Self-tightening clamping jaw and industrial manipulator

Abstract

The invention relates to the field of clamping jaws, and discloses a self-tightening clamping jaw which comprises a clamping jaw body, the clamping jaw body comprises two clamping arms capable of synchronously approaching and synchronously leaving, each clamping arm is provided with a set of parallel connecting rod mechanism assemblies and a clamping plate, and the two clamping plates on the two clamping arms are oppositely arranged. One end of the parallel connecting rod mechanism assembly is movably connected with the clamping arms, and the other end of the parallel connecting rod mechanism assembly is movably connected with the clamping plates, so that each clamping plate can do arc-shaped swing in the vertical direction relative to the connected clamping arms, and when the clamping plates abut against an object to the maximum extent when swinging downwards, the clamping arms synchronously approach to push the clamping plates to swing upwards. When an object is clamped, the clamping plates can swing upwards to the maximum amplitude relative to the clamping arms, and when the object is clamped and lifted finally, due to the gravity of the object and the friction force between the object and the clamping plates, due to the effect of the parallel connecting rod mechanism, the object can be clamped by the clamping plates more tightly, and the clamping effect is better.

Description

Technical Field

[0001] The present invention relates to the field of clamping jaws, and more specifically, to a self-tightening clamping jaw. The present invention also relates to an industrial manipulator. Background Art

[0002] Manipulators have been increasingly widely used in all walks of life. The end of the manipulator is provided with a clamping claw, which is used to clamp objects and transfer them. For example, the Chinese patent document entitled A manipulator clamp for helium inspection with the authorization announcement number CN222003505U has a structure including multiple groups of clamping claws, each group of clamping claws having two clamping claws, which are connected by two first hinged rods and two second hinged rods, and then the first gear and the second gear are driven by a driving mechanism to achieve the synchronous approach and synchronous separation of the two clamping claws, thereby achieving the purpose of clamping. This technical solution uses clamping claws to clamp objects, and uses the friction between the clamping claws and the object to fix the object. However, it is difficult to keep the clamping force of the clamping claws of this mechanical structure at an appropriate level all the time, especially after long-term use, gaps appear due to wear between the various components, resulting in a reduction in the clamping force and even the friction, and a poor clamping and fixing effect. Summary of the invention

[0003] In view of the above-mentioned deficiencies in the prior art, the present invention provides a self-tightening clamping jaw that can continuously maintain a good clamping effect.

[0004] The above technical objectives of the present invention are achieved through the following technical solutions:

[0005] A self-tightening clamp comprises a clamp body, wherein the clamp body comprises two clamp arms which can approach and move away synchronously, each clamp arm is provided with a set of parallel linkage mechanism components and a clamping plate, the two clamping plates on the two clamp arms are arranged in opposite directions, one end of the parallel linkage mechanism component is movably connected to the clamp arm, and the other end is movably connected to the clamping plate, so that each clamping plate can swing in an arc in the up and down directions relative to the connected clamp arm, and when the clamping plate is against an object at the maximum amplitude of the downward swing, the synchronous approach of the clamp arm can push the clamping plate to swing upward.

[0006] Furthermore, a mounting cavity is provided on the clamp arm and the cavity openings of the mounting cavities on the two clamp arms are arranged relative to each other, and a group of the parallel linkage mechanism components includes two parallel linkage mechanisms, which are respectively located at the front and rear of the mounting cavity.

[0007] Furthermore, each of the clamping arms is rotatably connected to a rotating shaft located in the mounting cavity, and the front and rear parts of the rotating shaft are respectively provided with mounting plates that can rotate with the rotating shaft, and one end of the two parallel linkage mechanisms is movably connected to the two mounting plates at the front and rear parts respectively.

[0008] Furthermore, the clamp arm is provided with a limit plate in the installation cavity for limiting the rotation of the rotating shaft within a certain angle.

[0009] Furthermore, the rotating shaft is D-shaped at the shaft body and the D-shaped plane faces downward or upward, and the limiting plate is provided with a limiting groove for the rotating shaft to pass through, and one of the limiting grooves faces the D-shaped plane, so that the plane abuts the groove surface when the rotating shaft rotates a certain angle.

