CN106695862A - Integrated fixture and manipulator - Google Patents
Integrated fixture and manipulator Download PDFInfo
- Publication number
- CN106695862A CN106695862A CN201611191205.8A CN201611191205A CN106695862A CN 106695862 A CN106695862 A CN 106695862A CN 201611191205 A CN201611191205 A CN 201611191205A CN 106695862 A CN106695862 A CN 106695862A
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- 230000033001 locomotion Effects 0.000 claims abstract description 32
- 238000009434 installation Methods 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 abstract description 9
- 239000012530 fluid Substances 0.000 description 18
- 230000008859 change Effects 0.000 description 15
- 208000002925 dental caries Diseases 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 239000010687 lubricating oil Substances 0.000 description 6
- 230000000712 assembly Effects 0.000 description 5
- 238000000429 assembly Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/083—Gripping heads and other end effectors having finger members with means for locking the fingers in an open or closed position
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides an integrated fixture and a manipulator. The integrated fixture is used for the manipulator, and comprises a first base, and a first cylinder module and a second cylinder module mounted on the first base. The integrated fixture further comprises a first jaw arm fixedly connected with the first cylinder module, and a second jaw arm fixedly connected with the second cylinder module, wherein a first cylinder in the first cylinder module moves to drive the first jaw arm to move; and a second cylinder in the second cylinder module moves to drive the second jaw arm to move. Through the technical scheme of the invention, pipelines in the fixture are tidy, and piston rods in the cylinder modules have no need to push the jaw arms to move; the cylinders can move corresponding to the base; the two cylinders directly drive the jaw arms to move so as to realize the purposes of clamping and loosening; and meanwhile, gears and racks at the bottom are matched to keep synchronous movement of the two cylinder modules so as to improve the clamping stability.
Description
Technical field
The present invention relates to mechanical clamp technical field, in particular to a kind of integrated fixture and a kind of manipulator.
Background technology
At present, existing manipulator is typically necessary special exploitation corresponding for the actually used situation of industry-by-industry
Clamping mechanism, the fixture for the light-dutyer round piece such as wheel hub typically all uses air-actuated jaw, using cylinder as power
Source, the piston rod of cylinder promotes the jig arm motion of fixture, two cylinders is needed for both arms fixture, while need four entering
Tracheae, more air pipe lines cause that fixture is more complicated in disorder, in the case where manipulator needs the frequently working condition such as clamping and rotation,
Two jig arm are easily asynchronous and produce deviation, influence clamping stability.
Therefore, a kind of integrated fixture how is designed, directly band pawl arm is moved to allow cylinder body, while two pawls can be kept
Arm is synchronized with the movement, and improving clamping stability turns into technical problem urgently to be resolved hurrily.
The content of the invention
It is contemplated that at least solving one of technical problem present in prior art or correlation technique.
Therefore, it is an object of the present invention to propose a kind of integrated fixture.
It is another object of the present invention to propose a kind of manipulator.
To achieve the above object, a kind of technical scheme according to the first aspect of the invention, it is proposed that integrated fixture, is used for
Manipulator, including first base, the first housing assembly and the second housing assembly in first base, also include：First
Pawl arm, is fixedly connected with the first housing assembly；Second pawl arm, is fixedly connected with the second housing assembly；Wherein, the first housing assembly
In the first movement of cylinder block drive the motion of the first pawl arm, the second movement of cylinder block in the second housing assembly drives the second pawl arm fortune
It is dynamic.
The integrated fixture of technology according to the present invention scheme, it is not necessary to driving pawl arm is come by the piston rod in housing assembly and is transported
Dynamic, cylinder body can be relative to base motions, and two cylinder bodies directly drive two pawl arms to move, and then realize the mesh for clamping and unclamping
, the stability of clamping is improve, enable gripping and travelling workpiece that fixture is reliable and stable.
Wherein it is preferred to, the first cylinder body and the second cylinder body are cylinder, and for the light-dutyer workpiece such as wheel hub, it clamps work
Part speed block, can for a long time keep the clamping force to workpiece.
According to above-mentioned technical proposal of the present invention, it is preferable that first base includes：Base plate；And be fixedly connected with base plate
Starting stave, the second riser and the 3rd riser；Wherein, the first pipeline is provided with starting stave, the second pipe is provided with the second riser
Road, the 3rd pipeline is provided with the 3rd riser.
In the technical scheme, pipeline is integrated on base, the pipeline in two housing assemblies is connected directly to base
Interior pipeline, circuit is neat, it is to avoid more pipeline causes that fixture complexity is in disorder, during frequent use, prevents pipeline
Wear and tear and cause fluid leakage, influence the clamping force of fixture, and then can avoid causing due to fluid leakage in gripping workpiece
Caused danger in mobile process.
A technical scheme of the invention, it is preferable that the first housing assembly includes：First mounting blocks, first installs
The first cylinder body mounting hole, the first pilot hole and the second pilot hole are provided with block；First cover plate, is installed on the first mounting blocks,
First pawl arm is fixedly connected with the first cover plate；Second housing assembly includes：Second mounting blocks, are provided with the second cylinder in the second mounting blocks
Body mounting hole, the 3rd pilot hole and the 4th pilot hole；Second cover plate, is installed on the second mounting blocks, the second pawl arm and second
Cover plate is fixedly connected.
