TWM642280U - Clamping mechanism - Google Patents

Abstract

A clamping mechanism is used to be installed on a mechanical arm. The clamping mechanism includes a fixed seat, two movable seats and two jaws. The two movable seats are movably arranged on the fixed seat, and are relatively close to or far away from each other. The two clamping jaws are respectively arranged on the two movable seats, and at least one of the two clamping jaws can shake relative to the corresponding movable seat, so that when the two clamping jaws are shifted relative to the workpiece, the clamping angle can be adjusted through shaking. Therefore, no matter whether the two clamping jaws are offset relative to the workpiece, the clamping mechanism can firmly clamp the workpiece.

Description

Clamping mechanism

The present invention relates to a clamping mechanism, in particular to a clamping mechanism which can adjust the clamping angle of the jaws.

With the continuous evolution and progress of industrial technology and the gradual increase of labor costs, automated production technology has been gradually adopted in modern industrial production technology. In automated production technology, robotic arms have gradually been widely adopted and become indispensable equipment. The use of robotic arms for automated production operations can not only improve work efficiency, but also perform tasks that operators cannot or are difficult to complete. Therefore, it is a future trend to use robotic arms to replace manual operations for automated production operations.

In the process of automated production, the operator can pick up the workpiece through the gripper jaws of the robotic arm. However, when the gripper jaws grip the workpiece, if the gripper jaws are offset relative to the workpiece, it will be difficult for the mechanical arm to grip the workpiece stably, causing the workpiece to loosen from the gripper jaws, thereby reducing production efficiency. Therefore, how to make the clamping jaws firmly grasp the workpiece regardless of whether it is offset relative to the workpiece, so as to maintain high production efficiency, is one of the problems that the research and development personnel should solve.

The present invention is to provide a clamping mechanism, so that the jaws can firmly grasp the workpiece regardless of whether the jaws are offset relative to the workpiece, so as to maintain high production efficiency.

The clamping mechanism disclosed in an embodiment of the present invention is used for installing on a robot arm. The clamping mechanism includes a fixed seat, two movable seats and two jaws. The two movable seats are movably arranged on the fixed seat, and are relatively close to or far away from each other. The two clamping jaws are respectively arranged on the two movable seats, and at least one of the two clamping jaws can swing relative to the corresponding movable seat.

According to the clamping mechanism of the above-mentioned embodiment, since at least one of the two clamping jaws can shake relative to the corresponding movable seat, when the two clamping jaws are offset relative to the workpiece, the clamping angle can be adjusted through shaking, so no matter whether the two clamping jaws Whether it is offset relative to the workpiece, the clamping mechanism can firmly clamp the workpiece.

The above description of the content of the present invention and the following description of the implementation are used to demonstrate and explain the principle of the present invention, and provide a further explanation of the patent application scope of the present invention.

Please refer to Figure 1 and Figure 2. Fig. 1 is a schematic side plan view of the clamping mechanism according to the first embodiment of the present invention. Fig. 2 is a schematic side view of the movable part of the clamping mechanism sliding relative to the fixed seat according to the first embodiment of the present invention.

The clamping mechanism 10 of this embodiment includes a fixed seat 11 , two movable seats 12 , two assembly blocks 13 and two clamping jaws 14 . Two movable seats 12 are movably arranged on the fixed seat 11 . The two movable seats 12 can slide relative to the fixed seat 11 along a moving direction A. Each of the two assembly blocks 13 includes an assembly body 131 and a limiting body 132 . The assembly body 131 is installed on the corresponding movable seat 12 . The limiting body 132 protrudes from one side of the assembly body 131 .

Please refer to Figure 3 and Figure 4. Fig. 3 is a schematic perspective view of a clamping jaw of the clamping mechanism according to the first embodiment of the present invention. FIG. 4 is an exploded schematic diagram of FIG. 3 .

The two jaws 14 are respectively rotatably disposed on the two assembly bodies 131 of the two assembly blocks 13 . Each of the two jaws 14 includes a rotating part 141 and two claw parts 142 . In addition, the clamping mechanism 10 may also include a stepped screw 15 . The two stepped screws 15 respectively install the two rotating parts 141 on the corresponding two assembly bodies 131 , so that the two rotating parts 141 are respectively rotatably installed on the two assembly bodies 131 . Each rotating member 141 and each limiting body 132 are located on the same side relative to the assembly body 131, and when the two rotating members 141 rotate, the two rotating members 141 are respectively limited by the two limiting bodies 132 within an angular range The two assembly blocks 13 rotate relative to the movable seat 12 with a pivot axis F as a reference, and the pivot axis F is perpendicular to the moving direction A. As shown in FIG. That is to say, the two clamping jaws 14 can rotate relative to the movable base 12 within the range of rotation angles limited by the two limiting bodies 132 . The rotating member 141 has a first surface 1411 and a second surface 1412 . The first surface 1411 faces the corresponding assembly body 131 . The second surface 1412 is perpendicular to the first surface 1411 , and the two claws 142 protrude from the second surface 1412 of the rotating member 141 .

In this embodiment, the two assembly blocks 13 and the corresponding movable seats 12 are two independent components, and the two clamping jaws 14 are respectively rotatably disposed on the two assembly blocks 13 , but not limited thereto. In other embodiments, each assembly block and the corresponding movable seat can also be integrally formed to be regarded as a movable seat, and the two clamping jaws are respectively rotatably disposed on the two movable seats.

In this embodiment, the two jaws 14 are rotatably disposed on the two assembly bodies 131 of the two assembly blocks 13 , but the present invention is not limited thereto. In other embodiments, only a single jaw may be rotatably disposed on the two assembly bodies of the two assembly blocks.

