Mechanical arm clamping jaw

Abstract

The utility model discloses a mechanical arm clamping jaw which comprises a base body, a driving piece, a movable piece and a plurality of clamping arms, the driving piece is arranged on the base body and used for driving the movable piece to move relative to the base body, and the clamping arms are evenly distributed around the movable piece. The clamping arm comprises a main arm, an auxiliary arm, a clamping jaw arm and an elastic piece, one end of the main arm is hinged to the movable piece, the other end of the main arm is hinged to the clamping jaw arm, the auxiliary arm is arranged on the inner side of the main arm, one end of the auxiliary arm is hinged to the middle of the main arm, the other end of the auxiliary arm is hinged to the seat body, and the elastic piece is connected with the main arm and the clamping jaw arm. The clamping jaw arms of the mechanical arm clamping jaw can rotate relative to the main arm, when the clamping jaw arms clamp an object, the clamping jaw arms can receive the counter-acting force of the object and rotate relative to the main arm, and the elastic pieces provide corresponding clamping force for the clamping jaw arms according to the change of the rotating angle of the clamping jaw arms relative to the main arm; and the clamping jaw can adaptively adjust the folding width according to objects with different shapes and sizes.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to a mechanical arm clamp. Background Art

[0002] In the process of automated assembly, processing or production, the clamping jaws are widely used to clamp and transfer various workpieces. In the process of using the existing clamping jaws, the clamping force and the stroke of the clamping arm are usually preset values. The applicability of the clamping jaws after debugging is small, and the closing width of the clamping jaws cannot be adjusted for objects of different shapes and sizes. Utility Model Content

[0003] The technical problem to be solved by the utility model is to provide a mechanical arm clamp with a wider application range.

[0004] In order to solve the above technical problems, the technical solution adopted by the utility model is: a mechanical arm clamp, including a base body, a driving member, a movable member and a plurality of clamping arms, the driving member is arranged on the base body, the driving member is used to drive the movable member to move relative to the base body, and the plurality of clamping arms are evenly distributed around the movable member; the clamping arm includes a main arm, a sub-arm, a clamping arm and an elastic member, one end of the main arm is hinged to the movable member, the other end of the main arm is hinged to the clamping arm, the sub-arm is arranged on the inner side of the main arm, and one end of the sub-arm is hinged to the middle part of the main arm, the other end of the sub-arm is hinged to the base body, and the elastic member is respectively connected to the main arm and the clamping arm.

[0005] Furthermore, the elastic member is a spring, a spring sheet or a spring washer.

[0006] Furthermore, the clamping claw arm includes a connecting portion hinged to the main arm and a clamping portion detachably mounted on the connecting portion.

[0007] Furthermore, the clamping jaw arm is provided with an anti-slip structure.

[0008] Furthermore, the driving component includes a motor and a lead screw drivingly connected to the motor.

[0009] Furthermore, a reset detection switch is provided on the seat body corresponding to the movable part.

[0010] Furthermore, the seat body includes a base and a shell rotatably connected to the base, and the driving member and the clamping arm are provided on the shell.

[0011] Furthermore, the shell is provided with a rotating boss, the base is provided with a mounting hole matched with the rotating boss, the outer peripheral surface of the rotating boss is provided with a limiting protrusion, and the base is provided with a limiting stopper corresponding to the limiting protrusion.

[0012] Furthermore, the contact surfaces of the base and the shell are respectively provided with positioning protrusions and positioning pits matched with the positioning protrusions.

[0013] Furthermore, a magnetic member is provided on the base, or a partial area of ​​the base is made of magnetic material.

