CN111283717A - Mechanical clamping jaw at tail end of industrial manipulator - Google Patents
Mechanical clamping jaw at tail end of industrial manipulator Download PDFInfo
- Publication number
- CN111283717A CN111283717A CN202010201380.0A CN202010201380A CN111283717A CN 111283717 A CN111283717 A CN 111283717A CN 202010201380 A CN202010201380 A CN 202010201380A CN 111283717 A CN111283717 A CN 111283717A
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- China
- Prior art keywords
- box body
- sliding
- roller
- guide rail
- shaft
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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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
-
- 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
-
- 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
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a mechanical clamping jaw at the tail end of an industrial manipulator, which comprises a manipulator box body structure, wherein a guide rail structure is supported and installed in the manipulator box body structure, and a sliding box body is symmetrically and slidably matched and installed on the guide rail structure through a roller mechanism; the bottom of each sliding box body is respectively provided with a clamping finger structure; and a synchronous transmission device for driving the sliding boxes to synchronously move in opposite directions or reversely move is arranged between the sliding boxes, the synchronous transmission device is connected with a power device for driving the sliding boxes to move, and the power device is arranged in the box structure of the manipulator. The mechanical clamping jaw adopts a mechanical transmission mode to drive the clamping action of the clamping jaw, so that the traditional pneumatic driving mode is replaced, the stability of the clamping action is ensured, and the transmission precision is ensured.
Description
Technical Field
The invention belongs to the field of mechanical arm equipment, and particularly relates to a mechanical clamping jaw at the tail end of an industrial mechanical arm.
Background
In the non-standard automation equipment production process of industry, often need use mechanical clamping jaw, at present, the mechanical clamping jaw who adopts usually adopts cylinder drive power form, adopts the pneumatic drive mode, and mechanical clamping jaw's impact is great, snatchs the demand to the high accuracy, and the pneumatic drive mode can't satisfy the user demand. Therefore, a high-precision mechanical clamping jaw with stable transmission needs to be designed.
Disclosure of Invention
In order to solve the technical problems, the invention provides the mechanical clamping jaw at the tail end of the industrial manipulator, and the mechanical clamping jaw adopts a mechanical transmission mode to drive the clamping action of the clamping jaw, so that the traditional pneumatic driving mode is replaced, the stability of the clamping action is ensured, and the transmission precision is ensured.
In order to achieve the technical features, the invention is realized as follows: the mechanical clamping jaw at the tail end of the industrial manipulator comprises a manipulator box body structure, wherein a guide rail structure is supported and installed inside the manipulator box body structure, and a sliding box body is symmetrically and slidably matched and installed on the guide rail structure through a roller mechanism; the bottom of each sliding box body is respectively provided with a clamping finger structure; and a synchronous transmission device for driving the sliding boxes to synchronously move in opposite directions or reversely move is arranged between the sliding boxes, the synchronous transmission device is connected with a power device for driving the sliding boxes to move, and the power device is arranged in the box structure of the manipulator.
The manipulator box structure comprises a box top plate, long side plates are symmetrically fixed to two sides of the bottom of the box top plate, and a first side plate and a second side plate are fixed between two sides of each long side plate through locking bolts.
The guide rail mechanism comprises a guide rail cross beam, and the guide rail cross beam is fixedly arranged between a first side plate and a second side plate of the manipulator box body structure through a guide rail set screw; and the upper end surface and the lower end surface of the guide rail beam are respectively symmetrically processed with sliding chutes matched with the roller wheel mechanisms.
The sliding box body comprises a U-shaped sliding seat, two side plates of the U-shaped sliding seat are fixedly connected with a lower bolt through an upper bolt, and a sealing plate is fixed on the lower portion of the outer side wall of the U-shaped sliding seat.
The roller mechanism comprises a first roller shaft and a second roller shaft which are fixed between U-shaped sliding seats of the sliding box body, the first roller shaft and the second roller shaft on the same U-shaped sliding seat are respectively arranged in parallel, and the total number of the first roller shaft and the second roller shaft is four and respectively arranged at two sides of a guide rail cross beam of the guide rail mechanism; and a first roller and a second roller are respectively and symmetrically arranged on each first roller shaft and each second roller shaft, and the first roller and the second roller are respectively in sliding fit with the sliding groove of the guide rail mechanism.