Please refer to Figure 5 and Figure 6. 5 is a schematic bottom view of the clamping mechanism according to the first embodiment of the present invention before clamping the workpiece and adjusting the gripping angle of the jaws. Fig. 6 is a schematic bottom view of the clamping mechanism according to the first embodiment of the present invention after clamping the workpiece and adjusting the grasping angle of the jaws.

As shown in Figure 5. When the clamping mechanism 10 clamps the circular block workpiece 20, the two clamping jaws 14 are driven by the movable seat 12 (as shown in FIG. 1 ) to gradually approach the workpiece 20 along the direction B. If the two clamping jaws 14 of the clamping mechanism 10 are offset relative to the workpiece 20, because the clamping space of the four jaws 142 of the two clamping jaws 14 cannot completely match the circular block-shaped workpiece 20, the middle of the two clamping jaws 14 Only one claw piece 142 respectively can abut against the workpiece 20 together. At this time, the workpiece 20 cannot be firmly clamped only by the two claws 142 abutting against the workpiece 20 .

As shown in Figure 6. When the two jaws 14 continue to move closer to the workpiece 20 along the direction B, one of the two jaws 14 respectively has one jaw 142 which is respectively abutted by the workpiece 20 and temporarily stops moving, but the other two jaws 142 have not yet been touched by the workpiece 20. Therefore, it will continue to move along the direction B driven by the two jaws 14 . In addition, when the other two claws 142 continue to move along the direction B, the two clamping jaws 14 will rotate relative to the movable seat 12 along the direction C, and the other two claws 142 will also lean against the workpiece 20 . That is, the workpiece 20 can be firmly clamped by the four claws 142 . In this way, even if the two clamping jaws 14 of the clamping mechanism 10 are offset relative to the workpiece 20 when the clamping mechanism 10 clamps the workpiece 20 , the workpiece 20 can still be firmly clamped by adjusting the clamping angle of the two clamping jaws 14 .

According to the clamping mechanism of the above-mentioned embodiment, since at least one of the two clamping jaws can shake relative to the corresponding movable seat, when the two clamping jaws are offset relative to the workpiece, the clamping angle can be adjusted through shaking, so no matter whether the two clamping jaws Whether it is offset relative to the workpiece, the clamping mechanism can firmly clamp the workpiece.

Although the present invention is disclosed above with the above-mentioned embodiments, it is not intended to limit the present invention. Any person familiar with similar skills can make some changes and modifications without departing from the spirit and scope of the present invention. Therefore, this invention The scope of patent protection for new models shall be defined in the scope of patent application attached to this specification.

10: Clamping mechanism 11: Fixed seat 12: Movable seat 13: Assemble the blocks 131: Assemble the body 132: Limiting body 14: Gripper 141: rotating part 1411: first surface 1412: second surface 142: claw piece 15: Ladder screw 20: Workpiece A, B: direction F: pivot axis

Fig. 1 is a schematic side plan view of the clamping mechanism according to the first embodiment of the present invention. Fig. 2 is a schematic side view of the movable part of the clamping mechanism sliding relative to the fixed seat according to the first embodiment of the present invention. Fig. 3 is a schematic perspective view of a clamping jaw of the clamping mechanism according to the first embodiment of the present invention. FIG. 4 is an exploded schematic diagram of FIG. 3 . 5 is a schematic bottom view of the clamping mechanism according to the first embodiment of the present invention before clamping the workpiece and adjusting the gripping angle of the jaws. Fig. 6 is a schematic bottom view of the clamping mechanism according to the first embodiment of the present invention after clamping the workpiece and adjusting the grasping angle of the jaws.

13: Assemble the blocks

131: Assemble the body

132: Limiting body

14: Gripper

141: rotating parts

1411: first surface

1412: second surface

142: claw piece

15: Ladder screw

F: pivot axis

Claims (6)

A clamping mechanism, used to be installed on a mechanical arm, the clamping mechanism includes: a fixed seat; two movable seats, which are movably arranged on the fixed seat, and are relatively close to or far away from each other; and two jaws, the two The jaws are respectively arranged on the two movable seats, and at least one of the two jaws can swing relative to the corresponding movable seat. The clamping mechanism as described in Claim 1, wherein the two movable seats slide relative to the fixed seat along a moving direction, the jaws that oscillate relative to the movable seats rotate relative to the movable seat based on a pivot axis, and the The pivot axis is perpendicular to this direction of movement. The clamping mechanism as described in claim 1, wherein the two clamping jaws are respectively swayable relative to the two movable seats. The clamping mechanism as described in claim 3 further includes two assembly blocks, each of which includes an assembly body and a limiter, the assembly body is installed on the corresponding movable seat, and the limiter protrudes from the On one side of the assembling body, the two clamping jaws are respectively rotatably arranged on the two assembling bodies of the two assembling blocks, and the two clamping jaws are respectively limited by the two limiters and are respectively opposite to the two assembling bodies within an angle range. Two sets of blocks rotate. The clamping mechanism as described in claim 4, wherein each of the two jaws includes a rotating member and two claw members, the rotating member has a first surface and a second surface, and the rotating member is rotatably arranged on the corresponding The assembly body, and the first surface faces the corresponding assembly body, the second surface is perpendicular to the first surface, and the two claws protrude from the second surface of the rotating member. The clamping mechanism as described in claim 5 further includes two stepped screws, and the two stepped screws respectively install the two rotating parts on the two assembly bodies, so that the two rotating parts are respectively rotatably installed on the two assembly bodies .

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