CN112171695B

CN112171695B - Operation method of clamping manipulator with adjustable space

Info

Publication number: CN112171695B
Application number: CN202011135227.9A
Authority: CN
Inventors: 索斐然
Original assignee: Tianjin Taizheng Machinery Co ltd
Current assignee: TIANJIN TAIZHENG MACHINERY Co.,Ltd.
Priority date: 2020-10-21
Filing date: 2020-10-21
Publication date: 2022-02-18
Anticipated expiration: 2040-10-21
Also published as: CN112171695A

Abstract

The invention belongs to the technical field of mechanical equipment, and provides an operation method of a clamping manipulator with an adjustable space, which comprises the following steps: s1: pushing the connecting rod to move upwards; s2: the left-right moving device drives the clamping part II to move rightwards, and the up-down moving device drives the clamping part to move upwards; s3: when the clamping part II moves to be in contact with the clamping part I, the left-right moving device stops moving; the up-down moving device continues to drive the clamping part to move upwards until the workpiece is clamped; according to the invention, the left-right moving device drives the second clamping part to move rightwards, and the up-down moving device drives the clamping part to move upwards until a workpiece is clamped; through the clamping part I and the clamping part II which are matched with each other, clamping of workpieces with different shapes and sizes is realized through the matching of the left-right moving device and the up-down moving device, the workpieces can be directly clamped without being adjusted at every time, and the operation method is simple and high in universality.

Description

Operation method of clamping manipulator with adjustable space

Technical Field

The invention relates to the technical field of mechanical equipment, in particular to an operation method of a clamping manipulator with adjustable space; belongs to the IPC classification system B25J15/08, B25J15/00 and B25J 11/00.

Background

The clamping manipulator is a mechanism for clamping and fixing a working tool, is widely applied to various industries, but the clamping manipulator in the prior art is generally used for clamping workpieces with the same shape and model, and has poor universality; in addition, the clamping manipulator in the prior art has a complex structure, needs to be driven by power sources such as an air cylinder and the like, and has high production cost; the invention aims to provide a clamping machine with adjustable spacing, which has simple structure and can clamp workpieces with different shapes and models, so that the clamping machine has stronger universality and lower production cost; the inventor searches the invention as detailed and comprehensive as possible to obtain the following prior art, and simply introduces the prior art and makes a relevant comparison with the technical scheme of the invention so as to better understand the inventive concept of the invention and show the technical advantages and the technical characteristics of the invention.

Prior art 1: CN201620048355.2, which provides an adjustable manipulator, comprising a cylinder, an adjustable screw, a chassis, an adjustable manipulator and a clutch cover; the adjustable manipulator is in the shape of an arc, and the arc faces inwards after the adjustable manipulator grasps the workpiece, so that the workpiece can be effectively prevented from falling off, and the pressure of the cylinder can be adjusted to meet the workpieces with different specifications and sizes, so that the application range of the adjustable manipulator is expanded; the adjustable manipulator is simple and practical, improves the optimized production of enterprises, can be popularized to the market, and is economical and practical and high in working efficiency; however, the power source of the adjustable manipulator adopts the cylinder, so that the production cost is high, the adjustable manipulator is only suitable for arc-shaped workpieces, and the universality is poor;

CN201810160832.8, provides an adjustable manipulator comprising: the device comprises a three-rod cylinder, wherein the extending end of the three-rod cylinder is connected with a connecting plate, a finger cylinder is fixed on the connecting plate, a mounting plate is fixed at the finger end of the finger cylinder, the mounting plate is connected with an adjusting mechanism, and the adjusting mechanism is connected with a V-shaped catcher; the adjustment mechanism includes: the guide rod is connected on the mounting plate, the adjusting screw rod is parallel to the guide rod and connected on the mounting plate, and the check ring is connected with the end part of the adjusting screw rod. The V-shaped catcher is designed in a structure that the end part is bent inwards. The end parts of the two V-shaped connectors are meshed with each other by adopting a tooth-shaped structure; the adjustable manipulator is provided with the adjusting mechanism, the width between the two V-shaped connectors can be adjusted through the adjusting mechanism, so that the manipulator can grab products with various sizes, and the problem that the manipulator grabs workpieces with single type in the prior art is solved; when the adjustable clamp is used for grabbing workpieces with different sizes, the bolt needs to be adjusted each time, so that the V-shaped catcher slides along the axis direction of the guide rod, and the distance between the two V-shaped catchers is adjusted; the use is very complicated and the universality is poor.

