CN113878601B - Manipulator clamping jaw mechanism with multiple jaws - Google Patents
Manipulator clamping jaw mechanism with multiple jaws Download PDFInfo
- Publication number
- CN113878601B CN113878601B CN202111159746.3A CN202111159746A CN113878601B CN 113878601 B CN113878601 B CN 113878601B CN 202111159746 A CN202111159746 A CN 202111159746A CN 113878601 B CN113878601 B CN 113878601B
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- clamping jaw
- jaw
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- clamping
- assembly
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- 230000007246 mechanism Effects 0.000 title claims abstract description 20
- 230000000712 assembly Effects 0.000 claims description 19
- 238000000429 assembly Methods 0.000 claims description 19
- 230000008878 coupling Effects 0.000 claims 2
- 238000010168 coupling process Methods 0.000 claims 2
- 238000005859 coupling reaction Methods 0.000 claims 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 abstract description 48
- 229910052802 copper Inorganic materials 0.000 abstract description 48
- 239000010949 copper Substances 0.000 abstract description 48
- 230000000694 effects Effects 0.000 abstract description 12
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 9
- 230000001360 synchronised effect Effects 0.000 abstract description 9
- 230000032258 transport Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 210000000078 claw Anatomy 0.000 description 3
- 238000007599 discharging Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- AZDRQVAHHNSJOQ-UHFFFAOYSA-N alumane Chemical group [AlH3] AZDRQVAHHNSJOQ-UHFFFAOYSA-N 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000005242 forging Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- -1 valve parts Chemical compound 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of automatic equipment, and particularly relates to a manipulator clamping jaw mechanism with multiple jaws. The clamping jaw assembly comprises a clamping jaw fixing plate, wherein at least two clamping jaw units are arranged on the clamping jaw fixing plate, each clamping jaw unit comprises a fixed clamping jaw, and a movable clamping jaw is arranged on one fixed side of the clamping jaw. In the use process, the movable clamping jaw 5 is driven to swing around the pivot point through the driving assembly, the copper bars to be clamped are clamped rigidly through the movable clamping jaw and the fixed clamping jaw and then transported, the clamping jaw unit with the clamping compensation structure can synchronously clamp the copper bars with smaller sizes or the copper bars with the cut gaps, the soft clamping structure is adopted, synchronous clamping of multiple sizes is achieved, multiple copper bars can be clamped and transported at one time, and the fixing effect and the practicability are good.
Description
Technical Field
The invention belongs to the technical field of automatic equipment, and relates to a manipulator clamping jaw mechanism with multiple jaws.
Background
At present, a manual feeding and discharging operation mode is generally adopted for the stamping and forging process of processing copper and aluminum parts such as valve parts, pipe fittings and fasteners, operators account for a large proportion of the total number of enterprise staff, the operation risk is high, and the labor cost and the maintenance cost are relatively high. Even if some enterprises have already loaded on automatic feeding and discharging manipulators, when clamping and transporting pipe parts, the manipulators sold on the market generally adopt a uniform hard clamping mode, so that the pipe parts with different sizes are difficult to transport after being synchronously clamped, and the fixing effect and the practicability are relatively general.
In order to overcome the defects in the prior art, people have continuously explored and put forward various solutions, such as a mechanical arm clamping jaw and a mechanical arm [ application number ] disclosed in chinese patent: 201811060667.5, which comprises a frame body, two clamping plates and a push plate device, wherein the frame body comprises a cross beam and a longitudinal beam which is perpendicular to the cross beam, and the two clamping plates are arranged at the two ends of the longitudinal beam and are connected with the longitudinal beam in a sliding way; the push plate device is arranged on the cross beam and moves along the cross beam in a telescopic mode. Compared with the prior art, the mechanical arm clamping jaw provided by the invention has the advantages that the clamping jaw is continuously completed through multiple actions of clamping the clamping plate up and down, pushing the top plate upwards, pushing the push plate outwards and the like, the degree of automation is high, automatic feeding and discharging are realized, the labor cost is saved, and the cleaning preparation work is saved. The invention further provides a manipulator comprising the manipulator clamping jaw. But this scheme is not applicable to centre gripping transportation pipe class part, and still is difficult to carry out transportation after synchronous clamp to the pipe class part that the size is different, has fixed effect and the comparatively general defect of practicality.
