Automatic clamping jaw mechanism

Abstract

The utility model provides an automatic clamping jaw mechanism, and relates to the technical field of clamping jaw equipment, the automatic clamping jaw mechanism comprises a clamping jaw mechanism installed on a driving platform, and further comprises a fixed platform, a fixed base and two fixed clamping arms, the fixed base is fixedly arranged on the upper end face of the fixed platform, and the fixed clamping arms are arranged on the fixed platform. The two fixed clamping arms are arranged at the two side ends of the fixed base in a hinged mode respectively, the sides, close to the lower portion, of the hinged portions of the fixed clamping arms are abutting portions, the sides, close to the upper portion, of the hinged portions of the fixed clamping arms are clamping portions, and the abutting portions are pressed downwards to enable the clamping portions to move in the direction away from the fixed base; the two synchronous push rods are located on the two sides of the clamping jaw mechanism correspondingly and are vertically arranged downwards, the synchronous push rods are pressed downwards to be matched with the abutting part, the structure is simple, use is convenient, and the fixed base can automatically clamp and release materials located on the fixed base.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of clamping jaw devices, in particular to an automatic clamping jaw mechanism. BACKGROUND

[0002] With the development of science and technology, the use of mechanical arms has been integrated into the field of processing and production. Through the setting of mechanical arms, automatic taking and placing of materials and transportation can be achieved. The end of the mechanical arm is equipped with a clamping jaw, which is used to grab, carry and place objects. Its working principle mainly depends on precise mechanical structure and control system. Through the coordinated action of motor, reducer, sensor and other components, the mechanical arm clamping jaw can achieve precise grabbing and force control of the object. The existing technology discloses an automatic centering clamping jaw mechanism for grabbing products in the Chinese utility model patent with the publication number CN209319802U. The mechanism includes a pair of clamping jaws and a driving member that connects and drives the clamping jaws to open or close. The clamping jaw includes a connecting part and a clamping part located at the lower end of the connecting part. The connecting part is arranged at the driving end of the driving member. The opposite surfaces of the clamping part are provided with a clamping groove. The clamping groove includes an upper half and a lower half. The surface of the lower half of the clamping groove is a smooth surface. When the clamping jaw clamps the product, the product moves upward along the smooth surface under the extrusion of the clamping jaw until the center line of the product and the clamping jaw are on the same straight line, which helps to keep the product and the clamping jaw in a state of continuous centering.

[0003] However, the clamping jaw mechanism in the existing technology is relatively complex, and the position of the material placed on the base is relatively loose. If the placement position of the material is offset when the mechanical arm takes and places the material, the clamping angle of the mechanical arm will not be accurate, which reduces the clamping firmness and makes the material easy to fall off the mechanical arm, causing production risks. Utility model content

[0004] One of the technical problems to be solved by the present disclosure is that the mechanical arm in the existing technology does not cooperate with the material storage base, thereby reducing the stability of material taking and placing.

[0005] The automatic clamping jaw mechanism includes a clamping jaw mechanism, which is installed on a driving platform. The mechanism also includes a fixed platform, a fixed base and a fixed clamping arm. The fixed base is fixedly arranged on the upper end surface of the fixed platform. Two fixed clamping arms are arranged on the two sides of the fixed base. The lower side of the hinge part of the fixed clamping arm is the contact part, and the upper side of the hinge part is the clamping part. Pressing the contact part makes the clamping part move away from the fixed base. Two synchronous push rods are symmetrically arranged on the driving platform. The two synchronous push rods are respectively arranged on the two sides of the clamping jaw mechanism. The two synchronous push rods are vertically arranged downward. The synchronous push rod is matched with the contact part.

[0006] In some embodiments, the included angle between the clamping part and the abutting part is obtuse.

[0007] In some embodiments, the included angle between the clamping part and the abutting part is X, 120°<X<160°.

[0008] In some embodiments, a torsion spring is arranged at the hinged position of the fixed clamping arm and the fixed base, which pushes the clamping part to move towards the fixed base.

[0009] In some embodiments, the lower end surface of the synchronous push rod is provided with a tapered chamfer.

[0010] In some embodiments, a first contact rotating cylinder is arranged on the abutting part, and the synchronous push rod is lowered to contact the first contact rotating cylinder.