Prior art 3: CN201620349523.1, provides an adjustable manipulator, comprising: the finger comprises a shell, a driving rod, a finger and a worm wheel, wherein two worm wheels which are parallel to each other are arranged in the shell, a rotating shaft is arranged on the worm wheel, one end of the finger is fixed on the rotating shaft, and the middle part of the finger is fixed with the shell through a hinge pin; the tail end of the driving rod is of a worm structure, and the tail end of the driving rod is rotationally connected with the two worm gears; when the device is used, the worm structure at the tail end of the driving rod rotates to drive the two worm gears to rotate, the rotating shaft on the worm gears drives the fingers to rotate by the hinge pin, the tail ends of the fingers are opened and clamp a workpiece after being opened, the worm structure at the tail end of the driving rod rotates in the reverse direction, the fingers are recovered and further clamp the workpiece through the tension spring, and the opening degree, the clamping degree and the clamping speed of the tail ends of the fingers can be adjusted by adjusting the thread distance between the worm and the worm gears and the rotating speed of the driving rod; this prior art can only snatch the work piece of same shape, is not suitable for with the work piece of multiple shape and model, and the commonality is relatively poor to only the clamp force of a direction, it is poor to press from both sides tight effect.

Prior art 4: CN201920324614.3, which provides a stroke adjustable manipulator mechanism, comprising a mechanism vertical plate, on which a double-line cam disc is mounted, the double-line cam disc forms cam transmission cooperation with a first link mechanism and a second link mechanism at the same time; the first connecting rod mechanism is hinged to the mechanism vertical plate together with a first screw rod adjusting mechanism for changing the hinged position of the first connecting rod mechanism; the first connecting rod mechanism is connected with a first sliding block through a vertical connecting plate, the first sliding block and a first sliding rail form sliding fit, the first sliding rail is fixedly installed on the side wall of a mechanism vertical plate, a second sliding block which is perpendicular to the first sliding block is fixed to the back of the first sliding block, the second sliding block and a second sliding rail which is fixed to the back of an execution end manipulator form sliding fit, a horizontal fixing plate is fixed to the top of the other side of the execution end manipulator, a third sliding rail is fixed to the horizontal fixing plate, the third sliding rail and the third sliding block form sliding fit, and the second connecting rod mechanism is hinged to the third sliding block through a second screw rod adjusting mechanism which is used for changing the hinged position of the second connecting rod mechanism; by adopting the manipulator mechanism with the structure, the stroke of the manipulator can be effectively adjusted through the first screw rod adjusting mechanism and the second screw rod adjusting mechanism, and the movement range of the manipulator can be changed by adjusting the extension length of the bolt; this prior art can only snatch the work piece of same shape, is not suitable for with the work piece of multiple shape and model, and the commonality is relatively poor to only the clamp force of a direction, it is poor to press from both sides tight effect.

Prior art 5: CN201921045186.7, which provides a novel adjustable manipulator, comprising a first driving unit, a second driving unit, a third driving unit and a grasping unit; the first driving unit comprises a first rotating shaft and a first bevel gear fixed at the outer end of the first rotating shaft; the second driving unit comprises a first sleeve and a second bevel gear which are sleeved on the periphery of the first rotating shaft and are integrated, and the second bevel gear is fixed at the outer end of the first sleeve; the third driving unit comprises a second sleeve sleeved on the periphery of the first sleeve, and a first mounting frame and a second mounting frame which are arranged at the outer end of the second sleeve and are opposite to each other, wherein a third bevel gear and a fourth bevel gear which are opposite to each other are respectively connected to the first mounting frame and the second mounting frame, the third bevel gear is in meshing transmission with the first bevel gear, and the fourth bevel gear is in meshing transmission with the second bevel gear; a support rod is fixed at the outer edge of the fourth bevel gear, and a sliding sleeve is fixed at the tail end of the support rod; the grasping unit comprises a second rotating shaft inserted in the sliding sleeve, a fifth bevel gear fixed at one end of the second rotating shaft and a grasping hand fixed at the other end of the second rotating shaft, and the fifth bevel gear is in meshing transmission with the third bevel gear; the scheme provides a novel adjustable manipulator which can replace heavy labor of people to realize mechanization and automation of production; but the structure is more complicated, and manufacturing cost is higher, can only snatch the work piece of same shape, is not suitable for with the work piece of multiple shape and model, and the commonality is relatively poor to only there is the clamp force of a direction, and clamping effect is poor.