In the technical scheme, each housing assembly includes a mounting blocks, and two guiding are provided with each mounting blocks
Through hole and a through hole for being used to install cylinder body, can ensure that the moving direction of housing assembly is accurate by two pilot holes, keep away
Exempt to produce dislocation, cylinder body is fixed in mounting blocks, when movement of cylinder block, directly drive mounting blocks motion, and then realize two pawls
The clamping of arm and release, it is ensured that the reliability of clamping, its cover plate is arranged on mounting blocks, is used cooperatively with pawl arm, can
Appropriate connected mode is selected with as needed, by the connection of pawl arm on the cover board, it is easy to change and install, it is to avoid due to frequent
Dismantle and cause connecting portion to damage, even if needing to change, only change cover plate, it is not necessary to all take housing assembly apart, it is to avoid by
Revealed in poorly sealed generation after housing assembly causes to install again is taken apart, and then it is hidden in the presence of safety to cause clamping workpiece unstable
The problem of trouble occurs.
According to above-mentioned technical proposal of the present invention, it is preferable that the first cylinder body is fixed in the first cylinder body mounting hole, the first cylinder body
One end is provided with the first cylinder cap, and the relative other end is provided with the second cylinder cap；First piston is installed in the first cylinder body, first piston,
First cylinder body and the first cylinder cap form the first cavity of closing, and first piston, the first cylinder body and the second cylinder cap form the of closing
Two cavitys；Second cylinder body is fixed in the second cylinder body mounting hole, and second cylinder body one end is provided with the 3rd cylinder cap, and the relative other end sets
There is the 4th cylinder cap；Second piston is installed, second piston, the second cylinder body and the 3rd cylinder cap form the 3rd of closing in the second cylinder body
Cavity, second piston, the second cylinder body and the 4th cylinder cap form the 4th cavity of closing.
In the technical scheme, each cylinder assembly is fixed in the mounting hole of mounting blocks, and each cylinder assembly includes one
Individual cylinder body, a piston and two cylinder caps, each cylinder assembly form two cavitys in left and right, wherein, each cylinder cap center has
Through hole, the piston rod for being connected to piston is extend out to outside cylinder body, ultimately forms the cavity of closing, only by piston rod with
Ft connection, simplifies the pipeline of cylinder body.
According to above-mentioned technical proposal of the present invention, it is preferable that one end connection First piston bar of first piston, relative is another
End connection second piston bar, one end of second piston connects the 3rd piston rod, and the relative other end connects the 4th piston rod；First
First through hole is provided with piston rod, First piston bar passes through the first cylinder cap, makes the first cavity and ft connection；In second piston bar
The second through hole is provided with, second piston bar passes through the second cylinder cap, makes the second cavity and ft connection；The 3rd is provided with 3rd piston rod
Through hole, the 3rd piston rod passes through the 3rd cylinder cap, makes the 3rd cavity and ft connection；Fourth hole is provided with 4th piston rod, the
Four piston rods pass through the 4th cylinder cap, make the 4th cavity and ft connection.
In the technical scheme, piston rod passes through cylinder cap, and both are tightly connected, it is to avoid fluid leakage in cylinder body, each
Piston rod center is provided with through hole, and the cavity corresponding to it can be by piston rod and ft connection, it is not necessary to set up other pipelines,
On the one hand complex circuit is avoided, pipeline is caused abrasion after cylinder body long-term motion, on the other hand improve the aesthetic property of fixture.
According to above-mentioned technical proposal of the present invention, it is preferable that the one end open of the first pipeline connects the first pipe joint, another
End opening connects First piston bar；The first of the second pipeline connects the second pipe joint, and second mouthful connects second piston bar, the
Three mouthfuls of the 3rd piston rods of connection；The one end open of the 3rd pipeline connects the 3rd pipe joint, and another end opening connects the 4th piston
Bar.
In the technical scheme, First piston bar is connected in the first pipeline, the first pipe joint of another termination, and second lives
Stopper rod and the 3rd piston rod are connected in the second pipeline, and the second pipe joint of another termination, the 4th piston rod is connected to the 4th pipe
Lu Zhong, the pipe joint of another termination the 3rd, wherein piston rod is fixed, and improves the reliability of pipeline, when fluid is by the second pipeline
Joint enters fashionable, and the fluid in the first cavity is discharged from the first pipe joint, and the fluid in the 4th cavity is from the 3rd pipe joint
Discharge, piston is maintained static, and two cylinder bodies are moved with the change of fluid in each cavity, and then drives jig arm motion, is realized
The purpose of workpiece is clamped, conversely, fluid can enter in corresponding cavity from the first pipe joint and the 3rd pipe joint, then
Fluid in other cavitys is discharged by the second pipe joint, realizes unclamping the purpose of workpiece.
A technical scheme of the invention, it is preferable that also include：First guide pillar, the first guide pillar is oriented to through first
Hole, the 3rd pilot hole and the second riser, first guide pillar one end are fixedly connected with starting stave, and the other end and the 3rd riser are fixed and connected
Connect；Second guide pillar, the second guide pillar passes through the second pilot hole, the 4th pilot hole and the second riser, and first guide pillar one end is erected with first
Plate is fixedly connected, and the other end is fixedly connected with the 3rd riser.
