Self-tightening clamping jaw and industrial robot

Abstract

The present application relates to the field of clamping jaw, disclose a kind of self-tightening clamping jaw, including clamping jaw main body, the clamping jaw main body includes two synchronous approach and synchronous away clamping arm, each clamping arm is equipped with a group of parallel link mechanism components and a piece of clamping plate, two pieces of clamping plate on two clamping arms are oppositely arranged, one end of the parallel link mechanism component is movably connected with clamping arm, the other end is movably connected with clamping plate, so that each clamping plate can be relative to the arc swing of the connected clamping arm in up-down direction, and when clamping plate is at maximum amplitude when being swung downward and is resisted against object, the synchronous approach of clamping arm can push clamping plate to swing upward.The present application uses when clamping object, clamping plate will swing upward to maximum amplitude relative to clamping arm, finally clamping lifts object, the gravity of object and the friction between clamping plate, due to the effect of parallel link mechanism, so that clamping plate is clamped more tightly to object, and clamping effect is better.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of clamping jaws, more particularly to a self-tightening clamping jaw, and further relates to an industrial robot. BACKGROUND

[0002] Robots have been increasingly widely applied to various industries, and the end of the robot is provided with a clamping jaw for clamping an object to be transferred. For example, a Chinese patent document with the name of a helium detection robot clamping jaw and the authorization announcement number CN222003505U discloses a structure including multiple sets of clamping jaw devices, each set of clamping jaw devices has two clamping jaws, the two clamping jaws are connected by two first hinged rods and two second hinged rods, and a driving mechanism is used to drive a first gear and a second gear to realize the synchronous approach and synchronous departure of the two clamping jaws, so as to achieve the purpose of clamping. This technical solution clamps the object by the clamping jaw and fixes the object by the friction force between the clamping jaw and the object. However, it is difficult to keep the clamping force of the clamping jaw of this mechanical structure at a suitable level all the time, especially after long-term use, the wear between various components will cause gaps, resulting in a decrease in clamping force and even friction force, and the clamping and fixing effect will be poor. SUMMARY

[0003] In view of the above-mentioned deficiencies of the prior art, the present application provides a self-tightening clamping jaw with a clamping effect that can be continuously maintained.

[0004] The above technical purpose of the present application is achieved by the following technical solution:

[0005] A self-tightening clamping jaw includes a clamping jaw body, the clamping jaw body includes two clamping arms that can be synchronously approached and synchronously departed, each clamping arm is provided with a set of parallel link mechanism assemblies and a clamping plate, the two clamping plates on the two clamping arms are oppositely arranged, one end of the parallel link mechanism assembly is movably connected with the clamping arm, and the other end is movably connected with the clamping plate, so that each clamping plate can swing in an arc shape in the up-down direction relative to the connected clamping arm, and when the clamping plate swings downward to the maximum amplitude and abuts against an object, the synchronous approach of the clamping arm can push the clamping plate to swing upward.

[0006] Further, an installation cavity is formed in each clamping arm, and the cavities of the two clamping arms are oppositely arranged, and each set of parallel link mechanism assemblies includes two parallel link mechanisms, and the two parallel link mechanisms are respectively located at the front and rear parts of the installation cavity.

[0007] Further, a rotating shaft is rotatably connected to each clamping arm and located in the installation cavity, the front and rear parts of the rotating shaft are respectively provided with installation plates that can rotate with the rotating shaft, and one end of each set of parallel link mechanisms is movably connected with the two installation plates of the front and rear parts.

[0008] Further, the clamping arm is provided with a limiting plate in the mounting cavity for limiting the rotation of the rotating shaft within a certain angle.

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

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

[0011] Further, the clamping arm is provided with a convex strip at the front and rear in the mounting cavity, for abutting against the bottom surface of the parallel link mechanism at the maximum amplitude of downward swinging.

[0012] Further, the clamping plate is provided with a rubber sheet for abutting against the object.

[0013] Further, an industrial manipulator comprises a manipulator body, and the end of the manipulator body is detachably and fixedly connected with the self-tightening clamping jaw, and when the two clamping arms synchronously approach to make the clamping plate abut against the side surface of the object, the two clamping arms continue to synchronously approach and the end of the manipulator body moves downward at the same time.

