Internal supporting type self-adaptive clamping jaw

Abstract

The utility model discloses an internal support type self-adaptive clamping jaw which comprises a screw rod, a thrust bearing, a first gear, a gear driving mechanism, a connecting frame, a plurality of connecting rod mechanisms, a plurality of spring steel sheets, a plurality of polyurethane gaskets, a connecting seat and a plurality of supporting rods, the thrust bearing is sleeved on the screw rod, and an inner ring of the thrust bearing is rotatably connected with the screw rod; the first gear sleeves the screw rod and is in threaded connection with the screw rod; the first gear is fixedly connected with the inner ring; the gear driving mechanism is in transmission connection with the first gear; the connecting frame sleeves the screw rod, and the top end of the connecting frame is fixedly connected with an outer ring of the thrust bearing; the plurality of connecting rod mechanisms are uniformly distributed along the circumference of the connecting frame and one end is hinged with the connecting frame; the spring steel sheets are hinged to the extending ends of the connecting rod mechanisms correspondingly. The plurality of polyurethane gaskets are respectively adhered to the outer sides of the plurality of spring steel sheets; the connecting seat is fixed at the bottom end of the screw; one end of each supporting rod is hinged to the corresponding connecting rod mechanism, and the other end of each supporting rod is hinged to the corresponding connecting base. The device is safe, reliable and efficient.

Description

Technical Field

[0001] The utility model relates to the technical field of clamping claws, and more particularly to an internally supported self-adaptive clamping claw. Background Art

[0002] In industrial production and assembly processes, robots often need to clamp annular or hollow cylindrical workpieces. Internal and external clamping methods are commonly used. However, due to assembly space constraints, external clamping can interfere with surrounding equipment in tight spaces, hindering smooth assembly operations. In this case, internal clamping offers significant advantages, as the gripper can expand inside the workpiece, providing firm support through friction generated by applied pressure.

[0003] However, traditional two- or three-finger internally supported grippers primarily interact with the workpiece through point or line contact. Due to the limited number of gripping points, they struggle to effectively secure heavy workpieces. This can easily lead to workpiece movement, slippage, or even falling during operation, posing a potential safety hazard. Especially for high-precision workpieces, the need for reassembly after a fall can cause significant errors, impacting the quality and functionality of the final product. Furthermore, traditional grippers lack adaptability to diverse workpiece sizes and shapes, limiting production efficiency and increasing operational complexity and cost.

[0004] Therefore, providing a safe and reliable internally supported adaptive claw is a problem that needs to be solved urgently by those skilled in the art. Utility Model Content

[0005] In view of this, the utility model provides an internally supported adaptive clamping claw with higher stability and wide applicability.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] The gear train is connected to the gear axle by a threaded connection, and the gear train is connected to the gear train by a threaded connection, and the gear train is connected to the gear axle by a threaded connection.

[0008] By adopting the above technical solutions, the beneficial effects of the utility model are:

[0009] Under the action of the gear drive mechanism, the screw moves up and down, so that the support rod drives multiple connecting rod mechanisms to expand or retract, driving the polyurethane gasket to contact the inner wall of the workpiece, increasing the friction with the inner wall of the workpiece and increasing the stability and reliability of clamping. Under the action of external pressure, the spring steel sheet drives the polyurethane gasket to bend, adapting to the changes in the inner diameter of different workpieces and improving applicability.

[0010] Furthermore, the gear drive mechanism includes a servo motor, a worm, a worm wheel and a second helical gear, one end of the worm is fixedly connected to the output shaft of the servo motor; the worm wheel is meshingly connected to the worm; the first gear is a first helical gear, the second helical gear is installed on the rotating shaft of the worm wheel, and the second helical gear is meshingly connected to the first helical gear.

[0011] Furthermore, each of the connecting rod mechanisms includes a first connecting rod and a second connecting rod, and the first connecting rod and the second connecting rod are distributed up and down and in parallel; the two ends of the first connecting rod are respectively hinged to the connecting frame and the spring steel sheet, and the two ends of the second connecting rod are respectively hinged to the connecting frame and the spring steel sheet, so that the first connecting rod, the second connecting rod, the connecting frame and the spring steel sheet form a parallelogram connecting rod mechanism; one end of the support rod is hinged to the middle part of the second connecting rod.

[0012] Furthermore, the polyurethane gasket and the outer side surface of the spring steel sheet are bonded together by epoxy resin glue.

[0013] Furthermore, the spring steel sheet includes a spring steel sheet body and reinforcing ribs, the reinforcing ribs are located in the middle of the inner side of the spring steel sheet body, distributed along the vertical direction and connected as a whole; one end of the connecting rod mechanism is hinged to the reinforcing ribs.

[0014] It can be seen from this that the utility model discloses an internally supported adaptive claw. Compared with the prior art, the utility model has the following beneficial effects:

[0015] 1) Improved friction and clamping stability: The combination of polyurethane gaskets and spring steel sheets significantly increases the contact area and friction with the workpiece during clamping, which not only enhances stability but also reduces the risk of workpiece slippage during operation.

