Three-finger clamping jaw

Abstract

The three-finger clamping jaw comprises three mechanical jaw assemblies, an installation plate, a movable plate, a fixed plate and a driving device, two of the three mechanical jaw assemblies are located on the opposite sides of the other mechanical jaw assembly, and the rotating axes of the three mechanical jaw assemblies are parallel to one another. The two mechanical claw assemblies on the same side are distributed on the two sides of the mechanical claw assembly on the other side in the rotating axis direction. The device can clamp long-strip-shaped objects.

Description

Technical Field

[0001] The utility model relates to a mechanical claw, in particular to a three-finger claw Background Art

[0002] Manipulators are widely used in the field of industrial automation. They can replace human hands to carry heavy objects during the production process to reduce the labor intensity of workers, or work in harsh environments such as high temperature, toxic, high dust, flammable, explosive, monotonous, and radioactive environments

[0003] The Chinese utility model patent with the publication number CN211729237U discloses a mechanical claw driven by a double-crank slider mechanism, which includes an upper mounting plate, a middle translation plate, and a lower fixed plate; a fixed guide rod passes through the upper end of the translation plate and is fixed on the mounting plate, and the lower end is fixed on the fixed plate; a motor is also arranged on the fixed plate, a crank is installed at the output end of the motor, and the crank is connected to the lower part of the translation plate through a first transmission rod, so that the translation plate moves up and down along the fixed guide rod driven by the motor; it also includes more than two finger assemblies, the inner sides of the tops of the finger assemblies are hinged to the edge of the fixed plate, and the outer sides are hinged to the edge of the translation plate through a second transmission rod, so that the mechanical claw loosens or grips as the translation plate moves up and down. This utility model has a simple structure, high control precision, and strong scalability, and can be easily serialized into two-finger, three-finger, four-finger and other mechanical claws

[0004] Although the above-mentioned mechanical claw can realize gripping objects, when its multiple finger assemblies grip, they all bend towards the center point, making it difficult to grip long strip-shaped objects Summary of the Invention

[0005] Utility Model Objective: The objective of the utility model is to provide a three-finger claw that can grip long strip-shaped objects

[0006] Technical Solution: The three-finger claw described in the utility model includes three mechanical claw assemblies, a mounting plate, a movable plate, a fixed plate, and a driving device. Two of the three mechanical claw assemblies are located on the opposite sides of the other one, the rotation axes of the three mechanical claw assemblies are parallel to each other, and the two mechanical claw assemblies on the same side are distributed on both sides of the mechanical claw assembly on the other side in the direction of the rotation axis

[0007] Based on the above solution, the rotation axes of the three mechanical claw components are parallel to each other. In this way, the directions in which the mechanical claw components rotate are the same. For example, they can only rotate in the front-back direction. When clamping, the three mechanical claw components will not all rotate towards the center point of the device and converge at the center point, but will be dispersed in the left-right direction. And two of the three mechanical claw components are located on the opposite sides of the other one. The two mechanical claw components on the same side are distributed on both sides of the mechanical claw component on the other side in the direction of the rotation axis. Assuming that the two mechanical claw components on the same side are set at the rear side, that is, the mechanical claw component at the front side is in the middle, and the two mechanical claw components at the rear side are on the left and right sides of the mechanical claw component at the front side, then there will be no situation where any mechanical claw component at the rear side completely overlaps with the mechanical claw component at the front side in the left-right direction, and the other mechanical claw component at the rear side is equivalent to being suspended and unable to cooperate with the other two mechanical claw components, or the two mechanical claw components at the rear side are both located on the same side of the mechanical claw component at the front side, such as on its left or right side, and cannot cooperate to clamp an object. Through the setting method of the mechanical claw components of this device, the three mechanical claws can cooperate with each other to stably grasp the long strip-shaped object.

[0008] Preferably, the mechanical claw component includes a finger joint and a finger that are hinged. The finger joint is hinged on the movable plate; the finger joint and the finger are respectively hinged on the fixed plate through independent connecting rods.

