Self-cleaning mechanical clamping jaw

Abstract

The utility model discloses a self-cleaning mechanical clamping jaw, which belongs to the field of mechanical arms and structurally comprises a shell and two clamping jaw frames, and the two clamping jaw frames are symmetrically mounted on two sides of the bottom of the shell in a sliding manner; the outer side of the clamping jaw frame is rotationally sleeved with a clamping sleeve, the outer side face of the clamping sleeve protrudes out of the outer side face of the clamping jaw frame, a scraper is fixedly installed on the outer side of the clamping jaw frame, the edge of the scraper is matched with the outer side face of the clamping sleeve in an abutting mode, a U-shaped base is fixedly installed at the bottom of the shell, and a rubber and plastic damping strip is slidably installed in a notch in the side portion of the U-shaped base. The rubber and plastic damping strip penetrates through the two clamping jaw frames and is in friction transmission connection with the transmission sleeve on the driving wheel shaft. According to the clamping jaw, the contact area of the clamping jaw and the to-be-clamped object can be periodically cleaned, the clamping performance of the clamping jaw is prevented from being affected by dirt attached to the surface of the clamping jaw, and the follow-up to-be-clamped object is prevented from being polluted.

Description

Technical Field

[0001] The utility model relates to the field of mechanical arms, in particular to a self-cleaning mechanical clamp. Background Art

[0002] In industrial production environments, grippers come into contact with a variety of materials during use, including dust, liquids, grease, or other chemicals. These substances may adhere to the gripper surface due to friction, splashing, or adsorption. For example, if the gripper is used to handle parts containing a lot of dust or operates in a humid environment, it is easy to be contaminated.

[0003] Based on the above situation, the dirt contaminated by the robotic arm gripper during operation will affect its performance and the reliability of the subsequent operation of the equipment, resulting in increased maintenance costs and shortened service life. Therefore, the present application provides a self-cleaning robotic gripper. Utility Model Content

[0004] In order to address the deficiencies in the above-mentioned prior art, the purpose of the present invention is to provide a self-cleaning mechanical gripper that can periodically clean the contact area between the gripper and the object to be clamped, thereby preventing dirt on the surface of the gripper from affecting the gripping performance of the gripper and avoiding contamination of subsequent objects to be clamped.

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

[0006] A self-cleaning mechanical clamp is provided, comprising a housing and two clamp frames, which are symmetrically slidably mounted on both sides of the bottom of the housing; a clamping sleeve is rotatably mounted on the outer side of the clamp frame, the outer side of the clamping sleeve protrudes from the outer side of the clamp frame, and a scraper is fixedly mounted on the outer side of the clamp frame, with the edge of the scraper abutting against the outer side of the clamping sleeve.

[0007] Wherein, rollers are rotatably mounted on both ends of the clamping frame, a driving axle is rotatably mounted on the middle of the clamping frame, and the clamping sleeve is connected to the driving axle and the outer sides of the two rollers through a sleeve transmission connection.

[0008] Furthermore, a U-shaped seat is fixedly installed at the bottom of the shell, and a rubber-plastic damping strip is slidably installed in the groove on the side of the U-shaped seat. The rubber-plastic damping strip passes through the two clamping jaw frames and is connected to the transmission sleeve on the driving wheel shaft through friction transmission.

[0009] Furthermore, a magnetic column is fixedly installed on the side of the rubber-plastic damping strip, a spring is sleeved on the outer side of the magnetic column, both ends of the spring are fixedly connected to the rubber-plastic damping strip and the U-shaped seat respectively, an electromagnet is embedded in the U-shaped seat, the electromagnet is abutted and matched with the end of the magnetic column and connected through magnetic adsorption coupling.

[0010] Furthermore, a driving arm is fixedly installed on the top of the clamping frame, a rack plate is fixedly installed on the side of the driving arm, a gear shaft and a stepper motor for driving the gear shaft to rotate are installed on the top of the outer shell, and the two rack plates are respectively located on both sides of the gear shaft and are connected to the gear shaft through meshing transmission.

[0011] Furthermore, the outer side surface of the driving wheel shaft and the inner side surface of the clamping sleeve are respectively provided with tooth structures that can mesh with each other.

[0012] Furthermore, two sides of the bottom of the shell are respectively provided with sliding grooves, and the clamping claw frame is fitted and slidably installed between the two sliding grooves.

