CN220261040U

CN220261040U - Mechanical claw linkage device

Info

Publication number: CN220261040U
Application number: CN202321877375.7U
Authority: CN
Inventors: 谭玉磊; 赵岩; 梁金鑫; 张华麟; 蒋习振; 方子恒; 何康康
Original assignee: Shihezi University
Current assignee: Shihezi University
Priority date: 2023-07-18
Filing date: 2023-07-18
Publication date: 2023-12-29
Anticipated expiration: 2033-07-18

Abstract

The utility model belongs to the technical field of mechanical claws, in particular to a mechanical claw linkage device, which comprises a connecting frame, wherein a first gear and a second gear are rotationally connected inside the connecting frame, the first gear is meshed with the second gear, a motor for driving the first gear to rotate is further arranged at the front end of the connecting frame, connecting rods are fixed on the first gear and the second gear, and fixed blocks are fixed at the front ends of the two connecting rods; according to the mechanical claw linkage device, through the matched use of the connecting sheet, the inclined plate, the positioning rod and the guide groove, the length and the inclined angle of the inclined plate can be conveniently adjusted, and workers can be facilitated to quickly install and detach the clamping arm main body, so that the clamping arm main body of the mechanical claw linkage device can be correspondingly replaced and used according to the shape or the size of a workpiece to be clamped, and meanwhile, the two clamping arm main bodies can be quickly replaced, and therefore the influence on production efficiency is avoided.

Description

Mechanical claw linkage device

Technical Field

The utility model belongs to the technical field of mechanical claws, and particularly relates to a mechanical claw linkage device.

Background

The robot claw is a robot component that can realize a function similar to a human hand. The robot claw is a part for holding a workpiece or a tool, is one of important execution mechanisms, and can be divided into three types according to the shape of the workpiece held by the robot: mechanical grippers, also known as mechanical grippers, comprising 2 fingers, 3 fingers and deformed fingers; special claws including magnetic chuck, welding gun, etc.; general paw, including 2 to 5 fingers;

in the prior art, a plurality of mechanical claw linkage devices are provided, for example, chinese patent application No. 201921599899.8 discloses a linkage mechanical clamping jaw device which comprises two first clamping arms arranged on a substrate, wherein the middle part of each first clamping arm is rotationally connected with the substrate; the second clamping mechanism is arranged in the middle of the movable range of the first clamping mechanism and comprises two second clamping arms arranged on the substrate, the end parts of the second clamping arms are rotationally connected with the substrate, and the two second clamping arms are connected through a tension spring; the first clamping arm length is greater than the second clamping arm length; the driving mechanism is arranged on the central shafts of the first clamping mechanism and the second clamping mechanism and comprises an air cylinder arranged on the base plate, the movable end of the air cylinder is connected with a movable rod, the movable rod is connected with the end parts of the two first clamping arms, and the end parts of the movable rod are abutted with the middle parts of the two second clamping arms. The driving mechanism drives the first clamping mechanism and the second clamping mechanism to move simultaneously, so that the first clamping arm and the second clamping arm respectively position and clamp different parts on the workpiece at the same time;

however, when the device is actually used, the inconvenience still exists, and because the required clamping heads are different when different workpieces are clamped, the required clamping heads are required to be replaced in time, and because the middle part of the first clamping arm of the device is rotationally connected with the substrate and the second clamping arm is mounted on the substrate, the first clamping arm and the second clamping arm are inconvenient to quickly detach and are difficult to replace, so that the production efficiency is affected.

Disclosure of Invention

In order to solve the problems in the prior art, the utility model provides a mechanical claw linkage device which has the characteristic of being convenient for replacing a clamping arm.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the mechanical claw linkage device comprises a connecting frame, wherein a first gear and a second gear are rotationally connected inside the connecting frame, the first gear is meshed with the second gear, a motor for driving the first gear to rotate is further arranged at the front end of the connecting frame, connecting rods are fixed on the first gear and the second gear, fixing blocks are fixed at the front ends of the two connecting rods, and detachable clamping arm main bodies are arranged on the two fixing blocks;

the clamp is characterized in that mounting plates are fixed at two ends of the clamp arm main body, mounting grooves are formed in the mounting plates, grooves are formed in the front ends of the fixing blocks, placing grooves are formed in the tail ends of the fixing blocks, small-sized cylinders are arranged in the placing grooves, moving rods are arranged at the output ends of the small-sized cylinders, connecting pieces are fixed on the outer walls of the moving rods, two symmetrically distributed inclined plates are arranged on the connecting pieces through rotating shafts, guide grooves are formed in the front ends of the inclined plates, two symmetrically distributed locating rods are fixed in the grooves, and penetrate through the guide grooves, and locating blocks are fixed on the inclined plates.

As a preferable technical scheme of the utility model, the utility model further comprises a connecting plate and bolts, wherein the head ends of the two connecting plates are rotatably arranged in the connecting frame through the bolts, and the tail ends of the two connecting plates are also rotatably arranged on the two clamping arm main bodies through the bolts respectively.

