle adjusting screw; 212. an air pipe joint; 22. an electromagnetic valve; 23. a mounting plate; 231. countersunk head screw fixing holes; 3. a jaw module; 31. a clamping jaw cylinder; 32. a jaw end; 41. a connecting piece; 42. a connecting block; 5. an elastic element; 6. rubber cushion; 10. a three-way air pipe shunt.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the utility model. 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.

Referring to fig. 1 to 3, fig. 1 is a schematic structural diagram of a flexible clamping jaw structure provided by an embodiment of the present utility model, where the flexible clamping jaw structure includes a connection locking block 1, a rotation driving mechanism 2 and a clamping jaw module 3, the connection locking block 1 includes a locking block main body 11 and a clamping portion 12 formed by extending from one side of the locking block main body 11, a through hole is arranged in the center of the clamping portion 12 along the height direction, a gap is arranged at a suspension end of the clamping portion 12 along the height direction, and the gap is communicated with the through hole, so that the through hole can correspondingly match with connection ends of mechanical arms with different specifications and sizes to achieve expansion to a certain extent, and is tightly attached to the connection ends of the mechanical arms; the rotary driving mechanism 2 is arranged on the lock block main body 11, the rotary driving mechanism 2 comprises a rotary air cylinder 21 and an electromagnetic valve 22, the rotary air cylinder 21 is positioned below the lock block main body 11, and the electromagnetic valve 22 is connected with the rotary air cylinder 21; the clamping jaw module 3 comprises a clamping jaw air cylinder 31 and two clamping jaw ends 32 which are arranged in two, wherein the clamping jaw air cylinder 31 is arranged on the output end of the rotary air cylinder 21, and the two clamping jaw ends 32 are arranged on the output end of the clamping jaw air cylinder 31.

The clamping jaw cylinder 31 and the rotary cylinder 21 are connected with an air compressor to be powered by the air compressor. The electromagnetic valve 22 is connected with an air compressor to switch the air flow direction so as to control the rotary cylinder 21 to perform rotary motion, and also can control the clamping jaw cylinder 31 to perform clamping or releasing motion so as to drive the clamping jaw to clamp or open. The shape of the jaw end 32 may be designed according to practical requirements. The rotary cylinder 21 may be a gear type rotary cylinder, and the rotation angle of the rotary cylinder 21 may be adjusted by adjusting the position of the angle adjusting screw 211 of the gear type rotary cylinder in the cylinder body. The air compressor can be respectively connected with the clamping jaw cylinder 31 and the rotary cylinder 21 through an air pipe and a three-way air pipe shunt 10 and a solenoid valve 22. The clamping part 12 is arranged along the height direction and is communicated with the through hole, so that the flexible clamping jaw structure can be clamped on the connecting end of the mechanical arm of the robot with different types and specifications through the clamping part 12, the installation of the flexible clamping jaw structure is convenient for updating and maintaining, the practicability is high, the clamping jaw module 3 is realized through the matching of the rotating cylinder 21 and the electromagnetic valve 22, the working driving of the clamping jaw end 32 is realized through the clamping jaw cylinder 31, the structure is simple, and compared with the installation of the mechanical arm more convenient for a screw rod, the occupied volume is small.

Specifically, the air pipe joint 212 of the rotary cylinder 21 is an L-shaped air pipe joint. The L-shaped air pipe joint can enable the air pipe to cling to the rotary cylinder 21 and the clamping jaw cylinder 31 to conduct walking, space is saved, occupied space is small, the L-shaped air pipe joint can be an adjustable-speed L-shaped air pipe joint, and then speed of the rotary cylinder 21 during action can be adjusted.

Specifically, the number of the electromagnetic valves 22 may be two, wherein one electromagnetic valve 22 is connected to the rotary cylinder 21, and the other electromagnetic valve 22 is connected to the jaw cylinder 31 to control the operations of the rotary cylinder 21 and the jaw cylinder 31, respectively.

Specifically, in this embodiment, the rotary driving mechanism 2 further includes a mounting plate 23, and the rotary cylinder 21 is mounted on the mounting plate 23. The rotary cylinder 21 and the three-way air pipe splitter 10 are respectively positioned at two sides of the mounting plate 23. The rotary cylinder 21 may be fixedly mounted on the mounting plate 23 by means of pins. The mounting plate 23 may also be provided with a plurality of countersunk screw fixing holes 231 for mounting the mounting plate 23 with the rotary cylinder 21 and the three-way air pipe shunt 10.

Specifically, two connectors 41 for fixing two ends of the lock block body 11 are disposed above the rotary cylinder 21, and the connectors 41 are connected to the mounting plate 23. Preferably, the connecting piece 41 is -shaped, and the openings are disposed opposite to each other to form a receiving space in which the lock block body 11 is disposed. The lock block body 11 is clamped and fixed by a connecting piece 41.

Specifically, the opposite sides of the two connecting members 41 are fixedly connected with connecting blocks 42, respectively, such that the connecting blocks 42 are disposed between the connecting members 41 and the locking block main body 11. The connecting block 42 and the connecting piece 41 can be fixedly connected through a pin. The attachment of the lock block body 11 is made more stable and reliable by providing the connection block 42.

