Mechanical claw

Abstract

The utility model relates to the technical field of robots, in particular to a mechanical gripper which comprises a shell, a first finger and a second finger, the first finger is connected with the shell through a first rotating shaft, and the second finger is connected with the shell through a second rotating shaft. The first gear is arranged at the root of the first finger, and the first rotating shaft is sleeved with the first gear; the second gear is arranged at the root of the second finger, and the second rotating shaft is sleeved with the second gear; the driving mechanism is connected with the third gear through a rotating output end of the driving mechanism; the third gear is in meshed connection with the first gear, and the third gear, the first gear and the second gear form a transmission mechanism; the driving mechanism can control the first finger and the second finger to do opening and closing movement on the plane of the shell by controlling the transmission mechanism. The gear structure is arranged at the root of the finger, so that a transmission mechanism and the finger are integrated, a transmission system is simplified, parts are reduced, and the cost is reduced.

Description

Technical Field

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

[0002] In today's society, with the development of technology, robots have been widely used in more and more fields. Robots can not only replace humans to achieve mechanization and automation of production, but also operate in toxic and harmful environments, so they are widely used in industrial fields such as mechanical manufacturing, metallurgy, chemical industry and atomic energy. In the design field of robots, the mechanical claw is an important part. However, most of the existing mechanical claws separate the gear transmission from the fingers, so that the transmission mechanism is separated from the finger and other execution parts. The design of separating the finger from the transmission mechanism leads to an increase in the number of parts and the production cost. Content of the Utility Model

[0003] The utility model aims to solve at least one of the technical problems existing in the related art. For this purpose, the utility model provides a mechanical claw.

[0004] To achieve the above object, the technical solution adopted by the utility model is as follows:

[0005] A mechanical claw, comprising:

[0006] A housing, a first finger and a second finger, wherein the first finger is connected to the housing through a first rotating shaft, and the second finger is connected to the housing through a second rotating shaft;

[0007] Wherein, the first rotating shaft and the second rotating shaft are arranged inside the housing;

[0008] A first gear, which is arranged at the root of the first finger and sleeved outside the first rotating shaft;

[0009] A second gear, which is arranged at the root of the second finger and sleeved outside the second rotating shaft;

[0010] The first finger and the second finger are meshed and connected through the first gear and the second gear;

[0011] A third gear and a driving mechanism, the third gear is arranged inside the housing, the driving mechanism is arranged on the outer side wall of the housing, and the driving mechanism is connected to the third gear through the rotation output end of the driving mechanism;

[0012] Wherein, the third gear is arranged below the first gear and the second gear, the third gear is meshed and connected with the first gear, and the third gear, the first gear and the second gear form a transmission mechanism;

[0013] The driving mechanism is perpendicular to the plane of the housing, and the driving mechanism can control the first finger and the second finger to perform opening and closing movements in the plane of the housing by controlling the transmission mechanism.

[0014] Furthermore, the first finger and the second finger penetrate through the top end of the housing, and the penetrating parts of the first finger and the second finger are symmetrically arranged.

[0015] Furthermore, three parts, namely an upper part, a middle part, and a lower part, are sequentially formed on the opposite side walls of the first finger and the second finger from the fingertip end to the top end of the housing outside the housing;

[0016] Among them, the upper part is a vertical plane, the middle part is an inclined plane that gradually approaches from the fingertip to the finger root, and the lower part is an arc surface.

[0017] Furthermore, a clamping protrusion is further included. The clamping protrusion is strip-shaped and is arranged on the upper parts of the first finger and the second finger.

[0018] Furthermore, a limiting block is further included. The limiting block is arranged inside the housing and is arranged on the outer edge of the second gear.

[0019] Furthermore, the housing includes an upper housing and a lower housing, and the side edges of the upper housing and the lower housing are detachably butted to form the housing.

[0020] One or more of the above technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0021] By arranging a gear structure at the root of the finger in the present invention, the transmission mechanism and the finger are integrated, the transmission system is streamlined, the number of parts is reduced, and the cost is lowered.

[0022] By arranging a transmission mechanism at the roots of the first finger and the second finger in the present invention, the transmission mechanism and the finger are integrated, the transmission system is streamlined, the number of parts is reduced, and the production cost can be effectively reduced; the driving mechanism is perpendicular to the finger plane, the overall length of the mechanical claw is shortened, space is saved, and the production cost can also be reduced.

