CN221111855U - Composite motion mechanism and mechanical claw - Google Patents

Abstract

The application relates to a compound movement mechanism and a mechanical claw. The combined motion mechanism comprises a base body, a rotation assembly and a telescopic assembly. The rotating assembly includes a drum rotationally coupled to the substrate. The telescoping assembly includes a telescoping shaft movably connected to the bowl in an axial direction of the bowl, the telescoping shaft rotating by following rotation of the bowl and telescopically moving relative to the bowl. The composite motion mechanism and the mechanical claw are used for rotationally connecting the rotary drum with the substrate, and the rotary drum outputs rotary motion in the rotating process; in addition, through connecting the telescopic shaft with moving the rotary drum along axial direction to can realize telescopic motion through the telescopic shaft, and then realize rotary motion and telescopic motion simultaneously, no longer need set up two kinds of motion actuating mechanism simultaneously, reduced the cost and the occupation space of gripper.

Description

Composite motion mechanism and mechanical claw

Technical Field

The disclosure relates to the field of mechanical arms, and in particular relates to a compound movement mechanism and a mechanical claw.

Background

A gripper is an automatic operating device that mimics certain motion functions of a human hand and arm for grasping, handling objects or operating tools in a fixed program. The gripper often needs to perform both a rotational and a gripping motion during the motion, and to perform these motions it is necessary to be able to drive the gripper in rotation and in a linear telescopic movement. The existing mechanical claw generally needs to install a mechanism for linear motion and rotary motion at the same time when realizing rotation and telescopic motion, so that the mechanical claw needs higher cost and occupies a large amount of use space.

Disclosure of utility model

In view of the foregoing, it is necessary to provide a compound motion mechanism and a gripper for simultaneously effecting a rotational motion and a telescopic motion.

To this end, the present disclosure first provides a compound motion mechanism comprising:

A base;

A rotating assembly comprising a drum rotationally coupled to the substrate;

The telescopic assembly comprises a telescopic shaft, the telescopic shaft is movably connected with the rotary drum along the axial direction of the rotary drum, and the telescopic shaft rotates by following the rotary drum to rotate and moves relative to the rotary drum in a telescopic manner.

The rotary assembly further comprises a driving component, wherein the driving component is connected with the rotary drum and used for driving the rotary drum to rotate relative to the substrate.

According to the compound motion mechanism, the driving part comprises a driving machine and a gear, wherein the driving machine is connected with the rotary drum through the gear and is used for driving the rotary drum to rotate through the gear.

According to the compound movement mechanism, the driving machine is a hydraulic motor.

According to the composite motion mechanism, the telescopic assembly further comprises a piston, a piston cavity is arranged in the rotary cylinder, the piston is movably arranged in the piston cavity to divide the piston cavity into a first cavity and a second cavity, and the piston is connected with the telescopic shaft; and the rotary drum comprises a first connecting hole and a second connecting hole, the first connecting hole is communicated with the first cavity, the second connecting hole is communicated with the second cavity, and the telescopic shaft is pushed to move by the piston through fluid conduction through the first connecting hole and the second connecting hole.

According to the compound movement mechanism, a sealed first fluid cavity and a sealed second fluid cavity are formed between the rotary drum and the matrix, the first connecting hole is positioned in the first fluid cavity, and the second connecting hole is positioned in the second fluid cavity.

According to the compound movement mechanism, a first groove body and a second groove body are arranged on the circumferential surface of the rotary drum, the first connecting hole is positioned in the first groove body, the second connecting hole is positioned in the second groove body, the first groove body and the basal body form a sealed first fluid cavity, the second groove body and the basal body form the first fluid cavity, and the second groove body and the basal body form the second fluid cavity.

The compound motion mechanism, wherein the rotary drum comprises a guide cavity extending along the axial direction of the rotary drum, the telescopic shaft movably extends out of the piston cavity, and the other end of the telescopic shaft is movably positioned in the guide cavity.

According to the compound movement mechanism, a clamping mechanism for driving the telescopic shaft to follow the rotary drum to rotate is further arranged between the guide cavity and the telescopic shaft.

