TWI826312B - Modular gripper - Google Patents

Abstract

A modular gripper is disclosed and includes a main fixing plate, a driving module, two screw rods, two extension plates, two extension screws and two nuts. Each pair of screw rods, extension plates, extension screws and nuts are bilaterally symmetrical. The two screw rods are arranged concentrically in the first direction, connected to the driving module, and driven by the driving module to rotate. The two extension plates are detachably docked to two sides of the main fixing plate through connection elements. The two extension screws are connected to the two screw rods, respectively. Threads of the two extension screws are continuously connected with threads of the two screw rods. The two nuts are sleeved on the two screw rods, respectively. When the two screw rods and the two extension screws are driven by the driving module to rotate synchronously, the two nuts are allowed to displace relative to the two screw rods and the two extension screws, so as to be close to or far away from each other to achieve a clamping operation.

Description

Modular gripper

This case is about a clamping jaw structure, specifically a modular clamping jaw. The screw, linear rail and fixed plate are modular in design. The length can be changed and the working stroke adjusted according to the needs, without the need to redesign the screw and fixed plate.

A robotic arm is an automatic control device that imitates the functions of a human arm and can complete various tasks. It is now widely used in automated mechanical devices. In addition to being mainly used in industrial manufacturing, its applications can be found in commercial agriculture, medical rescue, entertainment services, military security and other fields. The structure is composed of a mechanical body, a controller, a servo mechanism and a sensor, and its certain specified actions are set by the program according to the operation requirements. The device installed at the end of the robot arm to directly grasp objects is usually called a gripper, end effector, or robot hand. Its purpose is to replace human fingers to skillfully complete many complex tasks or operate various items. However, different operating strokes often require different driving methods to construct the gripper structure.

Take the common long-stroke clamping jaw structure on the market as an example. The structure includes a left-hand screw and a right-hand screw, and pulleys are added to the left-hand screw and right-hand screw respectively. The motor rotates to drive the belt, and the belt drives the screw to run. By the rotation of the screws on both sides, the nut drives the clamping jaw seats on both sides to move, thereby achieving the clamping action. However, the movement of the clamping jaw base is limited by the length of the corresponding screw rod, so that the clamping operation of the clamping jaw can only be performed within a fixed stroke range. Once the user needs to use the clamping jaw to perform a wider range of stroke operations, the fixed plate of the clamping jaw and the screws on both sides need to be redesigned, and the length cannot be changed directly.

In view of this, it is necessary to provide a modular clamping jaw. The screw, linear rail and fixed plate are modular in design. The length can be changed according to the needs and the working stroke can be adjusted. There is no need to redesign the screw and fixed plate to solve the problems of the conventional technology. its missing.

The purpose of this case is to provide a modular clamping jaw. The screw, linear rail and fixed plate are modular in design. The length can be changed and the working stroke adjusted according to the needs, without the need to redesign the screw and fixed plate.

Another purpose of this application is to provide a modular gripper. The two opposite ends of the body fixing plate can be extended in length through extension plates. The body fixed plate and the extension plate are fixed in parallel to avoid vertical stacking and locking, so the overall plate thickness is not increased. In addition, the length of the two-screw bodies of left-hand screws and right-hand screws can be increased by extending the screws. The screw body and the extended screw are connected concentrically along the axial direction, and their threads are continuous. Since the left-hand screw and the right-hand screw are connected to the motor of the drive module through a concentrically installed pulley, when the motor rotates the pulley through the belt, it can drive the left-hand screw and the right-hand screw to operate simultaneously, and allow the corresponding nut to move on the screw. Displacement within the range of the body and extension screw. Furthermore, the nuts on the left-hand screw and the right-hand screw are set on the linear rail through the slider as an adapter plate, so that the clamp can smoothly follow the nut to move left and right synchronously to complete the long-stroke clamping operation.

Another purpose of this application is to provide a modular gripper. Among them, the screw body, extension plate, extension screw, nut, linear rail, extension rail and other components adopt a bilaterally symmetrical design, which helps to realize modularization and is easy to be replaced and adjusted to realize the clamping industry of different strokes. When there is a need to increase the stroke length of the clamping jaw structure, the stroke length can be increased by adding extension screws, extension plates and extension rails on both sides. There is no need to redesign the clamping jaw structure, which helps to increase the diversity of product applications.

In order to achieve the aforementioned purpose, this case provides a modular clamp, including a body fixed plate, a first extension plate, a second extension plate, a driving module, a first screw body, a second screw body, a first extension screw, a second Extend the screw rod, the first nut and the second nut. The body fixing plate has two opposite connecting ends in the first direction. The first extension plate and the second extension plate are bilaterally symmetrical to each other, and are detachably connected to the two butt ends of the body fixing plate through the first connecting piece and the second connecting piece respectively in the first direction. The drive module is installed on the main body fixing plate. The first screw body and the second screw body are bilaterally symmetrical to each other, are arranged on the body fixing plate, and are concentrically arranged in the first direction, wherein the first screw body includes a first driving end and a first extension end, The second screw body includes a second driving end and a second extending end. The first driving end and the second driving end are opposite to each other in the first direction and are connected to the driving module, wherein the first extending end and the second extending end are at They are arranged opposite to each other in the first direction. The first extension screw and the second extension screw are bilaterally symmetrical to each other, wherein the first extension screw is detachably docked to the first extension end, and the thread of the first extension screw continues the thread of the first screw body; wherein the second extension The screw rod is detachably docked to the second extension end, and the threads of the second extension screw rod are connected to the threads of the second screw rod body. The first nut and the second nut are bilaterally symmetrical to each other, and are sleeved and matched to the first screw body and the second screw body respectively. When the driving module drives the first screw body and the first extension screw to rotate synchronously, , allowing the first nut to move relative to the first screw body and the first extension screw in the first direction, and when the driving module drives the second screw body and the second extension screw to rotate synchronously, the second nut is allowed to move in the first direction. Displacing relative to the second screw body and the second extended screw in the direction, the first nut and the second nut are close to or far away from each other to achieve a clamping operation.