Specifically, the bottom of the lock block main body 11 is concavely formed with a containing cavity for the elastic element 5 to set up towards the top, one end of the elastic element 5 is placed in the containing cavity and is connected with the lock block main body 11, and the other end of the elastic element 5 extends out of the lock block main body 11 to be connected with the connecting block 42 or the mounting plate 23, so that a buffer space exists between the lock block main body 11 and the connecting block 42 or the mounting plate 23. Wherein, through set up the elastic component 5 in the inside of locking piece main part 11 and the both ends of elastic component 5 are connected with locking piece main part 11 and connecting block 42 respectively to when making the arm of robot appear bumping the machine trouble in debugging or operation in-process, play effective reliable buffering according to the characteristic of elastic component 5 about, reduce the injury of robot and bumped equipment. The elastic element 5 may be a telescopic spring.

Specifically, the clamping jaw end 32 is sleeved with a rubber jaw sleeve. By providing a rubber jaw sleeve, the contact between the jaw end 32 and the desired gripping object is made softer and tighter.

Specifically, the clamping surface of the clamping jaw end 32 may be provided with raised grains. By providing raised grains on the clamping surface of the clamping jaw end 32, the friction between the clamping jaw end 32 and the object to be grabbed can be increased, so that the clamping jaw end 32 and the object to be grabbed are tightly attached to each other. The raised grains may be diamond-shaped.

Specifically, the clamping surface of the clamping jaw end 32 may be provided with a rubber pad 6. By providing the rubber pad 6 on the gripping surface provided at the jaw end 32, scratching of the surface of the article during gripping is avoided. Preferably, the rubber pad 6 may be provided with raised grains, so that friction between the rubber pad 6 and the object to be grasped may be increased, and the rubber pad 6 and the object to be grasped may be adhered closely, and the raised grains may be diamond-shaped. The rubber pad 6 can be fixed by providing countersunk screws at the jaw ends 32.

In summary, the clamping part provided with the through hole and the gap communicated with the through hole along the height direction is arranged in the flexible clamping jaw structure, so that the flexible clamping jaw structure can be clamped on the connecting end of the mechanical arm of the robot with different types and specifications through the clamping part, the installation and the update of the mechanical arm are convenient, the maintenance are convenient, the practicability is high, in addition, the rotation of the clamping jaw module is realized through the rotary cylinder matched with the electromagnetic valve, the working driving of the clamping jaw end is realized through the clamping jaw cylinder, the structure is simple, the installation is more convenient compared with a screw rod, and the occupied volume is small.

While the utility model has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the utility model. Therefore, the protection scope of the utility model is subject to the protection scope of the claims.

Claims

1. A flexible jaw structure comprising:

the connecting lock block comprises a lock block main body and a clamping part formed by extending at one side of the lock block main body, wherein a through hole is formed in the center of the clamping part along the height direction, a gap is formed in the suspension end of the clamping part along the height direction, and the gap is communicated with the through hole;

the rotary driving mechanism is arranged on the locking block main body and comprises a rotary air cylinder and an electromagnetic valve, wherein the rotary air cylinder is positioned below the locking block main body, and the electromagnetic valve is connected with the rotary air cylinder;

the clamping jaw module comprises a clamping jaw air cylinder and two clamping jaw ends which are arranged in two, wherein the clamping jaw air cylinder is arranged on the output end of the rotary air cylinder, and the two clamping jaw ends are arranged on the output end of the clamping jaw air cylinder.

2. The flexible jaw structure of claim 1 wherein said rotary drive mechanism further comprises a mounting plate, said rotary cylinder being mounted to said mounting plate.

3. The flexible clamping jaw structure according to claim 2, wherein two connecting pieces for fixing two ends of the locking block main body are arranged above the rotary cylinder, and the connecting pieces are connected with the mounting plate.

4. A flexible jaw structure according to claim 3, wherein the opposite sides of the two connecting members are fixedly connected with connecting blocks, respectively, such that the connecting blocks are disposed between the connecting members and the locking block body.

5. A flexible jaw structure according to claim 3, wherein the bottom of the lock block body is concavely formed with a receiving cavity provided with an elastic element towards the top, one end of the elastic element is placed in the receiving cavity to be connected with the lock block body, and the other end of the elastic element extends out of the lock block body.

6. The flexible jaw structure of claim 1 wherein the air tube fitting of the rotary cylinder is an L-shaped air tube fitting.

7. The flexible jaw structure of claim 1 wherein the number of solenoid valves is two, one of said solenoid valves being connected to said rotary cylinder and the other of said solenoid valves being connected to said jaw cylinder.

8. The flexible jaw structure of claim 1 wherein said jaw ends are sleeved with rubber jaw sleeves.

9. The flexible jaw structure of claim 1 wherein the gripping surface of the jaw end is provided with raised grains.

10. The flexible jaw structure of claim 1 wherein a rubber pad is provided on the gripping surface of the jaw end.