CN112917505A

CN112917505A - Workpiece clamping jaw opening and closing execution device of automatic workpiece transferring manipulator

Info

Publication number: CN112917505A
Application number: CN202110288683.5A
Authority: CN
Inventors: 罗艺鑫; 张成业
Original assignee: Hangzhou Jingyuanna Network Technology Co ltd
Current assignee: Hangzhou Jingyuanna Network Technology Co ltd
Priority date: 2021-03-18
Filing date: 2021-03-18
Publication date: 2021-06-08

Abstract

The invention discloses a workpiece clamping jaw opening and closing execution device of an automatic workpiece transferring manipulator, which belongs to the technical field of manipulator clamping jaws and comprises a storage box, wherein a clamping jaw mechanism is arranged on one side of the storage box and comprises a first positioning plate, a second positioning plate, a first clamping plate, a second clamping plate and a push plate, one end of the first clamping plate and one end of the second clamping plate are hinged with one end of the push plate, and the other end of the push plate penetrates through a through hole formed in the right side surface of the storage box and extends into the storage box; through setting up drive assembly, utilize driving motor to drive the eccentric shaft and be circular motion to cooperation bar hole one just can drive the bar board and use the fixed axle to rotate as the centre of a circle, it is rotatory to drive the arc, and tooth is deuterogamied, just can push away the rack and remove about, whole process driving motor's output shaft only need the folk prescription to rotate can, thereby be favorable to improving overall structure's stability, prolong the life of whole device.

Description

Workpiece clamping jaw opening and closing execution device of automatic workpiece transferring manipulator

Technical Field

The invention belongs to the technical field of manipulator clamping jaws, and particularly relates to a workpiece clamping jaw opening and closing execution device of an automatic workpiece transferring manipulator.

Background

The manipulator is an automatic operating device which can imitate some action functions of human hand and arm, and can be used for gripping and conveying article or operating tool according to fixed program, and is characterized by that it can implement various expected operations by means of programming, and has the advantages of both human body and machine in structure and performance.

Current manipulator clamping jaw generally includes the splint of two articulated connections, and two splint utilize torsion spring's elasticity to realize opening, two locating plates of deuterogamy and the closure that two splint were realized to the effect of dragging of two splint, the structure that this process just need remove about one realizes the push-and-pull to splint, the structure that adopts at present utilizes just can forward contrarotation's motor realization, when in-service use, the output shaft of motor can be ceaselessly carry out forward and reverse rotation, thereby can the accelerating motor inner structure's damage speed, the life of whole device has been shortened.

Disclosure of Invention

The invention aims to provide a workpiece clamping jaw opening and closing execution device of an automatic workpiece transferring manipulator, which solves the problems that the existing manipulator clamping jaw generally comprises two clamping plates which are hinged and connected, the two clamping plates are opened by utilizing the elasticity of a torsion spring, and the two clamping plates are closed by matching with two positioning plates and the pulling action of the two clamping plates, so that the clamping plates can be pushed and pulled by a structure capable of moving left and right.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an automatic workpiece clamping jaw of mechanical hand is transported to chemical industry piece opens and shuts final controlling element, includes the receiver, one side of receiver is provided with clamping jaw mechanism, clamping jaw mechanism includes locating plate one, locating plate two, splint one, splint two and push pedal, and the one end of splint one and the one end of splint two all articulate mutually with the one end of push pedal, the other end of push pedal passes the through-hole of seting up at the receiver right flank and extends to the inside of receiver, the articulated department of splint one and splint two is provided with torsion spring, two pins of torsion spring are fixed respectively on splint one and splint two, locating plate one and locating plate two all fix the right flank at the receiver, splint one and splint two are located between locating plate one and locating plate two, all be provided with rolling assembly one on two opposite sides of locating plate one and locating plate two, rolling assembly one is assembled for being used for reducing between splint one and the locating plate one, The friction force between the second positioning plate and the second clamping plate is generated, a driving assembly used for driving the first clamping plate and the second clamping plate to move left and right is arranged inside the storage box, the driving assembly comprises a first belt pulley and a second belt pulley which are connected through synchronous belt transmission and a conversion assembly used for converting the rotary motion of the first belt pulley into linear motion, the first belt pulley and the second belt pulley are both rotatably installed inside the storage box, a driving motor is installed on the rear side face of the storage box, an output shaft of the driving motor penetrates through the storage box and extends into the storage box and is fixedly connected with the second belt pulley, the conversion assembly comprises an eccentric shaft, a strip-shaped plate, a fixed shaft, an arc-shaped plate, a rack and three support rods, the eccentric shaft is fixed on the first belt pulley, a first strip-shaped hole is formed in the strip-, fixed axle fixed mounting is in the inside of receiver, the bar shaped plate rotates and installs on the fixed axle, the arc passes through the bracing piece to be fixed in the bottom of bar shaped plate, but the rack passes through the inside of sliding assembly slidable mounting at the receiver, the side of arc be fixed with a plurality of teeth of rack assorted, but the push pedal passes through adjusting part mobile mounting on the rack.

