High-stability machine claw

Abstract

The utility model discloses a high-stability machine claw which comprises a device plate, a first connecting block is installed on the device plate, a top plate is installed at the end, away from the device plate, of the first connecting block, a servo motor is installed on the first connecting block, the output end of the servo motor is connected with a threaded rod, and the threaded rod is in threaded connection with a threaded pipe. Two second connecting blocks are installed on the threaded pipe, the two second connecting blocks are oppositely arranged, first connecting rods and second connecting rods are rotatably installed on the two second connecting blocks, the same clamping jaw is rotatably installed at the ends, away from the second connecting blocks, of the two first connecting rods and the second connecting rods, and two supporting shafts are installed on the device plate; according to the mechanical arm, driving control is conducted through the servo motor, the occupied area is small, operation is easy, objects are grabbed through cooperation of the threaded rod and the threaded pipe, the stability performance is good, and the grabbing force is large.

Description

Technical Field

[0001] The utility model relates to the technical field of machine claws, in particular to a high-stability machine claw. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals. The use of robot claws is becoming more and more extensive. Large robot claws can be used in industrial production, such as grabbing profiles for stacking and transportation; while small robot claws can be used in work or life, for example, the robot controls the robot claw to grab pens for writing and painting; or the robot controls the robot claw to grab experimental tools for experiments.

[0003] The utility model with publication number CN219275865U discloses a plate clamping manipulator, including an articulated robot and a mechanical claw assembly, wherein the mechanical claw assembly is installed on the end of the articulated robot through a mounting frame, and the mechanical grasping assembly includes a base, a pair of clamping claws arranged on both sides of the end face of the base for separation and closing, and two driving cylinders for respectively driving the corresponding clamping claws to move; the other end face of the base is connected to the end of the articulated robot, and the driving cylinder is assembled on the base, and the clamping claw is composed of a lower clamping claw and an upper clamping claw, and the lower clamping claw is fixedly assembled on the base, and one end of the upper clamping claw is rotatably mounted on the lower clamping claw, and the piston rod of the driving cylinder is connected to the upper clamping claw. The utility model is reliable in use, has a low failure rate and good flexibility, and greatly improves the working efficiency and reliability of the manipulator, has a wide range of applications, a simple and compact structure, is easy to install and maintain, has a low cost, and has good clamping stability and a good clamping effect.

[0004] The above utility model adopts the cylinder as the main power output to achieve the purpose of grasping the object. The cylinder clamping requires the arrangement of a gas pipeline in the device, which occupies a large amount of device space and has a high production cost. Utility Model Content

[0005] The purpose of the utility model is to provide a high-stability machine claw to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a high-stability machine claw, comprising a device plate, a first connecting block is installed on the device plate, a top plate is installed on the end of the first connecting block away from the device plate, a servo motor is installed on the first connecting block, a threaded rod is connected to the output end of the servo motor, a threaded tube is threadedly connected to the threaded rod, two second connecting blocks are installed on the threaded tube, the two second connecting blocks are relatively arranged, and a first connecting rod and a second connecting rod are rotatably installed on the two second connecting blocks, the ends of the two first connecting rods and the second connecting rods away from the second connecting block are rotatably installed with the same clamping claw, two supporting shafts are installed on the device plate, third connecting rods are rotatably installed on the two supporting shafts, and the ends of the two third connecting rods away from the supporting shafts are rotatably connected to the corresponding first connecting rods.

[0007] Preferably, first connecting shafts are provided on both sides of the servo motor, and two ends of the two first connecting shafts are respectively mounted on the device plate and the top plate.

[0008] Preferably, the two second connection blocks each have a first connection groove at one end away from each other, the two clamping jaws each have a second connection groove at one end close to the first connection block, and the first connection groove and the second connection groove are located on the same plane.

[0009] Preferably, both ends of the two first connecting rods, the second connecting rod and the third connecting rod are provided with connecting holes, and the second connecting shafts are installed in the connecting holes.

[0010] Preferably, rubber pads are slidably mounted on both of the clamping jaws.

[0011] Preferably, the two clamping jaws are each provided with a third connecting groove, and the two rubber pads are each provided with a third connecting block at one end close to the clamping jaws, and the third connecting block is adapted to the third connecting groove.

[0012] Preferably, a limiting groove is provided on the device plate, a limiting block is installed on the threaded tube, and the limiting block and the limiting groove are matched.