[0014] The beneficial effect of the utility model is that the mechanical arm clamp can drive the movable part to approach or move away from the base through the driving part, thereby driving the main arms and the clamping claw arms of the plurality of clamps to approach or move away from each other through the auxiliary arm, so that the clamp can clamp or release the object. Since the clamping claw arm can rotate relative to the main arm, when the clamping claw arm clamps the object, it will receive the reaction force of the object and rotate relative to the main arm. The elastic part provides the clamping claw arm with a corresponding clamping force according to the change of the rotation angle of the clamping claw arm relative to the main arm, so that the clamping claw can adaptively adjust the closing width according to objects of different shapes and sizes, and has a wider range of application. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The overall structure of the mechanical arm gripper of the first embodiment of the utility model is shown in FIG. Figure 1 ;

[0016] Figure 2 The overall structure of the mechanical arm gripper of the first embodiment of the utility model is shown in FIG. Figure 2 ;

[0017] Figure 3 It is a cross-sectional view of the mechanical arm gripper of the first embodiment of the utility model;

[0018] Figure 4 This is a schematic diagram of the internal structure of the seat body of the mechanical arm clamp of the first embodiment of the utility model;

[0019] Figure 5 This is an exploded view of a portion of the structure of the seat body in the mechanical arm clamp of the first embodiment of the utility model.

[0020] Description of labels:

[0021] 1. seat body; 11. base; 111. mounting hole; 112. stopper; 113. positioning convex point; 114. spring ejector pin; 115. positioning air nozzle; 12. housing; 121. rotating boss; 122. stopper; 123. positioning pit;

[0022] 2. Driving part; 21. Motor; 22. Lead screw;

[0023] 3. Moving parts;

[0024] 4. Clamping arm; 41. Main arm; 42. Sub-arm; 43. Clamping arm; 431. Connecting part; 432. Clamping part; 433. Anti-slip structure; 44. Elastic member;

[0025] 5. Reset the detection switch. DETAILED DESCRIPTION

[0026] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in conjunction with the implementation modes and the accompanying drawings.

[0027] Please refer to Figures 1 to 5 , a mechanical arm clamp, comprising a base body 1, a driving member 2, a movable member 3 and a plurality of clamping arms 4, wherein the driving member 2 is arranged on the base body 1, and the driving member 2 is used to drive the movable member 3 to move relative to the base body 1, and the plurality of clamping arms 4 are evenly distributed around the movable member 3; the clamping arm 4 comprises a main arm 41, a secondary arm 42, a clamping arm 43 and an elastic member 44, one end of the main arm 41 is hinged to the movable member 3, the other end of the main arm 41 is hinged to the clamping arm 43, the secondary arm 42 is arranged on the inner side of the main arm 41, and one end of the secondary arm 42 is hinged to the middle part of the main arm 41, the other end of the secondary arm 42 is hinged to the base body 1, and the elastic member 44 is respectively connected to the main arm 41 and the clamping arm 43.

[0028] As can be seen from the above description, the beneficial effect of the utility model is that the mechanical arm clamp can drive the movable part 3 to approach or move away from the base body 1 through the driving part 2, thereby driving the multiple clamping main arms 41 and the clamping claw arms 43 to approach or move away from each other through the auxiliary arm 42, so that the clamp can clamp or release the object. Since the clamping claw arm 43 can rotate relative to the main arm 41, when the clamping claw arm 43 clamps the object, it will receive the reaction force of the object and rotate relative to the main arm 41. The elastic part 44 provides the clamping claw arm 43 with a corresponding clamping force according to the change of the rotation angle of the clamping claw arm 43 relative to the main arm 41, so that the clamp can adaptively adjust the closing width according to objects of different shapes and sizes, and has a wider range of application.

[0029] Furthermore, the elastic member 44 is a spring, a spring sheet or a spring washer.

[0030] It can be seen from the above description that the type of the elastic member 44 can be selected according to actual use requirements or production conditions.

[0031] Furthermore, the clamping arm 43 includes a connecting portion 431 hinged to the main arm 41 and a clamping portion 432 detachably mounted on the connecting portion 431 .

[0032] As can be seen from the above description, the user can replace the clamping portion 432 according to the different shapes and sizes of the clamped objects, so that the clamping claw can complete the work more stably.

[0033] Furthermore, an anti-slip structure 433 is provided on the clamping claw arm 43 .

[0034] It can be seen from the above description that the anti-slip structure 433 can prevent the clamped object from slipping.

[0035] Furthermore, the driving member 2 includes a motor 21 and a lead screw 22 drivingly connected to the motor 21 .

[0036] It can be seen from the above description that the driving member 2 has a simple structure and is easy to manufacture.

