CN113276145A

CN113276145A - But manipulator of quick replacement clamping jaw

Info

Publication number: CN113276145A
Application number: CN202110660718.3A
Authority: CN
Inventors: 张洵; 李晓龙; 王思奥; 熊淦; 陈朝民
Original assignee: Shenzhen Chasing-Innovation Technology Co ltd
Current assignee: Shenzhen Chasing-Innovation Technology Co ltd
Priority date: 2021-06-15
Filing date: 2021-06-15
Publication date: 2021-08-20

Abstract

The invention discloses a manipulator capable of quickly replacing a clamping jaw, and relates to the field of manipulators. The mechanical arm comprises a shell body, a shell body fixing seat, a clamping arm fixing seat, a transmission mechanism, a transmission shaft, a transmission gear, a transmission shaft, a clamping arm and a transmission mechanism, wherein the shell body connecting seat of the mechanical arm is fixed at the bottom of a shell body of the mechanical arm; the top of the clamping arm fixing seat is provided with a dovetail groove, the shell connecting seat is provided with a trapezoidal guide rail, the trapezoidal guide rail is clamped in the dovetail groove, and a hand screw is arranged on the side wall of the dovetail groove. Through the arrangement of the dovetail groove and the trapezoidal guide rail, the clamping arm fixing seat and the shell connecting seat are quickly assembled and disassembled; the fixing of the clamping arm fixing seat and the shell connecting seat is realized through screwing a screw by hand; the clamping requirements for different articles are met by replacing the clamping jaw, the working efficiency is greatly improved, and the investment cost for the equipment manipulator is reduced.

Description

But manipulator of quick replacement clamping jaw

Technical Field

The invention relates to the field of mechanical arms, in particular to a mechanical arm capable of quickly replacing a clamping jaw.

Background

The manipulator is a novel device developed in the process of mechanized and automated operation, can imitate certain action functions of a human hand and an arm, and is an automatic operation device used for grabbing and carrying objects or operating tools according to a fixed program. The manipulator can replace heavy labor of people to realize mechanization and automation of production, can be operated under harmful environment to protect personal safety, and is widely applied to the fields of mechanical manufacturing, metallurgy, electronics, light industry, navigation, nuclear energy and the like. Robots are of many different kinds, and different robots have different uses. The clamping jaw of present manipulator is together fixed with drive mechanism, leads to whole manipulator only to be applicable to a single field, only is applicable to and snatchs certain type article, when needs snatch the article of other different shapes, often need change whole manipulator, causes the reduction of efficiency and the increase of cost.

Disclosure of Invention

The invention aims to provide a manipulator with a clamping jaw capable of being replaced quickly, and solves the problem that the clamping jaw of the existing manipulator is difficult to replace and causes low efficiency.

In order to solve the technical problems, the invention adopts the following technical scheme: the utility model provides a but manipulator of quick replacement clamping jaw which characterized in that: the manipulator comprises a shell connecting seat, a transmission shaft, a clamping arm fixing seat and a clamping arm, wherein the shell connecting seat is fixed at the bottom of a shell of the manipulator; the top of the clamping arm fixing seat is provided with a dovetail groove, the shell connecting seat is provided with a trapezoidal guide rail, the trapezoidal guide rail is clamped in the dovetail groove, and a hand screw is arranged on the side wall of the dovetail groove.

The further technical scheme is that the bottom of the clamping arm fixing seat is upwards concave to form a first U-shaped groove, and one end of the clamping arm, which is provided with the arc-shaped gear, is rotatably connected into the first U-shaped groove through a fixing shaft.

According to a further technical scheme, the side wall of the clamping arm fixing seat is inwards concave to form a second U-shaped groove, the second U-shaped groove is perpendicular to the dovetail groove, and the bottom of the transmission shaft moves in the second U-shaped groove.

The further technical scheme is that circular teeth are uniformly distributed on the side wall of the bottom of the transmission shaft along the axial direction of the transmission shaft, and the transmission shaft is driven by the transmission mechanism to do linear reciprocating motion.

The further technical scheme is that the side wall of the bottom of the transmission shaft is provided with spiral teeth, and the transmission shaft is driven by the transmission mechanism to rotate.

A further technical scheme is that a square hole is formed in the trapezoidal guide rail, and the outer side wall of the transmission shaft is matched with the square hole.

The further technical scheme is that the bottom wall of the dovetail groove is downwards concave to form a limiting groove.

A further technical scheme is that the two clamping arms are oppositely arranged.