[0013] The beneficial effects of the utility model are:

[0014] In the utility model, the servo motor is first turned on, and when the servo motor rotates clockwise, it drives the threaded rod installed thereon to rotate clockwise, so that the threaded tube threadedly connected to the threaded rod moves along the threaded rod to a position close to the servo motor. The movement of the threaded tube causes the two first connecting rods and the second connecting rods rotatably installed thereon to move simultaneously in a direction close to the servo motor. When the first connecting rod and the second connecting rod move, they pull the two clamping claws closer to each other until the object is grasped. At this time, the servo motor is turned off, so that the machine claws are kept in a state of grasping the object, thereby completing the entire process of grasping the object. The machine claws are driven and controlled by the servo motor, occupy a small area, and are simple to operate. Through the cooperation of the threaded rod and the threaded tube, the object is grasped, and the stability performance is good and the grasping force is large. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the three-dimensional structure of a high-stability machine claw proposed by the utility model;

[0016] Figure 2 This is a schematic diagram of the cross-sectional structure of a high-stability machine claw proposed by the utility model;

[0017] Figure 3 This is a schematic diagram of the enlarged structure of the A position of a high-stability machine claw proposed by the utility model;

[0018] Figure 4 The utility model provides a schematic diagram of the cross-sectional structure of a threaded rod of a high-stability machine claw.

[0019] In the figure: 1. device plate; 2. first connecting block; 3. top plate; 4. servo motor; 5. threaded rod; 6. threaded tube; 7. second connecting block; 8. first connecting rod; 9. second connecting rod; 10. clamping claw; 11. supporting shaft; 12. third connecting rod; 13. first connecting shaft; 14. first connecting groove; 15. second connecting groove; 16. connecting hole; 17. second connecting shaft; 18. rubber pad; 19. third connecting groove; 20. third connecting block; 21. limit groove; 22. limit block. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0021] Specifically, a high-stability machine claw includes a device plate 1, a first connecting block 2 is installed on the device plate 1, a top plate 3 is installed on the end of the first connecting block 2 away from the device plate 1, a servo motor 4 is installed on the first connecting block 2, a threaded rod 5 is connected to the output end of the servo motor 4, a threaded tube 6 is threadedly connected to the threaded rod 5, two second connecting blocks 7 are installed on the threaded tube 6, the two second connecting blocks 7 are arranged opposite to each other, and the two second connecting blocks 7 are rotatably installed with a first connecting rod 8 and a second connecting rod 9, the ends of the two first connecting rods 8 and the second connecting rods 9 away from the second connecting block 7 are rotatably installed with the same clamping claw 10, two supporting shafts 11 are installed on the device plate 1, third connecting rods 12 are rotatably installed on the two supporting shafts 11, and the ends of the two third connecting rods 12 away from the support shafts 11 are rotatably connected to the corresponding first connecting rods 8.

[0022] When the machine claw grabs an object, the servo motor 4 is first turned on. When the servo motor 4 rotates clockwise, it drives the threaded rod 5 installed thereon to rotate clockwise, so that the threaded tube 6 threadedly connected to the threaded rod 5 moves along the threaded rod 5 to a position close to the servo motor 4. The movement of the threaded tube 6 causes the two first connecting rods 8 and the second connecting rod 9 rotatably installed thereon to move simultaneously in a direction close to the servo motor 4. When the first connecting rod 8 and the second connecting rod 9 move, they pull the two clamping claws 10 closer to each other until the object is grabbed. At this time, the servo motor 4 is turned off, so that the machine claw remains in a state of grabbing the object, thereby completing the entire process of grabbing the object. The machine claw is driven and controlled by the servo motor 4, occupies a small area, and is easy to operate. The object is grabbed through the cooperation of the threaded rod 5 and the threaded tube 6, and has good stability and strong grabbing force.

[0023] Specifically, in the present embodiment, first connecting shafts 13 are provided on both sides of the servo motor 4, and the two ends of the two first connecting shafts 13 are respectively mounted on the device plate 1 and the top plate 3, and the two first connecting shafts 13 connect the device plate 1 and the top plate 3 together and provide supporting force for both at the same time, so that the ends of the device plate 1 and the top plate 3 away from the first connecting block 2 are not easily deformed by force, thereby reducing the distance between the device plate 1 and the top plate 3.

[0024] Specifically, in the present embodiment, a first connecting groove 14 is formed at one end of the two second connecting blocks 7 which are away from each other, and a second connecting groove 15 is formed at one end of the two clamping jaws 10 which are close to the first connecting block 2. The first connecting groove 14 and the second connecting groove 15 are located on the same plane, so that the two ends of the first connecting rod 8 and the second connecting rod 9 can be rotatably installed on the corresponding clamping jaws 10 and the second connecting block 7 through the first connecting groove 14 and the second connecting groove 15 respectively.

