Multi-section mechanical clamping jaw

Abstract

The utility model provides a multi-section mechanical clamping jaw. Comprising a stepping motor I, a connecting disc connected with a motor shaft in the stepping motor I, a stepping motor II arranged on the connecting disc, a connecting plate I of which one end is connected with a motor shaft in the stepping motor II, a stepping motor III arranged on the connecting plate I, and a connecting frame of which one end is connected with a motor shaft in the stepping motor III, a motor shaft of the fourth stepping motor is connected with the other end of the connecting frame, the bearing plate is connected with a shell in the fourth stepping motor, the fifth stepping motor is arranged on the bearing plate, the second connecting plate is connected with a motor shaft in the fifth stepping motor, and the clamping jaw mechanism is arranged on the second connecting plate. According to the multi-section mechanical clamping jaw, the first stepping motor, the second stepping motor, the third stepping motor, the fourth stepping motor and the fifth stepping motor are matched to achieve position positioning of the clamping jaw mechanism in the mechanical clamping jaw, the position and angle adjustment of the clamping jaw mechanism is more convenient and faster, and operation of the mechanical clamping jaw is more efficient and flexible.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical clamps, in particular to a multi-section mechanical clamp. Background Art

[0002] A mechanical gripper is a grasping tool installed at the front end of a robotic arm. It is an executive tool for industrial robots to perform grasping and assembly operations. Through the linkage of the robotic arm, the mechanical gripper can be used to transfer spare parts to a specific location or complete the assembly of spare parts.

[0003] However, when the existing mechanical grippers are performing multi-position and multi-angle grasping, the large range of motion of the robotic arm makes it inconvenient to adjust the mechanical grippers, and the flexibility of the operation of the mechanical grippers is poor. This solution aims to solve this technical problem. Utility Model Content

[0004] In view of the deficiencies in the prior art, the utility model provides a multi-stage mechanical clamp, which realizes the positioning of the clamp mechanism in the mechanical clamp through the cooperation of stepper motor one, stepper motor two, stepper motor three, stepper motor four and stepper motor five. The position and angle adjustment of the clamp mechanism are more convenient and quick, making the operation of the mechanical clamp more efficient and flexible.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the utility model is: a multi-stage mechanical clamp, including a stepper motor 1, a connecting disk connected to the motor shaft of the stepper motor 1, a stepper motor 2 arranged on the connecting disk, a connecting plate 1 connected to the motor shaft of the stepper motor 2 at one end, a stepper motor 3 arranged on the connecting plate 1, a connecting frame connected to the motor shaft of the stepper motor 3 at one end, a stepper motor 4 connected to the motor shaft of the connecting frame at the other end, a bearing plate connected to the shell of the stepper motor 4, a stepper motor 5 arranged on the bearing plate, a connecting plate 2 connected to the motor shaft of the stepper motor 5, and a clamp mechanism arranged on the connecting plate 2;

[0006] The clamping mechanism comprises a support frame connected to the second connecting plate, and a reduction motor arranged on the support frame. A plurality of clamping units are arranged in an array on the support frame, and the plurality of clamping units are all connected to the reduction motor.

[0007] The motor shaft in the reduction motor is coaxially connected with a screw rod, a connecting block is sleeved on the outer side of the screw rod, and the connecting block is provided with an internal thread meshing with the screw rod. The clamping jaw unit includes a plurality of support plates arranged in an array on the support frame, a support arm 1 and a support arm 2 respectively hingedly arranged on the support plate at one end, and a claw body hinged to the other end of the support arm 1 and the support arm 2 respectively, a connecting arm is hingedly provided on the side of the support arm 1, and the other end of the connecting arm is hinged to the connecting block.

[0008] A U-shaped plate 1 is provided on the connecting plate, one end of the U-shaped plate 1 is connected to the stepping motor 2, and the other end of the U-shaped plate 1 is hinged to the other end of the connecting plate 1;

[0009] The connecting plate 1 is provided with a U-shaped plate 2, one end of the U-shaped plate 2 is connected to the stepping motor 3, and the other end of the U-shaped plate 2 is hinged to the connecting frame;

[0010] A U-shaped plate three is arranged on the bearing plate, one end of the U-shaped plate three is connected to the stepping motor five, and the other end of the U-shaped plate three is hinged to the connecting plate two.

[0011] The carrying plate is U-shaped, one end of the carrying plate is connected to the stepping motor four, and the other end of the carrying plate is hinged to the connecting frame.

[0012] The distance between the hinge points of the support arm 1 and the support arm 2 on the support plate is smaller than the distance between the hinge points of the support arm 1 and the support arm 2 on the claw body.

[0013] Compared with the prior art, the beneficial effects of the utility model are:

[0014] (1) The position positioning of the clamping mechanism in the mechanical clamping jaw is realized by the cooperation of stepper motor 1, stepper motor 2, stepper motor 3, stepper motor 4 and stepper motor 5. The position and angle adjustment of the clamping mechanism are more convenient and quick, making the operation of the mechanical clamping jaw more efficient and flexible.

