CN220279662U - Mechanical clamping jaw and robot thereof - Google Patents
Mechanical clamping jaw and robot thereof Download PDFInfo
- Publication number
- CN220279662U CN220279662U CN202321270189.7U CN202321270189U CN220279662U CN 220279662 U CN220279662 U CN 220279662U CN 202321270189 U CN202321270189 U CN 202321270189U CN 220279662 U CN220279662 U CN 220279662U
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- handed screw
- screw rod
- piece
- rotary driving
- driven
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- 210000000078 claw Anatomy 0.000 claims abstract description 49
- 230000005540 biological transmission Effects 0.000 claims abstract description 28
- 230000001360 synchronised effect Effects 0.000 claims description 11
- 238000000034 method Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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Abstract
The embodiment of the application belongs to the technical field of mechanical gripper, and relates to a mechanical gripper, which comprises: the device comprises at least two claw arms, a rotary driving piece, a left-handed screw, a right-handed screw, a transmission piece and a bracket; one end of the left-handed screw rod is fixedly connected with one end of the right-handed screw rod through a fixing piece; the other end of the left-handed screw rod and the other end of the right-handed screw rod are only axially and rotatably arranged on the bracket; the rotary driving piece is fixed on the bracket; the output end of the rotary driving piece is fixedly connected with one end of the transmission piece; the other end of the transmission piece is fixedly connected with the fixing piece, so that the transmission piece is driven by the rotary driving piece to further drive the left-handed screw rod and the right-handed screw rod to synchronously rotate; one end of each claw arm, which corresponds to the rotary driving piece, is provided with a screw rod adapting part; the two claw arms are assembled with the left-handed screw and the right-handed screw through the adapting parts respectively, so that the two claw arms are driven to move in opposite directions or opposite directions through rotation of the left-handed screw and the right-handed screw respectively. The application also relates to a robot. The technical scheme that this application provided can make the structure of clamping jaw succinct more.
Description
Technical Field
The application relates to the technical field of mechanical grippers, in particular to a mechanical gripper and a robot thereof.
Background
The existing parallel mechanical clamping jaws on the market are less in electric force, or are more expensive, or the product manufacturing cost is high due to the complex structure.
Disclosure of Invention
Based on this, the embodiment of the application provides a mechanical clamping jaw and a robot thereof, so that the clamping jaw structure is simpler.
In a first aspect, an embodiment of the present application provides a mechanical clamping jaw, which adopts the following technical scheme:
a mechanical jaw, comprising: the device comprises at least two claw arms, a rotary driving piece, a left-handed screw, a right-handed screw, a transmission piece and a bracket;
one end of the left-handed screw rod is fixedly connected with one end of the right-handed screw rod through a fixing piece;
the other end of the left-handed screw rod and the other end of the right-handed screw rod are axially and rotatably arranged on the bracket;
the rotary driving piece is fixed on the bracket;
the output end of the rotary driving piece is fixedly connected with one end of the transmission piece; the other end of the transmission piece is fixedly connected with the fixing piece, so that the transmission piece is driven by the rotary driving piece to further drive the left-handed screw rod and the right-handed screw rod to synchronously rotate;
one end of the two claw arms, which corresponds to the rotary driving piece, is provided with a screw rod adapting part; the two claw arms are assembled with the left-handed screw rod and the right-handed screw rod through the adapting parts respectively, so that the two claw arms are driven to move in opposite directions or in opposite directions through rotation of the left-handed screw rod and the right-handed screw rod respectively.
Further, the mechanical jaw further comprises a linear guide;
the claw arm is also provided with a guide assembly part corresponding to one end of the rotary driving piece; the claw arm is assembled with the linear guide by the guide assembling portion to guide the movement of the claw arm by the linear guide.
Further, the other end of the left-handed screw and the other end of the right-handed screw are axially rotatably arranged on the bracket, and the left-handed screw is realized through the following structure:
the manipulator gripper further comprises a bearing;
the bearing is respectively arranged between the bracket and the other end of the left-handed screw rod and between the bracket and the other end of the right-handed screw rod.