[0010] Furthermore, the rotating shaft can reciprocate within a distance between the cavity opening and the cavity bottom of the cavity, and an elastic member is provided in the installation cavity, one end of the elastic member abuts against the cavity bottom of the installation cavity, and the other end abuts against the rotating shaft.

[0011] Furthermore, the clamp arm is provided with convex strips at the front and rear of the mounting cavity, which are used for the parallel linkage mechanism to abut against the bottom surface of the parallel linkage mechanism when the parallel linkage mechanism swings downward to the maximum extent.

[0012] Furthermore, a film for holding the object is laid on the clamping plate.

[0013] Furthermore, an industrial robot comprises a robot body, the end of which is detachably and fixedly connected with any of the self-tightening clamps described above, and when the two clamp arms approach synchronously so that the clamping plate presses against the side of the object, the two clamp arms continue to approach synchronously and the end of the robot body moves downward at the same time.

[0014] To sum up, the present invention has the beneficial effects: the present invention adopts a parallel linkage mechanism assembly to movably connect the clamping plate and the clamping arm, so that the clamping plate can swing in an arc shape in the up and down directions relative to the connected clamping arm. When the clamping plate is against the object, the clamping plate will be pushed by the clamping arm to swing upward to the maximum amplitude relative to the clamping arm, and finally clamp the object. When the object is lifted, the gravity of the object and the friction between the clamping plate cause the clamping plate to have a tendency to swing downward. Due to the action of the parallel linkage mechanism, the clamping plate clamps the object tighter, effectively avoiding the problem of insufficient clamping force caused by the gap generated in the mechanical structure after a long period of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional structural schematic diagram of the clamping jaw of the present invention;

[0016] Figure 2 It is a schematic diagram of the three-dimensional decomposition structure of the present invention;

[0017] Figure 3 is a cross-sectional schematic diagram of a first state of the present invention;

[0018] Figure 4 is a cross-sectional schematic diagram of a second state of the present invention;

[0019] Figure 5 is a cross-sectional schematic diagram of a third state of the present invention;

[0020] Figure 6 It is a three-dimensional structural schematic diagram of the manipulator of the present invention.

[0021] Figure numerals: 1. Clamp body; 10. Manipulator body; 2. Clamp arm; 21. Mounting cavity; 22. Limit plate; 23. Raised strip; 24. Strip groove; 3. Parallel connecting rod mechanism; 31. Upper connecting rod; 32. Lower connecting rod; 4. Clamping plate; 5. Rotating shaft; 6. Mounting plate; 7. Elastic member. DETAILED DESCRIPTION

[0022] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0023] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When a component is referred to as being "connected to" another component, it can be directly or indirectly connected to the other component.

[0024] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0025] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0026] Reference Figures 1 to 6A self-tightening clamp comprises a clamp body 1, wherein the clamp body 1 has two clamp arms 2, and the two clamp arms 2 can be synchronously approached and synchronously moved away by driving a gear set driven by a driving motor to rotate, so that the two clamp arms 2 can be synchronously approached and synchronously moved away, thereby realizing the clamping and releasing actions. Each clamp arm 2 is provided with a set of parallel linkage mechanism components and a clamping plate 4, and the two clamping plates 4 on the two clamp arms 2 are arranged in a relative orientation, so that the clamping plates 4 can be pressed against the side of an object when they are synchronously approached to clamp it. One end of the parallel linkage mechanism component is movably connected to the clamp arm 2, and the other end is movably connected to the clamping plate 4, so that each clamping plate 4 can swing in an arc in the up and down directions relative to the connected clamp arm 2, and when the clamping plate 4 is pressed against the object at the maximum amplitude of the downward swing, the clamp arm 2 continues to be synchronously approached, and at this time, the clamping plate 4 can be pushed to swing upward. When the clamping plate 4 swings upward to the maximum amplitude, it stops swinging. At this time, the clamping plate 4 clamps the object by relying on the clamping force of the two clamping arms 2. Of course, the clamping plate 4 is covered with a film for resisting the object to increase the friction.

