CN103722561A - Flexibly rotatable mechanical claw - Google Patents

Abstract

A flexible and rotatable mechanical claw belongs to the mechanical field and is used in the field of industrial robots. A pillar is fixedly connected between a fixed plate and a motor fixed plate, and plays the role of positioning and strengthening the structure. The servo motor is fixedly connected to the motor fixing plate. The rotating shaft is a T-shaped symmetrical rod, including a boss of the rotating shaft and a boss vertically connected with the boss of the rotating shaft. The large bearing is fixed on the fixed plate, the rotating shaft boss on the rotating shaft passes through the center hole of the large bearing, and is connected with the output shaft of the servo motor through a coupling, and the rotating shaft is perpendicular to the rotating shaft boss. Two pin shafts are fixedly connected to the two ends respectively, and the two claws are connected with the pin shafts through the pin shaft holes at the middle position. The invention is compact in structure, easy to miniaturize, and realizes that the clamping and rotating actions of the mechanical claws do not interfere with each other. The mechanical claws can realize infinite turnover motion, have high flexibility, and are suitable for high-speed grasping, and are used in industrial mechanical arms, robots, etc. It has great application value.

Description

A flexible mechanical claw

technical field

The invention relates to a flexibly rotatable mechanical claw, which belongs to the field of machinery and is applied to the field of industrial robots.

Background technique

The mechanical claw is a very common industrial robot and the end effector of the mechanical arm. Usually, mechanical claws are required to have both clamping and rotating functions. In the existing mechanical claw, the clamping mechanism and the clamping motor are installed on the rotating device. When working, the clamping mechanism and the clamping motor are driven by the rotating device together. This solution must realize the transmission of power and control signals to the clamping motor by means of conductive slip rings or other methods, which leads to a certain limitation in the rotation range of the mechanical claw. In addition, since the rotating device has both a clamping mechanism and a clamping motor, the weight of the moving parts of the mechanical claw is relatively large, which often cannot meet the actual use requirements in high-speed grasping movements. Therefore, it is necessary to design a flexible and rotating mechanical gripper that does not interfere with each other in clamping and rotating actions, has high flexibility, and is suitable for high-speed grabbing.

Contents of the invention

The object of the present invention is to provide a flexibly rotatable mechanical claw, so that the clamping and rotating actions of the mechanical claw do not interfere with each other, and the flexibility is extremely high and is suitable for high-speed grasping.

In order to achieve the above object, the present invention has taken the following technical solutions:

A mechanical claw that can rotate flexibly, which includes a steering gear fixing part 1, a steering gear 2, a steering arm 3, a fixing plate 4, a large positioning screw 5, a washer 6, a lever 7, a claw 8, a pin shaft 9, and a connecting rod 10 , rotating shaft 11, push rod 12, small bearing 13, sleeve 14, circlip 15, pillar 16, large bearing 17, shaft coupling 18, motor fixing plate 19, servo motor 20. The steering gear fixture 1 is fixed on the fixed plate 4 and the motor fixed plate 19, the fixed plate 4 and the motor fixed plate 19 have the same external structure and size, and are installed in parallel, and the pillar 16 is fixedly connected to the fixed plate 4 and the motor fixed plate 19 Between them, it plays the role of positioning and strengthening the structure. The servo motor 20 is fixedly connected on the motor fixing plate 19 . The rotating shaft 11 is a T-shaped symmetrical rod, including a rotating shaft boss 29 and a boss vertically connected to the rotating shaft boss 29 . The large bearing 17 is fixedly connected on the fixed plate 4, and the rotating shaft boss 29 on the rotating shaft 11 passes through the central hole of the large bearing 17, and is connected with the output shaft of the servo motor 20 through the coupling 18, and the rotating shaft 11 is connected to the output shaft of the servo motor 20. Driven to realize the turnover movement, so that the mechanical claw can realize the rotation movement.

Two pin shafts 9 are fixedly connected to the two ends of the boss perpendicular to the shaft boss 29 of the rotating shaft 11, and the two claws 8 are connected with the pin shaft 9 through the pin hole in the middle position, and the claws 8 It can rotate relatively around the pin shaft 9 and the rotating shaft 11. The ends of the two claws 8 are fixedly connected with a pin shaft 9 respectively, and the two pin shafts 9 at the ends of the claws 8 are respectively connected with connecting rods 10, and the two connecting rods 10 can rotate relatively around the pin shaft 9 and the claw 8 respectively. . The other ends of the two connecting rods 10 are respectively connected to the push rod 12 through a pin shaft 9 , and the two connecting rods 10 can rotate relative to the push rod 12 around the pin shaft 9 connecting the connecting rod 10 and the push rod 12 . The push rod 12 cooperates with the rotating shaft boss 29 on the rotating shaft 11 through the pushing rod inner hole 25 thereon, and the pushing rod 12 can slide linearly on the rotating shaft boss 29 on the rotating shaft 11 relative to the rotating shaft 11 .

