Clamping jaw and clamping structure
By designing an orthogonal gripper structure, the first finger slides and the second finger swings using oblique segments and driving surfaces, solving the problem that existing grippers require additional driving to avoid obstacles, and achieving simplified structure and efficient gripping.
Patent Information
- Application Number
- CN202520383022.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-06
- Publication Date
- 2026-01-13
- Estimated Expiration
- 2035-03-06
AI Technical Summary
Existing grippers require an additional drive mechanism to avoid the gripped item before they can grip it, resulting in a complex structure and unnecessary drive requirements.
A gripper structure is designed in which the rotation axes of the first and second fingers are orthogonal to the extension and retraction direction of the driving component. The first finger is driven to slide by a diagonal line segment and the second finger is driven to swing by a driving surface to achieve gripping. This simplifies the driving device and reduces additional avoidance actions.
The gripper can avoid and hold objects without the need for an additional drive unit, simplifying the structure and improving operational efficiency and reliability.
Smart Images
Figure CN223790494U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of clamping technology, specifically relating to a gripper and clamping structure. Background Technology
[0002] Grippers are used to hold objects and are commonly used tools in fields such as automation equipment. Before gripping an object, the gripper's fingers must avoid the object being gripped. Once the object is in position, the gripper's fingers close to clamp it. In existing technology, a drive device is required to extend and retract the gripper to avoid the object being gripped. Utility Model Content
[0003] In order to solve the above-mentioned problems in the existing technology, the purpose of this utility model is to provide a gripper and a gripping structure.
[0004] The technical solution adopted in this utility model is as follows:
[0005] A gripper includes a base, a drive member telescopically mounted on the base, a first finger slidably mounted on the base, and a second finger rotatably mounted on the base; the rotation axis of the second finger, the sliding direction of the first finger, and the telescopic direction of the drive member are all orthogonal to each other; the two ends of the first finger are a first driving end and a first gripping end, respectively, and the two ends of the second finger are a second driving end and a second gripping end, respectively, with the first gripping end and the second gripping end facing each other; the drive member has a trajectory for contacting the first driving end and a driving surface for contacting the second driving end; the trajectory includes a line segment forming an angle δ with the telescopic direction of the drive member, where 0° < δ < 90°; when the gripper is in gripping mode, the drive member drives the first finger to slide through the line segment and drives the second finger to swing through the driving surface, so that the first gripping end and the second gripping end close.
[0006] As a further optional embodiment of the gripper, the trajectory also includes a straight line segment connected to the oblique line segment and parallel to the extension and retraction direction of the drive member, the straight line segment being located at the end of the oblique line segment away from the second finger.
[0007] As a further optional embodiment of the gripper, the driving member has a first groove, at least a portion of which is an oblique groove forming the angle δ with the extension / retraction direction of the driving member. The first groove is the trajectory, and the first driving end is a first roller disposed within the first groove; and / or,
[0008] The driving component has a second groove perpendicular to the extension / retraction direction of the driving component, the two sidewalls of the second groove are the driving surfaces, and the second driving end is a second roller disposed within the second groove; and / or
[0009] 30°≤δ≤45°.
[0010] As a further optional embodiment of the gripper, the base is provided with a first sliding groove that slides with the drive component, a second sliding groove that slides with the first finger, and a mounting groove for mounting the second finger. A hinge shaft connects the two side walls of the mounting groove, which are perpendicular to the rotation axis of the second finger and opposite to each other, and the hinge shaft passes through the second finger; and / or,
[0011] Both ends of the driving member extend beyond the base along the extension / retraction direction, and both ends of the driving member along the extension / retraction direction have limiting portions that extend perpendicular to the extension / retraction direction of the driving member; and / or,
[0012] The first clamping end has a first extension extending toward the second clamping end; and / or,
[0013] The second clamping end has a second extension that extends toward the first clamping end.
[0014] As a further alternative to the gripper, the limiting part is a limiting block detachably connected to the driving member, and the limiting block extends along the direction perpendicular to the extension and retraction of the driving member.
[0015] As a further alternative to the gripper, the first extension is a first gripping block detachably connected to the first finger; and / or...
[0016] The second extension is a second clamping block integrally formed with the second finger.
