CN109807923B - Large-stroke electric clamping jaw - Google Patents
Large-stroke electric clamping jaw Download PDFInfo
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- CN109807923B CN109807923B CN201910252224.4A CN201910252224A CN109807923B CN 109807923 B CN109807923 B CN 109807923B CN 201910252224 A CN201910252224 A CN 201910252224A CN 109807923 B CN109807923 B CN 109807923B
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- 230000007246 mechanism Effects 0.000 claims abstract description 41
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- 239000008280 blood Substances 0.000 description 2
- 210000004369 blood Anatomy 0.000 description 2
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Abstract
本发明涉及一种大行程电动夹爪，包括第一夹持组件、第二夹持组件、支撑座、直线传输机构、以及驱动机构。第一夹持组件包括第一夹头、第一连杆、第二连杆，第一连杆和第二连杆的一端分别与支撑座转动连接，第一连杆和第二连杆的另一端分别与第一夹头转动连接。第二夹持组件包括第二夹头、第三连杆、第四连杆，第三连杆和第四连杆的一端分别与支撑座转动连接，第三连杆和第四连杆的另一端分别与第二夹头转动连接。第二连杆与支撑座连接的一端设有第一连接部，第四连杆与支撑座连接的一端设有第二连接部。直线传输机构与第一连接部、第二连接部连接。驱动机构带动推动件来回移动，让第二连杆、第四连杆摆动，实现第一夹头、第二夹头的开合。
The present invention relates to a long-stroke electric clamp, comprising a first clamping assembly, a second clamping assembly, a support seat, a linear transmission mechanism, and a driving mechanism. The first clamping assembly comprises a first chuck, a first connecting rod, and a second connecting rod. One end of the first connecting rod and the second connecting rod are respectively rotatably connected to the support seat, and the other end of the first connecting rod and the second connecting rod are respectively rotatably connected to the first chuck. The second clamping assembly comprises a second chuck, a third connecting rod, and a fourth connecting rod. One end of the third connecting rod and the fourth connecting rod are respectively rotatably connected to the support seat, and the other end of the third connecting rod and the fourth connecting rod are respectively rotatably connected to the second chuck. One end of the second connecting rod connected to the support seat is provided with a first connecting portion, and one end of the fourth connecting rod connected to the support seat is provided with a second connecting portion. The linear transmission mechanism is connected to the first connecting portion and the second connecting portion. The driving mechanism drives the pusher to move back and forth, allowing the second connecting rod and the fourth connecting rod to swing, so as to realize the opening and closing of the first chuck and the second chuck.
Description
Technical Field
The invention relates to the field of automation, in particular to a large-stroke electric clamping jaw.
Background
In the industrial automation industry, a mobile robot can adopt a mechanical arm to carry and sort materials, such as a sorting robot and an explosion-eliminating robot.
In medical automation devices, such as blood analyzers, biochemical analyzers, blood smear preparation machines, manipulators are also used to perform tube, tube rack and slide scheduling, and in some applications, the manipulator end grippers are often implemented with pneumatic jaws.
However, the pneumatic clamping jaw needs to adopt an air pump, so that the pneumatic clamping jaw has a plurality of limitations in some occasions, in addition, the pneumatic clamping jaw can also generate environmental noise, and the clamping angle of the pneumatic clamping jaw is usually specific, so that the electric clamping jaw is arranged, an air source is abandoned, a factory is simplified, and the pneumatic clamping jaw is powered on.
In the prior art, an electric clamping jaw is usually driven and controlled by a servo motor or a stepping motor, so that clamping of the clamping jaw is realized. After the object is clamped, the motor directly drives the clamping jaw to move, so that the clamping jaw overshoots, the clamped object is impacted, the object is damaged, and the clamping jaw transmission system is impacted, so that the service life of the system is reduced.
In the prior art, the opening and closing travel of the electric clamping jaw is generally only within 0-30mm, an object with a larger appearance cannot be clamped, and the application range is limited.