[0011] In some embodiments, the upper end surface of the fixed platform is provided with two fixed limiting racks, which are arranged at the side ends of the two fixed clamping arms respectively, and the two synchronous push rods are respectively embedded between the two fixed clamping arms and the fixed limiting racks when they are lowered.

[0012] In some embodiments, a second contact rotating cylinder is arranged on the fixed limiting rack, and the synchronous push rod is lowered to contact the second contact rotating cylinder.

[0013] In some embodiments, the top of the clamping part is provided with a clamping claw hook.

[0014] In some embodiments, the side end of the clamping part is provided with a limiting protrusion.

[0015] Through the above technical solution, the automatic clamping claw mechanism provided by the present disclosure has the following beneficial effects:

[0016] Firstly, in the present scheme, the two fixed clamping arms can clamp the material on the fixed base, at this time the fixed clamping arms form a lever structure, by applying pressure to one side of the fixed clamping arm, the material in it can be fixed and loosened, the synchronous push rods are symmetrically arranged on the driving platform, the two synchronous push rods are respectively on the two sides of the clamping claw mechanism, the two synchronous push rods are vertically downward, the synchronous push rod is pressed downward to cooperate with the abutting part, which makes the clamping part move away from the fixed base to release the material.

[0017] Secondly, the torsion spring is arranged at the hinge position of the fixed clamping arm and the fixed base, the torsion spring pushes the clamping part to move towards the fixed base, when the synchronous push rod does not exert pressure on the fixed clamping arm, the torsion spring generates torsion to drive the synchronous push rod to move towards the fixed base to clamp the material thereon, when the synchronous push rod exerts pressure on the fixed clamping arm, the clamping part is driven to move away from the fixed base to release the material, so that the clamping jaw mechanism clamps the material.

[0018] Thirdly, the included angle between the clamping part and the abutting part is obtuse, the included angle between the clamping part and the abutting part is X, 120°<X<160°, and X is preferably 143°, through setting the above angle, the clamping part is pushed to release the clamping of the material when the synchronous push rod is pressed. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0020] Figure 1 is a schematic diagram of the three-dimensional structure of the automatic clamping jaw mechanism;

[0021] Figure 2 is a schematic diagram of the structure of the fixed base part in the automatic clamping jaw mechanism;

[0022] Figure 3 is a schematic diagram of the structure of the fixed clamping arm in the automatic clamping jaw mechanism;

[0023] Figure 4 is a schematic diagram of the running state of the automatic clamping jaw mechanism Figure 1 ;

[0024] Figure 5 is a schematic diagram of the running state of the automatic clamping jaw mechanism Figure 2 .

[0025] BRIEF DESCRIPTION OF DRAWINGS

[0026] 1, clamping jaw mechanism; 2, driving platform; 21, synchronous push rod; 211, conical chamfer; 3, fixed platform; 31, fixed limiting frame; 311, second contact rotating cylinder; 4, fixed base; 5, fixed clamping arm; 51, abutting part; 511, first contact rotating cylinder; 52, clamping part; 521, clamping jaw hook; 522, limiting protrusion; 6, torsion spring. DETAILED DESCRIPTION

[0027] The embodiments of the present disclosure will be described in further detail below with reference to the drawings and examples. The following detailed description of the examples and the accompanying drawings are provided for the purpose of illustrating the principles of the present disclosure, and are not intended to limit the scope of the present disclosure, which can be embodied in a variety of different forms, not limited to the specific examples disclosed herein, but include all technical solutions falling within the scope of the claims.

[0028] The present disclosure provides these examples in order to make the present disclosure more thorough and complete, and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that: unless otherwise specified, the relative arrangement of components and steps, the composition of materials, numerical expressions and values set forth in these examples should be interpreted as merely exemplary, and not as a limitation.

[0029] It should be noted that, in the description of the present disclosure, unless otherwise specified, the meaning of "a plurality of" is greater than or equal to two; the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer" and the like is only for the purpose of facilitating the description of the present disclosure and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation to the present disclosure. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0030] In addition, "first", "second", and similar words used in the present disclosure do not indicate any order, number, or importance, but are only used to distinguish different parts. "Vertical" is not strictly vertical, but within the allowable range of error. "Parallel" is not strictly parallel, but within the allowable range of error. "Include" or "contain" and similar words mean that the elements before the word cover the elements listed after the word, and do not exclude the possibility of also covering other elements.

