CN110587637A - Manipulator clamping device capable of being telescopically adjusted - Google Patents
Manipulator clamping device capable of being telescopically adjusted Download PDFInfo
- Publication number
- CN110587637A CN110587637A CN201910886480.9A CN201910886480A CN110587637A CN 110587637 A CN110587637 A CN 110587637A CN 201910886480 A CN201910886480 A CN 201910886480A CN 110587637 A CN110587637 A CN 110587637A
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- Prior art keywords
- fixedly connected
- shaft
- clamping
- clamping arm
- gear
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Classifications
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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
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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
Abstract
The invention discloses a mechanical arm clamping device capable of being telescopically adjusted, which comprises a connecting beam, a protection plate, a speed reduction stepping motor, a first transmission device, a first connecting groove, a first clamping arm, a first telescopic clamping arm, a first end face gear, a first fixed shaft, a first driving gear, a first connecting rod, a first sliding groove, a first screw rod, a first transmission shaft and a first nut seat, wherein the first end face gear is connected with the first end face gear; the clamping plate has the advantages of reasonable and simple structure, low production cost and convenient installation, and the extending length of the clamping plate is adjusted according to the size of an object, so that the reliability and the stability of clamping objects with different sizes are met; in the invention, the clamping is carried out by the symmetrical clamping plates after adjustment, so that the clamping precision is improved as the clamping is ensured not to deviate during clamping; according to the invention, the clamping plates on the two sides are used for centering, clamping and releasing, so that the centering and clamping precision is ensured, and the mechanical arm is convenient to clamp an object through the device and accurately convey the object to a required position, so that the manufacturing and positioning precision is ensured.
Description
The technical field is as follows:
the invention relates to the technical field of machine manufacturing, in particular to a mechanical arm clamping device capable of being adjusted in a telescopic mode.
Background art:
in the era of the work of mechanical substitute people, the manipulator can imitate certain actions and functions of hands and arms, in some high-risk industries, the manipulator can substitute people to operate, so that the injury proportion of people can be reduced, in addition, the high efficiency can be realized, the mechanical substitute people operate, the industrial automation and the intellectualization are realized, and the manipulator is widely applied to mechanical manufacturing.
The invention content is as follows:
the invention aims to solve the problems that the traditional manipulator clamping device has simple function and is difficult to meet the requirement of centering and clamping objects with different sizes, so that the manufacturing precision is seriously influenced.
In order to solve the above problems, the present invention provides a technical solution: the utility model provides a scalable manipulator clamping device who adjusts, includes the arm, its innovation point lies in: the device comprises a connecting beam, a protective plate, a speed reduction stepping motor, a transmission device I, a connecting groove I, a clamping arm I, a telescopic clamping arm I, an end face gear I, a fixed shaft I, a driving gear I, a connecting rod I, a sliding groove I, a screw rod I, a transmission shaft I and a nut seat I; the center of the top of the connecting beam is fixedly connected to the bottom of the mechanical arm, a first connecting groove is formed in the left side of the connecting beam, a speed-reducing stepping motor is fixedly connected to the center of the upper side of the connecting beam, and a protection plate is fixedly connected to the bottom of the connecting beam; a first fixed shaft is fixedly connected in the first connecting groove; an upper side hole of the clamping arm I is movably connected to the first fixed shaft I; the first end face gear is positioned on the front side of the first clamping arm, and a central hole of the first end face gear is movably connected to the first fixed shaft; the upper side of the first telescopic clamping arm is fixedly connected to the lower side of the first clamping arm, and a driven gear on the upper side of the first telescopic clamping arm is connected with the first end face gear; the first sliding chute is transversely arranged in the upper left side of the connecting beam, and the right side of the first sliding chute is fixedly connected with a first transmission device; the input shaft end at the upper right side of the transmission device is fixedly connected with the output shaft end at the left side of the speed reduction stepping motor; the first screw rod is movably connected in the first sliding groove, and the right end of the first screw rod is fixedly connected with an output shaft at the upper left side of the first transmission device; the lower side of the nut seat is transversely and movably connected into the first sliding groove, a transverse threaded hole at the lower side of the nut seat is movably connected onto the first screw rod, and the upper side of the first nut seat is hinged with the right side of the first connecting rod; the left side of the first connecting rod is hinged with the right upper side of the first clamping arm; the transmission device comprises a transmission device, a connecting beam, a transmission shaft I, a driving gear I, a face gear I and a transmission device II, wherein the transmission shaft I is movably connected in the transverse hole at the lower left side of the connecting beam, the driving gear I is fixedly connected at the left end of one end of the transmission shaft and is connected with the right side of the face gear I, and the right end of the transmission.