Some typical embodiments embodying the features and advantages of this case will be described in detail in the following description. It should be understood that this case can have various changes in different aspects without departing from the scope of this case, and the descriptions and drawings are essentially for illustrative purposes and are not used to limit this case. For example, if the following content of the present disclosure describes disposing a first feature on or above a second feature, it means that it includes an embodiment in which the first feature is disposed in direct contact with the second feature. It also includes embodiments in which additional features can be disposed between the first features and the second features, so that the first features and the second features may not be in direct contact. In addition, repeated reference symbols and/or labels may be used in different embodiments of the present disclosure. These repetitions are for the purpose of simplicity and clarity and are not intended to limit the relationship between the various embodiments and/or the described appearance structures. Furthermore, in order to conveniently describe the relationship between one component or feature part and another (plural) component or (plural) feature part in the drawings, spatially related terms may be used, such as "front", "back", "left", "left" Right" and similar terms. Spatially relative terms are used to encompass different orientations of a device in use or operation in addition to the orientation depicted in the drawings. The device may be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative terms used in the descriptors interpreted accordingly. In addition, when a component is referred to as being "connected" or "coupled" to another component, it can be directly connected or coupled to the other component or intervening components may be present. Notwithstanding that the numerical ranges and parameters of the broad scope of the disclosure are approximations, the values are stated as precisely as possible in the specific examples. In addition, it can be understood that although terms such as "first" and "second" may be used in the scope of the patent application to describe different components, these components should not be limited by these terms. In the embodiments The components described accordingly are represented by different component symbols. These terms are used to distinguish different components. For example, a first component may be termed a second component, and similarly, a second component may be termed a first component, without departing from the scope of the embodiments. As used, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Refer to pictures 1 to 3. This case provides a modular clamp 1, which includes a body fixed plate 10, a first extension plate 20a, a second extension plate 20b, a driving module 30, a first screw body 40a, a second screw body 40b, and a first extension screw 50a. , the second extension screw 50b, the first nut 60a and the second nut 60b. The main body fixing plate 10 can be, for example, made up of two parallel main body fixing plates 10 joined together to form a fixing frame, or a single main body fixing plate 10 can be used as a fixing frame. However, only a single main body fixing plate 10 is used for illustration in the embodiment, which is not limited to this case. . The main body fixing plate 10 is, for example, bilaterally symmetrical relative to the center line C, and has two opposite connecting ends 11a and 11b in the first direction of the X-axis, for example. The first extension plate 20a and the second extension plate 20b are bilaterally symmetrical to each other, and are detachably connected in the first direction (ie, the X-axis direction) through the first connecting member 21a and the second connecting member 21b respectively. to the two paired ends 11a and 11b of the body fixing plate 10. The first extension plate 20a is detachably connected to the right butt end 11a of the body fixing plate 10 from the right side of the center line C through the first connector 21a; the second extension plate 20b is from the left side of the center line C through the second connector 21b. Detachably docked to the left docking end 11b of the body fixing plate 10 . The driving module 30 is disposed on the body fixing plate 10 , or is accommodated between the front and rear body fixing plates 10 , but the present invention is not limited thereto. The first screw body 40a and the second screw body 40b are bilaterally symmetrical to each other, are arranged on the body fixing plate 10, and are concentrically arranged in the first direction (ie, the X-axis direction). The first screw body 40a on the right side includes a first driving end 42a and a first extension end 43a, and the second screw body 40b on the left side includes a second driving end 42b and a second extension end 43b. The first driving end 42 a and the second driving end 42 b face each other in the first direction, are adjacent to the center line C, and are connected to the driving module 30 . In addition, the first extension end 43a and the second extension end 43b are arranged opposite to each other in the first direction, and are spatially relative to the right butt end 11a and the left butt end 11b of the body fixing plate 10 respectively. In this embodiment, the first extension screw 50a and the second extension screw 50b are bilaterally symmetrical to each other. The first extension screw 50a is detachably docked with the first extension end 43a of the first screw body 40a, and the threads of the first extension screw 50a continue the threads of the first screw body 40a. The second extension screw 50b is detachably docked with the second extension end 43b of the second screw body 40b, and the threads of the second extension screw 50b continue the threads of the second screw body 40b. The first nut 60a and the second nut 60b are both standard nuts, which are bilaterally symmetrical to each other, and are sleeved and matched to the first screw body 40a and the second screw body 40b respectively. When the driving module 30 drives the first screw body 40a on the right side and the first extension screw 50a to rotate synchronously, the first nut 60a is allowed to displace relative to the first screw body 40a and the first extension screw 50a in the first direction. When the module 30 drives the left second screw body 40b and the second extension screw 50b to rotate synchronously, the second nut 60b is allowed to displace relative to the second screw body 40b and the second extension screw 50b in the first direction. Thereby, the first nut 60a and the second nut 60b can be close to or far away from each other to achieve a clamping operation.