[0025] Specifically, in the present embodiment, connecting holes 16 are provided at both ends of the two first connecting rods 8, the second connecting rod 9 and the third connecting rod 12, and second connecting shafts 17 are installed in the connecting holes 16, so that the two ends of the first connecting rod 8 and the second connecting rod 9 can be rotatably installed on the second connecting block 7 and the clamping jaw 10 respectively through the second connecting shaft 17, and the two ends of the third connecting rod 12 can be rotatably installed on the first connecting rod 8 and the support shaft 11 respectively through the second connecting shaft 17.

[0026] Specifically, in the present embodiment, rubber pads 18 are slidably mounted on both clamping jaws 10. When the two clamping jaws 10 clamp an object, the rubber pads 18 mounted thereon first come into contact with the object, so that the friction force generated between the rubber pads 18 and the object grips the object, making it difficult for it to fall, and avoiding the situation in which the clamping jaws 10 directly contact the object and cause wear of the object, thereby ensuring the integrity of the object.

[0027] Specifically, in the present embodiment, a third connecting groove 19 is provided on each of the two clamping jaws 10, and a third connecting block 20 is installed on one end of each of the two rubber pads 18 close to the clamping jaw 10. The third connecting block 20 is adapted to the third connecting groove 19, so that the third connecting block 20 can be slidably installed on the third connecting groove 19, thereby the rubber pad 18 is slidably installed on the clamping jaw 10 under the action of the third connecting block 20 and the third connecting groove 19. When the rubber pad 18 is worn due to excessive use, this installation method facilitates the rapid installation and replacement of the rubber pad 18.

[0028] Specifically, in this embodiment, a limit groove 21 is provided on the device plate 1, and a limit block 22 is installed on the threaded tube 6. The limit block 22 and the limit groove 21 are adapted to each other, so that the limit block 22 can be slidably installed in the limit groove 21, so that the threaded tube 6 can be slidably installed on the device plate 1 through the limit block 22. Through the setting of the limit block 22 and the limit groove 21, when the threaded tube 6 rotates with the servo motor 4, it is restricted by the limit block 22 and can only move in the vertical direction, thereby ensuring that the first connecting rod 8, the second connecting rod 9 and the clamp 10 can only move in the vertical direction.

[0029] The above are only preferred specific implementation methods of the utility model, but the protection scope of the utility model is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the utility model, who makes equivalent replacements or changes based on the technical scheme and utility model concept of the utility model, should be covered by the protection scope of the utility model.

Claims

1. A high stability robot gripper, comprising a device plate (1), characterized in that: The device plate (1) is provided with a first connection block (2), and a top plate (3) is provided at one end of the first connection block (2) away from the device plate (1); a servo motor (4) is provided on the first connection block (2), and a threaded rod (5) is connected to the output end of the servo motor (4); a threaded tube (6) is threadedly connected to the threaded rod (5); two second connection blocks (7) are provided on the threaded tube (6); the two second connection blocks (7) are arranged opposite to each other, and a first connecting rod (8) and a second connecting rod (9) are rotatably provided on the two second connection blocks (7); the ends of the two first connecting rods (8) and the second connecting rods (9) away from the second connection block (7) are rotatably provided with a same clamping claw (10); two support shafts (11) are provided on the two support shafts (11), and third connecting rods (12) are rotatably provided on the two support shafts (11); the ends of the two third connecting rods (12) away from the support shafts (11) are rotatably connected to the corresponding first connecting rods (8).

2. A high stability robot gripper according to claim 1, characterized in that: First connecting shafts (13) are provided on both sides of the servo motor (4), and the two ends of the two first connecting shafts (13) are respectively mounted on the device plate (1) and the top plate (3).

3. A high stability robot gripper according to claim 1, characterized in that: The two second connection blocks (7) are each provided with a first connection groove (14) at one end away from each other, and the two clamping jaws (10) are each provided with a second connection groove (15) at one end close to the first connection block (2), and the first connection groove (14) and the second connection groove (15) are located on the same plane.

4. A high stability robot gripper according to claim 1, characterized in that: Both ends of the two first connecting rods (8), the second connecting rod (9) and the third connecting rod (12) are provided with connecting holes (16), and second connecting shafts (17) are installed in the connecting holes (16).

5. A high stability robot gripper according to claim 1, characterized in that: Rubber pads (18) are slidably mounted on the two clamping jaws (10).

6. A high stability robot gripper according to claim 1, characterized in that: The two clamping jaws (10) are each provided with a third connecting groove (19), and the two rubber pads (18) are each provided with a third connecting block (20) at one end close to the clamping jaws (10), and the third connecting block (20) is adapted to the third connecting groove (19).

7. A high stability robot gripper according to claim 1, characterized in that: A limiting groove (21) is provided on the device plate (1), a limiting block (22) is installed on the threaded tube (6), and the limiting block (22) and the limiting groove (21) are matched.

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