CN109048971B - Manipulator clamping device - Google Patents
Manipulator clamping device Download PDFInfo
- Publication number
- CN109048971B CN109048971B CN201811291944.3A CN201811291944A CN109048971B CN 109048971 B CN109048971 B CN 109048971B CN 201811291944 A CN201811291944 A CN 201811291944A CN 109048971 B CN109048971 B CN 109048971B
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- China
- Prior art keywords
- fixedly connected
- clamping
- rod
- shell
- plate
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
Abstract
The invention discloses a manipulator clamping device which comprises a device body, wherein the bottom of the device body is fixedly connected with a shell, the bottom of the inner wall of the shell is provided with a through groove, the front side and the rear side of the inner wall of the through groove are fixedly connected through symmetrically arranged movable shafts, the surface of each movable shaft is movably connected with a movable rod, the top of each movable rod penetrates through the through groove and extends into the shell, and the top of one side, far away from each other, of each movable rod is fixedly connected with the inner wall of the shell through an adjusting device. According to the invention, through the mutual matching of the shell, the through groove, the movable shaft, the movable rod, the adjusting device, the inclined rod and the clamping device, the object can be correspondingly changed according to the shapes of different objects, so that the contact area between the clamping device and the object is larger, the object is prevented from being damaged during clamping, and the object can be effectively prevented from falling off during clamping.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a manipulator clamping device.
Background
The manipulator is an automatic operating device which can imitate some action functions of human hand and arm, and can be used for gripping and conveying article or operating tool according to fixed program, and is characterized by that it can implement various expected operations by means of programming, and has the advantages of both human and manipulator machines in structure and performance.
The manipulator can help people to complete the operation that many mankind can not be accomplished to carry out centre gripping and transport to the object, but common manipulator can not make corresponding change according to the object shape when the centre gripping object, the condition of single-point atress appears very easily when centre gripping object, because area of contact is less, if hard too big, then can cause the damage of object, if hard less, then can cause droing of object, has influenced the work of manipulator greatly.
Disclosure of Invention
The invention aims to provide a manipulator clamping device which has the advantage of clamping an object according to the shape of the object and solves the problem that a common manipulator cannot be correspondingly changed according to the shape of the object when clamping the object.
In order to achieve the purpose, the invention provides the following technical scheme: a manipulator clamping device comprises a device body, wherein a shell is fixedly connected to the bottom of the device body, a through groove is formed in the bottom of the inner wall of the shell, the front side and the rear side of the inner wall of the through groove are fixedly connected through symmetrically arranged movable shafts, movable rods are movably connected to the surfaces of the movable shafts, the tops of the movable rods penetrate through the through groove and extend to the inside of the shell, the tops of the two sides, away from each other, of the two movable rods are fixedly connected with the inner wall of the shell through an adjusting device, the bottoms of the movable rods penetrate through the through groove and extend to the outside of the shell, and inclined rods are fixedly connected to the sides, away from the movable rods, of the inclined rods;
the adjusting device comprises a first fixing block, the front surface of the first fixing block is movably connected with a first connecting block through a first fixing shaft, the left side of the first connecting block is fixedly connected with a telescopic cylinder, the output end of the telescopic cylinder is fixedly connected with a second connecting block, the front surface of the second connecting block is movably connected with a second fixing shaft, and the rear end of the second fixing shaft penetrates through the second connecting block and extends to the outside of the second connecting block to be fixedly connected with the second fixing block;
clamping device includes the fixed plate, the left midpoint department of fixed plate sets up flutedly, there is the connecting rod at the back of recess inner wall through connecting axle swing joint, the left side of connecting rod runs through the recess and extends to its outside fixedly connected with framework, the top on framework right side all passes through the left side fixed connection of fixed spring and fixed plate with the bottom, the connecting spring fixedly connected with connecting plate that the equidistance was arranged is passed through on the right side of framework inner wall, the left side fixedly connected with clamping bar of connecting plate, the left side of clamping bar runs through the framework and extends to its outside fixedly connected with clamping plate.
Preferably, one side of the first fixed block, which is close to the inner wall of the shell, is fixedly connected with the first fixed block, and one side of the second fixed block, which is close to the movable rod, is fixedly connected with the second fixed block.
Preferably, the top of the fixing plate is fixedly connected with the bottom of the inclined rod.