[0014] In summary, the present application has the beneficial effects that: the parallel link mechanism assembly is used to movably connect the clamping plate and the clamping arm, so that the clamping plate can swing in an arc shape in the up-down direction relative to the connected clamping arm, when the clamping plate abuts against the object, the clamping plate will swing upward to the maximum amplitude relative to the clamping arm under the pushing of the clamping arm, and finally clamps the object, when the object is lifted, the gravitational force of the object and the friction force between the clamping plate make the clamping plate have a downward swinging trend, and due to the action of the parallel link mechanism, the clamping plate clamps the object more tightly, and the problem of insufficient clamping force caused by the gap in the mechanical structure after long-term use is effectively avoided. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a schematic diagram of the three-dimensional structure of the clamping jaw of the present application;

[0016] Figure 2 is a schematic diagram of the three-dimensional exploded structure of the present application;

[0017] Figure 3 is a schematic diagram of the cross section of the first state of the present application;

[0018] Figure 4 is a schematic diagram of the cross section of the second state of the present application;

[0019] Figure 5 is a cross-sectional schematic view of a third state of the application;

[0020] Figure 6 is a schematic view of a mechanical hand of the application.

[0021] Reference signs: 1, jaw body; 10, mechanical hand body; 2, clamping arm; 21, mounting cavity; 22, limiting plate; 23, convex strip; 24, strip-shaped slot; 3, parallel linkage 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 to be solved by the application, technical solutions and beneficial effects clearer, the application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the application and not to limit the application.

[0023] It should be noted that when a component is referred to as being "fixed" 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 terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the application and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application.

[0025] In addition, the terms "first", "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified.

[0026] Reference Figures 1 to 6A self-tightening gripper includes a gripper body 1 with two gripping arms 2. A drive motor drives a gear set to rotate, allowing the two gripping arms 2 to simultaneously approach and move away, achieving gripping and releasing actions. Each gripping arm 2 is equipped with a parallel linkage mechanism assembly and a clamping plate 4. The two clamping plates 4 on the two gripping arms 2 are arranged facing each other, so that when they simultaneously approach, they can press against the side of an object and clamp it. One end of the parallel linkage mechanism assembly is movably connected to the gripping arm 2, and the other end is movably connected to the clamping plate 4, allowing each clamping plate 4 to swing in an arc shape relative to the connected gripping arm 2 in the vertical direction. When the clamping plate 4 reaches its maximum downward swing and presses against the object, the gripping arm 2 continues to approach synchronously, at which point it can push the clamping plate 4 to swing upward. When the clamping plate 4 swings upward to its maximum amplitude, it stops swinging. At this time, the clamping force of the two clamping arms 2 is used to clamp the object with the clamping plate 4. Of course, the clamping plate 4 is covered with a film to hold the object in place, so as to increase the friction.

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

[0028] like Figure 5 As shown, for objects with a certain angle of inclination on their sides, in order for the clamping plate 4 to automatically conform to the inclination during clamping, the parallel linkage mechanism assembly needs to be configured to be rotatable as a whole. Therefore, a rotating shaft 5 is provided on each clamping arm 2, which runs transversely through the entire mounting cavity 21 from front to back. Mounting plates 6, which can rotate with the rotating shaft 5, are respectively provided at the front and rear parts of the rotating shaft 5. One end of each of the two parallel linkage mechanisms 3 is movably connected to the two mounting plates 6 at the front and rear, respectively. 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. The upper connecting rod 31 and the lower connecting rod 32 are arranged in parallel.

[0029] To prevent excessive rotation of the rotating shaft 5 from causing interference between the upper connecting rod 31 and the lower connecting rod 32, such as... Figure 2 As shown, the clamping arm 2 has a limiting plate 22 within the mounting cavity 21 to restrict the rotation of the rotating shaft 5 within a certain angle. Specifically, the rotating shaft 5 is D-shaped at the shaft body, and the limiting plate 22 has a limiting groove for the rotating shaft 5 to pass through. One side of the limiting groove faces the plane, and the D-shaped plane can face upwards or downwards.Figure 5 The plane of the D-shape shown is set downwards, so that it faces the groove surface on the lower side of the limiting groove. When the rotating shaft 5 rotates at a certain angle, the plane of the D-shape abuts against 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 downwards to its maximum extent, it can be pushed upwards to ensure that the clamping arms 2 continue to approach synchronously. Therefore, it is necessary to limit the downward rotation angle of the upper connecting rod 31 and the lower connecting rod 32. For example... Figure 2 As shown, protrusions 23 are provided at both the front and rear of the mounting cavity 21 of the clamping arm 2, for the parallel linkage mechanism 3 to abut against the bottom surface of the lower connecting rod 32 at the maximum downward swing amplitude. When the side of the object is a vertical plane, after the clamping plate 4 abuts against the side of the object, as shown... Figure 3 As shown, at this time, the lower connecting rod 32 is restricted by the protrusion 23, and the included 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, when the side of the clamped object is an inclined plane, the included angle α between the lower connecting rod 32 and the clamping plate 4 is still an acute angle.