Disclosure of Invention
The invention aims to solve the technical problem of providing a large-stroke electric clamping jaw.
The technical scheme adopted for solving the technical problems is as follows: constructing a large-stroke electric clamping jaw, which comprises a first clamping assembly, a second clamping assembly, a supporting seat, a linear transmission mechanism and a driving mechanism;
The first clamping assembly comprises a first chuck, a first connecting rod and a second connecting rod, one end of the first connecting rod and one end of the second connecting rod are respectively and rotatably connected with the supporting seat, and the other end of the first connecting rod and the other end of the second connecting rod are respectively and rotatably connected with the first chuck;
The second clamping assembly comprises a second chuck, a third connecting rod and a fourth connecting rod, one end of the third connecting rod and one end of the fourth connecting rod are respectively and rotatably connected with the supporting seat, and the other end of the third connecting rod and the other end of the fourth connecting rod are respectively and rotatably connected with the second chuck;
The end, connected with the supporting seat, of the second connecting rod is provided with a first connecting part, and the end, connected with the supporting seat, of the fourth connecting rod is provided with a second connecting part;
the linear transmission mechanism comprises a pushing piece, and the pushing piece is connected with the first connecting part and the second connecting part;
The driving mechanism comprises a motor, the motor drives the pushing piece to move back and forth so as to drive the second connecting rod and the fourth connecting rod to swing, and the first clamping head and the second clamping head are opened and closed.
Preferably, the first link is parallel to the second link, and the third link is parallel to the fourth link;
The distance between the rotation centers of the two ends of the first connecting rod is the same as the distance between the connecting lines between the rotation centers of the two ends of the second connecting rod; the distance between the rotation centers of the two ends of the third connecting rod is the same as the distance between the connecting lines between the rotation centers of the two ends of the fourth connecting rod.
Preferably, the first chuck comprises a first clamping part and a first connecting seat, and the rotary connection positions of the first connecting rod, the second connecting rod and the first chuck are positioned on the first connecting seat;
The second chuck comprises a second clamping part and a second connecting seat, and the rotating connection positions of the first connecting rod, the second connecting rod and the first chuck are positioned on the first connecting seat;
the first clamping part and the second clamping part are parallel to each other.
Preferably, the first clamping assembly and the second clamping assembly are symmetrically arranged, and the moving direction of the pushing piece is located on the middle line of an included angle between the first clamping assembly and the second clamping assembly.
Preferably, the extending direction of the first clamping part and the second clamping part is parallel to the back and forth moving direction of the pushing piece.
Preferably, the linear transmission mechanism further comprises a screw rod, wherein the pushing piece is in a rod shape, one end of the pushing piece is connected with the first connecting part and the second connecting part, and the other end of the pushing piece is in threaded connection with threads of the screw rod;
One end of the screw rod is connected with an output shaft of the motor, and the screw rod is driven to rotate when the output shaft rotates, so that the pushing piece moves along the axial direction of the screw rod to drive the second connecting rod and the fourth connecting rod to swing.
Preferably, the first connecting part extends to the second clamping assembly, a first guide groove is arranged on the first connecting part, and the first guide groove extends along the extending direction of the first connecting part;
the second connecting part extends to the first clamping assembly, a second guide groove is formed in the second connecting part, and the second guide groove extends along the extending direction of the second connecting part;
The linear transmission mechanism comprises a positioning pin, the positioning pin penetrates through the first guide groove and the second guide groove, and one end of the pushing piece is connected with the positioning pin so as to drive the second connecting rod and the fourth connecting rod to swing when axially moving.
Preferably, the support seat is further provided with a guiding mechanism for guiding and positioning the movement of the pushing piece.
Preferably, the guiding mechanism comprises a guiding shaft, the axial direction of the guiding shaft is parallel to the axial direction of the pushing piece, a guiding hole is formed in the pushing piece, the axial direction of the guiding hole is parallel to the axial direction of the pushing piece, and the guiding shaft penetrates through the guiding hole to guide and position the movement of the pushing piece.
