CN207757646U - Manipulator fixture - Google Patents
Manipulator fixture Download PDFInfo
- Publication number
- CN207757646U CN207757646U CN201820026612.1U CN201820026612U CN207757646U CN 207757646 U CN207757646 U CN 207757646U CN 201820026612 U CN201820026612 U CN 201820026612U CN 207757646 U CN207757646 U CN 207757646U
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- China
- Prior art keywords
- clamping jaw
- drive rod
- plate
- driving member
- clamping
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- Expired - Fee Related
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Abstract
The utility model is related to a kind of manipulator fixtures, including fixture shell, clamping jaw, the lower housing of fixture shell, air cylinder fixed plate is equipped between lower housing, there are two cylinders for air cylinder fixed plate fixation, the axis direction of cylinder is in left-right direction, the telescopic end of cylinder is towards a left side, it is additionally provided with driving plate among fixture shell, drive rod, the rear and front end of driving plate is connected to the telescopic end of two cylinders, drive rod extends in left-right direction, drive rod right end is equipped with driving member, clamping jaw includes the first clamping jaw being used cooperatively, second clamping jaw, first clamping jaw, gripper pad is equipped on the inside of second clamping jaw, gripper pad has arc clamping face, it is oppositely arranged before and after two arc clamping faces, it is connected by first connecting rod between driving member and the first clamping jaw, it is connected by second connecting rod between driving member and the second clamping jaw.The clamping jaw structure of the fixture, can be with the workpiece of application diameter in a certain range, rather than is only applicable in a kind of workpiece of specification, improves efficiency.
Description
Technical field
The utility model is related to a kind of manipulator fixtures.
Background technology
Bearing is that more parts are applied in mechanical equipment, vehicle.Bearing ring generally uses forging technology, first will be former
Steel is placed on and is heated to 800~1500 DEG C of high temperature in intermediate frequency furnace, then recycles press forging molding.That traditional is all worker
Participation is relatively high, and working environment is poor, influences the health of worker, and labor intensity is also high.With the development of technology, especially
It is the appearance of industrial robot, greatly increases production efficiency.
Forging machine people generally realizes clamping different-diameter axle sleeve-like workpieces, a kind of workpiece pair of generally use with manipulator
Answer a kind of mode of production of clamping jaw and operation program control.When specification of workpieces is more, program debugging heavy workload is run, and
Clamping jaw is replaced, production efficiency can be also reduced.
Utility model content
The purpose of this utility model is to provide a kind of manipulator fixture, to improve production efficiency.
To achieve the above object, the utility model manipulator fixture adopts the following technical scheme that：Manipulator fixture, including folder
Have shell, clamping jaw, fixture shell left end is connected with flange, and for flange for being connect with robot arm, fixture shell includes upper casing
Body, lower housing are equipped with air cylinder fixed plate between lower housing, lower housing, there are two cylinder, the axis of cylinder for air cylinder fixed plate fixation
In left-right direction, the telescopic end of cylinder is additionally provided with driving plate, drive rod towards a left side among fixture shell in direction, driving plate it is front and back
Both ends are connected to the telescopic end of two cylinders, and drive rod extends in left-right direction, and drive rod left end is fixed in driving plate, drive
Lever right end is equipped with driving member, and clamping jaw includes the first clamping jaw being used cooperatively, the second clamping jaw, the first clamping jaw, the second clamping jaw inside
Equipped with gripper pad, gripper pad has arc clamping face, is oppositely arranged before and after two arc clamping faces, driving member and the first clamping jaw it
Between connected by first connecting rod, connected by second connecting rod between driving member and the second clamping jaw, driving member, first connecting rod, first
Clamping jaw forms the first parallel four-bar linkage, and driving member, second connecting rod, the second clamping jaw form the second parallel four-bar linkage.