As a preferable technical scheme of the utility model, the corners of one side of the bottom ends of the four positioning blocks are respectively provided with a first inclined plane groove.

As a preferable technical scheme of the utility model, the corners of the two sides of the top surface of the two movable rods are provided with second inclined surface grooves.

As a preferred embodiment of the present utility model, the height of the moving rod is lower than the depth of the groove.

As a preferable technical scheme of the utility model, the mounting plate, the inclined plate and the positioning block are all made of iron.

Compared with the prior art, the utility model has the beneficial effects that: according to the mechanical claw linkage device, through the matched use of the connecting sheet, the inclined plate, the positioning rod and the guide groove, the length and the inclined angle of the inclined plate can be conveniently adjusted, and workers can be facilitated to quickly install and detach the clamping arm main body, so that the clamping arm main body of the mechanical claw linkage device can be correspondingly replaced and used according to the shape or the size of a workpiece to be clamped, and meanwhile, the two clamping arm main bodies can be quickly replaced, and therefore the influence on production efficiency is avoided.

Drawings

The accompanying drawings are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate the utility model and together with the embodiments of the utility model, serve to explain the utility model. In the drawings:

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

FIG. 2 is a left side schematic view of the connecting frame of the present utility model;

FIG. 3 is a schematic view of an exploded view of a clamp arm body according to the present utility model;

FIG. 4 is an enlarged schematic view of the structure A in the present utility model;

FIG. 5 is an enlarged schematic view of B in the present utility model;

in the figure: 1. a connection frame; 2. a first gear; 3. a second gear; 4. a connecting rod; 5. a fixed block; 6. a clamp arm body; 7. a mounting plate; 8. a mounting groove; 9. a placement groove; 10. a groove; 11. a small cylinder; 12. a moving rod; 13. a connecting sheet; 14. an inclined plate; 15. a positioning rod; 16. a guide groove; 17. a positioning block; 18. a first bevel groove; 19. a second bevel groove; 20. a connecting plate; 21. a bolt; 22. and a 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.

Referring to fig. 1-5, the present utility model provides the following technical solutions: in the embodiment, the mechanical claw linkage device comprises a connecting frame 1, wherein a first gear 2 and a second gear 3 are rotatably connected in the connecting frame 1, the first gear 2 is meshed with the second gear 3, a motor 22 for driving the first gear 2 to rotate is further arranged at the front end of the connecting frame 1, connecting rods 4 are respectively fixed on the first gear 2 and the second gear 3, fixing blocks 5 are respectively fixed at the front ends of the two connecting rods 4, and a detachable clamping arm main body 6 is respectively arranged on the two fixing blocks 5;

the two ends of the arm clamping main body 6 are fixedly provided with mounting plates 7, the two mounting plates 7 are provided with mounting grooves 8, the front ends of the two fixing blocks 5 are provided with grooves 10, the tail ends of the two fixing blocks 5 are provided with placing grooves 9, the interiors of the two placing grooves 9 are provided with small-sized air cylinders 11, the output ends of the small-sized air cylinders 11 are provided with moving rods 12, the outer walls of the moving rods 12 are fixedly provided with connecting pieces 13, the connecting pieces 13 are provided with two symmetrically distributed inclined plates 14 through rotating shafts, the front ends of the two inclined plates 14 are provided with guide grooves 16, the interiors of the grooves 10 are fixedly provided with two symmetrically distributed positioning rods 15, the positioning rods 15 penetrate through the guide grooves 16, and the two pairs of inclined plates 14 are fixedly provided with positioning blocks 17; when the clamp arm body 6 is used, the motor 22 can be started, the first gear 2 is used for driving the second gear 3 to rotate, so that two clamp arm bodies 6 can clamp objects, when the shape of the clamp arm bodies 6 needs to be replaced, the two small-sized cylinders 11 can be started, the connecting sheet 13 drives the tail ends of the inclined plates 14 to move towards the top ends of the inner side faces of the grooves 10, the two inclined plates 14 can be inclined towards the outer wall direction of the movable rod 12 by using the guide grooves 16 and the positioning rods 15 in a matched mode, at the moment, the two clamp arm bodies 6 can be detached and replaced through metal, the mounting plates 7 can be attached to the fixed blocks 5 in the mounting process, the mounting grooves 8 penetrate through the two inclined plates 14, at the moment, the small-sized cylinders 11 are restarted to push the movable rods 12 to move upwards, and meanwhile, the guide grooves 16 and the positioning rods 15 can be used in a matched mode, so that the two inclined plates 14 incline towards the two ends of the inner side faces of the grooves 10, namely the top faces of the mounting plates are pressed and fixed, the two clamp arm positioning blocks 6 of the clamp arm body 6 can be detached and replaced according to the required shape or size of a workpiece, and the two clamp arm bodies 6 can be replaced quickly, and production efficiency can be prevented from being influenced.