Preferably, the driving mechanism is arranged at one end of the screw rod far away from the pushing piece, the large-stroke electric clamping jaw further comprises a control device, the control device is arranged at one side of the driving mechanism, which is opposite to the screw rod, and the control device is electrically connected with the driving mechanism so as to control the operation of the motor.
The large-stroke electric clamping jaw has the following beneficial effects: the number of turns of rotation of the driving shaft of the motor is controllable, stepless regulation can be realized through driving of the motor, the action is stable, the stroke of the linear transmission mechanism can be made as long as possible, the linear transmission mechanism can stably stay at any position when stretching and contracting, the first clamping head and the second clamping head can be opened and kept at any position when the second connecting rod and the fourth connecting rod are driven to swing, the action of the first clamping head and the second clamping head is stable, and the reliability and the safety of clamping are improved.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic perspective view of a large travel motorized jaw in an embodiment of the present invention;
FIG. 2 is a schematic cross-sectional view of the large travel motorized jaw of FIG. 1;
Fig. 3 is an exploded view of the large stroke motorized jaw of fig. 1.
Detailed Description
For a clearer understanding of technical features, objects and effects of the present invention, a detailed description of embodiments of the present invention will be made with reference to the accompanying drawings.
As shown in fig. 1 and 2, the large-stroke electric jaw in a preferred embodiment of the present invention includes a first clamping assembly 1, a second clamping assembly 2, a support base 3, a linear transmission mechanism 4, and a driving mechanism 5.
The first clamping assembly 1 comprises a first clamping head 11, a first connecting rod 12 and a second connecting rod 13, one end of the first connecting rod 12 and one end of the second connecting rod 13 are respectively and rotatably connected with the supporting seat 3, and the other end of the first connecting rod 12 and the other end of the second connecting rod 13 are respectively and rotatably connected with the first clamping head 11.
The second clamping assembly 2 comprises a second chuck 21, a third connecting rod 22 and a fourth connecting rod 23, one end of the third connecting rod 22 and one end of the fourth connecting rod 23 are respectively and rotatably connected with the supporting seat 3, and the other end of the third connecting rod 22 and the other end of the fourth connecting rod 23 are respectively and rotatably connected with the second chuck 21.
The end of the second connecting rod 13 connected with the supporting seat 3 is provided with a first connecting part 131, and the end of the fourth connecting rod 23 connected with the supporting seat 3 is provided with a second connecting part 231. The linear transport mechanism 4 includes a pusher 41, and the pusher 41 is connected to the first connection portion 131 and the second connection portion 231.
The driving mechanism 5 comprises a motor 51, and the motor 51 drives the pushing piece 41 to move back and forth so as to drive the second connecting rod 13 and the fourth connecting rod 23 to swing, so that the first clamping head 11 and the second clamping head 21 are opened and closed.
The number of turns of the driving shaft of the motor 51 is controllable, stepless regulation can be realized through driving of the motor 51, the action is stable, the stroke of the linear transmission mechanism 4 can be made as long as possible, the linear transmission mechanism 4 can stably stay at any position when stretching and contracting, the first clamping head 11 and the second clamping head 21 can be opened and kept at any position when the second connecting rod 13 and the fourth connecting rod 23 are driven to swing, the action of the first clamping head 11 and the second clamping head 21 is stable, and the reliability and the safety of clamping are improved.
In some embodiments, the first link 12 is parallel to the second link 13 and the third link 22 is parallel to the fourth link 23. Further, the distance between the rotational centers of both ends of the first link 12 is the same as the distance between the connecting lines between the rotational centers of both ends of the second link 13; the distance between the rotation centers of both ends of the third link 22 is the same as the distance between the connecting lines between the rotation centers of both ends of the fourth link 23.