In the technical scheme, two guide pillars are arranged symmetrically, through the first housing assembly and the second housing assembly, Ran Houtong
Cross starting stave and the 3rd riser is fixed on base, housing assembly is moved on guide pillar, it is to avoid produced during movement of cylinder block
Raw dislocation, causes danger in gripping or travelling workpiece.
According to above-mentioned technical proposal of the present invention, it is preferable that also include：Multiple fairleads, lead located at the first pilot hole, second
The opposite end of Xiang Kong, the 3rd pilot hole and the 4th pilot hole, coordinates with the first guide pillar and the second guide pillar.
In the technical scheme, the two ends of each pilot hole are provided with fairlead, are coordinated by guide pillar and fairlead, reduce
Frictional resistance between housing assembly and guide pillar, allows what it smoothed to be moved on guide pillar, and then realize folder well
Tight effect.
According to any of the above-described technical scheme of the invention, it is preferable that also include：Second base, fixes with first base and connects
Connect, second base surrounds to form accommodating chamber with first base；Rotary shaft, one end of rotary shaft is arranged in second base, another
End is provided with gear, and gear is placed in accommodating chamber；First tooth bar, the first tooth bar is fixedly connected with the first housing assembly；Second tooth
Bar, the second tooth bar is fixedly connected with the second housing assembly；Wherein, gear and the first tooth bar and the intermeshing of the second tooth bar, first
Tooth bar is placed in accommodating chamber and is parallel to each other with the second tooth bar.
In the technical scheme, two tooth bars are engaged with same gear, and the first tooth bar is started shipment with the first housing assembly one
It is dynamic, drive pinion rotation when the first tooth bar is moved, due to be also associated with being fixedly connected with the second housing assembly on gear the
Two tooth bars, then the second housing assembly is also moved therewith, and then realizes that two housing assemblies and the pawl arm for being connected synchronously are transported
It is dynamic, it is to avoid to produce the stability of deviation clamping because pawl arm is asynchronous.
According to above-mentioned technical proposal of the present invention, it is preferable that first base is provided with fifth hole and the 6th through hole；First tooth
Bar is fixedly connected with one end of the first contiguous block, and the first contiguous block passes through fifth hole, the other end of the first contiguous block and first
Mounting blocks are fixedly connected；Second tooth bar is fixedly connected with one end of the second contiguous block, and the second contiguous block passes through the 6th through hole, second
The other end of contiguous block is fixedly connected with the second mounting blocks.
In the technical scheme, through hole is set under first base, while coordinate second base to form accommodating chamber, will be whole
Sychronisation is placed in first base lower section, two pawl arms is kept synchronous, make its can with reliable and stable gripping workpiece, while
Fixture overall volume is also reduced, the aesthetic property of chuck apparatus is improve.Wherein contiguous block is used to coordinate corresponding tooth bar, convenient
Install and change tooth bar.
A technical scheme of the invention, it is preferable that second base is specifically included：Gear installation portion, gear is installed
Portion's opposite end connects the first tooth bar shielding part and the second tooth bar shielding part respectively.
In the technical scheme, second base can split into three parts, when needing to change tooth bar, corresponding tooth bar be hidden
Cap is taken apart, to improve transmission performance, needs to add lubricating oil at rack and pinion engagement, therefore needing to add lubricating oil
When, shielding part can be taken apart, convenient filling lubricating oil improves transmission effect, and then realize more preferable synchronous effect.
A technical scheme of the invention, it is preferable that rotary shaft is fixedly connected with second base, the ground that gear can turn
Install on the rotary shaft；Or rotary shaft is installed in rotation in second base, gear is fixedly connected with rotary shaft.
In the technical scheme, axle can be fixedly connected with base, be then mounted on an axle gear by bearing,
When gear needs often to change, the problem that rotary shaft caused by being dismounted for multiple times can be avoided to rock, it is also possible to which selection is by gear
It is directly anchored on axle, or directly selects gear shaft, then rotary shaft is can be rotationally connected with second base, side
Just dismount.
Wherein it is preferred to, gear can be fixed with rotary shaft by key, it is also possible to which interference fit links together.
A kind of manipulator that the technical scheme of second aspect present invention is provided includes any one skill of first aspect present invention
The integrated fixture that art scheme is provided, therefore the whole that the manipulator has the integrated fixture that any of the above-described technical scheme provide has
Beneficial effect, will not be repeated here.
Additional aspect of the invention and advantage will become obvious in following description section, or by practice of the invention
Recognize.
Brief description of the drawings
Fig. 1 shows the front view of an integrated fixture of the invention；
Fig. 2 shows the sectional view of an integrated fixture of the invention；
Fig. 3 shows the top view of an integrated fixture of the invention；
Fig. 4 shows the structural representation of an integrated fixture of the invention；
Fig. 5 shows the left view of an integrated fixture of the invention.
102 first pawl arms, 104 second pawl arms, 106 base plates, 108 starting staves, 110 the 3rd risers, 112 first install
Block, 114 second mounting blocks, 116 first cover plates, 118 second cover plates, 120 second risers, 122 second contiguous blocks, 124 second teeth
Bar, 126 first pipe joints, 128 second pipe joints, 130 the 3rd pipe joints, 132 fairleads, 134 gears, 136 first
Tooth bar, 138 first guide pillars, 140 second guide pillars, 142 first pistons, 144 First piston bars, 146 second piston bars, 148 second
Piston, 150 the 3rd piston rods, 152 the 4th piston rods, 154 first through hole, 156 second through holes, 158 third through-holes, 160 the 4th
Through hole, 162 first cylinder caps, 164 the 3rd cylinder caps.