In this embodiment, the driving module 30 includes a motor (including a reduction mechanism) 31, a belt 32 and a pulley 33. The pulley 33 is located on the center line C, for example, and is connected to the first driving end 42a of the first screw body 40a on the right and the first screw body 40a on the left. The second driving end 42b of the two-screw body 40b. The motor 31 is installed on the body fixing plate 10, is connected to the pulley 33 through the belt 32, is assembled with the driving pulley 33, and drives the first screw body 40a and the second screw body 40b to rotate concentrically. In this embodiment, the first screw body 40a has a first body external thread 41a, the second screw body 40b has a second body external thread 41b, and the rotation directions of the first body external thread 41a and the second body external thread 41b are On the contrary, for example right-hand thread and left-hand thread respectively. When the driving module 30 drives the first screw body 40a and the second screw body 40b to rotate concentrically, the first nut 60a is acted upon by the first body external thread 41a of the first screw body 40a, and the second nut 60b is acted upon by the second screw body 40a. The second body external thread 41b of the body 40b acts to synchronize each other toward the center line C or away from the center line C to achieve the clamping operation. Similarly, in this embodiment, the first extending screw rod 50a has a first extending external thread 51a, the second extending screw rod 50b has a second extending external thread 51b, the first extending external thread 51a and the second extending external thread 51b The rotation directions are opposite, which are the right-hand thread and the left-hand thread that connect the first body external thread 41a and the second body external thread 41b respectively. When the modular clamping jaw 1 performs a clamping action, the first nut 60a and the second nut 60b are respectively aligned with the first screw body 40a and the first extension screw 50a on the right side and the second screw body 40b and the second screw body 40b on the left side relative to the center line C. The two extension screws 50b are symmetrically displaced.

In this embodiment, the modular clamping jaw 1 further includes a linear rail 70, a first extension rail 71a, a second extension rail 71b, a first slide block 72a and a second slide block 72b. The linear rail 70 may be composed of two parallel linear rails 70 at the front and rear, or may be used alone. However, only a single linear rail 70 is used for illustration in the embodiment, which does not limit the case. In this embodiment, the linear rail 70 is disposed on the body fixing plate 10 along the first direction (ie, the X-axis direction), spatially relative to the first screw body 40a and the second screw body 40b. The first extension rail 71a and the second extension rail 71b are bilaterally symmetrical to each other and are respectively provided on the first extension plate 20a and the second extension plate 20b. They are respectively connected to both ends of the line rail 70 and are linearly arranged along the first direction. . In this embodiment, the first slide block 72a and the second slide block 72b are respectively disposed across the paired linear rails 70. The first slider 72a is connected to the first nut 60a and allows the first nut 60a to synchronously displace relative to the linear rail 70 and the first extension rail 71a in the first direction. In addition, the second slider 72b is connected to the second nut 60b and allows the second nut 60b to synchronously displace relative to the linear rail 70 and the second extension rail 71b in the first direction.

In this embodiment, the modular clamp 1 further includes a first clip 80a and a second clip 80b, which are fixed to the first slide block 72a and the second slide block 72b respectively. When the driving module 30 synchronously drives the first screw body 40a and the first extension screw 50a on the right and the second screw body 40b and the second extension screw 50b on the left to rotate, the first nut 60a, the first slider 72a and the first The clamping piece 80a is close to or away from the second nut 60b, the second slide block 72b and the second clamping piece 80b to implement the clamping operation.

It should be noted that in this embodiment, the first screw body 40a and the second screw body 40b can be extended in the first direction by the first extension screw 50a and the second extension screw 50b, and the linear rail 70 can be extended by the first extension screw 50a and the second extension screw 50b. An extension rail 71a and a second extension rail 71b extend in the first direction, and the body fixing plate 10 can extend in the first direction through the first extension plate 20a and the second extension plate 20b. The first extension screw 50a and the second extension screw 50b, the first extension rail 71a and the second extension rail 71b, and the first extension plate 20a and the second extension plate 20b can all be replaced according to actual application requirements, thereby adjusting the modular clamping jaw. 1 stroke length. In other words, the modular gripper 1 in this case adopts a modular design, and the length can be changed and the working stroke adjusted according to the needs, without the need to redesign the screw and fixed plate.

In this embodiment, the first extension plate 20a is detachably connected to the right butt end 11a of the body fixing plate 10 through the first connector 21a in the first direction (ie, the X-axis direction). The second extension plate 20b is detachably connected to the left butt end 11b of the body fixing plate 10 through the second connecting member 21b in the first direction (ie, the X-axis direction). The first connecting piece 21a and the second connecting piece 21b do not exceed the overlapping range of the first extending plate 20a, the body fixing plate 10 and the second extending plate 20b in the first direction (ie, the X-axis direction). , the main body fixing plate 10 and the first extension plate 20a and the second extension plate 20b are fixed in a parallel locking manner, avoiding vertical stacking and locking in the Y-axis or Z-axis direction, so the overall plate thickness is not increased. In addition, the first extending screw rod 50a, the second extending screw rod 50b, the first extending rail 71a and the second extending rail 71b can provide support through the first extending plate 20a and the second extending plate 20b.