Preferably, the device further comprises a second transmission device, a second nut seat, a second connecting rod, a second clamping arm, a second connecting groove, a second end face gear, a second driving gear, a second transmission shaft, a second telescopic clamping arm, a second screw, a second fixed shaft and a second sliding groove; the sliding groove is transversely arranged in the upper right side of the connecting beam, and the left side of the sliding groove is fixedly connected with a second transmission device; the structure of the second transmission device is the same as that of the first transmission device, and the input shaft end at the upper left side of the second transmission device is fixedly connected with the output shaft end at the right side of the speed reduction stepping motor; the second screw rod is movably connected in the second sliding groove, and the left end of the second screw rod is fixedly connected with an output shaft at the upper right side of the second transmission device; the lower side of the second nut seat is transversely and movably connected into the second sliding groove, a transverse threaded hole in the lower side of the second nut seat is movably connected to the second screw rod, and the upper side of the second nut seat is hinged to the left side of the second connecting rod; the second connecting groove is formed in the right side of the connecting beam, and a second fixed shaft is fixedly connected to the second connecting groove; the upper side hole of the second clamping arm is movably connected to the second fixing shaft, and the left upper side of the second clamping arm is hinged to the right side of the second connecting rod; the second end face gear is positioned on the front side of the second clamping arm, and a central hole of the second end face gear is movably connected to the second fixed shaft; the second transmission shaft is movably connected in the transverse hole at the lower right side of the connecting beam, the left shaft end of the second transmission shaft is fixedly connected with the output shaft end at the lower right side of the second transmission device, the right end of the second transmission shaft is fixedly connected with a second driving gear, and the second driving gear is connected with the left side of the second end face gear; the second telescopic clamping arm is the same as the first telescopic clamping arm in structure, the upper side of the second telescopic clamping arm is fixedly connected to the lower side of the second clamping arm, and a driven gear on the upper side of the second telescopic clamping arm is connected with a second end face gear.
Preferably, the second screw is a left-handed screw.
Preferably, the first transmission device specifically comprises a transmission case, a first clutch, a first output shaft, a second clutch, a connecting shaft, a first connecting gear, a second connecting gear and an input shaft; the first clutch is fixedly connected to the upper side of the inner portion of the left side of the transmission case, a first output shaft is fixedly connected to a left output hole of the first clutch, and an input shaft is fixedly connected to a right input hole of the first clutch; a second connecting gear is fixedly connected to the outer part of the right side of the input shaft; the second clutch is fixedly connected to the lower side of the inner part of the left side of the transmission case, a second output shaft is fixedly connected to an output hole in the left side of the second clutch, and a connecting shaft is fixedly connected to an input hole in the right side of the second clutch; the outer portion of the right side of the connecting shaft is fixedly connected with a first connecting gear, and the first connecting gear is connected with a second connecting gear.
Preferably, the first clutch and the second clutch are both electromagnetic clutches.
Preferably, the first telescopic clamping arm comprises a guide sleeve, a nut sleeve body, a telescopic screw rod, a connecting block, a clamping plate, a driven gear and an end cover; the upper side of the telescopic screw is movably connected to the center of the inner part of the upper side of the guide sleeve through an end cover, and the end part of the upper side of the telescopic screw is fixedly connected with a driven gear; the nut sleeve body is vertically and movably connected inside the guide sleeve, a threaded hole in the center of the nut sleeve body is connected with the telescopic screw rod, and the bottom of the nut sleeve body is fixedly connected with a connecting block; the right side of the connecting block is hinged with the center of the left side of the clamping plate.