The synchronous transmission device comprises a first transmission shaft and a second transmission shaft, the first transmission shaft is supported on a second side plate of the manipulator box body structure through a first bearing, the second transmission shaft is supported on a first side plate of the manipulator box body structure through a second bearing, the ends of the first transmission shaft and the second transmission shaft are fixedly connected through a connecting sleeve, a left threaded shaft section is machined on the first transmission shaft, and a right threaded shaft section is machined on the second transmission shaft; the left threaded shaft section and a first nut sleeve form threaded transmission fit, and the first nut sleeve is installed on a U-shaped sliding seat of one of the sliding box bodies through a first installation plate; the right threaded shaft section and a second nut sleeve form threaded transmission fit, and the second nut sleeve is installed on a U-shaped sliding seat of the other sliding box body through a second installation plate.
The power device comprises a motor, the motor is fixed on the second side plate of the manipulator box through a motor locking bolt, a driving gear is installed on an output shaft of the motor, the driving gear is in meshed transmission with a driven gear, the driven gear is installed on a first transmission shaft of the synchronous transmission device and drives the first transmission shaft to rotate, and a gear protection cover is installed outside the driving gear and the driven gear.
The clamping finger structure comprises a clamping jaw plate fixed to the bottom of a U-shaped sliding seat of the sliding box body, a clamping finger plate is fixed to the bottom end face of the clamping jaw plate, and a V-shaped groove is machined in the inner side wall of the clamping finger plate.
The invention has the following beneficial effects:
1. through adopting the mechanical clamping jaw of above-mentioned structure, it adopts driven pneumatic drive mode of mechanical transmission's substitution, and then has guaranteed the stability and the reliability of clamping jaw action, and then can realize accurate clamp and get the action, has guaranteed the transmission precision simultaneously. In the working process, the power device drives the synchronous transmission device, the synchronous rotating device drives the symmetrically arranged sliding box bodies, and then the sliding box bodies drive the clamping finger structures to move, so that the clamping action is finally realized.
2. The manipulator box structure can fix and install parts on the whole machine.
3. The guide rail mechanism can achieve the purpose of guiding, and further the moving stability of the sliding box body is guaranteed.
4. The sliding box body can be used for fixing and installing the clamping finger structure.
5. The sliding stability of the sliding box body can be ensured through the roller mechanism.
6. Through foretell synchronous drive device, it adopts screw thread transmission's mode, replaces traditional pneumatic means, and then great improvement press from both sides the stability that the action was got to the clamp finger, and then guaranteed that it can realize accurate clamp and get the action, effectively avoided pressing from both sides the impact that the in-process produced.
Drawings
The invention is further illustrated by the following figures and examples.
FIG. 1 is a first perspective three-dimensional view of the present invention.
FIG. 2 is a second perspective three-dimensional view of the present invention.
FIG. 3 is a third perspective three-dimensional view of the present invention.
Fig. 4 is a left side view of the present invention.
FIG. 5 is a view A-A of FIG. 4 according to the present invention.
In the figure: the device comprises a manipulator box body structure 1, a sliding box body 2, a clamping finger structure 3, a power device 4, a synchronous transmission device 5, a roller mechanism 6 and a guide rail mechanism 7;
a box top plate 101, long side plates 102, a locking bolt 103, a first side plate 104 and a second side plate 105;
an upper bolt 201, a U-shaped sliding seat 202, a lower bolt 203 and a closing plate 204;
a clamping jaw plate 301, a V-shaped groove 302 and a finger clamping plate 303;
a motor 401, a motor locking bolt 402, a driving gear 403, an output shaft 404, a gear protection cover 405 and a driven gear 406;
a first transmission shaft 501, a first bearing 502, a left threaded shaft section 503, a first nut sleeve 504, a first mounting plate 505, a connecting sleeve 506, a right threaded shaft section 507, a second mounting plate 508, a second nut sleeve 509, a second transmission shaft 510, and a second bearing 511;
a first roller 601, a first roller shaft 602, a second roller 603, a second roller shaft 604;
a guide rail beam 701, a guide rail fastening screw 702 and a sliding groove 703.