[0031] It should also be noted that, in the description of the present disclosure, unless otherwise specified and limited, the terms "mounting", "connecting", "connection" should be interpreted broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present disclosure can be understood according to the specific circumstances. When it is described that a specific device is located between a first device and a second device, there can be an intermediate device between the specific device and the first device or the second device, or there can be no intermediate device.

[0032] All terms used in the present disclosure have the same meaning as understood by those of ordinary skill in the art to which the present disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be interpreted to have meanings consistent with their meanings in the context of the relevant art, and should not be interpreted in an idealized or excessively formalized sense, unless specifically defined herein.

[0033] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail, but where appropriate, the techniques, methods, and devices should be considered as part of the specification.

[0034] As shown in Figures 1-5 The automatic clamping jaw mechanism includes a clamping jaw mechanism 1, which can be a pneumatic clamping jaw disclosed in the prior art or an electric clamping jaw disclosed in the prior art. The clamping jaw mechanism 1 is installed on a driving platform 2 for the installation of the clamping jaw mechanism 1. The driving platform 2 can be installed on the output end of a driving cylinder or on the gripping end of a mechanical arm. The driving platform 2 can be driven by an external driving device to move back and forth. The automatic clamping jaw mechanism further includes a fixed platform 3, a fixed base 4, and a fixed clamping arm 5. The fixed base 4 is fixedly arranged on the upper end face of the fixed platform 3 and is used for storing materials. The fixed clamping arm 5 is arranged in two, and the two fixed clamping arms 5 are respectively hingedly arranged on the two side ends of the fixed base 4. The two fixed clamping arms 5 can clamp the materials on the fixed base 4. At this time, the fixed clamping arm 5 constitutes a lever structure. By applying pressure to one side of the fixed clamping arm 5, the materials in it can be fixed and released. The side of the hinged part of the fixed clamping arm 5 close to the lower side is the abutting part 51, and the side of the hinged part of the fixed clamping arm 5 close to the upper side is the clamping part 52. Pressing the abutting part 51 makes the clamping part 52 move away from the fixed base 4. The driving platform 2 is symmetrically provided with a synchronous push rod 21. The two synchronous push rods 21 are respectively on the two sides of the clamping jaw mechanism 1. The two synchronous push rods 21 are vertically arranged downward. The synchronous push rod 21 is pressed and cooperates with the abutting part 51, as shown in Figure 4 and Figure 5 .

[0035] In some embodiments, the included angle between the clamping part 52 and the abutting part 51 is obtuse.

[0036] Further, on the basis of the above-mentioned embodiments, the included angle between the clamping part 52 and the abutting part 51 is X, 120° < X < 160°, and X is preferably set to 143°. By setting the above-mentioned angle, the clamping part 52 can be pushed to release the clamping of the materials when the synchronous push rod 21 is pressed.

[0037] In some embodiments, a torsion spring 6 is arranged at the hinged position of the fixed clamping arm 5 and the fixed base 4, which pushes the clamping part 52 to move towards the fixed base 4. When the synchronous push rod 21 does not exert pressure on the fixed clamping arm 5, the torsion spring 6 generates torsion to drive the synchronous push rod 21 to move towards the fixed base 4 to clamp the material thereon. When the synchronous push rod 21 exerts pressure on the fixed clamping arm 5, it drives the clamping part 52 to move away from the fixed base 4 to release the material, so as to facilitate the clamping of the material by the clamping jaw mechanism 1.

[0038] In some embodiments, the lower end surface of the synchronous push rod 21 is provided with a tapered chamfer 211, which can facilitate the transmission cooperation of the synchronous push rod 21 and the fixed clamping arm 5.

[0039] In some embodiments, the abutting part 51 is rotatably provided with a first contact roller 511. When the synchronous push rod 21 descends and contacts the first contact roller 511, it rolls with the first contact roller 511 when moving in the vertical direction, thereby reducing the friction during cooperation of the equipment and improving the cooperation stability.