Preferably, the screw is a right-handed screw.
The invention has the beneficial effects that:
(1) the clamping plate has the advantages of reasonable and simple structure, low production cost and convenient installation, and the extending length of the clamping plate is adjusted according to the size of an object, so that the reliability and the stability of clamping objects with different sizes are met.
(1) According to the invention, the clamping is carried out through the symmetrical clamping plates after adjustment, so that the clamping precision is improved as the clamping is ensured not to deviate during clamping.
(3) According to the invention, the clamping plates on the two sides are used for centering, clamping and releasing, so that the centering and clamping precision is ensured, and the mechanical arm is convenient to clamp an object through the device and accurately convey the object to a required position, so that the manufacturing and positioning precision is ensured.
Description of the drawings:
for ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural diagram of the transmission.
Fig. 3 is a schematic structural view of a telescopic clamp arm.
1-a mechanical arm; 2-connecting the beams; 3-protection plate; 4-a step-down motor; 5-a first transmission device; 6, connecting a groove I; 7-a first clamping arm; 8-a first telescopic clamping arm; 9-face gear one; 10, fixing a shaft I; 11-a first driving gear; 12-connecting rod one; 13-a first chute; 14-screw rod one; 15-a first transmission shaft; 16-a nut seat I; 17-a second transmission device; 18-nut seat two; 19-link two; 20-a second clamping arm; 21-connecting groove two; 22-face gear two; 23-driving gear two; 24-a second transmission shaft; 25-a second telescopic clamping arm; 26-screw II; 27-a second fixed shaft; 28-chute two; 51-a transmission case; 52-clutch one; 53-output shaft one; 54-output shaft two; 55-clutch two; 56-connecting shaft; 57-connecting gear one; 58-connecting gear II; 59-an input shaft; 81-guide sleeve; 82-nut sleeve body; 83-telescopic screw; 84-connecting blocks; 85-a clamping plate; 86-driven gear; 87-end cap.
The specific implementation mode is as follows:
as shown in fig. 1, the following technical solutions are adopted in the present embodiment: a mechanical arm clamping device capable of being adjusted in a telescopic mode comprises a mechanical arm 1, a connecting beam 2, a protection plate 3, a speed reduction stepping motor 4, a transmission device I5, a connecting groove I6, a clamping arm I7, a telescopic clamping arm I8, an end face gear I9, a fixed shaft I10, a driving gear I11, a connecting rod I12, a sliding groove I13, a screw rod I14, a transmission shaft I15 and a nut seat I16; the center of the top of the connecting beam 2 is fixedly connected to the bottom of the mechanical arm 1, a first connecting groove 6 is formed in the left side of the connecting beam 2, a speed-reducing stepping motor 4 is fixedly connected to the center of the upper side of the connecting beam 2, and a protection plate 3 is fixedly connected to the bottom of the connecting beam 2; a first fixed shaft 10 is fixedly connected in the first connecting groove 6; the upper side hole of the first clamping arm 7 is movably connected to the first fixing shaft 10; the first end face gear 9 is positioned on the front side of the first clamping arm 7, and a central hole of the first end face gear 9 is movably connected to a first fixed shaft 10; the upper side of the first telescopic clamping arm 8 is fixedly connected to the lower side of the first clamping arm 7, and a driven gear on the upper side of the first telescopic clamping arm 8 is connected with a first end face gear 9; the first sliding chute 13 is transversely arranged in the upper left side of the connecting beam 2, and the right side of the first sliding chute 13 is fixedly connected with a first transmission device 5; the input shaft end at the upper right side of the first transmission device 5 is fixedly connected with the output shaft end at the left side of the speed reduction stepping motor 4; the first screw 14 is movably connected in the first sliding groove 13, and the right end of the first screw 14 is fixedly connected with the output shaft at the upper left side of the first transmission device 5; the lower side of the first nut seat 16 is transversely movably connected into the first sliding groove 13, the lower side of the first nut seat 16 is transversely movably connected with the first screw rod 14, and the upper side of the first nut seat 16 is hinged with the right side of the first connecting rod 12; the left side of the first connecting rod 12 is hinged with the upper right side of the first clamping arm 7; the first transmission shaft 15 is movably connected to the left lower side transverse hole of the connecting beam 2, a first driving gear 11 is fixedly connected to the left end of the first transmission shaft 15, the first driving gear 11 is connected with the right side of the first end face gear 9, and the right end of the first transmission shaft 15 is fixedly connected with a left lower side output shaft of the first transmission device 5.
