Two-finger clamping jaw

Abstract

The two-finger clamping jaw comprises a base, a turbine worm mechanism and two finger mechanisms, the turbine worm mechanism comprises a worm and two turbines, and turbine connecting rods are fixedly arranged on the outer tooth faces of the turbines; each finger mechanism comprises a knuckle assembly and a finger pulp connecting rod assembly, each knuckle assembly comprises a tail end knuckle and a knuckle connecting rod, each finger pulp connecting rod assembly comprises a first finger pulp connecting rod and a second finger pulp connecting rod, and the upper end of each first finger pulp connecting rod is rotationally connected with the middle of the corresponding tail end knuckle; the lower end of the first finger pulp connecting rod is rotationally connected with the upper end of the second finger pulp connecting rod, and the lower end of the second finger pulp connecting rod is rotationally connected with the upper end of the base. The lower end of the tail end knuckle is rotationally connected with the upper end of a knuckle connecting rod, and the lower end of the knuckle connecting rod is rotationally connected with a turbine connecting rod. According to the two-finger clamping jaw provided by the utility model, flexible contact between the knuckles at the tail end and a clamped object is realized.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical claw technical field especially is two fingered clamp claw. BACKGROUND

[0002] Mechanical claw can imitate some action functions of fingers, is used for grasping or carrying objects according to fixed program, is widely used in industrial production, and can realize mechanization and automation of production instead of manual work. There are various types of mechanical claws, which can be divided into two-fingered clamp claws, three-fingered clamp claws and multi-fingered clamp claws according to the number of clamp claws.

[0003] At present, the clamping parts of most two-fingered clamp claws on the market adopt rigid integral structure form, which is easy to damage the clamped objects when clamping objects, and rigid contact needs large pressure to avoid the clamped objects from falling off the clamp claws, so the self rigidity of the clamped objects is required to be high, and the use limitation is large. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a two-fingered clamp claw, which can solve the problem that the existing two-fingered clamp claw cannot realize flexible contact to clamp objects.

[0005] The utility model provides a two-fingered clamp claw, including base, the worm and gear mechanism of setting in the base and two finger mechanism with the driving connection of worm and gear mechanism, two symmetrically set up the finger mechanism, the worm and gear mechanism includes the worm and the two worm gears that are connected to the both sides of worm symmetry, the external tooth surface of each worm gear is solidly provided with worm gear connecting rod, each finger mechanism includes the knuckle component of setting in the outside and the finger web connecting rod component of setting in the inside, the knuckle component includes the end knuckle and knuckle connecting rod, the finger web connecting rod component includes the first section finger web connecting rod and the second section finger web connecting rod, the upper end of first section finger web connecting rod is rotationally connected with the middle part of end knuckle, the lower end of first section finger web connecting rod is rotationally connected with the upper end of second section finger web connecting rod, the lower end of second section finger web connecting rod is rotationally connected with the upper end of base, the lower end of end knuckle is rotationally connected with the upper end of knuckle connecting rod, and the lower end of knuckle connecting rod is rotationally connected with worm gear connecting rod.

[0006] According to the two-fingered clamp claw provided by the utility model, a first torsional spring is arranged on the rotation connecting shaft between the end knuckle and the first section finger web connecting rod.

[0007] According to the two-fingered clamp claw provided by the utility model, a second torsional spring is arranged on the rotation connecting shaft between the first section finger web connecting rod and the second section finger web connecting rod.

[0008] According to the two-fingered clamp jaw, two limiting blocks corresponding to the two second knuckle web connecting rods are arranged on the base, the two limiting blocks are symmetrically arranged, and the rotation connecting shafts of the second knuckle web connecting rods and the base are located between the two limiting blocks.

[0009] According to the two-fingered clamp jaw, a limiting through slot is arranged on the base for the turbine connecting rod to extend outward, the limiting through slot is arranged in the rotation direction of the turbine connecting rod, and the limiting through slot can limit the rotation position of the turbine connecting rod.

[0010] According to the two-fingered clamp jaw, a motor is installed in the base, and a driving shaft of the motor is connected and fixed with the lower end of the worm.

[0011] According to the two-fingered clamp jaw, the upper end of the worm is connected with the connecting seat through a bearing, and the connecting seat is connected and fixed with the inner wall of the upper end of the base.