[0017] A clamping structure includes the grippers described in any of the above claims; a plurality of the grippers are arranged at intervals along the rotation axis of a second finger, and the first gripping ends of the plurality of grippers are aligned.
[0018] As a further alternative to the clamping structure, it also includes support portions respectively disposed on both sides of the jaws for supporting the clamped object.
[0019] As a further optional embodiment of the clamping structure, the support portion has a support surface perpendicular to the sliding direction of the first finger, the support surface extending along the extension and retraction direction of the drive member; and / or,
[0020] The clamping structure also includes guide portions located outside the two outermost jaws; the guide portions are used to guide the clamped object and have guide surfaces with vertical support surfaces.
[0021] As a further optional embodiment of the clamping structure, L-shaped plates are respectively provided on the outermost two grippers, and the two L-shaped plates are arranged opposite to each other; the horizontal surface of the inner side of the two L-shaped plates is the support surface, and the vertical surface of the inner side of the two L-shaped plates is the guide surface.
[0022] The beneficial effects of this utility model are as follows:
[0023] When the drive unit is in the retracted state, the first and second fingers are in the open state. Since the first finger is retracted at this time, it does not affect the placement of the clamped item, so there is no need to set up an additional drive device to drive the gripper to avoid it. When clamping, the drive unit extends, and the first drive end moves along the diagonal segment until the first finger is fully extended. At the same time, the drive surface pushes the second finger to rotate to achieve clamping of the clamped item. Attached Figure Description
[0024] Figure 1 This is a schematic diagram of the first embodiment of the gripper of this utility model.
[0025] Figure 2 yes Figure 1 The diagram shows the relationship between the travel of the drive component and the travel of the first finger in the gripper.
[0026] Figure 3 yes Figure 1 The diagram shows the relationship between the stroke of the drive component in the gripper and the rotation angle of the second finger.
[0027] Figure 4 This is a schematic diagram of the second embodiment of the gripper of this utility model.
[0028] Figure 5 This is a structural schematic diagram of the third embodiment of the gripper of this utility model.
[0029] Figure 6 yes Figure 5 The diagram shows the exploded structure of the gripper (the telescopic cylinder is omitted).
[0030] Figure 7 This is a schematic diagram of the clamping structure of this utility model.
[0031] In the figure: 10-gripper; 11-base; 11a-first slide groove; 11b-second slide groove; 11c-mounting groove; 12-driving component; 12a-track; 12b-driving surface; 12c-slanted segment; 12d-straight segment; 12e-first groove; 12f-second groove; 13-first finger; 13a-first driving end; 13b-first clamping end; 14-second finger; 14a-second driving end; 14b-second clamping end; 15-telescopic cylinder; 16-hinge shaft; 17-limiting block; 20-L-shaped plate; 21-support part; 21a-support surface; 22-guide part; 22a-guide surface. Detailed Implementation
[0032] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the present utility model will be briefly introduced below in conjunction with the accompanying drawings and descriptions of the embodiments or the prior art. Obviously, the following description of the structure of the drawings is only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0033] The technical solution provided by this utility model will be described in detail below with reference to the accompanying drawings and through embodiments. It should be noted that the description of these embodiments is for the purpose of helping to understand this utility model, but does not constitute a limitation on this utility model.
[0034] In some instances, because some implementation methods are existing or conventional technologies, they are not described or are not described in detail.
[0035] Furthermore, the technical features described herein, or the steps in all the methods or processes disclosed herein, may be combined in any suitable manner in one or more embodiments, except for mutually exclusive features and / or steps. It will be readily understood by those skilled in the art that the order of steps or operations of the methods relating to the embodiments provided herein may also be altered. Any order in the drawings and embodiments is for illustrative purposes only and does not imply a requirement to follow a particular order unless explicitly stated otherwise.
[0036] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, under reasonable circumstances (without self-contradiction), include both direct and indirect connections (linkages).