Further, the at least two fingers are arranged in parallel.
Further, the transmission piece comprises a first transmission wheel, a second transmission wheel and a synchronous belt;
the first driving wheel is fixed at the output end of the rotary driving piece; the second driving wheel is fixed on the fixing piece;
the synchronous belt is adapted to the outside of the first driving wheel and the second driving wheel, so that the first driving wheel is driven by the rotary driving piece, and the second driving wheel is driven to rotate by the synchronous belt, so that the left-handed screw and the right-handed screw are driven to realize synchronous rotation.
Further, the screw rod adapting part is a driving block; one end of the claw arm, which corresponds to the rotary driving piece, is fixedly connected with the driving block; the contact surface of the driving block and the screw rod forms a tooth-shaped structure matched with the screw rod.
Further, the guide member includes: an adapted linear guide rail and a slider; the guide assembly part is a driven block;
one end of the claw arm, which corresponds to the rotary driving piece, is fixedly connected with the driven block; the driven block is fixedly connected with the sliding block, so that the claw arm is assembled with the linear guide piece through the guide assembly part.
Further, the rotary driving member is located at the bottom of the bracket.
Further, an output shaft of the rotary driving piece is arranged in parallel with the left-handed screw and the right-handed screw; and/or
The fixing piece is a sleeve; and/or
The rotary driving piece is a motor.
In a second aspect, embodiments of the present application provide a robot comprising a robot body and a mechanical jaw as described above; the mechanical clamping jaw is arranged at the executing end of the robot body.
Compared with the prior art, the embodiment of the application has the following main beneficial effects:
according to the embodiment of the application, the left-handed screw rod and the right-handed screw rod are driven to rotate through the rotary driving piece in the forward and reverse rotation process, so that the two claw arms are driven to move in opposite directions or in opposite directions, and the grabbing and releasing of the object are completed through the claw arms.
In addition, the screw rod is provided with a self-locking feature, so that the clamping jaw can maintain a corresponding position anyway when the power is off, and the possibility of falling of an object in the running process due to the power off is reduced.
In addition, through adopting two sections of lead screws, two sections of lead screws are fixedly connected into a whole, and the production cost is reduced.
Drawings
For a clearer description of the solution of the present application, a brief introduction will be given to the drawings needed in the description of the embodiments, which are some embodiments of the present application, and from which other drawings can be obtained for a person skilled in the art without the inventive effort.
FIG. 1 is a schematic view of the overall structure of one embodiment of the mechanical jaw in an open state provided herein;
FIG. 2 is a schematic view of the overall structure of one embodiment of the mechanical jaw in a closed state provided herein;
FIG. 3 is a schematic front view of one embodiment of a mechanical jaw provided herein;
fig. 4 is a schematic side view of one embodiment of a mechanical jaw provided herein.
Reference numerals: 10 mechanical clamping jaws; 11 claw arms; 12 a rotary drive; 13 left-handed screw rods; 14 right-handed screw rods; 15 driving members; a 16-bracket; 17 linear guides; a screw rod adapting section 111; a guide fitting portion 112;151 first drive wheel; 152 a second drive wheel; 153.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the applications herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description and claims of the present application and in the description of the figures above are intended to cover non-exclusive inclusions. The terms first, second and the like in the description and in the claims or in the above-described figures, are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
Unless otherwise defined, reference herein to a structural member being "secured to," "fixedly attached to" another structural member, and the like, includes the manner in which the two structural members are prefabricated as a unit or are fixedly attached via a central member, and the like.
In order to better understand the technical solutions of the present application, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings.
As shown in fig. 1 to 4, fig. 1 is a schematic overall structure of an embodiment of a mechanical clamping jaw in an open state provided in the present application; FIG. 2 is a schematic view of the overall structure of one embodiment of the mechanical jaw in a closed state provided herein; FIG. 3 is a schematic front view of one embodiment of a mechanical jaw provided herein; fig. 4 is a schematic side view of one embodiment of a mechanical jaw provided herein.