[0037] Furthermore, a reset detection switch 5 is provided on the seat body 1 corresponding to the movable part 3 .

[0038] As can be seen from the above description, the reset detection switch 5 is used to detect whether the movable part 3 is moved to the right position, so as to determine the next action of the gripper of the robot arm.

[0039] Furthermore, the seat body 1 includes a base 11 and a shell 12 rotatably connected to the base 11 , and the driving member 2 and the clamping arm 4 are provided on the shell 12 .

[0040] As can be seen from the above description, the housing 12 can rotate relative to the base 11 to change the orientation and clamping angle of the gripper of the robot arm.

[0041] Furthermore, the housing 12 is provided with a rotating boss 121 , the base 11 is provided with a mounting hole 111 cooperating with the rotating boss 121 , the outer peripheral surface of the rotating boss 121 is provided with a limiting protrusion 122 , and the base 11 is provided with a limiting stopper 112 corresponding to the limiting protrusion 122 .

[0042] It can be known from the above description that the limit stopper 112 can abut against the limit protrusion 122 to limit the travel limit of the housing 12 relative to the base 11 .

[0043] Furthermore, the contact surfaces of the base 11 and the housing 12 are respectively provided with positioning protrusions 113 and positioning recesses 123 matched with the positioning protrusions 113 .

[0044] It can be seen from the above description that the positioning protrusion 113 and the positioning recess 123 cooperate to limit the base 11 and the housing 12 to maintain a preset relative angle.

[0045] Furthermore, a magnetic member is disposed on the base 11, or a part of the base 11 is made of magnetic material.

[0046] As can be seen from the above description, the base 11 is connected to other external device structures by magnetic attraction, and the connection process is quick and easy to assemble and disassemble.

[0047] Please refer to Figures 1 to 5 , Embodiment 1 of the present utility model is: a mechanical arm gripper, which is used for picking and placing a single object in various automated equipment.

[0048] The mechanical arm clamp includes a base body 1, a driving member 2, a movable member 3 and a plurality of clamping arms 4, the driving member 2 and the movable member 3 are arranged on the base body 1, the driving member 2 is used to drive the movable member 3 to move relative to the base body 1, and the plurality of clamping arms 4 are evenly distributed around the moving direction of the movable member 3; the clamping arm 4 includes a main arm 41, a secondary arm 42, a clamping arm 43 and an elastic member 44, one end of the main arm 41 is hinged to the movable member 3, the other end of the main arm 41 is hinged to the clamping arm 43, the secondary arm 42 is arranged on the inner side of the main arm 41, and one end of the secondary arm 42 is hinged to the middle part of the main arm 41, the other end of the secondary arm 42 is hinged to the base body 1, and the elastic member 44 respectively connects the main arm 41 and the clamping arm 43.

[0049] Specifically, the driving member 2 includes a motor 21 and a lead screw 22 connected to the motor 21, the movable member 3 is in an inverted U shape, and a screw hole matching the lead screw 22 is provided in the middle of the movable member 3. In this embodiment, there are two clamping arms 4, which are symmetrically arranged with the driving member 2 as the center, and the two main arms 41 are respectively hinged to the two ends of the bottom of the movable member 3, and the hinge between the auxiliary arm 42 and the seat body 1 is located on the side of the movable member 3 close to the main arm 41; the elastic member 44 is preferably a torsion spring. In other embodiments, the number of clamping arms 4 can be set to three, four or more; it is also feasible to set the elastic member 44 as a spring sheet or spring pad.

[0050] In order to facilitate the clamping of objects of different shapes and sizes and further increase the adaptability of the robot arm clamp to different scenarios, the clamp arm 43 includes a connecting portion 431 hinged to the main arm 41 and a clamping portion 432 detachably mounted on the connecting portion 431. The user can replace the clamping portion 432 according to the clamped objects of different shapes and sizes. Optionally, the clamping portion 432 is connected to the connecting portion 431 by screws, pins or buckles, or the clamping portion 432 is connected to the connecting portion 431 by interference fit. Preferably, the clamping portion 432 is made of a material with a certain elasticity, such as rubber or silicone, to avoid scratching or scratching the clamped object.

