Double-steering-engine mechanical claw

Abstract

The utility model relates to the technical field of mechanical arms, and particularly discloses a double-steering-engine mechanical claw which comprises a supporting assembly, at least two clamping claws, two rotary driving pieces, two cranks, two connecting rods and a moving piece. The clamping ends of the at least two clamping jaws can be close to or far away from each other; the output shafts of the two rotary driving parts are oppositely and coaxially arranged and are opposite in rotating direction; one ends of the two cranks are fixedly connected with the two corresponding output shafts respectively and can synchronously rotate along with the corresponding output shafts; one ends of the two connecting rods are respectively hinged with the hinging parts of the corresponding cranks; the other ends of the two connecting rods are hinged to the moving part, the moving part is connected with the clamping jaws, and the output shafts of the two rotary driving parts rotate so as to drive the moving part to move in a reciprocating mode in the first direction through the two cranks and the two connecting rods and drive the clamping ends of the two clamping jaws to be close to or away from each other. By means of the arrangement, the clamping speed of the clamping jaw is higher, the clamping precision can be kept, and errors are reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical hand technical field especially relates to a double rudder machine mechanical claw. BACKGROUND

[0002] Mechanical claw is applied on a large scale in industrial field and various engineering events. The conventional mechanical claw is usually classified by different transmission mechanisms (gear, connecting rod, screw rod etc.) and prime mover (cylinder, rudder machine, stepping motor etc.).

[0003] The different prime mover has different advantages and disadvantages, selects the stepping motor drive, and its advantage is stable control, but its disadvantage is that the speed of grabbing is slow, if there is no encoder, there is also big error etc. ; Selects the pneumatic machine, and the overall volume of prime mover is big, and the structure is also more complex. Selects the rudder machine, and the overall speed of grabbing is fast, if the stress is big, the locked -rotor time is long, can make the rudder machine damage.

[0004] Therefore, it is urgent to research a double rudder machine mechanical claw to solve the above problems. UTILITY MODEL CONTENTS

[0005] The utility model discloses a double rudder machine mechanical claw to solve the problem of slow speed of grabbing, big error, big volume and easy to make rudder machine damage when stress is big in prior art.

[0006] In order to achieve the above object, the utility model adopts the following technical scheme:

[0007] The double rudder machine mechanical claw comprises:

[0008] Support assembly;

[0009] At least two clamping claws, the clamping ends of at least two clamping claws can be close to or away from each other;

[0010] Two rotary driving pieces, the output shafts of two rotary driving pieces are coaxially arranged, and the directions of rotation are opposite;

[0011] Two cranks, one end of two cranks is respectively fixedly connected with two corresponding output shafts, and can rotate synchronously with the corresponding output shafts;

[0012] Two connecting rods, one end of two connecting rods is respectively hingedly connected with the hinged part of the corresponding crank;

[0013] Moving piece, the other end of two connecting rods is hingedly connected with the moving piece, the moving piece is connected with the clamping claw, the output shaft of two rotary driving pieces rotates, so as to drive the moving piece to reciprocate along the first direction through two cranks and two connecting rods, and drive the clamping ends of two clamping claws to be close to or away from each other.

[0014] As an alternative technical scheme of the double-rudder mechanical gripper, at least two of the grippers are hinged to the support assembly through respective hinged portions, and the gripping ends of the at least two grippers can rotate around respective corresponding hinged axes to approach or move away from each other; the double-rudder mechanical gripper further comprises at least two intermediate transfer rods corresponding to the grippers one by one, one end of the intermediate transfer rod is hinged to the corresponding gripper, and the other end is hinged to the moving piece.

[0015] As an alternative technical scheme of the double-rudder mechanical gripper, the gripper comprises a connecting piece and a clamping piece, the connecting piece has an adapter rod and a connecting rod arranged at an included angle, one end of the adapter rod away from the connecting rod is hinged to the support assembly, and the clamping piece is screwed to the connecting rod; the intermediate transfer rod is hinged to the clamping piece.