Embodiments of the present application provide a mechanical jaw 10 comprising: at least two claw arms 11, a rotary driving member 12, a left-handed screw 13, a right-handed screw 14, a transmission member 15 and a bracket 16.
It should be noted that, the number of the claw arms may be any number greater than or equal to 2 as required, and for convenience of understanding, the embodiment of the present application uses two claw arms as an example to describe in detail.
The two claw arms can be arranged in parallel or in non-parallel. In a preferred embodiment, the two claw arms are arranged in parallel, so that synchronous control of the two claw arms can be facilitated, and accurate grabbing of objects can be better achieved.
One end of the left-handed screw 13 and one end of the right-handed screw 14 are fixedly connected by a fixing member (not shown due to shielding).
In one embodiment, the securing member may be a sleeve. The sleeve is sleeved at one end of the left-handed screw 13 and the right-handed screw 14, which are butted, and the sleeve can fixedly connect the left-handed screw 13 and the right-handed screw 14 through four sides contact or a flat (double flat or single flat) mode.
The other end of the left-handed screw 13 and the other end of the right-handed screw 14 are provided only axially rotatably to the bracket 16.
The rotary drive 12 is fixed to the bracket.
Specifically, the rotary driving member according to the embodiment of the present application may be any driving member that can perform a rotary driving function, for example: the motor 12 (shown in fig. 2) that can be rotationally driven is described in detail for ease of understanding by taking a rotational driving member as an example of the motor.
In a preferred embodiment, the output shaft of the motor 12 is arranged in parallel with the fixedly connected left-handed screw 13 and right-handed screw 14, so that the drive of the claw arm can be better achieved by the motor.
The rotary drive 12 may be disposed in any orientation of the bracket. In one embodiment, the rotary drive 12 may be provided at the bottom of the bracket.
The output end of the rotary driving piece 12 is fixedly connected with one end of the transmission piece 15; the other end of the transmission piece 15 is fixedly connected with the fixing piece, so that the transmission piece 15 is driven by the rotary driving piece 12 to drive the left-handed screw 13 and the right-handed screw 14 to rotate in opposite directions.
One end of each of the two claw arms 11, which corresponds to the rotary driving piece 12, is provided with a screw rod adapting part 111; the two claw arms 11 are respectively assembled with the left-handed screw 13 and the right-handed screw 14 through screw rod adapting parts 111, so that the two claw arms 11 are respectively driven to move in opposite directions or opposite directions through the rotation of the left-handed screw 13 and the right-handed screw 14, and the two claw arms 11 are opened (shown in fig. 1) and closed (shown in fig. 2).
In one embodiment, the screw rod adapting portion 111 may be a driving block 111, and one end of each of the two claw arms corresponding to the rotary driving member 12 may be fixedly connected with the driving block 111, and the contact surface between the driving block 111 and the screw rod forms a tooth-shaped structure matched with the screw rod, so as to drive the claw arms to rotate in opposite directions or opposite directions respectively through synchronous rotation of the left screw rod and the right screw rod.
According to the embodiment of the application, the left-handed screw rod and the right-handed screw rod are driven to rotate through the rotary driving piece in the forward and reverse rotation process, so that the two claw arms are driven to move in opposite directions or in opposite directions, and the grabbing and releasing of the object are completed through the claw arms.
In addition, the screw rod is provided with a self-locking feature, so that the clamping jaw can maintain a corresponding position anyway when the power is off, and the possibility of falling of an object in the running process due to the power off is reduced.
In addition, by adopting two sections of screw rods (namely a left-handed screw rod and a right-handed screw rod), the two sections of screw rods are fixedly connected into a whole (compared with the whole screw rod for sectioning processing), so that the production cost can be reduced.
As further shown in fig. 2, in an alternative embodiment, the mechanical jaw 10 further comprises a linear guide 17.