Disclosure of Invention
The invention aims to solve the problems and provide a manipulator clamping jaw mechanism with multiple jaws.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the utility model provides a manipulator clamping jaw mechanism with many claws, includes at least a set of clamping jaw subassembly, clamping jaw subassembly include the clamping jaw fixed plate, be equipped with two at least clamping jaw units on the clamping jaw fixed plate, every clamping jaw unit includes a fixed clamping jaw, is equipped with movable clamping jaw in fixed one side, movable clamping jaw and clamping jaw fixed plate between be equipped with the pin joint subassembly, movable clamping jaw on still be connected with and to drive movable clamping jaw around pivot point wobbling drive assembly, be equipped with the centre gripping compensation structure between at least one clamping jaw unit and the drive assembly.
In the manipulator clamping jaw mechanism with multiple jaws, the clamping jaw fixing plate is provided with two clamping jaw units, the fixed clamping jaw is fixed at the bottom of the clamping jaw fixing plate, the movable clamping jaw penetrates through the movable through groove of the clamping jaw fixing plate, the pivot assembly is arranged between the middle part of the movable clamping jaw and the clamping jaw fixing plate, and the driving assembly is connected to the upper part of the movable clamping jaw.
In the manipulator clamping jaw mechanism with multiple jaws, the pivot assembly comprises a movable clamping jaw mounting seat, the movable clamping jaw penetrates through a swing through groove of the movable clamping jaw mounting seat, the movable clamping jaw mounting seat is connected with the movable clamping jaw through a pivot shaft, and a clamping opening adjusting assembly is arranged between the movable clamping jaw mounting seat and the clamping jaw fixing plate.
In the manipulator clamping jaw mechanism with multiple jaws, the driving assembly comprises a clamping guide sliding block and a linear driver, the clamping guide sliding block is connected with the pivoting assembly through a sliding block sliding rail structure, the upper parts of the movable clamping jaws are arranged in strip-shaped through grooves of the clamping guide sliding block, the front side and the rear side of the movable clamping jaws are respectively provided with a jaw leaning pin, and a clamping compensation structure is arranged between at least one clamping jaw unit and the jaw leaning pins.
In the manipulator clamping jaw mechanism with multiple jaws, the clamping compensation structure comprises an elastic supporting component arranged between a jaw leaning pin at one side of the movable clamping jaw and the clamping guide sliding block.
In the manipulator clamping jaw mechanism with multiple jaws, the elastic supporting component comprises a compensation supporting block, a travel hole is formed in the compensation supporting block, the compensation supporting block is sleeved on a jaw supporting pin on one side of the movable clamping jaw, a spring is arranged between the compensation supporting block and the strip-shaped through groove, one end of the spring is supported on the clamping guide sliding block, and the other end of the spring is supported on the compensation supporting block.
In the manipulator clamping jaw mechanism with multiple jaws, the clamping opening adjusting assembly comprises a sliding block and sliding rail structure arranged between the movable clamping jaw mounting seat and the clamping jaw fixing plate, and a positioning fixing unit is arranged between the movable clamping jaw mounting seat and the clamping jaw fixing plate.
In the manipulator clamping jaw mechanism with multiple jaws, two groups of clamping jaw assemblies are arranged, and a spacing adjusting assembly is arranged between the two groups of clamping jaw assemblies.
In the manipulator clamping jaw mechanism with multiple jaws, the spacing adjusting assembly comprises a connecting frame plate arranged between the two groups of clamping jaw assemblies, and the connecting frame plate is in sliding fit with the two groups of clamping jaw assemblies.
