Clamping jaw and mechanical arm assembly thereof

Abstract

The utility model belongs to the field of clamping devices, and particularly relates to a clamping jaw and a mechanical arm assembly thereof, which comprise a linear driving piece, a connecting shaft, a connecting rod, jaw fingers, a sliding rail and a sliding block, the connecting shaft is fixed to the output end of the linear driving piece. One ends of the two connecting rods are hinged to the connecting shaft; the sliding rail is fixed and is perpendicular to the movement direction of the output end of the linear driving piece. The two sliding blocks are arranged on the sliding rail. The number of the claw fingers is two, the two claw fingers are fixed to the two sliding blocks respectively, and the two claw fingers are further hinged to the other ends of the two connecting rods respectively. According to the utility model, the opening and closing movement of the two claw fingers can be realized by only one linear driving piece. The unique structure of the stepped shaft and the columnar countersunk head through hole is adopted to achieve hinging and fixing of the connecting rod, the rotating function of the connecting rod can be achieved, and loosening of the hinged position can be avoided. The clamping jaw, the clamping device and the mechanical arm are used in cooperation, and the clamping jaw is particularly suitable for clamping a plurality of stacked iron buckets.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of clamping device, concretely relates to a clamping jaw and mechanical arm assembly thereof. BACKGROUND

[0002] The existing clamping jaw, when realizing the movement process of relative movement clamping and opposite movement releasing of two claw fingers, usually needs to set two drives, which will lead to complex structure and high cost. Moreover, the clamping jaw with such structure cannot be applied to the clamping of the stacked iron barrels. CONTENT

[0003] The utility model provides a kind of clamping jaw and mechanical arm assembly thereof, can effectively solve the problems in the background art.

[0004] The utility model provides a kind of clamping jaw, including linear drive part, connecting shaft, connecting rod, claw finger, slide rail and sliding block;Connecting shaft is fixed in the output end of linear drive part;Two connecting rods are equipped, and the one end of two connecting rods is hinged with connecting shaft;Slide rail is fixed, and the movement direction of slide rail is perpendicular to the output end of linear drive part;Two sliding blocks are equipped and are all arranged on slide rail;Two claw fingers are equipped, and two claw fingers are respectively fixed on two sliding blocks, and the other end of two claw fingers is also hinged with two connecting rods.

[0005] As a further optimization of the utility model, it further comprises a mounting plate;Linear drive part and slide rail are both fixed on mounting plate.

[0006] As a further optimization of the utility model, claw finger is strip plate, claw finger is perpendicular to mounting plate, two claw fingers are coplanar, and the end of two claw fingers is provided with opposite arc surface.

[0007] As a further optimization of the utility model, it further comprises a stepped shaft and a screw;The protrusion is provided on claw finger, the cylindrical countersunk hole is provided on protrusion, the small diameter end of cylindrical countersunk hole is provided with internal thread;Stepped shaft is two levels, the small diameter end diameter of stepped shaft corresponds to the large diameter end of cylindrical countersunk hole, and the small diameter end of stepped shaft penetrates the end of connecting rod and extends into the large diameter end of cylindrical countersunk hole;Bolt is engaged with internal thread after penetrating stepped shaft from the large diameter end of stepped shaft.

[0008] As a further optimization of the utility model, stepped shaft is provided with countersunk hole corresponding to the shape of bolt.

[0009] As a further optimization of the utility model, it further comprises a gasket;The gasket is sleeved on the small diameter end of stepped shaft and located between connecting rod and protrusion.

[0010] As a further optimization of the utility model, the output end of linear drive part is provided with cylindrical countersunk hole, and connecting shaft is replaced by stepped shaft.

[0011] The utility model also provides a kind of mechanical arm assembly, including mechanical arm, the output end of mechanical arm is connected the clamping jaw of described one.

[0012] As further optimization of the utility model, further comprising frame body;Frame body is connected with the output end of mechanical arm;Slide is equipped on frame body, mounting plate is fixed on slide and can be adjusted mounting position along the direction of slide.

[0013] As further optimization of the utility model, frame body is further equipped with clamping device, and clamping device is located above clamping jaw;Clamping device includes board one, board two, board three, bottom plate and linear drive part;Board one, board two and board three are equipped with the arc surface corresponding to the arc surface to be grabbed at one end, and board one, board two and board three are mutually parallel, and the other end of board one and board two is fixed on bottom plate;Arc surface end of board three is equipped with magnet, and the other end of board three is connected with the output end of linear drive part;Linear drive part is fixed on bottom plate.

