Novel integrated clamping jaw capable of clamping and rotating

Abstract

The utility model relates to the technical field of integrated clamping jaws, and discloses a novel clamping and rotating integrated clamping jaw which comprises a rotating gripper shell, the front face of the rotating gripper shell is in threaded connection with a gripper cover plate, and the top of the rotating gripper shell is in threaded connection with a clamping jaw Z sensing piece. A driven gear fixing piece is fixedly connected to the interior of the clamping jaw Z sensing piece. According to the utility model, the whole equipment has the advantages of small and exquisite gripper, compact structure, large probing depth, simplicity, rapidness, small size, high precision, large clamping force and easiness in control and detection, and the symmetrical structure enables the rotary gripper to be stressed more uniformly in the working process by arranging the gripper upper and lower linking pieces and the gripper clamping pieces; and the deflection or distortion phenomenon caused by non-uniform stress is reduced. And no matter the pressure during object grabbing or the inertia force in the moving process, the symmetrically distributed parts can be better balanced, and the stability and the working precision of the rotating gripper are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to integrated clamping jaw technical field especially relates to a novel can hold rotary integrated clamping jaw. BACKGROUND

[0002] Integrated clamping jaw is a kind of automation clamping equipment integrated with driving, control and execution mechanism. They are usually designed compactly, simple in structure, easy to install and maintain, suitable for precise grabbing and handling tasks in automated production line. The design of integrated clamping jaw can be customized according to different application requirements, including different clamping force, size and specific functional requirements, the clamping structure of new design adopts more solid material and more reasonable mechanical design, so that the clamping head can withstand greater external force and more complex working environment. In addition, there is integrated electric clamping jaw specially designed for medical test tube grabbing, which integrates stepping servo motor, gear and rack transmission mechanism, etc., and can realize precise grabbing and transfer task.

[0003] In the prior art, the clamping generally adopts pneumatic structure, and the pneumatic mechanism has relatively large noise and low precision. The power cannot be controlled, resulting in multiple adjustments of pneumatic valve, many after-sales times, and difficult to control precision. Therefore, the prior art has defects and needs to be improved. CONTENT OF THE UTILITY MODEL

[0004] To solve the above technical problems, the utility model provides a novel can hold rotary integrated clamping jaw.

[0005] The utility model adopts the following technical scheme: a novel can hold rotary integrated clamping jaw, including rotary hand grab shell, the positive screw thread connection of rotary hand grab shell has grab hand cover plate, the top screw thread connection of rotary hand grab shell has clamping jaw Z sense piece;

[0006] The inside fixed connection of clamping jaw Z sense piece has driven gear fixing, the bottom fixed connection of driven gear fixing has grab hand support, the bottom fixed connection of grab hand support has standard piece gear one, the bottom fixed connection of standard piece gear one has rotating group response piece, the bottom fixed connection of rotating group response piece has standard piece clasp spring one, the surface fixed connection of standard piece clasp spring one has rotary driven gear bearing seat, the inside fixed connection of rotary hand grab shell has standard piece motor body, the bottom fixed connection of standard piece motor body has grab hand opening and closing motor fixed, the inside of rotary hand grab shell is clamped and has direct current motor circuit board, the bottom fixed connection of rotary hand grab shell inner wall has straight rack box, the top fixed connection of straight rack box has deceleration step motor, the top fixed connection of deceleration step motor has motor support, the top fixed connection of motor support has standard piece gear three, the surface engagement standard piece gear two of standard piece gear three, the inside screw thread connection of standard piece gear two has shaft screw.

[0007] By the above technical scheme, the rotating hand grab shell, the grabber cover plate and the gripper Z sense piece are connected through threads, which is convenient for disassembly and installation, and the related parts can be conveniently taken off or installed without special tools, thereby reducing the maintenance cost and time.

[0008] As a further improvement of the above scheme, the surface belt of the grabber opening and closing motor is connected with an MXL belt, the inner wall belt of the MXL belt is connected with a grabber driven wheel, and the top of the grabber driven wheel is fixedly connected with a gear shaft bearing seat.

[0009] By the above technical scheme, the grabber opening and closing motor is fixedly connected with the grabber driven wheel through the MXL belt, the belt transmission can buffer and reduce the vibration to a certain extent, thereby reducing the influence of the vibration of the motor on the whole structure, and the belt transmission can also conveniently adjust the transmission ratio by selecting different specifications of the belt and the belt wheel to meet different speed and torque requirements.