In the manipulator clamping jaw mechanism with multiple jaws, two movable clamping jaw mounting seats are arranged, a guide rod is arranged between the two movable clamping jaw mounting seats, one end of the guide rod is connected with one movable clamping jaw mounting seat, and the other end of the guide rod penetrates through the other movable clamping jaw mounting seat.
Compared with the prior art, the invention has the advantages that:
1. in the use process, the movable clamping jaw 5 is driven to swing around the pivot point through the driving component, the copper bars to be clamped are clamped rigidly through the movable clamping jaw and the fixed clamping jaw and then transported, the clamping jaw unit with the clamping compensation structure can synchronously clamp the copper bars with smaller sizes or the copper bars with the cut gaps, the soft clamping structure is adopted, synchronous clamping of multiple sizes is achieved, multiple copper bars can be clamped and transported at one time, and the fixing effect and the practicability are good.
2. When the clamped copper bars are transported, the connecting frame plates are in sliding fit with the two groups of clamping jaw assemblies to form inclined planes to slide, the guide rods are matched to play a guiding role, the two groups of clamping jaw assemblies can be mutually close in the transportation process, the displacement accuracy is improved, the copper bars are transported to the same required target position, and the transportation accuracy is high.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Fig. 1 is a schematic diagram of the structure of the invention.
Fig. 2 is a schematic view of another aspect of the invention.
Fig. 3 is a partial structural schematic of the present invention.
Fig. 4 is a schematic view of a partial structure of another aspect of the present invention.
In the figure: the clamping jaw assembly 1, the clamping jaw fixing plate 2, the clamping jaw unit 3, the fixed clamping jaw 4, the movable clamping jaw 5, the pivoting assembly 6, the driving assembly 7, the clamping compensation structure 8, the movable through groove 9, the movable clamping jaw mounting seat 10, the swinging through groove 11, the pivoting shaft 12, the clamping opening adjusting assembly 13, the clamping guide sliding block 14, the linear driver 15, the strip-shaped through groove 16, the clamping jaw leaning pin 17, the elastic supporting assembly 18, the compensation leaning block 19, the travel hole 20, the spring 21, the positioning fixing unit 22 and the clamping opening adjusting assembly. Pitch adjustment assembly 23, connection frame plate 24, guide rod 25.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1-4, a manipulator clamping jaw mechanism with multiple jaws comprises at least one group of clamping jaw assemblies 1, each clamping jaw assembly 1 comprises a clamping jaw fixing plate 2, at least two clamping jaw units 3 are arranged on each clamping jaw fixing plate 2, each clamping jaw unit 3 comprises a fixed clamping jaw 4, a movable clamping jaw 5 is arranged on one fixed side, a pivoting assembly 6 is arranged between each movable clamping jaw 5 and each clamping jaw fixing plate 2, a driving assembly 7 capable of driving each movable clamping jaw 5 to swing around a pivoting point is further connected to each movable clamping jaw 5, and a clamping compensation structure 8 is arranged between each clamping jaw unit 3 and each driving assembly 7.
In this embodiment, the pivot assembly 6 is used for connecting the movable clamping jaw 5 with the clamping jaw fixing plate 2, each clamping jaw unit 3 comprises a fixed clamping jaw 4, a movable clamping jaw 5 is arranged on one fixed side, in the use process, the driving assembly 7 is started, the movable clamping jaw 5 is driven to swing around the pivot point through the driving assembly 7, the copper bar to be clamped is transported after being clamped rigidly through the movable clamping jaw 5 and the fixed clamping jaw 4, the clamping jaw unit 3 provided with the clamping compensation structure 8 can synchronously clamp the copper bar with smaller size or the copper bar cut with the notch, the soft clamping structure is adopted, the synchronous clamping of multiple sizes is realized, a plurality of copper bars can be clamped and transported once, and the fixing effect and the practicability are good.
Referring to fig. 1 and 2, the clamping jaw fixing plate 2 is provided with two clamping jaw units 3, the fixed clamping jaw 4 is fixed at the bottom of the clamping jaw fixing plate 2, the movable clamping jaw 5 is penetrated with a movable through groove 9 of the clamping jaw fixing plate 2, a pivot assembly 6 is arranged between the middle part of the movable clamping jaw 5 and the clamping jaw fixing plate 2, and the driving assembly 7 is connected to the upper part of the movable clamping jaw 5.
