CN105313121A - Self-adaptive clamping manipulator for disc parts - Google Patents
Self-adaptive clamping manipulator for disc parts Download PDFInfo
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- CN105313121A CN105313121A CN201410362281.5A CN201410362281A CN105313121A CN 105313121 A CN105313121 A CN 105313121A CN 201410362281 A CN201410362281 A CN 201410362281A CN 105313121 A CN105313121 A CN 105313121A
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- fixture block
- jig arm
- clamping
- manipulator
- spacing
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Abstract
The invention belongs to the field of clamping manipulators and particularly relates to a self-adaptive clamping manipulator for disc parts. The clamping manipulator is characterized by comprising a manipulator bracket, clamping arm shafts, clamping arms, clamping block limiters, clamping blocks, clamping block reset springs and clamping power mechanisms, wherein two ends of each clamping arm shaft are fixed on the manipulator bracket; one end of each clamping arm is mounted on the corresponding clamping arm shaft and the clamping arm rotates around the clamping arm shaft; each clamping block is located at the other end of each clamping arm; two ends of each clamping block limiter are fixed at the other end of the corresponding clamping arm and the clamping block limiter is located on the inner side or the outer side of the corresponding clamping block; each clamping block reset spring is fixed on one side of the corresponding clamping block and located between the clamping block and the corresponding clamping arm; one end of each clamping power mechanism is fixed on the manipulator bracket, and the other end is connected with the corresponding clamping arm. The clamping manipulator is self-adaptive to clamping tool products of disc workpieces with various sizes.
Description
Technical field
The invention belongs to and clamp manipulator field, particularly relate to a kind of disk-like accessory self adaptation and clamp manipulator.
Background technology
In work pieces process production and assembling process, in order to enable workpiece meet dimensional accuracy and the accuracy of form and position, must by Workpiece fixing, clamping before processing or assembling.Have in machine-building process demand that is fixing, that clamp the installed body of disk-like accessory, make disk-like accessory occupy correct position, realize processing and the assembling of disk-like accessory rapidly, easily and safely.
Along with the development of China's economy, the use of Large-scale Manufacturing plant equipment is also more and more frequent, thus the processing of plant equipment to be installed and beat has had higher requirement, disk-like accessory clamps manipulator as the indispensable structural member of plant equipment, the normal processing for various disk-like accessory and required for assembling.But only have in the market by the workpiece size single frock that is installed customized specially, range of application is little, can the frock product that be installed of self adaptation various sizes disc type work.
Summary of the invention
The present invention is directed to above-mentioned technical problem, provide the be installed disk-like accessory self adaptation of frock product of a kind of self adaptation various sizes disc type work and clamp manipulator.
In order to solve the problems of the technologies described above, the invention provides a kind of disk-like accessory self adaptation and clamp manipulator, it is characterized in that: comprise manipulator support, jig arm axle, jig arm, fixture block is spacing, fixture block, fixture block back-moving spring, clamping actuating unit, the two ends of described jig arm axle are fixed on described manipulator support, one end of described jig arm is installed on described jig arm axle and jig arm rotates around jig arm axle, described fixture block is positioned at the other end of described jig arm, the other end of described jig arm is fixed on and spacing inner side or the outside being positioned at described fixture block of fixture block in the spacing two ends of described fixture block, described fixture block back-moving spring is fixed on the side of described fixture block and it is between described fixture block and described jig arm, one end of described clamping actuating unit is fixed on described manipulator support and its other end is connected with described jig arm.
Described jig arm is positioned at inner side or the outside of described manipulator support.
Described jig arm axle is positioned at the inner side of described manipulator support.
The quantity of described jig arm is at least 1, and described quantity of often propping up the fixture block that jig arm is installed is at least 1, and the quantity of described clamping actuating unit is at least 1.
Also comprise clamping lazy-tongs, described clamping lazy-tongs are the one in gear type, link-type, fluid pressure type, pneumatic type, servo driven type.
Described clamping lazy-tongs are gear type, described clamping lazy-tongs are fixed on one end of described jig arm axle, the outside of described clamping lazy-tongs offers sawtooth, the quantity of described jig arm is more than two, adjacent two jig arm specular arrange and clamping lazy-tongs both it by described engagement.
The forms of motion of described jig arm is for being synchronized with the movement or moving respectively, and the movement locus of described jig arm is oscillating motion or rectilinear motion.
Described fixture block back-moving spring is mechanical spring, magnetic spring, gas spring or hydraulic spring grease cup.
