CN106945067A - A kind of manipulator quick change clamping jaw device - Google Patents
A kind of manipulator quick change clamping jaw device Download PDFInfo
- Publication number
- CN106945067A CN106945067A CN201710277247.1A CN201710277247A CN106945067A CN 106945067 A CN106945067 A CN 106945067A CN 201710277247 A CN201710277247 A CN 201710277247A CN 106945067 A CN106945067 A CN 106945067A
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- China
- Prior art keywords
- holder
- clamping jaw
- clamp holder
- quick change
- clamp
- Prior art date
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- Granted
Links
- 230000008859 change Effects 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000026683 transduction Effects 0.000 description 1
- 238000010361 transduction Methods 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Manipulator quick change clamping jaw device of the present invention, clamping jaw including holder and on holder, the holder includes drive mechanism and the screw mandrel driven by drive mechanism, feed screw nut is arranged with screw mandrel, feed screw nut is connected with portable plate, the holder also includes Electromagnetic bolt, the clamping jaw includes the first clamp holder and the second clamp holder being hinged, the end of first clamp holder is provided with jack, the Electromagnetic bolt inserts in the jack and carries out locking to first clamp holder, the end of second clamp holder is provided with roller, the roller is supported with the portable plate, the pressure of the portable plate is transmitted to second clamp holder by the roller, second clamp holder is driven to rotate.The present invention controls to clamp power by way of motor drive screw, improves clamp precision, it is not necessary to source of the gas, it is adapted to the working environment without source of the gas, clip seat structure is compact, small volume, carrying out locking to clamping jaw by Electromagnetic bolt realizes the quick-replaceable of clamping jaw, improves operating efficiency.
Description
Technical field
The present invention relates to automation equipment field, specifically a kind of manipulator quick change clamping jaw device.
Background technology
With economic and science and technology development, the utilization of automation equipment is more and more extensive in the industrial production, existing market
On the usual volume of clamping jaw device it is larger, the carrying for doing large-scale workpiece, it uses Pneumatic clamping jaw, but this kind of clamping jaw is deposited
Forbidden, be unable to the shortcoming of constant speed control in positioning.Particularly when on mechanical arm, generally require according to product
Difference, is equipped with multiple clamping jaws, and traditional clamping jaw device can not change or change cumbersome, have a strong impact on production efficiency.
Therefore, it is necessary to provide a kind of manipulator quick change clamping jaw device to solve the above problems.
The content of the invention
It is an object of the invention to provide a kind of small volume, high precision, faster quick manipulator quick change clamping jaw device.
The present invention is achieved through the following technical solutions above-mentioned purpose：
A kind of manipulator quick change clamping jaw device, including holder and the clamping jaw on the holder, the holder include
Feed screw nut is arranged with drive mechanism and the screw mandrel driven by drive mechanism, the screw mandrel, the feed screw nut is connected with
Portable plate, the holder also includes Electromagnetic bolt, and the clamping jaw includes the first clamp holder and the second clamp holder being hinged, first folder
The end of handle is provided with jack, and the Electromagnetic bolt inserts and carries out locking in the jack to first clamp holder, second folder
The end of handle is provided with roller, and the roller is supported with the portable plate, and the pressure for transmitting the portable plate by the roller is arrived
Second clamp holder, drives second clamp holder to rotate.
Further, the drive mechanism includes motor, the driving wheel with the motor connection, passes through belt and the master
The driven pulley of driving wheel connection.
Further, one end of the screw mandrel is connected with the driven pulley, and the other end of the screw mandrel is provided with screw mandrel bearing
Seat.
Further, the holder also includes being arranged with sliding block on the slide bar be arrangeding in parallel with the screw mandrel, the slide bar,
The sliding block is fixed on the portable plate.
Further, the holder also includes pedestal, and the pedestal is provided with Electromagnetic bolt mounting seat, the Electromagnetic bolt
Mounting seat is provided with the Electromagnetic bolt.
Further, the holder also includes position sensor and sensing chip, and the sensing chip is arranged on the portable plate
On, the position sensor is by sensing chip come the displacement of sensed activity plate.
