CN111086020A

CN111086020A - Multifunctional clamp device for manipulator

Info

Publication number: CN111086020A
Application number: CN201911398896.2A
Authority: CN
Inventors: 郑祥模; 郑元态; 王晓杰
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-12-30
Filing date: 2019-12-30
Publication date: 2020-05-01

Abstract

The invention discloses a multifunctional clamp device for a manipulator, which comprises a driving seat and an operating clamp, wherein the operating clamp is positioned at the bottom of the driving seat and consists of two symmetrically arranged clamp bodies, a first hydraulic cylinder is fixed on the front side surface of the driving seat, a second hydraulic cylinder is fixed on the back surface of the driving seat, a second telescopic rod is arranged at the output end of the second hydraulic cylinder, the bottom of the second telescopic rod is connected with an electromagnetic plate, a power supply device is arranged inside the driving seat and connected with the electromagnetic plate, the electromagnetic plate is arranged in the horizontal direction and positioned between the two clamp bodies, the bottom of each clamp body is of a hollow structure, and a negative pressure plate and a sealing pipe are arranged in the bottom of each clamp body; this device passes through the setting of electromagnetic plate and negative pressure dish, when carrying out the transfer of metal object, smallclothes article, can guarantee the stable effect of snatching to guaranteed that the device is when handling the work of snatching of different kinds of article, the completion task of homoenergetic guarantor, improvement device's suitability, multi-purpose type.

Description

Multifunctional clamp device for manipulator

Technical Field

The invention relates to a mechanical clamping technology, in particular to a multifunctional clamp device for a manipulator.

Background

The manipulator is a power-assisted device for material handling or installation. It skillfully applies the force balance principle to make the object move in space according to the set distance and direction. The object can be lifted or lowered by the air circuit system to form a floating state, and the heavy object can be correctly placed at a set position in the space without labor-consuming and skilled manual operation. The manipulator clamp is an important component of the power-assisted manipulator and is used for grabbing workpieces. The angle that opens of arm lock is usually changed through telescopic adjusting rod to the manipulator anchor clamps that have now in order to press from both sides and get article, and the arm lock is direct and telescopic adjusting rod rigid connection, presss from both sides the in-process arm lock and easily produces the bounce-back and rocks, has consequently reduced and has got the stability of getting the effect, leads to article to drop easily by the arm lock. The clamping arm of the existing manipulator clamp is of a fixed structure and cannot be flexibly adapted to clamped workpieces of different shapes, sizes, weights and materials.

Chinese patent publication No. CN209022083U provides a multifunctional manipulator anchor clamps, through setting up two parallel arm locks and through one of them arm lock of pneumatic cylinder drive translation, improve and press from both sides the stability of getting the action, but in the in-service use, this anchor clamps can't satisfy the requirement of variety, like smooth metal object in surface or the less article of volume to the anchor clamps of the same kind also can't satisfy this kind of demand in the market mostly, need special anchor clamps to accomplish, very inconvenient.

Disclosure of Invention

The present invention is directed to a multifunctional clamping apparatus for a robot arm, which solves the above problems of the prior art.

In order to achieve the purpose, the invention provides the following technical scheme:

a multifunctional clamp device for a manipulator comprises a driving seat and an operating clamp, wherein the operating clamp is positioned at the bottom of the driving seat and consists of two symmetrically arranged clamp bodies, a first hydraulic cylinder is fixed on the front side surface of the driving seat, a second hydraulic cylinder is fixed on the back surface of the driving seat, the output end of the second hydraulic cylinder is provided with a second telescopic rod, the bottom of the second telescopic rod is connected with an electromagnetic plate, a power supply device is arranged in the driving seat and is connected with an electromagnetic plate, the electromagnetic plate is arranged in the horizontal direction and is positioned between the two clamping bodies, the bottom of the clamp body is of a hollow structure, a negative pressure plate and a sealing pipe are arranged in the bottom of the clamp body, the sealing pipe is in sealing butt joint with the negative pressure plate, the two sides of the driving seat are respectively provided with a negative pressure device, the output end of the negative pressure device is connected with a negative pressure pipe, the negative pressure pipe is positioned below the driving seat, and the lower end of the negative pressure pipe is in butt joint with the sealing pipe.