By adopting the scheme, the clamping jaw mechanism is arranged, the opening and closing of the first clamping plate and the second clamping plate are facilitated by utilizing the positioning action of the first positioning plate and the second positioning plate on the first clamping plate and the second clamping plate and matching with the torsion force of the torsion spring, and the clamping jaw mechanism is simple in structure and good in stability; through setting up drive assembly, utilize driving motor to drive the eccentric shaft and be circular motion to cooperation bar hole one just can drive the bar board and use the fixed axle to rotate as the centre of a circle, it is rotatory to drive the arc, and tooth is deuterogamied, just can push away the rack and remove about, whole process driving motor's output shaft only need the folk prescription to rotate can, thereby be favorable to improving overall structure's stability, prolong the life of whole device.

In the above scheme, it should be noted that the input end of the driving motor is electrically connected to an external power supply.

As a preferred embodiment, the first rolling assembly comprises a first roller, two opposite side surfaces of the first positioning plate and the second positioning plate are respectively provided with a groove, the first roller is rotatably installed inside the groove, and two separated side surfaces of the first clamping plate and the second clamping plate are respectively contacted with the first roller.

By adopting the scheme, the first rolling assembly is arranged, and the first roller is utilized to reduce the friction force between the first clamping plate and the first positioning plate and between the second clamping plate and the second positioning plate.

As a preferred embodiment, a protection frame is fixed on the rack, and the protection frame comprises two cross bars and two vertical bars, which are distributed in a rectangular structure.

Adopt above-mentioned scheme, through setting up the protection frame, made things convenient for smearing and accomodating of lubricating grease, effectively prevent dropping of lubricating grease.

In a preferred embodiment, the second rolling assembly comprises a first annular plate, a second annular plate, a first bearing and a round sleeve, wherein the first annular plate and the second annular plate are fixed on the eccentric shaft, the round sleeve is rotatably mounted on the eccentric shaft through a first bearing, and the round sleeve is positioned between the first annular plate and the second annular plate.

By adopting the scheme, the rolling assembly II is arranged, and the friction force between the eccentric shaft and the inner surface of the strip-shaped hole is reduced by utilizing the bearing to rotate the round sleeve arranged on the eccentric shaft, so that the abrasion of the eccentric shaft can be reduced, and the service life of the device can be prolonged.

As a preferred embodiment, the sliding assembly comprises a guide rod and two guide blocks, the guide rod is fixedly arranged at the inner bottom of the storage box, the guide blocks are fixed on the lower surface of the rack, and the guide blocks are slidably arranged on the guide rod.

Adopt above-mentioned scheme, through setting up the slip subassembly, utilize guide bar and guide block to ensure that the rack can only carry out rectilinear motion and can not carry out the motion of other modes such as rotation, improved the stability of the device in the operation process.

As a preferred embodiment, the adjusting part includes threaded rod one, limiting plate, fixing base and swivel nut, the one end of threaded rod one and the other end fixed connection of push pedal, the other end and the limiting plate fixed connection of threaded rod one, fixing base and rack fixed connection, the swivel nut screw thread cup joints on threaded rod one, and the swivel nut rotates the inside of installing at the fixing base, be provided with on the receiver and be used for driving the rotatory rotating assembly of swivel nut.

Adopt above-mentioned scheme, through setting up adjusting part, utilize the swivel nut that can go up the rotation on threaded rod one, make people open the position of adjusting threaded rod one through rotating the swivel nut, when threaded rod one moves left, splint one and splint two enter into the part grow between locating plate one and the locating plate two, when threaded rod one moves right, splint one and splint two enter into the part between locating plate one and the locating plate two and diminish, thereby can adjust the clamp force between splint one and the splint two, make splint one and splint two can press from both sides tightly the work piece of difference, the application scope of the device has been improved.

