Clamping jaw

Abstract

The utility model relates to the technical field of transfer robots, in particular to a clamping jaw. The utility model provides a clamping jaw which comprises a stop seat and clamping jaws arranged on the stop seat in a bilateral symmetry mode. Each clamping jaw comprises a driving jaw, a driven jaw and a connecting piece; one end of the driving claw is rotatably connected with a connecting rod, and the other end is rotatably connected with a connecting piece; the end, away from the driving claw, of the connecting rod is rotationally connected to the driving mechanism. One end of the driven claw is rotatably connected with a connecting piece, and the other end of the driven claw is rotatably connected to the stop seat; and the driven claw is arranged on the inner side of the driving claw. The technical problem that in the prior art, an out-of-control machine cannot be stopped is solved.

Description

Technical Field

[0001] This utility model relates to the technical field of handling robots, and in particular to a gripper. Background Technology

[0002] With the increasing number of electrical appliances and robots, it is difficult for maintenance personnel to approach and handle robots that are out of control or have other dangerous factors. In order to avoid injury or death, robot stop modules can be used to provide emergency external control for various types of out-of-control robots, preventing them from causing secondary damage to the surrounding environment and people.

[0003] Most current locking mechanisms are on the wheels, which lock the wheels when the machine is stationary. However, it is difficult to lock the wheels when the machine is out of control.

[0004] Therefore, it is necessary to propose a gripper that can be used for stopping. Summary of the Invention

[0005] The purpose of this utility model is to overcome the shortcomings of the prior art and provide a gripper that aims to solve the technical problem that out-of-control machines cannot be stopped in the prior art.

[0006] To achieve the above objectives, this utility model proposes a gripper, including a stop seat and grippers symmetrically arranged on the stop seat; each gripper includes an active gripper, a passive gripper, and a connecting piece; one end of the active gripper is rotatably connected to a connecting rod, and the other end is rotatably connected to the connecting piece; the end of the connecting rod away from the active gripper is rotatably connected to a drive mechanism; one end of the passive gripper is rotatably connected to the connecting piece, and the other end is rotatably connected to the stop seat; the passive gripper is disposed inside the active gripper.

[0007] Preferably, the drive mechanism includes a motor mounted on a stop seat, a lead screw mounted on the motor, and a slider mounted on the lead screw; claws are connected to both sides of the slider.

[0008] Preferably, the connecting piece is rhomboid in shape; in the retracted state, the end of the connecting piece near the stop seat is provided with a first mounting hole, and the inner end of the connecting piece is provided with a second mounting hole; the first mounting hole is connected to the active claw, and the second mounting hole is connected to the driven claw.

[0009] Preferably, the stop seat is U-shaped, and the fixed position of the driving claw and the stop seat is on the outside of the driven claw and the stop seat.

[0010] Preferably, the driven claw is an arc-shaped rod, and each claw has two driven claws, which are rotatably connected to the upper and lower surfaces of the stop seat, respectively.

[0011] Preferably, each chuck has three active chucks, evenly distributed within the stop seat; connecting plates and connecting rods are provided between adjacent active chucks.

[0012] Preferably, each jaw has two connecting rods; each jaw has four connecting plates, with an active jaw and a driven jaw arranged between adjacent connecting plates.

[0013] Compared with the prior art, the beneficial effects of the gripper provided by this utility model are as follows:

[0014] 1. Grippers are primarily used for stopping robots, particularly in rescue robots. When a rescue robot goes out of control, the grippers stop it and can also be used to control other out-of-control robots. The grippers have a large contact area, facilitating stopping. A large amount of cushioning foam is installed on the inside of the grippers, with a maximum opening range of 167mm-440mm.

[0015] 2. The grippers can form an enclosing shape when opening and closing. When opening, the connecting piece, the driving gripper, and the driven gripper form a U-shape perpendicularly. When closing, the connecting piece, the driving gripper, and the driven gripper form a U-shape along the same straight line.

[0016] The features and advantages of the present invention will be described in detail through embodiments with reference to the accompanying drawings. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the gripper opening structure according to an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the gripper retraction structure in an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of the internal structure of the gripper when it is open, according to an embodiment of the present invention.

[0020] Figure 4 This is a front view schematic diagram of the gripper opening structure according to an embodiment of the present invention.

[0021] Figure 5 This is a top view of the gripper opening according to an embodiment of the present invention.

[0022] in:

[0023] 1-Stop seat; 2-Driving claw; 3-Driven claw; 4-Connecting piece; 41-First mounting hole; 42-Second mounting hole; 5-Connecting rod; 6-Drive mechanism; 61-Motor; 62-Lead screw; 63-Slider. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples. However, it should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the scope of the present invention. Furthermore, descriptions of known structures and technologies are omitted in the following description to avoid unnecessary confusion regarding the concepts of the present invention.

[0025] In the description of this utility model, it should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to or indirectly connected to the other element.

[0026] In the description of this utility model, it should be noted that the terms "center," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. "Several" means one or more, unless otherwise explicitly specified.

[0027] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0028] See Figure 1-5This utility model provides a gripper, including a stop seat 1 and symmetrically arranged claws on the stop seat 1. Each claw includes an active claw 2, a driven claw 3, and a connecting piece 4. One end of the active claw 2 is rotatably connected to a connecting rod 5, and the other end is rotatably connected to the connecting piece 4. The end of the connecting rod 5 away from the active claw 2 is rotatably connected to a drive mechanism 6. One end of the driven claw 3 is rotatably connected to the connecting piece 4, and the other end is rotatably connected to the stop seat 1. The driven claw 3 is disposed inside the active claw 2. The gripper is preferably a 5-bar linkage gripper mechanism, driven by a 57HD3403 lead screw motor. A large amount of cushioning foam is installed inside the gripper, and the maximum opening and closing range is 167mm-440mm. The 5-bar linkage gripper mechanism has a larger opening and closing angle and requires a shorter stroke of the lead screw motor.