The negative pressure pipe is a rubber pipe; a metal interception net is arranged inside the sealing pipe; the negative pressure pipe is connected with the sealing pipe through a sealing ring, the sealing ring and the sealing pipe are integrally formed, a threaded pipe is arranged at the lower end of the negative pressure pipe, and internal threads matched with the threaded pipe are arranged on the inner wall of the sealing ring; the output end of the first hydraulic cylinder is provided with a first telescopic rod, the bottom of the first telescopic rod is provided with a connecting disc, the connecting disc is cylindrical, a rod seat is fixed below the connecting disc, the rod seat is provided with two duplex rotating rods in one-to-one correspondence with the clamp bodies, the lower ends of the duplex rotating rods are located on the front side faces of the clamp bodies corresponding to the duplex rotating rods and are connected with the clamp bodies in a rotating mode, and the upper ends of the duplex rotating rods are connected with the rod seat in a rotating mode.

As a preferred embodiment of the present invention: the clamp body main part is a bent metal rod, the bottom of the clamp body is provided with a chuck with a plane inner side, the negative pressure disc is positioned in the chuck, and a rubber ring is laid on the inner side of the chuck.

As a still further preferable embodiment of the present invention: the top of the clamp body is provided with a fluted disc which is positioned on the inner wall of the driving seat, a rotating shaft is arranged in the center of the fluted disc and fixedly connected with the fluted disc, the rotating shaft is rotatably connected with the driving seat, the outer side surface of the fluted disc is provided with meshed teeth which are positioned in the range of 1/4 on the upper part of the side surface of the fluted disc, and the meshed teeth on the two fluted discs are meshed with each other.

Compared with the prior art, the invention has the beneficial effects that: this device passes through the setting of electromagnetic plate and negative pressure dish, when carrying out the transfer of metal object, smallclothes article, can guarantee the stable effect of snatching to guaranteed that the device is when handling the work of snatching of different kinds of article, the completion task of homoenergetic guarantor, improvement device's suitability, multi-purpose type.

Drawings

Fig. 1 is a front view of the present invention.

Fig. 2 is a rear view of the present invention.

Fig. 3 is an enlarged sectional view taken at a in fig. 1.

Fig. 4 is a perspective view of the clip body of the present invention.

Fig. 5 is a front view of fig. 4.

In the figure, 1-a driving seat, 2-an operating clamp, 3-a first hydraulic cylinder, 4-a first telescopic rod, 5-a connecting disc, 6-a rod seat, 7-a duplex rotating rod, 8-a negative pressure device, 9-a negative pressure tube, 10-a fluted disc, 11-an engaging tooth, 12-a rotating shaft, 13-a clamp body, 14-a clamping head, 15-a negative pressure plate, 16-a sealing tube, 17-a sealing ring, 18-a second hydraulic cylinder, 19-a second telescopic rod and 20-an electromagnetic plate.

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.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1:

referring to fig. 1-3, a multifunctional clamping apparatus for a manipulator comprises a driving seat 1 and an operating clamp 2, wherein the operating clamp 2 is located at the bottom of the driving seat 1, the driving seat 1 is used for driving the operating clamp 2 to perform clamping operation, the operating clamp 2 is composed of two symmetrically arranged clamp bodies 13, a first hydraulic cylinder 3 is fixed on the front side of the driving seat 1, the first hydraulic cylinder 3 is used for driving the operating clamp 2 to open and close so as to clamp and place down an object, a second hydraulic cylinder 18 is fixed on the back of the driving seat 1, a second telescopic rod 19 is arranged at the output end of the second hydraulic cylinder 18, an electromagnetic plate 20 is connected to the bottom of the second telescopic rod 19, a power supply is arranged inside the driving seat 1 and connected to the electromagnetic plate 20, the electromagnetic plate 20 is arranged in a horizontal direction, the electromagnetic plate 20 is located between the two clamp bodies 13, when the clamping operation is performed, if the metal object is to be clamped, certain instability exists during clamping due to the special smooth characteristic of the surface of the metal object, and the power supply supplies power to the electromagnetic plate 20 at the moment, so that the electromagnetic plate 20 is magnetic after being electrified and attracts the metal object, thereby ensuring the stability during clamping the metal object; meanwhile, the bottom of the clamp body 13 is of a hollow structure, a negative pressure plate 15 and a sealing pipe 16 are arranged in the bottom of the clamp body 13, the sealing pipe 16 is in sealing butt joint with the negative pressure plate 15, negative pressure devices 8 are arranged on two sides of the driving seat 1, the output end of the negative pressure device 8 is connected with a negative pressure pipe 9, the negative pressure pipe 9 is positioned below the driving seat 1, the lower end of the negative pressure pipe 9 is in butt joint with the sealing pipe 16, when small articles are clamped, the negative pressure device 8 can be started to avoid the situation that the small articles cannot be normally clamped due to small articles, negative pressure is generated in the negative pressure plate 15 through the negative pressure pipe 9 and the sealing pipe 16 to perform negative pressure suction on the small articles, and through the arrangement of the electromagnetic plate 20 and the negative pressure plate 15, when the metal articles and the small articles are transferred, a stable grabbing effect can be ensured, so that the device can guarantee quality and quantity when grabbing work for different articles is performed, the applicability and the multi-purpose type of the device are improved.

In practice, the negative pressure device may use a vacuum compression device, and is not limited herein.

Specifically, the negative pressure pipe 9 is a rubber pipe and can stretch and retract along with the clamp body 13 in the process that the clamp body 13 rotates, so that no matter where the clamp body 13 rotates, negative pressure suction can be provided to suck articles; further, the inside metal interception net that is equipped with of sealed tube 16 for guarantee the negative pressure effect of attracting when carrying out the interception to the solid particle, simultaneously, negative pressure pipe 9 is connected through sealing washer 17 with sealed tube 16, and sealing washer 17 and sealed tube 16 integrated into one piece are equipped with the screwed pipe at negative pressure pipe 9 lower extreme, and sealing washer 17 inner wall is equipped with the internal thread with screwed pipe assorted, can conveniently carry out the dismantlement of negative pressure pipe 9 and maintain, guarantees the operation safety of equipment.

The output of first pneumatic cylinder 3 is equipped with first telescopic link 4, is equipped with connection pad 5 in first telescopic link 4 bottom, and connection pad 5 is cylindrical, is fixed with rod seat 6 below connection pad 5, be equipped with two pair bull stick 7 with 13 one-to-one of clamp on the

rod seat

6, 7 lower extremes of pair bull stick are located the clamp 13 leading flank rather than corresponding and rotate with clamp 13 and be connected, 7 upper ends of pair bull stick rotate with rod seat 6 and be connected, when pressing from both sides 2 work through the drive of first pneumatic cylinder 3, when the first telescopic link 4 of pneumatic cylinder drive extended, drive rod seat 6 descends, pair bull stick 7 tends to the level, drive two clamp bars and rotate to the outside, press from both sides the back of accomplishing, the first telescopic link 4 of pneumatic cylinder drive shortens, drive rod seat 6 descends, pair bull stick 7 tends to vertical, drive two clamp bars inboard and rotate and be close to, realize pressing from both sides and get close.

Example 2:

referring to fig. 4-5, based on embodiment 1, the main body of the clamp body 13 is a bent metal rod, the bottom of the clamp body 13 is provided with a clamp 14 whose inner side is a plane, the negative pressure plate 15 is located in the clamp 14, and a rubber ring is laid on the inner side of the clamp 14, so that the friction force between the clamp and the clamped object can be improved, and the clamping stability can be ensured.