[0010] As a further improvement of the above scheme, the inside of the gear shaft bearing seat is threadedly connected with a standard part bearing one, the bottom of the grabber driven wheel is fixedly connected with a mold grabber straight rack, and the bottom of the mold grabber straight rack is fixedly connected with a grabber gear shaft.

[0011] As a further improvement of the above scheme, the bottom of the rotating hand grab shell is fixedly connected with a grabber up-and-down connecting piece, the inside of the grabber up-and-down connecting piece is clamped with a clamping grabber piece, and the inside of the clamping grabber piece is fixedly connected with a grabber spring.

[0012] As a further improvement of the above scheme, the bottom of the grabber spring is fixedly connected with a grabber clamping piece steel sliding block, the bottom of the grabber clamping piece steel sliding block is fixedly connected with a grabber sliding block cylinder, and the surface of the clamping grabber piece is clamped with a pressing block sheet metal.

[0013] As a further improvement of the above scheme, the number of the grabber up-and-down connecting pieces and the clamping grabber pieces is two, and the two grabber up-and-down connecting pieces and the clamping grabber pieces are distributed in a left-right symmetrical manner around the rotating hand grab shell.

[0014] As a further improvement of the above scheme, the rear end of the grabber cover plate is provided with a DC motor circuit board, the rear end of the grabber cover plate is provided with a standard part motor body, and the standard part motor body is located at the left end of the grabber supporting piece.

[0015] Compared with the prior art, the utility model has the advantages of:

[0016] The utility model discloses a whole has the compact structure of small and nimble of setting up the equipment, and the depth of inquiring into is big, simple and quick, small size, high accuracy, big clamping force, easy control and detection, through setting up the up and down link of grab hand and card grab hand piece, this symmetrical structure makes the stress of rotating hand grab more uniform in the working process, reduces the deflection or distortion phenomenon of uneven stress.

[0017] The utility model discloses a whole has the compact structure of small and nimble of setting up the equipment, and the depth of inquiring into is big, simple and quick, small size, high accuracy, big clamping force, easy control and detection, through setting up the up and down link of grab hand and card grab hand piece, this symmetrical structure makes the stress of rotating hand grab more uniform in the working process, reduces the deflection or distortion phenomenon of uneven stress. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is whole structure schematic diagram of the utility model;

[0019] Figure 2 It is grab hand cover plate split structure schematic diagram of the utility model;

[0020] Figure 3 It is explosion structure schematic diagram of the utility model;

[0021] Figure 4 It is structure enlarged schematic diagram of the utility model A place;

[0022] Figure 5 It is structure enlarged schematic diagram of the utility model B place.

[0023] Main symbol explanation:

[0024] 1, rotating hand grab shell;2, grab hand cover plate;3, clamping jaw Z sense piece;4, driven gear fixed part;5, grab hand support part;6, standard gear one;7, rotating group sense piece;8, rotating driven gear bearing seat;9, standard piece clamp spring one;10, standard piece motor body;11, grab hand opening and closing motor fixed;15, direct current motor circuit board;16, shaft screw;17, standard gear two;18, standard gear three;19, motor support;20, deceleration step motor;21, gear shaft bearing seat;22, standard bearing one;23, MXL belt;24, grab hand driven wheel;25, grab hand straight toothed rack;26, grab hand gear shaft;27, straight toothed rack box;28, grab hand up and down link;29, card grab hand piece;30, grab hand spring;31, grab hand card race steel sliding block;32, grab hand sliding block cylinder;33, press block sheet metal. DETAILED DESCRIPTION

[0025] The utility model will be further described below in combination with the drawings and specific embodiments, and it should be noted that the following described embodiments or between various technical features can be combined to form new embodiments without conflict.

[0026] Embodiments:

[0027] Please combine Figures 1-5 The novel clamping and rotating integrated gripper of the embodiment comprises a rotating hand grip shell 1, a hand grip cover plate 2 is threadedly connected to the front face of the rotating hand grip shell 1, and a gripper Z sensing sheet 3 is threadedly connected to the top of the rotating hand grip shell 1.