[0023] The additional aspects and advantages of the present invention will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present invention. Description of the Drawings

[0024] To more clearly illustrate the technical solutions in the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0025] Figure 1 It is a schematic three-dimensional structure diagram of the mechanical claw provided by the present embodiment of the utility model.

[0026] Figure 2 It is a schematic structure diagram of the transmission mechanism provided by the embodiment of the present utility model.

[0027] Figure 3 It is a schematic structure diagram when the mechanical claw provided by the embodiment of the present utility model is closed.

[0028] Reference numerals:

[0029] 1. Housing; 11. Upper housing; 12. Lower housing; 2. First finger; 21. First rotating shaft; 3. Second finger; 31. Second rotating shaft; 4. First gear; 5. Second gear; 6. Third gear; 61. Rotating output end; 7. Driving mechanism; 81. Upper part; 811. Clamping protrusion; 82. Middle part; 83. Lower part; 9. Limit block. Detailed implementation manners

[0030] To make the objectives, technical solutions, and advantages of the present utility model clearer, the following will clearly and completely describe the technical solutions in the present utility model with reference to the drawings in the present utility model. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope protected by the present utility model. The following embodiments are used to illustrate the present utility model, but cannot be used to limit the scope of the present utility model.

[0031] In the description of the embodiments of the present utility model, it should be noted that the orientation or positional relationships indicated by the terms "upper", "lower", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the embodiments of the present utility model 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 a limitation to the embodiments of the present utility model. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0032] In the description of the embodiments of the present utility model, it should be noted that unless otherwise clearly defined and limited, the terms "connected" and "connected to" 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 directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0033] In the embodiments of the present utility model, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium.

[0034] In the description of this specification, the description referring to terms such as "a specific embodiment" means that the specific features, structures, materials, or characteristics of the embodiment are included in at least one embodiment of the embodiments of the present utility model. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments.

[0035] The following will be combined with Figures 1 to 3 Describe a mechanical claw provided by the present utility model.

[0036] A mechanical claw includes:

[0037] A housing 1, a first finger 2, and a second finger 3. The first finger 2 is connected to the housing 1 through a first rotating shaft 21, and the second finger 3 is connected to the housing 1 through a second rotating shaft 31;

[0038] Wherein, the first rotating shaft 21 and the second rotating shaft 31 are arranged inside the housing 1; the first rotating shaft 21 and the second rotating shaft 31 are arranged perpendicular to the plane of the housing 1. The first rotating shaft 21 and the second rotating shaft 31 are conventional settings in the prior art and will not be elaborated here.

[0039] A first gear 4, which is arranged at the root of the first finger 2, and the first gear 4 is sleeved outside the first rotating shaft 21;

[0040] A second gear 5, which is arranged at the root of the second finger 3, and the second gear 5 is sleeved outside the second rotating shaft 31;

[0041] The first finger 2 and the second finger 3 are meshed and connected through the first gear 4 and the second gear 5;

[0042] A third gear 6 and a driving mechanism 7, the third gear 6 is arranged inside the housing 1, the driving mechanism 7 is arranged on the outer side wall of the housing 1, and the driving mechanism 7 is connected to the third gear 6 through the rotation output end 61 of the driving mechanism 7; The driving mechanism 7 is a conventional setting of the prior art and will not be elaborated here.

[0043] Wherein, the third gear 6 is arranged below the first gear 4 and the second gear 5, the third gear 6 is meshed and connected with the first gear 4, and the third gear 6, the first gear 4 and the second gear 5 form a transmission mechanism;

[0044] The driving mechanism 7 is perpendicular to the plane of the housing 1, and the driving mechanism 7 can control the first finger 2 and the second finger 3 to perform an opening and closing movement along the plane of the housing 1 by controlling the transmission mechanism.

[0045] The transmission mechanism is a planar gear transmission system, which is composed of two sets of external meshing spur gear transmissions. The third gear 6 and the first gear 4 form the first set of gear transmission systems, where the third gear 6 is used as the driving wheel, and the engaged first gear 4 is used as the driven wheel to achieve power transmission; The first gear 4 and the second gear 5 form the second set of gear transmission systems. In this set of transmission systems, the first gear 4 becomes the driving wheel, and the engaged second gear 5 is used as the driven wheel to achieve power transmission.

