Mechanical arm clamping jaw mechanism

Abstract

The utility model discloses a mechanical arm clamping jaw mechanism which comprises an installation frame, clamping assemblies are installed in the installation frame, each clamping assembly comprises a limiting groove formed in the installation frame, the limiting grooves are horizontally arranged, two clamping plates are inserted into the limiting grooves in a sliding mode, two limiting assemblies are installed on the outer portions of the two clamping plates, and the limiting assemblies are arranged on the outer portions of the two clamping plates. The limiting assembly comprises a hinged support fixedly connected with the outer wall of one side of the clamping plate, a hook claw is rotationally connected into the hinged support through a bearing, the movable end of the hook claw is located at the bottom of the clamping plate, a worm wheel is coaxially fixed to the outer wall of the circumference of the rotating end of the hook claw, a vertically-arranged worm is hinged into the hinged support, and the worm wheel is meshed with the worm. By arranging the limiting assembly, the lower portion of an article can be blocked and limited after the article is clamped, so that the article is prevented from falling off, and it is guaranteed that the article cannot be damaged in the clamping process.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical arm accessory technical field, concretely is a kind of mechanical arm gripper mechanism. BACKGROUND

[0002] Mechanical arm gripper mechanism as the key component of automation equipment, plays an important role in industrial production, logistics transportation, medical operation and multiple fields.

[0003] Through search, the utility model of Chinese patent announcement No. CN220162478U discloses a kind of mechanical arm gripper mechanism, including gripper shell, clamping table, guide rod, left claw hook sliding block, right claw hook sliding block, clamping threaded rod, clamping motor, clamping sliding block, left clamping push rod, right clamping push rod, left claw hook plate, right claw hook plate, left gripper hook and right gripper hook, the clamping table is fixed in the lower end inside gripper shell, the guide rod is symmetrically arranged on the upper end of clamping table two sides.

[0004] The above-mentioned gripper realizes that goods do not fall by setting L-shaped claw hook, so when clamping goods, the goods need to be kept in a suspended state, otherwise the horizontal part of claw hook will be pressed to the goods, causing damage to the goods, which is not convenient to use and needs to be improved. UTILITY MODEL CONTENT

[0005] The utility model aims at providing a kind of mechanical arm gripper mechanism to solve the problems raised in the above background.

[0006] To achieve the above object, the utility model provides the following technical scheme: a kind of mechanical arm gripper mechanism, including installation frame, the installation frame is internally installed with clamping assembly, the clamping assembly includes the limiting slot of installation frame inside being opened, and limiting slot is horizontally arranged, the limiting slot is slidably inserted with two clamping plates, two the clamping plate outside is equipped with two limiting components, the limiting component includes the hinge seat of clamping plate one side outer wall fixed connection, the hinge seat is rotatably connected with claw hook in the inside through bearing, the claw hook movable end is at the position of clamping plate bottom.

[0007] As further preferred of the present technical solution, the circumferential outer wall of the rotating end of the claw hook is coaxially fixed with a worm gear, a vertical worm is hingedly connected in the interior of the hinge seat, the worm gear is engaged with the worm, and one of the hinge seat bottoms is provided with motor two, and the motor two is coaxially fixed with one end of the worm.

[0008] The lower part of the article can be blocked after the article is clamped, so as to avoid the article from falling and ensure that the article will not be damaged during clamping. When the article is lifted away from the ground, a motor at the bottom of the hinge is started, and a worm connected therewith starts to rotate. The worm drives the worm gear to rotate, and the hook is turned over by the worm gear. The movable end of the hook can extend to the bottom of the article. If the article slips due to being too heavy during movement, the hook will contact the article, effectively preventing the article from continuing to slip.

[0009] As a further preferred aspect of the present technical solution, the top of the mounting frame is provided with a linkage assembly, which comprises four extension rods coaxially fixed at one end of the four worms, four extension rods respectively penetrating the sliding ends of the two clamping plates and extending outward, four avoiding grooves are formed in the outer wall of the top of the mounting frame, and the four extension rods are respectively located in the four avoiding grooves, and the same chain wheel one is coaxially fixed at the top of the four extension rods, and the same chain is sleeved on the four chain wheels.

[0010] As a further preferred aspect of the present technical solution, the top of the mounting frame is provided with a linkage assembly, which comprises four extension rods coaxially fixed at one end of the four worms, four extension rods respectively penetrating the sliding ends of the two clamping plates and extending outward, four avoiding grooves are formed in the outer wall of the top of the mounting frame, and the four extension rods are respectively located in the four avoiding grooves, and the same chain wheel one is coaxially fixed at the top of the four extension rods, and the same chain is sleeved on the four chain wheels.