Preferably, the back of shells inner wall just corresponds the equal fixedly connected with arc slide rail in position of two movable rods, the back of movable rod just corresponds the slide bar of the position fixedly connected with rather than the looks adaptation of arc slide rail, the back of slide bar runs through the arc slide rail and extends to its inside.
Preferably, the top and the bottom of the connecting rod and one side far away from the connecting shaft are fixedly connected with a reinforcing plate, and one side of the reinforcing plate close to the frame body is fixedly connected with the reinforcing plate.
Preferably, a clamping pad is fixedly connected to one side of the clamping plate, which is far away from the clamping rod.
Preferably, the first electromagnet is embedded in the left clamping plate, the second electromagnet is embedded in the right clamping plate matched with the left clamping plate, when the manipulator is required to perform clamping operation, the first electromagnet is respectively supplied with first current through the controller, the second electromagnet is supplied with second current, so that the first electromagnet and the second electromagnet generate magnetic attraction, and when the clamping operation is completed, the first electromagnet and the second electromagnet are powered off through the controller, and the clamped object can be loosened.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, through the mutual matching of the shell, the through groove, the movable shaft, the movable rod, the adjusting device, the inclined rod and the clamping device, the object can be correspondingly changed according to the shapes of different objects, so that the contact area between the clamping device and the object is larger, the object is prevented from being damaged during clamping, and the object can be effectively prevented from falling off during clamping.
2. According to the invention, the arc-shaped sliding rail and the sliding rod are arranged, so that the movable rod is more stable when rotating around the movable shaft, deflection is not caused, the reinforcing plate is arranged to play a fixing role, so that the connection between the connecting rod and the frame body is more stable, and the clamping pad is arranged, so that the device can be effectively prevented from being damaged when clamping an object.
Drawings
FIG. 1 is a structural cross-sectional view in elevation of the present invention;
FIG. 2 is an enlarged view of a portion of A-A of FIG. 1 in accordance with the present invention;
FIG. 3 is a structural cross-sectional view of a front view of the adjustment device of the present invention;
FIG. 4 is a structural cross-sectional view in elevation of the clamping assembly of the present invention.
In the figure: the device comprises a device body 1, a shell 2, a through groove 3, a movable shaft 4, a movable rod 5, an adjusting device 6, a first fixed block 601, a first fixed shaft 602, a first connecting block 603, a telescopic cylinder 604, a second connecting block 605, a second fixed shaft 606, a second fixed block 607, an inclined rod 7, a clamping device 8, a fixed plate 801, a groove 802, a connecting shaft 803, a connecting rod 804, a frame 805, a fixed spring 806, a connecting spring 807, a connecting plate 808, a clamping rod 809, a clamping plate 810, an arc-shaped sliding rail 9, a sliding rod 10, a reinforcing plate 11 and a clamping pad 12.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, a manipulator clamping device, including a device body 1, a housing 2 is fixedly connected to the bottom of the device body 1, a through groove 3 is formed in the bottom of the inner wall of the housing 2, two sides of the inner wall of the through groove 3 are fixedly connected to a movable shaft 4 symmetrically disposed, a movable rod 5 is movably connected to the surface of the movable shaft 4, the top of the movable rod 5 penetrates through the through groove 3 and extends to the inside of the housing 2, an arc slide rail 9 is fixedly connected to the back of the inner wall of the housing 2 corresponding to the positions of the two movable rods 5, a slide rod 10 is fixedly connected to the back of the movable rod 5 corresponding to the position of the arc slide rail 9 and adapted to the position of the slide rail 9, the back of the slide rod 10 penetrates through the arc slide rail 9 and extends to the inside of the slide rail 9, the movable rod 5 is more stable when rotating around the movable shaft 4 by disposing the arc slide rail 9 and the slide rod 10, no deflection is caused, the top of one side where the two movable rods 5 are far away from each other is fixedly connected to the inner wall of the housing 2 by a regulating device 6 And then, the bottom of the movable rod 5 penetrates through the through groove 3 and extends to the outer part of the shell 2 to be fixedly connected with an inclined rod 7, and one side of the inclined rod 7, which is far away from the movable rod 5, is fixedly connected with a clamping device 8.