[0028] The inside of the gripper Z sensing sheet 3 is fixedly connected with a driven gear fixing part 4, the bottom of the driven gear fixing part 4 is fixedly connected with a hand grip support part 5, the bottom of the hand grip support part 5 is fixedly connected with a standard part gear one 6, the bottom of the standard part gear one 6 is fixedly connected with a rotating group sensing sheet 7, the bottom of the rotating group sensing sheet 7 is fixedly connected with a standard part clasp one 9, the surface of the standard part clasp one 9 is fixedly connected with a rotating driven gear bearing seat 8, the inside of the rotating hand grip shell 1 is fixedly connected with a standard part motor body 10, the bottom of the standard part motor body 10 is fixedly connected with a hand grip opening and closing motor fixing 11, a direct current motor circuit board 15 is clamped in the inside of the rotating hand grip shell 1, a straight rack box 27 is fixedly connected to the inner wall bottom end of the rotating hand grip shell 1, a reduction stepper motor 20 is fixedly connected to the top of the straight rack box 27, a motor support 19 is fixedly connected to the top of the reduction stepper motor 20, a standard part gear three 18 is fixedly connected to the top of the motor support 19, the surface of the standard part gear three 18 engages a standard part gear two 17, and the inside of the standard part gear two 17 is threadedly connected with a shaft screw 16.

[0029] The rotating hand grip shell 1, the hand grip cover plate 2 and the gripper Z sensing sheet 3 are threadedly connected, which facilitates disassembly and installation, and when equipment maintenance or part replacement is needed, the relevant parts can be conveniently taken down or installed without special tools, thereby reducing maintenance cost and time.

[0030] The surface of the hand grip opening and closing motor fixing 11 is belt-connected with an MXL belt 23, the inner wall of the MXL belt 23 is belt-connected with a hand grip driven wheel 24, and the top of the hand grip driven wheel 24 is fixedly connected with a gear shaft bearing seat 21.

[0031] The hand grip opening and closing motor fixing 11 is belt-connected with the hand grip driven wheel 24 through the MXL belt 23, and the belt transmission can buffer and dampen to a certain extent, thereby reducing the influence of vibration of the motor during operation on the entire structure, and the belt transmission can also conveniently adjust the transmission ratio by selecting belts and belt wheels of different specifications to meet different speed and torque requirements.

[0032] The gear shaft bearing housing 21 is internally threaded with standard bearing 22. The bottom of the gripper driven wheel 24 is fixedly connected to the mold gripper rack 25, and the bottom of the mold gripper rack 25 is fixedly connected to the gripper gear shaft 26.

[0033] The bottom of the rotary gripper housing 1 is fixedly connected to a gripper upper and lower connecting piece 28. A gripper clip 29 is internally engaged with the gripper upper and lower connecting piece 28, and a gripper spring 30 is fixedly connected internally to the gripper clip 29. This design results in a compact gripper structure with a large insertion depth, offering ease of use, speed, small size, high precision, strong clamping force, and easy control and detection. The symmetrical structure of the gripper upper and lower connecting piece 28 and the gripper clip 29 ensures more even force distribution during operation, reducing skewing or twisting caused by uneven force. Whether it's the pressure when gripping an object or the inertial force during movement, the symmetrically distributed components provide better balance, improving the stability and working accuracy of the rotary gripper.

[0034] The bottom of the gripper spring 30 is fixedly connected to a gripper card galvanic slider 31, the bottom of the gripper card galvanic slider 31 is fixedly connected to a gripper slider cylinder 32, and the surface of the gripper piece 29 is clamped with a pressure block sheet metal 33.

[0035] The number of gripper upper and lower connecting parts 28 and gripper clips 29 is set to two, and the two gripper upper and lower connecting parts 28 and gripper clips 29 are symmetrically distributed on the left and right sides with the rotating gripper housing 1 as the center.

[0036] A DC motor circuit board 15 is provided at the rear end of the gripper cover plate 2, and a standard motor body 10 is provided at the rear end of the gripper cover plate 2. The standard motor body 10 is located at the left end of the gripper support 5. By setting the DC motor circuit board 15 and the standard motor body 10 at the rear end of the gripper cover plate 2, and the standard motor body 10 at the left end of the gripper support 5, this layout makes reasonable use of the internal space of the rotary gripper housing 1, and arranges the components with different functions in a reasonable manner. This can reduce mutual interference between components, facilitate wiring connection and heat dissipation, and also contribute to the miniaturization design of the entire rotary gripper.

