Replaceable clamping jaw module

Abstract

The utility model relates to the technical field of manipulators, in particular to a replaceable clamping jaw module. Comprising a shell, two butt-joint driving units and two clamping jaw arms, the two clamping jaw arms are arranged on the two sides of the end of the shell respectively, the butt-joint driving units are installed in the shell in a sliding mode, the clamping jaw arms are detachably connected with the butt-joint driving units, butt-joint grooves of L-shaped structures are formed in the clamping jaw arms, inserting edges are arranged at the ends of the butt-joint driving units, and the inserting edges are detachably connected with the butt-joint driving units. The insertion edges can be embedded in the butt joint grooves; the side, provided with the clamping jaw arms, of the shell is defined to be a horizontal plane, when the butt-joint driving unit slides in the shell in the normal direction of the horizontal plane, the insertion edges are connected with the butt-joint grooves in an inserted mode or disengaged from the butt-joint grooves, rapid disassembly and assembly of the clamping jaw arms and the butt-joint driving unit are achieved, and operation is easy. The requirement for the number of the fasteners is reduced, the degree of detaching the fasteners is reduced, the time needed for replacing the clamping jaw arms is saved, and the operation efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a replaceable clamping claw module. Background Art

[0002] Mechanical grippers are widely used in automated production lines and robotic systems for grabbing, handling and placing workpieces. Specific application areas include automobile manufacturing, electronic manufacturing, food processing and other industries. Mechanical grippers are mainly driven by motors, and the rotational torque of the motor drives the mechanical part to achieve the operation of clamping and releasing the workpiece. It contains sensors, controllers and gripper bodies. The sensors are responsible for monitoring the position, speed and force of the gripper, and the controller controls the speed and direction of the motor according to the feedback signal of the sensor and the preset control algorithm, thereby achieving motion control of the gripper.

[0003] In the prior art, different types of gripper arms are used to adapt to workpieces of different shapes and structures. During the process of replacing the gripper arms, multiple fasteners on the gripper arms and the docking drive unit need to be disassembled and assembled, which is rather cumbersome. Therefore, the present application provides a replaceable gripper module. Utility Model Content

[0004] In order to solve the above-mentioned deficiencies in the prior art, the purpose of the present utility model is to provide a replaceable clamping jaw module, which can reduce the number of fasteners required, reduce the degree of disassembly of fasteners, save the time required for replacing the clamping jaw arm, and improve operating efficiency.

[0005] The technical solution adopted by the utility model to solve its technical problems is:

[0006] A replaceable clamping jaw module is provided, comprising a shell, two docking drive units and two clamping jaw arms, wherein the two clamping jaw arms are respectively arranged at both sides of the end of the shell, the docking drive unit is slidably installed in the shell, the clamping jaw arm is detachably connected to the docking drive unit, an L-shaped docking groove is arranged on the clamping jaw arm, and a plug-in rib is arranged at the end of the docking drive unit, and the plug-in rib can be embedded in the docking groove.

[0007] Furthermore, a cover is detachably fixedly mounted on the shell, on which a gear shaft and a motor for driving the gear shaft to rotate are mounted, the gear shaft extends toward the inner side of the shell, and rack plates are respectively meshed and transmission-connected on both sides of the gear shaft, the rack plate is horizontally slidably connected to a first slider in the shell, and the docking drive unit is vertically slidably mounted on a second slider at the end of the rack plate.

[0008] Furthermore, the docking drive unit penetrates the cover and extends to the outside of the cover, and a sliding arm is detachably installed at the end of the docking drive unit located on the outside of the cover. The two sliding arms are respectively slidably installed on both sides of the T-shaped arm, and the T-shaped arm is adjustably fixedly installed on the side of the shell.

[0009] Furthermore, a fastener for limiting the position of the T-shaped arm and the shell is installed on the side of the shell. After the fastener passes through the slide groove on the T-shaped arm, it is engaged with the shell through a threaded screw.

[0010] Furthermore, a groove adapted to the outer side surface of the workpiece is provided at one end of the clamping jaw arm away from the housing.

[0011] Furthermore, the motor may be a servo motor or a stepper motor product available on the market.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] 1. The replaceable clamping jaw module of the example of the utility model is provided with an L-shaped docking groove on the clamping jaw arm, and a plug-in rib is provided at the end of the docking drive unit. The plug-in rib can be embedded in the docking groove to connect and fix the clamping jaw arm and the docking drive unit together. Compared with the method of using multiple fasteners for fixed installation in the comparative document, disassembly is more convenient.