Specific embodiment
It is below in conjunction with the accompanying drawings and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Mode is applied to be further described in detail the present invention.It should be noted that in the case where not conflicting, the implementation of the application
Feature in example and embodiment can be mutually combined.
Many details are elaborated in the following description in order to fully understand the present invention, but, the present invention may be used also
Implemented with being different from other modes described here using other, therefore, protection scope of the present invention is not limited to following public affairs
The limitation of the specific embodiment opened.
Fixture integrated according to an embodiment of the invention is specifically described with reference to Fig. 1 to Fig. 5.
As shown in figure 1, embodiment according to the first aspect of the invention, it is proposed that a kind of integrated fixture, for manipulator,
The first housing assembly and the second housing assembly including first base, in first base, also include：First pawl arm 102,
It is fixedly connected with the first housing assembly；Second pawl arm 104, is fixedly connected with the second housing assembly；Wherein, in the first housing assembly
The first movement of cylinder block drive the first pawl arm 102 to move, the second movement of cylinder block in the second housing assembly drives the second pawl arm 104
Motion.
Fixture integrated according to an embodiment of the invention, it is not necessary to driving pawl arm is come by the piston rod in housing assembly and is transported
Dynamic, cylinder body can be relative to base motions, and two cylinder bodies directly drive two pawl arms to move, and then realize the mesh for clamping and unclamping
, the stability of clamping is improve, enable gripping and travelling workpiece that fixture is reliable and stable.
Wherein it is preferred to, the first cylinder body and the second cylinder body are cylinder, and for the light-dutyer workpiece such as wheel hub, it clamps work
Part speed block, can for a long time keep the clamping force to workpiece.
Preferably, the first cylinder body and the second cylinder body can also be hydraulic cylinder, can be used for gripping large-scale workpiece.
Specifically, while compressed gas enter the second cavity and three cavitys by the second pipe joint 128, the first chamber
Compressed gas in body are discharged from the first pipe joint 126, and the compressed gas in the 4th cavity are from the row of the 3rd pipe joint 130
Go out, wherein, piston is maintained static, and two cylinder bodies are moved with the change of compressed gas in each cavity, and then drives jig arm fortune
It is dynamic, realize clamping the purpose of workpiece, conversely, compressed gas can be entered in the first cavity by the first pipe joint 126, by the 3rd
Pipe joint 130 enters in the 4th cavity, while by the compressed gas in the second cavity and the 3rd cavity by the second pipe joint
Discharged at 128, realize unclamping the purpose of workpiece.While cylinder body band pawl arm is moved on guide pillar, rack and pinion engagement is passed
It is dynamic, acted on by rack-and-pinion, realize being synchronized with the movement for two housing assemblies and the pawl arm that is connected, it is to avoid due to pawl arm not
Deviation synchronously is produced, the reliability of clamping is influenceed.
According to the above embodiment of the present invention, it is preferable that first base includes：Base plate 106；And fix company with base plate 106
Starting stave 108, the second riser 120 and the 3rd riser 110 for connecing；Wherein, the first pipeline, second are provided with starting stave 108
The second pipeline is provided with riser 120, the 3rd pipeline is provided with the 3rd riser 110.
In this embodiment, pipeline is integrated in base, the pipeline in two housing assemblies is connected directly on base
Pipeline, circuit is neat, it is to avoid more pipeline causes that fixture complexity is in disorder, during frequent use, prevents pipeline from grinding
Damage and cause fluid leakage, influence the clamping force of fixture, and then can avoid causing to be moved in gripping workpiece due to fluid leakage
Caused danger in dynamic process.
According to one embodiment of present invention, it is preferable that the first housing assembly includes：First mounting blocks 112, first installs
The first cylinder body mounting hole, the first pilot hole and the second pilot hole are provided with block 112；First cover plate 116, is installed on the first mounting blocks
On 112, the first pawl arm 102 is fixedly connected with the first cover plate 116；Second housing assembly includes：Second mounting blocks 114, second
The second cylinder body mounting hole, the 3rd pilot hole and the 4th pilot hole are provided with mounting blocks 114；Second cover plate 118, is installed on the second peace
On dress block 114, the second pawl arm 104 is fixedly connected with the second cover plate 118.
In this embodiment, each housing assembly includes a mounting blocks, two is provided with each mounting blocks and is oriented to and led to
Hole and a through hole for being used to install cylinder body, can ensure that the moving direction of housing assembly is accurate by two pilot holes, it is to avoid
Dislocation is produced, cylinder body is fixed in mounting blocks, when movement of cylinder block, directly drive mounting blocks motion, and then realize two pawl arms
Clamping with unclamp, it is ensured that the reliability of clamping, its cover plate is arranged on mounting blocks, is used cooperatively with pawl arm, can be with
Appropriate connected mode is selected as needed, by the connection of pawl arm on the cover board, it is easy to change and install, it is to avoid due to frequently tearing open
Unload and cause connecting portion to damage, even if needing to change, only change cover plate, it is not necessary to all take housing assembly apart, it is to avoid due to
It is poorly sealed after taking housing assembly apart and causing to install again to produce leakage, and then cause that clamping workpiece is unstable to have potential safety hazard
Problem occur.