Further, connected between first clamp holder and second clamp holder by rotating shaft, the rotating shaft is provided with torsion spring.
Further, the front end of first clamp holder is provided with the first chuck, and the front end of second clamp holder is provided with the second folder
Head.
Compared with prior art, the beneficial effect of manipulator quick change clamping jaw device of the present invention is：Pass through motor drive screw
Mode control to clamp power, improve clamp precision, it is not necessary to source of the gas, be adapted to the working environment without source of the gas, clip seat structure is tight
Gather, small volume, carrying out locking to clamping jaw by Electromagnetic bolt realizes the quick-replaceable of clamping jaw, improves operating efficiency.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the clip seat structure schematic diagram for omitting neck.
Fig. 3 is Fig. 2 another angular views.
Fig. 4 is the structural representation of quick change clamping jaw.
Embodiment
Fig. 1 is referred to Fig. 4, a kind of manipulator quick change clamping jaw device, including holder 1 and the clamping jaw on holder 1
2, holder 1 includes the neck 102 for the manipulator installing plate 101 of solid mechanical hand and for spacing clamping jaw 2.
Holder 1 includes drive mechanism and the screw mandrel 121 driven by drive mechanism, and drive mechanism includes motor 111 and electricity
The driving wheel 112 of the connection of machine 111, the driven pulley 114 being connected by belt 113 with driving wheel 112.One end of screw mandrel 121 with from
Driving wheel 114 is connected, and the other end of screw mandrel 121, which is provided with screw mandrel shaft block 123, screw mandrel 121, is arranged with feed screw nut 122, screw mandrel
Nut 122 is connected with portable plate 124.The driving driving wheel 112 of motor 111 is rotated, and driving wheel 112 is driven driven by belt 113
Wheel 114 is rotated, and the drive screw 121 of driven pulley 114 is rotated, and drives feed screw nut 122 to be moved along screw mandrel length direction, so that
Portable plate 124 is moved along screw mandrel length direction.
Holder 1 also includes being arranged with sliding block 125 on the slide bar 126 be arrangeding in parallel with screw mandrel, slide bar 126, and sliding block 125 is fixed
On portable plate 124.Slide bar coordinates screw mandrel absorbing side forces, controls kinematic accuracy.
Holder 1 also includes pedestal 103, and pedestal 103 is provided with Electromagnetic bolt mounting seat 132, Electromagnetic bolt mounting seat 132
Provided with Electromagnetic bolt 131.Screw mandrel shaft block 123 is fixed on pedestal 103, and slide bar 126 is fixed on pedestal 103.
Holder 1 also includes position sensor 141 and sensing chip 142, and sensing chip 142 is arranged on portable plate 124.Position is passed
Sensor 141, come the displacement of sensed activity plate 124, lifts precision by sensing chip 142.
Clamping jaw 2 includes the first clamp holder 21 and the second clamp holder 22 being hinged, and passes through between the first clamp holder 21 and the second clamp holder 22
Rotating shaft 25 is connected, and rotating shaft 25 is provided with torsion spring 26, and the end of the first clamp holder 21 is provided with jack 211, and jack 211 is located at Electromagnetic bolt
131 side, Electromagnetic bolt 131 is inserted into carrying out locking to the first clamp holder in jack 211, and the end of the first clamp holder 21 is located at
In neck 102, the end of the second clamp holder 22 is provided with roller 27, and roller 27 is supported with portable plate 124, passes through the transduction activity of roller 27
The pressure of plate drives the second clamp holder to rotate, roller can reduce sliding friction to the second clamp holder.The front end of first clamp holder 21 is provided with
First chuck 23, the front end of the second clamp holder 22 is provided with the second chuck 24.