In a preferred embodiment, the rotating assembly comprises a first bevel gear, a sliding block, a rotating shaft, a second bevel gear, a first handle rod and a limiting assembly for limiting the position of the first handle rod, the front side surface of the storage box is provided with a second strip-shaped hole, the sliding block is slidably arranged in the second strip-shaped hole, the rotating shaft is rotatably arranged on the sliding block, the bevel gear II and the handle rod I are respectively fixed at two ends of the rotating shaft, the bevel gear I is fixed on the outer surface of the threaded sleeve, the first bevel gear is meshed with the second bevel gear, the limiting component comprises a second threaded rod, a second handle rod, a pressing plate and a rubber pad, the handle rod I is provided with a threaded hole, the threaded rod II penetrates through the threaded hole in a threaded mode, the handle rod II and the pressing plate are fixed to the two ends of the threaded rod II respectively, and the rubber pad is fixed to one side, far away from the threaded rod II, of the pressing plate.

By adopting the scheme, the rotating assembly is arranged, the handle rod I is rotated to drive the rotating shaft to rotate, and the screw sleeve can be driven to rotate by matching the bevel gear I and the bevel gear II which are in meshed connection, so that the position of the threaded rod I can be adjusted, and convenience is brought to the actual operation of people; through the arrangement of the strip-shaped hole II and the sliding block, the rotating shaft can also stably move when the rack moves left and right; through setting up spacing subassembly, rotate handle bar two, drive threaded rod two at the screw hole internal rotation, whether the contact of control rubber pad and receiver, just can prevent that the unexpected rotatory condition of rotation axis from taking place, improved the device's safety in utilization and stability.

As a preferred embodiment, the front side of receiver articulates with the strip hole two position corresponding department has the protection casing, and the upper surface embedding of protection casing installs the magnet piece, the front side embedding of receiver installs the iron sheet, the magnet piece is inhaled with iron sheet magnetism and is connected when the protection casing is opened.

By adopting the scheme, the protective cover is arranged, so that the limiting assembly and the rotating assembly can be conveniently shielded and protected, the integral attractiveness is improved, and the actual use requirement is met; through setting up magnet piece and iron sheet, can prescribe a limit to the position of protection casing when opening the protection casing, avoid the protection casing to influence people's operation.

As a preferred embodiment, the upper side and the lower side of the push plate are both provided with a fixing plate, two opposite side surfaces of the fixing plates are both rotatably provided with a second roller, and the second roller is in contact with the push plate.

By adopting the scheme, the stability of the push plate in the moving process is improved and the phenomenon of inclination of the push plate is prevented by installing the fixing plate and the second roller.

The invention has the beneficial effects that:

according to the workpiece clamping jaw opening and closing execution device of the automatic workpiece transferring manipulator, the driving assembly is arranged, the driving motor is used for driving the eccentric shaft to do circular motion, so that the strip-shaped plate can be driven to rotate by taking the fixed shaft as a circle center by matching with the strip-shaped hole, the arc-shaped plate is driven to rotate, the tooth is matched, the rack can be pushed to move left and right, the output shaft of the driving motor only needs to rotate in a single direction in the whole process, the stability of the whole structure is improved, and the service life of the whole device is prolonged;

according to the workpiece clamping jaw opening and closing execution device of the automatic workpiece transferring manipulator, through the arrangement of the adjusting assembly, people can adjust the position of the first threaded rod by rotating the threaded sleeve through the utilization of the threaded sleeve capable of rotating on the first threaded rod, so that the clamping force between the first clamping plate and the second clamping plate can be adjusted, different workpieces can be clamped by the first clamping plate and the second clamping plate, and the application range of the device is widened;

the workpiece clamping jaw opening and closing execution device of the automatic workpiece transferring manipulator is provided with the rotating assembly, the first handle rod is rotated to drive the rotating shaft to rotate, and the first bevel gear and the second bevel gear which are connected in a meshed mode are matched to drive the threaded sleeve to rotate, so that the position of the first threaded rod is adjusted, and convenience is brought to actual operation of people;