[0011] When the clamping plates move relative to each other, the movement of the extension rods is not hindered due to the avoiding grooves. During this period, the horizontal part of the chain will become loose, the spring in the stretched state will gradually shorten, and the moving seat and the chain wheel two will be driven by the spring to move closer to each other, so that the chain always maintains a taut state. When the worm rotates, the extension rod connected therewith also rotates synchronously, and the chain wheel one at the top of the extension rod also rotates. The chain wheel one drives another chain wheel one to rotate synchronously through the chain, and the other limiting assemblies also operate synchronously, which is beneficial to improve the limiting effect.

[0012] As a further preferred aspect of the present technical solution, the inside of the mounting frame is rotatably connected with a horizontally arranged bidirectional screw rod through a bearing, and the two clamping plates are threadedly sleeved on the threaded outer portions of the two ends of the bidirectional screw rod. A motor one is fixedly installed on the outer wall of one side of the mounting frame, and the output end of the motor one is coaxially fixed with one end of the bidirectional screw rod. The outer wall of one side of each of the two clamping plates that move closer to each other is provided with one or more horizontally arranged anti-skid strips.

[0013] As a further preferred of the technical scheme, two horizontal setting stabilizing rods are fixedly connected inside the mounting frame, and the two clamping plates are slidingly sleeved outside the two stabilizing rods.

[0014] As a further preferred of the technical scheme, a connecting frame is fixedly connected to the top outer wall of the mounting frame, and a through groove is formed in each of the four corners of the top outer wall of the connecting frame.

[0015] The mechanical arm clamping jaw mechanism has the following beneficial effects:

[0016] (1) The utility model discloses a limiting assembly is set up, can be after the article is clamped, and then the lower part of the article is blocked and positioned, thereby avoiding the article from falling, ensuring that the article is not damaged in the clamping process, when the article is lifted away from the ground, the motor no.

[0017] (2) The utility model discloses a linkage assembly is set up, when the clamping plate moves, the movement of the extension rod is not hindered due to the existence of the avoiding groove, during this period, the horizontal part of the chain also becomes loose, the spring in the stretching state gradually shortens, and the moving seat and the sprocket two are driven by the spring and approach each other, so that the chain always maintains the taut state, the worm also drives the extension rod connected therewith to rotate synchronously when rotating, and the sprocket one at the top of the extension rod also rotates, the sprocket one drives another sprocket one to rotate synchronously through the chain, and the other limiting assemblies also operate synchronously, which is beneficial to improving the limiting effect. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is the whole first visual angle structural schematic diagram of the utility model;

[0019] Figure 2 It is the whole second visual angle structural schematic diagram of the utility model;

[0020] Figure 3 It is the whole second visual angle structural schematic diagram of the utility model; Figure 1 It is the enlarged structure schematic diagram of A in the utility model;

[0021] Figure 4 It is the enlarged structure schematic diagram of B in the utility model; Figure 1 It is the enlarged structure schematic diagram of B in the utility model;

[0022] In the figure: 1, mounting frame; 2, connecting frame; 3, clamping assembly; 4, limiting assembly; 5, linkage assembly; 301, limiting groove; 302, clamping plate; 303, bidirectional screw rod; 304, stabilizing rod; 305, anti-skid strip; 401, hinge base; 402, hook claw; 403, worm gear; 404, worm; 501, extension rod; 502, avoiding groove; 503, chain wheel one; 504, chain; 505, multi-stage telescopic rod; 506, spring; 507, moving seat; 508, chain wheel two. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model.

[0024] The utility model provides technical schemes: Figure 2 And Figure 3 As shown in the figure, in the embodiment, a mechanical arm claw mechanism comprises a mounting frame 1, a clamping assembly 3 is mounted in the mounting frame 1, the clamping assembly 3 comprises a limiting groove 301 formed in the mounting frame 1, and the limiting groove 301 is horizontally arranged, two clamping plates 302 are slidably inserted into the limiting groove 301, two limiting assemblies 4 are mounted on the outer sides of the two clamping plates 302, the limiting assembly 4 comprises a hinge base 401 fixedly connected to the outer wall of one side of the clamping plate 302, a hook claw 402 is rotatably connected to the hinge base 401 through a bearing, and the movable end of the hook claw 402 is located at the bottom of the clamping plate 302.

[0025] The worm gear 403 is coaxially fixed to the circumferential outer wall of the rotating end of the hook claw 402, the worm 404 is vertically arranged and hingedly connected to the inside of the hinge base 401, the worm gear 403 is engaged with the worm 404, and a motor two is mounted at the bottom of one of the hinge bases 401 and coaxially fixed to one end of the worm 404.