Described fixture block is spacing is outer spacing or interior spacing.
Described fixture block is spacing is interior spacing, and the middle part of described fixture block offers fixture block interstitial hole, and the spacing middle part of described fixture block is arranged in the fixture block interstitial hole of described fixture block, and the spacing diameter of described fixture block is less than the diameter of described fixture block interstitial hole.
Beneficial effect of the present invention is:
1, the two ends of jig arm axle are fixed on manipulator support, jig arm is positioned at inner side or the outside of manipulator support, one end of jig arm is installed on jig arm axle, realize jig arm to rotate freely around jig arm axle, jig arm scope of activities is large, be convenient to the plate-like workpiece clamping different model, applied range, the frock product that is installed of self adaptation various sizes disc type work;
2, fixture block is positioned at the other end of jig arm, the other end of jig arm is fixed on and spacing inner side or the outside being positioned at fixture block of fixture block in the spacing two ends of fixture block, fixture block is spacing, the position of fixture block is flexible, various, by the scope of activities of the spacing quantitative restriction fixture block of fixture block, is convenient to clamping work pieces;
3, fixture block back-moving spring is fixed on the side of fixture block and it is between fixture block and jig arm, utilizes the tension force of fixture block back-moving spring to realize fixture block clamping plate-like workpiece or fixture block resets, and structure is simple, and clamping, rebound effect are strong;
4, clamp one end of actuating unit to be fixed on manipulator support and its other end is connected with jig arm, clamping actuating unit provides clamping force for jig arm, and automaticity is high, be convenient to jig arm moves;
5, jig arm axle is positioned at the inner side of manipulator support, manipulator compact;
6, the quantity of jig arm is at least 1, and the quantity of often propping up the fixture block that jig arm is installed is at least 1, and the usage quantity of jig arm, fixture block is in extensive range, only utilizes 1 jig arm, 1 fixture block also well can realize clamping action;
7, clamping lazy-tongs are the one in gear type, link-type, fluid pressure type, pneumatic type, servo driven type, and clamping lazy-tongs are for ensureing jig arm collaborative work, and version is various;
8, one end that lazy-tongs are fixed on jig arm axle is clamped, the outside of clamping lazy-tongs offers sawtooth, the quantity of jig arm is more than two, adjacent two jig arm specular are arranged and clamping lazy-tongs both it pass through engagement, by clamping the engagement of lazy-tongs, ensure the synchronous clamping of jig arm, realize being synchronized with the movement of jig arm, coordination performance is strong, cooperation is tight;
9, the forms of motion of jig arm is for being synchronized with the movement or moving respectively, and the movement locus of jig arm is oscillating motion or straight shape motion, and jig arm forms of motion, movement locus, implementation are various;
10, fixture block back-moving spring is mechanical spring, magnetic spring, gas spring or hydraulic spring grease cup, and fixture block back-moving spring range of choice is wide;
11, fixture block is spacing both can be outer spacing also can for interior spacing, spacing various informative;
12, fixture block is spacing is interior spacing, the middle part of fixture block offers fixture block interstitial hole, the spacing middle part of fixture block is arranged in the fixture block interstitial hole of fixture block, the spacing diameter of fixture block is less than the diameter of fixture block interstitial hole, the spacing support for fixture block clamping disk-like accessory of fixture block, is quantitatively limited the scope of activities of fixture block, ensures that whole manipulator realizes clamping and support function by the mating reaction that fixture block interstitial hole, fixture block are spacing, good limit effect, reset smooth and easy, interior position limiting structure is simple and safe.
Accompanying drawing explanation
Fig. 1 is the structural representation of embodiment in the present invention;
Fig. 2 is the close-up schematic view of part A in Fig. 1 in the present invention;
Fig. 3 is the fit structure schematic diagram of fixture block in the present invention, fixture block back-moving spring.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described:
In figure, 1-manipulator support, 2-jig arm axle, 3-jig arm, 4-fixture block is spacing, 5-fixture block, 6-fixture block back-moving spring, and 7-clamps actuating unit, and 8-clamps lazy-tongs, 9-sawtooth, 10-fixture block interstitial hole, 11-plate-like workpiece.
