Clamp and mechanical arm

Abstract

The utility model belongs to the field of clamps and discloses a clamp and a mechanical arm, and the clamp comprises a base, a clamping jaw assembly and a clamping jaw driving piece. The clamping jaw assembly is arranged on the base and comprises a plurality of clamping jaws which are sequentially arranged in the circumferential direction so that a clamping space used for containing the barrel-shaped workpiece can be defined, and all the clamping jaws are arranged on the periphery of the barrel-shaped workpiece in a surrounding mode. The claw hooks are arranged at the far ends of the clamping claws and can stretch into the positions below the flanges of the barrel-shaped workpieces, so that the barrel-shaped workpieces are effectively prevented from accidentally falling off due to vibration or external force in the carrying process, and the clamping safety and reliability are remarkably improved. The clamping jaw driving piece serves as a driving core, is installed on the base and is in driving connection with the near ends of the clamping jaws. The main function of the clamping jaw driving part is that the claw hooks of all the clamping jaws can be driven to synchronously move close to or away from each other according to a control instruction, and therefore clamping and releasing of the barrel-shaped workpiece are achieved. The mechanical arm comprises the clamp, so that the mechanical arm also has the advantages of the clamp.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of clamp, more specifically, relate to a clamp and mechanical arm. BACKGROUND

[0002] In the field of industrial automation, the mechanical arm as an important actuator is widely used in material handling, assembly, machining and other processes. Especially when dealing with barrel-shaped workpieces, the clamping stability of the mechanical arm is directly related to the production efficiency and product quality. However, in practical application, the mechanical arm often faces the problem of unstable clamping when clamping barrel-shaped workpieces, which not only affects the smoothness of the production line, but also may cause workpiece damage or safety accidents. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a clamp and a mechanical arm to solve the technical problem of unstable clamping of barrel-shaped workpieces in the prior art.

[0004] To achieve the above-mentioned purpose, the technical scheme adopted by the present application is:

[0005] Provided is a clamp, comprising:

[0006] a base;

[0007] a claw assembly provided on the base, the claw assembly comprising a plurality of claws arranged in sequence in the circumferential direction, the distal end of the claw having a claw hook;

[0008] a claw driving member mounted on the base and drivingly connected to the proximal end of each claw, the claw driving member being used to drive the claw hooks of each claw to move synchronously towards or away from each other.

[0009] As a further improvement of the above technical scheme:

[0010] Optionally, the claw comprises a first claw arm and a second claw arm, the first claw arm and the second claw arm are arranged at an angle, and the inner angles of the first claw arm and the second claw arm are both directed towards the workpiece to be clamped.

[0011] Optionally, the claw assembly further comprises a claw connecting plate, the proximal end of each claw is hingedly connected to the claw connecting plate, and the claw driving member is drivingly connected to the claw connecting plate;

[0012] When the claw driving member drives the claw connecting plate to move away from the base, the claw hooks of each claw move away from each other synchronously; when the claw driving member drives the claw connecting plate to move towards the base, the claw hooks of each claw move towards each other synchronously.

[0013] Optionally, the clamping jaw assembly further comprises a clamping jaw base and a connecting rod, the clamping jaw base is installed on the base, one end of the connecting rod is hinged to the clamping jaw base, and the other end of the connecting rod is hinged to the clamping jaw.

[0014] Optionally, a laser range finder is further included, the laser range finder is installed on the base, and the laser range finder is used to measure the distance to the to-be-clamped part.

[0015] The application further provides a mechanical arm comprising the clamp.

[0016] Compared with the prior art, the application has the following beneficial effects:

[0017] The clamp provided by the application comprises a base, a clamping jaw assembly, and a clamping jaw driving part. The base serves as a support structure of the entire clamp and is used to provide sufficient support strength and connect the entire clamp with a mechanical arm. The clamping jaw assembly is arranged on the base and comprises a plurality of clamping jaws arranged in sequence in a circumferential direction to enclose a clamping space for accommodating a barrel-shaped workpiece, and each clamping jaw is arranged around the outer periphery of the barrel-shaped workpiece. The distal end of each clamping jaw is provided with a claw hook, which can be inserted below the flange of the barrel-shaped workpiece, thereby effectively preventing the barrel-shaped workpiece from falling accidentally due to vibration or external force during transportation and significantly improving the safety and reliability of clamping. The clamping jaw driving part is installed on the base and is drivingly connected to the proximal end of each clamping jaw. The main function of the clamping jaw driving part is to drive the claw hooks of all the clamping jaws to move towards each other or away from each other synchronously according to a control instruction, thereby achieving clamping and releasing of the barrel-shaped workpiece.

[0018] The mechanical arm provided by the application comprises the above clamp and therefore has the advantages of the above clamp. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0020] Fig. 1 is a partial enlarged structural schematic view of the clamp and the mechanical arm of the application;

[0021] Fig. 2 is a front view structural schematic view of the clamp and the mechanical arm of the application;

[0022] Fig. 3 is a three-dimensional structural schematic view of the clamp and the mechanical arm of the application.