Specifically, as can be seen from fig. 1, in this embodiment, the device further includes a connection plate 20 and a bolt 21, wherein the head ends of the two connection plates 20 are rotatably mounted in the connection frame 1 through the bolt 21, and the tail ends of the two connection plates are also rotatably mounted on the two arm-clamping main bodies 6 through the bolt 21 respectively; in use, the stability of the arm body 6 in use can be increased.

Specifically, as can be seen from fig. 5, in this embodiment, first inclined grooves 18 are formed at corners of one side of bottom ends of the four positioning blocks 17; in use, the first inclined surface groove 18 can be attached to the top surface of the mounting plate 7, so that the mounting plate 7 can be fixed.

Specifically, as can be seen from fig. 5, in this embodiment, the corners of the two sides of the top surface of the two moving rods 12 are provided with second inclined grooves 19; the rear end of the inclined plate 14 can be easily fitted to the moving rod 12.

Specifically, as can be seen from fig. 5, in this embodiment, the height of the moving rod 12 is lower than the depth of the groove 10; the head end of the moving rod 12 is prevented from abutting against the mounting plate 7 so as to be fixed to the mounting plate 7.

Specifically, as can be seen from fig. 4 and fig. 5, in this embodiment, the mounting plate 7, the inclined plate 14 and the positioning block 17 are all made of iron; the bearing capacity is high, and the bearing is not easy to break or bend.

The working principle and the using flow of the utility model are as follows: according to the mechanical claw linkage device, the motor 22 can be started, the first gear 2 is utilized to drive the second gear 3 to rotate, so that two clamping arm main bodies 6 can clamp objects, when the shape of the clamping arm main bodies 6 needs to be replaced, the two small-sized air cylinders 11 can be started, the connecting piece 13 drives the tail ends of the inclined plates 14 to move towards the top ends of the inner side faces of the grooves 10, the two inclined plates 14 can be inclined towards the outer wall direction of the movable rods 12 by utilizing the matching use of the guide grooves 16 and the positioning rods 15, at the moment, the two clamping arm main bodies 6 can be detached and replaced by metal, the mounting plates 7 can be attached to the fixed blocks 5 during mounting, the mounting grooves 8 penetrate through the two inclined plates 14, at the moment, the small-sized air cylinders 11 are started again to push the movable rods 12 to move upwards, and simultaneously, the two inclined plates 14 can be inclined towards the two ends of the inner side faces of the grooves 10 by utilizing the matching use of the guide grooves, the top faces of the two inclined plates 17 to squeeze the mounting plates 7, and the positioning blocks are fixed, so that the clamping arm main bodies 6 of the device can be detached and replaced by corresponding sizes of workpieces according to the shape of the clamping arm main bodies 6 of the device, and the two clamping arm main bodies 6 can be replaced quickly, and the clamping arms can be replaced at the same time, and the production efficiency of the clamping arm main bodies can be prevented from being replaced.

Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present utility model, and the present utility model is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present utility model has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims

1. A gripper linkage comprising a connecting frame (1), characterized in that: the inside of the connecting frame (1) is rotationally connected with a first gear (2) and a second gear (3), the first gear (2) is meshed with the second gear (3), a motor (22) for driving the first gear (2) to rotate is further arranged at the front end of the connecting frame (1), connecting rods (4) are fixed on the first gear (2) and the second gear (3), fixed blocks (5) are fixed at the front ends of the two connecting rods (4), and detachable clamping arm main bodies (6) are arranged on the two fixed blocks (5);

mounting panel (7) are all fixed with at the both ends of arm lock main part (6), two mounting panel (7) are gone up and are all offered mounting groove (8), two recess (10) are all offered to the front end of fixed block (5), standing groove (9) are all offered to the tail end, and two small-size cylinder (11) are all installed to the inside of standing groove (9), just movable rod (12) are all installed to the output of small-size cylinder (11), the outer wall of movable rod (12) is fixed with connection piece (13), install two inclined plates (14) of symmetrical distribution through the pivot on connection piece (13), two inclined plate (14)'s front end has all been offered guide way (16) the inside of recess (10) all is fixed with two locating levers (15) of symmetrical distribution, just locating lever (15) all run through guide way (16), two pairs all be fixed with locating piece (17) on inclined plate (14).

2. A gripper linkage according to claim 1, wherein: the connecting device further comprises connecting plates (20) and bolts (21), wherein the head ends of the two connecting plates (20) are rotatably arranged in the connecting frame (1) through the bolts (21), and the tail ends of the two connecting plates are rotatably arranged on the two clamping arm main bodies (6) through the bolts (21).

3. A gripper linkage according to claim 1, wherein: the corners of one side of the bottom ends of the four positioning blocks (17) are respectively provided with a first inclined plane groove (18).

4. A gripper linkage according to claim 1, wherein: second inclined plane grooves (19) are formed in the corners of the two sides of the top surface of the two movable rods (12).

5. A gripper linkage according to claim 1, wherein: the height of the moving rod (12) is lower than the depth of the groove (10).

6. A gripper linkage according to claim 1, wherein: the mounting plate (7), the inclined plate (14) and the positioning block (17) are made of iron.