[0016] As an alternative technical scheme of the double-rudder mechanical gripper, the double-rudder mechanical gripper has four grippers, and the four grippers are arranged on the outer periphery of the moving piece.

[0017] As an alternative technical scheme of the double-rudder mechanical gripper, the support assembly comprises a base and a support piece, the base is provided with a transmission channel, the support piece and the rotary drive are arranged at two ends of the base, and the connecting rod is arranged in the transmission channel.

[0018] As an alternative technical scheme of the double-rudder mechanical gripper, the support piece comprises two parallel and spaced support plates and a stand column fixedly connected with the two support plates, and the gripper is hinged to the stand column; and / or,

[0019] One end of the base away from the support piece is provided with a mounting boss, and the rotary drive is screwed to the mounting boss.

[0020] As an alternative technical scheme of the double-rudder mechanical gripper, the crank has a fixed hole matched with the output shaft and a first hinged hole arranged at intervals with the fixed hole, and the first hinged hole forms a hinged portion; a first hinged pin is arranged in the first hinged hole and connected with one end of the connecting rod.

[0021] As an alternative technical scheme of the double-rudder mechanical gripper, the crank has a plurality of first hinged holes arranged at intervals, and the first hinged pin is selectively arranged in the plurality of first hinged holes.

[0022] As an alternative technical scheme of the double-rudder mechanical gripper, the moving piece is provided with a second hinged hole, a second hinged pin is arranged in the second hinged hole, and both ends of the second hinged pin pass out of the second hinged hole and are respectively hinged to the two connecting rods.

[0023] As an alternative technical scheme of the double-rudder mechanical gripper, the rotary drive is a rudder.

[0024] The utility model has at least the following beneficial effects:

[0025] The utility model provides a kind of double rudder machine mechanical claw, the double rudder machine mechanical claw includes two rotary driving parts, two rotary driving parts are driven to mobile piece by two cranks and two connecting rods respectively, to drive the clamping end of two grippers can be mutually close or far, the transmission of crank connecting rod makes the clamping speed of gripper faster, and under the premise of not setting encoder, can be controlled output shaft rotation angle by pulse width modulation signal, to ensure clamping accuracy, reduce error;The structure of rotary driving part is smaller compared to the volume of pneumatic machine, and by the simultaneous driving of two rotary driving parts, the stress of single rotary driving part can be greatly reduced, and the probability of being damaged is greatly reduced. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical scheme in the embodiment of the utility model, the drawings needed to be used in the embodiment of the utility model will be simply introduced as follows. Obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained according to the content of the embodiment of the utility model and these drawings for those skilled in the art without creating labor.

[0027] Figure 1 It is a structural schematic view of double rudder machine mechanical claw in the embodiment of the utility model;

[0028] Figure 2 It is a bottom structure schematic view of double rudder machine mechanical claw in the embodiment of the utility model;

[0029] Figure 3 It is Figure 2 Sectional view along A-A direction in it;

[0030] Figure 4 It is Figure 2 Sectional view along B-B direction in it.

[0031] In the figure:

[0032] 100, support assembly;110, base;111, mounting boss;120, support piece;121, support plate;122, stand;

[0033] 200, gripper;210, connecting piece;220, clamping piece;

[0034] 300, rotary driving part;

[0035] 400, crank;410, first hinged hole;

[0036] 500, connecting rod;

[0037] 600, mobile piece;610, second hinged hole;

[0038] 700, a transfer rod. DETAILED DESCRIPTION

[0039] Before any embodiments of the application are explained in detail, it is to be understood that the application is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the above-described drawings. It is being contemplated that the application can be implemented in other embodiments that do not depart from the spirit and scope of the claimed application.

[0040] In the present application, the terms "comprise", "contain", "have" or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not only include those elements, but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. Without more limitations, an element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0041] In the present application, the term "and / or", is a description of an associated relationship with the associated object, which means that there can be three kinds of relationships. For example, A and / or B, can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in the present application generally represents a "and / or" relationship between the front and rear associated objects.