[0009] The mechanical claw component is divided into a finger joint and a finger, and the two are also hinged on the fixed plate through independent connecting rods. The rotation flexibility of the finger can be controlled by adjusting the size of any one of the finger joint, the finger or the connecting rod, and then the final grasping force can be controlled, making the device adjustment more flexible.

[0010] Preferably, when clamping, the fingers of the three mechanical claw components overlap in projection on the plane perpendicular to the rotation axis.

[0011] Through the above setting, that is, when clamping, the three fingers will not collide with each other. For example, when the finger at the front side rotates backward to clamp, it can always rotate backward without touching any of the two fingers at the rear side. This avoids the fingers colliding with each other during long-term use, damaging the mechanical claw components and reducing the service life.

[0012] Preferably, the length of the finger is greater than the length of the finger joint.

[0013] Setting the finger longer can enable the finger tip to contact the object faster for clamping at the same rotation angle.

[0014] Preferably, the length of the connecting rod to which the finger joint is hinged is less than the length of the connecting rod to which the finger is hinged.

[0015] Preferably, the driving device uses a cylinder.

[0016] Using a cylinder is simpler than using a motor plus a crank structure, and the cylinder can maintain a long-term grasping state through air pressure without the situation of motor heating.

[0017] Preferably, the driving device is arranged outside the mounting plate, and the telescopic end of the cylinder is connected to the movable plate.

[0018] Using a cylinder as the driving device arranged outside the mounting plate eliminates the need to leave extra space for the cylinder, reduces the distance between the mounting plate and the fixed plate, reduces the material used for the support columns between the two, and saves costs; at the same time, it also facilitates the setting of the cylinder conduit.

[0019] Beneficial effects: Compared with the prior art, the beneficial effects of the present utility model are as follows: The rotation axes of the three mechanical claw components are arranged in parallel, and the three mechanical claw components are distributed in a staggered manner in the direction of the rotation axis, so that when clamping, the mechanical claws do not converge at the center point, but disperse in the direction of the rotation axis and converge towards the center, and can clamp long strip-shaped objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional structural schematic diagram of a three-finger gripper;

[0021] Figure 2 It is a front schematic diagram of the three-finger gripper when not clamping;

[0022] Figure 3 It is a front schematic diagram of the three-finger gripper when clamping. DETAILED DESCRIPTION OF THE INVENTION

[0023] As shown in the figure, a three-finger gripper of the present utility model includes three mechanical claw components 1, a mounting plate 2, a movable plate 3, a fixed plate 4, and a driving device 5, and is characterized in that: Two of the three mechanical claw components 1 are located on the opposite sides of the other, the rotation axes of the three mechanical claw components 1 are parallel to each other, and the two mechanical claw components 1 on the same side are distributed on both sides of the mechanical claw component 1 on the other side in the direction of the rotation axis.

[0024] The mounting plate 2, the movable plate 3, the fixed plate 4, and the driving device 5 can all adopt the same structure in the patent CN211729237U. Specifically, the driving device 5 includes a motor, a crank, and a first transmission rod, and the connection relationship thereof will not be elaborated herein; the mechanical claw component 1 also adopts the same structure as in the patent CN211729237U except for the setting of the rotation axis and position. Specifically, it includes a second transmission rod and a finger component. Only the setting of the rotation axis and position of the mechanical claw component 1 will be introduced below, and the rest will not be elaborated.

[0025] Two of the three mechanical claw assemblies 1 are hinged to the rear sides of the movable plate 3 and the fixed plate 4, and the other is hinged to the front sides of the movable plate 3 and the fixed plate 4. The hinged manner of each mechanical claw assembly 1 with the movable plate 3 and the fixed plate 4 is that the second transmission rod is hinged to the movable plate 3, the finger fixing member is hinged to the fixed plate 4, and the second transmission rod member is hinged to the finger fixing member; the axes of all the hinge shafts of the above device are parallel to each other, that is, the rotation axes of the mechanical claw assemblies 1 are parallel to each other; the two mechanical claw assemblies 1 arranged at the rear side are distributed on both sides of the mechanical claw assembly 1 at the front side in the direction of the rotation axis. When clamping, the fingers of the two mechanical claw assemblies 1 on both sides can contact or not contact, that is, the two fingers at the rear side can contact or not contact the finger at the front side when clamping. The distance between the two fingers at the rear side and the finger at the front side in the direction of the rotation axis can be selected according to actual needs. The distance can be so small that the fingers at the front and rear sides contact and collide with each other when clamping, or it can be set such that there is basically no gap between the left and right side walls of the finger at the front side and the side walls of the two fingers at the rear side, and they can just cross each other, or the distance can be set larger. A small distance can stably clamp both long objects and small non-long objects, and a large distance can clamp long objects, but it may not be able to stably clamp objects with too small a volume.