[0016] 2) Adaptability and flexibility: The elastic design of the spring steel sheet allows the clamping jaws to automatically adapt to workpieces of different diameters and shapes. This adaptability enables the clamping system to maintain high efficiency in a variety of complex environments;

[0017] 3) Precision structural design: The parallelogram linkage mechanism ensures that the clamping jaws can maintain the same clamping direction with the inner wall of the workpiece in any state, improving the clamping accuracy and operation consistency;

[0018] 4) Safety and reliability: The structure is simple and durable, and maintenance is convenient, which reduces the risk of failure after long-term use. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0020] Figure 1 The accompanying drawing is a schematic diagram of the overall structure of an internally supported adaptive clamping claw provided by the present invention;

[0021] Figure 2 The accompanying drawing is a structural schematic diagram of the main part of an internally supported adaptive claw provided by the present invention;

[0022] Figure 3 The accompanying drawing is a schematic structural diagram of the spring steel sheet and the polyurethane gasket provided by the present invention. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0024] like Figure 1-3 As shown, the embodiment of the utility model discloses an internally supported adaptive claw, comprising a screw 1, a thrust bearing 2, a first gear 3, a gear drive mechanism 4, a connecting frame 5, a plurality of connecting rod mechanisms 6, a plurality of spring steel sheets 7, a plurality of polyurethane gaskets 8, a connecting seat 9 and a plurality of support rods 10, the thrust bearing 2 is sleeved on the screw 1 and its inner ring is rotatably connected to the screw 1; the first gear 3 is sleeved on the screw 1 and threadedly connected to it, and the first gear 3 is fixedly connected to the inner ring; the gear drive mechanism 4 is transmission-connected to the first gear 3; the connecting frame 5 is sleeved on the screw 1 and its inner ring is rotationally connected to the screw 1; The top end is fixedly connected to the outer ring of the thrust bearing 2; multiple connecting rod mechanisms 6 are evenly arranged along the circumference of the connecting frame 5 and are hinged to the connecting frame 5 at one end; multiple spring steel sheets 7 are respectively hinged to the extended ends of the multiple connecting rod mechanisms 6; multiple polyurethane gaskets 8 are respectively bonded to the outer sides of the multiple spring steel sheets 7. The polyurethane gaskets 8 have a high friction coefficient and wear resistance, which can effectively improve durability and clamping force; a connecting seat 9 is fixed to the bottom end of the screw 1; multiple support rods 10 are respectively hinged to the multiple connecting rod mechanisms 6 at one end, and the other ends of the multiple support rods 10 are respectively hinged to the connecting seat 9. Under the action of the gear drive mechanism 4, the screw 1 moves up and down, so that the support rods 10 drive the multiple connecting rod mechanisms 6 to expand or retract, driving the polyurethane gaskets 8 to contact the inner wall of the workpiece, increasing the friction with the inner wall of the workpiece and enhancing the stability and reliability of the clamping. Under the action of external pressure, the spring steel sheets 7 drive the polyurethane gaskets 8 to bend, adapting to the changes in the inner diameter of different workpieces and improving applicability.

[0025] Specifically, the gear drive mechanism 4 includes a servo motor 41, a worm 42, a worm wheel 43 and a second helical gear 44. One end of the worm 42 is fixedly connected to the output shaft of the servo motor 41; the worm wheel 43 is meshed with the worm 42; the first gear 3 is a first helical gear, and the second helical gear 44 is installed on the rotating shaft of the worm wheel 43, and the second helical gear 44 is meshed with the first helical gear.

[0026] Specifically, each connecting rod mechanism 6 includes a first connecting rod 61 and a second connecting rod 62, and the first connecting rod 61 and the second connecting rod 62 are distributed up and down and in parallel; the two ends of the first connecting rod 61 are hinged to the connecting frame 5 and the spring steel sheet 7 respectively, and the two ends of the second connecting rod 62 are hinged to the connecting frame 5 and the spring steel sheet 7 respectively, so that the first connecting rod 61, the second connecting rod 62, the connecting frame 5 and the spring steel sheet 7 form a parallelogram connecting rod mechanism, ensuring that the polyurethane gasket 8 always remains parallel to the inner wall of the workpiece (the direction of the polyurethane gasket 8 is always consistent with that of the screw 1), thereby improving the stability and accuracy of clamping; one end of the support rod 10 is hinged to the middle part of the second connecting rod 62.

[0027] In order to further optimize the technical solution of the present invention, the polyurethane gasket 8 and the outer side of the spring steel sheet 7 are bonded together by epoxy resin glue. The epoxy resin glue provides strong adhesion and anti-vibration function, reduces wear and extends service life. This bonding method allows a certain degree of deformation, can adapt to small displacements or vibrations, and increase the flexibility of the system. The combination of polyurethane gasket 8 and epoxy resin glue can effectively absorb vibration and impact.