according to the workpiece clamping jaw opening and closing execution device of the automatic workpiece transferring manipulator, the limiting assembly is arranged, the second handle rod is rotated to drive the second threaded rod to rotate in the threaded hole, whether the rubber pad is in contact with the storage box or not is controlled, the situation that the rotating shaft rotates accidentally can be prevented, and the use safety and the stability of the device are improved;

this automatic change work piece transfer manipulator's work piece clamping jaw actuating device that opens and shuts has made things convenient for the protection that shelters from to spacing subassembly and rotating assembly through the installation protection casing, has also improved holistic aesthetic property simultaneously, has satisfied actual user demand.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is an elevational, cross-sectional view of the storage case of the present invention;

FIG. 3 is a top sectional view of the eccentric shaft of the present invention;

FIG. 4 is an enlarged view taken at A of FIG. 2 according to the present invention;

FIG. 5 is a top view of the protective frame of the present invention;

FIG. 6 is a top view of a storage cassette of the present invention;

FIG. 7 is an enlarged, cross-sectional view taken at B of FIG. 6 in accordance with the present invention;

FIG. 8 is a top sectional view of a rotary shaft according to the present invention;

fig. 9 is a top sectional view of the second threaded rod of the present invention.

In the figure: 1. a storage box; 2. a first positioning plate; 3. a second positioning plate; 4. a first clamping plate; 5. a second clamping plate; 6. a first belt pulley; 7. a second belt pulley; 8. a synchronous belt; 9. an eccentric shaft; 10. a strip plate; 11. a first strip-shaped hole; 12. a fixed shaft; 13. a support bar; 14. an arc-shaped plate; 15. teeth; 16. a rack; 17. a guide bar; 18. a guide block; 19. pushing the plate; 20. a first threaded rod; 21. a limiting plate; 22. a fixed seat; 23. a threaded sleeve; 24. a first bevel gear; 25. a protective frame; 26. a horizontal plate; 27. a vertical strip plate; 28. a groove; 29. a first roller; 30. a first bearing; 31. a round sleeve; 32. a first annular plate; 33. a second annular plate; 34. a through hole; 35. a fixing plate; 36. a second roller; 37. a drive motor; 38. a strip-shaped hole II; 39. a slider; 40. a rotating shaft; 41. a second bevel gear; 42. a first handle rod; 43. a threaded hole; 44. a second threaded rod; 45. a second handle rod; 46. a compression plate; 47. a rubber pad; 48. a protective cover; 49. a magnet block; 50. iron sheets.

Detailed Description

The present invention will be further described with reference to the following examples.

The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention. The conditions in the embodiments can be further adjusted according to specific conditions, and simple modifications of the method of the present invention based on the concept of the present invention are within the scope of the claimed invention.