[0014] 2. The replaceable clamping jaw module of the example of the utility model defines the side of the shell provided with the clamping jaw arm as a horizontal plane. When the docking drive unit slides in the shell in the horizontal direction, the plug-in ribs remain embedded in the docking groove, so that the docking drive unit and the clamping jaw arm move horizontally synchronously, and the clamping jaws on both sides are used to clamp the workpiece.

[0015] 3. The replaceable gripper module of the example of the utility model defines the side of the shell on which the gripper arm is provided as a horizontal plane. When the docking drive unit slides in the shell along the normal direction of the horizontal plane, the plug-in ribs are plugged into or detached from the docking grooves, thereby realizing the rapid disassembly and installation of the gripper arm and the docking drive unit, which is easy to operate.

[0016] 4. In the replaceable clamping jaw module of the utility model example, a sliding arm is detachably mounted on the end of the docking drive unit located on the outer side of the cover, and the two sliding arms are slidably mounted on both sides of the T-shaped arm respectively, and the T-shaped arm is adjustably fixedly mounted on the side of the shell. By adjusting the relative position of the T-shaped arm and the shell, the two clamping jaws and the two docking drive units can be synchronously disassembled and installed. Compared with the prior art, the present application has a lower requirement for the number of fasteners and a lower degree of disassembly of the fasteners, which saves the time required for replacing the clamping jaws and improves operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0018] Figure 1A schematic diagram of the structure of the replaceable clamping jaw module provided in an embodiment of the utility model Figure 1 ;

[0019] Figure 2 A schematic diagram of the overall structure of a replaceable clamping jaw module provided in an embodiment of the utility model;

[0020] Figure 3 A schematic diagram of the structure of the replaceable clamping jaw module provided in the embodiment of the utility model Figure 2 ;

[0021] Figure 4 A schematic diagram of the structure of the replaceable clamping jaw module provided in an embodiment of the utility model Figure 3 .

[0022] In the figure: 11 housing, 12 cover, 13 motor, 14 gear shaft, 15 first slider, 16 rack plate, 17 second slider, 21 docking drive unit, 22 slide arm, 23 T-arm, 31 clamping claw arm, 32 docking groove. DETAILED DESCRIPTION

[0023] The technical solution of the present utility model will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present utility model, rather than all of the embodiments.

[0024] The components of the embodiments of the present invention generally described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention.

[0025] Based on the embodiments of the present utility model, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present utility model.

[0026] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0027] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. It should also be noted that, for ease of description, only the parts related to the utility model are shown in the drawings.

[0029] Embodiment 1:

[0030] like Figure 1-4 As shown, this embodiment provides a replaceable clamping module, including a shell 11, two docking drive units 21 and two clamping arms 31, the two clamping arms 31 are respectively arranged on both sides of the end of the shell 11, and the end of the clamping arm 31 away from the shell 11 is provided with a groove adapted to the outer side of the workpiece, the docking drive unit 21 is slidably installed in the shell 11, the clamping arm 31 and the docking drive unit 21 are detachably connected, and the clamping arm 31 is provided with an L-shaped docking groove 32, and the end of the docking drive unit 21 is provided with a plug-in rib, which can be embedded in the docking groove 32 to connect and fix the clamping arm 31 and the docking drive unit 21 together.

[0031] The side of the housing 11 where the clamping arm 31 is provided is defined as a horizontal plane;

[0032] When the docking drive unit 21 is controlled to slide horizontally in the housing 11, the plug-in ribs remain embedded in the docking grooves 32, and the docking drive unit 21 and the clamping arms 31 move horizontally synchronously, and the clamping arms 31 on both sides are used to clamp the workpiece.

[0033] When the docking drive unit 21 is controlled to slide in the housing 11 along the normal direction of the horizontal plane, the plug-in ribs are plugged into or disengaged from the docking grooves 32 , thereby realizing the quick disassembly and installation operation of the clamping claw arm 31 and the docking drive unit 21 .

[0034] like Figure 2-4 As shown, the solution for controlling the docking drive unit 21 to slide horizontally in the housing 11 is:

[0035] A cover 12 is detachably fixedly mounted on the shell 11, and a gear shaft 14 and a motor 13 for driving the gear shaft 14 to rotate are mounted on the cover 12. The gear shaft 14 extends toward the inner side of the shell 11, and rack plates 16 are respectively meshed and connected on both sides of the gear shaft 14. The rack plate 16 is horizontally slidably connected to a first slider 15 in the shell 11, and a docking drive unit 21 is vertically slidably mounted on a second slider 17 at the end of the rack plate 16.