In addition, the disclosure also provides a mechanical claw, which comprises a claw seat, a pair of claw arms and the composite motion mechanism, wherein the pair of claw arms are rotationally connected with the claw seat, and a rotary drum of the composite motion mechanism is connected with the claw seat and is used for driving the pair of claw arms to rotate through the claw seat; the telescopic shaft of the compound motion mechanism is rotationally connected with the claw arm and is used for pulling the claw arm to open or close relative to the claw seat.

Compared with the prior art, the composite motion mechanism and the mechanical claw are used for outputting the rotary motion in the rotating process by rotationally connecting the rotary drum with the substrate; in addition, through connecting the telescopic shaft with moving the rotary drum along axial direction to can realize telescopic motion through the telescopic shaft, and then realize rotary motion and telescopic motion simultaneously, no longer need set up two kinds of motion actuating mechanism simultaneously, reduced the cost and the occupation space of gripper.

Drawings

In order to more clearly illustrate the embodiments, the drawings that are required to be used in the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are some examples of the present disclosure and that other drawings may be obtained from these drawings by persons of ordinary skill in the art without inventive work.

Fig. 1 is a schematic view of the structure of the gripper.

Fig. 2 is a schematic cross-sectional view of a mechanical rotor.

Fig. 3 is a schematic view of the structure of the jaw base and the jaw arm in an exploded state.

Fig. 4 is a schematic structural view of the compound motion mechanism.

Fig. 5 is a schematic view of the structure of the rotating assembly.

Fig. 6 is a schematic cross-sectional view of the telescopic shaft and the drum.

Fig. 7 is a schematic structural view of the drum.

Description of the main reference signs

The following detailed description will further illustrate the disclosure in conjunction with the above-described drawings.

Detailed Description

In order that the above-recited objects, features and advantages of the present disclosure may be more clearly understood, a detailed description of the present disclosure will be rendered by reference to the appended drawings and appended drawings. The embodiments of the present application and the features in the embodiments may be combined with each other without collision. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, and the described embodiments are merely some, rather than all, of the embodiments of the present disclosure. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure are intended to be within the scope of this disclosure.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure.

In various embodiments, for ease of description and not limitation of the present disclosure, the term "coupled" as used in the specification and claims of this disclosure is not limited to a physical or mechanical connection, but may include an electrical connection, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship is changed accordingly.

Fig. 1 is a schematic structural view of a mechanical claw, and fig. 2 is a schematic sectional structural view of a mechanical rotation. As shown in fig. 1 and 2, the mechanical gripper includes a gripper base 11, a pair of gripper arms 10, and a compound movement mechanism 20, the gripper base 11 being used to connect the pair of gripper arms 10, the compound movement mechanism 20 being used to drive the pair of gripper arms 10 to open, close and rotate on the gripper base 11.

Fig. 3 is a schematic view of the structure of the jaw seat 11 and the jaw arm 10 in an exploded state. As shown in fig. 1-3, a pair of the claw arms 10 are rotatably connected to the claw seat 11, and the compound movement mechanism 20 is rotatably connected to the claw arms 10 for pulling the claw arms 10 to open or close relative to the claw seat 11. Specifically, one end of the claw arm 10 is rotatably connected to the claw seat 11 at the first rotation shaft 101, forming a rotation center of the claw arm 10 in an opening or closing motion. In addition, the claw arm 10 is further rotatably connected to the compound movement mechanism 20 at the second rotation shaft 102, and the first rotation shaft 101 and the second rotation shaft 102 do not overlap, so that the compound movement mechanism 20 can draw the claw arm 10 to rotate by telescoping movement with the first rotation shaft 101 as a rotation center, and the rotation arm is formed between the first rotation shaft 101 and the second rotation shaft 102, and finally, the opening and closing actions of the pair of claw arms 10 are realized. Meanwhile, the compound movement mechanism 20 is connected to the jaw seat 11, and is configured to drive a pair of jaw arms 10 to rotate through the jaw seat 11. By the rotation of the jaw seat 11, the pair of jaw arms 10 can also rotate together with the jaw seat 11, so that the clamping angle of the jaw arms 10 can be adjusted, or other objects can be clamped by the jaw arms 10 to rotate.