Referring to fig. 1-9, the invention provides a workpiece clamping jaw opening and closing execution device of an automatic workpiece transfer manipulator, which comprises a storage box 1, wherein one side of the storage box 1 is provided with a clamping jaw mechanism, the clamping jaw mechanism comprises a first positioning plate 2, a second positioning plate 3, a first clamping plate 4, a second clamping plate 5 and a push plate 19, one end of the first clamping plate 4 and one end of the second clamping plate 5 are hinged with one end of the push plate 19, the other end of the push plate 19 penetrates through a through hole 34 formed in the right side surface of the storage box 1 and extends into the storage box 1, a torsion spring is arranged at the hinged part of the first clamping plate 4 and the second clamping plate 5, two pins of the torsion spring are respectively fixed on the first clamping plate 4 and the second clamping plate 5, the first positioning plate 2 and the second positioning plate 3 are both fixed on the right side surface of the storage box 1, the first clamping plate 4 and the second clamping plate 5 are positioned between the first positioning plate 2 and, the first rolling component is assembled to reduce friction force between the first clamping plate 4 and the first positioning plate 2 and between the second positioning plate 3 and the second clamping plate 5, a driving component for driving the first clamping plate 4 and the second clamping plate 5 to move left and right is arranged inside the storage box 1, the driving component comprises a first belt pulley 6 and a second belt pulley 7 which are in transmission connection through a synchronous belt 8 and a conversion component for converting rotary motion of the first belt pulley 6 into linear motion, the first belt pulley 6 and the second belt pulley 7 are rotatably installed inside the storage box 1, a driving motor 37 is installed on the rear side face of the storage box 1, an output shaft of the driving motor 37 penetrates through the storage box 1 and extends into the storage box 1 and is fixedly connected with the second belt pulley 7, the conversion component comprises an eccentric shaft 9, a strip-shaped plate 10, a fixed shaft 12, an arc-shaped plate 14, a rack 16 and, a first strip-shaped hole 11 is formed in the strip-shaped plate 10, the eccentric shaft 9 penetrates through the first strip-shaped hole 11, a second rolling assembly is arranged on the eccentric shaft 9, the fixing shaft 12 is fixedly installed inside the storage box 1, the strip-shaped plate 10 is rotatably installed on the fixing shaft 12, the arc-shaped plate 14 is fixed at the bottom end of the strip-shaped plate 10 through the supporting rod 13, the rack 16 is slidably installed inside the storage box 1 through the sliding assembly, a plurality of teeth 15 matched with the rack 16 are fixed on the side surface of the arc-shaped plate 14, and the push plate 19 is movably installed on the rack 16 through the; by arranging the clamping jaw mechanism, the opening and closing of the first clamping plate 4 and the second clamping plate 5 are facilitated by utilizing the positioning effect of the first positioning plate 2 and the second positioning plate 3 on the first clamping plate 4 and the second clamping plate 5 and matching with the torsion force of the torsion spring, and the clamping jaw mechanism is simple in structure and good in stability; through setting up drive assembly, utilize driving motor 37 to drive eccentric shaft 9 and be circular motion to cooperation bar hole 11 just can drive bar plate 10 and use fixed axle 12 to be rotatory as the centre of a circle, and it is rotatory to drive arc 14, and tooth 15 is mated again, just can push rack 16 and remove about, whole process driving motor 37's output shaft only need the folk prescription to rotatory can, thereby be favorable to improving overall structure's stability, prolong the life of whole device.

The first rolling assembly comprises a first roller 29, two opposite side surfaces of the first positioning plate 2 and the second positioning plate 3 are respectively provided with a groove 28, the first roller 29 is rotatably arranged in the groove 28, and two separated side surfaces of the first clamping plate 4 and the second clamping plate 5 are respectively contacted with the first roller 29; through the arrangement of the first rolling assembly, the first roller 29 is utilized to reduce the friction force between the first clamping plate 4 and the first positioning plate 2 and between the second clamping plate 5 and the second positioning plate 3.

A protective frame 25 is fixed on the rack 16, the protective frame 25 comprises two cross strips 26 and two vertical strips 27, and the two cross strips 26 and the two vertical strips 27 are distributed in a rectangular structure; through setting up protective frame 25, made things convenient for smearing and accomodating of lubricating grease, effectively prevent dropping of lubricating grease.

The rolling assembly II comprises a first annular plate 32, a second annular plate 33, a first bearing 30 and a round sleeve 31, wherein the first annular plate 32 and the second annular plate 33 are both fixed on the eccentric shaft 9, the round sleeve 31 is rotatably arranged on the eccentric shaft 9 through the first bearing 30, and the round sleeve 31 is positioned between the first annular plate 32 and the second annular plate 33; through setting up rolling assembly two, utilize bearing one 30 to rotate the circle cover 31 of installing on eccentric shaft 9 and reduce the frictional force between eccentric shaft 9 and the internal surface of bar hole one 11 to can reduce the wearing and tearing of eccentric shaft 9, be favorable to prolonging the life of device.

The sliding assembly comprises a guide rod 17 and two guide blocks 18, the guide rod 17 is fixedly arranged at the inner bottom of the storage box 1, the guide blocks 18 are fixed on the lower surface of the rack 16, and the guide blocks 18 are slidably arranged on the guide rod 17; through the arrangement of the sliding assembly, the guide rod 17 and the guide block 18 ensure that the rack 16 can only move linearly but not rotate in other modes, and the stability of the device in the operation process is improved.