Referring to fig. 1-3, the adjusting device 6 includes a first fixing block 601, one side of the first fixing block 601 near the inner wall of the housing 2 is fixedly connected to the first fixing block 601, the front surface of the first fixing block 601 is movably connected to a first connecting block 603 through a first fixing shaft 602, the left side of the first connecting block 603 is fixedly connected to a telescopic cylinder 604, the output end of the telescopic cylinder 604 is fixedly connected to a second connecting block 605, the front surface of the second connecting block 605 is movably connected to a second fixing shaft 606, the rear end of the second fixing shaft 606 penetrates through the second connecting block 605 and extends to the outside of the second connecting block 607, and one side of the second fixing block 607 near the movable rod 5 is fixedly connected to the second fixing block 607.
Referring to fig. 1-4, the clamping device 8 includes a fixing plate 801, the top of the fixing plate 801 is fixedly connected to the bottom of the diagonal rod 7, a groove 802 is formed at the midpoint of the left side of the fixing plate 801, a connecting rod 804 is movably connected to the back of the inner wall of the groove 802 through a connecting shaft 803, the left side of the connecting rod 804 penetrates through the groove 802 and extends to the outside thereof to be fixedly connected to a frame 805, a reinforcing plate 11 is fixedly connected to the top and the bottom of the connecting rod 804 and the side far from the connecting shaft 803, one side of the reinforcing plate 11 near the frame 805 is fixedly connected to the frame 805, the fixing effect is achieved by the reinforcing plate 11, the connection between the connecting rod 804 and the frame 805 is more stable, the top and the bottom of the right side of the frame 805 are fixedly connected to the left side of the fixing plate 801 through fixing springs 806, and the right side of the inner wall of the frame 805 is fixedly connected to connecting plates 807 arranged at equal intervals, the left side fixedly connected with clamping rod 809 of connecting plate 808, the left side of clamping rod 809 runs through framework 805 and extends to its outside fixedly connected with clamping plate 810, clamping plate 810 keeps away from one side fixedly connected with clamping pad 12 of clamping rod 809, through setting up clamping pad 12, can effectually prevent this device from causing the damage to it when pressing from both sides tight the object, through casing 2, logical groove 3, loose axle 4, loose axle 5, adjusting device 6, mutually support between down tube 7 and the clamping device 8, realized one kind and can make corresponding change to it according to the shape of different objects, make the area of contact between clamping device 8 and the object bigger, not only avoided causing the damage to the object when pressing from both sides tight, and can effectually prevent droing of object when pressing from both sides tight.
During the use, open telescopic cylinder 604, telescopic cylinder 604's output fixed connection second connecting block 605, the front swing joint of second connecting block 605 has second fixed axle 606, second fixed block 607 and movable rod 5 can rotate certain angle around second fixed axle 606, utilize telescopic cylinder 604 to promote or stimulate movable rod 5 and rotate around loose axle 4, can drive clamping device 8 and remove, adjust to suitable position and make two clamping device 8 press from both sides tightly the object, accomplish the first heavy position adjustment of manipulator from this.
The top and the bottom of the right side of the frame 805 are both connected with the left side of the fixing plate 801 through the fixing spring 806, the frame 805 can rotate with the connecting rod 804 around the connecting shaft 803 by a certain angle, that is, the frame 805 can incline by a certain angle, when the manipulator performs a clamping operation, the frame 805 inclined by a certain angle can be matched with an irregularly-shaped clamped object, and thus, the second-weight position adjustment of the manipulator is completed.
When the manipulator clamps an object, the clamping pad 12 applies pressure to the clamping plate 810, and the shape of the object is irregular, so that the manipulator automatically presses the connecting spring 807 by the corresponding clamping rod 809 according to the shape of the object, so that the clamping plate 810 is always kept in contact with the object, in the process, the compression degrees of the connecting spring 807 are different, the lengths of the connecting plates 808 extending out of the frame 805 are different, the stability of the device in clamping the object is improved, and the third position adjustment of the manipulator is completed.