[0012] According to the two-fingered clamp jaw, the upper end of the first knuckle web connecting rod is provided with two first connecting ears, the terminal knuckle is provided with an intermediate connecting part, the two first connecting ears are located on the two sides of the intermediate connecting part, and the two first connecting ears and the intermediate connecting part are connected through a rotating connecting shaft.

[0013] According to the two-fingered clamp jaw, the lower end of the second knuckle web connecting rod is provided with two second connecting ears, the upper end of the base is located between the two second connecting ears, and the two second connecting ears and the base are connected through a rotating connecting shaft.

[0014] According to the two-fingered clamp jaw, a plurality of mounting holes are arranged at the lower end of the base.

[0015] The two-fingered clamp jaw provided by the utility model can drive two turbines to rotate through the rotation of the worm, the rotation of the two turbines can drive two turbine connecting rods to rotate respectively, and then the corresponding two finger mechanisms are driven to act through the two turbine connecting rods, so that the two-fingered clamp jaw can realize the gripping and loosening actions of the two finger mechanisms; since each finger mechanism comprises a knuckle assembly arranged on the outer side and a finger web connecting rod assembly arranged on the inner side, the knuckle assembly comprises a terminal knuckle and a knuckle connecting rod rotationally connected with the terminal knuckle, and the finger web connecting rod assembly comprises a first knuckle web connecting rod rotationally connected with the middle part of the terminal knuckle and a second knuckle web connecting rod rotationally connected with the first knuckle web connecting rod, the second knuckle web connecting rod is rotationally connected with the upper end of the base, so that the terminal knuckle can better adapt to the surface of the clamped object when clamping the object through the matched arrangement of the knuckle assembly and the finger web connecting rod assembly, the flexible contact between the terminal knuckle and the clamped object is realized, the problem that the clamped object is easily damaged during clamping is effectively avoided, the operation process is safer and more reliable, and the use range of the two-fingered clamp jaw is widened. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the specific embodiments of the utility model or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description, and obviously, the drawings in the following description are some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating any creative labor.

[0017] Figure 1 It is the overall structure schematic diagram of the two-fingered clamp jaw of the utility model;

[0018] Figure 2 It is the structure schematic diagram of the worm and turbine mechanism in the two-fingered clamp jaw of the utility model;

[0019] Figure 3 It is the connection schematic diagram of the terminal knuckle and the finger web connecting rod assembly in the two-fingered clamp jaw of the utility model;

[0020] Figure 4 It is the schematic diagram of the two-fingered clamp jaw in the completely open state;

[0021] Figure 5 It is the schematic diagram of the worm connecting rod and the knuckle connecting rod profile matching position combination position in the two-fingered clamp jaw of the utility model;

[0022] Figure 6 It is Figure 5 The enlarged schematic diagram of A;

[0023] Figure 7 It is the schematic diagram of the two-fingered clamp jaw of the utility model when the two finger mechanisms are close and the finger web connecting rod assemblies are not stressed.

[0024] Figure 8 Fig. 2 is a state diagram of the force self-adaptive state of the finger pulp connecting rod assembly of the two-finger clamp jaw of the utility model.

[0025] Mark explanation:

[0026] 1, base; 101, limiting through slot; 102, mounting hole; 2, worm; 3, turbine; 4, turbine connecting rod; 5, end knuckle; 501, middle connecting part; 6, knuckle connecting rod; 7, first knuckle pulp connecting rod; 701, first connecting lug; 8, second knuckle pulp connecting rod; 801, second connecting lug; 9, first torsional spring; 10, second torsional spring; 11, limiting block; 12, motor; 13, connecting seat. Specific implementation

[0027] The technical scheme of the utility model will be described below in conjunction with embodiments, obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the utility model.

[0028] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the utility model.

[0029] In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the utility model, the meaning of "multiple" is two or more than two, unless otherwise specifically limited. In addition, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0030] As Figure 1 and Figure 2 shown, the two-fingered clamp jaw of the utility model embodiment comprises a base 1, a worm and turbine mechanism arranged in the base 1 and two finger mechanisms drivenly connected with the worm and turbine mechanism, wherein the two finger mechanisms are symmetrically arranged.