[0051] In order to prevent the clamped object from slipping, an anti-slip structure 433 is provided on the clamp arm 43. In this embodiment, the anti-slip structure 433 is composed of a plurality of strip-shaped protrusions provided on the clamping portion 432. In other embodiments, the anti-slip structure 433 can be configured as knurling, a plurality of array-arranged protrusions, or an anti-slip pad.

[0052] In order to determine whether the movable member 3 is in position, a reset detection switch 5 is provided on the seat body 1 corresponding to the movable member 3 . The reset detection switch 5 is located on a side of the movable member 3 close to the main arm 41 .

[0053] The seat body 1 includes a base 11 and a housing 12 rotatably connected to the base 11, and the housing 12 is provided with a driving member 2 and a clamping arm 4. Specifically, a rotating boss 121 is provided on the housing 12, and a mounting hole 111 matched with the rotating boss 121 is provided at one end of the length direction of the base 11. In this embodiment, the axial direction of the rotating boss 121 is set at an angle of 135° to the axial direction of the lead screw 22, so that the housing 12 can rotate relative to the base 11 until the direction of the clamping claw is perpendicular or parallel to the length direction of the base 11. A spring ejector pin 114 and a positioning air nozzle 115 are provided at the other end of the length direction of the base 11. In other embodiments, it is also feasible that the axial direction of the rotating boss 121 is colinear with the axial direction of the lead screw 22. A limiting protrusion 122 is provided on the outer peripheral surface of the rotating boss 121, and a limiting stopper 112 is provided on the base 11 corresponding to the limiting protrusion 122, and the limiting stopper 112 can abut against the limiting protrusion 122 to limit the travel limit of the housing 12 relative to the base 11.

[0054] Preferably, the contact surfaces of the base 11 and the shell 12 are respectively provided with positioning protrusions 113 and positioning pits 123 that cooperate with the positioning protrusions 113. Specifically, the number of positioning protrusions 113 and positioning pits 123 is set in one-to-one correspondence. In the present embodiment, the number of positioning protrusions 113 and positioning pits 123 is four, the positioning protrusions 113 are arranged on the base 11 and are uniformly distributed around the axial direction of the mounting hole 111, and the positioning pits 123 are arranged on the shell 12 and are uniformly distributed around the axial direction of the rotating boss 121. In other embodiments, the number of positioning protrusions 113 and positioning Aoke can be set to one, two, three or more respectively; the positioning protrusions 113 are arranged on the shell 12, and the positioning pits 123 are arranged on the base 11. It is also feasible. It is easy to understand that the positioning protrusions 113 and the positioning pits 123 cooperate to limit the base 11 and the shell 12 to remain at a preset relative angle.

[0055] Preferably, a steering spring is further provided between the base 11 and the housing 12 , so as to provide a certain resistance to the relative rotation process of the base 11 and the housing 12 , thereby preventing the base 11 and the housing 12 from accidentally rotating relative to each other.

[0056] Optionally, a magnetic part is provided on the base 11, or a part of the base 11 is made of a magnetic material, so that the base 11 can be connected to other external device structures by magnetic attraction, and the connection process is quick and easy to disassemble and assemble. In this embodiment, the base 11 includes a cavity shell and a bottom cover, the cavity shell has a accommodating cavity, and the end of the cavity shell away from the outer shell 12 has an opening, the bottom cover is detachably connected to the cavity shell to close the end of the cavity shell away from the outer shell 12, and the bottom cover is made of a magnetic material.

[0057] The working process of the mechanical arm clamp of the first embodiment of the utility model is briefly described as follows: the motor 21 is powered on and operated, the movable part 3 moves downward as the screw rod rotates, and the main arm 41, the auxiliary arm 42 and the clamp arm 43 are folded inward to clamp, and when the movable part 3 runs to trigger the reset detection switch 5, the motor 21 stops running and maintains the clamping state; the motor 21 is powered on and operated in the reverse direction, the movable part 3 moves upward as the screw rod rotates, and the main arm 41, the auxiliary arm 42 and the clamp arm 43 are expanded outward to release the object, and the movable part 3 leaves the reset detection switch 5. At this time, the program recognizes that the reset detection switch 5 is powered off and restores the mechanical arm clamp to a static state. The size of the clamped object can be clamped within the maximum opening and closing size in the static state, because the elastic part 44 is set between the clamp arm 43 and the main arm 41. When clamping a larger object, the elastic part 44 is slightly deformed and provides a clamping force. When clamping a smaller object, the elastic part 44 is greatly deformed and provides a clamping force. The existence of the elastic part 44 allows the clamp to adapt to the volume of the object.