Fig. 4 is a schematic structural view of the compound movement mechanism 20. As shown in fig. 2 and 4, the compound motion mechanism 20 includes a base 21, a rotating assembly, and a telescoping assembly. The rotation assembly is used to drive the rotation of the jaw housing 11, while the retraction assembly is used to pull the opening or closing of the jaw arm 10.

Specifically, the base 21 has a substantially block-like structure for accommodating and mounting other components of the compound-motion mechanism 20. In this embodiment, the interior of the base 21 has an open-ended cavity, the open end of which can be sealed by an end cap 211. Wherein, the end cover 211 can be detachably connected by means of connectors, riveting, etc., and when the composite motion mechanism 20 needs to be repaired or maintained, the end cover 211 can be opened to maintain and repair the components in the cavity.

Fig. 5 is a schematic view of the structure of the rotating assembly. As shown in fig. 2, 4 and 5, the rotating assembly includes a drum 24 and a drive member. The drum 24 is rotatably connected to the base 21, for example, by one or more bearings rotatably disposed in the cavity of the base 21, and the drum 24 extends at least partially from the end cap 211 of the base 21 for connection to the jaw housing 11. Thus, when the drum 24 rotates, the drum 24 can drive the jaw 11 to rotate. The driving part is connected with the rotary drum 24 and is used for driving the rotary drum 24 to rotate relative to the base 21. As an example, the driving part includes a driving machine 22 and a gear, and the driving machine 22 is a hydraulic motor, and is disposed outside the base 21, and drives the output shaft to rotate by hydraulic flow. The gears comprise a first gear 221 connected to the output shaft and a second gear 222 connected to the circumferential surface of the drum 24, the first gear 221 and the second gear 222 are located inside the base 21 and meshed with each other, the driving machine 22 is connected with the drum 24 through the gears, the drum 24 is driven to rotate through the first gear 221 and the second gear 222, and the jaw 11 is driven to rotate through the drum 24.

Fig. 6 is a schematic cross-sectional structure of the telescopic shaft 23 and the drum 24. As shown in fig. 7, the telescopic assembly includes a telescopic shaft 23 and a piston 231. The telescopic shaft 23 is movably connected to the drum 24 in an axial direction of the drum 24, and the telescopic shaft 23 is rotated by following rotation of the drum 24 and is telescopically moved with respect to the drum 24. As an example, a piston 231 cavity is disposed in the drum 24, the piston 231 is movably disposed in the piston 231 cavity to divide the piston 231 cavity into a first cavity and a second cavity, the piston 231 is connected to the telescopic shaft 23 to form a piston cylinder structure, one end of the telescopic shaft 23 passes through the drum 24 and protrudes from the end cover 211, a connecting rod 12 is rotatably connected to the other end of the connecting rod 12, and the other end of the connecting rod 12 is rotatably connected to the second rotating shaft 102, so that the pulling claw arm 10 can rotate around the first rotating shaft 101 as a rotation center by the movement of the telescopic shaft 23.

The bowl 24 further comprises a first connection hole 241 and a second connection hole 242, the first connection hole 241 being in communication with the first chamber, the second connection hole 242 being in communication with the second chamber for conducting fluid through the first connection hole 241 and the second connection hole 242 for pushing the telescopic shaft 23 through the piston 231.

In use, fluid, which may be gas or liquid, is flushed into the first cavity through the first connection hole 241 or into the second cavity through the second connection hole 242, so that the fluid pushes the piston 231 to move in the cavity of the piston 231, and the piston 231 drives the telescopic shaft 23 to move along the length direction of the cavity of the piston 231, thereby realizing the extending or retracting action of the telescopic shaft 23.