Embodiment
As Figure 1-3, a kind of disk-like accessory self adaptation clamps manipulator, comprise manipulator support 1, jig arm axle 2, jig arm 3, fixture block spacing 4, fixture block 5, fixture block back-moving spring 6, clamping actuating unit 7, the two ends of jig arm axle 2 are fixed on manipulator support 1, one end of jig arm 3 is installed on jig arm axle 2 and jig arm 3 rotates around jig arm axle 2, fixture block 5 is positioned at the other end of jig arm 3, the other end of jig arm 3 is fixed at the two ends of fixture block spacing 4 and fixture block spacing 4 is positioned at inner side or the outside of fixture block 5, fixture block back-moving spring 6 is fixed on the side of fixture block 5 and it is between fixture block 5 and jig arm 3, one end of clamping actuating unit 7 is fixed on manipulator support 1 and its other end is connected with jig arm 3.
Jig arm 3 is positioned at inner side or the outside of manipulator support 1.
Jig arm axle 2 is positioned at the inner side of manipulator support 1.
The quantity of jig arm 3 is at least 1, and the quantity of often propping up the fixture block 5 that jig arm 3 is installed is at least 1, and the quantity of clamping actuating unit 7 is at least 1.
Also comprise clamping lazy-tongs 8, clamping lazy-tongs 8 are the one in gear type, link-type, fluid pressure type, pneumatic type, servo driven type.
Clamping lazy-tongs 8 are gear type, clamping lazy-tongs 8 are fixed on one end of jig arm axle 2, the outside of clamping lazy-tongs 8 offers sawtooth 9, and the quantity of jig arm 3 is more than two, and adjacent two jig arm 3 specular are arranged and clamping lazy-tongs 8 both it are engaged by sawtooth 9.
The forms of motion of jig arm 3 is for being synchronized with the movement or moving respectively, and the movement locus of jig arm 3 is oscillating motion or rectilinear motion.
Fixture block back-moving spring 6 is mechanical spring, magnetic spring, gas spring or hydraulic spring grease cup.
Fixture block spacing 4 is outer spacing or interior spacing.
Fixture block spacing 4 is interior spacing, and the middle part of fixture block 5 offers fixture block interstitial hole 10, and the middle part of fixture block spacing 4 is arranged in the fixture block interstitial hole 10 of fixture block 5, and the diameter of fixture block spacing 4 is less than the diameter of fixture block interstitial hole 10.
Operation principle
As Figure 1-3, plate-like workpiece 11 is wherein caught workpieces, manipulator support 1 is as the supporting body of manipulator, clamping force is provided by clamping actuating unit 7, jig arm 3 rotates around jig arm axle 2, by clamping the engagement of lazy-tongs 8, ensure the synchronous clamping of jig arm 3, when jig arm 3 be clamped actuating unit 7 push plate-like workpiece 11 to time, the fixture block 5 jig arm 3 touching plate-like workpiece 11 is pressed against and is close to fixture block spacing 4, formed and the radial direction of plate-like workpiece 11 is locked, initial position before the fixture block 5 jig arm 3 not touching plate-like workpiece 11 relies on the elastic force of fixture block back-moving spring 6 to remain on clamping, and then be stuck in the side of plate-like workpiece 11, form the axial locking to plate-like workpiece 11, after unclamping plate-like workpiece 11, fixture block 5 is returned to initial position by the elastic force of fixture block back-moving spring 6.
Above 1 embodiment of the present invention has been described in detail, but described content being only preferred embodiment of the present invention, can not being considered to for limiting practical range of the present invention.All equalizations done according to the present patent application scope change and improve, and all should still belong within patent covering scope of the present invention.
Claims (10)
1. a disk-like accessory self adaptation clamps manipulator, it is characterized in that: comprise manipulator support, jig arm axle, jig arm, fixture block is spacing, fixture block, fixture block back-moving spring, clamping actuating unit, the two ends of described jig arm axle are fixed on described manipulator support, one end of described jig arm is installed on described jig arm axle and jig arm rotates around jig arm axle, described fixture block is positioned at the other end of described jig arm, the other end of described jig arm is fixed on and spacing inner side or the outside being positioned at described fixture block of fixture block in the spacing two ends of described fixture block, described fixture block back-moving spring is fixed on the side of described fixture block and it is between described fixture block and described jig arm, one end of described clamping actuating unit is fixed on described manipulator support and its other end is connected with described jig arm.
2. a kind of disk-like accessory self adaptation according to claim 1 clamps manipulator, it is characterized in that: described jig arm is positioned at inner side or the outside of described manipulator support.
3. a kind of disk-like accessory self adaptation according to claim 1 clamps manipulator, it is characterized in that: described jig arm axle is positioned at the inner side of described manipulator support.