[0014] The utility model provides a kind of clamping jaw, only one linear drive piece can realize the opening and closing movement of two claw fingers. The unique stepped shaft and cylindrical counterbore through-hole structure is used to realize the hinged fixing of connecting rod, which can meet the rotating function of connecting rod and avoid loosening at the hinge. The clamping jaw, clamping device and mechanical arm of the utility model are used in cooperation, and are particularly suitable for clamping several stacked iron barrels. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is the structural schematic diagram of example 1;

[0016] Figure 2 It is Figure 1 It is the sectional structure schematic diagram of stepped shaft part;

[0017] Figure 3 It is the structural schematic diagram of example 2;

[0018] Figure 4 It is Figure 3 It is the structural schematic diagram of clamping device;

[0019] Figure 5 It is Figure 4 It is another perspective schematic diagram;

[0020] Among them, linear drive piece 1, connecting shaft 2, connecting rod 3, claw finger 4, protrusion 4a, slide rail 5, sliding block 6, mounting plate 7, stepped shaft 8, mechanical arm 9, frame body 10, clamping device 11, board one 11a, board two 11b, board three 11c, bottom plate 11d, linear drive part 11e, gasket 12. DETAILED DESCRIPTION

[0021] Example 1

[0022] As Figure 1 ,2 As shown, the embodiment includes a linear drive 1, a connecting shaft 2, a connecting rod 3, a claw finger 4, a slide rail 5 and a slide block 6.

[0023] The linear drive 1 can be a cylinder, a hydraulic cylinder or a ball screw, and the embodiment adopts a cylinder. The embodiment also provides a mounting plate 7 for mounting the linear drive 1.

[0024] The slide rail 5 is also fixed on the mounting plate 7, and the slide rail 5 is perpendicular to the piston rod of the linear drive 1. The slide block 6 is provided with two and is arranged on the slide rail 5.

[0025] The connecting shaft 2 is fixed on the output end of the linear drive 1. The connecting rod 3 is provided with two, and one end of the two connecting rods 3 is hinged with the connecting shaft 2.

[0026] The claw finger 4 is provided with two, and the two claw fingers 4 are respectively fixed on the two slide blocks 6. The two claw fingers 4 are also respectively hinged with the other end of the two connecting rods 3.

[0027] When the linear drive 1 is pulled up and down, the two connecting rods 3 are driven to perform a conversion movement of closing and opening, and then the two slide blocks 6 are driven to perform a conversion movement of moving towards and moving away from each other on the slide rail 5, and finally the two claw fingers 4 realize a conversion movement of clamping and opening.

[0028] The claw finger 4 in the embodiment is used for grabbing an iron bucket, so the claw finger 4 is provided in a strip plate shape, the claw finger 4 is perpendicular to the mounting plate 7, the two claw fingers 4 are coplanar, and the end of the two claw fingers 4 is provided with an arc surface opposite to the outer side surface of the iron bucket.

[0029] Further, the embodiment also includes a stepped shaft 8 and a screw. A convex 4a is arranged on the horizontal surface of the claw finger 4, a cylindrical countersunk hole is arranged on the convex 4a, and an internal thread is arranged at the small diameter end of the cylindrical countersunk hole. The stepped shaft 8 is two-stage, the small diameter end of the stepped shaft 8 corresponds to the large diameter end of the cylindrical countersunk hole, and the small diameter end of the stepped shaft 8 penetrates the end of the connecting rod 3 and extends into the large diameter end of the cylindrical countersunk hole. The stepped shaft 8 is sleeve-shaped, and the bolt penetrates the stepped shaft 8 from the large diameter end of the stepped shaft 8 and is engaged with the internal thread, so as to fix the stepped shaft 8 on the convex 4a. This structure can effectively avoid the phenomenon of the stepped shaft 8 loosening when the connecting rod 3 rotates around the stepped shaft 8. Further, the embodiment also provides a gasket 12, which is sleeved on the small diameter end of the stepped shaft 8 and located between the connecting rod 3 and the convex 4a. The gasket 12 avoids the direct contact between the connecting rod 3 and the convex 4a, and reduces the friction force of the connecting rod 3 relative to the convex 4a when rotating.

[0030] In the embodiment, the output end of the linear drive 1 is also provided with a cylindrical countersunk hole, and the connecting shaft 2 also adopts the stepped shaft 8.

[0031] Embodiment 2

[0032] The embodiment provides a mechanical arm 9 assembly, which is mainly used for clamping stacked iron barrels, as shown in the figure. Figure 3 The output end of the mechanical arm 9 is connected with the clamping jaw in the embodiment 1.

[0033] Further, the embodiment also comprises a frame 10, which is connected with the output end of the mechanical arm 9. The frame 10 is provided with a sliding way, and the mounting plate 7 is fixed on the sliding way and can be adjusted in the direction of the sliding way. The frame 10 is directly made of a profile, and the mounting plate 7 is fixed on the profile by using a sliding buckle. When the sliding buckle is loosened, the mounting plate 7 can slide on the sliding groove of the profile.

[0034] Preferably, the embodiment also comprises a clamping device 11 on the frame 10, which is located above the clamping jaw. The clamping device 11 comprises a plate one 11a, a plate two 11b, a plate three 11c, a bottom plate 11d and a linear driving part 11e.

[0035] One end of the plate one 11a, the plate two 11b and the plate three 11c is provided with an arc surface corresponding to the outer arc surface of the side wall of the iron barrel to be grabbed. The plate one 11a, the plate two 11b and the plate three 11c are parallel to each other. The opposite end of the plate one 11a and the plate two 11b to the arc surface end is fixed on the bottom plate 11d. The plate one 11a and the plate two 11b are perpendicular to the bottom plate 11d.