[0023] In the drawings, reference numerals:

[0024] 1, base; 2, jaw assembly;

[0025] 21, jaw; 211, first jaw arm;

[0026] 212, second jaw arm; 22, jaw connecting plate;

[0027] 23, jaw seat; 24, connecting rod;

[0028] 3, jaw driving member; 4, laser range finder. DETAILED DESCRIPTION

[0029] In order to make the technical problems, technical solutions and beneficial effects of the present application clearer, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not intended to limit the present application.

[0030] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0031] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0032] In addition, the terms "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0033] Unless otherwise defined, all professional terms used herein have the same meaning as understood by those skilled in the art. The professional terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the scope of protection of the present application.

[0034] To solve the problem that the existing mechanical arm clamp cannot stably clamp the barrel-shaped workpiece, likeFigs. 1-3 As shown, the present application provides a clamp including a base 1 , a clamping jaw assembly 2 and a clamping jaw driving member 3 .

[0035] Specifically, the base 1 serves as a supporting structure for the entire fixture, not only for providing sufficient supporting strength, but also for connecting the entire fixture to the robotic arm.

[0036] The clamping jaw assembly 2 is disposed on the base 1 and includes a plurality of clamping jaws 21 sequentially arranged along the circumferential direction to enclose a clamping space for accommodating the barrel-shaped workpiece. Each clamping jaw 21 is disposed around the outer circumference of the barrel-shaped workpiece.

[0037] The distal end of the clamping jaw 21 has a claw hook that can extend under the flange of the barrel-shaped workpiece, thereby effectively preventing the barrel-shaped workpiece from accidentally falling due to vibration or external force during transportation, and significantly improving the safety and reliability of clamping.

[0038] The jaw driver 3, serving as the driving core, is mounted on the base 1 and connected to the proximal ends of each jaw 21. The primary function of the jaw driver 3 is to drive the claws of all jaws 21 to move together or apart synchronously according to control commands, thereby achieving grip and release of barrel-shaped workpieces. To meet the needs of different application scenarios, the specific implementation of the jaw driver 3 can be flexibly selected, including but not limited to hydraulic cylinders, pneumatic cylinders, and electric push rods.

[0039] It should be explained that the proximal end of the clamping jaw 21 is the end closer to the driving element, and the distal end of the clamping jaw 21 is the end farther from the driving element.

[0040] like Figs. 1-3 As shown, in one specific embodiment of the present application, the clamping jaw 21 includes a first claw arm 211 and a second claw arm 212. Specifically, the first claw arm 211 and the second claw arm 212 are arranged at an angle ranging from 90° to 180° (excluding 180°), ensuring that the clamping jaw 21 is well adapted to the shape of a barrel-shaped workpiece. The inner corners of the first claw arm 211 and the second claw arm 212 are both oriented toward the workpiece to be clamped, ensuring sufficient space to accommodate the barrel-shaped workpiece.

[0041] like Figs. 1-3As shown in the specific embodiment of the present application, the jaw assembly 2 further comprises a jaw connecting plate 22, the proximal end of each jaw 21 is hinged to the jaw connecting plate 22, and the jaw driving member 3 is drivingly connected with the jaw connecting plate 22. When the jaw driving member 3 drives the jaw connecting plate 22 to move away from the base 1, the proximal end of each jaw 21 is also caused to move away from the base 1, and each jaw 21 rotates around the folding position where the first jaw arm 211 and the second jaw arm 212 intersect, thereby causing the jaw hooks of each jaw 21 to move away synchronously, i.e. to realize the opening action of the jaw assembly 2. Similarly, when the jaw driving member 3 drives the jaw connecting plate 22 to move towards the base 1, the jaw hooks of each jaw 21 move towards synchronously, thereby realizing the clamping action of the jaw assembly 2.

[0042] As shown in the specific embodiment of the present application, the jaw assembly 2 further comprises a jaw connecting plate 22, the proximal end of each jaw 21 is hinged to the jaw connecting plate 22, and the jaw driving member 3 is drivingly connected with the jaw connecting plate 22. When the jaw driving member 3 drives the jaw connecting plate 22 to move away from the base 1, the proximal end of each jaw 21 is also caused to move away from the base 1, and each jaw 21 rotates around the folding position where the first jaw arm 211 and the second jaw arm 212 intersect, thereby causing the jaw hooks of each jaw 21 to move away synchronously, i.e. to realize the opening action of the jaw assembly 2. Similarly, when the jaw driving member 3 drives the jaw connecting plate 22 to move towards the base 1, the jaw hooks of each jaw 21 move towards synchronously, thereby realizing the clamping action of the jaw assembly 2. Figs. 1-3 As shown in the specific embodiment of the present application, the jaw assembly 2 further comprises a jaw connecting plate 22, the proximal end of each jaw 21 is hinged to the jaw connecting plate 22, and the jaw driving member 3 is drivingly connected with the jaw connecting plate 22. When the jaw driving member 3 drives the jaw connecting plate 22 to move away from the base 1, the proximal end of each jaw 21 is also caused to move away from the base 1, and each jaw 21 rotates around the folding position where the first jaw arm 211 and the second jaw arm 212 intersect, thereby causing the jaw hooks of each jaw 21 to move away synchronously, i.e. to realize the opening action of the jaw assembly 2. Similarly, when the jaw driving member 3 drives the jaw connecting plate 22 to move towards the base 1, the jaw hooks of each jaw 21 move towards synchronously, thereby realizing the clamping action of the jaw assembly 2.