[0036] The motor 13 is started to rotate the gear shaft 14, driving the rack plates 16 on both sides to slide synchronously in opposite directions, thereby controlling the two clamping arms 31 to move toward or away from each other, and the clamping arms 31 on both sides are used to clamp the workpiece.

[0037] like Figure 1-2 and Figure 4 As shown, the scheme of controlling the docking drive unit 21 to slide along the normal direction of the horizontal plane in the housing 11 is:

[0038] The docking drive unit 21 penetrates the cover 12 and extends to the outside of the cover 12. The end of the docking drive unit 21 located on the outside of the cover 12 is detachably mounted with a slide arm 22. The two slide arms 22 are respectively slidably mounted on both sides of a T-shaped arm 23. The T-shaped arm 23 is adjustably fixedly mounted on the side of the shell 11. A fastener for limiting the position of the T-shaped arm 23 and the shell 11 is installed on the side of the shell 11. After the fastener passes through the slide groove on the T-shaped arm 23, it is engaged with the shell 11 through a threaded screw.

[0039] Manually loosen the fasteners and control the T-arm 23 to slide relative to the cover 12, driving the two docking drive units 21 to slide in the shell 11 along the normal direction of the horizontal plane, so that the plug-in ribs are plugged into or disengaged from the docking groove 32, thereby realizing the rapid disassembly and installation operation of the clamping claw arm 31 and the docking drive unit 21.

[0040] Compared with the disassembly method of the clamp arm 31 in the prior art, the present application requires a lower number of fasteners and a lower degree of fastener disassembly, thereby saving the time required to replace the clamp arm 31 and improving operational efficiency.

[0041] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the utility model involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the concept of the utility model. For example, the above features are replaced with the technical features with similar functions disclosed in the present application (but not limited to) by each other to form a technical solution.

[0042] Except for the technical features described in the specification, the remaining technical features are known technologies to those skilled in the art. In order to highlight the innovative features of the present utility model, the remaining technical features will not be described here in detail.

Claims

1. A replaceable gripper module, comprising a housing (11), and gripper arms (31) slidably mounted on both sides of the end of the housing (11), characterized in that: The clamping claw arm (31) is connected to the housing (11) via a docking drive unit (21); The clamping claw arm (31) is provided with an L-shaped docking groove (32), and the end of the docking drive unit (21) is provided with a plug-in rib, which can be embedded in the docking groove (32); The side of the housing (11) on which the clamping claw arm (31) is provided is defined as a horizontal plane; When the docking drive unit (21) slides in the housing (11) along a horizontal direction, the clamping claw arm (31) is controlled to move; When the docking drive unit (21) slides in the housing (11) along the normal direction of the horizontal plane, the plug-in ribs are plug-connected with the docking groove (32) or are disengaged from the docking groove (32).

2. The replaceable gripper module according to claim 1, characterized in that: The housing (11) is detachably fixedly mounted with a cover (12), the cover (12) being mounted with a gear shaft (14) and a motor (13) for driving the gear shaft (14) to rotate, the gear shaft (14) extending toward the inner side of the housing (11), the two sides of the gear shaft (14) being respectively meshed and transmission-connected with rack plates (16), the rack plate (16) being horizontally slidably connected to a first slider (15) in the housing (11), and the docking drive unit (21) being vertically slidably mounted on a second slider (17) at the end of the rack plate (16).

3. The replaceable gripper module according to claim 2, characterized in that: The docking drive unit (21) passes through the cover (12) and extends toward the outside of the cover (12); a sliding arm (22) is detachably mounted on the end of the docking drive unit (21) located outside the cover (12); the two sliding arms (22) are slidably mounted on both sides of a T-shaped arm (23), respectively; and the T-shaped arm (23) is adjustably fixedly mounted on the side of the housing (11).

4. The replaceable gripper module according to claim 3, characterized in that: A fastener for defining the position of the T-shaped arm (23) and the housing (11) is installed on the side of the housing (11); after the fastener passes through the slide groove on the T-shaped arm (23), it is engaged with the housing (11) through a threaded buckle.

5. The replaceable gripper module according to claim 1, characterized in that: One end of the clamping jaw arm (31) away from the housing (11) is provided with a groove adapted to the outer side surface of the workpiece.

6. The replaceable gripper module according to claim 2, characterized in that: The motor (13) is a servo motor.

7. The replaceable gripper module according to claim 2, characterized in that: The motor (13) is a stepping motor.

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