[0037] like Figure 1As shown, the gripper 10 of this embodiment includes a base 11, a drive member 12 telescopically disposed on the base 11, a first finger 13 slidably disposed on the base 11, and a second finger 14 rotatably disposed on the base 11; the rotation axis of the second finger 14, the sliding direction of the first finger 13, and the telescopic direction of the drive member 12 are all orthogonal to each other; the two ends of the first finger 13 are a first driving end 13a and a first gripping end 13b, respectively, and the two ends of the second finger 14 are a second driving end 14a and a second gripping end 14b, respectively. b is opposite to the second clamping end 14b; the driving member 12 has a trajectory 12a that contacts the first driving end 13a and a driving surface 12b that contacts the second driving end 14a; the trajectory 12a includes a line segment 12c that forms an angle δ with the extension and retraction direction of the driving member 12, 0°<δ<90°; when the gripper 10 is in the clamping mode, the driving member 12 is used to drive the first finger 13 to slide through the line segment 12c and drive the second finger 14 to swing through the driving surface 12b, so that the first clamping end 13b and the second clamping end 14b are closed.
[0038] Drive unit 12 can be driven by telescopic cylinder 15 ( Figure 1 (Not shown) This enables scaling. For example... Figure 1 As shown, in the initial state, the first finger 13 and the second finger 14 are respectively located at Figure 1 At the corresponding double-dotted line position, the first finger 13 is in a retracted state, thus not interfering with the placement of the clamped object; when clamping the object, the drive member 12 extends, driving the first finger 13 to extend via the diagonal segment 12c, and simultaneously driving the second finger 14 to rotate via the drive surface 12b until the object is clamped. Figure 1 As shown by the solid line.
[0039] The smaller the included angle δ, the less resistance the drive member 12 experiences when it extends, but the longer the extension stroke of the drive member 12 and the longer the time it takes for the first finger 13 to extend into position; the larger the included angle δ, the greater the resistance the drive member 12 experiences when it extends, but the shorter the extension stroke of the drive member 12 and the shorter the time it takes for the first finger 13 to extend into position. In some embodiments, 30°≤δ≤45°.
[0040] like Figure 2 As shown, the relationship between the sliding stroke S1 of the first finger 13 and the extension stroke S2 of the drive member 12 is S1 = S2 * tan(δ); Figure 3As shown, the rotation angle θ of the second finger 14 is arctan(S² / L), where L is the distance from the contact point between the driving member 12 and the second finger 14 to the rotation axis of the second finger 14. This allows for adaptation to the object being clamped by changing the extension stroke of the driving member 12 and / or changing the initial gap between the driving surface 12b and the second finger 14, while ensuring reliable clamping. However, due to machining and assembly errors, it is difficult to ensure that the second finger 14 rotates to clamp the object while the first finger 13 extends to its full position. Therefore, in some embodiments, such as... Figure 4 As shown, trajectory 12a also includes a straight line segment 12d connected to the oblique line segment 12c and parallel to the extension direction of the drive member 12. The straight line segment 12d is located at the end of the oblique line segment 12c away from the second finger 14. Thus, after the oblique line segment 12c drives the first finger 13 to extend into place, the drive member 12 can continue to move to drive the second finger 14 to rotate and clamp the object. During this stage, the first finger 13 is in the area of the straight line segment 12d, so the extended state of the first finger 13 is maintained.
[0041] When the drive element 12 retracts, the first finger 13 and the second finger 14 can be reset by the spring, such as Figure 1 and 4 As shown, a compression spring is provided between the second driving end 14a of the second finger 14 and the base 11, and the compression spring is located on the side of the second driving end 14a away from the driving member 12; a tension spring is provided between the first finger 13 and the base 11, with one end of the tension spring fixed to the base 11 and the other end fixed to the first finger 13. In some embodiments, such as Figure 5 and 6 As shown, the driving member 12 can have a first groove 12e. At least a portion of the first groove 12e is an inclined groove forming an angle δ with the extension and retraction direction of the driving member 12. The inclined groove is the aforementioned inclined line segment 12c. The first groove 12e is a trajectory 12a, and the first driving end 13a is a first roller disposed in the first groove 12e. That is, the extension and retraction of the first finger 13 is achieved through the two oppositely disposed sidewalls of the first groove 12e, resulting in a simpler structure. Figure 5 and 6 As shown, the side of the inclined groove away from the second finger 14 is a straight groove, namely the aforementioned straight segment 12d.