The linear guide 17 is fixed to the bracket 16 in a direction parallel to the left-handed screw 13 and the right-handed screw 14.
In particular, the linear guide may be various guides that have been developed now or in the future and that can function as a linear guide, such as: a linear guide rail and a sliding block which are mutually matched.
The two claw arms 11 are further provided with guide fitting portions 112 at one ends thereof corresponding to the rotary driving members 12, respectively, and are fitted with the linear guides 17 through the guide fitting portions 112, thereby guiding the movement of the claw arms through the linear guides 17.
Further, in an alternative embodiment, the guiding assembly portion 112 may be a driven block 112, and the driven block may be fixedly connected to one end of the two claw arms 11 corresponding to the rotary driving member 12, and the driven block 112 is fixed to the slider, so as to complete the assembly of the two claw arms 11 and the guiding member.
Further, in an alternative embodiment, after one end of the claw arm is fixedly connected with the driven block, the claw arm is fixedly connected with the driving block through the driven block, so that the overall structure of the clamping jaw is simpler.
The linear guide piece is added, so that stability in the movement process of the claw arm can be improved.
As further shown in fig. 3, in an alternative embodiment, the above-mentioned "the other end of the left-handed screw 13 and the other end of the right-handed screw 14 are axially rotatably provided to the bracket 16" may be achieved by:
mechanical jaw 10 also includes bearings (not shown).
Bearings are provided between the bracket 15 and the other end of the left-handed screw 13, and between the bracket 15 and the other end of the right-handed screw 14, respectively.
Through setting up the bearing, the other end that can realize left-handed lead screw through simple structure and the other end of right-handed lead screw can only axial rotation set up in the support.
As further shown in fig. 4, in an alternative embodiment, the output end of the rotary driving member 12 is fixedly connected to one end of the transmission member 15; the other end of the transmission member 15 is fixedly connected with the fixing member by the following structure:
the transmission member 15 includes a first transmission wheel 151, a second transmission wheel 152, and a timing belt 153.
The first transmission wheel 151 is fixed to the output end of the rotary driving member 12; the second drive wheel 152 is fixed to the stationary member.
Specifically, the output end of the rotary driving member 12 may be fixedly connected to the first driving wheel 151 directly or through a centering member, for example: the set screw is tightened through the flat position; and the device is fixedly connected in an interference fit or glue spraying mode.
In one embodiment, based on the above embodiments, when the left-handed screw 13 and the right-handed screw 14 are fixedly connected by the sleeve, the second driving wheel 152 and the sleeve may be driven by a key driving structure, or any other possible structure.
The synchronous belt is adapted to the two driving wheels so as to drive the first driving wheel through the output end of the motor, and further drive the second driving wheel to rotate through the synchronous belt; thereby driving the left-handed screw and the right-handed screw to reversely rotate respectively.
Based on the mechanical gripper described in the above embodiments, the present application provides a robot (omitted drawings) including a robot body and the mechanical gripper described in the above embodiments. The mechanical clamping jaw is arranged at the execution end of the robot body and used for executing actions such as grabbing, moving a target object and the like.
It should be noted that the robot may be any robot that is currently available or developed in the future, for example: the humanoid robot or the industrial robot is not limited in this application.
The related description of the fingers and the mechanical clamping jaw is referred to the above embodiments, and the description thereof will not be repeated here.
It is apparent that the embodiments described above are only some embodiments of the present application, but not all embodiments, the preferred embodiments of the present application are given in the drawings, but not limiting the patent scope of the present application. This application may be embodied in many different forms, but rather, embodiments are provided in order to provide a more thorough understanding of the present disclosure. Although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing, or equivalents may be substituted for elements thereof. All equivalent structures made by the specification and the drawings of the application are directly or indirectly applied to other related technical fields, and are also within the protection scope of the application.