As shown in Fig. 2 according to the above embodiment of the present invention, it is preferable that the first cylinder body is fixed in the first cylinder body mounting hole,
First cylinder body one end is provided with the first cylinder cap 162, and the relative other end is provided with the second cylinder cap；First piston is installed in first cylinder body
142, first piston 142, the first cylinder body and the first cylinder cap 162 form the first cavity of closing, first piston 142, the first cylinder body
With the second cavity that the second cylinder cap forms closing；Second cylinder body is fixed in the second cylinder body mounting hole, and second cylinder body one end is provided with
3rd cylinder cap 164, the relative other end is provided with the 4th cylinder cap；Second piston 148 is installed in second cylinder body, second piston 148,
Second cylinder body and the 3rd cylinder cap 164 form the 3rd cavity of closing, and second piston 148, the second cylinder body and the 4th cylinder cap form envelope
The 4th cavity for closing.
In this embodiment, each cylinder assembly is fixed in the mounting hole of mounting blocks, and each cylinder assembly includes one
Cylinder body, a piston and two cylinder caps, each cylinder assembly form two cavitys in left and right, wherein, each cylinder cap center has logical
Hole, the piston rod for being connected to piston is extend out to outside cylinder body, ultimately forms the cavity of closing, only by piston rod with it is outer
Portion connects, and simplifies the pipeline of cylinder body.
It is relative according to the above embodiment of the present invention, it is preferable that one end connection First piston bar 144 of first piston 142
Other end connection second piston bar 146, one end of second piston 148 connects the 3rd piston rod 150, relative other end connection the
Four piston rods 152；First through hole 154 is provided with First piston bar 144, First piston bar 144 passes through the first cylinder cap 162, makes the
One cavity and ft connection；The second through hole 156 is provided with second piston bar 146, second piston bar 146 passes through the second cylinder cap, makes
Second cavity and ft connection；Third through-hole 158 is provided with 3rd piston rod 150, the 3rd piston rod 150 passes through the 3rd cylinder cap
164, make the 3rd cavity and ft connection；Fourth hole 160 is provided with 4th piston rod 152, the 4th piston rod 152 passes through the 4th
Cylinder cap, makes the 4th cavity and ft connection.
In this embodiment, piston rod passes through cylinder cap, and both are tightly connected, it is to avoid fluid leakage in cylinder body, each work
Stopper rod center is provided with through hole, and the cavity corresponding to it can be by piston rod and ft connection, it is not necessary to set up other pipelines, one
Aspect avoids complex circuit, pipeline is caused abrasion after cylinder body long-term motion, on the other hand improves the aesthetic property of fixture.
According to the above embodiment of the present invention, it is preferable that the one end open of the first pipeline connects the first pipe joint 126, separately
One end open connects First piston bar 144；The first of the second pipeline connects the second pipe joint 128, second mouthful of connection second
Piston rod 146, the 3rd mouthful of the 3rd piston rod 150 of connection；The one end open of the 3rd pipeline connects the 3rd pipe joint 130, another
End opening connects the 4th piston rod 152.
In this embodiment, First piston bar 144 is connected in the first pipeline, the first pipe joint 126 of another termination, the
Two piston rods 146 and the 3rd piston rod 150 are connected in the second pipeline, the second pipe joint 128 of another termination, the 4th piston rod
152 are connected in the 4th pipeline, and the 3rd pipe joint 130 of another termination, wherein piston rod is fixed, and improves the reliability of pipeline
Property, when fluid enters fashionable by the second pipe joint 128, the fluid in the first cavity is discharged from the first pipe joint 126, the 4th chamber
Internal fluid is discharged from the 3rd pipe joint 130, and piston is maintained static, and two cylinder bodies are with the change of fluid in each cavity
It is mobile, and then jig arm motion is driven, realize clamping the purpose of workpiece, conversely, fluid can be from the first pipe joint 126 and the 3rd
Pipe joint 130 enters in corresponding cavity, and then the fluid in other cavitys is discharged by the second pipe joint 128, real
Now unclamp the purpose of workpiece.
As shown in figure 3, according to one embodiment of present invention, it is preferable that also include：First guide pillar 138, the first guide pillar
138 pass through the first pilot hole, the 3rd pilot hole and the second riser 120, and the one end of the first guide pillar 138 is fixed with starting stave 108 and connected
Connect, the other end is fixedly connected with the 3rd riser 110；Second guide pillar 140, the second guide pillar 140 is oriented to through the second pilot hole, the 4th
Hole and the second riser 120, one end of the first guide pillar 138 are fixedly connected with starting stave 108, and the other end is fixed with the 3rd riser 110
Connection.
In this embodiment, two guide pillars are arranged symmetrically, and through the first housing assembly and the second housing assembly, then pass through
Starting stave and the 3rd riser are fixed on base, housing assembly is moved on guide pillar, it is to avoid produced during movement of cylinder block
Dislocation, causes danger in gripping or travelling workpiece.