The clamping jaw positions of the first clamping assembly 1 and the second clamping assembly 2 are equivalent to a parallelogram structure, one side of the parallelogram where the supporting seat 3 is positioned is fixed, and then the angle of the other side of the parallelogram where the first clamping head 11 and the second clamping head 21 which are opposite to the parallelogram is fixed, so that the parallel movement of the tail ends of the clamping jaws can be ensured.
In some embodiments, the first chuck 11 includes a first clamping portion 111 and a first connecting seat 112, and the rotational connection positions of the first connecting rod 12, the second connecting rod 13 and the first chuck 11 are located on the first connecting seat 112. The second chuck 21 includes a second clamping portion 211 and a second connecting seat 212, and the rotational connection positions of the first connecting rod 12, the second connecting rod 13 and the first chuck 11 are located on the first connecting seat 112.
Preferably, the first clamping portion 111 and the second clamping portion 211 are parallel to each other, so that the first clamping portion 111 and the second clamping portion 211 are always parallel to each other during operation, which is beneficial to stable clamping. Further, the first clamping assembly 1 and the second clamping assembly 2 are symmetrically arranged, and the moving direction of the pushing member 41 is located on the middle line of the included angle between the first clamping assembly 1 and the second clamping assembly 2, so that the first clamping assembly 1 and the second clamping assembly 2 can be driven to swing at the same speed in opposite directions.
Preferably, the extending direction of the first clamping portion 111 and the second clamping portion 211 is parallel to the back-and-forth moving direction of the pushing member 41, so that the first clamping portion 111 and the second clamping portion 211 are parallel and opposite, and the first clamping portion 111 and the second clamping portion 211 are always parallel to facilitate clamping during the opening and closing process.
When the first clamping portion 111 and the second clamping portion 211 are not parallel after the first clamping head 11 and the second clamping head 21 are replaced, the first clamping portion 111 and the second clamping portion 211 may be kept at other angles all the time. The first clamping portion 111 and the second clamping portion 211 may be circular, and there is no change in angle between the first clamping portion 111 and the second clamping portion 211 during the swinging and opening and closing process.
The linear transmission mechanism 4 includes a screw 42 and a positioning pin 43, and the pushing member 41 has a rod shape, one end of which is connected to the first connecting portion 131 and the second connecting portion 231, and the other end of which is screwed with the screw 42. Preferably, in this embodiment, the linear transmission mechanism 4 further includes a nut 44 screwed outside the screw 42, and the pushing member 41 is fixedly connected to the nut 44, and when the screw 42 rotates, the nut 44 and the pushing member 41 are driven to move along the axial direction of the screw 42. The nut 44 and the pushing member 41 may be integrated, a thread or the like for engaging with the screw rod 42 is provided on the pushing member 41, and the relevant fitting is assembled to engage the pushing member 41 with the screw rod 42.
One end of the screw rod 42 is connected with an output shaft of the motor 51, and when the output shaft rotates, the screw rod 42 is driven to rotate, so that the pushing piece 41 moves along the axial direction of the screw rod 42 to drive the second connecting rod 13 and the fourth connecting rod 23 to swing.
As shown in fig. 2 and 3, in some embodiments, the first connecting portion 131 extends toward the second clamping assembly 2, and the first connecting portion 131 is provided with a first guiding groove 132, where the first guiding groove 132 extends along the extending direction of the first connecting portion 131. Further, the second connecting portion 231 extends toward the first clamping assembly 1, the second connecting portion 231 is provided with a second guiding groove 232, and the second guiding groove 232 extends along the extending direction of the second connecting portion 231.
Preferably, one end of the pushing member 41 is connected with the positioning pin 43, the positioning pin 43 penetrates through the first guide groove 132 and the second guide groove 232, the other end of the pushing member 41 is in threaded connection with the screw thread of the screw rod 42, and the pushing member 41 is driven to axially move to adjust the axial position under the rotation of the screw rod 42.
Preferably, the positioning pin 43 also penetrates the pushing member 41, and when the pushing member 41 moves axially, the positioning pin 43 can slide in the longitudinal direction of the grooves in the first guide groove 132 and the second guide groove 232.
