CN210589347U

CN210589347U - Clamping jaw of manipulator

Info

Publication number: CN210589347U
Application number: CN201921537988.XU
Authority: CN
Inventors: 余鹏; 谢文为
Original assignee: Guangdong Nuobate Intelligent Equipment Co ltd
Current assignee: Guangdong Nuobate Intelligent Equipment Co ltd
Priority date: 2019-09-17
Filing date: 2019-09-17
Publication date: 2020-05-22
Anticipated expiration: 2029-09-17

Abstract

The utility model discloses a manipulator clamping jaw, including bottom plate and an upper fixed plate, install the manipulator fixing base on the upper fixed plate, install the direction subassembly on the bottom plate, the upper fixed plate suit is on this direction subassembly, installs clamping mechanism on the bottom plate, and this clamping mechanism includes die clamping cylinder, presss from both sides tight arm and presss from both sides tight piece, and die clamping arm one end is connected through the actuating lever rotation of round pin axle with die clamping cylinder, the other end and presss from both sides tight piece erection joint, is equipped with electrode compensation cylinder on the upper fixed plate, and this electrode compensation cylinder's actuating lever stretches out to be connected with the bottom plate. The utility model discloses convenient operation presss from both sides tightly firm, and strong adaptability improves welding process's accuracy nature.

Description

Clamping jaw of manipulator

Technical Field

The utility model belongs to the technical field of the manipulator and specifically relates to a manipulator clamping jaw.

Background

The manipulator is an automatic operating device which can imitate some action functions of human hands and is used for grabbing and carrying objects or operating tools according to a fixed program, is the earliest appearing industrial robot and the earliest appearing modern robot, can replace heavy labor of people to realize mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like.

A jaw is a very wide variety of implements that can be used to clamp a workpiece for machining. For example, when the nut is welded, if the nut is clamped by the clamping jaw, the nut can be directly contacted by hands, and the processing is safer. The existing clamping jaw is usually a simple fixed operation structure when clamping a nut for welding operation, and is easy to damage a workpiece in the process of clamping the workpiece.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model provides a manipulator clamping jaw.

In order to solve the technical problem, the utility model discloses take following technical scheme:

the utility model provides a manipulator clamping jaw, includes bottom plate and an upper fixed plate, installs the manipulator fixing base on the upper fixed plate, install the direction subassembly on the bottom plate, the top plate suit is on this direction subassembly, installs clamping mechanism on the bottom plate, and this clamping mechanism includes die clamping cylinder, presss from both sides tight arm and presss from both sides tight piece, and die clamping arm one end is connected through round pin axle and die clamping cylinder's actuating lever rotation, the other end and pressing from both sides tight piece erection joint, installs electrode compensation cylinder on the top plate, and this electrode compensation cylinder's actuating lever stretches out to be connected with the bottom plate.

The upper fixed plate is provided with a connecting plate, the electrode compensation cylinder is arranged on the connecting plate, and a driving rod of the electrode compensation cylinder is connected with the lower fixed plate through a coupling head.

And a tension spring is arranged between the upper fixing plate and the lower fixing plate, the upper end of the tension spring is connected with the upper fixing plate, and the lower end of the tension spring is connected with the lower fixing plate.

And a plurality of tension springs are respectively arranged on two sides of the upper fixing plate.

The guide assembly comprises a guide shaft and a linear bearing, the linear bearing is movably sleeved on the guide shaft, and the upper fixing plate is connected with the linear bearing in an installing mode.

The clamping block comprises a fixed clamping block and a movable clamping block, the fixed clamping block is fixedly installed with the lower fixing plate, the movable clamping block is fixedly installed with the clamping arm, and the clamping arm is rotatably installed with the fixed clamping block through a pin shaft.

The utility model discloses convenient operation presss from both sides tightly firm, and strong adaptability improves welding process's accuracy nature.

Drawings

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

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

fig. 3 is a schematic view of the application structure of the present invention.

Detailed Description

For further understanding of the features and technical means of the present invention, as well as the specific objects and functions attained by the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description.

As shown in fig. 1, 2 and 3, the utility model discloses a manipulator clamping jaw, with manipulator cooperation assembly, including bottom plate 2 and an upper fixed plate 4, install manipulator fixing base 6 on the upper fixed plate 4, install direction subassembly 5 on the

bottom plate

2, 4 suits of an upper fixed plate are on this direction subassembly 5, install clamping mechanism on the bottom plate 2, and this clamping mechanism includes die clamping cylinder 7, press from both sides tight arm 9 and presss from both sides

tight piece

1, and 9 one end of clamp arm are rotated with the actuating lever of die clamping cylinder 7 through the round pin axle and are connected, the other end and press from both sides tight piece 1 erection joint, are equipped with electrode compensating cylinder 3 on the upper fixed plate 4, and the actuating lever of this electrode compensating cylinder stretches out to be connected with bottom plate 2. The upper fixing plate 4 moves up and down along the guide assembly to realize relative movement with the lower fixing plate. The clamping cylinder drives the clamping arm to act, so that the clamping block is clamped or loosened.

The upper fixing plate 4 is provided with a connecting plate, the electrode compensation cylinder 3 is arranged on the connecting plate, and a driving rod of the electrode compensation cylinder 3 is connected with the lower fixing plate 2 through a coupling head. The adjustment of the spacing distance between the upper fixing plate and the lower fixing plate is realized through the electrode compensation cylinder.