As shown in figure 4, according to the above embodiment of the present invention, it is preferable that also include：Multiple fairleads 132, lead located at first
The opposite end of Xiang Kong, the second pilot hole, the 3rd pilot hole and the 4th pilot hole, matches somebody with somebody with the first guide pillar 138 and the second guide pillar 140
Close.
In this embodiment, the two ends of each pilot hole are provided with fairlead 132, are coordinated with fairlead 132 by guide pillar,
The frictional resistance between housing assembly and guide pillar is reduced, allows what it smoothed to be moved on guide pillar, and then realize very well
Clamping effect.
As shown in figure 5, according to any of the above-described embodiment of the invention, it is preferable that also include：Second base, with the first bottom
Seat is fixedly connected, and second base surrounds to form accommodating chamber with first base；Rotary shaft, one end of rotary shaft is arranged on second base
On, the other end is provided with gear 134, and gear 134 is placed in accommodating chamber；First tooth bar 136, the first tooth bar 136 and the first cylinder body
Component is fixedly connected；Second tooth bar 124, the second tooth bar 124 is fixedly connected with the second housing assembly；Wherein, gear 134 and first
The tooth bar 124 of tooth bar 136 and second is intermeshed, and the first tooth bar 136 is placed in accommodating chamber and is parallel to each other with the second tooth bar 124.
In this embodiment, two tooth bars are engaged with same gear 134, and the first tooth bar 136 is with the first housing assembly one
Motion is played, band moving gear 134 is rotated when the first tooth bar 136 is moved, due to being also associated with gear 134 and the second housing assembly
The second tooth bar 124 being fixedly connected, then the second housing assembly is also moved therewith, and then is realized two housing assemblies and connected
The pawl arm for connecing is synchronized with the movement, it is to avoid produce deviation because pawl arm is asynchronous, influences the stability of clamping.
According to the above embodiment of the present invention, it is preferable that first base is provided with fifth hole and the 6th through hole；First tooth bar
136 are fixedly connected with one end of the first contiguous block, and the first contiguous block passes through fifth hole, the other end of the first contiguous block and first
Mounting blocks 112 are fixedly connected；Second tooth bar 124 is fixedly connected with one end of the second contiguous block 122, and the second contiguous block 122 is passed through
6th through hole, the other end of the second contiguous block 122 is fixedly connected with the second mounting blocks 114.
In this embodiment, through hole is set under first base, while coordinate second base to form accommodating chamber, will be entirely same
Step device is placed in first base lower section, two pawl arms is kept synchronous, makes it can be with reliable and stable gripping workpiece, while also
Fixture overall volume is reduced, the aesthetic property of chuck apparatus is improve.Wherein contiguous block is used to coordinate corresponding tooth bar, convenient peace
Dress and replacing tooth bar.
According to one embodiment of present invention, it is preferable that second base is specifically included：Gear installation portion, gear installation portion
Opposite end connects the first tooth bar shielding part and the second tooth bar shielding part respectively.
In this embodiment, second base can split into three parts, when needing to change tooth bar, corresponding tooth bar be covered
Portion takes apart, to improve transmission performance, needs to add lubricating oil at rack and pinion engagement, therefore needing to add lubricating oil
When, shielding part can be taken apart, convenient filling lubricating oil improves transmission effect, and then realize more preferable synchronous effect.
According to one embodiment of present invention, it is preferable that rotary shaft is fixedly connected with second base, gear 134 can turn
Install on the rotary shaft on ground；Or rotary shaft is installed in rotation in second base, gear 134 is fixedly connected with rotary shaft.
In this embodiment it is possible to axle is fixedly connected with base, gear 134 is mounted on an axle by bearing then,
When gear 134 needs often to change, the problem that rotary shaft caused by being dismounted for multiple times can be avoided to rock, it is also possible to which selection will
Gear 134 is directly anchored on axle, or directly selects gear shaft, and then rotary shaft is rotatably connected to second base
Together, easy disassembly.
Wherein it is preferred to, gear 134 can be fixed with rotary shaft by key, it is also possible to which interference fit links together.
A kind of manipulator that the embodiment of second aspect present invention is provided includes any one implementation of first aspect present invention
The integrated fixture that example is provided, therefore the manipulator has any of the above-described beneficial effect of whole of the integrated fixture of embodiment offer
Really, will not be repeated here.
Technical scheme has been described in detail above, the present invention proposes a kind of integrated fixture, makes the pipe in fixture
Road is neat, and need not carry out the motion of driving pawl arm by the piston rod in housing assembly, and cylinder body can be relative to base motions, two
Cylinder body directly band pawl arm motion, and then the purpose for clamping and unclamping is realized, while coordinating the rack-and-pinion of bottom makes two cylinder bodies
Component movement keeps synchronous, improves the stability of clamping.
In the description of this specification, term " first ", " second " are only used for the purpose of description, and it is not intended that indicating
Or imply relative importance；Term " connection ", " installation ", " fixation " etc. all should be interpreted broadly, for example, " connection " can be solid
Calmly connect, or be detachably connected, or be integrally connected；Can be joined directly together, it is also possible to indirect by intermediary
It is connected.For the ordinary skill in the art, above-mentioned term tool in the present invention can as the case may be understood
Body implication.