The clamping mechanism further comprises a second transmission device 17, a second nut seat 18, a second connecting rod 19, a second clamping arm 20, a second connecting groove 21, a second end face gear 22, a second driving gear 23, a second transmission shaft 24, a second telescopic clamping arm 25, a second screw 26, a second fixed shaft 27 and a second sliding groove 28; the sliding groove 28 is transversely arranged in the upper right side of the connecting beam 2, and the left side of the sliding groove 28 is fixedly connected with a second transmission device 17; the structure of the second transmission device 17 is the same as that of the first transmission device 5, and the input shaft end at the upper left side of the second transmission device 17 is fixedly connected with the output shaft end at the right side of the speed reduction stepping motor 4; the second screw 26 is movably connected in the second sliding groove 28, and the left end of the second screw 26 is fixedly connected with the output shaft at the right upper side of the second transmission device 17; the lower side of the second nut seat 18 is transversely movably connected into a second sliding groove 28, a transverse threaded hole in the lower side of the second nut seat 18 is movably connected onto a second screw rod 26, and the upper side of the second nut seat 18 is hinged with the left side of a second connecting rod 19; the second connecting groove 21 is formed in the right side of the connecting beam 2, and a second fixed shaft 27 is fixedly connected in the second connecting groove 21; the upper side hole of the second clamping arm 20 is movably connected to the second fixing shaft 27, and the left upper side of the second clamping arm 20 is hinged to the right side of the second connecting rod 19; the second end face gear 22 is positioned on the front side of the second clamping arm 20, and a central hole of the second end face gear 22 is movably connected to the second fixed shaft 27; the second transmission shaft 24 is movably connected in a transverse hole at the lower right side of the connecting beam 2, the left shaft end of the second transmission shaft 24 is fixedly connected with an output shaft end at the lower right side of the second transmission device 17, the right end of the second transmission shaft 24 is fixedly connected with a second driving gear 23, and the second driving gear 23 is connected with the left side of the second face gear 22; the structure of the second telescopic clamping arm 25 is the same as that of the first telescopic clamping arm 8, the upper side of the second telescopic clamping arm 25 is fixedly connected to the lower side of the second clamping arm 20, and a driven gear on the upper side of the second telescopic clamping arm 25 is connected with the second end face gear 22.
Wherein the second screw 26 is a left-handed screw.
As shown in fig. 2, the first transmission device 5 specifically includes a transmission case 51, a first clutch 52, a first output shaft 53, a second output shaft 54, a second clutch 55, a connecting shaft 56, a first connecting gear 57, a second connecting gear 58 and an input shaft 59; the first clutch 52 is fixedly connected to the upper side of the left inner side of the transmission case 51, an output shaft 53 is fixedly connected to the left output hole of the first clutch 52, and an input shaft 59 is fixedly connected to the right input hole of the first clutch 52; a second connecting gear 58 is fixedly connected to the outer part of the right side of the input shaft 59; the second clutch 55 is fixedly connected to the lower side of the inner left side of the transmission case 51, an output shaft 54 is fixedly connected to an output hole in the left side of the second clutch 55, and a connecting shaft 56 is fixedly connected to an input hole in the right side of the second clutch 55; the outer portion of the right side of the connecting shaft 56 is fixedly connected with a first connecting gear 57, and the first connecting gear 57 is connected with a second connecting gear 58.
The first clutch 52 and the second clutch 55 are both electromagnetic clutches.