[0042] In the present application, the terms "connect", "combine", "couple", "mount" can be direct connection, combination, coupling or mounting, or indirect connection, combination, coupling or mounting. Among them, direct connection refers to the connection of two parts or components without the need for an intermediate part, and indirect connection refers to the connection of two parts or components with at least one intermediate part. In addition, "connection" and "coupling" are not limited to physical or mechanical connection or coupling, and can include electrical connection or coupling.

[0043] In the present application, those of ordinary skill in the art will understand that the relative terms used in connection with a quantity or a condition (for example, "about", "approximately", "substantially" and the like) include the value indicated and have the meaning indicated by the context. For example, the relative terms at least include the degree of error related to the measurement of a specific value, the tolerance caused by manufacturing, assembly, use, etc. related to a specific value. Such terms should also be considered to disclose the range defined by the absolute values of the two endpoints. The relative term can refer to a certain percentage (for example, 1%, 5%, 10% or more) of the indicated value. The numerical value without the relative term should also be disclosed as a specific value with a tolerance. In addition, "substantially" when expressing the relative angular positional relationship (for example, substantially parallel, substantially perpendicular), can refer to a certain degree (for example, 1 degree, 5 degrees, 10 degrees or more) added or subtracted from the indicated angle.

[0044] In the present application, it will be understood by those of ordinary skill in the art that the functions performed by the components can be performed by one component, multiple components, one part, or multiple parts. Similarly, the functions performed by the parts can also be performed by one part, one component, or a combination of multiple parts.

[0045] In the present application, the terms "upper", "lower", "left", "right", "front", "back", and the like are described in the orientation and positional relationship shown in the drawings, and should not be understood as limiting the embodiments of the present application. In addition, it is also understood in the context that when referring to one element connected to another element "on" or "under", it can be directly connected to another element "on" or "under" or indirectly connected to another element "on" or "under" through an intermediate element. It should also be understood that the terms "upper", "lower", "left", "right", "front", "back", and the like not only represent the positive direction, but also can be understood as the side direction. For example, the lower side can include the directly below, left below, right below, front below, and back below, etc.

[0046] As shown in Figures 1 to 4 The embodiment provides a double-steering-motor mechanical gripper, which comprises a supporting assembly 100, at least two clamping jaws 200, two rotary driving members 300, two cranks 400, two connecting rods 500 and a moving member 600. The clamping ends of the at least two clamping jaws 200 can approach or move away from each other; the output shafts of the two rotary driving members 300 are coaxially arranged and have opposite turning directions; one end of each of the two cranks 400 is fixedly connected with a corresponding output shaft and can synchronously rotate with the corresponding output shaft; one end of each of the two connecting rods 500 is hingedly connected with a corresponding hinged part of the crank 400; the other end of each of the two connecting rods 500 is hingedly connected with the moving member 600, the moving member 600 is connected with the clamping jaw 200, and the output shafts of the two rotary driving members 300 are rotated to drive the moving member 600 to reciprocate along a first direction through the two cranks 400 and the two connecting rods 500, and drive the clamping ends of the two clamping jaws 200 to approach or move away from each other.

[0047] In the above arrangement, the transmission of the crank 400 and the connecting rod 500 makes the clamping speed of the clamping jaw 200 faster, and under the premise of not arranging an encoder, the rotation angle of the output shaft can be controlled through a pulse width modulation signal to ensure the clamping accuracy and reduce the error; the structure of the rotary driving member 300 is smaller than that of a pneumatic motor, and through the simultaneous driving of the two rotary driving members 300, the stress of a single rotary driving member 300 can be greatly reduced, and the probability of being damaged can be greatly reduced.

[0048] In some embodiments, the at least two clamping jaws 200 are hinged to the support assembly 100 through respective hinges, and the clamping ends of the at least two clamping jaws 200 are rotatable about respective hinge axes to approach or move away from each other; the double-rudder mechanical gripper further comprises at least two transfer rods 700 corresponding to the clamping jaws 200 one by one, one end of each transfer rod 700 is hinged to a corresponding clamping jaw 200, and the other end is hinged to the moving member 600. This arrangement enables the moving member 600 to swing the two clamping jaws 200 away from each other through the transfer rods 700 when the moving member 600 moves away from the rotary drive 300, and enables the moving member 600 to swing the clamping ends of the two clamping jaws 200 to approach each other through the transfer rods 700 when the moving member 600 moves close to the rotary drive 300.