[0037] The implementation principle of a new type of clamping and rotating integrated clamping jaw in the embodiment of the application is as follows: the motor is the power source of the rotating gripper, and provides necessary torque and rotating speed. When the motor receives the starting signal of the control system, it will start rotating. The speed reducer is connected between the motor and the transmission device, and is used for reducing the rotating speed of the motor and increasing the torque. This makes the transmission device more efficient in power transmission, while reducing wear and energy consumption. The transmission device converts the rotating motion of the motor into the opening and closing motion of the clamping jaw. This usually involves a series of mechanical structures such as gears, chains or belt drives. Under the drive of the transmission device, the clamping jaw will realize the opening and closing action. The clamping jaw is internally equipped with precise sensors for real-time monitoring of the state of the clamping jaw and the position of the object. The control system is the core part of the rotating gripper, and is responsible for receiving and processing information from the sensors and other input devices. According to the information, the control system will issue corresponding instructions to adjust the rotating speed, direction of the motor and the opening and closing degree of the clamping jaw. The control system can also realize the rotating function of the rotating gripper, so that it can adjust the direction while grasping the object.

[0038] The above-mentioned embodiments are only preferred embodiments of the present application, and cannot be used to limit the scope of protection of the present application. Any non-essential changes and replacements made by those skilled in the art on the basis of the present application shall fall within the scope of protection of the present application.

Claims

1. A novel clippable rotary integrated jaw, characterized by, Including the rotation hand grab shell (1), the front surface of the rotation hand grab shell (1) is threadedly connected with a grab cover plate (2), and the top of the rotation hand grab shell (1) is threadedly connected with a gripper Z sensing sheet (3); The inside of the gripper Z sensing sheet (3) is fixedly connected with a driven gear fixing part (4), the bottom of the driven gear fixing part (4) is fixedly connected with a grab support part (5), the bottom of the grab support part (5) is fixedly connected with a standard gear one (6), the bottom of the standard gear one (6) is fixedly connected with a rotating group sensing sheet (7), the bottom of the rotating group sensing sheet (7) is fixedly connected with a standard spring one (9), the surface of the standard spring one (9) is fixedly connected with a rotating driven gear bearing seat (8), the inside of the rotation hand grab shell (1) is fixedly connected with a standard motor body (10), the bottom of the standard motor body (10) is fixedly connected with a grab opening and closing motor fixing part (11), the inside of the rotation hand grab shell (1) is clamped with a direct current motor circuit board (15), the bottom end of the inner wall of the rotation hand grab shell (1) is fixedly connected with a straight rack box (27), the top of the straight rack box (27) is fixedly connected with a reduction stepper motor (20), the top of the reduction stepper motor (20) is fixedly connected with a motor support (19), the top of the motor support (19) is fixedly connected with a standard gear three (18), the surface of the standard gear three (18) is engaged with a standard gear two (17), the inside of the standard gear two (17) is threadedly connected with a shaft screw (16).

2. A novel clippable rotary integrated jaw as claimed in claim 1, wherein: The surface of the grab opening and closing motor fixing part (11) is belt-connected with an MXL belt (23), the inner wall of the MXL belt (23) is belt-connected with a grab driven wheel (24), and the top of the grab driven wheel (24) is fixedly connected with a gear shaft bearing seat (21).

3. A novel clippable rotary integrated jaw as claimed in claim 2, wherein: The inside of the gear shaft bearing seat (21) is threadedly connected with a standard bearing one (22), the bottom of the grab driven wheel (24) is fixedly connected with a mold grab straight rack (25), and the bottom of the mold grab straight rack (25) is fixedly connected with a grab gear shaft (26).

4. A novel clippable rotary integrated jaw as claimed in claim 3, wherein: The bottom of the rotation hand grab shell (1) is fixedly connected with a grab up-and-down connecting part (28), the inside of the grab up-and-down connecting part (28) is clamped with a clamping grab sheet (29), and the inside of the clamping grab sheet (29) is fixedly connected with a grab spring (30).

5. A novel clippable rotary integrated jaw as claimed in claim 4, wherein: The bottom of the grab spring (30) is fixedly connected with a grab clamping sheet race steel sliding block (31), the bottom of the grab clamping sheet race steel sliding block (31) is fixedly connected with a grab sliding block cylinder (32), and the surface of the clamping grab sheet (29) is clamped with a pressing block sheet metal (33).

6. A novel clippable rotary integrated jaw as claimed in claim 5, wherein: The number of the grab up-and-down connecting part (28) and the clamping grab sheet (29) is two, and the two grab up-and-down connecting parts (28) and the clamping grab sheets (29) are distributed in a left-right symmetrical manner around the rotation hand grab shell (1).

7. A novel clippable rotary integrated jaw as claimed in claim 1, wherein: The rear end of the grab cover plate (2) is provided with a direct current motor circuit board (15), and the rear end of the grab cover plate (2) is provided with a standard motor body (10), and the standard motor body (10) is located at the left end of the grab support (5).

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