The adjusting assembly comprises a first threaded rod 20, a limiting plate 21, a fixed seat 22 and a threaded sleeve 23, one end of the first threaded rod 20 is fixedly connected with the other end of the push plate 19, the other end of the first threaded rod 20 is fixedly connected with the limiting plate 21, the fixed seat 22 is fixedly connected with the rack 16, the threaded sleeve 23 is in threaded sleeve connection with the first threaded rod 20, the threaded sleeve 23 is rotatably installed inside the fixed seat 22, and the storage box 1 is provided with a rotating assembly for driving the threaded sleeve 23 to rotate; through setting up adjusting part, the utilization can be at threaded rod one 20 rotatory swivel nut 23, make people can open the position of adjusting threaded rod one 20 through rotating swivel nut 23, when threaded rod one 20 moves left, splint one 4 and splint two 5 enter into the part grow between locating plate one 2 and the locating plate two 3, when threaded rod one 20 moves right, splint one 4 and splint two 5 enter into the part between locating plate one 2 and the locating plate two 3, thereby can diminish the clamp force between splint one 4 and the splint two 5, make splint one 4 and splint two 5 can press from both sides tightly the work piece of difference, the application scope of the device has been improved.

The rotating assembly comprises a first bevel gear 24, a sliding block 39, a rotating shaft 40, a second bevel gear 41, a first handle rod 42 and a limiting assembly for limiting the position of the first handle rod 42, a second strip-shaped hole 38 is formed in the front side surface of the storage box 1, the sliding block 39 is slidably mounted inside the second strip-shaped hole 38, the rotating shaft 40 is rotatably mounted on the sliding block 39, the second bevel gear 41 and the first handle rod 42 are respectively fixed at two ends of the rotating shaft 40, the first bevel gear 24 is fixed on the outer surface of the threaded sleeve 23, the first bevel gear 24 is meshed with the second bevel gear 41, the limiting assembly comprises a threaded rod II 44, a handle rod II 45, a pressing plate 46 and a rubber pad 47, the threaded hole 43 is formed in the handle rod I42, the threaded rod II 44 penetrates through the threaded hole 43 in a threaded manner, the handle rod II 45 and the pressing plate 46 are respectively fixed at two ends of the threaded rod II 44, and the rubber pad 47 is fixed on one side, far away from the threaded rod II 44, of the pressing plate 46; by arranging the rotating assembly, the handle rod I42 is rotated to drive the rotating shaft 40 to rotate, and the screw sleeve 23 can be driven to rotate by matching with the bevel gear I24 and the bevel gear II 41 which are in meshed connection, so that the position of the threaded rod I20 can be adjusted, and convenience is brought to the actual operation of people; by arranging the second strip-shaped hole 38 and the sliding block 39, the rotating shaft 40 can also move stably when the rack 16 moves leftwards and rightwards; through setting up spacing subassembly, rotate two 45 of handle bar, drive two 44 of threaded rod in screw hole 43 internal rotations, whether the contact of control rubber pad 47 and receiver 1 is, just can prevent that the unexpected rotatory condition of rotation axis 40 from taking place, improved the device's safety in utilization and stability.

A protective cover 48 is hinged to the corresponding position of the front side surface of the storage box 1 and the position of the second strip-shaped hole 38, a magnet block 49 is embedded in the upper surface of the protective cover 48, an iron sheet 50 is embedded in the front side surface of the storage box 1, and the magnet block 49 is connected with the iron sheet 50 in a magnetic attraction mode when the protective cover 48 is opened; by installing the protective cover 48, the shielding protection of the limiting assembly and the rotating assembly is facilitated, meanwhile, the integral attractiveness is improved, and the actual use requirement is met; by providing the magnet block 49 and the iron piece 50, the position of the protection cover 48 can be defined when the protection cover 48 is opened, and the protection cover 48 is prevented from affecting the operation of people.

The upper side and the lower side of the push plate 19 are both provided with a fixing plate 35, two opposite side surfaces of the two fixing plates 35 are both rotatably provided with a second roller 36, and the second roller 36 is in contact with the push plate 19; by installing the fixing plate 35 and the second roller 36, the stability of the push plate 19 in the moving process is improved, and the phenomenon of inclination of the push plate is prevented.