Detailed Description
Embodiments of the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1-5, the mechanical clamping jaw at the tail end of the industrial manipulator comprises a manipulator box body structure 1, wherein a guide rail structure 7 is supported and installed inside the manipulator box body structure 1, and a sliding box body 2 is installed on the guide rail structure 7 through a roller mechanism 6 in a symmetrical sliding fit manner; the bottom of each sliding box body 2 is respectively provided with a clamping finger structure 3; and a synchronous transmission device 5 for driving the sliding box bodies to synchronously move in opposite directions or reversely move is arranged between the sliding box bodies 2, the synchronous transmission device 5 is connected with a power device 4 for driving the sliding box bodies to move, and the power device 4 is arranged in the manipulator box body structure 1. Through adopting the mechanical clamping jaw of above-mentioned structure, it adopts driven pneumatic drive mode of mechanical transmission's substitution, and then has guaranteed the stability and the reliability of clamping jaw action, and then can realize accurate clamp and get the action, has guaranteed the transmission precision simultaneously. In the working process, the power device 4 drives the synchronous transmission device 5, the synchronous rotating device 5 drives the symmetrically arranged sliding box bodies 2, and then the sliding box bodies 2 drive the clamping finger structures 3 to move, so that the clamping action is finally realized.
Further, the manipulator box structure 1 comprises a box top plate 101, long side plates 102 are symmetrically fixed to two sides of the bottom of the box top plate 101, and a first side plate 104 and a second side plate 105 are respectively fixed between two sides of each long side plate 102 through locking bolts 103. The manipulator box body structure 1 can fix and install parts on the whole machine.
Further, the guide rail mechanism 7 comprises a guide rail cross beam 701, and the guide rail cross beam 701 is fixedly installed between the first side plate 104 and the second side plate 105 of the manipulator box structure 1 through a guide rail set screw 702; the upper and lower end faces of the guide rail beam 701 are respectively symmetrically processed with sliding grooves 703 for matching with the roller mechanism 6. The guide rail mechanism 7 can achieve the purpose of guiding, and further the moving stability of the sliding box body 2 is guaranteed.
Further, the sliding box 2 comprises a U-shaped sliding base 202, two side plates of the U-shaped sliding base 202 are fixedly connected through an upper bolt 201 and a lower bolt 203, and a sealing plate 204 is fixed on the lower portion of the outer side wall of the U-shaped sliding base 202. The slip box 2 can be used for fixing and installing the clamping finger structure 3.
Further, the roller mechanism 6 includes a first roller shaft 602 and a second roller shaft 604 fixed between the U-shaped sliding seats 202 of the sliding box 2, the first roller shaft 602 and the second roller shaft 604 on the same U-shaped sliding seat 202 are respectively arranged in parallel, and there are four in total and are respectively disposed on two sides of the rail cross beam 701 of the rail mechanism 7; a first roller 601 and a second roller 603 are respectively and symmetrically installed on each of the first roller shaft 602 and the second roller shaft 604, and the first roller 601 and the second roller 603 respectively form a sliding fit with the sliding groove 703 of the guide rail mechanism 7. The stability of the sliding box body 2 can be ensured through the roller mechanism 6.
Further, the synchronous transmission device 5 comprises a first transmission shaft 501 and a second transmission shaft 510, the first transmission shaft 501 is supported on the second side plate 105 of the manipulator box structure 1 through a first bearing 502, the second transmission shaft 510 is supported on the first side plate 104 of the manipulator box structure 1 through a second bearing 511, the ends of the first transmission shaft 501 and the second transmission shaft 510 are fixedly connected through a connecting sleeve 506, a left threaded shaft section 503 is machined on the first transmission shaft 501, and a right threaded shaft section 507 is machined on the second transmission shaft 510; the left threaded shaft section 503 and a first nut sleeve 504 form a threaded transmission fit, and the first nut sleeve 504 is installed on the U-shaped sliding seat 202 of one of the sliding box bodies 2 through a first installation plate 505; the right threaded shaft section 507 is in threaded transmission fit with a second nut sleeve 509, and the second nut sleeve 509 is mounted on the U-shaped slide 202 of the other sliding box 2 through a second mounting plate 508. Through foretell synchronous drive device 5, it adopts screw thread transmission's mode, replaces traditional pneumatic means, and then great improvement press from both sides the stability that the action was got to the clamp finger, and then guaranteed that it can realize accurate clamp and get the action, effectively avoided pressing from both sides the impact that the in-process produced.
In the working process, the left threaded shaft section 503 and the right threaded shaft section 507 are synchronously driven through the first transmission shaft 501, and then the left threaded shaft section 503 and the right threaded shaft section 507 are in transmission fit with the corresponding threads between the first nut sleeve 504 and the second nut sleeve 509, so that the synchronous actions of the sliding box bodies 2 connected with the sliding box bodies are finally driven, and the clamping action of the clamping finger structure 3 is correspondingly driven.