[0026] When the article is lifted away from the ground, the motor two at the bottom of one of the hinge bases 401 can start to rotate, and the worm 404 connected to the motor two can start to rotate, the worm 404 drives the worm gear 403 to rotate, the hook claw 402 is driven by the worm gear 403 to overturn, and then the movable end of the hook claw 402 can extend to the bottom of the article, if the article slips due to being too heavy during the movement, the hook claw 402 will contact the article, and the article can be effectively prevented from continuing to slip.

[0027] As shown in the figure, Figure 1 And Figure 4As shown, the top of the mounting frame 1 is provided with a linkage assembly 5, which comprises four extension rods 501 coaxially fixed at one end of the top of the four worms 404, four extension rods 501 respectively penetrating the sliding end of the two clamping plates 302 and extending outward, four avoiding grooves 502 are formed in the top outer wall of the mounting frame 1, and the four extension rods 501 are respectively located in the four avoiding grooves 502, and the top of the four extension rods 501 is coaxially fixed with a same sprocket one 503, and the four sprocket one 503 is sleeved with a same chain 504.

[0028] Two horizontally arranged multi-stage telescopic rods 505 are fixedly connected to the middle of the top outer wall of the mounting frame 1, both movable ends of the two multi-stage telescopic rods 505 are fixedly connected with a moving seat 507, and both moving seats 507 are attached to the top wall of the mounting frame 1, both top inner walls of the two moving seats 507 are rotatably connected with a sprocket two 508 through bearings, the chain 504 is sleeved outside the two sprocket two 508, and both outer sides of the two multi-stage telescopic rods 505 are sleeved with a same spring 506, and both ends of the spring 506 are fixedly connected with the moving seat 507 and the fixed end of the multi-stage telescopic rod 505.

[0029] When the clamping plates 302 move relative to each other, the movement of the extension rods 501 is not hindered due to the existence of the avoiding grooves 502, and during this period, the horizontal part of the chain 504 also becomes loose, the spring 506 in the stretched state gradually shortens, and the moving seat 507 and the sprocket two 508 are driven by the spring 506 to move closer to each other, so that the chain 504 always maintains a taut state, and the worm 404 rotates to drive the extension rod 501 connected thereto to rotate synchronously, and the sprocket one 503 at the top of the extension rod 501 also rotates, and the sprocket one 503 drives another sprocket one 503 to rotate synchronously through the chain 504, and the other limiting assemblies 4 also operate synchronously, which is beneficial to improve the limiting effect.

[0030] As shown in Figure 1 and Figure 2 , a horizontally arranged bidirectional screw rod 303 is rotatably connected to the inside of the mounting frame 1 through a bearing, the two clamping plates 302 are respectively threadedly sleeved on the threaded outer sides of both ends of the bidirectional screw rod 303, a motor one is fixedly installed on one side outer wall of the mounting frame 1, and the output end of the motor one is coaxially fixed with one end of the bidirectional screw rod 303, and more than one horizontally arranged anti-skid strip 305 is arranged on the outer wall of one side of each of the two clamping plates 302, and the anti-skid strip 305 is made of anti-skid rubber, thereby increasing the static friction between the clamping plate 302 and the article, and making the state of the article more stable.

[0031] Start the motor one outside the mounting frame 1, the output end of which drives the bidirectional screw rod 303 to rotate, the two clamping plates 302 which are limited by the limiting grooves 301 to only translate, under the driving of the bidirectional screw rod 303, move closer to each other, and then the two clamping plates 302 can clamp the article.

[0032] As shown in Figure 2 The two horizontal setting stabilizing rods 304 are fixedly connected inside the mounting frame 1, the two clamping plates 302 are slidingly sleeved outside the two stabilizing rods 304, the movement of the clamping plates 302 is not affected, and the stress borne by the bidirectional screw rod 303 is reduced.

[0033] As shown in Figure 1 And Figure 2 The connecting frame 2 is fixedly connected to the top outer wall of the mounting frame 1, the through grooves are arranged at the four corners of the top outer wall of the connecting frame 2, and the mechanical arm and the mounting frame 1 are connected through the connecting frame 2.