[0058] In summary, the mechanical arm clamp provided by the utility model can drive the movable part to approach or move away from the base through the driving part, thereby driving the main arms and clamping claw arms of the plurality of clamps to approach or move away from each other through the auxiliary arm, so that the clamping claw can clamp or release the object. Since the clamping claw arm can rotate relative to the main arm, when the clamping claw arm clamps the object, it will receive the reaction force of the object and rotate relative to the main arm. The elastic member provides the clamping claw arm with the corresponding clamping force according to the change of the rotation angle of the clamping claw arm relative to the main arm, so that the clamping claw can adaptively adjust the closing width according to objects of different shapes and sizes, and has a wider range of application. The anti-slip structure can prevent the clamped object from slipping. The reset detection switch is used to detect whether the movable part is in place, so as to determine the next action of the clamping claw of the mechanical arm. The rotation of the shell relative to the base can change the direction and clamping angle of the clamping claw of the mechanical arm. The limit stopper can resist the limit convex block to limit the travel limit of the shell relative to the base. The positioning convex point and the positioning pit cooperate to limit the base and the shell to remain at a preset relative angle. The base is connected to other external equipment structures by magnetic attraction, and the connection process is quick and easy to assemble and disassemble.

[0059] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent transformations made using the contents of the specification and drawings of the present invention, or directly or indirectly applied in the relevant technical field, are also included in the patent protection scope of the present invention.

Claims

1. A mechanical arm gripper, characterized in that: It includes a base body, a driving member, a movable member and a plurality of clamping arms, wherein the driving member is arranged on the base body, and the driving member is used to drive the movable member to move relative to the base body, and the plurality of clamping arms are evenly distributed around the movable member; the clamping arm includes a main arm, a secondary arm, a clamping claw arm and an elastic member, one end of the main arm is hinged to the movable member, the other end of the main arm is hinged to the clamping claw arm, the secondary arm is arranged on the inner side of the main arm, and one end of the secondary arm is hinged to the middle part of the main arm, the other end of the secondary arm is hinged to the base body, and the elastic member is respectively connected to the main arm and the clamping claw arm.

2. The mechanical arm gripper according to claim 1, characterized in that: The elastic member is a spring, a spring sheet or an elastic washer.

3. The mechanical arm gripper according to claim 1, characterized in that: The clamping claw arm comprises a connecting portion hinged to the main arm and a clamping portion detachably mounted on the connecting portion.

4. The mechanical arm gripper according to claim 1, characterized in that: The clamping claw arm is provided with an anti-slip structure.

5. The mechanical arm gripper according to claim 1, characterized in that: The driving member includes a motor and a lead screw drivingly connected to the motor.

6. The mechanical arm gripper according to claim 1, characterized in that: A reset detection switch is provided on the seat body corresponding to the movable part.

7. The mechanical arm gripper according to claim 1, characterized in that: The seat body comprises a base and a shell rotatably connected to the base, and the driving member and the clamping arm are arranged on the shell.

8. The mechanical arm gripper according to claim 7, characterized in that: The shell is provided with a rotating boss, the base is provided with a mounting hole matched with the rotating boss, the outer peripheral surface of the rotating boss is provided with a limiting convex block, and the base is provided with a limiting stopper corresponding to the limiting convex block.

9. The mechanical arm gripper according to claim 7, characterized in that: The contact surfaces of the base and the shell are respectively provided with positioning protrusions and positioning pits matched with the positioning protrusions.

10. The mechanical arm gripper according to claim 7, characterized in that: The base is provided with a magnetic member, or a partial area of ​​the base is made of magnetic material.

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