As shown in fig. 3, the first telescopic clamp arm 8 specifically includes a guide sleeve 81, a nut sleeve 82, a telescopic screw 83, a connecting block 84, a clamping plate 85, a driven gear 86 and an end cap 87; the upper side of the telescopic screw 83 is movably connected to the center of the inner part of the upper side of the guide sleeve 81 through an end cover 87, and the end part of the upper side of the telescopic screw 83 is fixedly connected with a driven gear 86; the nut sleeve body 82 is vertically movably connected inside the guide sleeve 81, a threaded hole in the center of the nut sleeve body 82 is connected with the telescopic screw 83, and the bottom of the nut sleeve body 82 is fixedly connected with a connecting block 84; the right side of the connecting block 84 is hinged with the center of the left side of the clamping plate 85.
Wherein, the first screw rod is 14 right-handed screw rods.
The using state of the invention is as follows: the invention has the advantages of reasonable and simple structure, low production cost and convenient installation, when in use, the extending length of the clamping plate 85 is firstly adjusted according to the size of an object, thereby satisfying the reliability and stability of clamping objects with different sizes, when in specific adjustment, the clutch II 55 and the speed reduction stepping motor 4 are firstly started, the speed reduction stepping motor 4 can drive the input shaft 59, the connecting gear II 58, the connecting gear I57 and the connecting shaft 56 to rotate, the rotation of the connecting shaft 56 drives the output shaft II 54 to rotate through the clutch II 55, the rotation of the output shaft II 54 drives the end face gear I9 to rotate through the transmission shaft I15 and the driving gear I11, the rotation of the end face gear I9 drives the telescopic screw 83 to rotate through the driven gear 86, and the rotation of the telescopic screw 83 drives the nut sleeve 82 to drive the connecting block 84 to move telescopically, namely drives the clamping plate 85 to move telescopically, similarly, the right output shaft of the speed-reducing stepping motor 4 can drive the clamping plates in the second telescopic clamping arm 25 to synchronously move in a telescopic manner through the second transmission device 17, so that the symmetry of the clamping plates in the first telescopic clamping arm 8 and the second telescopic clamping arm 25 is ensured, the clamping precision is improved due to no deviation during clamping, the first clutch 52 and the speed-reducing stepping motor 4 are started, the first screw 14 and the second screw 26 can be simultaneously driven to rotate together through the first transmission device 5 and the second transmission device 17, the first screw 14 and the second screw 26 have opposite rotation directions, so that the first nut seat 16 and the second nut seat 18 can be simultaneously moved outwards or inwards, the clamping arms at two sides are driven to clamp and release through the connecting rods, namely the clamping plates at two sides are centered, clamped and loosened, the centering clamping precision is ensured, and the mechanical arm 1 is convenient to clamp an object through the device and accurately convey the object to a required position, and the manufacturing set position is ensured The precision of the bits.
In the description of the invention, it is to be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "one side", "top", "inner", "front", "center", "two ends", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the invention.
In the present invention, unless otherwise specifically stated or limited, the terms "mounted," "disposed," "connected," "fixed," "screwed" and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically defined, and the specific meaning of the terms in the invention is understood by those skilled in the art according to specific situations.
While there have been shown and described what are at present considered the fundamental principles of the invention and its essential features and advantages, it will be understood by those skilled in the art that the invention is not limited by the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.