In addition, the inventor of the present application finds that the clamping force of the robot clamping device is mainly provided by the elastic force of the connecting spring 807 during the use process, and in some cases, for example, when the clamped object is heavy, the clamping force provided by the connecting spring 807 is insufficient to operate the clamped object, and even a situation that the object falls off during the operation occurs, so that it is necessary to further increase the clamping force of the robot. Therefore, a first electromagnet is embedded in the left clamping plate 810, a second electromagnet is embedded in the right clamping plate 810 matched with the left clamping plate, when the manipulator is required to clamp, a first current is respectively introduced to the first electromagnet through the controller, and a second current is introduced to the second electromagnet, so that the first electromagnet and the second electromagnet generate magnetic attraction, and the magnetic attraction generated between the left clamping plate and the right clamping plate provides a larger part of clamping force of the manipulator, so that the phenomenon that an object drops in the clamping operation process can be avoided. When the clamping operation is finished, the first electromagnet and the second electromagnet are powered off through the controller, and the clamped object can be released.
In summary, the following steps: this manipulator clamping device through setting up casing 2, leading to groove 3, loose axle 4, movable rod 5, adjusting device 6, down tube 7 and clamping device 8, has solved the problem that common manipulator can not make corresponding change according to the object shape when the centre gripping object.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides a manipulator clamping device, includes the device body, its characterized in that: the device comprises a device body, wherein the bottom of the device body is fixedly connected with a shell, the bottom of the inner wall of the shell is provided with a through groove, the front side and the rear side of the inner wall of the through groove are fixedly connected through symmetrically arranged movable shafts, the surface of each movable shaft is movably connected with a movable rod, the top of each movable rod penetrates through the through groove and extends into the shell, the top of one side, away from each other, of each movable rod is fixedly connected with the inner wall of the shell through an adjusting device, the back of the inner wall of the shell and corresponding to the positions of the two movable rods are fixedly connected with an arc-shaped slide rail, the bottom of each movable rod penetrates through the through groove and extends to the outside of the shell to be fixedly connected with an inclined rod, and one side, away from the movable rods, of the inclined rod is fixedly connected with a clamping device;
the adjusting device comprises a first fixing block, the front surface of the first fixing block is movably connected with a first connecting block through a first fixing shaft, the left side of the first connecting block is fixedly connected with a telescopic cylinder, the output end of the telescopic cylinder is fixedly connected with a second connecting block, the front surface of the second connecting block is movably connected with a second fixing shaft, and the rear end of the second fixing shaft penetrates through the second connecting block and extends to the outside of the second connecting block to be fixedly connected with the second fixing block;
clamping device includes the fixed plate, the left midpoint of fixed plate department sets up flutedly, there is the connecting rod at the back of recess inner wall through connecting axle swing joint, the left side of connecting rod runs through the recess and extends to its outside fixedly connected with framework, the top on framework right side all passes through the left side fixed connection of fixed spring and fixed plate with the bottom, the connecting spring fixedly connected with connecting plate that the equidistance was arranged is passed through on the right side of framework inner wall, the left side fixedly connected with clamping bar of connecting plate, the left side of clamping bar runs through the framework and extends to its outside fixedly connected with clamping plate, the inside first electro-magnet of embedding of left side clamping plate, at the inside embedding second electro-magnet of right side clamping plate that uses with the cooperation of left side clamping plate.
2. The manipulator gripping device according to claim 1, wherein: one side of the first fixed block close to the inner wall of the shell is fixedly connected with the first fixed block, and one side of the second fixed block close to the movable rod is fixedly connected with the second fixed block.
3. The manipulator gripping device according to claim 1, wherein: the top of the fixed plate is fixedly connected with the bottom of the inclined rod.
4. The manipulator gripping device according to claim 1, wherein: the back of movable rod just corresponds the slide bar of the position fixedly connected with rather than the looks adaptation of arc slide rail, the back of slide bar runs through the arc slide rail and extends to its inside.
5. The manipulator gripping device according to claim 1, wherein: the top and the bottom of connecting rod just keep away from the equal fixedly connected with gusset plate in one side of connecting axle, the gusset plate is close to one side of framework and its fixed connection.
6. The manipulator gripping device according to claim 1, wherein: one side of the clamping plate, which is far away from the clamping rod, is fixedly connected with a clamping pad.