The working principle is as follows: when the clamping jaw needs to be replaced, the hand-tightening screw is unscrewed, the trapezoidal guide rail moves along the dovetail groove until the clamping arm fixing seat and the clamping arm are detached from the shell connecting seat, the proper clamping jaw clamping arm fixing seat is fixed on the trapezoidal guide rail of the shell connecting seat, and the hand-tightening screw is screwed down to fix the clamping jaw. When the clamping arm is used, the motor positioned in the shell is used as a transmission mechanism to drive the transmission shaft to do linear or rotary motion and drive the arc-shaped gear to do rotary motion, so that the clamping arm completes the opening and closing actions and finishes the clamping of articles.

Compared with the prior art, the invention has the beneficial effects that:

1. through the arrangement of the dovetail groove and the trapezoidal guide rail, the clamping arm fixing seat and the shell connecting seat are quickly assembled and disassembled; the fixing of the clamping arm fixing seat and the shell connecting seat is realized through screwing a screw by hand; the clamping requirements for different articles are met by replacing the clamping jaw, the working efficiency is greatly improved, and the investment cost for the equipment manipulator is reduced.

2. The clamping arm is fixed through the arrangement of the first concave groove; through the setting in second U type groove, carry out spacing while also make things convenient for the dismouting of arm lock fixing base to the transmission shaft, both combine greatly reduced the volume and the quality of arm lock fixing base for the manipulator is lighter.

3. Different teeth are arranged on the side wall of the bottom of the transmission shaft, so that the transmission of a rack gear or a worm and worm gear is realized, the opening and closing of the clamping arm are realized, and the clamping operation of the manipulator on the article is completed.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is an assembly schematic of the present invention.

Fig. 3 is a schematic view of the structure of the clamping jaw of the invention.

Fig. 4 is an installation diagram of the housing connecting seat of the present invention.

In the figure: 1-shell connecting seat, 101-trapezoidal guide rail, 102-square hole, 2-transmission shaft, 201-tooth, 3-clamping arm fixing seat, 301-dovetail groove, 302-first U-shaped groove, 303-second U-shaped groove, 304-limiting groove, 4-clamping arm, 401-arc gear, 5-shell, 6-fixed shaft and 7-hand screw.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Fig. 1 and 2 show a manipulator capable of rapidly replacing a clamping jaw, which comprises a shell connecting seat 1, a transmission shaft 2, a clamping arm fixing seat 3 and a clamping arm 4. Casing 5 is bottom open-ended hollow cylinder cavity, and it has the fixed orifices to follow its radial evenly distributed on the casing connecting seat 1 lateral wall, and it has the hole of stepping down to distribute on the casing 5 bottom lateral wall, is fixed in the casing 5 bottom of manipulator with casing connecting seat 1 through the fastener, and casing 5 is inside to be provided with drive mechanism. The through-hole has been seted up at casing connecting seat 1 center, and the activity is pegged graft in the through-hole has transmission shaft 2, rotates on the arm lock fixing base 3 and is connected with arm lock 4, and arm lock 4 top is provided with arc gear 401, and transmission shaft (2) one end is connected with drive mechanism, and the 2 other ends of transmission shaft and the meshing of arc gear 401. The top of the clamping arm fixing seat 3 is provided with a dovetail groove 301, and the dovetail groove 301 is arranged along the horizontal direction. The shell connecting seat 1 is provided with a trapezoidal guide rail 101, the trapezoidal guide rail 101 is clamped in the dovetail groove 301, and the side wall of the dovetail groove 301 is provided with a hand screw 7.

As shown in fig. 3, the bottom of the clamping arm fixing seat 3 is concave upwards to form a first U-shaped groove 302, and one end of the clamping arm 4, which is provided with an arc gear 401, is rotatably connected in the first U-shaped groove 302 through a fixing shaft 6. Two clamping arms 4 are oppositely arranged, the fixed shaft 6 penetrates through two side walls of the first U-shaped groove 302, and the end parts of the fixed shaft are fixed through clamp springs for shafts.

As shown in fig. 4, the side wall of the clamping arm fixing seat 3 is recessed inwards to form a second U-shaped groove 303, the second U-shaped groove 303 is perpendicular to and communicated with the dovetail groove 301, and the bottom of the transmission shaft 2 moves in the second U-shaped groove 303.

For convenient processing, circular teeth 201 are uniformly distributed on the side wall of the bottom of the transmission shaft 2 along the axial direction of the transmission shaft, and the transmission shaft 2 and the arc-shaped gear 401 form a gear and rack transmission mode. The transmission mechanism is a motor or an air cylinder arranged in the shell 5, the transmission shaft 2 is driven by the transmission mechanism to do linear reciprocating motion, and the arc-shaped gear 401 does rotary motion along the fixed shaft 6 under the driving of the teeth 201, so that the clamping arms 4 are opened and closed.