A steering gear 2 is fixedly connected to the steering gear fixing part 1, and a steering gear 3 is installed on the steering gear 2, and the steering gear 3 can swing under the drive of the steering gear 2. The end of the rudder arm 3 is connected on the small chute 23 on the end of the lever 7 near the steering gear by the pin shaft, and the lever 7 can do relative rotation and certain sliding with the rudder arm. Described lever 7 is an L-shaped bar member, and there is lever positioning hole 21 in its upper middle position, and a large set screw 5 passes through lever positioning hole 21, and lever 7 is connected on the steering gear fixing part 1, and lever 7 and rudder Washer 6 is installed between machine fixture 1, and washer 6 can adjust the height of lever 7. Driven by the rudder arm 3 , the lever 7 can swing around the large positioning screw 5 , so that the end of the lever 7 close to the push rod 12 has a movement component in the axis direction of the servo motor 20 . The push rod 12 is provided with a circlip groove 24 , the circlip groove 24 is provided with a circlip 15 , and one end of the push rod 12 is also provided with a push rod shoulder 27 . A sleeve 14 is installed on the push rod cylindrical surface 26 on the push rod 12 through the sleeve positioning hole 30 thereon, and one end of the sleeve 14 is against the push rod retaining shoulder 27, and the other end is against the snap spring 15, and the sleeve 14 can only rotate relatively around the push rod cylindrical surface 26, and can not slide laterally relative to the push rod.

The sleeve 14 is provided with a sleeve threaded hole 31 , and a screw passes through the sleeve threaded hole 31 to fix the small bearing 13 on the sleeve 14 .

One end of the lever 7 near the push rod 12 is provided with a large chute 22, and the outer circle of the small bearing 13 cooperates with the large chute 22. The small bearing 13 can only slide relative to the lever 7. Driven by the lever 7, the small The bearing 13 and the servo motor 20 slide in the axial direction, thereby driving the sleeve 14 and the push rod 12 to slide on the rotating shaft 11, the push rod 12 drives the two connecting rods 10, and the two connecting rods 10 drive the two claws 8 to realize symmetrical clamping hold action.

The two claws 8 are provided with claw steps 28 to make the grasping of objects more stable.

The invention is compact in structure, easy to miniaturize, and realizes that the clamping and rotating actions of the mechanical claws do not interfere with each other. The mechanical claws can realize infinite turnover motion, have high flexibility, and are suitable for high-speed grasping, and are used in industrial mechanical arms, robots, etc. It has great application value.

Description of drawings

Fig. 1 system schematic diagram of the present invention

Fig. 2 schematic diagram of lever part structure of the present invention

Fig. 3 structural representation of push rod parts of the present invention

Fig. 4 is the structural representation of claw part of the present invention

Fig. 5 structural representation of the rotating shaft part of the present invention

Fig. 6 Schematic diagram of sleeve part structure of the present invention

In the figure: 1, steering gear fixing part; 2, steering gear; 3, rudder arm; 4, fixed plate; 5, large set screw; 6, washer; 7, lever; 8, claw; 9, pin shaft; 10, Connecting rod; 11, rotating shaft; 12, push rod; 13, small bearing; 14, sleeve; 15, circlip; 16, pillar; 17, large bearing; 18, coupling; 19 motor fixing plate; 20, servo Motor; 21, lever positioning hole; 22, large chute; 23, small chute; 24, circlip groove; 25, push rod inner hole; 26, push rod cylindrical surface; 27, push rod shoulder; 28, claw Step; 29, shaft boss; 30, sleeve positioning hole; 31, sleeve threaded hole.

Detailed ways

The present invention is further described in conjunction with Fig. 1-Fig. 6:

A flexible mechanical claw includes: steering gear fixing part 1, steering gear 2, rudder arm 3, fixing plate 4, large positioning screw 5, washer 6, lever 7, claw 8, pin shaft 9, connecting rod 10 , rotating shaft 11, push rod 12, small bearing 13, sleeve 14, circlip 15, pillar 16, large bearing 17, shaft coupling 18, motor fixing plate 19, servo motor 20. The steering gear fixing part 1 is fixed on the fixed plate 4 and the motor fixed plate 19, the fixed plate 4 and the motor fixed plate 19 have the same external structure and size, and are installed in parallel, and the pillar 16 is connected to the fixed plate 4 and the motor fixed plate by bolts Between 19, it plays the role of positioning and strengthening the structure. During the installation process, it should be ensured that the parallelism between the fixing plate 4 and the motor fixing plate 19 is relatively high. The servo motor 20 is fixed on the motor fixing plate 19 with screws. The large bearing 17 is fixed on the fixed plate, and the cylindrical step 29 on the rotating shaft 11 passes through the central hole of the large bearing 17, and is connected with the output shaft of the servo motor 20 through the shaft coupling 18, and the rotating shaft 11 can be driven by the servo motor 20. The epicyclic motion is realized, so that the mechanical claw can realize the rotary motion.