Further, it is fixed with clamping jaw positioning plate in the upper shell, is set on clamping jaw positioning plate there are two positioning pin, is positioned
Along the vertical direction, two positioning pins are threaded through the first clamping jaw, on the second clamping jaw to pin axis respectively.
Further, the upper shell, guide plate is equipped in lower housing, be fixed with guiding in left-right direction on guide plate
Set, guide sleeve have the pilot hole being oriented in left-right direction to drive rod.
Further, several balls are embedded in the guide sleeve, ball with drive rod for contacting.
Further, first clamping jaw, the second clamping jaw structure are identical, and the first clamping jaw includes gripping section and drive section, folder
It holds pad to be arranged on gripping section, the upper and lower directions for defining the first clamping jaw is thickness direction, and the thickness of gripping section is less than drive section
Thickness.
The beneficial effects of the utility model：The manipulator fixture of the utility model first passes through flange and is installed to when in use
On corresponding robot arm, robot is controlled by program.Clamping jaw uses cylinder as actuator, by parallel four-bar linkage
Transmission, the power of cylinder can pass to clamping jaw, pass through and control the flexible of cylinder, so that it may control clamping jaw and swing to realize to workpiece
Clamping and release, by workpiece transfer to subsequent processing, or be placed on suitable place.The amount of labour of worker can be reduced, and
And this clamping jaw structure, it can be with the workpiece of application diameter in a certain range, rather than it is only applicable in a kind of workpiece of specification, it reduces
Replacement frequency improves production efficiency.In addition, adding the structure type of driving plate using double cylinders, more compact structure may make.
Description of the drawings
Fig. 1 is the vertical view of the utility model manipulator fixture；
Fig. 2 is the A-A sectional views of Fig. 1；
Fig. 3 is the principle schematic of the utility model manipulator fixture.
Corresponding title is respectively marked in figure：1, flange, 2, drive rod, 3, upper shell, 4, lower housing, 5, guide sleeve, 6, folder
Pawl positioning plate, 7, positioning pin, the 8, first clamping jaw, the 9, second clamping jaw, 10, gripper pad, 11, driving plate, 12, cylinder, 13, cylinder it is solid
Fixed board, 14, pin hole, 15, workpiece, 16, driving member, 17, first connecting rod, 18, second connecting rod.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, the every other embodiment that those of ordinary skill in the art are obtained all belongs to
In the range of the utility model protection.
The embodiment of the utility model manipulator fixture：As shown in Figure 1-Figure 3, including fixture shell, clamping jaw, fixture shell
Left end is connected with flange 1, and flange 1 with robot arm for connecting.Fixture shell includes upper shell 3, lower housing 4, upper shell
3, there is space among lower housing 4, front and back is not closed.Air cylinder fixed plate 13 is equipped between lower housing, lower housing, cylinder is fixed
Plate 13 is fixed there are two cylinder 12, and in left-right direction, two cylinder time intervals are arranged the axis direction of cylinder 12.Cylinder stretches
End is additionally provided with driving plate 11, drive rod 2, the rear and front end of driving plate 11 is connected to two cylinders towards a left side among fixture shell
12 telescopic end.Drive rod 2 extends in left-right direction, and 2 left end of drive rod is fixed in driving plate 11.Two cylinders drive driving plate
Side-to-side movement, driving plate drive drive rod movement.Drive rod right end is equipped with driving member 16, and driving member 16 is platy structure.
Clamping jaw includes the first clamping jaw 8 being used cooperatively, the second clamping jaw 9.Clamping jaw positioning plate 6, clamping jaw are fixed in upper shell
Set on positioning plate 6 there are two positioning pin 7,7 axis of positioning pin along the vertical direction, two positioning pins 7 be threaded through respectively the first clamping jaw 8,
On second clamping jaw 9.Gripper pad 10 is equipped on the inside of first clamping jaw, the second clamping jaw, gripper pad 10 has arc clamping face, two arcs
It is oppositely arranged before and after clamping face, is used for the periphery of clamping workpiece.Connected by first connecting rod 17 between driving member 16 and the first clamping jaw
It connects, is connected by second connecting rod 18 between driving member and the second clamping jaw, driving member, first connecting rod 17, the first clamping jaw 8 form first
Parallel four-bar linkage, driving member, second connecting rod 18, the second clamping jaw 9 form the second parallel four-bar linkage.