As will be appreciated by those skilled in the art from the foregoing description of the prior art, the following disadvantages exist in the currently available clamping robots:

(1) the structure is complex, and the production cost is high;

(2) the universality is poor for grabbing workpieces of different types and sizes;

(3) the clamping force in one direction is only provided, so that the clamping effect is poor;

therefore, a new technical solution is needed to solve the above technical problems.

Disclosure of Invention

The invention provides an operation method of a clamping manipulator with an adjustable space, which comprises the following steps:

s1: pushing the connecting rod to move upwards;

s2: the left-right moving device drives the clamping part II to move rightwards, and the up-down moving device drives the clamping part to move upwards;

s3: when the clamping part II moves to be in contact with the clamping part I, the left-right moving device stops moving; the up-down moving device continues to drive the clamping part to move upwards until the workpiece is clamped.

As a preferable scheme, the method further comprises the step of S4: the cutting device operates to cut the workpiece.

As a preferable scheme, step S2 specifically includes: the actuating component rotates anticlockwise along the first connecting shaft on the bracket, and the limiting block pushes the limiting groove to enable the swinging bracket to move rightwards, so that the second clamping part moves rightwards; the actuating component rotates anticlockwise along the connecting shaft on the support, pushes the lever to move upwards, drives the upright post to move upwards, and then drives the clamping part to move upwards.

As a preferable scheme, the step S3 specifically includes: when the second clamping part moves to be in contact with the first clamping part, the limiting block is in complete contact with the limiting groove, and the second clamping part stops moving rightwards; the upright column continues to move upwards to clamp the workpiece.

As a preferable scheme, the step S4 specifically includes: after the clamping part I and the clamping part II are matched to clamp the workpiece, the swinging bracket cannot move rightwards continuously, and the upright column cannot move upwards continuously; the connecting rod continues to be pushed to move upwards, the limiting block is separated from a limiting groove of the swing support, the actuating component continues to rotate anticlockwise around the first connecting shaft, and when the limiting component is in contact with the first limiting block, the first limiting block is pushed to rotate clockwise around the second connecting shaft, namely the second lever is driven to rotate clockwise, so that the cutter cuts a workpiece.

The invention also discloses an interval-adjustable clamping manipulator, which comprises a support, wherein an up-down moving device is arranged on the support and is connected with the first clamping part, a left-right moving device is also connected on the support, and a second clamping part matched with the first clamping part is arranged on the left-right moving device.

Preferably, the bracket is further connected with a cutting device.

As a preferable scheme, the up-and-down moving device comprises a connecting rod, the connecting rod is hinged to an actuating component, the actuating component is hinged to a support through a first connecting shaft, a vertical hole is formed in the support, an upright column is arranged in the vertical hole, a connecting portion is arranged at the top of the upright column, a first clamping portion is fixed at one end of the connecting portion, the other end of the connecting portion is hinged to one end of a first lever, and the other end of the first lever is hinged to the actuating component.

Preferably, the actuating member includes a first connecting arm, a second connecting arm, and a stopper.

Preferably, the actuating member further comprises a third connecting arm, and a limiting member is arranged on the third connecting arm.

As a preferable scheme, the left-right moving device comprises a swinging support, the bottom of the swinging support is connected with a first connecting shaft through a spring, the swinging support is connected with a support through a second connecting shaft, and the top of the swinging support is fixed with a second clamping part; and the swing bracket is also provided with a limiting part matched with the actuating part.