[0029] like Figure 4 The stop seat 1 is U-shaped. The drive mechanism 6 includes a motor 61 mounted on the stop seat 1, a lead screw 62 mounted on the motor 61, and a slider 63 mounted on the lead screw 62; the slider 63 has claws connected to both sides, such as... Figure 3 As shown. Motor 61 drives lead screw 62 to rotate, and lead screw 62 drives slider 63 to move back and forth, thereby controlling the extension and retraction of the gripper.

[0030] See Figure 5 The upper and lower surfaces of the stop seat 1 have the same structure. The fixed position of the driving claw 2 and the stop seat 1 is on the outside of the driven claw 3 and the stop seat 1, so as to... Figure 5 For example, the fixed position of the driven pawl 2 is closer to the center line of the stop seat, while the driving pawl 2 is further away from the contact plate 4.

[0031] See Figure 3 The specific structure of this embodiment is as follows: a slider 63 is connected to the motor 61, and the slider 63 is symmetrical about the center line of the stop seat 1. Mounting holes are provided on both the left and right sides of the slider 63, and claws are symmetrically connected to both sides of the slider 63. A detailed description will be given using one side of the claws.

[0032] The structure of one side of the pawl is as follows: A connecting rod 5 is rotatably connected to both the upper and lower mounting holes on one side of the slider 63, meaning there are two connecting rods. Three active pawls 2 are rotatably connected to the other side of the connecting rod 5, with the active pawls 2 evenly spaced on the connecting rod 5. Two holes are located on the side of the active pawl 2 closest to the connecting rod 5. In the open state, the hole furthest from the motor 61 is rotatably connected to the connecting rod 5, allowing all three active pawls to rotate together. This hole follows the principle of a cam, allowing for greater stroke variation. The other hole of the active pawl 2 is rotatably connected to the upper and lower surfaces of the stop seat 1. Alternatively, the hole of the middle active pawl 2 can be connected to the upper and lower active pawls 2 by adding a rotating shaft.

[0033] The other side of the active claw 2 is also provided with a mounting hole for connecting the first mounting hole 41 of the connecting piece 4. The connecting piece 4 is rhomboid; in the retracted state, the end of the connecting piece 4 near the stop seat 1 is provided with the first mounting hole 41, and the inner end of the connecting piece 4 is provided with a second mounting hole 42; the first mounting hole 41 is connected to the active claw 2, and the second mounting hole 42 is connected to the driven claw 3. There are four connecting pieces 4, evenly distributed vertically, with active claws 2 arranged between adjacent connecting pieces, for a total of three active claws. There are four connecting pieces 4 and two driven claws, arranged between the two upper connecting pieces and the two lower connecting pieces.

[0034] Among them, the driven pawl 3 is in the shape of an arc, and the side of the driven pawl 3 away from the connecting piece 4 is rotatably connected to the upper and lower surfaces of the stop seat.

[0035] The grippers form an enclosing shape when opening and closing. When opening, the connecting plate, driving gripper, and driven gripper form a U-shape perpendicularly. When closing, the connecting plate, driving gripper, and driven gripper form a U-shape along the same straight line. A large amount of cushioning foam is installed inside the grippers, which increases the contact area and provides better resistance. Of course, because the opening is smaller when closed, it can also be used to grip blocks. Furthermore, the lead screw and slider in this design require a shorter stroke to complete both opening and closing.

[0036] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A gripper, characterized in that: It includes a stop seat (1) and clasps symmetrically arranged on the stop seat (1); each clasp includes an active clasp (2), a driven clasp (3) and a connecting piece (4); one end of the active clasp (2) is rotatably connected to a connecting rod (5), and the other end is rotatably connected to the connecting piece (4); the end of the connecting rod (5) away from the active clasp (2) is rotatably connected to a drive mechanism (6); one end of the driven clasp (3) is rotatably connected to the connecting piece (4), and the other end is rotatably connected to the stop seat (1); the driven clasp (3) is arranged inside the active clasp (2).

2. A gripper as described in claim 1, characterized in that: The drive mechanism (6) includes a motor (61) mounted on a stop seat (1), a lead screw (62) mounted on the motor (61), and a slider (63) mounted on the lead screw (62); the slider (63) is connected to claws on both sides.

3. A gripper as described in claim 1, characterized in that: The connecting piece (4) is rhomboid; in the retracted state, the end of the connecting piece (4) near the stop seat (1) is provided with a first mounting hole (41), and the end of the connecting piece (4) on the inner side is provided with a second mounting hole (42); the first mounting hole (41) is connected to the active claw (2), and the second mounting hole (42) is connected to the driven claw (3).

4. A gripper as described in claim 1, characterized in that: The stop seat (1) is U-shaped, and the fixed position of the active claw (2) and the stop seat (1) is on the outside of the driven claw (3) and the stop seat (1).

5. A gripper as described in claim 4, characterized in that: The driven claw (3) is an arc-shaped rod. Each claw has two driven claws (3), which are rotatably connected to the upper and lower surfaces of the stop seat (1).

6. A gripper as described in claim 1, characterized in that: Each chuck has three active chucks (2), which are evenly distributed in the stop seat (1); a connecting piece (4) and a connecting rod (5) are provided between adjacent active chucks (2).

7. A gripper as described in claim 6, characterized in that: Each pawl has two connecting rods (5); each pawl has four connecting pieces (4), with an active pawl (2) and a driven pawl (3) arranged between adjacent connecting pieces.

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