Specifically speaking, clamping jaw fixed plate 2 and fixed clamping jaw 4 fixed connection, pivot assembly 6 are used for being connected movable clamping jaw 5 and clamping jaw fixed plate 2 for movable clamping jaw 5 can follow around the pivot point swing, presss from both sides tightly or unclamp the bar copper, and the activity is better, and movable clamping jaw 5 bottom is equipped with the unhook groove, can ensure that the bar copper can not take place to drop when the centre gripping bar copper, and the stability of centre gripping is better.
Referring to fig. 1 and 4, the pivot assembly 6 includes a movable jaw mounting seat 10, the movable jaw 5 is threaded through a swing through groove 11 of the movable jaw mounting seat 10, the movable jaw mounting seat 10 is connected with the movable jaw 5 through a pivot shaft 12, and a clamping opening adjusting assembly 13 is arranged between the movable jaw mounting seat 10 and the jaw fixing plate 2.
In this embodiment, the movable clamping jaw mounting seat 10 is connected with the movable clamping jaw 5 through the pivot shaft 12, so that the movable clamping jaw 5 can swing around the pivot point to clamp or loosen the copper bar, and the activity is good.
The driving assembly 7 comprises a clamping guide slide block 14 and a linear driver 15, the clamping guide slide block 14 is connected with the pivoting assembly 6 through a slide block sliding rail structure, the upper parts of the movable clamping jaws 5 are arranged in strip-shaped through grooves 16 of the clamping guide slide block 14, the front side and the rear side of the movable clamping jaws 5 are respectively provided with a jaw leaning pin 17, and a clamping compensation structure 8 is arranged between at least one clamping jaw unit 3 and the jaw leaning pins 17.
In this embodiment, when the copper bar needs to be clamped, the linear driver 15 is started, the clamping guide slide block 14 is driven to move by the power shaft of the linear driver 15, the movable clamping jaw 5 is driven to rotate by the abutting action between the jaw leaning pin 17 and the movable clamping jaw 5 and the matching of the slide block sliding rail structure and the pivoting component 6, the copper bar is clamped and fixed rigidly, the clamping jaw unit 3 with the clamping compensation structure 8 can clamp the copper bar with smaller size or the copper bar cut with a notch synchronously when clamping the fixed copper bar, the soft clamping structure is adopted, the synchronous clamping with multiple sizes is realized, a plurality of copper bars can be clamped and transported once, the fixing effect and the practicability are good, and a person skilled in the art can understand that the linear driver 15 can select an air cylinder.
As shown in fig. 3 and 4, the clamping compensation structure 8 comprises an elastic supporting component 18 arranged between a jaw rest pin 17 at one side of the movable clamping jaw 5 and the clamping guide sliding block 14.
In this embodiment, when the fixed bar copper of activity clamping jaw 5 centre gripping with elastic support assembly 18, can carry out synchronous clamp to the bar copper of size less or by the bar copper of cutting jaggedly through elastic support assembly 18, adopt soft clamp structure, realize the synchronous clamp of many size specifications, can centre gripping transportation a plurality of bar copper once, fixed effect and practicality are better.
The elastic supporting component 18 comprises a compensation supporting block 19, a travel hole 20 is formed in the compensation supporting block 19, the compensation supporting block 19 is sleeved on a claw supporting pin 17 on one side of the movable clamping jaw 5, a spring 21 is arranged between the compensation supporting block 19 and the strip-shaped through groove 16, one end of the spring 21 is supported against the clamping guide sliding block 14, and the other end of the spring 21 is supported against the compensation supporting block 19.