In other embodiments, the screw rod 42 may be directly screwed with the positioning pin 43, and the positioning pin 43 is moved back and forth along the axial direction of the linear transmission mechanism 4 to drive the first connection portion 131 and the second connection portion 231 to swing during rotation. Or the screw thread on the driving shaft of the motor 51 can be matched with the screw thread of the pushing piece 41, so as to drive the pushing piece 41 to move back and forth.
Preferably, in order to stabilize the motion track of the pushing member 41, the supporting seat 3 is further provided with a guiding mechanism 6 for guiding and positioning the movement of the pushing member 41. The guide mechanism 6 comprises a guide shaft 61, the axial direction of the guide shaft 61 is parallel to the axial direction of the pushing piece 41, the pushing piece 41 is provided with a guide hole 411, the axis of the guide hole 411 is parallel to the axial direction of the pushing piece 41, and the guide shaft 61 penetrates through the guide hole 411 to guide and position the movement of the pushing piece 41.
The driving mechanism 5 is arranged at one end of the screw rod 42 far away from the pushing piece 41, the large-stroke electric clamping jaw further comprises a control device 7, the control device 7 is arranged at one side of the driving mechanism 5 opposite to the screw rod 42, and the control device 7 is electrically connected with the driving mechanism 5 to control the operation of the motor 51 and simultaneously control the opening strokes of the first clamping head 11 and the second clamping head 21.
The control device 7 may control the number of rotations of the motor 51, thereby indirectly controlling the number of rotations of the screw 42 and the moving distance of the pushing member 41 on the screw 42.
It will be appreciated that the above technical features may be used in any combination without limitation.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910252224.4A CN109807923B (en) | 2019-03-29 | 2019-03-29 | Large-stroke electric clamping jaw |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910252224.4A CN109807923B (en) | 2019-03-29 | 2019-03-29 | Large-stroke electric clamping jaw |
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| CN109807923A CN109807923A (en) | 2019-05-28 |
| CN109807923B true CN109807923B (en) | 2024-11-12 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113043011A (en) * | 2019-12-27 | 2021-06-29 | 天津中利特自动化设备科技有限公司 | Multi-station press-mounting machine |
| CN113478516B (en) * | 2021-06-03 | 2022-06-14 | 北京思灵机器人科技有限责任公司 | Clamping jaw device and file grabbing equipment |
| CN115157299A (en) * | 2022-06-16 | 2022-10-11 | 谙布尔(北京)科学技术有限公司 | Four-bar linkage manipulator |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107020643A (en) * | 2017-05-24 | 2017-08-08 | 北京镁伽机器人科技有限公司 | Object clamping part and robot |
| CN209793773U (en) * | 2019-03-29 | 2019-12-17 | 胡月 | Large-stroke electric clamping jaw |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101770154B1 (en) * | 2016-03-02 | 2017-08-22 | 히윈 테크놀러지스 코포레이션 | Clamping apparatus capable of ejecting material in radial direction |
| CN207077458U (en) * | 2017-07-13 | 2018-03-09 | 广州市赛康尼机械设备有限公司 | Mechanical grip and clamping bar mechanism |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107020643A (en) * | 2017-05-24 | 2017-08-08 | 北京镁伽机器人科技有限公司 | Object clamping part and robot |
| CN209793773U (en) * | 2019-03-29 | 2019-12-17 | 胡月 | Large-stroke electric clamping jaw |
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Effective date of registration: 20210702 Address after: 518000 6th floor, building B, Huafeng International Robot Industrial Park, Hangcheng Avenue, Nanchang community, Xixiang street, Bao'an District, Shenzhen City, Guangdong Province Applicant after: HUILING-TECH ROBOTIC Co.,Ltd. Address before: 518000 31, 1 building, 1002 news tower, Shennan Middle Road, Futian District, Shenzhen, Guangdong. Applicant before: Hu Yue |
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