Further, the power device 4 comprises a motor 401, the motor 401 is fixed on the motor 401 on the second side plate 105 of the manipulator case 1 through a motor locking bolt 402, a driving gear 403 is installed on an output shaft 404 of the motor 401, the driving gear 403 is in meshing transmission with a driven gear 406, the driven gear 406 is installed on a first transmission shaft 501 of the synchronous transmission device 5 and drives the synchronous transmission device to rotate, and gear protection covers 405 are installed outside the driving gear 403 and the driven gear 406. The power device 4 can be used for providing clamping power, and in the working process, the driving gear 403 is driven by the motor 401, and then the driving gear 403 is in meshing transmission with the driven gear 406, so that the first transmission shaft 501 is driven to rotate by the driven gear 406.
Further, the clamping finger structure 3 comprises a clamping jaw plate 301 fixed at the bottom of the U-shaped sliding seat 202 of the sliding box body 2, a clamping finger plate 303 is fixed on the bottom end face of the clamping jaw plate 301, and a V-shaped groove 302 is processed on the inner side wall of the clamping finger plate 303. The clamping finger structure 3 is mainly used for clamping workpieces. The V-shaped groove 302 is arranged to ensure stable contact fit with a workpiece, so that the clamping reliability is ensured.
The working process and principle of the invention are as follows:
firstly, starting the power device 4, driving the driving gear 403 by the motor 401, and then driving the first transmission shaft 501 to rotate by the driving gear 403 and the driven gear 406 in a meshing manner; the left threaded shaft section 503 and the right threaded shaft section 507 are synchronously driven by the first transmission shaft 501, and then the left threaded shaft section 503 and the right threaded shaft section 507 are in transmission fit with the corresponding threads between the first nut sleeve 504 and the second nut sleeve 509, so as to finally drive the synchronous actions of the sliding box bodies 2 respectively connected with the left threaded shaft section 503 and the right threaded shaft section 507, and correspondingly drive the clamping finger structure 3 to realize the clamping action.
Claims (8)
1. Terminal mechanical clamping jaw of industrial robot, its characterized in that: the mechanical arm box structure comprises a mechanical arm box body structure (1), wherein a guide rail structure (7) is supported and installed inside the mechanical arm box body structure (1), and a sliding box body (2) is symmetrically installed on the guide rail structure (7) in a sliding fit mode through a roller mechanism (6); the bottom of each sliding box body (2) is respectively provided with a clamping finger structure (3); the synchronous transmission device (5) used for driving the sliding box bodies to synchronously move in opposite directions or move in opposite directions is installed between the sliding box bodies (2), the synchronous transmission device (5) is connected with a power device (4) used for driving the sliding box bodies to move, and the power device (4) is installed inside the mechanical arm box body structure (1).
2. The industrial robot end mechanical gripper of claim 1, wherein: the manipulator box structure (1) comprises a box top plate (101), long side plates (102) are symmetrically fixed to two sides of the bottom of the box top plate (101), and a first side plate (104) and a second side plate (105) are fixed between two sides of each long side plate (102) through locking bolts (103).
3. The industrial robot end mechanical gripper of claim 1, wherein: the guide rail mechanism (7) comprises a guide rail cross beam (701), and the guide rail cross beam (701) is fixedly installed between a first side plate (104) and a second side plate (105) of the manipulator box body structure (1) through a guide rail set screw (702); and the upper end surface and the lower end surface of the guide rail beam (701) are respectively symmetrically provided with a sliding chute (703) matched with the roller mechanism (6).
4. The industrial robot end mechanical gripper of claim 1, wherein: the sliding box body (2) comprises a U-shaped sliding seat (202), two side plates of the U-shaped sliding seat (202) are fixedly connected with a lower bolt (203) through an upper bolt (201), and a sealing plate (204) is fixed to the lower portion of the outer side wall of the U-shaped sliding seat (202).
5. The industrial robot end mechanical gripper of claim 1, wherein: the roller mechanism (6) comprises a first roller shaft (602) and a second roller shaft (604) which are fixed between U-shaped sliding seats (202) of the sliding box body (2), the first roller shaft (602) and the second roller shaft (604) on the same U-shaped sliding seat (202) are respectively arranged in parallel, and the total number of the first roller shaft and the second roller shaft is four and respectively arranged at two sides of a guide rail cross beam (701) of the guide rail mechanism (7); a first roller (601) and a second roller (603) are respectively and symmetrically arranged on each first roller shaft (602) and each second roller shaft (604), and the first roller (601) and the second roller (603) are respectively in sliding fit with a sliding groove (703) of the guide rail mechanism (7).