As a preferable scheme, the cutting device comprises a second lever, one end of the second lever is connected with a cutter, the other end of the second lever is provided with a first limiting block, and the first limiting block is matched with the actuating component; the second lever is connected with the bracket through a second connecting shaft; a bulge is arranged on the left side of the lever II, a stop catch matched with the bulge is arranged on the bulge, and the stop catch is arranged on the left-right moving device; and a cutting-off limiting device is further arranged on the left side of the first limiting block.

As a preferred scheme, the cutting-off limiting device comprises a first boss, and a thrust spring is arranged between the first boss and the first limiting block.

In summary, according to the operation method of the clamping manipulator with the adjustable distance, the left-right moving device drives the second clamping part to move rightwards, and the up-down moving device drives the clamping part to move upwards; when the clamping part II moves to be in contact with the clamping part I, the left-right moving device stops moving; the up-down moving device continues to drive the clamping part to move upwards until the workpiece is clamped; through the clamping part I and the clamping part II which are matched with each other, clamping of workpieces with different shapes and sizes is realized through the matching of the left-right moving device and the up-down moving device, clamping of force in the left-right direction and the up-down direction is realized, the workpieces with different shapes and sizes can be directly clamped through the operation method, adjustment is not needed at every time, the operation method is simple, and the universality is high.

Drawings

FIG. 1 is a block diagram of the steps of embodiment 1 of the present invention;

FIG. 2 is a schematic structural view of embodiment 2 of the present invention;

FIG. 3 is a schematic structural view of embodiment 3 of the present invention;

FIG. 4 is a schematic structural view of the column raised to the uppermost position in embodiment 3 of the present invention;

FIG. 5 is a schematic view showing the structure of the cutter in operation in embodiment 3 of the present invention;

FIG. 6 is a left side view of FIG. 3;

FIG. 7 is a right side view of FIG. 3;

FIG. 8 is a schematic structural view of an actuating member in embodiment 3;

FIG. 9 is a schematic structural view of an actuating member in embodiment 3;

reference numerals:

1. support 2, clamping part I3, clamping part II 4, connecting rod 5 and actuating component

6. Connecting shaft I7, upright post 8, connecting part 9, lever I10 and boss

11. First connecting arm 12, second connecting arm 13, limiting block 14 and pivoting cross rod

15. Swing bracket 16, spring 17, second connecting shaft 18 and limit groove

19. Third connecting arm 20, limiting part 21, second lever 22 and cutter

23. The first limiting block 24, the protrusion 25, the stop 26, the boss 27, the first boss 28 and the thrust spring.

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.

It should be noted that the installation methods, the communication protocols and the technical terms mentioned in the present invention are technical terms that are already clearly known in the technical field, and therefore, the explanation thereof is not repeated. Moreover, the same reference numerals are used for the same components, which do not affect and should not constitute an exact understanding of the technical solutions for a person skilled in the art.

Example 1:

s1: pushing the connecting rod to move upwards;

Example 2:

the embodiment provides an interval-adjustable clamping manipulator applying an operation method of the interval-adjustable clamping manipulator, which comprises a support 1, wherein an up-down moving device is arranged on the support 1 and is connected with a clamping part I2, a left-right moving device is further connected to the support 1, and a clamping part II 3 matched with the clamping part I2 is arranged on the left-right moving device; the left-right moving device and the up-down moving device move in a matched mode, so that the first clamping part 2 and the second clamping part 3 are matched, the clamping distance between the first clamping part 2 and the second clamping part 3 can be increased and reduced, the clamping device is suitable for workpieces of different shapes and sizes, particularly the workpieces with round and long circular structures and the up-down moving device move synchronously, and the clamping device is simple in structure and convenient to use; the left-right moving device is used for enabling the first clamping part 2 to be in left-right contact with the second clamping part 3 through the left-right moving device, then the left-right moving device stops moving, the up-down moving device can continue moving upwards, the first clamping part 2 is driven to continue moving upwards, a gap between the first clamping part 2 and the second clamping part 3 is reduced, and the left-right moving device is suitable for workpieces with smaller sizes.