[0027] like Figure 2 As shown, a mounting cavity 21 is provided on the clamp arm 2, and the cavity openings of the mounting cavities 21 on the two clamp arms 2 are arranged opposite to each other. Each set of parallel linkage mechanism components includes two parallel linkage mechanisms 3, which are respectively located at the front and rear of the mounting cavity 21. The two parallel linkage mechanisms 3 can provide better support for the clamping plate 4, making it less likely to shake and ensuring good swing.

[0028] like Figure 5 As shown, for some objects with a certain tilt angle on the side, in order for the clamping plate 4 to automatically fit the tilted side when clamping, it is necessary to set the parallel linkage assembly to be rotatable as a whole. To this end, a rotating shaft 5 is set on each clamping arm 2, and the rotating shaft 5 crosses the entire installation cavity 21 from the front and back direction. The front and rear parts of the rotating shaft 5 are respectively provided with mounting plates 6 that can rotate with the rotating shaft 5, and one end of the two parallel linkage mechanisms 3 is movably connected to the two mounting plates 6 at the front and rear. Figure 2 As shown, the parallel linkage mechanism 3 includes an upper connecting rod 31 and a lower connecting rod 32, one end of the upper connecting rod 31 is hinged to the mounting plate 6, and the other end is hinged to the clamping plate 4, similarly, one end of the lower connecting rod 32 is hinged to the mounting plate 6, and the other end is hinged to the clamping plate 4, and the upper connecting rod 31 and the lower connecting rod 32 are arranged in parallel.

[0029] To prevent the rotation angle of the rotating shaft 5 from being too large and causing interference between the upper connecting rod 31 and the lower connecting rod 32, Figure 2 As shown, the clamp arm 2 is provided with a limit plate 22 in the mounting cavity 21 for limiting the rotation of the shaft 5 within a certain angle. Specifically, the shaft 5 is D-shaped at the shaft body, and a limit groove for the shaft 5 to pass through is opened on the limit plate 22, one of the limit grooves faces the plane, and the D-shaped plane can face upward or downward, as shown in FIG. Figure 5 The D-shaped plane shown is set to face downward, facing the groove on the lower side of the limiting groove, so that when the rotating shaft 5 rotates a certain angle, the D-shaped plane abuts the groove surface, thereby preventing the rotating shaft 5 from continuing to rotate and limiting its rotation within a suitable angle.

[0030] When the clamping plate 4 swings downward to the maximum extent, in order to ensure that the clamping arm 2 continues to approach synchronously, the clamping plate 4 can be pushed to swing upward. It is necessary to limit the downward rotation angle of the upper connecting rod 31 and the lower connecting rod 32. Figure 2 As shown, the front and rear parts of the mounting cavity 21 of the clamp arm 2 are provided with convex strips 23, which are used for the parallel link mechanism 3 to abut against the bottom surface of the lower connecting rod 32 when the parallel link mechanism 3 swings downward to the maximum extent. When the side surface of the object is a vertical surface, after the clamping plate 4 abuts against the side surface of the object, as shown in FIG. Figure 3 As shown, at this time, the lower connecting rod 32 is restricted by the convex strip 23, and the angle α between the lower connecting rod 32 and the clamping plate 4 is an acute angle. Even when the rotating shaft 5 rotates a certain angle, that is, the side of the clamped object is an inclined surface, the angle α between the lower connecting rod 32 and the clamping plate 4 is an acute angle.

[0031] like Figure 2 and Figure 3 As shown, the clamp arm 2 is provided with two strip grooves 24 arranged along the cavity opening and the cavity bottom direction of the installation cavity 21, and the two ends of the rotating shaft 5 are respectively matched in the two strip grooves 24, so that the rotating shaft 5 can reciprocate within a distance between the cavity opening and the cavity bottom. An elastic member 7 is provided in the installation cavity 21, one end of the elastic member 7 abuts against the cavity bottom of the installation cavity 21, and the other end abuts against the rotating shaft 5. The elastic member 7 adopts a spring, and is pushed by the spring elastic force to keep the rotating shaft 5 close to the cavity opening of the installation cavity 21. When clamping an object, the clamping force of the clamping arm 2 is relatively large, which compresses the spring. At this time, the rotating shaft 5 is located on the side of the strip groove 24 closest to the bottom of the cavity, and the spring is under maximum compression. When the object is transferred to the upper part of the appropriate position, the two clamping arms 2 slowly move away from each other and release, and the clamping plate 4 swings downward by relying on the parallel linkage mechanism 3. At this time, the gravity of the object still makes the rotating shaft 5 located on the side of the strip groove 24 closest to the bottom of the cavity, that is, the spring is still under maximum compression. When the clamping plate 4 swings downward to the maximum amplitude, as the two clamping arms 2 continue to move away from each other, the spring automatically extends, so that the clamping plate 4 keeps clamping the object, preventing the object from sliding directly from between the two clamping plates 4 due to the speed impact when the clamping plate 4 swings downward to the maximum amplitude.