[0040] In some embodiments, the upper end surface of the fixed platform 3 is provided with a fixed limiting frame 31. Two fixed limiting frames 31 are arranged at the side ends of the two fixed clamping arms 5, respectively. When the two synchronous push rods 21 descend, they are respectively embedded between the two fixed clamping arms 5 and the fixed limiting frame 31. The outer side of the synchronous push rod 21 is limited by the fixed limiting frame 31 arranged thereon, so as to prevent the synchronous push rod 21 from deviating outwardly during the pressing process, thereby preventing the fixed clamping arm 5 from being unable to loosen.

[0041] Further based on the above embodiments, the fixed limiting frame 31 is rotatably provided with a second contact roller 311. When the synchronous push rod 21 descends and contacts the second contact roller 311, it rolls with the second contact roller 311 when moving in the vertical direction, thereby reducing the friction during cooperation of the equipment and improving the cooperation stability.

[0042] In some embodiments, the top of the clamping part 52 is provided with a clamping jaw hook 521, which can clamp the top of the material, thereby further improving the clamping stability of the fixed clamping arm 5.

[0043] In some embodiments, the side end of the clamping part 52 is provided with a limiting protrusion 522, which can abut against the outer wall of the fixed base 4. In this way, the fixed clamping arm 5 can be prevented from being attached to the upper end surface of the fixed base 4 when there is no material on the fixed base 4, thereby affecting the subsequent installation of the material.

[0044] So far, the embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein according to the above description.

[0045] Although some specific embodiments of the present disclosure have been described in detail through examples, those skilled in the art should understand that the above examples are only for illustration, not for limiting the scope of the present disclosure. Those skilled in the art should understand that the above embodiments can be modified or some technical features can be replaced equivalently without departing from the scope and spirit of the present disclosure. In particular, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any way.

Claims

1. Automatic gripper mechanism, comprising a gripper mechanism (1), which is mounted on a drive platform (2), characterized in that Also include fixed platform (3), fixed base (4) and fixed clamping arm (5), the fixed base (4) is fixedly arranged on the upper end surface of fixed platform (3), the fixed clamping arm (5) is provided with two, the two fixed clamping arms (5) are respectively hingedly arranged on the two side ends of fixed base (4), the side of the hinge part of the fixed clamping arm (5) is the abutting portion (51), the side of the hinge part of the fixed clamping arm (5) is the clamping portion (52), the abutting portion (51) is pressed down to make the clamping portion (52) move away from the fixed base (4), the driving platform (2) is provided with a synchronous push rod (21) symmetrically, two synchronous push rods (21) are respectively on the two sides of the jaw mechanism (1), two synchronous push rods (21) are vertically arranged downward, the synchronous push rod (21) is pressed down and matched with the abutting portion (51).

2. The automatic gripper mechanism according to claim 1, wherein The included angle between the clamping portion (52) and the abutting portion (51) is obtuse.

3. The automatic gripper mechanism according to claim 2, wherein The included angle between the clamping portion (52) and the abutting portion (51) is X, 120°<X<160°.

4. The automatic gripper mechanism of claim 1, wherein, The hinge position of the fixed clamping arm (5) and the fixed base (4) is provided with a torsion spring (6), the torsion spring (6) pushes the clamping portion (52) to move towards the fixed base (4).

5. The automatic gripper mechanism of claim 1, wherein, The lower end surface of the synchronous push rod (21) is provided with a tapered chamfer (211).

6. The automatic gripper mechanism of claim 1, wherein, The abutting portion (51) is rotatably provided with a first contact rotating cylinder (511), and the synchronous push rod (21) is lowered to contact the first contact rotating cylinder (511).

7. The automatic gripper mechanism of claim 1, wherein, The upper end surface of the fixed platform (3) is provided with a fixed limiting frame (31), the fixed limiting frame (31) is provided with two, the two fixed limiting frames (31) are respectively arranged on the side ends of the two fixed clamping arms (5), and the two synchronous push rods (21) are respectively embedded between the two fixed clamping arms (5) and the fixed limiting frames (31) when descending.

8. The automatic gripper mechanism according to claim 7, characterized in that The fixed limiting frame (31) is rotatably provided with a second contact rotating cylinder (311), and the synchronous push rod (21) is lowered to contact the second contact rotating cylinder (311).

9. The automatic gripper mechanism of claim 1, wherein, The top of the clamping portion (52) is provided with a clamping jaw hook (521).

10. The automatic gripper mechanism of claim 1, wherein, The side end of the clamping portion (52) is provided with a limiting protrusion (522).

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