In order to limit the horizontal movement of the transmission shaft 2, the trapezoidal guide rail 101 is provided with a square hole 102, and the outer side wall of the partial section of the transmission shaft 2 located in the square hole 102 is also square, so that the movement track of the transmission shaft 2 is further limited, and the clamping action is more accurate. In order to limit the motion of the transmission shaft 2 in the vertical direction, the bottom wall of the dovetail groove 301 is recessed downward to form a limiting groove 304. Like this, the extreme position of transmission shaft 2 downstream, when transmission shaft 2 square lateral wall bottom and spacing groove 304 contact, the extreme position of upstream motion, when transmission shaft 2 square lateral wall top and square hole 102 top contact, can control the distance that opens and shuts of arm lock 4 through such mode.

In another transmission mode, spiral teeth are arranged on the side wall of the bottom of the transmission shaft 2, so that the transmission shaft 2 and the arc-shaped gear 401 form a worm and gear transmission mode. The transmission mechanism is a motor arranged in the shell 5, the transmission shaft 2 rotates under the drive of the transmission mechanism, and the arc-shaped gear 401 rotates along the fixed shaft 6 under the drive of the helical teeth, so that the clamping arms 4 are opened and closed.

When the clamping device is used, the transmission mechanism positioned in the shell 5 drives the transmission shaft 2 to do linear or rotary motion to drive the arc gear 401 to do rotary motion, so that the clamping arms 4 finish the opening and closing actions to finish the clamping of articles.

When the clamping jaw needs to be replaced, the hand screw 7 is unscrewed, the trapezoidal guide rail 101 moves along the dovetail groove 301, the clamping jaw is separated from the second U-shaped groove 303, the clamping arm fixing seat 1 and the clamping arm 4 are detached from the shell connecting seat 1, the proper clamping jaw clamping arm fixing seat 3 is fixed on the trapezoidal guide rail 101 of the shell connecting seat 1, and the hand screw 7 is screwed down to fix the clamping jaw.

Although the invention has been described herein with reference to a number of illustrative embodiments thereof, it should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the spirit and scope of the principles of this disclosure. More particularly, various variations and modifications are possible in the component parts and/or arrangements within the scope of the disclosure, the drawings and the appended claims. In addition to variations and modifications in the component parts and/or arrangements, other uses will also be apparent to those skilled in the art.

Claims

1. The utility model provides a but manipulator of quick replacement clamping jaw which characterized in that: the manipulator comprises a shell connecting seat (1), a transmission shaft (2), a clamping arm fixing seat (3) and a clamping arm (4), wherein the shell connecting seat (1) is fixed at the bottom of a shell (5) of the manipulator, a transmission mechanism is arranged inside the shell (5), the transmission shaft (2) is movably inserted in the middle of the shell connecting seat (1), the clamping arm (4) is rotatably connected onto the clamping arm fixing seat (3), an arc-shaped gear (401) is arranged at the top of the clamping arm (4), one end of the transmission shaft (2) is connected with the transmission mechanism, and the other end of the transmission shaft (2) is meshed with the arc-shaped gear (401); the top of the clamping arm fixing seat (3) is provided with a dovetail groove (301), the shell connecting seat (1) is provided with a trapezoidal guide rail (101), the trapezoidal guide rail (101) is clamped in the dovetail groove (301), and a hand-screwed screw (7) is arranged on the side wall of the dovetail groove (301).

2. The robot of claim 1, wherein said robot is capable of rapidly exchanging jaws, and further comprising: the bottom of the clamping arm fixing seat (3) is upwards concave to form a first U-shaped groove (302), and one end, provided with an arc-shaped gear (401), of the clamping arm (4) is rotatably connected into the first U-shaped groove (302) through a fixing shaft (6).

3. The robot of claim 2, wherein said robot is adapted to quickly change jaws, and wherein: the side wall of the clamping arm fixing seat (3) is inwards concave to form a second U-shaped groove (303), the second U-shaped groove (303) is perpendicular to the dovetail groove (301), and the bottom of the transmission shaft (2) moves in the second U-shaped groove (303).

4. A robot for quick change of jaws according to claim 3, characterized in that: circular teeth (201) are uniformly distributed on the side wall of the bottom of the transmission shaft (2) along the axial direction of the transmission shaft, and the transmission shaft (2) is driven by the transmission mechanism to do linear reciprocating motion.

5. A robot for quick change of jaws according to claim 3, characterized in that: the side wall of the bottom of the transmission shaft (2) is provided with spiral teeth, and the transmission shaft (2) rotates under the driving of the transmission mechanism.

6. The robot of claim 4, wherein said robot is adapted to quickly change jaws, and wherein: a square hole (102) is formed in the trapezoidal guide rail (101), and the outer side wall of the transmission shaft (2) is matched with the square hole.

7. The robot of claim 6, wherein said robot is adapted to quickly change jaws, and wherein: the bottom wall of the dovetail groove (301) is concave downwards to form a limiting groove (304).

8. Manipulator with quick-change jaws according to any one of claims 1 to 7, characterized in that: two clamping arms (4) are oppositely arranged.