The present invention operation principle be：During work, locking is carried out to the first clamp holder in the insertion jack 211 of Electromagnetic bolt 131,
Driving wheel 112 is driven to rotate by motor 111, driving wheel 112 drives driven pulley 114 to rotate by belt 113, driven pulley 114
Drive screw 121 is rotated, and drives feed screw nut 122 to be moved along screw mandrel length direction, so that portable plate 124 is along screw mandrel length
Move in direction.Pressure transmission is given the second clamp holder 22 by portable plate 124 by roller 27, and the second clamp holder 22 is rotated along rotating shaft 25, from
And coordinate with the first clamp holder 21 and complete gripping action, torsion spring 26 plays a part of reset, it is necessary to which when changing clamping jaw, Electromagnetic bolt is removed
Go out jack 211, carry out the quick-replaceable of clamping jaw.
The present invention controls to clamp power by way of motor drive screw, improves clamp precision, it is not necessary to source of the gas, fits
The working environment without source of the gas is closed, clip seat structure is compact, small volume, carrying out locking to clamping jaw by Electromagnetic bolt realizes clamping jaw
Quick-replaceable, improves operating efficiency.
Above-described is only some embodiments of the present invention.For the person of ordinary skill of the art, not
On the premise of departing from the invention design, various modifications and improvements can be made, these belong to the protection model of the present invention
Enclose.
Claims (8)
1. a kind of manipulator quick change clamping jaw device, it is characterised in that：Clamping jaw including holder and on the holder, it is described
Holder includes being arranged with feed screw nut, the screw mandrel spiral shell on drive mechanism and the screw mandrel driven by drive mechanism, the screw mandrel
Mother is connected with portable plate, and the holder also includes Electromagnetic bolt, and the clamping jaw includes the first clamp holder and the second clamp holder being hinged, institute
The end for stating the first clamp holder is provided with jack, and the Electromagnetic bolt inserts in the jack and carries out locking, institute to first clamp holder
The end for stating the second clamp holder is provided with roller, and the roller is supported with the portable plate, and the portable plate is transmitted by the roller
Pressure to second clamp holder, drive second clamp holder to rotate.
2. manipulator quick change clamping jaw device according to claim 1, it is characterised in that：The drive mechanism include motor,
Driving wheel with the motor connection, the driven pulley being connected by belt with the driving wheel.
3. manipulator quick change clamping jaw device according to claim 2, it is characterised in that：One end of the screw mandrel with it is described from
Driving wheel is connected, and the other end of the screw mandrel is provided with screw mandrel shaft block.
4. manipulator quick change clamping jaw device according to claim 1, it is characterised in that：The holder also includes and the silk
Sliding block is arranged with the slide bar that bar be arranged in parallel, the slide bar, the sliding block is fixed on the portable plate.
5. manipulator quick change clamping jaw device according to claim 1, it is characterised in that：The holder also includes pedestal, institute
Pedestal is stated provided with Electromagnetic bolt mounting seat, the Electromagnetic bolt mounting seat is provided with the Electromagnetic bolt.
6. manipulator quick change clamping jaw device according to claim 1, it is characterised in that：The holder also includes position sensing
Device and sensing chip, the sensing chip are arranged on the portable plate, and the position sensor is by sensing chip come sensed activity plate
Displacement.
7. manipulator quick change clamping jaw device according to claim 1, it is characterised in that：First clamp holder and described second
Connected between clamp holder by rotating shaft, the rotating shaft is provided with torsion spring.