[0049] The clamping jaw 200 comprises a connecting member 210 and a clamping member 220, the connecting member 210 has an adapter rod and a connecting rod arranged at an included angle, one end of the adapter rod away from the connecting rod is hinged to the support assembly 100, and the clamping member 220 is screwed to the connecting rod; the transfer rod 700 is hinged to the clamping member 220. This arrangement enables the clamping jaws 200 to have a certain accommodating space to facilitate clamping of articles with a larger height.

[0050] In some embodiments, the double-rudder mechanical gripper has four clamping jaws 200 arranged at the outer periphery of the moving member 600. Among them, the four clamping jaws 200 are evenly arranged at the outer periphery of the moving member 600 to wrap around the outer periphery of the article after clamping, thereby improving the safety of the article.

[0051] In order to improve the compactness of the double-rudder mechanical gripper, in some embodiments, the support assembly 100 comprises a base 110 and a support 120, the base 110 is provided with a transmission channel, the support 120 and the rotary drive 300 are separately arranged at two ends of the base 110, and the connecting rod 500 is arranged through the transmission channel. Among them, the two rotary drives 300 are respectively arranged on both sides of the center line of the transmission channel to improve the symmetry of the overall structure.

[0052] In some embodiments, the support 120 comprises two parallel and spaced apart support plates 121 and a stand 122 fixedly connected with the two support plates 121, and the clamping jaw 200 is hinged to the stand 122. This arrangement enables the moving member 600 to have sufficient movement space, and the support 120 of the frame structure is light in weight and low in cost. The end of the base 110 away from the support 120 is provided with a mounting boss 111, and the rotary drive 300 is screwed to the mounting boss 111. Among them, the mounting boss 111 has two and is symmetrically arranged about the center line of the transmission channel.

[0053] The crank 400 has a fixed hole matched with the output shaft and a first hinged hole 410 arranged at intervals with the fixed hole, the first hinged hole 410 forms a hinge part; a first hinged pin is arranged through the first hinged hole 410 and connected with one end of the connecting rod 500. The arrangement enables the moving part 600 to be driven by the connecting rod 500 to approach or move away from the rotary driving part 300 when the crank 400 rotates. In order to facilitate the adjustment of the moving range of the moving part 600, in some embodiments, the crank 400 has a plurality of first hinged holes 410 arranged at intervals, and the first hinged pin is arranged through the plurality of first hinged holes 410 selectively. Among them, the farther the selected first hinged hole 410 is from the fixed hole, the greater the moving range of the moving part 600 is under the premise that the rotating angle of the output shaft is unchanged, so that the article of larger size can be clamped. In the embodiment, the crank 400 is provided with three first hinged holes 410. Among them, the distance between any two adjacent first hinged holes 410 in the three first hinged holes 410 is different.

[0054] In order to facilitate installation, in some embodiments, the moving part 600 is provided with a second hinged hole 610, a second hinged pin is arranged through the second hinged hole 610, and both ends of the second hinged pin are arranged out of the second hinged hole 610 and are hinged with two connecting rods 500 respectively. The arrangement enables the two connecting rods 500 and the moving part 600 to be connected through a second hinged pin, thereby improving the assembly efficiency.

[0055] In some embodiments, the rotary driving part 300 is a steering engine. The steering engine has the advantage of faster grabbing speed, and the cooperation of two steering engines greatly reduces the stress of a single steering engine, thereby avoiding damage caused by blockage. It should be noted that the working principle of the steering engine is known to those skilled in the art, and will not be described here. In other embodiments, the rotary driving part 300 can also be a servo motor.

[0056] Obviously, the above embodiments of the utility model are only examples for clearly illustrating the utility model, and are not a limitation on the embodiments of the utility model. For ordinary skilled in the art, various obvious changes, re-adjustment and replacement can be made without departing from the protection scope of the utility model. Here, it is not necessary and impossible to enumerate all the embodiments. Any modification, equivalent replacement and improvement made within the spirit and principle of the utility model should be included in the protection scope of the utility model claim.