[0031] like Figure 2 and Figure 3 As shown, the clamping arm 2 has two strip grooves 24 arranged along the direction of the cavity opening and the cavity bottom of the mounting cavity 21. The two ends of the rotating shaft 5 are respectively fitted into the two strip grooves 24, so that the rotating shaft 5 can move back and forth within a certain distance between the cavity opening and the cavity bottom. The mounting cavity 21 is provided with an elastic element 7. One end of the elastic element 7 abuts against the cavity bottom of the mounting cavity 21, and the other end abuts against the rotating shaft 5. The elastic element 7 is a spring. The rotating shaft 5 is kept close to the cavity opening of the mounting cavity 21 by the spring force. 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 groove 24 closest to the bottom of the cavity, and the spring is under maximum compression. When the object is moved to the upper part of the appropriate position, the two clamping arms 2 slowly move away from each other and release. The clamping plate 4 swings downward by means of the parallel linkage mechanism 3. At this time, the weight of the object still keeps the rotating shaft 5 on the side of the 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 and prevents the object from sliding directly between the two clamping plates 4 due to the impact of the speed when the clamping plate 4 swings downward to the maximum amplitude.

[0032] like Figure 6The illustrated industrial robot comprises a robot main body 10, the distal end of which is detachably fixedly connected with the self-tightening clamping jaw, and when the two clamping arms 2 synchronously approach to make the clamping plate 4 abut against the side of the object, the two clamping arms 2 continue to synchronously approach and simultaneously the distal end of the robot main body 10 moves downward, so that the clamping plate 4 can more smoothly swing upward to the maximum amplitude relative to the connected clamping arms 2 to clamp the object.

[0033] The above embodiments are only explanations of the present application, and are not limitations of the present application. Those skilled in the art can make modifications to the embodiments without creative contribution after reading the specification, as long as the modifications are within the scope of the claims of the present application.

Claims

1. A self-tightening jaw comprising a jaw body comprising two jaw arms that are synchronously approachable and synchronously distal, characterized in that: Each of the clamping arms is provided with a set of parallel linkage assemblies and a clamping plate, the two clamping plates on the two clamping arms are oppositely arranged, one end of the parallel linkage assembly is movably connected with the clamping arm, and the other end is movably connected with the clamping plate, so that each clamping plate can swing in an arc shape relative to the connected clamping arm in the up-down direction, and when the clamping plate is at the maximum amplitude of downward swing and abuts against the object, the synchronous approach of the clamping arms can push the clamping plate to swing upward, the clamping arms are provided with mounting cavities, and the cavity openings of the mounting cavities on the two clamping arms are oppositely arranged, the set of parallel linkage assemblies includes two parallel linkages, the two parallel linkages are respectively located at the front and rear parts in the mounting cavities, each of the clamping arms is rotatably connected with a rotating shaft located in the mounting cavity, the front and rear parts of the rotating shaft are respectively provided with mounting plates that can rotate with the rotating shaft, one end of each of the two parallel linkages is movably connected with the mounting plate at the front and rear parts, respectively, the rotating shaft can reciprocate within a distance between the cavity opening and the cavity bottom of the mounting cavity, the mounting cavity is provided with an elastic member, one end of the elastic member abuts against the cavity bottom of the mounting cavity, and the other end abuts against the rotating shaft.

2. A self-tightening jaw as claimed in claim 1, characterized in that: The clamping arms are provided with limiting plates in the mounting cavities for limiting the rotation of the rotating shaft within a certain angle.

3. A self-tightening jaw as claimed in claim 2, characterized in that: The rotating shaft is D-shaped at the shaft body, and the plane of the D-shaped is downward or upward, the limiting plate is provided with a limiting groove for the rotating shaft to pass through, and one of the groove surfaces of the limiting groove faces the plane of the D-shaped, so that when the rotating shaft rotates by a certain angle, the plane abuts against the groove surface.

4. A self-tightening jaw as claimed in claim 3, wherein: The clamping arms are provided with protrusions at the front and rear parts in the mounting cavities, which are used to abut against the bottom surface of the parallel linkage at the maximum amplitude of downward swing.

5. A self-tightening jaw according to any one of claims 1 to 4, characterized in that: The clamping plate is provided with a film for abutting against the object.

6. An industrial robot comprising a robot body, characterized in that: The end of the mechanical hand body is detachably and fixedly connected with the self-tightening clamping jaw of any one of claims 1 to 5, and when the two clamping arms abut against the side surface of the object, the two clamping arms continue to synchronously approach, and the end of the mechanical hand body moves downward at the same time.

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