Claims (7)
1. The utility model provides a mechanical arm clamping device of scalable regulation, includes arm (1), its characterized in that: the device comprises a connecting beam (2), a protection plate (3), a speed reduction stepping motor (4), a transmission device I (5), a connecting groove I (6), a clamping arm I (7), a telescopic clamping arm I (8), an end face gear I (9), a fixed shaft I (10), a driving gear I (11), a connecting rod I (12), a sliding groove I (13), a screw rod I (14), a transmission shaft I (15) and a nut seat I (16);
the center of the top of the connecting beam (2) is fixedly connected to the bottom of the mechanical arm (1), a first connecting groove (6) is formed in the left side of the connecting beam (2), a speed-reducing stepping motor (4) is fixedly connected to the center of the upper side of the connecting beam (2), and a protection plate (3) is fixedly connected to the bottom of the connecting beam (2);
a first fixed shaft (10) is fixedly connected in the first connecting groove (6);
the upper side hole of the first clamping arm (7) is movably connected to the first fixing shaft (10);
the end face gear I (9) is positioned on the front side of the clamping arm I (7), and a central hole of the end face gear I (9) is movably connected to the fixed shaft I (10);
the upper side of the first telescopic clamping arm (8) is fixedly connected to the lower side of the first clamping arm (7), and a driven gear on the upper side of the first telescopic clamping arm (8) is connected with a first end face gear (9);
the first sliding chute (13) is transversely arranged in the left upper side of the connecting beam (2), and the right side of the first sliding chute (13) is fixedly connected with a first transmission device (5);
the input shaft end of the upper right side of the first transmission device (5) is fixedly connected with the output shaft end of the left side of the speed reduction stepping motor (4);
the first screw (14) is movably connected in the first sliding groove (13), and the right end of the first screw (14) is fixedly connected with an output shaft at the left upper side of the first transmission device (5);
the lower side of the first nut seat (16) is transversely movably connected into the first sliding groove (13), the transverse threaded hole at the lower side of the first nut seat (16) is movably connected onto the first screw rod (14), and the upper side of the first nut seat (16) is hinged with the right side of the first connecting rod (12);
the left side of the first connecting rod (12) is hinged with the right upper side of the first clamping arm (7);
the transmission shaft I (15) is movably connected in a transverse hole at the left lower side of the connecting beam (2), a driving gear I (11) is fixedly connected to the left end of the transmission shaft I (15), the driving gear I (11) is connected with the right side of the face gear I (9), and the right end of the transmission shaft I (15) is fixedly connected with an output shaft at the left lower side of the transmission device I (5).
2. A telescopically adjustable manipulator gripping apparatus according to claim 1, wherein: the clamping device comprises a first transmission device (17), a first nut seat (18), a first connecting rod (19), a first clamping arm (20), a first connecting groove (21), a first end face gear (22), a first driving gear (23), a first transmission shaft (24), a first telescopic clamping arm (25), a first screw (26), a first fixed shaft (27) and a first sliding groove (28);
the sliding groove (28) is transversely arranged in the upper right side of the connecting beam (2), and the left side of the sliding groove (28) is fixedly connected with a second transmission device (17);
the structure of the second transmission device (17) is the same as that of the first transmission device (5), and the input shaft end at the upper left side of the second transmission device (17) is fixedly connected with the output shaft end at the right side of the speed reduction stepping motor (4);
the second screw (26) is movably connected in the second sliding groove (28), and the left end of the second screw (26) is fixedly connected with the output shaft at the right upper side of the second transmission device (17);
the lower side of the second nut seat (18) is transversely movably connected into a second sliding groove (28), a transverse threaded hole in the lower side of the second nut seat (18) is movably connected onto a second screw rod (26), and the upper side of the second nut seat (18) is hinged with the left side of a second connecting rod (19);
the second connecting groove (21) is formed in the right side of the connecting beam (2), and a second fixed shaft (27) is fixedly connected in the second connecting groove (21);
the upper side hole of the second clamping arm (20) is movably connected to the second fixed shaft (27), and the left upper side of the second clamping arm (20) is hinged to the right side of the second connecting rod (19);
the second end face gear (22) is positioned on the front side of the second clamping arm (20), and a central hole of the second end face gear (22) is movably connected to the second fixed shaft (27);
the second transmission shaft (24) is movably connected in a transverse hole at the lower right side of the connecting beam (2), the left shaft end of the second transmission shaft (24) is fixedly connected with an output shaft end at the lower right side of the second transmission device (17), the right end of the second transmission shaft (24) is fixedly connected with a second driving gear (23), and the second driving gear (23) is connected with the left side of the second end face gear (22);
the structure of the second telescopic clamping arm (25) is the same as that of the first telescopic clamping arm (8), the upper side of the second telescopic clamping arm (25) is fixedly connected to the lower side of the second clamping arm (20), and a driven gear on the upper side of the second telescopic clamping arm (25) is connected with the second end face gear (22).