8. manipulator quick change clamping jaw device according to claim 1, it is characterised in that：The front end of first clamp holder is provided with
First chuck, the front end of second clamp holder is provided with the second chuck.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710277247.1A CN106945067B (en) | 2017-04-25 | 2017-04-25 | Manipulator quick change clamping jaw device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710277247.1A CN106945067B (en) | 2017-04-25 | 2017-04-25 | Manipulator quick change clamping jaw device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106945067A true CN106945067A (en) | 2017-07-14 |
| CN106945067B CN106945067B (en) | 2023-11-03 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710277247.1A Active CN106945067B (en) | 2017-04-25 | 2017-04-25 | Manipulator quick change clamping jaw device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106945067B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107363824A (en) * | 2017-07-21 | 2017-11-21 | 重庆奥沃斯机器人有限公司 | Mechanical arm |
| CN109239201A (en) * | 2018-09-04 | 2019-01-18 | 长沙理工大学 | A kind of Portable Automatic clamping device for non-linear ultrasonic detection |
| CN109230476A (en) * | 2018-07-17 | 2019-01-18 | 格力电器（武汉）有限公司 | A kind of fixture and production line |
| CN110595412A (en) * | 2019-10-17 | 2019-12-20 | 广州广日电梯工业有限公司 | Automatic detection device of traction machine |
| CN110625633A (en) * | 2019-10-15 | 2019-12-31 | 深圳市新浦自动化设备有限公司 | Double-stroke clamping device and clamping method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU814723A1 (en) * | 1978-12-18 | 1981-03-23 | Севастопольский Приборостроитель-Ный Институт | Gripper |
| SU1430265A1 (en) * | 1986-12-02 | 1988-10-15 | Предприятие П/Я Г-4805 | Manipulator grip |
| JP2000040900A (en) * | 1998-07-22 | 2000-02-08 | Tenryuu Technics:Kk | Electronic part-fitting device and method for mounting fitting head to it |
| CN204935443U (en) * | 2015-08-21 | 2016-01-06 | 北京北华丰家具有限公司 | For the clamping device of shaft-like timber |
| CN205325701U (en) * | 2016-01-26 | 2016-06-22 | 象山星旗电器科技有限公司 | Get thing and adjust gripper |
| CN205660745U (en) * | 2016-06-03 | 2016-10-26 | 新昌县博杰机械有限公司 | Bearing ring presss from both sides and gets manipulator |
| CN206925882U (en) * | 2017-04-25 | 2018-01-26 | 苏州灵猴机器人有限公司 | A kind of manipulator quick change clamping jaw device |
-
2017
- 2017-04-25 CN CN201710277247.1A patent/CN106945067B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU814723A1 (en) * | 1978-12-18 | 1981-03-23 | Севастопольский Приборостроитель-Ный Институт | Gripper |
| SU1430265A1 (en) * | 1986-12-02 | 1988-10-15 | Предприятие П/Я Г-4805 | Manipulator grip |
| JP2000040900A (en) * | 1998-07-22 | 2000-02-08 | Tenryuu Technics:Kk | Electronic part-fitting device and method for mounting fitting head to it |
| CN204935443U (en) * | 2015-08-21 | 2016-01-06 | 北京北华丰家具有限公司 | For the clamping device of shaft-like timber |
| CN205325701U (en) * | 2016-01-26 | 2016-06-22 | 象山星旗电器科技有限公司 | Get thing and adjust gripper |
| CN205660745U (en) * | 2016-06-03 | 2016-10-26 | 新昌县博杰机械有限公司 | Bearing ring presss from both sides and gets manipulator |
| CN206925882U (en) * | 2017-04-25 | 2018-01-26 | 苏州灵猴机器人有限公司 | A kind of manipulator quick change clamping jaw device |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107363824A (en) * | 2017-07-21 | 2017-11-21 | 重庆奥沃斯机器人有限公司 | Mechanical arm |
| CN109230476A (en) * | 2018-07-17 | 2019-01-18 | 格力电器（武汉）有限公司 | A kind of fixture and production line |
| CN109230476B (en) * | 2018-07-17 | 2021-01-29 | 格力电器（武汉）有限公司 | Clamp and production line |
| CN109239201A (en) * | 2018-09-04 | 2019-01-18 | 长沙理工大学 | A kind of Portable Automatic clamping device for non-linear ultrasonic detection |
| CN110625633A (en) * | 2019-10-15 | 2019-12-31 | 深圳市新浦自动化设备有限公司 | Double-stroke clamping device and clamping method |
| CN110625633B (en) * | 2019-10-15 | 2023-12-22 | 深圳市新浦自动化设备有限公司 | Double-stroke clamping device and clamping method |
| CN110595412A (en) * | 2019-10-17 | 2019-12-20 | 广州广日电梯工业有限公司 | Automatic detection device of traction machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106945067B (en) | 2023-11-03 |
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