Claims (10)
1. A mechanical jaw, comprising: the device comprises at least two claw arms, a rotary driving piece, a left-handed screw, a right-handed screw, a transmission piece and a bracket;
one end of the left-handed screw rod is fixedly connected with one end of the right-handed screw rod through a fixing piece;
the other end of the left-handed screw rod and the other end of the right-handed screw rod are axially and rotatably arranged on the bracket;
the rotary driving piece is fixed on the bracket;
the output end of the rotary driving piece is fixedly connected with one end of the transmission piece; the other end of the transmission piece is fixedly connected with the fixing piece, so that the transmission piece is driven by the rotary driving piece to further drive the left-handed screw rod and the right-handed screw rod to synchronously rotate;
one end of the two claw arms, which corresponds to the rotary driving piece, is provided with a screw rod adapting part; the two claw arms are assembled with the left-handed screw rod and the right-handed screw rod through the adapting parts respectively, so that the two claw arms are driven to move in opposite directions or in opposite directions through rotation of the left-handed screw rod and the right-handed screw rod respectively.
2. The mechanical jaw of claim 1, wherein the mechanical jaw further comprises a linear guide;
the claw arm is also provided with a guide assembly part corresponding to one end of the rotary driving piece; the claw arm is assembled with the linear guide by the guide assembling portion to guide the movement of the claw arm by the linear guide.
3. The mechanical clamping jaw according to claim 1 or 2, wherein the other end of the left-handed screw and the other end of the right-handed screw are axially rotatably arranged on the bracket by:
the mechanical jaw further comprises a bearing;
the bearing is respectively arranged between the bracket and the other end of the left-handed screw rod and between the bracket and the other end of the right-handed screw rod.
4. A mechanical jaw according to claim 1 or 2, wherein said at least two fingers are arranged parallel to each other.
5. A mechanical jaw according to claim 1 or 2, wherein the transmission comprises a first transmission wheel, a second transmission wheel and a timing belt;
the first driving wheel is fixed at the output end of the rotary driving piece; the second driving wheel is fixed on the fixing piece;
the synchronous belt is adapted to the outside of the first driving wheel and the second driving wheel, so that the first driving wheel is driven by the rotary driving piece, and the second driving wheel is driven to rotate by the synchronous belt, so that the left-handed screw and the right-handed screw are driven to realize synchronous rotation.
6. A mechanical jaw according to claim 1 or 2, wherein the screw adapter is a drive block; one end of the claw arm, which corresponds to the rotary driving piece, is fixedly connected with the driving block; the contact surface of the driving block and the screw rod forms a tooth-shaped structure matched with the screw rod.
7. A mechanical jaw according to claim 2, wherein the guide comprises: an adapted linear guide rail and a slider; the guide assembly part is a driven block;
one end of the claw arm, which corresponds to the rotary driving piece, is fixedly connected with the driven block; the driven block is fixedly connected with the sliding block, so that the claw arm is assembled with the linear guide piece through the guide assembly part.
8. A mechanical jaw according to claim 7, wherein the rotary drive is located at the bottom of the carriage.
9. A mechanical jaw according to claim 1 or 2, wherein the output shaft of the rotary drive is arranged in parallel with the left-hand screw and the right-hand screw; and/or
The fixing piece is a sleeve; and/or
The rotary driving piece is a motor.
10. A robot comprising a robot body and the mechanical jaw of any one of claims 1 to 9; the mechanical clamping jaw is arranged at the executing end of the robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321270189.7U CN220279662U (en) | 2023-05-24 | 2023-05-24 | Mechanical clamping jaw and robot thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321270189.7U CN220279662U (en) | 2023-05-24 | 2023-05-24 | Mechanical clamping jaw and robot thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220279662U true CN220279662U (en) | 2024-01-02 |
Family
ID=89325963
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321270189.7U Active CN220279662U (en) | 2023-05-24 | 2023-05-24 | Mechanical clamping jaw and robot thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220279662U (en) |
-
2023
- 2023-05-24 CN CN202321270189.7U patent/CN220279662U/en active Active
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