The top of clamp 13 is fluted disc 10, and fluted disc 10 is located 1 inner wall of drive seat, is equipped with axis of rotation 12 at fluted disc 10 central authorities, axis of rotation 12 and fluted disc 10 fixed connection, and axis of rotation 12 rotates with drive seat 1 to be connected, is equipped with interlock tooth 11 at fluted disc 10 lateral surface, interlock tooth 11 is located fluted disc 10 side upper portion 1/4 within range, and the interlock tooth 11 intermeshing on two fluted discs 10 sets up, can guarantee when single clamp 13 rotates, drives another clamp 13 and rotates in step, and then guarantees to press from both sides the effect of getting.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A multifunctional clamp device for a manipulator comprises a driving seat (1) and an operation clamp (2), wherein the operation clamp (2) is positioned at the bottom of the driving seat (1), the operation clamp (2) is composed of two symmetrically arranged clamp bodies (13), and is characterized in that a first hydraulic cylinder (3) is fixed on the front side surface of the driving seat (1), a second hydraulic cylinder (18) is fixed on the back surface of the driving seat (1), a second telescopic rod (19) is arranged at the output end of the second hydraulic cylinder (18), an electromagnetic plate (20) is connected at the bottom of the second telescopic rod (19), a power supply device is arranged inside the driving seat (1) and connected with the electromagnetic plate (20), the electromagnetic plate (20) is arranged in the horizontal direction, the electromagnetic plate (20) is positioned between the two clamp bodies (13), the bottom of the clamp body (13) is of a hollow structure, and a negative pressure plate (15) and a negative pressure pipe (16) are arranged in the bottom of the clamp body (13) in a sealing manner, sealing tube (16) and negative pressure dish (15) sealed butt joint all are equipped with negative pressure ware (8) in drive seat (1) both sides, the output of negative pressure ware (8) is connected with negative pressure pipe (9), negative pressure pipe (9) are located drive seat (1) below, and negative pressure pipe (9) lower extreme and sealing tube (16) butt joint.

2. The multifunctional jig device for robot hand according to claim 1 characterized in that the negative pressure tube (9) is a rubber tube.

3. The multifunctional jig device for robot hand according to claim 1, wherein a metal intercepting net is provided inside the sealing tube (16).

4. The multifunctional clamp device for the manipulator as claimed in claim 2, wherein the negative pressure pipe (9) is connected with the sealing pipe (16) through a sealing ring (17), the sealing ring (17) and the sealing pipe (16) are integrally formed, a threaded pipe is arranged at the lower end of the negative pressure pipe (9), and an internal thread matched with the threaded pipe is arranged on the inner wall of the sealing ring (17).

5. The multifunctional clamp device for the manipulator according to claim 1, 2 or 3, wherein the output end of the first hydraulic cylinder (3) is provided with a first telescopic rod (4), the bottom of the first telescopic rod (4) is provided with a connecting disc (5), a rod seat (6) is fixed below the connecting disc (5), the rod seat (6) is provided with two double rotating rods (7) which correspond to the clamp bodies (13) one by one, the lower ends of the double rotating rods (7) are positioned on the front side surfaces of the corresponding clamp bodies (13) and are rotatably connected with the clamp bodies (13), and the upper ends of the double rotating rods (7) are rotatably connected with the rod seat (6).

6. A multi-function clamp device for robot hand according to claim 5 characterized in that the connection disc (5) is cylindrical.

7. The multifunctional clamp device for the manipulator as claimed in claim 1, wherein the clamp body (13) is a bent metal rod, the bottom of the clamp body (13) is provided with a clamp head (14) with a plane inner side, and the negative pressure plate (15) is positioned in the clamp head (14).

8. The multifunctional jig device for robot hand according to claim 7, wherein a rubber ring is laid inside the collet (14).

9. The multifunctional clamp device for the manipulator as claimed in claim 7, wherein the top of the clamp body (13) is a fluted disc (10), the fluted disc (10) is located on the inner wall of the driving base (1), a rotating shaft (12) is arranged at the center of the fluted disc (10), the rotating shaft (12) is fixedly connected with the fluted disc (10), the rotating shaft (12) is rotatably connected with the driving base (1), meshing teeth (11) are arranged on the outer side surface of the fluted disc (10), and the meshing teeth (11) on the two fluted discs (10) are meshed with each other.

10. The multi-function clamp device for a robot hand of claim 9, wherein the engagement teeth (11) are located within the range of the upper side portion 1/4 of the toothed plate (10).