Refer to Figures 1 to 4, Figure 5A and Figure 5B. In this embodiment, the first connecting piece 21a connecting the body fixing plate 10 and the first extension plate 20a and the second connecting piece 21b connecting the body fixing plate 10 and the second extending plate 20b have the same structure, but Figure 4 only The first connecting piece 21a is used to connect the body fixing plate 10 and the first extension plate 20a for illustration. In this embodiment, the number of the first connecting member 21a and the second connecting member 21b can be adjusted according to actual application requirements. Each first connecting member 21a and the second connecting member 21b includes a first locking member 211, a second locking member 211 and a second locking member 211. The firmware 212 and the restricting part 213. The first locking part 211 and the second locking part 212 are, for example, two screws arranged concentrically. The operating end 214 of the first locking part 211 and the operating end 215 of the second locking part 212 face each other and limit The component 213 is disposed between the first fastener 211 and the second fastener 212, and the assembly limits the axial distance between the first fastener 211 and the second fastener 212, allowing the first fastener 211 and the second fastener 212 to Rotate axially towards the center, but avoid falling away from each other. In this embodiment, a window 12 is formed when the first extension plate 20a butts with the body fixing plate 10 and the second extension plate 20b butts with the body fixing plate 10. The operating end 214 of the first locking member 211 and the second locking member The operating end 215 of 212 is exposed through the window 12 . Thereby, the user can operate the first fastener 211 and the second fastener 212 through the window 12 to complete the connection between the body fixing plate 10 and the first extension plate 20a and the second extension plate 20b. In this embodiment, the first fastener 211 and the second fastener 212 are two screws with the same rotation direction or two screws with different rotation directions. Of course, in other embodiments, the body fixing plate 10 and the first extension plate 20 a and the second extension plate 20 b can also be locked in parallel through other spliced connectors. This case is not limited to this and will not be described again.

Refer to Figures 1 to 4, Figure 6A, Figure 6B, Figure 7A and Figure 7B. In this embodiment, the first extension screw 50a is disposed on the first extension plate 20a. The first extension screw 50a is detachably connected to the first extension end 43a of the first screw body 40a. The first extension screw 50a and the first screw The body 40a is concentrically arranged in the first direction (ie, the X-axis direction). In this embodiment, the first screw body 40a has a first body external thread 41a, the first extending screw 50a has a first extending external thread 51a, and the end point E1 of the first body external thread 41a continues the first extending external thread 51a. The starting point is S1. In addition, in this embodiment, the second extension screw 50b is disposed on the second extension plate 20b, and the second extension screw 50b is detachably connected to the second extension end 43b of the second screw body 40b. The second extension screw 50b is connected to the second extension plate 20b. The two screw bodies 40b are concentrically arranged in the first direction (ie, the X-axis direction). In this embodiment, the second screw body 40b has a second body external thread 41b, the second extension screw 50b has a second extension external thread 51b, and the end point E1' of the second body external thread 41b continues the second extension external thread. The starting point of 51b is S1'.

Refer to Figure 1 to Figure 11B. In this embodiment, the first extending screw 50a includes a first connecting portion 52a and a first supporting portion 53a respectively located at two opposite ends. The first coupling portion 52a is detachably docked with the first extension end 43a of the first screw body 40a, so that the end point E1 of the first body external thread 41a is connected to the starting point S1 of the first extended external thread 51a. The first support part 53a pivotally connects the other end of the first extension screw 50a to the first extension plate 20a and provides support. In addition, in this embodiment, the second extension screw 50b includes a second coupling part 52b and a second supporting part 53b respectively located at two opposite ends. The second coupling portion 52b is detachably docked with the second extended end 43b of the second screw body 40b, so that the end point E1' of the second body external thread 41b is connected to the starting point S1' of the second extended external thread 51b. The second support part 53b pivotally connects the other end of the second extension screw 50b to the second extension plate 20b and provides support. In this embodiment, the external threads of the first front coupling screw hole 44a, the first coupling external thread 54a, the external threads of the second front coupling screw hole 44b and the second coupling external thread 54b have the same thread pitch D. A coupling part 52a and a second coupling part 52b have a coupling length L1, and the coupling length L1 is N times the thread pitch D, N is an integer, and N≧1. In this embodiment, the starting point S1 of the first extended external thread 51a has a first extended thread entry angle A1. The first screw body 40a includes a first front coupling screw hole 44a disposed at the first extension end 43a, and the first coupling portion 52a includes a first coupling external thread 54a corresponding to the first front coupling screw hole 44a. In this embodiment, the starting point S2 of the first combined external thread 54a has a first combined external thread lead-in angle A2, and the first extended thread lead-in angle A1 is equal to the first combined external thread lead-in angle A2, so Therefore, the end point E1 of the first body external thread 41a is connected to the starting point S1 of the first extended external thread 51a. In this embodiment, the starting point S1' of the second extended external thread 51b has a second extended thread entry angle A1'. The second screw body 40b includes a second front coupling screw hole 44b disposed at the second extension end 43b, and the second coupling portion 52b includes a second coupling external thread 54b corresponding to the second front coupling screw hole 44b. In this embodiment, the starting point S2' of the second combined external thread 54b has a second combined external thread lead-in angle A2', and the second extension thread lead-in angle A1' is equal to the second combined external thread lead-in angle A1' A2', whereby the end point E1' of the second body external thread 41b is connected to the starting point S1' of the second extended external thread 51b.