Specifically, the up-and-down moving device comprises a connecting rod 4, the connecting rod 4 is hinged with an actuating component 5, more specifically, the connecting rod 4 is pivoted with the actuating component 5 through a pivot, the actuating component 5 is connected with the bracket 1 through a connecting shaft I6, and the actuating component 9 can rotate anticlockwise along the connecting shaft I6 on the bracket 1 by pushing the connecting rod 4 upwards; a vertical hole is formed in the support 1, an upright post 7 is arranged in the vertical hole, the upright post 7 can move up and down along the vertical hole, a connecting part 8 is arranged at the top of the upright post 7, the connecting part 8 is preferably rectangular and can be integrally formed with the upright post 7 or fixed by welding, threaded connection and the like, a first clamping part 2 is fixed on the connecting part 8, the first clamping part 2 is connected with the connecting part 8 through a bolt, the connecting part 8 is hinged with one end of a first lever 9, preferably, the connecting part 8 comprises a boss 10, the boss 10 is pivoted with the first lever 9 through a pivot, and the other end of the first lever 9 is hinged with the actuating part 5, particularly, pivoted through the pivot; the connecting rod 11 is used for driving the up-down moving device to move up and down, the connecting rod 11 is pivoted with the actuating component 5, more specifically, the actuating component 5 comprises a first connecting arm 11, a second connecting arm 12 and a limiting block 13, the first connecting arm 11 and the second connecting arm 12 are preferably rectangular, and the end part of the rectangle is provided with an arc to form an oblong; the first connecting arm 11 is pivoted with the connecting rod 4, the second connecting arm 12 is pivoted with one end of the first lever 9, the limiting block 13 is provided with a radian and used for driving the left-right moving device to move and limiting the maximum distance of the left-right moving device moving rightwards; preferably, said actuation part 5 is integrally formed; the working process of the up-down moving device is as follows: the connecting rod 4 is pushed to move upwards, the actuating component 5 and the bracket 1 rotate relatively through the connecting shaft I6, the lever I9 rotates, and the upright post 7 is driven to move upwards through the lever I9; when the connecting rod 4 is loosened, the upright post 7 automatically resets; preferably, one end of the connecting rod 4 is pivoted with a pivoting cross bar 14, and a rotating motion is generated between the pivoting cross bar 14 and the connecting rod 4, so that the operation of the invention can be more convenient.

Specifically, the left-right moving device comprises a swinging support 15, the bottom of the swinging support 15 is connected with a first connecting shaft 6 through a spring 16, the other end of the spring 16 is connected with the swinging support 15 through a bolt, the swinging support 15 is connected with a support 1 through a second connecting shaft 17, a second clamping part 3 is fixed at the top of the swinging support 15, and the second clamping part 3 is connected with the top of the swinging support 15 through a bolt; the swing bracket 15 is also provided with a limiting part matched with the actuating part 5, more specifically, the swing bracket 15 is provided with a limiting groove 18 matched with the limiting block 13, and the limiting groove 18 is matched with the limiting block 13 to drive the left-right moving device to move rightwards and limit the maximum distance of the left-right moving device moving rightwards; the working principle of the left-right moving device is as follows: the pushing connecting rod 4 moves upwards, the actuating component 5 rotates relative to the support 1 through the connecting shaft I6, the limiting block 13 of the actuating component 5 is in contact with the limiting groove 18 of the left-right moving device, the clamping part II 3 is driven to move rightwards to be closed in contact with the clamping part I2, and a workpiece is clamped.

The working principle of the invention is as follows: the connecting rod 4 is pushed to move upwards, the actuating component 5 and the bracket 1 rotate relatively through the connecting shaft I6, namely the actuating component 5 rotates anticlockwise along the connecting shaft I6, the limiting block 13 of the actuating component 5 drives the limiting groove 18 to enable the clamping part II 3 to move rightwards to be in contact with the clamping part I2 for closing, and left and right clamping of a workpiece is achieved; when the connecting rod 4 is pushed to move upwards continuously, the swinging bracket 15 cannot move continuously due to the matching of the limiting block 13 and the limiting groove 18, at the moment, the upright post 7 continues to rise to drive the first clamping part 2 to move upwards continuously, so that the gap between the first clamping part 2 and the second clamping part 3 is smaller and smaller, the clamping of workpieces with different shapes and models can be realized, and the convenience is very high; when the connecting rod 4 is loosened, the connecting rod 4 returns, and the actuating component 5 drives the upright post 7 to reset; the swing bracket 15 is reset under the action of the spring 16; the clamping device is simple in structure and convenient to operate, and can clamp workpieces in different shapes and sizes.