When the clamping device is used, the driving motor 37 is started to drive the second belt pulley 7 to rotate, then the first belt pulley 6 is driven to rotate under the action of the synchronous belt 8, the eccentric shaft 9 is enabled to do circular motion, the first strip-shaped hole 11 can be matched to drive the strip-shaped plate 10 to rotate around the fixed shaft 12, the arc-shaped plate 14 is driven to rotate, the tooth 15 is matched to push the rack 16 to move left and right, the first clamping plate 4 and the second clamping plate 5 can slide between the first positioning plate 2 and the second positioning plate 3 at the moment, when the first clamping plate 4 and the second clamping plate 5 slide out from the first positioning plate 2 to the second positioning plate 3, the first clamping plate 4 and the second clamping plate 5 can present a V-shaped structure under the action of the torsion spring, the workpiece is moved to a position between the first clamping plate 4 and the second clamping plate 5 at the moment, and when the first clamping plate 4 and the second clamping plate 5 slide into a, when the length between splint one 4 and splint two 5 entering locating plate one 2 and locating plate two 3 need be adjusted, at first open protection casing 48, and utilize magnet piece 49 and iron sheet 50 to inject the position of protection casing 48, then rotate threaded rod two 44 earlier, make rubber pad 47 and receiver 1 separation, rotate rotation axis 40 again, bevel gear 24 and bevel gear two 41 that the cooperation meshing is connected, can drive swivel nut 23 rotatory, make threaded rod one 20 remove left or right, the adjustment to threaded rod one 20 position has been realized, reverse rotation two threaded rods 44 to rubber pad 47 and receiver 1 in close contact with after the adjustment is accomplished, it can to cover protection casing 48 again, and the operation is simple, therefore, the clothes hanger is strong in practicability.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an automatic workpiece clamping jaw of chemical industry piece transfer manipulator opens and shuts final controlling element, includes receiver (1), its characterized in that: one side of the storage box (1) is provided with a clamping jaw mechanism, the clamping jaw mechanism comprises a first positioning plate (2), a second positioning plate (3), a first clamping plate (4), a second clamping plate (5) and a push plate (19), one end of the first clamping plate (4) and one end of the second clamping plate (5) are hinged with one end of the push plate (19), the other end of the push plate (19) passes through a through hole (34) arranged on the right side surface of the storage box (1) and extends into the storage box (1), a torsion spring is arranged at the hinged position of the first clamping plate (4) and the second clamping plate (5), two pins of the torsion spring are respectively fixed on the first clamping plate (4) and the second clamping plate (5), the first positioning plate (2) and the second positioning plate (3) are both fixed on the right side surface of the storage box (1), the first clamping plate (4) and the second clamping plate (5) are positioned between the first positioning plate (2) and the second positioning plate (3);

two opposite side surfaces of the first positioning plate (2) and the second positioning plate (3) are respectively provided with a first rolling assembly, and the first rolling assemblies are assembled to reduce friction between the first clamping plate (4) and the first positioning plate (2) and between the second positioning plate (3) and the second clamping plate (5);

the storage box is characterized in that a driving assembly used for driving the first clamping plate (4) and the second clamping plate (5) to move left and right is arranged in the storage box (1), the driving assembly comprises a first belt pulley (6) and a second belt pulley (7) which are connected through a synchronous belt (8) in a transmission mode and a conversion assembly used for converting the rotary motion of the first belt pulley (6) into linear motion, the first belt pulley (6) and the second belt pulley (7) are installed in the storage box (1) in a rotating mode, a driving motor (37) is installed on the rear side face of the storage box (1), and an output shaft of the driving motor (37) penetrates through the interior of the storage box (1) and is fixedly connected with the second belt pulley (7);

the conversion assembly comprises an eccentric shaft (9), a strip-shaped plate (10), a fixed shaft (12), an arc-shaped plate (14), a rack (16) and three support rods (13), the eccentric shaft (9) is fixed on a first belt pulley (6), the strip-shaped plate (10) is provided with a first strip-shaped hole (11), the eccentric shaft (9) penetrates through the first strip-shaped hole (11), the eccentric shaft (9) is provided with a second rolling assembly, the fixed shaft (12) is fixedly arranged inside the storage box (1), the strip-shaped plate (10) is rotatably arranged on the fixed shaft (12), the arc-shaped plate (14) is fixed at the bottom end of the strip-shaped plate (10) through the support rods (13), the rack (16) is slidably arranged inside the storage box (1) through a sliding assembly, and a plurality of teeth (15) matched with the rack (16) are fixed on the side surface of the arc-shaped plate, the push plate (19) is movably arranged on the rack (16) through an adjusting component.