In addition, be equipped with extension spring 8 between upper fixed plate 4 and bottom plate 2, this extension spring 8 upper end is connected with upper fixed plate 4, and the lower extreme is connected with bottom plate 2. The two sides of the upper fixing plate are respectively provided with a plurality of tension springs. The impact force buffering when the lower fixing plate descends is realized by the tension spring. When the electrode compensation cylinder stretches out and is tensioned, the upper fixing plate and the lower fixing plate are kept stable, the tension spring is stretched, and the upper fixing plate and the lower fixing plate are in a relatively fixed structural state.

The guide assembly comprises a guide shaft 51 and a linear bearing 52, the linear bearing is movably sleeved on the guide shaft, the upper fixing plate is connected with the linear bearing in an installing mode, and the stability and the stationarity of movement are guaranteed by moving on the guide shaft.

The clamping block 5 comprises a fixed clamping block 51 and a movable clamping block 52, the fixed clamping block 51 is fixedly installed with the lower fixing plate 2, the movable clamping block 52 is fixedly installed with the clamping 8 arm, and the clamping arm is rotatably installed with the fixed clamping block through a pin shaft. When the clamping cylinder stretches downwards, one end of the clamping arm is driven to stretch downwards and rotate, and the other end of the clamping arm drives the movable clamping block to be close to the fixed clamping block, so that clamping is realized. When the clamping cylinder resets, one end of the clamping arm is driven to move upwards and rotate, and the other end of the clamping arm drives the movable clamping block to be away from the fixed clamping block, so that loosening operation is realized.

As shown in the attached drawing 3, the clamping jaw is matched and assembled with a manipulator 10, and the manipulator 10 is connected with a mechanical fixing seat 6 in an installing mode, so that the assembly of the whole clamping jaw is realized. The clamping cylinder is utilized to loosen the clamping block, then the nut workpiece is clamped, and the clamping cylinder drives the clamping arm to act, so that the nut workpiece is clamped.

When the clamping block 5 clamps the nut workpiece 11 for welding, the manipulator 10 drives the manipulator clamping jaw to move to a specified position. The electrode compensation cylinder stretches out and strains, makes an upper fixed plate and a lower fixed plate be in the relatively fixed state, and the extension spring is stretched this moment, and the structure is relatively fixed, has effectively guaranteed the repeatability precision of getting the piece. Since the electrode surface 13 of the welding device 12 needs to be approached in advance during welding, the electrode surface is consumed along with the increase of the welding times, and the position of the welding surface needs to be adjusted timely. When the nut workpiece is clamped and the welding is started, the electrode compensation cylinder is loosened, the lower fixing plate freely descends under the action of self gravity, and the nut workpiece is attached to the welding surface. Due to the existence of the tension spring, the lower fixing plate is effectively prevented from being overlarge in descending stroke, meanwhile, the impact force on the electrode when the lower fixing plate descends is effectively buffered, and the change of the clamped position of the nut workpiece due to the impact is avoided.

It should be noted that the above is only a preferred embodiment of the present invention, and the present invention is not limited to the above, and although the present invention has been described in detail with reference to the embodiments, it will be apparent to those skilled in the art that the technical solutions described in the foregoing embodiments can be modified or some technical features can be replaced with equivalents, but any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a manipulator clamping jaw, includes bottom plate and an upper fixed plate, installs the manipulator fixing base on the upper fixed plate, a serial communication port, install the direction subassembly on the bottom plate, the top plate suit is on this direction subassembly, installs clamping mechanism on the bottom plate, and this clamping mechanism includes die clamping cylinder, clamp arm and presss from both sides tight piece, and clamp arm one end is rotated through the actuating lever of round pin axle with die clamping cylinder and is connected, the other end and the installation of pressing from both sides tight piece and be connected, is equipped with electrode compensation cylinder on the upper fixed plate, and the actuating lever of this electrode compensation cylinder stretches out to be connected with the bottom.

2. The manipulator clamping jaw according to claim 1, wherein the upper fixing plate is provided with a connecting plate, an electrode compensation cylinder is arranged on the connecting plate, and a driving rod of the electrode compensation cylinder is connected with the lower fixing plate through a coupling head.

3. The manipulator clamping jaw according to claim 2, wherein a tension spring is arranged between the upper fixing plate and the lower fixing plate, the upper end of the tension spring is connected with the upper fixing plate, and the lower end of the tension spring is connected with the lower fixing plate.

4. The manipulator clamping jaw according to claim 3, wherein a plurality of tension springs are respectively arranged on two sides of the upper fixing plate.

5. The robot gripping jaw of claim 4, wherein the guide assembly includes a guide shaft and a linear bearing, the linear bearing is movably sleeved on the guide shaft, and the upper fixing plate is connected with the linear bearing.

6. The manipulator clamping jaw according to claim 5, wherein the clamping block comprises a fixed clamping block and a movable clamping block, the fixed clamping block is fixedly mounted with the lower fixing plate, the movable clamping block is fixedly mounted with the clamping arm, and the clamping arm is rotatably mounted with the fixed clamping block through a pin shaft.