CN106945067B - Manipulator quick change clamping jaw device - Google Patents
Manipulator quick change clamping jaw device Download PDFInfo
- Publication number
- CN106945067B CN106945067B CN201710277247.1A CN201710277247A CN106945067B CN 106945067 B CN106945067 B CN 106945067B CN 201710277247 A CN201710277247 A CN 201710277247A CN 106945067 B CN106945067 B CN 106945067B
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- China
- Prior art keywords
- clamping
- screw rod
- handle
- seat
- movable plate
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- 230000008859 change Effects 0.000 title claims description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 230000006698 induction Effects 0.000 claims description 6
- 238000009434 installation Methods 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
- 230000007547 defect 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
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
The invention discloses a manipulator quick-change clamping jaw device, which comprises a clamping seat and clamping jaws arranged on the clamping seat, wherein the clamping seat comprises a driving mechanism and a screw rod driven by the driving mechanism, a screw rod nut is sleeved on the screw rod, the screw rod nut is connected with a movable plate, the clamping seat further comprises an electromagnetic bolt, the clamping jaws comprise a first hinged clamping handle and a second clamping handle, the tail end of the first clamping handle is provided with a jack, the electromagnetic bolt is inserted into the jack to lock the first clamping handle, the tail end of the second clamping handle is provided with a roller, the roller is propped against the movable plate, and the pressure of the movable plate is transmitted to the second clamping handle through the roller to drive the second clamping handle to rotate. According to the clamping power control device, the clamping power is controlled in a mode of driving the screw rod by the motor, so that the clamping precision is improved, an air source is not needed, the clamping seat is suitable for a working environment without the air source, the clamping seat is compact in structure and small in size, the clamping jaw is locked by the electromagnetic bolt, the clamping jaw is quickly replaced, and the working efficiency is improved.
Description
Technical Field
The invention relates to the field of automation equipment, in particular to a manipulator quick-change clamping jaw device.
Background
With the development of economy and science and technology, the application of automation equipment in industrial production is more and more extensive, and the clamping jaw device on the market at present is generally larger in size and is used for carrying large-scale workpieces, and pneumatic clamping jaws are adopted, but the clamping jaws have the defects of inaccurate positioning and incapability of constant speed control. Especially when installing on robotic arm, often need to be equipped with a plurality of clamping jaws according to the difference of product, traditional clamping jaw device can not change or change loaded down with trivial details, seriously influences production efficiency.
Accordingly, there is a need to provide a manipulator quick change jaw assembly that addresses the above-described issues.
Disclosure of Invention
The invention aims to provide a manipulator quick-change clamping jaw device which is small in size, high in precision and quick.
The invention realizes the aim through the following technical scheme:
the utility model provides a manipulator quick change clamping jaw device, includes the holder and installs clamping jaw on the holder, the holder includes actuating mechanism and passes through actuating mechanism driven lead screw, the cover is equipped with screw nut on the lead screw, screw nut is connected with the fly leaf, the holder still includes electromagnetic bolt, the clamping jaw includes articulated first clamp holder and second clamp holder, the end of first clamp holder is equipped with the jack, electromagnetic bolt inserts in the jack to first clamp holder locks, the end of second clamp holder is equipped with the gyro wheel, the gyro wheel with the fly leaf supports and holds, passes through the gyro wheel transmission the pressure of fly leaf arrives the second clamp holder drives the second clamp holder rotates.
Further, the driving mechanism comprises a motor, a driving wheel connected with the motor and a driven wheel connected with the driving wheel through a belt.
Further, one end of the screw rod is connected with the driven wheel, and a screw rod bearing seat is arranged at the other end of the screw rod.
Further, the clamping seat further comprises a sliding rod which is arranged in parallel with the screw rod, a sliding block is sleeved on the sliding rod, and the sliding block is fixed on the movable plate.
Further, the clamping seat further comprises a base, an electromagnetic bolt installation seat is arranged on the base, and the electromagnetic bolt is arranged on the electromagnetic bolt installation seat.