2. The workpiece clamping jaw opening and closing execution device of the automatic workpiece transfer manipulator according to claim 1, characterized in that: the first rolling assembly comprises a first roller (29), two opposite side faces of the first positioning plate (2) and the second positioning plate (3) are provided with grooves (28), the first roller (29) is rotatably installed in the grooves (28), and two side faces of the first clamping plate (4) and the second clamping plate (5) are separated from each other and are respectively contacted with the first roller (29).

3. The workpiece clamping jaw opening and closing execution device of the automatic workpiece transfer manipulator according to claim 1, characterized in that: a protective frame (25) is fixed on the rack (16), the protective frame (25) comprises two cross strips (26) and two vertical strips (27), and the two cross strips (26) and the two vertical strips (27) are distributed in a rectangular structure.

4. The workpiece clamping jaw opening and closing execution device of the automatic workpiece transfer manipulator according to claim 1, characterized in that: the rolling assembly II comprises a first annular plate (32), a second annular plate (33), a first bearing (30) and a round sleeve (31), the first annular plate (32) and the second annular plate (33) are fixed on the eccentric shaft (9), the round sleeve (31) is rotatably mounted on the eccentric shaft (9) through the first bearing (30), and the round sleeve (31) is located between the first annular plate (32) and the second annular plate (33).

5. The workpiece clamping jaw opening and closing execution device of the automatic workpiece transfer manipulator according to claim 1, characterized in that: the sliding assembly comprises a guide rod (17) and two guide blocks (18), the guide rod (17) is fixedly installed at the inner bottom of the storage box (1), the guide blocks (18) are fixed on the lower surface of the rack (16), and the guide blocks (18) are slidably installed on the guide rod (17).

6. The workpiece clamping jaw opening and closing execution device of the automatic workpiece transfer manipulator according to claim 1, characterized in that: the adjusting part comprises a first threaded rod (20), a limiting plate (21), a fixed seat (22) and a threaded sleeve (23), one end of the first threaded rod (20) is fixedly connected with the other end of the push plate (19), the other end of the first threaded rod (20) is fixedly connected with the limiting plate (21), the fixed seat (22) is fixedly connected with a rack (16), the threaded sleeve (23) is sleeved on the first threaded rod (20), the threaded sleeve (23) rotates to be installed inside the fixed seat (22), and a rotating component for driving the threaded sleeve (23) to rotate is arranged on the storage box (1).

7. The workpiece clamping jaw opening and closing actuator of an automated workpiece transfer robot of claim 6, wherein: the rotating assembly comprises a first bevel gear (24), a sliding block (39), a rotating shaft (40), a second bevel gear (41), a first handle rod (42) and a limiting assembly for limiting the position of the first handle rod (42), a second strip-shaped hole (38) is formed in the front side face of the storage box (1), the sliding block (39) is slidably mounted inside the second strip-shaped hole (38), the rotating shaft (40) is rotatably mounted on the sliding block (39), the second bevel gear (41) and the first handle rod (42) are respectively fixed at two ends of the rotating shaft (40), the first bevel gear (24) is fixed on the outer surface of the threaded sleeve (23), the first bevel gear (24) is meshed with the second bevel gear (41), the limiting assembly comprises a second threaded rod (44), a second handle rod (45), a pressing plate (46) and a rubber pad (47), a threaded hole (43) is formed in the first handle rod (42), the second threaded rod (44) penetrates through the threaded hole (43), the second handle rod (45) and the pressing plate (46) are fixed to the two ends of the second threaded rod (44) respectively, and the rubber pad (47) is fixed to one side, far away from the second threaded rod (44), of the pressing plate (46).

8. The workpiece clamping jaw opening and closing actuator of the automated workpiece transfer robot according to claim 7, wherein: the leading flank of receiver (1) and two (38) position corresponding departments in bar hole articulate there is protection casing (48), and the upper surface embedding of protection casing (48) installs magnet piece (49), iron sheet (50) are installed in the leading flank embedding of receiver (1), magnet piece (49) are connected with iron sheet (50) magnetism when protection casing (48) are opened.

9. The workpiece clamping jaw opening and closing execution device of the automatic workpiece transfer manipulator according to claim 1, characterized in that: the upper side and the lower side of the push plate (19) are provided with fixing plates (35), two rollers (36) are rotatably mounted on two opposite side faces of the fixing plates (35), and the rollers (36) are in contact with the push plate (19).