Example 3:

the embodiment is different from the embodiment 2 in that the bracket 1 is also connected with a cutting device, when a workpiece needs to be cut, the workpiece can be directly cut by the cutting device without additional equipment, so that the equipment cost is reduced, and the working efficiency is improved; specifically, the actuating member 5 further comprises a third connecting arm 19, a limiting member 20 such as a bolt or a screw is arranged on the third connecting arm 19, and the limiting member 20 is used for driving the cutting device to move rightwards and limiting the maximum distance of the cutting device moving rightwards; the third connecting arm 19 is preferably rectangular, and the end of the rectangle is provided with an arc to form an oblong circle.

Specifically, the cutting device comprises a second lever 21, one end of the second lever 21 is connected with a cutter 22, the cutter 22 is connected with the end of the second lever 21 through a bolt, a screw and the like, the other end of the second lever 21 is provided with a first limiting block 23, preferably, the first limiting block 2 is integrally formed with the second lever 21, the first limiting block 23 is matched with the actuating component 5, more specifically, the first limiting block 23 is matched with a limiting component 20 on a third connecting arm 19 of the actuating component 5 to limit the position of the cutting device moving rightwards, and the second lever 21 is connected with the bracket through a second connecting shaft 16; a boss 24 is arranged on the left side of the second lever 21, a stop 25 matched with the boss 24 is arranged on the boss 24, the stop 25 is installed on the left-right moving device, more specifically, the stop 25 is arranged on the swing bracket 15, a boss 26 is arranged on the swing bracket 15, the stop 25 penetrates through the boss 26, and one end of the stop 25 is in contact with the boss 24 and is used for limiting the left displacement of the cutting device and preventing the cutting device from moving along with the second connecting shaft 17 in a whole circle; a cutting-off limiting device is further arranged on the left side of the first limiting block 23, specifically, the cutting-off limiting device comprises a first boss 27 arranged on the swing bracket 15, and a thrust spring 28 is arranged between the first boss 27 and the first limiting block 23; the limiting of the second lever 21 is realized through the contact of the first limiting block 23 and the first boss 27, so that the maximum displacement of the cutter 22 in the rightward direction is realized, and the thrust spring 28 is arranged to enable the first limiting block 23 to reset.

The working process of the cutting device comprises the following steps: when a workpiece is clamped, the left-right moving device and the up-down moving device can not move continuously, namely the swing bracket 15 can not move continuously to the right, and the upright post can not move continuously upwards; at this time, the connecting rod 4 is continuously pushed to move upwards, the limit block 13 of the actuating component 5 is disengaged from the limit groove 18 of the swing bracket 15, the actuating component 5 continuously rotates anticlockwise around the first connecting shaft 6, and when the limit block 20 on the third connecting arm 19 on the actuating component 5 is contacted with the limit block 23, the limit block 20 pushes the limit block 23, so that the limit block 23 rotates clockwise around the second connecting shaft 17, namely, the lever second 21 is driven to rotate clockwise, and the cutter 22 cuts a workpiece.

In summary, according to the operation method of the clamping manipulator with the adjustable distance, the left-right moving device drives the second clamping part to move rightwards, and the up-down moving device drives the clamping part to move upwards; when the clamping part II moves to be in contact with the clamping part I, the left-right moving device stops moving; the up-down moving device continues to drive the clamping part to move upwards until the workpiece is clamped; through the clamping part I and the clamping part II which are matched with each other, clamping of workpieces with different shapes and sizes is realized through the matching of the left-right moving device and the up-down moving device, the workpieces can be directly clamped without being adjusted at every time, and the operation method is simple and high in universality.