[0036] The arc surface end of the plate three 11c is provided with a magnet. Specifically, a plurality of slot holes are arranged on the arc surface of the plate three 11c, and the magnet is arranged in the slot hole. The opposite end of the plate three 11c to the arc surface end is fixed on the output end of the linear driving part 11e. The linear driving part 11e can be a pneumatic cylinder, a hydraulic cylinder, a ball screw, etc. In the embodiment, the linear driving part 11e is a pneumatic cylinder. The linear driving part 11e is fixed on the bottom plate 11d. In the embodiment, the width of the plate one 11a and the plate two 11b is the same, and the width of the plate three 11c is smaller than that of the plate one 11a and the plate two 11b, so that the plate three 11c has a contraction space. In other embodiments, if the side wall of the iron barrel to be grabbed is a relatively obvious conical surface, the width of the plate one 11a and the plate two 11b can also be different to adapt to the iron barrel to be grabbed.

[0037] Since the open end of the iron barrel usually has an outwardly turned convex edge, when the clamping jaw clamps the bottommost iron barrel, the claw finger 4 can hold the convex edge to ensure the stability of the bottom, and then the magnet in the plate three 11c of the clamping device 11 can attract the outer wall of the iron barrel, so that the stacked iron barrels can be grabbed. When the iron barrels are put down, the plate one 11a and the plate two 11b continue to resist the iron barrels, the linear driving part 11e drives the plate three 11c to contract, so that the magnet is separated from the iron barrel, and then the clamping jaw is loosened. If necessary, a plurality of clamping devices 11 can be arranged, which is determined according to the height of the stacked iron barrels.

[0038] It should be noted that the above and below orientation expressions described in the embodiment are all with reference to the drawings of the specification, and are only used to describe the technical solutions, but do not limit the protection scope.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited to the scope of protection of the present application. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced by equivalents without departing from the essence and scope of the technical solutions of the present application.

Claims

1. A gripper characterized by, The device comprises a linear driving element, a connecting shaft, connecting rods, claw fingers, a slide rail and slide blocks; the connecting shaft is fixed on the output end of the linear driving element; two connecting rods are provided, and one end of each of the two connecting rods is hingedly connected to the connecting shaft; the slide rail is fixed and perpendicular to the movement direction of the output end of the linear driving element; two slide blocks are provided on the slide rail; two claw fingers are provided, and each of the two claw fingers is fixed on a slide block; and the other end of each of the two claw fingers is hingedly connected to the other end of a connecting rod.

2. A jaw according to claim 1, wherein The device further comprises a mounting plate; the linear driving element and the slide rail are fixed on the mounting plate.

3. A jaw according to claim 2, wherein, The claw fingers are in the shape of strips, the claw fingers are perpendicular to the mounting plate, the two claw fingers are coplanar, and the end of each of the two claw fingers is provided with an opposite arc surface.

4. The clamp jaw of claim 1, wherein The device further comprises a stepped shaft and a screw; a protrusion is provided on the claw finger, a cylindrical countersunk hole is provided on the protrusion, an internal thread is provided at the small-diameter end of the cylindrical countersunk hole; the stepped shaft has two levels, the small-diameter end of the stepped shaft corresponds to the large-diameter end of the cylindrical countersunk hole, the small-diameter end of the stepped shaft penetrates the end of the connecting rod and extends into the large-diameter end of the cylindrical countersunk hole, and the screw penetrates the stepped shaft from the large-diameter end of the stepped shaft and engages with the internal thread.

5. A jaw according to claim 4, wherein, The stepped shaft is provided with a countersunk hole corresponding to the shape of the screw.

6. A jaw according to claim 4, wherein, The device further comprises a gasket; the gasket is sleeved on the small-diameter end of the stepped shaft and located between the connecting rod and the protrusion.

7. The jaw of claim 4 wherein, The output end of the linear driving element is provided with a cylindrical countersunk hole, and the connecting shaft is replaced by a stepped shaft.

8. A robotic arm assembly, comprising: The device comprises a mechanical arm, and the output end of the mechanical arm is connected to the claw gripper of claim 3.

9. A robotic arm assembly according to claim 8, wherein, The device further comprises a frame body; the frame body is connected to the output end of the mechanical arm; a slide rail is provided on the frame body, and the mounting plate is fixed on the slide rail and can be adjusted in the direction of the slide rail.

10. The mechanical arm assembly of claim 9, wherein, The frame body is further provided with a clamping device, and the clamping device is located above the claw gripper; the clamping device comprises a first plate, a second plate, a third plate, a bottom plate and a linear driving part; one end of each of the first plate, the second plate and the third plate is provided with an arc surface corresponding to the arc surface of the to-be-grasped arc surface, the first plate, the second plate and the third plate are parallel to each other, and the other end of each of the first plate and the second plate is fixed on the bottom plate; the arc surface end of the third plate is provided with a magnet, and the other end of the third plate is connected to the output end of the linear driving part; and the linear driving part is fixed on the bottom plate.

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