[0013] Compared with the prior art, the beneficial effects of the present invention are:

[0014] 1. The self-cleaning mechanical gripper of the present invention controls the periodic opening and closing movement of the two gripper frames. During this process, the rubber-plastic damping strip is controlled to periodically expand and contract in the slot, so that the rubber-plastic damping strip is intermittently tightly fitted with the transmission sleeve on the outside of the driving wheel shaft. Under the transmission action between the driving wheel shaft and the clamping sleeve, the clamping sleeve continuously rotates in one direction on the outside of the gripper frame, so that the scraper can periodically clean the dirt adhered to the outer surface of the clamping sleeve, preventing the dirt on the surface of the gripper from affecting the clamping performance of the gripper, and avoiding contamination of subsequent items to be clamped.

[0015] 2. The self-cleaning mechanical gripper of the present invention controls the extension and contraction movement of the rubber-plastic damping strip in the slot as follows: a linear electric cylinder is built into the U-shaped seat, and the movable end of the linear electric cylinder is fixedly connected to the rubber-plastic damping strip. By starting the linear electric cylinder, the rubber-plastic damping strip is controlled to periodically extend and contract in the slot; among them, the linear electric cylinder can be selected from the MCE series of Dahuan Robot's micro servo electric cylinders or the Beckhoff AA3100 series micro electric cylinders.

[0016] 3. The self-cleaning mechanical clamping jaws of the utility model example are fixedly installed with a magnetic column on the side of the rubber-plastic damping strip, and a spring is sleeved on the outer side of the magnetic column. The two ends of the spring are fixedly connected to the rubber-plastic damping strip and the U-shaped seat respectively, and an electromagnet is embedded in the U-shaped seat; when the electromagnet is turned on, the magnetic column is attracted, driving the rubber-plastic damping strip to move in the slot; when the electromagnet is turned off, the rubber-plastic damping strip moves in the opposite direction in the slot under the action of the spring, thereby realizing the control of the periodic expansion and contraction of the rubber-plastic damping strip in the slot; the above scheme can be used in situations where the cleaning requirements of the clamping jaws are low, thereby reducing the cost of equipment manufacturing and use. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0018] Figure 1 A schematic diagram of the overall structure of the self-cleaning mechanical gripper provided by an embodiment of the present utility model;

[0019] Figure 2 Schematic diagram of the structure of the self-cleaning mechanical clamping claw provided by the embodiment of the utility model Figure 1 ;

[0020] Figure 3 Schematic diagram of the structure of the self-cleaning mechanical clamping claw provided by the embodiment of the utility model Figure 2 ;

[0021] Figure 4 Schematic diagram of the structure of the self-cleaning mechanical clamping claw provided by the embodiment of the utility model Figure 3 ;

[0022] Figure 5 Schematic diagram of the structure of the self-cleaning mechanical clamping claw provided by the embodiment of the utility model Figure 4 .

[0023] In the figure: 11 housing, 111 slide, 112 limit groove, 12 limit plate, 13 U-shaped seat, 14 notch, 21 stepper motor, 22 drive arm, 23 rack plate, 24 clamping claw frame, 25 scraper, 31 roller, 32 clamping sleeve, 33 drive wheel shaft, 331 transmission sleeve, 34 rubber-plastic damping strip, 35 magnetic column, 36 spring. DETAILED DESCRIPTION

[0024] The technical solution of the present invention 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 invention, rather than all of the embodiments.

[0025] The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in a variety of 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 rather merely represents selected embodiments of the present invention.

[0026] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of the present invention.

[0027] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating positions or relationships, are based on the positions or relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0028] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0029] 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.

[0030] Example 1:

[0031] like Figure 1 and Figure 3 As shown, this embodiment provides a self-cleaning mechanical clamp, including a shell 11 and two clamp frames 24, and the two clamp frames 24 are symmetrically slidably installed on both sides of the bottom of the shell 11; the outer side of the clamp frame 24 is rotatably sleeved with a clamping sleeve 32, and the outer side of the clamp frame 24 is fixedly installed with a scraper 25, and the edge of the scraper 25 is abutted against the outer side surface of the clamping sleeve 32.