[0028] In order to further optimize the technical solution of the present invention, the spring steel sheet 7 includes a spring steel sheet body 71 and a reinforcing rib 72. The reinforcing rib 72 is located in the middle of the inner side of the spring steel sheet body 71 and is distributed in the vertical direction and is connected as a whole; one end of the connecting rod mechanism 6 is hinged to the reinforcing rib 72. The reinforcing rib 72 can ensure the continuity and stability of deformation during contact, and at the same time enhance stability. The reinforcing rib 72 can increase the stability of the entire structure and prevent unnecessary vibration or deformation under the action of external force; improve durability. Through effective mechanical distribution and support, the reinforcing rib 72 can improve the durability and service life of the structure.

[0029] The working principle of this utility model:

[0030] The servo motor 41 drives the worm gear 43 and the worm 42 to complete the first stage of deceleration, and then the first helical gear and the second helical gear 44 complete the second stage of deceleration. The worm gear 43 and the worm 42 are responsible for high transmission ratio deceleration, providing high torque output and self-locking function, ensuring precise positioning and preventing the claw from accidentally touching and reversing. The helical gear transmission can ensure transmission accuracy and quality; the thrust bearing 2 limits the axial position of the first helical gear. When the first helical gear rotates, the screw 1 is driven to move up and down, thereby driving the connecting seat 9 and the support rod 10 to move, and the support rod 10 drives the parallelogram linkage mechanism to move; the polyurethane gasket 8 first contacts the inner wall of the workpiece, and under the action of external pressure, the spring steel sheet 7 drives the polyurethane gasket 8 The spring steel sheet 7 is bent so that it fits tightly against the inner wall of the workpiece, further increasing the friction force, thereby ensuring the stability and firmness of the clamping (the first is when the cylindrical workpiece is high, when the lowest end of the screw 1 begins to enter the cylindrical workpiece, the jaws open; the other is when the annular workpiece is of average height, first adjust the jaws to a position where its circumscribed circle is slightly smaller than the inner diameter of the annular part, and then move down to the inside of the annular ring to fully open), and allows the polyurethane gasket 8 to adapt to workpiece surfaces of different shapes when subjected to external force (when the polyurethane gasket 8 contacts the annular or cylindrical workpiece, the initial state is line contact. As the high strength and high elasticity of the spring steel sheet 7 deform, the polyurethane gasket 8 gradually tends to form surface contact with the workpiece). After the operation is completed, the spring steel sheet 7, with its good elastic modulus and recovery performance, allows the polyurethane gasket 8 to quickly return to its original shape, ensuring the quick release of the workpiece (from the displacement deformation test of the spring steel sheet 7 after being subjected to force, it can be seen that according to the design parameters, the displacement deformation range of the spring steel sheet 7 is between 0 and 8.332e-07m, which fully meets the design specifications. This range ensures that the spring steel sheet 7 provides sufficient elastic recovery force under the action of external force while maintaining the stability and elastic performance of the structure. This precise displacement control not only improves the reliability and adaptability of the clamping system, but also ensures efficient performance under various operating conditions).

[0031] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0032] The above description of the disclosed embodiments will enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An internally supported adaptive claw, characterized in that: The gear train is connected to the gear axle by a threaded connection, and the gear train is connected to the gear train by a threaded connection, and the gear train is connected to the gear axle by a threaded connection.

2. The internally supported adaptive claw according to claim 1, characterized in that: The gear drive mechanism includes a servo motor, a worm, a worm wheel and a second helical gear. One end of the worm is fixedly connected to the output shaft of the servo motor; the worm wheel is meshingly connected to the worm; the first gear is a first helical gear, and the second helical gear is installed on the rotating shaft of the worm wheel, and the second helical gear is meshingly connected to the first helical gear.

3. The internally supported adaptive claw according to claim 1 or 2, characterized in that: Each of the connecting rod mechanisms includes a first connecting rod and a second connecting rod, and the first connecting rod and the second connecting rod are distributed vertically and in parallel; the two ends of the first connecting rod are respectively hinged to the connecting frame and the spring steel sheet, and the two ends of the second connecting rod are respectively hinged to the connecting frame and the spring steel sheet, so that the first connecting rod, the second connecting rod, the connecting frame and the spring steel sheet form a parallelogram connecting rod mechanism; one end of the support rod is hinged to the middle part of the second connecting rod.

4. The internally supported adaptive claw according to claim 1, characterized in that: The polyurethane gasket and the outer side surface of the spring steel sheet are bonded together by epoxy resin glue.

5. The internally supported adaptive claw according to claim 1 or 4, characterized in that: The spring steel sheet includes a spring steel sheet body and a reinforcing rib. The reinforcing rib is located in the middle of the inner side of the spring steel sheet body and is distributed in the vertical direction and connected as a whole. One end of the connecting rod mechanism is hinged to the reinforcing rib.

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