Furthermore, in order to guide the axial movement of the telescopic shaft 23, the drum 24 comprises a guide chamber extending in the axial direction of the drum 24, in which the end of the telescopic shaft 23 opposite to the connecting rod 12, i.e. the other end, is movably located for guiding the axial movement of the telescopic shaft 23. In order to realize that the telescopic shaft 23 rotates along with the rotary drum 24, in this embodiment, a locking mechanism for driving the telescopic shaft 23 to rotate along with the rotary drum 24 is further arranged between the guide cavity and the telescopic shaft 23. For example, the locking mechanism may be such that at least a portion of the telescopic shaft 23 located in the guide chamber is configured to be non-circular in cross section, for example, elliptical or square; correspondingly, the cross section of the guide cavity is arranged in an elliptical or square structure corresponding to the cross section of the telescopic shaft 23, so that the rotary drum 24 can rotate together with the telescopic shaft 23 when rotating. Those skilled in the art will understand that the locking mechanism may have other structures, for example, a clamping block is disposed on the telescopic shaft 23, and a clamping groove corresponding to the clamping block is disposed on the inner wall of the guiding cavity to lock the telescopic shaft 23 to rotate relative to the drum 24, which is not limited in the present application.

Since fluid is still required to flow in or out of the first or second chambers during rotation of the drum 24, in order to achieve fluid communication with the first and second chambers during rotation of the drum 24, a sealed first and second fluid chambers 245, 246 are formed between the drum 24 and the substrate 21, the first connecting hole 241 is located in the first fluid chamber 245, and the second connecting hole 242 is located in the second fluid chamber 246. In use, an external fluid cylinder or fluid line can connect the first and second fluid chambers 245, 246 via a connection fitting to exchange fluid with the first and second chambers (i.e., to effect inflow or outflow of fluid) without affecting the rotation of the bowl 24.

Fig. 7 is a schematic view of the structure of the drum 24. As shown in fig. 2 and 7, the circumference of the drum 24 is provided with a first annular groove 243 and a second annular groove 244, the first connecting hole 241 is located in the first groove 243, and the second connecting hole 242 is located in the second groove 244. Sealing rings are provided on both sides of the first groove 243 in the axial direction for forming a sealed first fluid chamber 245 between the first groove 243 and the inner wall of the cavity of the base 21; similarly, depending on the configuration of the base 21, a sealing ring may be provided on at least one side of the second groove 244, thereby forming a sealed second fluid chamber 246 between the second groove 244 and the inner wall of the cavity of the base 21. In operation, the first fluid chamber 245 and the second fluid chamber 246 are the same as the outside fluid pipeline, the first chamber is communicated with the first fluid chamber 245 through the first connecting hole 241, the second chamber is communicated with the second fluid chamber 246 through the second connecting hole 242, and the fluid sequentially enters the first chamber through the first fluid chamber 245 and the first connecting hole 241 to push the piston 231 to move in the piston 231; simultaneously, fluid sequentially enters the second fluid chamber 246 via the second chamber and the second connecting hole 242 and flows out. The reverse movement of the piston 231 is similar to the above process and will not be described here. Because the first and second fluid chambers 245, 246 are annular seals, communication between the first and first fluid chambers 245, 246 is not compromised during rotation of the bowl 24.

The operation of the gripper is described in detail below.

In the process of realizing the rotation action, the driving machine 22 drives the rotary drum 24 to rotate through the gear under the action of external fluid pressure, and the rotary drum 24 drives the jaw seat 11 to rotate relative to the base 21, so that the pair of jaw arms 10 are driven to synchronously rotate.

In the process of realizing the opening and closing action of the claw arm 10, fluid enters the first fluid cavity 245, enters the first cavity through the first connecting hole 241, pushes the piston 231 and the telescopic shaft 23 to axially move, and simultaneously, fluid in the second cavity enters the second fluid cavity 246 through the second connecting hole 242; during the reverse movement, fluid enters the second chamber from the second fluid chamber 246 through the second connection hole 242, and pushes the piston 231 and the telescopic shaft 23 to move in a reverse direction, which is not described herein. During the expansion and contraction process, the expansion and contraction shaft 23 rotates the traction pawl arm 10 with the first rotation shaft as the rotation center, and drives the pair of pawl arms 10 to rotate to open or close.