In this embodiment, the first coupling part 52a further includes a first positioning section 55a, which is disposed between the first coupling external thread 54a and the first extending external thread 51a. The first screw body 40a includes a first front positioning through opening 45a, which is spatially relative to the first positioning section 55a. The first front screw hole 44a is externally connected through the first front positioning through opening 45a. The alignment of the first front positioning opening 45a and the first positioning section 55a helps to improve the coupling efficiency of the first extension screw 50a and the first screw body 40a. Similarly, in this embodiment, the second coupling part 52b also includes a second positioning section 55b, which is disposed between the second coupling external thread 54b and the second extending external thread 51b. The second screw body 40b includes a second front positioning through opening 45b, which is spatially relative to the second positioning section 55b. The second front combination screw hole 44b is externally connected through the second front positioning through opening 45b. The alignment of the second front positioning passage 45b and the second positioning section 55b helps to improve the coupling efficiency of the second extension screw 50b and the second screw body 40b. In other embodiments, the first positioning section 55a, the second positioning section 55b, the first front positioning opening 45a and the second front positioning opening 45b can be omitted, as shown in Figures 9A and 9B. By designing the coupling length L2 of the first coupling portion 52a of the first extension screw 50a and the coupling length L2 of the second coupling portion 52b of the second extension screw 50b to N times the thread pitch D, the first body external thread can also be realized The end point E1 of 41a is connected to the starting point S1 of the first extended external thread 51a and the end point E1' of the second body external thread 41b is connected to the starting point S1' of the second extended external thread 51b.

It should be noted that the combination method of the first extension screw 50a and the first screw body 40a or the second extension screw 50b and the second screw body 40b is not limited to the foregoing method. Refer to Figure 3, Figure 12A to Figure 15B. The first screw body 40a and the first extension screw 50a can be combined through a first coupling member 90a. The second screw body 40b and the second extension screw 50b can be combined through a second coupling member 90b. In this embodiment, the first screw body 40a includes a first front screw hole 44a disposed on the first extended end 43a. The first extension screw 50a includes a first rear combination screw hole 56a and a first support portion 53a (see Figure 3) respectively provided at opposite ends. The first support portion 53a is pivotally connected to the first extension plate 20a. A front coupling screw hole 44a and a first rear coupling screw hole 56a are respectively engaged with two opposite ends of the first coupling member 90a, so that the first extension screw 50a is docked with the first extension end 43a of the first screw body 40a. In addition, in this embodiment, the second screw body 40b includes a second front screw hole 44b disposed on the second extension end 43b. The second extension screw 50b includes a second rear combination screw hole 56b and a second support part 53b (see Figure 3) respectively provided at opposite ends. The second support part 53b is pivotally connected to the second extension plate 20b. The two front coupling screw holes 44b and the second rear coupling screw hole 56b are respectively engaged with two opposite ends of the second coupling member 90b, so that the second extension screw 50b is docked with the second extension end 43b of the second screw body 40b.

In this embodiment, the first coupling member 90a includes a first positioning body 91a, a first front coupling external thread 92a and a first rear coupling external thread 93a. The first front coupling external thread 92a and the first rear coupling external thread 93a are respectively They are provided at opposite ends of 91a of the first positioning body, and are assembled to engage with the first front coupling screw hole 44a and the first rear coupling screw hole 56a. In addition, in this embodiment, the first screw body 40a includes a first front positioning through hole 45a, which is spatially relative to the first positioning body 91a. The first front screw hole 44a is exposed to the outside through the first front positioning through hole 45a. Connected. The first extension screw 50a also includes a first rear positioning through opening 57a, which is spatially relative to the first positioning body 91a. The first rear coupling screw hole 56a is externally connected through the first rear positioning through opening 57a. In this embodiment, the sum of the lengths T2 of the first front positioning opening 45a and the first rear positioning opening 57a is greater than the length T1 of the first positioning body 91a and less than the length T3 of the first coupling member 90a. Thereby, the first coupling member 90a can accurately combine the first extension screw 50a and the first screw body 40a, and realize that the end point E1 of the first body external thread 41a is connected to the starting point S1 of the first extension external thread 51a, as shown in Figure 7A shown. In this embodiment, the second coupling member 90b includes a second positioning body 91b, a second front coupling external thread 92b and a second rear coupling external thread 93b. The second front coupling external thread 92b and the second rear coupling external thread 93b are respectively They are provided at opposite ends of 91b of the second positioning body, and are assembled to engage with the second front screw hole 44b and the second rear screw hole 56b. In addition, in this embodiment, the second screw body 40b includes a second front positioning through opening 45b, which is spatially relative to the second positioning body 91b. The second front screw hole 44b is exposed to the outside through the second front positioning through opening 45b. Connected. The second extension screw 50b also includes a second rear positioning through opening 57b, which is spatially relative to the second positioning body 91b. The second rear combination screw hole 56b is externally connected through the second rear positioning through opening 57b. In this embodiment, the length sum T2' of the second front positioning opening 45b and the second rear positioning opening 57b is greater than the length T1' of the second positioning body 91b and less than the length T3' of the second coupling member 90b. Thereby, the second coupling member 90b can accurately combine the second extension screw 50b and the first screw body 40b, and realize that the end point E1' of the second body external thread 41b is connected to the starting point S1' of the second extension external thread 51b, as shown in the first As shown in Figure 7B.