[0032] Among them, a driving arm 22 is fixedly installed on the top of the clamping frame 24, and a rack plate 23 is fixedly installed on the side of the driving arm 22. A gear shaft and a stepper motor 21 for driving the gear shaft to rotate are installed on the top of the shell 11. The two rack plates 23 are respectively located on both sides of the gear shaft and are connected to the gear shaft through meshing transmission. A limit plate 12 is fixedly installed on the outer side of the shell 11, and the inner side surface of the limit plate 12 abuts and cooperates with the outer side surface of the driving arm 22; start the stepper motor 21 to control the rotation of the gear shaft, and the two rack plates 23 drive their corresponding clamping frames 24 through the driving arm 22 to move towards or away from each other, thereby realizing the clamping and loosening operations of the object.

[0033] like Figure 4 As shown, rollers 31 are rotatably mounted on both ends of the clamping frame 24, and a driving axle 33 is rotatably mounted on the middle part of the clamping frame 24; both ends of the driving axle 33 and the roller 31 are provided with an I-shaped structure, so that they can be stably rotatably mounted on the clamping frame 24; the clamping sleeve 32 is connected to the outside of the driving axle 33 and the two rollers 31 through a sleeve transmission; in order to increase the rotational stability of the clamping sleeve 32 on the outside of the clamping frame 24, tooth structures that can engage with each other are respectively provided on the outer side surface of the driving axle 33 and the inner side surface of the clamping sleeve 32.

[0034] like Figure 2 、 Figure 4 and Figure 5 As shown, a U-shaped seat 13 is fixedly installed at the bottom of the shell 11, and a rubber-plastic damping strip 34 is slidably installed in the groove 14 on the side of the U-shaped seat 13. The rubber-plastic damping strip 34 passes through the two clamping jaw frames 24 and is connected to the transmission sleeve 331 on the driving wheel shaft 33 through friction transmission.

[0035] The details of the self-cleaning mechanical gripper used in this application are as follows:

[0036] The outer side surface of the clamping sleeve 32 protrudes from the outer side surface of the clamping jaw frame 24. When the clamping jaw is used to clamp an object, only the outer side surface of the clamping sleeve 32 abuts against the surface of the object. At this time, the rubber-plastic damping strip 34 does not abut against the transmission sleeve 331 outside the driving wheel shaft 33.

[0037] When it is necessary to clean the outer side of the clamping sleeve 32:

[0038] Start the stepper motor 21 and control the gear shaft to rotate back and forth, driving the two clamping jaw frames 24 to open and close periodically. During this process, the rubber-plastic damping strip 34 is controlled to periodically expand and contract in the slot 14, so that the rubber-plastic damping strip 34 and the transmission sleeve 331 on the outside of the driving wheel shaft 33 are intermittently tightly fitted. Under the transmission action between the driving wheel shaft 33 and the clamping sleeve 32, the clamping sleeve 32 rotates continuously in one direction on the outside of the clamping jaw frame 24, so that the scraper 25 can periodically clean the dirt adhering to the outer surface of the clamping sleeve 32, thereby preventing the dirt on the surface of the clamping jaw from affecting the clamping performance of the clamping jaw and avoiding contamination of subsequent items to be clamped.

[0039] In order to increase the movement stability of the two clamping jaw frames 24 at the bottom of the housing 11, as shown in FIG. Figure 2 As shown, a limiting groove 112 for the rack plate 23 to pass through is provided on the side of the shell 11, so that the upper and lower sides of the rack plate 23 are in contact with the inner side surface of the limiting groove 112; sliding grooves 111 are respectively provided on both sides of the bottom of the shell 11, and the clamping jaw frame 24 is fitted and slidably installed between the two sliding grooves 111 to prevent the clamping jaw frame 24 from shaking during movement.

[0040] In this embodiment, the method for controlling the extension and contraction movement of the rubber-plastic damping strip 34 in the slot 14 is as follows: a linear electric cylinder is built into the U-shaped seat 13, and the movable end of the linear electric cylinder is fixedly connected to the rubber-plastic damping strip 34. By starting the linear electric cylinder, the rubber-plastic damping strip 34 is controlled to periodically extend and contract in the slot 14; the linear electric cylinder used in the above scheme can be the MCE series of Dahuan Robot's micro servo electric cylinders or the Beckhoff AA3100 series micro electric cylinders.