The two ends of the rotating shaft 11 are respectively affixed with two pin shafts 9, and the two claws 8 are connected to the pin shaft 9 through the pin shaft holes in the middle position, and the claws 8 can surround the pin shafts. 9 rotates relative to the rotating shaft 11. The ends of the two claws 8 are fixedly connected with a pin shaft 9 respectively, and the two pin shafts 9 at the end of the claw (8) are respectively connected with connecting rods 10, and the two connecting rods 10 can respectively wrap around the pin shaft 9 and the claw 9 relative rotation. The other ends of the two connecting rods 10 are respectively connected to the push rod 12 through a pin shaft 9 , and the two connecting rods 10 can rotate relative to the push rod 12 around the pin shaft 9 connecting the connecting rod 10 and the push rod 12 . The push rod 12 cooperates with the rotating shaft boss 29 on the rotating shaft 11 through the pushing rod inner hole 25 on it, and the pushing rod 12 can slide linearly on the rotating shaft boss 29 on the rotating shaft 11 relative to the rotating shaft 11 .

The material of above-mentioned bearing pin 9 is chrome-plated 45 steel axles, and diameter is 0.003 meter, also can use the rotating shaft with bearing to replace, thereby reduces friction. The material of the rotating shaft 11 is 304 stainless steel, the diameter of the upper rotating shaft boss 29 is about 0.004 meters, and the material of the push rod 12 is tin bronze or polytetrafluoroethylene. A cylindrical linear bearing can also be installed on the rotating shaft boss 29, thereby reducing sliding friction.

A steering gear 2 is fixedly connected to the steering gear fixing part 1, and a steering gear 3 is installed on the steering gear 2, and the steering gear 3 can swing under the drive of the steering gear 2. The end of the rudder arm 3 is connected on the small chute 13 on the lever 7 by a pin, and the lever 7 can do relative rotation and certain sliding with the rudder arm. There is a lever positioning hole 21 in the upper middle position of the lever 7, and a large positioning screw 5 passes through the lever positioning hole 21, and the lever 7 is connected to the steering gear fixing part 1. A washer 6 is installed below the lever 7, and the washer 6 can be adjusted. The height of the lever 7. Driven by the rudder arm 3 , the lever 7 can swing around the large positioning screw 5 , so that the longer end of the lever 7 has a movement component in the axial direction of the servo motor 20 .

The above-mentioned lever 7 is made of 304 stainless steel with a thickness of about 0.002 meters, and the material of the washer 6 is tin bronze or polytetrafluoroethylene. The length of the rudder arm is about 0.03 meters, the length of the shorter end of the lever 7 is about 0.03 meters, and the length of the longer end is about 0.06 meters.

The push rod 12 is provided with a circlip groove 24 , the circlip groove 24 is provided with a circlip 15 , and one end of the push rod 12 is also provided with a push rod shoulder 27 . A sleeve 14 is installed on the push rod cylindrical surface 26 on the push rod 12 through the sleeve positioning hole 30 thereon, and one end of the sleeve 14 is against the push rod retaining shoulder 27, and the other end is against the jump spring 15, and the sleeve 14 can only rotate relatively around the push rod cylindrical surface 26, and can not slide laterally relative to the push rod.

The sleeve 14 is provided with a sleeve threaded hole 31 , and a screw passes through the sleeve threaded hole 31 to fix the small bearing 13 on the sleeve 14 .

The above-mentioned push rod 12 is made of 304 stainless steel, has an outer diameter of about 0.001 meters, an inner diameter of about 0.006 meters, and a length of about 0.001 meters.

The longer end of described lever 7 is provided with large chute 22, and the width of large chute is 0.006 meters, and the outer circle of small bearing 13 cooperates with large chute 22, and small bearing 13 can only slide relative to lever 7, and in the lever Driven by 7, the axis direction of the small bearing 13 eye servo motor 20 slides, thereby driving the sleeve 14 and the push rod 12 to slide on the rotating shaft 11, the push rod 12 drives the two connecting rods 10, and the two connecting rods 10 drive the two Two jaws 8 realize symmetrical clamping action. The two claws 8 are provided with claw steps 28 to make the grasping of objects more stable. The material of claw 8 is 6061-T6 aluminum alloy, and anti-slip rubber can also be bonded on claw 8 to increase friction.