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.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any minor modifications, equivalent replacements and improvements made to the above embodiment according to the technical spirit of the present invention should be included in the protection scope of the technical solution of the present invention.

Claims

1. An operation method of a clamping manipulator with adjustable space is characterized by comprising the following steps:

s1: pushing the connecting rod to move upwards;

s3: when the clamping part II moves to be in contact with the clamping part I, the left-right moving device stops moving; the up-down moving device continues to drive the clamping part to move upwards until the workpiece is clamped;

s4: the cutting device works to cut the workpiece;

step S2 specifically includes: the actuating component rotates anticlockwise along the first connecting shaft on the bracket, and the limiting block pushes the limiting groove to enable the swinging bracket to move rightwards, so that the second clamping part moves rightwards; the actuating component rotates anticlockwise along the connecting shaft I on the bracket, pushes the lever I to move upwards, and drives the upright post to move upwards, so that the clamping part is driven to move upwards;

step S3 specifically includes: when the second clamping part moves to be in contact with the first clamping part, the limiting block is in complete contact with the limiting groove, and the second clamping part stops moving rightwards; the upright column continues to move upwards to clamp the workpiece;

step S4 specifically includes: after the clamping part I and the clamping part II are matched to clamp the workpiece, the swinging bracket cannot move rightwards continuously, and the upright column cannot move upwards continuously; the connecting rod continues to be pushed to move upwards, the limiting block is separated from a limiting groove of the swing support, the actuating component continues to rotate anticlockwise around the first connecting shaft, and when the limiting component is in contact with the first limiting block, the first limiting block is pushed to rotate clockwise around the second connecting shaft, namely the second lever is driven to rotate clockwise, so that the cutter cuts a workpiece.

2. The adjustable-interval clamping manipulator adopting the operation method of the adjustable-interval clamping manipulator according to claim 1 is characterized by comprising a support (1), wherein an up-and-down moving device is arranged on the support (1), the up-and-down moving device is connected with a first clamping part (2), a left-and-right moving device is further connected onto the support (1), and a second clamping part (3) matched with the first clamping part (2) is arranged on the left-and-right moving device.

3. The clamping manipulator with the adjustable interval as claimed in claim 2, wherein the up-down moving device comprises a connecting rod (4), the connecting rod (4) is hinged to an actuating component (5), the actuating component (5) is hinged to a support (1) through a first connecting shaft (6), a vertical hole is formed in the support (1), an upright post (7) is arranged in the vertical hole, a connecting portion (8) is arranged at the top of the upright post (7), a first clamping portion (2) is fixed at one end of the connecting portion (8), the other end of the connecting portion (8) is hinged to one end of a first lever (9), and the other end of the first lever (9) is hinged to the actuating component (5).

4. The clamping manipulator with the adjustable interval as claimed in claim 3, wherein the left-right moving device comprises a swinging support (15), the bottom of the swinging support (15) is connected with a first connecting shaft (6) through a spring (16), the swinging support (15) is connected with the support (1) through a second connecting shaft (17), and a second clamping part (3) is fixed at the top of the swinging support (15); the swing bracket (15) is also provided with a limiting part matched with the actuating part.

5. The clamping manipulator with the adjustable interval as claimed in claim 4, wherein a cutting device is further connected to the support (1), the cutting device comprises a second lever (21), a cutter (22) is connected to one end of the second lever (21), a first limiting block (23) is arranged at the other end of the second lever (21), and the first limiting block (23) is matched with the actuating component (5); the second lever (21) is connected with the bracket (1) through a second connecting shaft (17); a bulge (24) is arranged on the left side of the second lever (21), a stop catch (25) matched with the bulge (24) is arranged on the bulge (24), and the stop catch (25) is installed on the left-right moving device; and a cutting-off limiting device is further arranged on the left side of the first limiting block (23).

6. A clamping manipulator with adjustable spacing according to claim 5, characterized in that the actuating member (5) comprises a first connecting arm (11), a second connecting arm (12), a limiting block (13); the actuating part (5) further comprises a third connecting arm (19), and a limiting part (20) is arranged on the third connecting arm (19).