7. The manipulator gripping device according to claim 1, wherein: when the manipulator is required to clamp, the first electromagnet is respectively supplied with first current and the second electromagnet is supplied with second current through the controller, so that the first electromagnet and the second electromagnet generate magnetic attraction, and when the clamping operation is finished, the first electromagnet and the second electromagnet are powered off through the controller, and a clamped object can be loosened.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811291944.3A CN109048971B (en) | 2018-11-01 | 2018-11-01 | Manipulator clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811291944.3A CN109048971B (en) | 2018-11-01 | 2018-11-01 | Manipulator clamping device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109048971A CN109048971A (en) | 2018-12-21 |
| CN109048971B true CN109048971B (en) | 2021-11-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811291944.3A Active CN109048971B (en) | 2018-11-01 | 2018-11-01 | Manipulator clamping device |
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| CN (1) | CN109048971B (en) |
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| CN110031305A (en) * | 2019-04-26 | 2019-07-19 | 宝鸡华源电力设备有限公司 | A kind of electronic tension tester |
| CN110064767B (en) * | 2019-05-13 | 2020-11-06 | 吕爱萍 | Receiving agencies for lathe |
| CN110104584A (en) * | 2019-05-27 | 2019-08-09 | 武汉博腾电力工程有限公司 | A kind of wall-mounted electric cabinet installation auxiliary material frame |
| CN110918403B (en) * | 2019-12-23 | 2021-08-31 | 黄昌宾 | Dispensing device for electronic components |
| CN111230917A (en) * | 2020-02-21 | 2020-06-05 | 江苏工程职业技术学院 | Industrial robot clamping structure |
| CN111941408B (en) * | 2020-07-16 | 2022-11-01 | 昆明理工大学 | Rotatable mechanical clamping jaw for vision sorting system |
| CN112008751B (en) * | 2020-08-19 | 2021-12-03 | 西伯瀚(泰兴)传动技术有限公司 | Mechanical gripper at tail end of mechanical arm |
| CN112208988B (en) * | 2020-09-26 | 2021-12-28 | 深圳博创机器人技术有限公司 | Manipulator for logistics warehouse management |
| CN112621791B (en) * | 2020-12-08 | 2022-07-08 | 中国科学院重庆绿色智能技术研究院 | Cylinder clamping device with force sensing capability |
| CN112548903B (en) * | 2020-12-11 | 2022-08-23 | 苏州市通吉汽车零部件有限公司 | High strength automobile body mechanism processing is with hanging fixed establishment |
| CN112828661B (en) * | 2020-12-31 | 2022-05-24 | 江苏南高智能装备创新中心有限公司 | Feeding and discharging machine tool based on automatic manipulator |
| CN113334251A (en) * | 2021-06-01 | 2021-09-03 | 森之物工艺品有限责任公司 | Resin handicraft production facility |
| CN117244848B (en) * | 2023-11-18 | 2024-02-02 | 徐州宏巨机械制造有限公司 | Accurate hardware cleaning equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1096097A1 (en) * | 1982-05-17 | 1984-06-07 | Московское Машиностроительное Производственное Объединение "Салют" | Gripper |
| CN203510237U (en) * | 2013-09-30 | 2014-04-02 | 上海品冠塑胶工业有限公司 | Simple mechanical clamp arm |
| CN205274676U (en) * | 2016-01-14 | 2016-06-01 | 山东凯文科技职业学院 | Flexible gripper of hydraulic pressure |
| CN205588323U (en) * | 2016-03-12 | 2016-09-21 | 天津市威科特科技有限公司 | Can effectively prevent too big gripper of clamp force |
| CN108082923A (en) * | 2017-10-26 | 2018-05-29 | 南京晓庄学院 | A kind of mechanical arm on automobile assembly line grabs component device |
| CN107972050B (en) * | 2017-10-31 | 2020-02-11 | 威海职业学院 | Flexible intelligent mechanical arm |
| CN108032316A (en) * | 2017-12-08 | 2018-05-15 | 广西瑞克工业机器人有限公司 | A kind of industrial robot hold assembly |
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2018
- 2018-11-01 CN CN201811291944.3A patent/CN109048971B/en active Active
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| CN109048971A (en) | 2018-12-21 |
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Effective date of registration: 20211028 Address after: In the science and Technology Park of Yangzhou University, 575 Shuguang Road, Hangji Town, ecological science and technology new town, Yangzhou City, Jiangsu Province, 225000 Applicant after: Jiangsu aikesi Automation Technology Co.,Ltd. Address before: 473000 No.69, Qiyi Road, Wolong District, Nanyang City, Henan Province Applicant before: Guo Yuhua |
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