Further, the holder further comprises a position sensor and an induction piece, wherein the induction piece is arranged on the movable plate, and the position sensor senses displacement of the movable plate through the induction piece.
Further, the first clamping handle is connected with the second clamping handle through a rotating shaft, and the rotating shaft is provided with a torsion spring.
Further, the front end of the first clamping handle is provided with a first clamping head, and the front end of the second clamping handle is provided with a second clamping head.
Compared with the prior art, the mechanical arm quick-change clamping jaw device has the beneficial effects that: the clamping power is controlled in a mode of driving the screw rod through the motor, so that the clamping precision is improved, an air source is not needed, the clamping seat is suitable for a working environment without the air source, the clamping seat is compact in structure and small in size, the clamping jaw is locked through the electromagnetic bolt, the clamping jaw is quickly replaced, and the working efficiency is improved.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic view of a clip seat with a clip groove omitted.
Fig. 3 is another angular view of fig. 2.
Fig. 4 is a schematic structural view of the quick-change clamping jaw.
Detailed Description
Referring to fig. 1 to 4, a quick-change clamping jaw device for a manipulator includes a clamping seat 1 and clamping jaws 2 mounted on the clamping seat 1, wherein the clamping seat 1 includes a manipulator mounting plate 101 for fixing the manipulator and a clamping groove 102 for limiting the clamping jaws 2.
The holder 1 comprises a driving mechanism and a screw rod 121 driven by the driving mechanism, wherein the driving mechanism comprises a motor 111, a driving wheel 112 connected with the motor 111, and a driven wheel 114 connected with the driving wheel 112 through a belt 113. One end of the screw rod 121 is connected with the driven wheel 114, the other end of the screw rod 121 is provided with a screw rod bearing seat 123, a screw rod nut 122 is sleeved on the screw rod 121, and the screw rod nut 122 is connected with a movable plate 124. The motor 111 drives the driving wheel 112 to rotate, the driving wheel 112 drives the driven wheel 114 to rotate through the belt 113, the driven wheel 114 drives the screw rod 121 to rotate, and the screw rod nut 122 is driven to move along the length direction of the screw rod, so that the movable plate 124 moves along the length direction of the screw rod.
The clamping seat 1 further comprises a sliding rod 126 which is arranged in parallel with the screw rod, a sliding block 125 is sleeved on the sliding rod 126, and the sliding block 125 is fixed on the movable plate 124. The sliding rod is matched with the screw rod to absorb lateral force, so that the movement precision is controlled.
The clamping seat 1 further comprises a base 103, an electromagnetic bolt mounting seat 132 is arranged on the base 103, and an electromagnetic bolt 131 is arranged on the electromagnetic bolt mounting seat 132. The screw bearing block 123 is fixed on the base 103, and the slide bar 126 is fixed on the base 103.
The holder 1 further includes a position sensor 141 and a sensing piece 142, and the sensing piece 142 is mounted on the movable plate 124. The position sensor 141 senses the displacement of the movable plate 124 through the sensing piece 142, thereby improving the accuracy.
The clamping jaw 2 comprises a first clamping holder 21 and a second clamping holder 22 which are hinged, the first clamping holder 21 and the second clamping holder 22 are connected through a rotating shaft 25, the rotating shaft 25 is provided with a torsion spring 26, the tail end of the first clamping holder 21 is provided with an inserting hole 211, the inserting hole 211 is located on the side face of an electromagnetic bolt 131, the electromagnetic bolt 131 can be inserted into the inserting hole 211 to lock the first clamping holder, the tail end of the first clamping holder 21 is located in a clamping groove 102, the tail end of the second clamping holder 22 is provided with a roller 27, the roller 27 abuts against a movable plate 124, the pressure of the movable plate is transmitted to the second clamping holder through the roller 27, the second clamping holder is driven to rotate, and sliding friction of the roller can be reduced. The front end of the first clamping handle 21 is provided with a first clamping head 23, and the front end of the second clamping handle 22 is provided with a second clamping head 24.