[0031] The worm and turbine mechanism comprises a worm 2 and two turbines 3 symmetrically and meshingly connected on both sides of the worm 2, and a turbine connecting rod 4 is fixedly arranged on the outer tooth surface of each turbine 3. Each finger mechanism comprises a knuckle assembly arranged on the outer side and a finger web connecting rod assembly arranged on the inner side, the knuckle assembly comprises a terminal knuckle 5 and a knuckle connecting rod 6, the finger web connecting rod assembly comprises a first knuckle web connecting rod 7 and a second knuckle web connecting rod 8, the upper end of the first knuckle web connecting rod 7 is rotationally connected with the middle part of the terminal knuckle 5, the lower end of the first knuckle web connecting rod 7 is rotationally connected with the upper end of the second knuckle web connecting rod 8, and the lower end of the second knuckle web connecting rod 8 is rotationally connected with the upper end of the base 1. The lower end of the terminal knuckle 5 is rotationally connected with the upper end of the knuckle connecting rod 6, and the lower end of the knuckle connecting rod 6 is rotationally connected with the turbine connecting rod 4.

[0032] In use, the rotation of the worm can drive the two turbines 3 to rotate, the rotation of the two turbines 3 can drive the two turbine connecting rods 4 to rotate respectively, and then the two finger mechanisms corresponding to the two turbine connecting rods 4 are driven to act, so that the gripping and loosening actions of the two-fingered clamp jaw are realized. Due to the cooperative arrangement of the knuckle assembly and the finger web connecting rod assembly, the terminal knuckle 5 can better adapt to the surface of the clamped object when clamping the object, so that the flexible contact of the terminal knuckle 5 with the clamped object is realized, the problem that the clamped object is easily damaged during clamping is effectively avoided, and the operation process is safer and more reliable, thereby expanding the use range of the two-fingered clamp jaw.

[0033] As Figure 3 shown, a first torsional spring 9 is arranged on the rotation connecting shaft between the terminal knuckle 5 and the first knuckle web connecting rod 7, and a second torsional spring 10 is arranged on the rotation connecting shaft between the first knuckle web connecting rod 7 and the second knuckle web connecting rod 8. As Figure 1 , Figure 4 and Figure 5 shown, two limiting blocks 11 corresponding to the two second knuckle web connecting rods 8 are arranged on the base 1, the two limiting blocks 11 are symmetrically arranged, and the rotation connecting shafts of the two second knuckle web connecting rods 8 are located between the two limiting blocks 11. That is, through the arrangement of the two limiting blocks 11, the outward rotation of the two second knuckle web connecting rods 8 can be limited, and at the same time, the use of the first torsional spring 9 and the second torsional spring 10 can make the two finger mechanisms maintain a fixed state without force.

[0034] As Figure 2As shown, the base 1 is provided with a limiting through slot 101 for the outward extension of the turbine connecting rod 4, the limiting through slot 101 is arranged along the rotating direction of the turbine connecting rod 4, and the limiting through slot 101 can limit the rotating position of the turbine connecting rod 4. That is, the upper and lower ends of the limiting through slot 101 are used to limit the maximum position when the turbine connecting rod 4 rotates up and down.

[0035] As shown in the figure, Figure 4 When the two-finger clamping jaw is in a fully open state, the worm connecting rod 4 reaches the lower end of the limiting through slot 101 at this time, and the second knuckle joint connecting rod 8 reaches the limiting block 11. The profile matching position of the worm connecting rod 4 and the knuckle connecting rod 6 is separated.

[0036] As shown in the figure, Figure 5 and Figure 6 When the worm connecting rod 4 rotates with the worm wheel 3, before the profile matching position of the worm connecting rod 4 and the knuckle connecting rod 6 is combined, the movement of the worm connecting rod 4 at this time only drives the end knuckle 5 and the knuckle connecting rod 6 to move, and controls the opening angle of the finger tip.

[0037] When the profile matching position of the worm connecting rod 4 and the knuckle connecting rod 6 is combined, the angle between the worm connecting rod 4 and the knuckle connecting rod 6 is relatively fixed, and the worm connecting rod 4 is used as the driving rod to drive the knuckle connecting rod 6 to move. At this time, the knuckle connecting rod 6 drives the end knuckle 5 to move, and then drives the finger web connecting rod assembly to move. When the two-finger mechanism is closed and the finger web connecting rod assembly is not stressed (no self-adaptation), as shown in the figure. Figure 7 When the finger web connecting rod assembly is stressed and self-adapts, as shown in the figure. Figure 8

[0038] Specifically, the two-finger clamping jaw further comprises a motor 12 installed in the base 1, and the driving shaft of the motor 12 is connected and fixed with the lower end of the worm 2. That is, the motor 12 drives the worm 2 to rotate, the worm 2 drives the two worm wheels 3 to rotate, and then the worm connecting rod 4 drives the finger mechanism to realize the gripping and loosening action.