In this embodiment, during the movement of the clamping guide slide block 14, the clamping guide slide block 14 extrudes the spring 21, the compensation support block 19 moves towards one end close to the movable clamping jaw 5 through the spring 21, drives the movable clamping jaw 5 to rotate, further clamps and fixes the copper rod to form soft clamping, and can synchronously clamp the copper rod with smaller size or the copper rod cut with a notch, so that synchronous clamping of multiple sizes is realized, the compensation support block 19 is penetrated into the spring 21, one end, far away from the compensation support block 19, of the spring 21 is fixedly connected with the clamping guide slide block 14, and the spring 21 cannot be separated from the compensation support block 19 and the clamping guide slide block 14 during the extrusion of the spring 21.
The clamping opening adjusting assembly 13 comprises a sliding block and sliding rail structure arranged between the movable clamping jaw mounting seat 10 and the clamping jaw fixing plate 2, and a positioning fixing unit 22 is arranged between the movable clamping jaw mounting seat 10 and the clamping jaw fixing plate 2.
In this embodiment, the slider slide rail structure is used for controlling the angle of opening and shutting of movable clamping jaw 5, adapts to the bar copper of required centre gripping, and the fixed unit 22 of positioning is including setting up the butt board on clamping jaw fixed plate 2, butt board and the cooperation of movable clamping jaw mount pad 10 butt, and the butt board is L type, links to each other through fastening bolt between butt board and the clamping jaw fixed plate 2, through adjusting the position of butt board, can be used to the bigger bar copper of centre gripping diameter, and the adjustability is stronger.
As shown in fig. 1, the clamping jaw assemblies 1 are provided with two groups, and a spacing adjusting assembly 23 is arranged between the two groups of clamping jaw assemblies 1.
In this embodiment, when transporting a plurality of copper bars after clamping, the spacing adjustment assembly 23 can make two groups of clamping jaw assemblies 1 approach each other in the transportation process, and transport the copper bars to the same required target position, so that the transportation accuracy is higher.
As shown in fig. 1 and 2, the distance adjusting assembly 23 includes a connection frame plate 24 disposed between the two sets of clamping jaw assemblies 1, and the connection frame plate 24 is slidably matched with the two sets of clamping jaw assemblies 1.
In the embodiment, the connecting frame plate 24 is connected with one clamping guide slide block 14 through a slide bar and the other clamping guide slide block 14 through a column rod, a through groove is arranged in the connecting frame plate 24, the column rod penetrates through the through groove and is in sliding fit with the through groove, the connecting frame plate 24 is in a right triangle shape,
when a plurality of copper bars are transported and clamped, through sliding fit between the connecting frame plate 24 and the two groups of clamping jaw assemblies 1, inclined planes are formed to slide, so that the two groups of clamping jaw assemblies 1 are mutually close in the transportation process, the copper bars are transported to the same required target position, and the transportation accuracy is higher.
Referring to fig. 2, two movable jaw mounting seats 10 are provided, a guide rod 25 is disposed between the two movable jaw mounting seats 10, one end of the guide rod 25 is connected with one of the movable jaw mounting seats 10, and the other end of the guide rod 25 penetrates through the other movable jaw mounting seat 10.
In this embodiment, when transporting a plurality of bar copper after the centre gripping, through the sliding fit between link plate 24 and two sets of clamping jaw subassembly 1, form the inclined plane slip, cooperate guide arm 25, guide arm 25 plays the guide effect, can make two sets of clamping jaw subassembly 1 be close to each other in the transportation, has improved the accuracy of displacement, transports the bar copper to required same target position, and the transportation accuracy is higher.