6. The industrial robot end mechanical gripper of claim 1, wherein: the synchronous transmission device (5) comprises a first transmission shaft (501) and a second transmission shaft (510), the first transmission shaft (501) is supported on a second side plate (105) of the manipulator box body structure (1) through a first bearing (502), the second transmission shaft (510) is supported on a first side plate (104) of the manipulator box body structure (1) through a second bearing (511), the ends of the first transmission shaft (501) and the second transmission shaft (510) are fixedly connected through a connecting sleeve (506), a left threaded shaft section (503) is machined on the first transmission shaft (501), and a right threaded shaft section (507) is machined on the second transmission shaft (510); the left threaded shaft section (503) and a first nut sleeve (504) form threaded transmission fit, and the first nut sleeve (504) is arranged on a U-shaped sliding seat (202) of one sliding box body (2) through a first mounting plate (505); the right threaded shaft section (507) and a second nut sleeve (509) form threaded transmission fit, and the second nut sleeve (509) is installed on a U-shaped sliding seat (202) of the other sliding box body (2) through a second installation plate (508).
7. The industrial robot end mechanical gripper of claim 1, wherein: power device (4) include motor (401), motor (401) on second curb plate (105) of manipulator box (1) are fixed through motor locking bolt (402) motor (401) in motor (401), install driving gear (403) on output shaft (404) of motor (401), driving gear (403) and driven gear (406) meshing transmission, driven gear (406) are installed on first transmission shaft (501) of synchronous transmission device (5) to drive its rotation, the externally mounted of driving gear (403) and driven gear (406) has gear safety cover (405).
8. The industrial robot end mechanical gripper of claim 1, wherein: press from both sides and indicate structure (3) including fixing clamping jaw board (301) in U type slide (202) bottom of box (2) that slides, clamping jaw board (301)'s bottom end face is fixed with clamping jaw board (303), processing has V type groove (302) on the inside wall of clamping jaw board (303).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010201380.0A CN111283717A (en) | 2020-03-20 | 2020-03-20 | Mechanical clamping jaw at tail end of industrial manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010201380.0A CN111283717A (en) | 2020-03-20 | 2020-03-20 | Mechanical clamping jaw at tail end of industrial manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111283717A true CN111283717A (en) | 2020-06-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010201380.0A Pending CN111283717A (en) | 2020-03-20 | 2020-03-20 | Mechanical clamping jaw at tail end of industrial manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111283717A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111790858A (en) * | 2020-07-22 | 2020-10-20 | 安徽省亿嘉弘电器股份有限公司 | A change material mechanism for pencil |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BE904143A (en) * | 1986-01-31 | 1986-07-31 | Itt Ind Belgium | DEVICE FOR ENTERING OBJECTS. |
| CN1843713A (en) * | 2006-04-21 | 2006-10-11 | 北京航空航天大学 | Flexible gripper with two fingers |
| CN203579678U (en) * | 2013-12-06 | 2014-05-07 | 中国科学院沈阳自动化研究所 | Underwater electric mechanical arm clamp structure |
| CN105690417A (en) * | 2016-04-15 | 2016-06-22 | 广州嘉能自动化设备有限公司 | Multifunctional intelligent clamping jaw and joint robot |
| DE102018119064A1 (en) * | 2018-08-06 | 2020-02-06 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Automation component, in particular gripping unit, linear unit or swivel unit |
-
2020
- 2020-03-20 CN CN202010201380.0A patent/CN111283717A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BE904143A (en) * | 1986-01-31 | 1986-07-31 | Itt Ind Belgium | DEVICE FOR ENTERING OBJECTS. |
| CN1843713A (en) * | 2006-04-21 | 2006-10-11 | 北京航空航天大学 | Flexible gripper with two fingers |
| CN203579678U (en) * | 2013-12-06 | 2014-05-07 | 中国科学院沈阳自动化研究所 | Underwater electric mechanical arm clamp structure |
| CN105690417A (en) * | 2016-04-15 | 2016-06-22 | 广州嘉能自动化设备有限公司 | Multifunctional intelligent clamping jaw and joint robot |
| DE102018119064A1 (en) * | 2018-08-06 | 2020-02-06 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Automation component, in particular gripping unit, linear unit or swivel unit |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111790858A (en) * | 2020-07-22 | 2020-10-20 | 安徽省亿嘉弘电器股份有限公司 | A change material mechanism for pencil |
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Application publication date: 20200616 |
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| RJ01 | Rejection of invention patent application after publication |