In the description of this specification, the description of term " one embodiment " etc. means that combining the embodiment or example describes
Specific features, structure, material or feature be contained at least one embodiment of the invention or example.In this manual,
Schematic representation to above-mentioned term is not necessarily referring to identical embodiment or example.And, the specific features of description, knot
Structure, material or feature can in an appropriate manner be combined in one or more any embodiments or example.
The preferred embodiments of the present invention are the foregoing is only, is not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.It is all within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (13)
1. a kind of integrated fixture, for manipulator, including first base, the first housing assembly in the first base
With the second housing assembly, it is characterised in that also include：
First pawl arm (102), is fixedly connected with first housing assembly；
Second pawl arm (104), is fixedly connected with second housing assembly；
Wherein, the first movement of cylinder block in first housing assembly drives the first pawl arm (102) motion, second cylinder
The second movement of cylinder block in body component drives the second pawl arm (104) motion.
2. integrated fixture according to claim 1, it is characterised in that the first base includes：
Base plate (106)；And
Starting stave (108), the second riser (120) and the 3rd riser (110) being fixedly connected with the base plate (106)；
Wherein, it is provided with the starting stave (108) in the first pipeline, second riser (120) and is provided with the second pipeline, it is described
The 3rd pipeline is provided with 3rd riser (110).
3. integrated fixture according to claim 1, it is characterised in that first housing assembly includes：
The first cylinder body mounting hole, the first pilot hole and second are provided with first mounting blocks (112), first mounting blocks (112)
Pilot hole；
First cover plate (116), is installed on first mounting blocks (112), and the first pawl arm (102) and described first is covered
Plate (116) is fixedly connected；
Second housing assembly includes：
The second cylinder body mounting hole, the 3rd pilot hole and the 4th are provided with second mounting blocks (114), second mounting blocks (114)
Pilot hole；
Second cover plate (118), is installed on second mounting blocks (114), and the second pawl arm (104) and described second is covered
Plate (118) is fixedly connected.
4. integrated fixture according to claim 3, it is characterised in that first cylinder body is fixed on the first cylinder body peace
In dress hole, described first cylinder body one end is provided with the first cylinder cap (162), and the relative other end is provided with the second cylinder cap；
First piston (142), the first piston (142), the first cylinder body and the first cylinder cap are installed in first cylinder body
(162) the first cavity of closing is formed, the first piston (142), the first cylinder body and the second cylinder cap form the second chamber of closing
Body；
Second cylinder body is fixed in the second cylinder body mounting hole, and described second cylinder body one end is provided with the 3rd cylinder cap (164),
The relative other end is provided with the 4th cylinder cap；
Second piston (148), the second piston (148), the second cylinder body and the 3rd cylinder cap are installed in second cylinder body
(164) the 3rd cavity of closing is formed, the second piston (148), the second cylinder body and the 4th cylinder cap form the 4th chamber of closing
Body.
5. integrated fixture according to claim 4, it is characterised in that one end connection first of the first piston (142)
Piston rod (144), the relative other end connects second piston bar (146), and one end connection the 3rd of the second piston (148) is lived
Stopper rod (150), the relative other end connects the 4th piston rod (152)；
It is provided with first through hole (154) in the First piston bar (144), the First piston bar (144) is through first cylinder
Lid (162), makes first cavity and ft connection；
It is provided with the second through hole (156) in the second piston bar (146), the second piston bar (146) is through second cylinder
Lid, makes second cavity and ft connection；
It is provided with third through-hole (158) in 3rd piston rod (150), the 3rd piston rod (150) is through the 3rd cylinder
Lid (164), makes the 3rd cavity and ft connection；
It is provided with fourth hole (160) in 4th piston rod (152), the 4th piston rod (152) is through the 4th cylinder
Lid, makes the 4th cavity and ft connection.
6. integrated fixture according to claim 5, it is characterised in that the one end open connection first of first pipeline is managed
Pipeline connector (126), another end opening connects the First piston bar (144)；
The first of second pipeline connects the second pipe joint (128), and second mouthful connects the second piston bar (146),
3rd mouthful of connection the 3rd piston rod (150)；
The one end open of the 3rd pipeline connects the 3rd pipe joint (130), and another end opening connects the 4th piston rod
(152)。
7. integrated fixture according to claim 3, it is characterised in that also include：
First guide pillar (138), first guide pillar (138) is through first pilot hole, the 3rd pilot hole and described
Two risers (120), described first guide pillar (138) one end is fixedly connected with the starting stave (108), the other end and the described 3rd
Riser (110) is fixedly connected；
Second guide pillar (140), second guide pillar (140) is through second pilot hole, the 4th pilot hole and described
Two risers (120), described first guide pillar (138) one end is fixedly connected with the starting stave (108), the other end and the described 3rd
Riser (110) is fixedly connected.
8. integrated fixture according to claim 7, it is characterised in that also include：
Multiple fairleads (132), located at first pilot hole, second pilot hole, the 3rd pilot hole and described
The opposite end of four pilot holes, coordinates with first guide pillar (138) and the second guide pillar (140).