[0015] (2) By setting the U-shaped plate 1, the U-shaped plate 2 and the U-shaped plate 3, the operation of the connecting plate 1, the connecting frame and the connecting plate 2 are respectively made more stable and efficient;

[0016] (3) The distance between the hinge points of support arm 1 and support arm 2 on the support plate is smaller than the distance between the hinge points of support arm 1 and support arm 2 on the claw body. When the connecting arm drives support arm 1 to move, the claw body can grasp the parts more firmly and reliably, and the use of the mechanical clamp is more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0018] Figure 2 It is a schematic diagram of the combined structure of the connecting disk and the connecting plate of the utility model.

[0019] Figure 3 It is a schematic diagram of the combined structure of the load-bearing plate and the second connecting plate of the utility model.

[0020] Figure 4 It is a schematic diagram of the overall structure of the clamping jaw mechanism of the utility model.

[0021] Figure 5 It is a partial structural schematic diagram of the clamping jaw unit of the utility model.

[0022] Among them, in the figure: 11, stepper motor one; 12, connecting plate; 1201, U-shaped plate one; 13, stepper motor two; 14, connecting plate one; 141, U-shaped plate two; 15, stepper motor three; 16, connecting frame; 17, stepper motor four; 18, bearing plate; 181, U-shaped plate three; 19, stepper motor five; 110, connecting plate two; 2, clamping claw mechanism; 21, supporting frame; 22, reduction motor; 23, clamping claw unit; 231, supporting plate; 232, supporting arm one; 233, supporting arm two; 234, claw body; 235, connecting arm; 24, screw; 25, connecting block. DETAILED DESCRIPTION

[0023] In order to more clearly illustrate the technical features of this solution, this solution is described below through specific implementation methods.

[0024] See also Figure 1-Figure 5 , a multi-stage mechanical gripper, comprising a stepper motor 11, a connecting plate 12 connected to the motor shaft of the stepper motor 11, a stepper motor 2 13 arranged on the connecting plate 12, a connecting plate 14 connected to the motor shaft of the stepper motor 2 13 at one end, a stepper motor 3 15 arranged on the connecting plate 14, a connecting frame 16 connected to the motor shaft of the stepper motor 3 15 at one end, a stepper motor 4 17 connected to the motor shaft and the other end of the connecting frame 16, a bearing plate 18 connected to the shell of the stepper motor 4 17, a stepper motor 5 19 arranged on the bearing plate 18, a connecting plate 2 110 connected to the motor shaft of the stepper motor 5 19, and a gripper mechanism 2 arranged on the connecting plate 2 110;

[0025] The clamping mechanism 2 includes a support frame 21 connected to the second connecting plate 110 , a reduction motor 22 arranged on the support frame 21 , and a plurality of clamping units 23 are arranged in an array on the support frame 21 , and the plurality of clamping units 23 are all connected to the reduction motor 22 .

[0026] The motor shaft in the reduction motor 22 is coaxially connected to a screw rod 24, a connecting block 25 is sleeved on the outer side of the screw rod 24, and the connecting block 25 is provided with an internal thread meshing with the screw rod 24. The clamping jaw unit 23 includes a plurality of support plates 231 arranged in an array on the support frame 21, a support arm 1 232 and a support arm 2 233 hingedly arranged on the support plate 231 at one end, and a claw body 234 hinged to the other end of the support arm 1 232 and the support arm 2 233 respectively. A connecting arm 235 is hingedly provided on the side of the support arm 1 232, and the other end of the connecting arm 235 is hinged to the connecting block 25.

[0027] A U-shaped plate 1201 is provided on the connecting plate 12, one end of the U-shaped plate 1201 is connected to the stepping motor 13, the other end of the U-shaped plate 1201 is hinged to the other end of the connecting plate 14, and the hinge point between the U-shaped plate 1201 and the connecting plate 14 is coaxially arranged with the motor shaft of the stepping motor 13;

[0028] A U-shaped plate 2 141 is provided on the connecting plate 14, one end of the U-shaped plate 2 141 is connected to the stepping motor 3 15, the other end of the U-shaped plate 2 141 is hinged to the connecting frame 16, and the hinge point between the U-shaped plate 2 141 and the connecting frame 16 is coaxially arranged with the motor shaft of the stepping motor 3 15;

[0029] A U-shaped plate three 181 is provided on the supporting plate 18, one end of the U-shaped plate three 181 is connected to the stepper motor five 19, the other end of the U-shaped plate three 181 is hinged to the connecting plate two 110, and the hinge point between the U-shaped plate three 181 and the connecting plate two 110 is coaxially arranged with the motor shaft of the stepper motor five 19.

[0030] The supporting plate 18 is U-shaped, one end of the supporting plate 18 is connected to the stepper motor 17, the other end of the supporting plate 18 is hinged to the connecting frame 16, and the hinge point between the supporting plate 18 and the connecting frame 16 is coaxially arranged with the motor shaft of the stepper motor 17.