In this embodiment, the rotation direction of the first front coupling external thread 92a is the same as the rotation direction of the first body external thread 41a, but is opposite to the rotation direction of the first rear coupling external thread 93a. The rotation direction of the second front coupling external thread 92b is the same as the rotation direction of the second body external thread 41b, but is opposite to the rotation direction of the second rear coupling external thread 93b. In other embodiments, the rotation direction of the first front coupling external thread 92a' of the first coupling member 90a' is opposite to the rotation direction of the first body external thread 41a, and also opposite to the rotation direction of the first rear coupling external thread 93a. The rotation direction of the second front coupling external thread 92b' of the second coupling member 90b' is opposite to the rotation direction of the second body external thread 41b, and also opposite to the rotation direction of the second rear coupling external thread 93b. In other embodiments, the first external coupling thread 54a, the second external coupling thread 54b, the first front coupling external thread 92a, the first rear coupling external thread 93a, the second front coupling external thread 92b, and the second rear coupling external thread 93b. The rotation direction can be adjusted according to actual application requirements, and is not limited to the rotation directions of the first body external thread 41a and the second body external thread 41b. I won’t go into details here.

It can be seen from the above that in this case, the first extension plate 20a and the second extension plate 20b, the first screw body 40a and the second screw body 40b, the first extension screw 50a and the second extension screw 50b, the first nut 60a and the second screw Components such as the cap 60b, the first extension rail 71a, and the second extension rail 71b adopt a bilaterally symmetrical design, which helps to achieve modularization and is easy to be replaced and adjusted to realize the clamping and picking operation of different strokes. When there is a need to increase the stroke length of the jaw structure, the first extension plate 20a and the second extension plate 20b, the first extension screw 50a and the second extension screw 50b, the first extension rail 71a and the second extension rail 71b are added on both sides. Increasing the stroke length eliminates the need to redesign the jaw structure, which helps increase the diversity of product applications. Of course, the lengths of the first extension plate 20a and the second extension plate 20b, the first extension screw 50a and the second extension screw 50b, the first extension rail 71a and the second extension rail 71b and the number added along both sides can be adjusted according to actual needs. change. This case is not limited to this.

To sum up, this project provides a modular clamping jaw that can change the length and adjust the working stroke according to the needs, without the need to redesign the screw and body fixing plate. The two opposite ends of the body fixing plate can be extended in length through extension plates. The body fixed plate and the extension plate are fixed in parallel to avoid vertical stacking and locking, so the overall plate thickness is not increased. In addition, the length of the screw body of left-hand screws and right-hand screws can be increased by extending the screw. The screw body and the extended screw are connected concentrically along the axial direction, and their threads are continuous. Since the left-hand screw and the right-hand screw are connected to the motor of the drive module through a concentrically installed pulley, when the motor rotates the pulley through the belt, it can drive the left-hand screw and the right-hand screw to operate simultaneously, and allow the corresponding nut to move on the screw. Displacement within the range of the body and extension screw. Furthermore, the nuts on the left-hand screw and the right-hand screw are set on the linear rail through the slider as an adapter plate, so that the clamp can smoothly follow the nut to move left and right synchronously to complete the long-stroke clamping operation. The screw body, extension plate, extension screw, nut, linear rail, extension rail and other components adopt a bilaterally symmetrical design, which helps to realize modularization and is easy to be replaced and adjusted to realize the clamping industry with different strokes. When there is a need to increase the stroke length of the clamping jaw structure, the stroke length can be increased by adding extension screws, extension plates and extension rails on both sides. There is no need to redesign the clamping jaw structure, which helps to increase the diversity of product applications.

This case may be modified in various ways by those who are familiar with this technology, but none of them will deviate from the intended protection within the scope of the patent application.

1: Modular clamping jaw 10: Body fixing plate 11a, 11b: docking end 12:Window 20a: First extension plate 20b: Second extension plate 21a: First connector 21b: Second connector 211:First lock firmware 212:Second lock firmware 213:Restrictions 214, 215: Operation end 30:Driver module 31: Motor 32:Belt 33: Pulley 40a: First screw body 41a: First body external thread 42a: First drive end 43a: first extension end 44a: First front combination screw hole 45a: First front positioning port 40b: Second screw body 41b:Second body external thread 42b: Second drive end 43b: Second extension end 44b: Second front combination screw hole 45b: Second front positioning port 50a: First extension screw 51a: First extended external thread 52a: First joint part 53a: First support part 54a: First combined external thread 55a: First positioning segment 56a: First rear combination screw hole 57a: First rear positioning port 50b: Second extension screw 51b: Second extended external thread 52b:Second joint part 53b: Second support part 54b: Second combined external thread 55b: Second positioning section 56b:Second rear combination screw hole 57b: Second rear positioning port 60a: First nut 60b:Second nut 70: Line rail 71a: First extension rail 71b: Second extension rail 72a: First slider 72b: Second slider 80a: first clip 80b: Second clip 90a, 90a’: first connecting piece 91a: First positioning ontology 92a, 92a’: first front combined external thread 93a: First combined external thread 90b, 90b’: second combination piece 91b: Second positioning ontology 92b, 92b’: Second front combined external thread 93b: Second rear combined external thread A1: The first extension thread entry angle A1’: Second extension thread entry angle A2: First combined external thread entry angle A2’: The second combined external thread entry angle C: Central Line D:Thread pitch E1, E1’: end point L1, L2: combination length S1, S1’, S2, S2’: starting point T1, T2, T3, T1＇, T2＇, T3＇: length X, Y, Z: axis