The working principle of the invention is as follows:
when the copper bar is required to be clamped, the linear driver 15 is started, the clamping guide slide block 14 is driven to move by the power shaft of the linear driver 15, the movable clamping jaw 5 is driven to rotate by the abutting action between the claw leaning pin 17 and the movable clamping jaw 5 to rigidly clamp and fix the copper bar,
meanwhile, in the moving process of the clamping guide slide block 14, the clamping guide slide block 14 extrudes the spring 21, the compensation support block 19 moves towards one end close to the movable clamping jaw 5 through the spring 21, the movable clamping jaw 5 is driven to rotate, the copper bar is clamped and fixed, soft clamping is formed, the copper bar with smaller size or the copper bar cut with gaps can be synchronously clamped, synchronous clamping with multiple sizes is realized, the compensation support block 19 penetrates into the spring 21, one end of the spring 21 away from the compensation support block 19 is fixedly connected with the clamping guide slide block 14, in the process of extruding the spring 21, the spring 21 cannot be separated from the compensation support block 19 and the clamping guide slide block 14, the stability is good,
the positioning and fixing unit 22 comprises an abutting plate arranged on the clamping jaw fixing plate 2, the abutting plate is in abutting fit with the movable clamping jaw mounting seat 10, the abutting plate is L-shaped, the abutting plate is connected with the clamping jaw fixing plate 2 through a fastening bolt, the copper bar with larger diameter can be clamped by adjusting the position of the abutting plate, the adjustability is strong,
when a plurality of copper bars after the transportation centre gripping, through the sliding fit between link plate 24 and the two sets of clamping jaw subassemblies 1, form the inclined plane slip, cooperate guide arm 25, guide arm 25 plays the guide effect, can make two sets of clamping jaw subassemblies 1 be close to each other in the transportation, has improved the accuracy of displacement, transports the copper bars to required same target position, and the transportation accuracy is higher.
The specific embodiments described herein are offered by way of illustration only. Those skilled in the art to which the invention pertains may make various modifications or additions to or substitutions of the described embodiments without departing from the spirit of the invention.
Although the jaw assembly 1, jaw fixing plate 2, jaw unit 3, fixed jaw 4, movable jaw 5, pivot assembly 6, driving assembly 7, clamping compensation structure 8, movable through slot 9, movable jaw mount 10, swing through slot 11, pivot shaft 12, clamping opening adjustment assembly 13, clamping guide slide 14, linear actuator 15, bar-shaped through slot 16, jaw abutment pin 17, elastic support assembly 18, compensation abutment 19, travel hole 20, spring 21, positioning fixing unit 22 are used more herein. The terms pitch adjustment assembly 23, connection shelf 24, guide bar 25, etc. do not exclude the possibility of using other terms. These terms are only used to describe and explain the nature of the invention more conveniently and should be construed in a manner consistent with their spirit and scope.
Claims (7)
1. The mechanical arm clamping jaw mechanism with the multiple jaws is characterized by comprising at least one group of clamping jaw assemblies (1), wherein each clamping jaw assembly (1) comprises a clamping jaw fixing plate (2), at least two clamping jaw units (3) are arranged on each clamping jaw fixing plate (2), each clamping jaw unit (3) comprises a fixed clamping jaw (4), a movable clamping jaw (5) is arranged on one side of each fixed clamping jaw (4), a pivoting assembly (6) is arranged between each movable clamping jaw (5) and each clamping jaw fixing plate (2), a driving assembly (7) capable of driving each movable clamping jaw (5) to swing around a pivoting point is further connected to each movable clamping jaw (5), and a clamping compensation structure (8) is arranged between each clamping jaw unit (3) and each driving assembly (7);
two clamping jaw units (3) are arranged on the clamping jaw fixing plate (2), the fixed clamping jaw (4) is fixed at the bottom of the clamping jaw fixing plate (2), the movable clamping jaw (5) penetrates through a movable through groove (9) of the clamping jaw fixing plate (2), the pivot assembly (6) is arranged between the middle part of the movable clamping jaw (5) and the clamping jaw fixing plate (2), and the driving assembly (7) is connected to the upper part of the movable clamping jaw (5);
the pin joint assembly (6) comprises a movable clamping jaw mounting seat (10), the movable clamping jaw (5) is penetrated through a swinging through groove (11) of the movable clamping jaw mounting seat (10), the movable clamping jaw mounting seat (10) is connected with the movable clamping jaw (5) through a pin joint shaft (12), and a clamping opening adjusting assembly (13) is arranged between the movable clamping jaw mounting seat (10) and the clamping jaw fixing plate (2);
the driving assembly (7) comprises a clamping guide sliding block (14) and a linear driver (15), the clamping guide sliding block (14) is connected with the pivoting assembly (6) through a sliding block sliding rail structure, the upper portion of the movable clamping jaw (5) is arranged in a strip-shaped through groove (16) of the clamping guide sliding block (14), the front side and the rear side of the movable clamping jaw (5) are respectively provided with a jaw leaning pin (17), and a clamping compensation structure (8) is arranged between at least one clamping jaw unit (3) and the jaw leaning pin (17).