The invention is compact in structure, easy to miniaturize, and realizes that the clamping and rotating actions of the mechanical claws do not interfere with each other. The mechanical claws can realize infinite turnover motion, have high flexibility, and are suitable for high-speed grasping, and are used in industrial mechanical arms, robots, etc. It has great application value.

Claims (2)

1. a gripper that can flexible rotating, is characterized in that: it comprises steering wheel fixture (1), steering wheel (2), rudder arm (3), fixed head (4), large dog screw (5), packing ring (6), lever (7), pawl (8), bearing pin (9), connecting rod (10), rotating shaft (11), push rod (12), little bearing (13), sleeve (14), jump ring (15), pillar (16), large bearing (17), shaft coupling (18), motor fixing plate (19), servomotor (20); Described steering wheel fixture (1) is fixed on fixed head (4) and motor fixing plate (19), fixed head (4) is identical with motor fixing plate (19) contour structure size, parallel installation, pillar (16) is fixedly connected between fixed head (4) and motor fixing plate (19), plays the effect of location and reinforcement structure; Servomotor (20) is fixed on motor fixing plate (19); Described rotating shaft (11) is the symmetrical rod member of a T shape, comprise rotating shaft boss (29) and with rotating shaft boss (29) boss connected vertically; Large bearing (17) is fixed on fixed head (4), rotating shaft boss (29) in rotating shaft (11) is through the centre bore of large bearing (17), and be connected with the output shaft of servomotor (20) by shaft coupling (18), rotating shaft (11) realizes turnover motion under the drive of servomotor (20), thereby makes gripper realize rotational motion;

The two ends of the boss that described rotating shaft (11) and rotating shaft boss (29) are perpendicular are connected with respectively two bearing pins (9), two pawls (8) are connected with described bearing pin (9) by the pin shaft hole in centre position, and pawl (8) can relatively rotate around described bearing pin (9) and rotating shaft (11).The end of two pawls (8) is also connected with respectively a bearing pin (9), on two bearing pins (9) of pawl (8) end, is connected with respectively connecting rod (10), and two connecting rods (10) can relatively rotate around bearing pin (9) and pawl (8) respectively; The other end of described two connecting rods (10) is connected with push rod (12) by a bearing pin (9) respectively, and two connecting rods (10) can relatively rotate with push rod (12) around the bearing pin (9) that connects connecting rod (10) and push rod (12); Described push rod (12) coordinates with the rotating shaft boss (29) in rotating shaft (11) by the push rod endoporus (25) on it, and push rod (12) can be made linear slide by the upper phase countershaft (11) of rotating shaft boss (29) in rotating shaft (11);

On described steering wheel fixture (1), be connected with steering wheel (2), rudder arm (3) is installed on steering wheel (2), rudder arm (3) can be at the drive lower swing of steering wheel (2); It is upper near the little chute (23) on steering wheel one end that the end of rudder arm (3) is connected to lever (7) by bearing pin, and lever (7) can relatively rotate and certain slip with rudder arm; Described lever (7) is a L shaped rod member, on it, there is lever locating hole (21) in centre position, a large dog screw (5) is through lever locating hole (21), lever (7) is connected on steering wheel fixture (1), between lever (7) and steering wheel fixture (1), packing ring (6) is installed, the height that packing ring (6) can adjustment (adjusting) lever (7); Described lever (7), under the drive of rudder arm (3), can swing around large dog screw (5), thereby there is a component motion one end of the close push rod (12) of lever (7) on the axis direction of servomotor (20).On described push rod (12), be provided with jump-ring slot (24), jump ring (15) is installed on jump-ring slot (24), one end of push rod (12) is also provided with push rod shoulder block (27); A sleeve (14) is arranged on the push rod cylinder (26) on push rod (12) by the sleeve locating hole (30) on it, one end of sleeve (14) props up push rod shoulder block (27), the other end props up jump ring (15), sleeve (14) relatively rotates around push rod cylinder (26) only, and push rod laterally slides relatively.

On described sleeve (14), be provided with bush whorl hole (31), a screw is fixed in little bearing (13) on sleeve (14) by bush whorl hole (31);

Described lever (7) is provided with large chute (22) near one end of push rod (12), the cylindrical of little bearing (13) coordinates with large chute (22), little bearing (13) only with lever (7) relative sliding, under the drive of lever (7), the axis direction of little bearing (13) eye servomotor (20) slides, thereby band moving sleeve (14) and push rod (12) are in the upper slip of rotating shaft (11), push rod (12) drives two connecting rods (10), and two connecting rods (10) drive two pawls (8) to realize symmetrical holding action again.

2. a kind of gripper that can flexible rotating according to claim 1, is characterized in that: on described two pawls (8), be provided with pawl step (28), make to capture object more stable.

Images