Claims

1. Dual servo mechanical gripper characterized in that, The utility model relates to a double-rudder mechanical gripper, comprising: a support assembly (100); at least two clamping jaws (200), the clamping ends of the at least two clamping jaws (200) being capable of approaching or moving away from each other; two rotary drive members (300), the output shafts of the two rotary drive members (300) being coaxially arranged relative to each other and rotating in opposite directions; two cranks (400), one end of each of the two cranks (400) being fixedly connected to a corresponding output shaft and capable of rotating synchronously with the corresponding output shaft; two connecting rods (500), one end of each of the two connecting rods (500) being hingedly connected to a corresponding hinged portion of the crank (400); a moving member (600), the other end of each of the two connecting rods (500) being hingedly connected to the moving member (600), the moving member (600) being connected to the clamping jaws (200), and the output shafts of the two rotary drive members (300) being capable of rotating to drive the moving member (600) to move back and forth in a first direction through the two cranks (400) and the two connecting rods (500) and to drive the clamping ends of the two clamping jaws (200) to approach or move away from each other.

2. The dual-actuator mechanical gripper of claim 1, wherein, The at least two clamping jaws (200) are hingedly connected to the support assembly (100) through respective hinged portions, and the clamping ends of the at least two clamping jaws (200) are capable of rotating about respective hinged axes to approach or move away from each other; the double-rudder mechanical gripper further comprises at least two intermediate transfer rods (700) corresponding one-to-one to the clamping jaws (200), one end of each of the intermediate transfer rods (700) being hingedly connected to a corresponding clamping jaw (200) and the other end being hingedly connected to the moving member (600).

3. The dual-actuator mechanical gripper of claim 2, wherein, The clamping jaw (200) comprises a connecting member (210) and a clamping member (220), the connecting member (210) having an adapter rod and a connecting rod arranged at an included angle, one end of the adapter rod away from the connecting rod being hingedly connected to the support assembly (100), and the clamping member (220) being screwed to the connecting rod; the intermediate transfer rod (700) is hingedly connected to the clamping member (220).

4. The dual-actuator mechanical gripper of claim 1, wherein, The double-rudder mechanical gripper has four clamping jaws (200), and the four clamping jaws (200) are arranged at the outer periphery of the moving member (600).

5. The dual-actuator mechanical gripper of claim 1, wherein, The support assembly (100) comprises a base (110) and a support member (120), the base (110) being provided with a transmission channel, the support member (120) and the rotary drive member (300) being separately arranged at two ends of the base (110), and the connecting rod (500) being arranged through the transmission channel.

6. The dual-actuator mechanical gripper of claim 5, wherein, The support member (120) comprises two support plates (121) arranged in parallel and at intervals and a stand (122) fixedly connected to the two support plates (121), and the clamping jaw (200) is hingedly connected to the stand (122); and / or One end of the base (110) away from the support member (120) is provided with a mounting boss (111), and the rotary drive member (300) is screwed to the mounting boss (111).

7. The dual-actuator mechanical gripper of any one of claims 1-6, wherein, The crank (400) has a fixed hole matched with the output shaft and a first hinge hole (410) arranged at intervals with the fixed hole, the first hinge hole (410) forms a hinge part; a first hinge pin is arranged in the first hinge hole (410) and connected with one end of the connecting rod (500).

8. The dual-actuator mechanical gripper of claim 7, wherein, The crank (400) has a plurality of first hinge holes (410) arranged at intervals, and the first hinge pin is arranged in the plurality of first hinge holes (410) selectively.

9. The dual-actuator mechanical gripper of any one of claims 1-6, wherein, The moving part (600) is provided with a second hinge hole (610), a second hinge pin is arranged in the second hinge hole (610), and both ends of the second hinge pin pass through the second hinge hole (610) and are respectively hinged with two connecting rods (500).

10. The dual-actuator mechanical gripper of any one of claims 1-6, wherein, The rotary driving part (300) is a steering engine.

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