It is equipped with guide plate in upper shell, lower housing, is fixed with guide sleeve 5 in left-right direction on guide plate, guide sleeve 5 has
To the pilot hole that drive rod is oriented in left-right direction, drive rod 2 is passed through from guide sleeve 5.Embedded with several rollings in guide sleeve 5
Pearl, ball are moved for being contacted with drive rod convenient for drive rod.
First clamping jaw 8,9 structure of the second clamping jaw are identical, and the first clamping jaw includes gripping section and drive section.First clamping jaw is non-straight
Linear, but connecting lever.Gripper pad 10 is arranged on gripping section, and the upper and lower directions for defining the first clamping jaw is thickness direction, clamping
The thickness of section is less than the thickness of drive section.The structure of first clamping jaw, the second clamping jaw is designed to stepped ramp type, in proof strength
Under the premise of, thickness is minimized, clamping workpiece is convenient for.
Manipulator fixture in the present embodiment is first installed on corresponding robot arm, robot is by journey when in use
Sequence controls.By controlling the flexible of cylinder, link mechanism action is driven, so that it may control clamping jaw to piece-holder and release, by work
Part is transferred to subsequent processing, or is placed on suitable place.The amount of labour of worker, and this clamping jaw, Ke Yishi can be reduced
With the workpiece of diameter in a certain range, rather than only it is applicable in a kind of workpiece of specification.
Claims (5)
1. manipulator fixture, it is characterised in that：Including fixture shell, clamping jaw, fixture shell left end is connected with flange, and flange is used for
It is connect with robot arm, fixture shell includes upper shell, lower housing, and air cylinder fixed plate, gas are equipped between lower housing, lower housing
Cylinder fixed plate is fixed there are two cylinder, and in left-right direction, the telescopic end of cylinder is towards a left side, among fixture shell for the axis direction of cylinder
It is additionally provided with driving plate, drive rod, the rear and front end of driving plate is connected to the telescopic end of two cylinders, and drive rod is in left-right direction
Extend, drive rod left end is fixed in driving plate, and drive rod right end is equipped with driving member, and clamping jaw includes the first folder being used cooperatively
Pawl, the second clamping jaw, the first clamping jaw, the second clamping jaw inside are equipped with gripper pad, and gripper pad has arc clamping face, two arcs clampings
It is oppositely arranged after in front, is connected by first connecting rod between driving member and the first clamping jaw, passed through between driving member and the second clamping jaw
Second connecting rod connect, driving member, first connecting rod, the first clamping jaw formed the first parallel four-bar linkage, driving member, second connecting rod,
Second clamping jaw forms the second parallel four-bar linkage.
2. manipulator fixture according to claim 1, it is characterised in that：Clamping jaw positioning plate is fixed in the upper shell,
It is set on clamping jaw positioning plate there are two positioning pin, along the vertical direction, two positioning pins are threaded through the first clamping jaw, the to positioning pin axis respectively
On two clamping jaws.
3. manipulator fixture according to claim 1, it is characterised in that：Guide plate is equipped in the upper shell, lower housing,
Guide sleeve is fixed on guide plate in left-right direction, guide sleeve has the pilot hole being oriented in left-right direction to drive rod.
4. manipulator fixture according to claim 3, it is characterised in that：Several balls are embedded in the guide sleeve,
Ball with drive rod for contacting.