[0046] When the driving mechanism 7 controls the third gear 6 to rotate clockwise, at this time, as the driven wheel of the first set of gear transmission systems, the first gear 4 generates a torque under the action of the meshing teeth, so it rotates counterclockwise; At the same time, the second gear 5 in the second set of gear transmission systems is affected by the first gear 4 meshed with it, generating the transmission of the second set of gear transmission systems and rotating clockwise. The first gear 4 rotates counterclockwise, and the second gear 5 rotates clockwise, thereby realizing the "closing" action of the first finger 2 and the second finger 3. The principle of the "opening" action of the first finger 2 and the second finger 3 is the same and will not be elaborated here.

[0047] According to a specific embodiment provided by the present invention, the first finger 2 and the second finger 3 penetrate through the top end of the housing 1, and the penetrated parts of the first finger 2 and the second finger 3 are symmetrically arranged.

[0048] According to a specific embodiment provided by the present utility model, on the opposite side walls of the first finger 2 and the second finger 3, three parts, namely an upper part 81, a middle part 82, and a lower part 83, are sequentially formed from the fingertip end to the top end of the housing 1 outside the housing 1;

[0049] Among them, the upper part 81 is a vertical plane, the middle part 82 is an inclined plane that gradually approaches from the fingertip to the finger root, and the lower part 83 is an arc surface. The upper part 81, the middle part 82, and the lower part 83 with three different forms are set to meet the requirements of the mechanical claw for picking up different items.

[0050] According to a specific embodiment provided by the present utility model, it further includes a clamping protrusion 811. The clamping protrusion 811 is strip-shaped. The clamping protrusion 811 is arranged on the upper part 81 and on the inner side walls of the upper parts of the first finger 2 and the second finger 3. By setting the clamping protrusion 811, the clamping protrusion 811 with different sizes can be designed according to actual needs to form trapezoidal cavities and arc-shaped cavities with different sizes, which can meet diverse requirements.

[0051] According to a specific embodiment provided by the present utility model, it further includes a limit block 9. The limit block 9 is arranged inside the housing 1 and on the outer edge of the second gear 5. Setting the limit block 9 can effectively prevent the second gear 5 from being disengaged due to an excessive rotation range.

[0052] According to a specific embodiment provided by the present utility model, the housing 1 includes an upper housing 11 and a lower housing 12. The side edges of the upper housing 11 and the lower housing 12 are detachably butted to form the housing 1. Setting the housing 1 as a detachable structure facilitates the installation of the parts inside the housing 1 and also facilitates the maintenance of the parts inside the housing 1.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model and are not intended to limit them; although the present utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present utility model.

Claims

1. A mechanical claw, characterized in that: include: A housing, a first finger and a second finger, wherein the first finger is connected to the housing via a first rotating shaft, and the second finger is connected to the housing via a second rotating shaft; Wherein, the first rotating shaft and the second rotating shaft are arranged inside the housing; A first gear, the first gear is arranged at the root of the first finger, and the first gear is sleeved on the outside of the first rotating shaft; a second gear, the second gear being arranged at the root of the second finger and being sleeved on the outside of the second rotating shaft; The first finger and the second finger are meshed and connected via the first gear and the second gear; a third gear and a driving mechanism, wherein the third gear is disposed in the housing, the driving mechanism is disposed on an outer side wall of the housing, and the driving mechanism is connected to the third gear via a rotation output end of the driving mechanism; Wherein, the third gear is arranged below the first gear and the second gear, the third gear is meshed and connected with the first gear, and the third gear, the first gear and the second gear form a transmission mechanism; The driving mechanism is perpendicular to the shell plane, and can control the first finger and the second finger to perform opening and closing movements on the shell plane by controlling the transmission mechanism.

2. A mechanical claw as claimed in claim 1, characterized in that: The first finger and the second finger pass through the top end of the shell, and the first finger and the second finger passing through parts are symmetrically arranged.

3. A mechanical claw as claimed in claim 2, characterized in that: The side walls of the first finger and the second finger relative to each other are formed into three parts, an upper part, a middle part and a lower part, from the finger tip to the top of the shell outside the shell; The upper portion is a vertical plane, the middle portion is an inclined plane gradually approaching from the finger tip to the finger base, and the lower portion is an arc surface.

4. A mechanical claw as claimed in claim 3, characterized in that: It also includes a clamping protrusion, which is in the shape of a vertical bar and is arranged on the upper part of the first finger and the second finger.

5. A mechanical claw as claimed in claim 1, characterized in that: It also includes a limit block, which is arranged in the shell and on the outer edge of the second gear.

6. A mechanical claw as claimed in claim 1, characterized in that: The shell comprises an upper shell and a lower shell, and the side edges of the upper shell and the lower shell are detachably connected to form the shell.

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