The working principle of the invention is as follows: during operation, the electromagnetic bolt 131 is inserted into the insertion hole 211 to lock the first clamping handle, the motor 111 drives the driving wheel 112 to rotate, the driving wheel 112 drives the driven wheel 114 to rotate through the belt 113, the driven wheel 114 drives the screw rod 121 to rotate, the screw rod nut 122 is driven to move along the length direction of the screw rod, and therefore the movable plate 124 moves along the length direction of the screw rod. The movable plate 124 transmits pressure to the second clamping holder 22 through the roller 27, and the second clamping holder 22 rotates along the rotating shaft 25, so that clamping action is completed by matching with the first clamping holder 21, the torsion spring 26 plays a role in resetting, and when the clamping jaw needs to be replaced, the electromagnetic bolt withdraws from the inserting hole 211, and quick replacement of the clamping jaw is performed.
According to the clamping power control device, the clamping power is controlled in a mode of driving the screw rod by the motor, so that the clamping precision is improved, an air source is not needed, the clamping seat is suitable for a working environment without the air source, the clamping seat is compact in structure and small in size, the clamping jaw is locked by the electromagnetic bolt, the clamping jaw is quickly replaced, and the working efficiency is improved.
What has been described above is merely some embodiments of the present invention. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit of the invention.
Claims (5)
1. The utility model provides a manipulator quick change clamping jaw device which characterized in that: the clamping jaw comprises a clamping seat and a clamping jaw arranged on the clamping seat, wherein the clamping seat comprises a driving mechanism and a screw rod driven by the driving mechanism, a screw rod nut is sleeved on the screw rod, the screw rod nut is connected with a movable plate, the clamping seat further comprises an electromagnetic bolt, the clamping jaw comprises a first hinged clamping handle and a second clamping handle, the tail end of the first clamping handle is provided with an inserting hole, the electromagnetic bolt is inserted into the inserting hole to lock the first clamping handle, the clamping seat comprises a clamping groove used for limiting the clamping jaw, the tail end of the first clamping handle is positioned in the clamping groove, the tail end of the second clamping handle is provided with a roller, the roller abuts against the movable plate, and the roller transmits the pressure of the movable plate to the second clamping handle to drive the second clamping handle to rotate; the clamping seat further comprises a sliding rod which is arranged in parallel with the screw rod, a sliding block is sleeved on the sliding rod, the sliding block is fixed on the movable plate, the clamping seat further comprises a position sensor and an induction piece, the induction piece is installed on the movable plate, the position sensor senses displacement of the movable plate through the induction piece, the first clamping handle is connected with the second clamping handle through a rotating shaft, and the rotating shaft is provided with a torsion spring.
2. The manipulator quick change jaw assembly of claim 1, wherein: the driving mechanism comprises a motor, a driving wheel connected with the motor and a driven wheel connected with the driving wheel through a belt.
3. The manipulator quick change jaw assembly of claim 2, wherein: one end of the screw rod is connected with the driven wheel, and a screw rod bearing seat is arranged at the other end of the screw rod.
4. The manipulator quick change jaw assembly of claim 1, wherein: the clamping seat further comprises a base, an electromagnetic bolt installation seat is arranged on the base, and the electromagnetic bolt is arranged on the electromagnetic bolt installation seat.
5. The manipulator quick change jaw assembly of claim 1, wherein: the front end of the first clamping handle is provided with a first clamping head, and the front end of the second clamping handle is provided with a second clamping head.
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 CN106945067A (en) | 2017-07-14 |
| CN106945067B true CN106945067B (en) | 2023-11-03 |
Family
ID=59476644
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) |
Families Citing this family (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 |
| CN109230476B (en) * | 2018-07-17 | 2021-01-29 | 格力电器（武汉）有限公司 | Clamp and production line |
| CN109239201B (en) * | 2018-09-04 | 2021-04-02 | 长沙理工大学 | Portable automatic clamping device for nonlinear ultrasonic detection |
| 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 |
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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106945067A (en) | 2017-07-14 |
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