4. a kind of disk-like accessory self adaptation according to claim 1 clamps manipulator, it is characterized in that: the quantity of described jig arm is at least 1, and described quantity of often propping up the fixture block that jig arm is installed is at least 1, and the quantity of described clamping actuating unit is at least 1.
5. a kind of disk-like accessory self adaptation according to claim 1 clamps manipulator, it is characterized in that: also comprise clamping lazy-tongs, and described clamping lazy-tongs are the one in gear type, link-type, fluid pressure type, pneumatic type, servo driven type.
6. a kind of disk-like accessory self adaptation according to claim 5 clamps manipulator, it is characterized in that: described clamping lazy-tongs are gear type, described clamping lazy-tongs are fixed on one end of described jig arm axle, the outside of described clamping lazy-tongs offers sawtooth, the quantity of described jig arm is more than two, adjacent two jig arm specular arrange and clamping lazy-tongs both it by described engagement.
7. a kind of disk-like accessory self adaptation according to claim 1 clamps manipulator, it is characterized in that: the forms of motion of described jig arm is for being synchronized with the movement or moving respectively, and the movement locus of described jig arm is oscillating motion or rectilinear motion.
8. a kind of disk-like accessory self adaptation according to claim 1 clamps manipulator, it is characterized in that: described fixture block back-moving spring is mechanical spring, magnetic spring, gas spring or hydraulic spring grease cup.
9. a kind of disk-like accessory self adaptation according to claim 1 clamps manipulator, it is characterized in that: described fixture block is spacing for outer spacing or interior spacing.
10. a kind of disk-like accessory self adaptation according to claim 1 clamps manipulator, it is characterized in that: described fixture block is spacing for interior spacing, the middle part of described fixture block offers fixture block interstitial hole, the spacing middle part of described fixture block is arranged in the fixture block interstitial hole of described fixture block, and the spacing diameter of described fixture block is less than the diameter of described fixture block interstitial hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410362281.5A CN105313121A (en) | 2014-07-28 | 2014-07-28 | Self-adaptive clamping manipulator for disc parts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410362281.5A CN105313121A (en) | 2014-07-28 | 2014-07-28 | Self-adaptive clamping manipulator for disc parts |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105313121A true CN105313121A (en) | 2016-02-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410362281.5A Pending CN105313121A (en) | 2014-07-28 | 2014-07-28 | Self-adaptive clamping manipulator for disc parts |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105313121A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107097096A (en) * | 2017-06-24 | 2017-08-29 | 安徽海之纳科技有限公司 | A kind of discoid machine components special intelligent manipulator |
| CN107381422A (en) * | 2017-08-25 | 2017-11-24 | 金石机器人银川有限公司 | Suitable for the lifting mechanism of disk-like accessory |
| CN111872714A (en) * | 2020-07-21 | 2020-11-03 | 湖州中搏智能机械有限公司 | Automatic change anchor clamps for machining |
| CN114012773A (en) * | 2021-12-06 | 2022-02-08 | 杭州电子科技大学 | Elastic clamping mechanical gripper based on magnetic spring principle and clamping method thereof |
-
2014
- 2014-07-28 CN CN201410362281.5A patent/CN105313121A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107097096A (en) * | 2017-06-24 | 2017-08-29 | 安徽海之纳科技有限公司 | A kind of discoid machine components special intelligent manipulator |
| CN107097096B (en) * | 2017-06-24 | 2018-11-13 | 曹桂宝 | A kind of discoid machine components special intelligent manipulator |
| CN107381422A (en) * | 2017-08-25 | 2017-11-24 | 金石机器人银川有限公司 | Suitable for the lifting mechanism of disk-like accessory |
| CN107381422B (en) * | 2017-08-25 | 2023-08-01 | 金石机器人银川有限公司 | Lifting mechanism suitable for disc parts |
| CN111872714A (en) * | 2020-07-21 | 2020-11-03 | 湖州中搏智能机械有限公司 | Automatic change anchor clamps for machining |
| CN114012773A (en) * | 2021-12-06 | 2022-02-08 | 杭州电子科技大学 | Elastic clamping mechanical gripper based on magnetic spring principle and clamping method thereof |
| CN114012773B (en) * | 2021-12-06 | 2023-02-24 | 杭州电子科技大学 | Elastic clamping mechanical gripper based on magnetic spring principle and clamping method thereof |
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| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160210 |
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| WD01 | Invention patent application deemed withdrawn after publication |