Figure 1 is a three-dimensional structural diagram showing the modular clamping jaw of the preferred embodiment of the present invention; Figure 2 is an exploded view showing the structure of the modular clamping jaw of the preferred embodiment of the present invention; Figure 3 is a structural cross-sectional view showing the modular clamping jaw of the preferred embodiment of the present invention; Figure 4 is a schematic diagram showing that the extension plate is connected to the main body fixed plate through a connecting piece; Figure 5A is a three-dimensional structural view showing the connector; Figure 5B is a cross-sectional structural diagram showing the connector; Figures 6A and 6B are schematic diagrams showing the disassembly of the screw body and the extension screw; Figure 7A and Figure 7B are schematic diagrams showing the combination of the screw body and the extension screw. Figures 8A and 8B are structural cross-sectional views showing the screw body and the extended screw; Figures 9A and 9B are another structural cross-sectional view showing the screw body and the extended screw; Figures 10A and 10B are three-dimensional structural views showing the joint portion of the extension screw; Figures 11A and 11B are front views showing the joint portion of the extension screw; Figures 12A and 12B are structural exploded views showing that the screw body and the extended screw are combined through a coupling member; Figures 13A and 13B are structural cross-sectional views showing the combination of the screw body and the extended screw through a coupling member; Figures 14A and 14B are structural exploded views showing that the screw body and the extended screw are combined through another coupling member; and Figures 15A and 15B are structural cross-sectional views showing the combination of the screw body and the extended screw through another coupling member.

1: Modular clamping jaw

10: Body fixing plate

11a, 11b: docking end

12:Window

20a: First extension plate

20b: Second extension plate

21a: First connector

21b: Second connector

30:Driver module

40a: First screw body

40b: Second screw body

50a: First extension screw

50b: Second extension screw

70: Line rail

71a: First extension rail

71b: Second extension rail

72a: First slider

72b: Second slider

80a: first clip

80b: Second clip

X, Y, Z: axis

Claims (11)