[0042] In some implementations, such as Figure 6 As shown, the driving member 12 can have a second groove 12f perpendicular to the extension and retraction direction of the driving member 12. The two sidewalls of the second groove 12f are driving surfaces 12b, and the second driving end 14a is a second roller disposed in the second groove 12f. That is, the swinging of the second finger 14 is realized through the two sidewalls of the second groove 12f, which simplifies the structure.
[0043] In some implementations, such as Figure 6As shown, the base 11 is provided with a first sliding groove 11a that slides with the drive member 12, a second sliding groove 11b that slides with the first finger 13, and a mounting groove 11c for mounting the second finger 14. A hinge shaft 16 connects the two side walls of the mounting groove 11c, which are perpendicular to the rotation axis of the second finger 14 and opposite to each other. The hinge shaft 16 passes through the second finger 14. The relative relationship between the first finger 13, the second finger 14, and the drive member 12 is ensured by machining the same part, the base 11, resulting in higher precision. Furthermore, the first sliding groove 11a guides the drive member 12, the second sliding groove 11b guides the first finger 13, and the mounting groove 11c restricts the displacement of the second finger 14 along the rotation axis, avoiding the need for additional guide rails or other guiding structures, resulting in a more compact structure.
[0044] In some implementations, such as Figure 5 and 6 As shown, both ends of the driving member 12 extend beyond the base 11 along its extension / retraction direction, and both ends of the driving member 12 have limiting portions extending perpendicular to the extension / retraction direction. The two limiting portions limit the sliding stroke of the driving member 12, thereby limiting the opening and closing stroke of the first finger 13 and the second finger 14, as well as the extension / retraction stroke of the first finger 13. In some specific embodiments, such as... Figure 5 and 6 As shown, the limiting part is a limiting block 17 that is detachably connected to the driving member 12, and the limiting block 17 extends along the extension and retraction direction perpendicular to the driving member 12.
[0045] In some implementations, such as Figure 5 and 6 As shown, the first clamping end 13b has a first extension extending towards the second clamping end 14b, thereby making the first driving end 13a and the second driving end 14a far apart, which facilitates arrangement; based on this, the second clamping end 14b has a second extension extending towards the first clamping end 13b, thereby preventing the first extension from extending too long. In some specific embodiments, such as Figure 5 and 6 As shown, the first extension is a first clamping block detachably connected to the first finger 13, and the second extension is a second clamping block integrally formed with the second finger 14. The first clamping block is detachably connected to the first finger 13, so different clamping blocks of different lengths can be used to accommodate different objects being clamped.
[0046] like Figure 7As shown, this application also provides a clamping structure, including the grippers 10 of any of the above-mentioned embodiments; a plurality of grippers 10 are arranged at intervals along the rotation axis direction of the second finger 14, and the first gripping ends 13b of the plurality of grippers 10 are aligned. By setting a plurality of grippers 10 and aligning the first gripping ends 13b of the plurality of grippers 10, it is ensured that the center of the clamped object is located between the plurality of grippers 10, thereby preventing the clamped object from tilting during movement.
[0047] In some implementations, such as Figure 7 As shown, the clamping structure of this embodiment also includes support portions 21 respectively disposed on both sides of the gripper 10 for supporting the clamped object. For clamped objects such as plastic pallets, the support portions 21 support them to prevent them from tipping over. Multiple grippers 10 can be mounted on a robotic arm, the plastic pallet is placed on the support portion 21, the grippers 10 grip the thin edge of the plastic pallet, and then the robotic arm drives the grippers 10 to move, thereby moving the plastic pallet on the support portion 21, thus facilitating the operation of the plastic pallet by other equipment. In some embodiments, such as Figure 7 As shown, the support portion 21 has a support surface 21a perpendicular to the sliding direction of the first finger 13, and the support surface 21a extends along the extension and retraction direction of the drive member 12. It can be understood that when the gripper 10 is in the open state, the first finger 13 does not extend beyond the support surface 21a.
[0048] In some implementations, such as Figure 7 As shown, the clamping structure also includes guide portions 22 located outside the two outermost grippers 10; the guide portions 22 are used to guide the clamped object, and the guide portions 22 have guide surfaces 22a that are perpendicular to the support surfaces 21a. By providing guide portions 22 to guide the clamped object, the clamped object is prevented from tilting during movement, and at the same time, the guide portions 22 cooperate with the support portions 21 to position the clamped object.