[0043] As shown in the specific embodiment of the present application, the jaw assembly 2 further comprises a jaw connecting plate 22, the proximal end of each jaw 21 is hinged to the jaw connecting plate 22, and the jaw driving member 3 is drivingly connected with the jaw connecting plate 22. When the jaw driving member 3 drives the jaw connecting plate 22 to move away from the base 1, the proximal end of each jaw 21 is also caused to move away from the base 1, and each jaw 21 rotates around the folding position where the first jaw arm 211 and the second jaw arm 212 intersect, thereby causing the jaw hooks of each jaw 21 to move away synchronously, i.e. to realize the opening action of the jaw assembly 2. Similarly, when the jaw driving member 3 drives the jaw connecting plate 22 to move towards the base 1, the jaw hooks of each jaw 21 move towards synchronously, thereby realizing the clamping action of the jaw assembly 2. Figs. 1-3 As shown in the specific embodiment of the present application, the jaw assembly 2 further comprises a jaw connecting plate 22, the proximal end of each jaw 21 is hinged to the jaw connecting plate 22, and the jaw driving member 3 is drivingly connected with the jaw connecting plate 22. When the jaw driving member 3 drives the jaw connecting plate 22 to move away from the base 1, the proximal end of each jaw 21 is also caused to move away from the base 1, and each jaw 21 rotates around the folding position where the first jaw arm 211 and the second jaw arm 212 intersect, thereby causing the jaw hooks of each jaw 21 to move away synchronously, i.e. to realize the opening action of the jaw assembly 2. Similarly, when the jaw driving member 3 drives the jaw connecting plate 22 to move towards the base 1, the jaw hooks of each jaw 21 move towards synchronously, thereby realizing the clamping action of the jaw assembly 2.

[0044] The core function of the laser range finder 4 is to measure the distance from the clamp to the object to be clamped. By emitting a laser beam to the object to be clamped and receiving the reflected light signal, the laser range finder 4 can calculate the actual distance from the object to be clamped, so that the control system can dynamically adjust the position and attitude of the jaw 21 according to the measured distance data, to ensure the accuracy and reliability of the clamping operation.

[0045] The present application provides a mechanical arm comprising a mechanical arm body and the clamp in the above-mentioned embodiments. In the working process of the mechanical arm, the mechanical arm body is responsible for accurately sending the clamp to the position of the object to be clamped, and the clamp plays its clamping function to grab the workpiece. Through the cooperative work of the two, the carrying task of the barrel-shaped workpiece is completed. Since the mechanical arm has the clamp in the above-mentioned embodiments, it also has the advantages of the clamp in the above-mentioned embodiments.

[0046] The above only describes preferred embodiments of the present application and is not used to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A clamp characterized in that, It comprises: a base (1); a jaw assembly (2) arranged on the base (1), the jaw assembly (2) comprising a plurality of jaws (21) arranged in a circumferential direction, the distal end of each jaw (21) having a hook; a jaw driving member (3) mounted on the base (1) and drivingly connected to the proximal end of each jaw (21), the jaw driving member (3) being used to drive the hooks of the jaws (21) to move synchronously towards or away from each other.

2. The clamp of claim 1, wherein The jaw (21) comprises a first jaw arm (211) and a second jaw arm (212), the first jaw arm (211) and the second jaw arm (212) being arranged at an angle, the inner angle of each of the first jaw arm (211) and the second jaw arm (212) facing the object to be clamped.

3. The clamp of claim 1, wherein The jaw assembly (2) further comprises a jaw connecting plate (22), the proximal end of each jaw (21) being hingedly connected to the jaw connecting plate (22), the jaw driving member (3) being drivingly connected to the jaw connecting plate (22); When the jaw driving member (3) drives the jaw connecting plate (22) to move away from the base (1), the hooks of the jaws (21) move away from each other synchronously; when the jaw driving member (3) drives the jaw connecting plate (22) to move towards the base (1), the hooks of the jaws (21) move towards each other synchronously.

4. The clamp of claim 1, wherein The jaw assembly (2) further comprises a jaw seat (23) and a connecting rod (24), the jaw seat (23) being mounted on the base (1), one end of the connecting rod (24) being hingedly connected to the jaw seat (23), the other end of the connecting rod (24) being hingedly connected to the jaw (21).

5. The clamp of any one of claims 1 to 4, wherein, It further comprises a laser range finder (4) mounted on the base (1), the laser range finder (4) being used to measure the distance to the object to be clamped.

6. A robot arm, characterized in that, It comprises the clamp as claimed in any one of claims 1 to 5. It comprises the clamp as claimed in any one of claims 1 to 5.

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