[0032] like Figure 6An industrial robot shown in the figure includes a robot body 10, the end of which is detachably and fixedly connected with the above-mentioned self-tightening clamp, and when the two clamp arms 2 approach synchronously so that the clamping plate 4 presses against the side of the object, the two clamp arms 2 continue to approach synchronously and at the same time the end of the robot body 10 moves downward, so that the clamping plate 4 can swing upward more smoothly to the maximum amplitude relative to the connected clamp arms 2 to clamp the object.

[0033] The above embodiments are merely explanations of the present invention and are not limitations of the present invention. After reading this specification, those skilled in the art may make modifications to the embodiments without any creative contribution as needed. However, such modifications are protected by the patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A self-tightening clamp, comprising a clamp body, wherein the clamp body comprises two clamp arms that can be synchronously approached and synchronously moved away, characterized in that: A set of parallel linkage mechanism components and a clamping plate are provided on each clamping arm. The two clamping plates on the two clamping arms are arranged in opposite directions. One end of the parallel linkage mechanism component is movably connected to the clamping arm, and the other end is movably connected to the clamping plate, so that each clamping plate can swing in an arc in the up and down directions relative to the connected clamping arm, and when the clamping plate presses against the object at the maximum amplitude of the downward swing, the synchronous approach of the clamping arm can push the clamping plate to swing upward.

2. A self-tightening clamp according to claim 1, characterized in that: The clamp arm is provided with an installation cavity, and the cavity openings of the installation cavities on the two clamp arms are arranged opposite to each other. A group of the parallel linkage mechanism components includes two parallel linkage mechanisms, and the two parallel linkage mechanisms are respectively located at the front and rear of the installation cavity.

3. A self-tightening clamp according to claim 2, characterized in that: Each clamp arm is rotatably connected to a rotating shaft located in the installation cavity, and the front and rear parts of the rotating shaft are respectively provided with mounting plates that can rotate with the rotating shaft, and one end of the two parallel linkage mechanisms is movably connected to the two mounting plates at the front and rear parts respectively.

4. A self-tightening clamp according to claim 3, characterized in that: The clamp arm is provided with a limit plate in the installation cavity for limiting the rotation of the rotating shaft within a certain angle.

5. A self-tightening clamp according to claim 4, characterized in that: The rotating shaft is D-shaped at the shaft body with the D-shaped plane facing downward or upward. The limiting plate is provided with a limiting groove for the rotating shaft to pass through. One of the limiting grooves faces the D-shaped plane, so that the plane abuts the groove surface when the rotating shaft rotates a certain angle.

6. A self-tightening clamp according to claim 3, characterized in that: The rotating shaft can reciprocate within a distance between the cavity opening and the cavity bottom of the installation cavity. An elastic member is arranged in the installation cavity, one end of the elastic member abuts against the cavity bottom of the installation cavity, and the other end abuts against the rotating shaft.

7. A self-tightening clamp according to claim 5, characterized in that: The clamp arm is provided with convex strips at the front and rear of the mounting cavity, which are used to abut against the bottom surface of the parallel linkage mechanism when the parallel linkage mechanism swings downward to the maximum extent.

8. A self-tightening clamp according to any one of claims 1 to 7, characterized in that: The clamping plate is provided with a film for resisting an object.

9. An industrial robot, comprising a robot body, characterized in that: The end of the manipulator body is detachably fixedly connected with the self-tightening clamp according to any one of claims 1 to 8, and when the two clamp arms approach synchronously so that the clamping plate presses against the side of the object, the two clamp arms continue to approach synchronously and the end of the manipulator body moves downward at the same time.

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