[0026] In addition to the above structure, the following structure can also be adopted:

[0027] The mechanical claw assembly 1 includes a finger joint 6 and a finger 7 hinged together. The bottom of the finger joint 6 is hinged to the movable plate 3, and the top is hinged to the finger 7; the finger joint 6 and the finger 7 are respectively hinged to the fixed plate 4 through independent connecting rods 8; the length of the finger 7 is greater than the length of the finger joint 6, and the length of the connecting rod 8 to which the finger joint 6 is hinged is shorter than the length of the connecting rod 8 to which the finger 7 is hinged; the lengths of the finger joint 6 and the finger 7, as well as the lengths of the two connecting rods 8, can be adjusted according to actual needs. By adjusting their lengths, the clamping speed and range of the finger 7 can be adjusted; the axes of the hinge shafts of the above components are also parallel to each other, that is, the rotation axes of the mechanical claw assemblies 1 are parallel to each other.

[0028] For the three mechanical claw assemblies 1, two are arranged at the rear side and one is arranged at the front side. In the direction of the rotation axis, that is, the left-right direction, the two mechanical claw assemblies 1 at the rear side are located on the left and right sides of the mechanical claw assembly 1 at the front side. When clamping, the two fingers 7 at the rear side can contact the finger 7 at the front side or not contact.

[0029] A number of support rods are provided between the mounting plate 2 and the fixed plate 4, and the movable plate 3 is slidably connected through the support rods between the mounting plate 2 and the fixed plate 4.

[0030] The driving device 5 adopts a cylinder. The driving device 5 is arranged outside the mounting plate. The telescopic end of the cylinder is connected to the movable plate 3. The up-and-down movement of the movable plate 3 is driven by the telescoping of the cylinder, and then the robotic claw assembly 1 is driven to rotate to complete the clamping.

Claims

1. A three-finger gripper, comprising three mechanical claw assemblies (1), a mounting plate (2), a movable plate (3), a fixed plate (4) and a driving device (5), characterized in that: Two of the three mechanical claw assemblies (1) are located on opposite sides of the other, the rotational axes of the three mechanical claw assemblies (1) are parallel to each other, and the two mechanical claw assemblies (1) on the same side are distributed on both sides of the mechanical claw assembly (1) on the other side in the direction of the rotational axis.

2. The three-finger gripper according to claim 1, wherein: The mechanical claw assembly (1) includes a finger joint (6) and a finger (7) that are hinged, and the finger joint (6) is hinged to the movable plate (3); the finger joint (6) and the finger (7) are respectively hinged to the fixed plate (4) through independent connecting rods (8).

3. The three-finger gripper according to claim 2, characterized in that: The fingers (7) of the three mechanical claw assemblies (1) overlap in projection on a plane perpendicular to the rotational axis when clamping.

4. The three-finger gripper according to claim 2, wherein: The length of the finger (7) is greater than the length of the finger joint (6).

5. The three-finger gripper according to claim 2, characterized in that: The length of the connecting rod (8) to which the finger joint (6) is hinged is less than the length of the connecting rod (8) to which the finger (7) is hinged.

6. The three-finger gripper according to claim 1, characterized in that: The driving device (5) uses a cylinder.

7. The three-finger gripper according to claim 6, characterized in that: The driving device (5) is arranged outside the mounting plate, and the telescopic end of the cylinder is connected to the movable plate (3).

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