[0031] The distance between the hinge points of the support arm 1 232 and the support arm 2 233 on the support plate 231 is smaller than the distance between the hinge points of the support arm 1 232 and the support arm 233 on the claw body 234 .

[0032] The specific working process of this utility model:

[0033] When in use, the stepper motor 11 is fixed on the equipment base, and the connection disk 12 is driven to rotate by the rotation of the stepper motor 11, and the connection disk 12 drives the entire stepper motor 2 13 to move, and the motor shaft of the stepper motor 2 13 drives the connection plate 14 to rotate, thereby driving the entire stepper motor 3 15 on the connection plate 14 to move, and the connection shaft of the stepper motor 3 15 drives one end of the connection frame 16 to move, and the other end of the connection frame 16 drives the motor 5 on the bearing plate 18 to move through the connection shaft of the stepper motor 4 17, and the motor shaft of the stepper motor 5 19 drives the connection plate 2 110 to rotate, and drives the support frame 21 in the clamping mechanism 2 to move through the connection plate 2 110;

[0034] When the clamping mechanism 2 reaches the set position, the screw 24 is driven to rotate by the reduction motor 22, and the screw 24 drives the connecting block 25 to move. The connecting block 25 drives several supporting arms 232 to close together through the connecting arm 235. Under the linkage of the supporting arm 1 232 and the supporting arm 2 233, the claw body 234 is driven to grab the object. Finally, the stepping motor 1 11, the stepping motor 2 13, the stepping motor 3 15, the stepping motor 4 17 and the stepping motor 5 19 cooperate to realize the movement of the object to the set position.

[0035] The hinge point spacing between support arm 1 232 and support arm 2 233 on the support plate 231 is smaller than the hinge point spacing between support arm 1 232 and support arm 2 233 on the claw body 234. When the connecting arm 235 drives support arm 1 232 to move, the hinge points of support arm 1 232 and support arm 2 233 on the claw body 234 rotate inward, thereby making the claw body 234 grasp the parts more firmly and reliably, and the use of the multi-section mechanical clamp is more stable.

[0036] Technical features not described in the present invention can be achieved through or by adopting existing technologies, and will not be elaborated here. Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention should also fall within the scope of protection of the present invention.

Claims

1. Multi-stage mechanical gripper, characterized in that: It includes a stepper motor 1, a connecting plate connected to the motor shaft of the stepper motor 1, a stepper motor 2 arranged on the connecting plate, a connecting plate 1 connected to the motor shaft of the stepper motor 2 at one end, a stepper motor 3 arranged on the connecting plate 1, a connecting frame connected to the motor shaft of the stepper motor 3 at one end, a stepper motor 4 whose motor shaft is connected to the other end of the connecting frame, a bearing plate connected to the shell of the stepper motor 4, a stepper motor 5 arranged on the bearing plate, a connecting plate 2 connected to the motor shaft of the stepper motor 5, and a clamping mechanism arranged on the connecting plate 2; The clamping mechanism comprises a support frame connected to the second connecting plate, and a reduction motor arranged on the support frame. A plurality of clamping units are arranged in an array on the support frame, and the plurality of clamping units are all connected to the reduction motor.

2. The multi-stage mechanical gripper according to claim 1, characterized in that: The motor shaft in the reduction motor is coaxially connected with a screw rod, a connecting block is sleeved on the outer side of the screw rod, and the connecting block is provided with an internal thread meshing with the screw rod. The clamping jaw unit includes a plurality of support plates arranged in an array on the support frame, a support arm 1 and a support arm 2 respectively hingedly arranged on the support plate at one end, and a claw body hinged to the other end of the support arm 1 and the support arm 2 respectively, a connecting arm is hingedly provided on the side of the support arm 1, and the other end of the connecting arm is hinged to the connecting block.

3. The multi-stage mechanical gripper according to claim 1, characterized in that: A U-shaped plate 1 is provided on the connecting plate, one end of the U-shaped plate 1 is connected to the stepping motor 2, and the other end of the U-shaped plate 1 is hinged to the other end of the connecting plate 1; The connecting plate 1 is provided with a U-shaped plate 2, one end of the U-shaped plate 2 is connected to the stepping motor 3, and the other end of the U-shaped plate 2 is hinged to the connecting frame; A U-shaped plate three is arranged on the bearing plate, one end of the U-shaped plate three is connected to the stepping motor five, and the other end of the U-shaped plate three is hinged to the connecting plate two.

4. The multi-stage mechanical gripper according to claim 3, characterized in that: The carrying plate is U-shaped, one end of the carrying plate is connected to the stepping motor four, and the other end of the carrying plate is hinged to the connecting frame.

5. The multi-stage mechanical gripper according to claim 2, characterized in that: The distance between the hinge points of the support arm 1 and the support arm 2 on the support plate is smaller than the distance between the hinge points of the support arm 1 and the support arm 2 on the claw body.

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