[0041] Example 2:

[0042] The features that are the same as those in the first embodiment are not described in detail. The differences between the first embodiment and the present embodiment are as follows: Figure 5 As shown, in this embodiment, a magnetic column 35 is fixedly installed on the side of the rubber-plastic damping strip 34, and a spring 36 is sleeved on the outer side of the magnetic column 35. The two ends of the spring 36 are respectively fixedly connected to the rubber-plastic damping strip 34 and the U-shaped seat 13. An electromagnet is embedded in the U-shaped seat 13, and the electromagnet is in abutment with the end of the magnetic column 35 and is coupled by magnetic adsorption.

[0043] The electromagnet is turned on to attract the magnetic column 35, driving the rubber-plastic damping strip 34 to move in the slot 14. The electromagnet is turned off, and under the action of the spring 36, the rubber-plastic damping strip 34 moves in the opposite direction in the slot 14, thereby realizing the control of the periodic expansion and contraction of the rubber-plastic damping strip 34 in the slot 14.

[0044] The above-mentioned solution of this embodiment can be used in situations where the cleaning requirements for the clamping jaws are relatively low, thereby reducing the cost of equipment manufacturing and use, and achieving good economic benefits.

[0045] The above description is merely a preferred embodiment of the present application and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of the utility model disclosed in this application is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the concept of the utility model. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this application.

[0046] 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 in detail here.

Claims

1. A self-cleaning mechanical gripper, comprising a housing (11) and gripper frames (24) slidably mounted on both sides of the bottom, characterized in that: The two ends of the clamping frame (24) are respectively rotatably mounted with rollers (31), the middle part of the clamping frame (24) is rotatably mounted with a driving wheel shaft (33), the driving wheel shaft (33) and the outer sides of the two rollers (31) are sleeved and transmission-connected with a clamping sleeve (32), and the outer side surface of the clamping sleeve (32) protrudes from the outer side surface of the clamping frame (24); A scraper (25) is fixedly mounted on the outer side of the clamping jaw frame (24); a U-shaped seat (13) is fixedly mounted on the bottom of the housing (11); a rubber-plastic damping strip (34) is slidably mounted in a notch (14) on the side of the U-shaped seat (13); the rubber-plastic damping strip (34) passes through the two clamping jaw frames (24) and is connected to a transmission sleeve (331) on the driving wheel shaft (33) through friction transmission.

2. The self-cleaning mechanical gripper according to claim 1, characterized in that: A magnetic column (35) is fixedly mounted on the side of the rubber-plastic damping strip (34), a spring (36) is sleeved and mounted on the outer side of the magnetic column (35), two ends of the spring (36) are respectively fixedly connected to the rubber-plastic damping strip (34) and the U-shaped seat (13), an electromagnet is embedded in the U-shaped seat (13), and the electromagnet is in abutment with the end of the magnetic column (35) and is coupled by magnetic adsorption.

3. The self-cleaning mechanical gripper according to claim 1, characterized in that: A driving arm (22) is fixedly mounted on the top of the clamping frame (24), a rack plate (23) is fixedly mounted on the side of the driving arm (22), a gear shaft and a stepping motor (21) for driving the gear shaft to rotate are mounted on the top of the housing (11), and two rack plates (23) are respectively located on both sides of the gear shaft and are connected to the gear shaft through meshing transmission.

4. The self-cleaning mechanical gripper according to claim 1, characterized in that: The outer side surface of the driving wheel shaft (33) and the inner side surface of the clamping sleeve (32) are respectively provided with tooth-shaped structures capable of meshing with each other.

5. The self-cleaning mechanical gripper according to claim 1, characterized in that: A limiting groove (112) for the rack plate (23) to pass through is provided on the side of the housing (11), and the upper and lower sides of the rack plate (23) are in contact with the inner side surface of the limiting groove (112).

6. The self-cleaning mechanical gripper according to claim 1, characterized in that: Slide grooves (111) are respectively provided on both sides of the bottom of the housing (11), and the clamping jaw frame (24) is fitted and slidably installed between the two slide grooves (111).

7. The self-cleaning mechanical gripper according to claim 1, characterized in that: A limiting plate (12) is fixedly mounted on the outer side of the housing (11), and the inner side surface of the limiting plate (12) abuts against the outer side surface of the driving arm (22).

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