9. integrated fixture according to any one of claim 1 to 8, it is characterised in that also include：
Second base, is fixedly connected with the first base, and the second base surrounds to form accommodating chamber with the first base；
Rotary shaft, one end of the rotary shaft is arranged in the second base, and the other end is provided with gear (134), the tooth
Wheel (134) is placed in the accommodating chamber；
First tooth bar (136), first tooth bar (136) is fixedly connected with first housing assembly；
Second tooth bar (124), second tooth bar (124) is fixedly connected with second housing assembly；
Wherein, the gear (134) is intermeshed with first tooth bar (136) and second tooth bar (124), and described first
Tooth bar (136) is placed in the accommodating chamber and is parallel to each other with second tooth bar (124).
10. integrated fixture according to claim 9, it is characterised in that the first base is provided with fifth hole and
Six through holes；
First tooth bar (136) is fixedly connected with one end of the first contiguous block, and first contiguous block leads to through the described 5th
Hole, the other end of first contiguous block is fixedly connected with first mounting blocks (112)；
Second tooth bar (124) is fixedly connected with one end of the second contiguous block (122), and second contiguous block (122) passes through
6th through hole, the other end of second contiguous block (122) is fixedly connected with second mounting blocks (114).
11. integrated fixtures according to claim 9, it is characterised in that the second base is specifically included：
Gear installation portion, the gear installation portion opposite end connects the first tooth bar shielding part and the second tooth bar shielding part respectively.
12. integrated fixtures according to claim 9, it is characterised in that the rotary shaft is fixed with the second base and connected
Connect, the ground that the gear (134) can turn is arranged in the rotary shaft；Or
The rotary shaft is installed in rotation in the second base, and the gear (134) is fixedly connected with the rotary shaft.
A kind of 13. manipulators, it is characterised in that including：
Integrated fixture as any one of claim 1 to 12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611191205.8A CN106695862A (en) | 2016-12-21 | 2016-12-21 | Integrated fixture and manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611191205.8A CN106695862A (en) | 2016-12-21 | 2016-12-21 | Integrated fixture and manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106695862A true CN106695862A (en) | 2017-05-24 |
Family
ID=58939450
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611191205.8A Pending CN106695862A (en) | 2016-12-21 | 2016-12-21 | Integrated fixture and manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106695862A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107088783A (en) * | 2017-06-05 | 2017-08-25 | 江苏天宏自动化科技有限公司 | A kind of wheel hub Special clamping servo rotary system |
| CN107696058A (en) * | 2017-10-19 | 2018-02-16 | 浙江今跃机械科技开发有限公司 | Double-side type Three-jaw fixture and manipulator |
| CN108033263A (en) * | 2018-01-11 | 2018-05-15 | 安徽纳赫智能科技有限公司 | A kind of servo feeding clamp system |
| CN108834770A (en) * | 2018-07-26 | 2018-11-20 | 北京天仁科技发展有限公司 | A kind of circulating drawing grass roller and its planting machine based on mixed lawn planting machine |
| CN109746937A (en) * | 2019-02-28 | 2019-05-14 | 山东小鸭精工机械有限公司 | Manipulator and wheel rim handling equipment |
| CN110154067A (en) * | 2019-04-10 | 2019-08-23 | 中国矿业大学 | A kind of high-speed overload Stacking Robots self-locking end effector |
| CN114474131A (en) * | 2022-01-28 | 2022-05-13 | 五邑大学 | Clamping gripper |
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| CN204109001U (en) * | 2014-09-30 | 2015-01-21 | 连云港杰瑞自动化有限公司 | A kind of wheel hub handling machinery paw |
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| CN101574806A (en) * | 2008-12-22 | 2009-11-11 | 浙江万丰科技开发有限公司 | Synchronous gripper |
| CN204036035U (en) * | 2014-05-26 | 2014-12-24 | 浙江今跃机械科技开发有限公司 | A kind of gantry manipulator fixture |
| CN203868020U (en) * | 2014-06-04 | 2014-10-08 | 嘉兴职业技术学院 | Rotating air cylinder in mechanical arm |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107088783A (en) * | 2017-06-05 | 2017-08-25 | 江苏天宏自动化科技有限公司 | A kind of wheel hub Special clamping servo rotary system |
| CN107696058A (en) * | 2017-10-19 | 2018-02-16 | 浙江今跃机械科技开发有限公司 | Double-side type Three-jaw fixture and manipulator |
| CN108033263A (en) * | 2018-01-11 | 2018-05-15 | 安徽纳赫智能科技有限公司 | A kind of servo feeding clamp system |
| CN108834770A (en) * | 2018-07-26 | 2018-11-20 | 北京天仁科技发展有限公司 | A kind of circulating drawing grass roller and its planting machine based on mixed lawn planting machine |
| CN109746937A (en) * | 2019-02-28 | 2019-05-14 | 山东小鸭精工机械有限公司 | Manipulator and wheel rim handling equipment |
| CN110154067A (en) * | 2019-04-10 | 2019-08-23 | 中国矿业大学 | A kind of high-speed overload Stacking Robots self-locking end effector |
| CN110154067B (en) * | 2019-04-10 | 2020-08-11 | 中国矿业大学 | Self-locking type end effector of high-speed heavy-load stacking robot |
| CN114474131A (en) * | 2022-01-28 | 2022-05-13 | 五邑大学 | Clamping gripper |
| CN114474131B (en) * | 2022-01-28 | 2024-05-07 | 五邑大学 | Clamping gripper |
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Application publication date: 20170524 |