[0039] Among them, the upper end of the worm 2 is connected with the connecting seat 13 through the bearing, and the connecting seat 13 is connected and fixed with the inner wall of the upper end of the base 1, so as to realize the rotatable installation of the worm 2 in the base 1.

[0040] Specifically, the upper end of the first knuckle joint connecting rod 7 is provided with two first connecting ears 701, the end knuckle 5 is provided with a middle connecting part 501, the two first connecting ears 701 are respectively located on both sides of the middle connecting part 501, and the two first connecting ears 701 and the middle connecting part 501 are connected through a rotating connecting shaft, so as to realize the reliable rotating connection between the first knuckle joint connecting rod 7 and the end knuckle 5.

[0041] ​Specifically, the lower end of the second section finger web connecting rod 8 is provided with two second connecting ears 801, the upper end of the base 1 is located between the two second connecting ears 801, and the two second connecting ears 801 and the base 1 are connected through a rotating connecting shaft, thereby realizing reliable rotating connection of the second section finger web connecting rod 8 and the upper end of the base 1.

[0042] Specifically, a plurality of mounting holes 102 are arranged at the lower end of the base 1, and the two finger clamps can be mounted on the required equipment through the mounting holes 102, thereby facilitating use.

[0043] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A two-fingered gripper, characterized by, The utility model provides a kind of finger mechanism, including base, the worm gear mechanism being arranged in the base and the two finger mechanisms being drivenly connected with the worm gear mechanism, two the finger mechanisms are symmetrically arranged;The worm gear mechanism includes worm and two worms being symmetrically meshed and connected on both sides of the worm, and the outer tooth surface of each worm is fixed with worm connecting rod;Each finger mechanism includes finger joint component arranged on the outside and finger web connecting rod component arranged on the inside, the finger joint component includes terminal knuckle and knuckle connecting rod, the finger web connecting rod component includes first knuckle connecting rod and second knuckle connecting rod, the upper end of the first knuckle connecting rod is rotatably connected with the middle part of the terminal knuckle, the lower end of the first knuckle connecting rod is rotatably connected with the upper end of the second knuckle connecting rod, and the lower end of the second knuckle connecting rod is rotatably connected with the upper end of the base;The lower end of the terminal knuckle is rotatably connected with the upper end of the knuckle connecting rod, and the lower end of the knuckle connecting rod is rotatably connected with the worm connecting rod.

2. The two fingered gripper of claim 1, wherein, A first torsion spring is arranged on the rotation connection shaft between the terminal knuckle and the first knuckle connecting rod.

3. The two finger clip of claim 1 wherein, A second torsion spring is arranged on the rotation connection shaft between the first knuckle connecting rod and the second knuckle connecting rod.

4. The two fingered gripper of claim 1, wherein, Two limiting blocks corresponding to the two second knuckle connecting rods are arranged on the base, the two limiting blocks are symmetrically arranged, and the rotation connection shafts of the two second knuckle connecting rods and the base are located between the two limiting blocks.

5. The two finger clip of claim 1 wherein, A limiting through slot is arranged on the base for the worm connecting rod to extend outward, the limiting through slot is arranged along the rotation direction of the worm connecting rod, and the limiting through slot can limit the rotation position of the worm connecting rod.

6. The two finger clip of claim 1 wherein, A motor is further arranged in the base, and the driving shaft of the motor is fixedly connected with the lower end of the worm.

7. The two finger clip of claim 1 wherein, The upper end of the worm is connected with a connecting seat through a bearing, and the connecting seat is fixedly connected with the inner wall of the upper end of the base.

8. The two finger clip of claim 1 wherein, The upper end of the first knuckle connecting rod is provided with two first connecting ears, the terminal knuckle is provided with an intermediate connecting part, the two first connecting ears are located on both sides of the intermediate connecting part, and the two first connecting ears and the intermediate connecting part are connected through a rotation connection shaft.

9. The two finger clip of claim 1 wherein, The lower end of the second knuckle connecting rod is provided with two second connecting ears, the upper end of the base is located between the two second connecting ears, and the two second connecting ears and the base are connected through a rotation connection shaft.

10. The two-fingered clipper of claim 1, wherein, A plurality of mounting holes are arranged on the lower end of the base.

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