The above-described complex movement mechanism 20 and the gripper output rotational movement of the drum 24 during rotation by rotationally connecting the drum 24 to the base 21; in addition, the telescopic shaft 23 is movably connected with the rotary drum 24 along the axial direction, so that telescopic movement can be realized through the telescopic shaft 23, further rotary movement and telescopic movement can be realized at the same time, two movement driving mechanisms 22 are not required to be arranged at the same time, and the cost and the occupied space of the mechanical claw are reduced.

In the several specific implementations provided in the present disclosure, it will be apparent to those skilled in the art that the present disclosure is not limited to the details of the above-described exemplary embodiments, and that the present disclosure may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the disclosure being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Furthermore, it is evident that the word "comprising" does not exclude other elements or steps, and that the singular does not exclude a plurality. The terms first, second, etc. are used to denote a name, but not any particular order.

The above embodiments are merely for illustrating the technical aspects of the present disclosure, and although the present disclosure has been described in detail with reference to the above preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical aspects of the present disclosure.

Claims (10)

1. A compound motion mechanism comprising:

A base;

A rotating assembly comprising a drum rotationally coupled to the substrate;

The telescopic assembly comprises a telescopic shaft, the telescopic shaft is movably connected with the rotary drum along the axial direction of the rotary drum, and the telescopic shaft rotates by following the rotary drum to rotate and moves relative to the rotary drum in a telescopic manner.

2. The compound motion mechanism of claim 1, wherein the rotating assembly further comprises a drive member coupled to the drum for driving the drum in rotation relative to the substrate.

3. The compound motion mechanism of claim 2, wherein the drive member comprises a drive motor and a gear, the drive motor being coupled to the drum via the gear for driving the drum in rotation via the gear.

4. A compound motion mechanism as claimed in claim 3, wherein the drive machine is a hydraulic motor.

5. The compound motion mechanism of claim 1, wherein the telescopic assembly further comprises a piston, a piston cavity is arranged in the rotary cylinder, the piston is movably arranged in the piston cavity to divide the piston cavity into a first cavity and a second cavity, and the piston is connected with the telescopic shaft; and the rotary drum comprises a first connecting hole and a second connecting hole, the first connecting hole is communicated with the first cavity, the second connecting hole is communicated with the second cavity, and the telescopic shaft is pushed to move by the piston through fluid conduction through the first connecting hole and the second connecting hole.

6. The compound motion mechanism of claim 5, wherein a sealed first fluid chamber and a sealed second fluid chamber are formed between the drum and the base, the first connecting aperture being located in the first fluid chamber and the second connecting aperture being located in the second fluid chamber.

7. The compound motion mechanism as recited in claim 6, wherein the circumference of the drum is provided with a first slot and a second slot, the first connecting hole is located in the first slot, the second connecting hole is located in the second slot, the first slot forms a sealed first fluid cavity with the base, the second slot forms the first fluid cavity with the base, and the second slot forms the second fluid cavity with the base.

8. The compound motion mechanism as recited in claim 7, wherein the bowl includes a guide cavity extending in an axial direction of the bowl, the telescoping shaft movably extending from the piston cavity, the other end movably positioned within the guide cavity.

9. The compound motion mechanism as recited in claim 8, wherein a locking mechanism is further provided between the guide chamber and the telescoping shaft for driving the telescoping shaft to follow the rotation of the drum.

10. A mechanical gripper, comprising a gripper seat, a pair of gripper arms and a compound motion mechanism according to any one of claims 1-9, wherein a pair of gripper arms are rotationally connected with the gripper seat, and a rotary drum of the compound motion mechanism is connected with the gripper seat and is used for driving the pair of gripper arms to rotate through the gripper seat; the telescopic shaft of the compound motion mechanism is rotationally connected with the claw arm and is used for pulling the claw arm to open or close relative to the claw seat.