2. The manipulator jaw assembly with multiple jaws as claimed in claim 1, wherein the clamping compensation structure (8) comprises an elastic support assembly (18) arranged between a jaw abutment pin (17) and the clamping guide slide (14) on one side of the movable jaw (5).
3. The manipulator clamping jaw mechanism with multiple jaws according to claim 2, characterized in that the elastic supporting component (18) comprises a compensation supporting block (19), a travel hole (20) is formed in the compensation supporting block (19), the compensation supporting block (19) is sleeved on a jaw supporting pin (17) on one side of the movable clamping jaw (5), a spring (21) is arranged between the compensation supporting block (19) and the strip-shaped through groove (16), one end of the spring (21) is supported against the clamping guide sliding block (14), and the other end of the spring is supported against the compensation supporting block (19).
4. A manipulator jaw assembly with multiple jaws according to claim 3, wherein the clamping opening adjusting assembly (13) comprises a slide block and slide rail structure arranged between the movable jaw mounting seat (10) and the jaw fixing plate (2), and a positioning fixing unit (22) is arranged between the movable jaw mounting seat (10) and the jaw fixing plate (2).
5. A manipulator jaw assembly with multiple jaws as claimed in any one of claims 1-4, wherein said jaw assemblies (1) comprise two sets, and wherein a spacing adjustment assembly (23) is provided between the two sets of jaw assemblies (1).
6. The multi-jaw robot jaw mechanism of claim 5, wherein said spacing adjustment assembly (23) comprises a coupling frame plate (24) disposed between two sets of jaw assemblies (1), said coupling frame plate (24) being in sliding engagement with two sets of jaw assemblies (1).
7. The manipulator clamping jaw mechanism with multiple jaws according to claim 1, wherein two movable clamping jaw mounting seats (10) are provided, a guide rod (25) is arranged between the two movable clamping jaw mounting seats (10), one end of the guide rod (25) is connected with one movable clamping jaw mounting seat (10), and the other end of the guide rod (25) penetrates through the other movable clamping jaw mounting seat (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111159746.3A CN113878601B (en) | 2021-09-30 | 2021-09-30 | Manipulator clamping jaw mechanism with multiple jaws |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111159746.3A CN113878601B (en) | 2021-09-30 | 2021-09-30 | Manipulator clamping jaw mechanism with multiple jaws |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113878601A CN113878601A (en) | 2022-01-04 |
| CN113878601B true CN113878601B (en) | 2024-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111159746.3A Active CN113878601B (en) | 2021-09-30 | 2021-09-30 | Manipulator clamping jaw mechanism with multiple jaws |
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| CN (1) | CN113878601B (en) |
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2021
- 2021-09-30 CN CN202111159746.3A patent/CN113878601B/en active Active
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|---|---|---|---|---|
| DD273597A1 (en) * | 1988-07-04 | 1989-11-22 | Univ Rostock | MULTIPLE GRAB |
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Effective date of registration: 20240801 Address after: 311800 Zhejiang Hangjun Machinery Technology Co., Ltd. 1st Floor, Factory Building, Huangtong Village, Ciwu Town, Zhuji City, Shaoxing City, Zhejiang Province Patentee after: Zhuji Womaikai Electromechanical Technology Co.,Ltd. Country or region after: China Address before: 311800 21 Jinwu Road, Diankou Town, Zhuji City, Shaoxing City, Zhejiang Province Patentee before: ZHUJI RUN TUO MECHANICAL AUTOMATION TECHNOLOGY Co.,Ltd. Country or region before: China |