[0049] In some specific implementations, such as Figure 7 As shown, L-shaped plates 20 are respectively provided on the outermost two grippers 1010, and the two L-shaped plates 20 are arranged opposite to each other; the horizontal surface of the inner side of the two L-shaped plates 20 is the support surface 21a, and the vertical surface of the inner side of the two L-shaped plates 20 is the guide surface 22a.
[0050] This utility model is not limited to the above-mentioned optional embodiments. Anyone can derive other forms of products under the guidance of this utility model. However, regardless of any changes made in its shape or structure, any technical solution that falls within the scope of the claims of this utility model shall be protected by this utility model.
Claims
1. A gripper, characterized in that: The device includes a base, a drive member telescopically mounted on the base, a first finger slidably mounted on the base, and a second finger rotatably mounted on the base. The rotation axis of the second finger, the sliding direction of the first finger, and the telescopic direction of the drive member are all orthogonal to each other. The two ends of the first finger are a first drive end and a first gripping end, respectively, and the two ends of the second finger are a second drive end and a second gripping end, respectively, with the first gripping end and the second gripping end facing each other. The drive member has a trajectory that contacts the first drive end and a drive surface that contacts the second drive end. The trajectory includes a line segment that forms an angle δ with the telescopic direction of the drive member, where 0° < δ < 90°. When the gripper is in gripping mode, the drive member drives the first finger to slide through the line segment and drives the second finger to swing through the drive surface, so that the first gripping end and the second gripping end close.
2. The gripper according to claim 1, characterized in that: The trajectory also includes a straight line segment connected to the oblique line segment and parallel to the extension and retraction direction of the drive component, the straight line segment being located at the end of the oblique line segment away from the second finger.
3. The gripper according to claim 1, characterized in that: The driving component has a first groove, at least a portion of which is an oblique groove forming the angle δ with the extension / retraction direction of the driving component. The first groove is the trajectory, and the first driving end is a first roller disposed within the first groove; and / or, The driving component has a second groove perpendicular to the extension / retraction direction of the driving component, the two sidewalls of the second groove are the driving surfaces, and the second driving end is a second roller disposed within the second groove; and / or 30°≤δ≤45°.
4. The gripper according to any one of claims 1 to 3, characterized in that: The base is provided with a first sliding groove for sliding engagement with the driving component, a second sliding groove for sliding engagement with the first finger, and a mounting groove for mounting the second finger. A hinge shaft connects the two side walls of the mounting groove, which are perpendicular to the rotation axis of the second finger and opposite to each other. The hinge shaft passes through the second finger. And / or, Both ends of the driving member extend beyond the base along the extension / retraction direction, and both ends of the driving member along the extension / retraction direction have limiting portions that extend perpendicular to the extension / retraction direction of the driving member; and / or, The first clamping end has a first extension extending toward the second clamping end; and / or, The second clamping end has a second extension that extends toward the first clamping end.
5. The gripper according to claim 4, characterized in that: The limiting part is a limiting block that is detachably connected to the driving component, and the limiting block extends along the direction perpendicular to the extension and retraction of the driving component.
6. The gripper according to claim 4, characterized in that: The first extension is a first clamping block detachably connected to the first finger; and / or, The second extension is a second clamping block integrally formed with the second finger.
7. A clamping structure, characterized in that: It includes a plurality of grippers as described in any one of claims 1 to 6; the plurality of grippers are arranged at intervals along the rotation axis of the second finger, and the first gripping ends of the plurality of grippers are aligned.
8. The clamping structure according to claim 7, characterized in that: It also includes support parts located on both sides of the gripper and used to support the object being gripped.
9. The clamping structure according to claim 8, characterized in that: The support portion has a support surface perpendicular to the sliding direction of the first finger, and the support surface extends along the extension and retraction direction of the driving member; and / or, The clamping structure also includes guide portions located outside the two outermost jaws; the guide portions are used to guide the clamped object and have guide surfaces with vertical support surfaces.
10. The clamping structure according to claim 9, characterized in that: The two outermost grippers are each provided with an L-shaped plate, and the two L-shaped plates are arranged opposite each other; the horizontal surface of the inner side of the two L-shaped plates is the support surface, and the vertical surface of the inner side of the two L-shaped plates is the guide surface.