5. manipulator fixture according to any one of claims 1 to 3, it is characterised in that：First clamping jaw, the second clamping jaw
Structure is identical, and the first clamping jaw includes gripping section and drive section, and gripper pad is arranged on gripping section, defines the upper and lower of the first clamping jaw
To for thickness direction, the thickness of gripping section is less than the thickness of drive section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820026612.1U CN207757646U (en) | 2018-01-08 | 2018-01-08 | Manipulator fixture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820026612.1U CN207757646U (en) | 2018-01-08 | 2018-01-08 | Manipulator fixture |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207757646U true CN207757646U (en) | 2018-08-24 |
Family
ID=63183729
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820026612.1U Expired - Fee Related CN207757646U (en) | 2018-01-08 | 2018-01-08 | Manipulator fixture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207757646U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109473723A (en) * | 2018-09-19 | 2019-03-15 | 合肥国轩高科动力能源有限公司 | A kind of square-type lithium battery pulls out glue spike devices |
| CN109910047A (en) * | 2019-04-30 | 2019-06-21 | 海瑞恩精密技术（太仓）有限公司 | A kind of petrol engine high pressure fuel injector armature clamping jaw and part disc |
| CN109940148A (en) * | 2019-03-29 | 2019-06-28 | 广东松庆智能科技股份有限公司 | A kind of robot workpiece production line |
| CN110015562A (en) * | 2019-05-21 | 2019-07-16 | 济南希润自动化科技有限公司 | A kind of automobile plucks blocking piece handgrip |
| CN111167043A (en) * | 2018-11-09 | 2020-05-19 | 广州供电局有限公司 | Fire extinguishing system |
| CN111496674A (en) * | 2020-03-22 | 2020-08-07 | 芜湖慧盈自动化设备有限公司 | Mechanical arm clamp for polishing inner wall of pot and inner wall of pot handle |
| CN111521554A (en) * | 2020-05-09 | 2020-08-11 | 中国人民解放军海军航空大学岸防兵学院 | Portable electric connector appearance quality detection system |
| CN112706179A (en) * | 2019-10-24 | 2021-04-27 | 汉达精密电子(昆山)有限公司 | Clamping jaw structure |
-
2018
- 2018-01-08 CN CN201820026612.1U patent/CN207757646U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109473723A (en) * | 2018-09-19 | 2019-03-15 | 合肥国轩高科动力能源有限公司 | A kind of square-type lithium battery pulls out glue spike devices |
| CN109473723B (en) * | 2018-09-19 | 2021-12-03 | 合肥国轩高科动力能源有限公司 | Square lithium cell pulls out glued membrane nail device |
| CN111167043A (en) * | 2018-11-09 | 2020-05-19 | 广州供电局有限公司 | Fire extinguishing system |
| CN109940148A (en) * | 2019-03-29 | 2019-06-28 | 广东松庆智能科技股份有限公司 | A kind of robot workpiece production line |
| CN109910047A (en) * | 2019-04-30 | 2019-06-21 | 海瑞恩精密技术（太仓）有限公司 | A kind of petrol engine high pressure fuel injector armature clamping jaw and part disc |
| CN110015562A (en) * | 2019-05-21 | 2019-07-16 | 济南希润自动化科技有限公司 | A kind of automobile plucks blocking piece handgrip |
| CN110015562B (en) * | 2019-05-21 | 2023-08-15 | 济南希润自动化科技有限公司 | Pick stifled spare tongs for car |
| CN112706179A (en) * | 2019-10-24 | 2021-04-27 | 汉达精密电子(昆山)有限公司 | Clamping jaw structure |
| CN111496674A (en) * | 2020-03-22 | 2020-08-07 | 芜湖慧盈自动化设备有限公司 | Mechanical arm clamp for polishing inner wall of pot and inner wall of pot handle |
| CN111521554A (en) * | 2020-05-09 | 2020-08-11 | 中国人民解放军海军航空大学岸防兵学院 | Portable electric connector appearance quality detection system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180824 Termination date: 20210108 |