[0034] The utility model provides a kind of mechanical arm gripper mechanism, specific working principle is as follows:

[0035] When the device works, the mounting frame 1 is covered on the top of the article by the mechanical arm, and stops when the two clamping plates 302 contact with the ground and surround the outside of the article, the motor one outside the mounting frame 1 is started, the output end drives the bidirectional screw rod 303 to rotate, the two clamping plates 302 can only translate by being limited by the limiting groove 301, and the two clamping plates 302 are close to each other under the driving of the bidirectional screw rod 303, then the article can be clamped by the two clamping plates 302, when the article is lifted away from the ground, the motor two at the bottom of the hinge base 401 is started, the worm 404 connected with the motor two can start to rotate, the worm gear 403 is driven to rotate by meshing, the hook claw 402 is driven to overturn by the worm gear 403, then the movable end of the hook claw 402 can extend to the bottom of the article, if the article slips due to overweight during movement, the hook claw 402 will be contacted, which effectively avoids the article from continuing to slip, when the clamping plates 302 move, the movement of the extension rod 501 is not hindered due to the existence of the avoiding groove 502, during this period, the horizontal part of the chain 504 also becomes loose, the spring 506 in tension state gradually shortens, the moving seat 507 and the sprocket two 508 are driven by the spring 506 to move close to each other, so that the chain 504 always maintains a taut state, the worm 404 also drives the extension rod 501 connected therewith to rotate synchronously when rotating, then the sprocket one 503 at the top of the extension rod 501 also rotates, the sprocket one 503 drives another sprocket one 503 to rotate synchronously through the chain 504, then the other limiting assemblies 4 also operate synchronously, which is beneficial to improve the limiting effect.

[0036] Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the utility model, and the scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. A mechanical arm gripper mechanism comprising a mounting frame (1), characterized in that: The mounting frame (1) is internally provided with a clamping assembly (3), the clamping assembly (3) comprises a limiting groove (301) opened in the mounting frame (1), and the limiting groove (301) is horizontally arranged, two clamping plates (302) are slidably inserted into the limiting groove (301), two limiting assemblies (4) are mounted on the outer sides of the two clamping plates (302), the limiting assembly (4) comprises a hinge base (401) fixedly connected to the outer side of the clamping plate (302), a hook claw (402) is rotatably connected to the inside of the hinge base (401), and the movable end of the hook claw (402) is located at the bottom of the clamping plate (302).

2. The mechanical arm gripper mechanism according to claim 1, characterized in that: The circumferential outer wall of the rotating end of the hook claw (402) is coaxially fixedly connected with a worm wheel (403), the hinge base (401) is hingedly connected with a vertically arranged worm gear (404), and the worm wheel (403) is engaged with the worm gear (404). One of the hinge bases (401) is provided with a motor two, and the motor two is coaxially fixed to one end of the worm gear (404).

3. The mechanical arm gripper mechanism according to claim 1, wherein: The mounting frame (1) is provided with a linkage assembly (5) on the top, the linkage assembly (5) comprises four extension rods (501) coaxially fixed to the top of the four worm gears (404), the four extension rods (501) respectively pass through the sliding ends of the two clamping plates (302) and extend outward, four avoiding grooves (502) are formed in the top outer wall of the mounting frame (1), and the four extension rods (501) are respectively located in the four avoiding grooves (502), and the same chain wheel one (503) is coaxially fixed to the top of the four extension rods (501). Four chain wheels (503) are provided with the same chain (504).

4. The mechanical arm gripper mechanism of claim 3, wherein: The top outer wall of the mounting frame (1) is fixedly connected with two horizontally arranged multi-stage telescopic rods (505), the movable ends of the two multi-stage telescopic rods (505) are fixedly connected with a moving seat (507), the top inner walls of the two moving seats (507) are rotatably connected with a chain wheel two (508) through a bearing, the chain (504) is sleeved outside the two chain wheel two (508), the same spring (506) is sleeved outside the two multi-stage telescopic rods (505), and the ends of the spring (506) are fixedly connected with the moving seat (507) and the fixed end of the multi-stage telescopic rod (505).

5. The mechanical arm gripper mechanism according to claim 1, wherein: The mounting frame (1) is internally provided with a horizontally arranged bidirectional screw rod (303) rotatably connected through a bearing, the two clamping plates (302) are threadedly sleeved on the threaded outer sides of the two ends of the bidirectional screw rod (303), a motor one is fixedly installed on the outer side of the mounting frame (1), and the output end of the motor one is coaxially fixed to one end of the bidirectional screw rod (303).

6. The mechanical arm gripper mechanism of claim 5, wherein: The mounting frame (1) is internally fixedly connected with two horizontally arranged stabilizing rods (304), and the two clamping plates (302) are slidably sleeved outside the two stabilizing rods (304).

7. The mechanical arm gripper mechanism of claim 1, wherein: The connecting frame (2) is fixedly connected to the top outer wall of the mounting frame (1), and a through groove is formed in each of the four corners of the top outer wall of the connecting frame (2).

Images