3. A telescopically adjustable manipulator gripping apparatus according to claim 2, wherein: the second screw (26) is a left-handed screw.
4. A telescopically adjustable manipulator gripping apparatus according to claim 1, wherein: the transmission device I (5) specifically comprises a transmission case (51), a clutch I (52), an output shaft I (53), an output shaft II (54), a clutch II (55), a connecting shaft (56), a connecting gear I (57), a connecting gear II (58) and an input shaft (59);
the first clutch (52) is fixedly connected to the upper side of the left inner side of the transmission case (51), a first output shaft (53) is fixedly connected to a left output hole of the first clutch (52), and an input shaft (59) is fixedly connected to a right input hole of the first clutch (52);
a second connecting gear (58) is fixedly connected to the outer part of the right side of the input shaft (59);
the second clutch (55) is fixedly connected to the lower side of the left inner part of the transmission case (51), a second output shaft (54) is fixedly connected to a left output hole of the second clutch (55), and a connecting shaft (56) is fixedly connected to a right input hole of the second clutch (55);
the outer portion of the right side of the connecting shaft (56) is fixedly connected with a first connecting gear (57), and the first connecting gear (57) is connected with a second connecting gear (58).
5. A telescopically adjustable manipulator gripping apparatus according to claim 4, wherein: the first clutch (52) and the second clutch (55) are both electromagnetic clutches.
6. A telescopically adjustable manipulator gripping apparatus according to claim 1, wherein: the first telescopic clamping arm (8) specifically comprises a guide sleeve (81), a nut sleeve body (82), a telescopic screw (83), a connecting block (84), a clamping plate (85), a driven gear (86) and an end cover (87);
the upper side of the telescopic screw rod (83) is movably connected to the center of the inner part of the upper side of the guide sleeve (81) through an end cover (87), and the end part of the upper side of the telescopic screw rod (83) is fixedly connected with a driven gear (86);
the nut sleeve body (82) is vertically and movably connected inside the guide sleeve (81), a central threaded hole of the nut sleeve body (82) is connected with the telescopic screw rod (83), and the bottom of the nut sleeve body (82) is fixedly connected with a connecting block (84);
the right side of the connecting block (84) is hinged with the center of the left side of the clamping plate (85).
7. A telescopically adjustable manipulator gripping apparatus according to claim 1, wherein: the first screw (14) is a right-handed screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910886480.9A CN110587637A (en) | 2019-09-19 | 2019-09-19 | Manipulator clamping device capable of being telescopically adjusted |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910886480.9A CN110587637A (en) | 2019-09-19 | 2019-09-19 | Manipulator clamping device capable of being telescopically adjusted |
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| Publication Number | Publication Date |
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| CN110587637A true CN110587637A (en) | 2019-12-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910886480.9A Pending CN110587637A (en) | 2019-09-19 | 2019-09-19 | Manipulator clamping device capable of being telescopically adjusted |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112388663A (en) * | 2020-10-14 | 2021-02-23 | 江西玉祥智能装备制造有限公司 | Special clamp for transfer robot |
| CN112405572A (en) * | 2020-10-23 | 2021-02-26 | 广东凯宝机器人科技有限公司 | Scara robot transport LCD protector |
| CN112894860A (en) * | 2021-01-27 | 2021-06-04 | 临沂大学 | Manipulator clamping device |
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| CN112405572A (en) * | 2020-10-23 | 2021-02-26 | 广东凯宝机器人科技有限公司 | Scara robot transport LCD protector |
| CN112405572B (en) * | 2020-10-23 | 2024-04-05 | 东莞市达林自动化科技有限公司 | Scara robot transport LCD protector |
| CN112894860A (en) * | 2021-01-27 | 2021-06-04 | 临沂大学 | Manipulator clamping device |
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