A modular clamp includes: a body fixed plate with two opposite butt ends in a first direction; a first extension plate and a second extension plate that are bilaterally symmetrical to each other, and in the first direction The two butt ends of the body fixing plate are detachably connected to each other through a first connecting piece and a second connecting piece in one direction; a driving module is provided on the body fixing plate; a first screw body and a The second screw body is bilaterally symmetrical to each other, is disposed on the body fixing plate, and is concentrically arranged in the first direction, wherein the first screw body includes a first driving end and a first extension end, and the second screw body includes a first driving end and a first extension end. The screw body includes a second driving end and a second extending end. The first driving end and the second driving end are opposite to each other in the first direction and are connected to the driving module, wherein the first extending end and The second extension ends are arranged opposite to each other in the first direction; a first extension screw rod and a second extension screw rod are bilaterally symmetrical to each other, wherein the first extension screw rod is detachably docked with the first extension end, And the thread of the first extension screw is connected to the thread of the first screw body; wherein the second extension screw is detachably docked to the second extension end, and the thread of the second extension screw is connected to the thread of the second screw body. ; and a first nut and a second nut, which are bilaterally symmetrical to each other, and are respectively sleeved and matched to the first screw body and the second screw body, and the driving module drives the first screw body When rotating synchronously with the first extension screw, the first nut is allowed to displace relative to the first screw body and the first extension screw in the first direction, and the drive module drives the second screw body and the first extension screw. When the second extension screw rotates synchronously, the second nut is allowed to displace relative to the second screw body and the second extension screw in the first direction, and the first nut and the second nut are close to or away from each other. Realize a clamping operation. The modular clamping jaw of claim 1, wherein each of the first connecting member and the second connecting member includes a first locking member, a second locking member and a limiting member, and the first locking member Arranged concentrically with the second fastener, the operating end of the first fastener and the operating end of the second fastener face each other, and the restricting member is disposed between the first fastener and the second fastener, The assembly limits the axial distance of the first fastener and the second fastener from each other, wherein the first extension plate and the body fixing plate butt together respectively form a window when the second extension plate and the body fixation plate butt. , the operating end of the first locking member and the operating end of the second locking member are exposed through the window. The modular clamping jaw of claim 1, wherein the first screw body has a first body external thread, the second screw body has a second body external thread, and the first body external thread is connected to the second body external thread. The rotation directions of the external threads of the body are opposite. The first extension screw has a first extension external thread. The second extension screw has a second extension external thread. The rotation directions of the first extension external thread and the second extension external thread are On the contrary; wherein the end point of the first external thread of the body is connected to the starting point of the first extended external thread, and the end point of the second external thread of the body is connected to the starting point of the second extended external thread of the second extended screw. The modular clamping jaw of claim 3, wherein the first extension screw includes a first coupling part and a first support part, the first coupling part is detachably docked to the first extension end, and the first extension screw A support portion is pivotally connected to the first extension plate; wherein the second extension screw includes a second combination portion and a second support portion, the second combination portion is detachably docked to the second extension end, and the second extension screw The support part is pivotally connected to the second extension plate. The modular clamping jaw of claim 4, wherein the starting point of the first extended external thread has a first extended thread entry angle, and the first screw body includes a first front combination screw hole disposed on the first thread. An extended end, the first coupling part includes a first coupling external thread, corresponding to the first front coupling screw hole, wherein the starting point of the first coupling external thread has a first coupling external thread entry angle, the first coupling external thread The extension thread in-turn angle is equal to the first combined external thread in-turn angle, wherein the starting point of the second extended external thread has a second extended thread in-turn angle, and the second screw body includes a second front combined thread hole design Placed at the second extended end, the second coupling portion includes a second coupling external thread corresponding to the second front coupling screw hole, wherein the starting point of the second coupling external thread has a second coupling external thread entry angle. , the second extension thread's lead-in angle is equal to the second combined external thread's lead-in angle. The modular clamp according to claim 5, wherein the first joint part further includes a first positioning section disposed between the first joint external thread and the first extended external thread, and the first screw body It includes a first front positioning opening, spatially relative to the first positioning section, and the first front combination screw hole is externally connected through the first front positioning opening; the second coupling part further includes a second positioning section , is disposed between the second coupling external thread and the second extending external thread, the second screw body includes a second front positioning passage, spatially relative to the second positioning section, the second front coupling screw The hole communicates with the outside through the second front positioning opening. The modular clamping jaw of claim 1, wherein the first screw body includes a first front coupling screw hole disposed on the first extension end, and the first extension screw includes a first rear coupling screw hole and a The first support part is respectively provided at two opposite ends. The first support part is pivotally connected to the first extension plate. The first front combination screw hole and the first rear combination screw hole are respectively engaged with a first combination member. The two opposite ends are meshed so that the first extension screw is docked with the first extension end of the first screw body; wherein the second screw body includes a second front combination screw hole disposed on the second extension end, and the second The extension screw includes a second rear combination screw hole and a second support part respectively provided at opposite ends. The second support part is pivotally connected to the second extension plate, the second front combination screw hole and the second rear support part. The coupling screw holes engage with two opposite ends of a second coupling member respectively, so that the second extension screw is docked with the second extension end of the second screw body. The modular clamping jaw of claim 7, wherein the first coupling member includes a first positioning body, a first front coupling external thread and a first rear coupling external thread, the first front coupling external thread and The first rear coupling external threads are respectively provided at opposite ends of the first positioning body and are assembled to mesh with the first front coupling screw hole and the first rear coupling screw hole. The first screw body includes a first front coupling screw hole. The positioning through hole is spatially relative to the first positioning body, and the first front combination screw hole is aligned with the first front positioning through hole through the first front positioning through hole. Externally connected, the first extension screw includes a first rear positioning opening, spatially relative to the first positioning body, and the first rear combination screw hole is externally connected through the first rear positioning opening; wherein the second The coupling member includes a second positioning body, a second front coupling external thread and a second rear coupling external thread. The second front coupling external thread and the second rear coupling external thread are respectively provided on opposite sides of the second positioning body. Both ends are assembled to engage with the second front combination screw hole and the second rear combination screw hole. The second screw body includes a second front positioning opening, which is spatially relative to the second positioning body. The two front coupling screw holes are connected to the outside through the second front positioning opening. The second extension screw includes a second rear positioning opening, which is spatially relative to the second positioning body. The second rear coupling screw hole passes through the second positioning body. The second rear positioning port is connected to the outside. The modular clamping jaw of claim 1, wherein the driving module includes a motor, a belt and a pulley, the pulley is connected to the first driving end of the first screw body and the second screw body. The second driving end, the motor is arranged on the body fixed plate, is connected to the pulley through the belt, assembles and drives the pulley, and drives the first screw body and the second screw body to rotate concentrically. The modular clamping jaw of claim 1 further includes a linear rail, a first extension rail, a second extension rail, a first slide block and a second slide block, the linear rail moves along the first direction. Provided on the body fixing plate, spatially relative to the first screw body and the second screw body, the first extension rail and the second extension rail are bilaterally symmetrical to each other and are respectively provided on the first extension plate and the second extension rail. The second extension plate is connected to both ends of the line rail respectively, wherein the first slider is connected to the first nut and allows the first nut to be opposite to the line rail in the first direction; The first extension rail displaces synchronously; wherein the second slide block is connected to the second nut and allows synchronous displacement with the second nut in the first direction relative to the line rail and the second extension rail. The modular clamping jaw of claim 10 further includes a first clip and a second clip, respectively fixed on the first slide block and the second slide block, and the driving module drives the third When a screw body, the first extension screw, the second screw body and the second extension screw rotate, the first extension screw is driven The nut, the first slide block and the first clip are close to or away from the second nut, the second slide block and the second clip to implement the clamping operation.

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