CN210998789U - Clamping mechanism of automatic centering for arm - Google Patents

Abstract

The utility model discloses a gripper mechanism of automatic centering for arm, which comprises a frame, cylinder and belt drive system, the gripper jaw of two sets of symmetries, the frame includes rectangular shape upper and lower carbon plate, support carbon plate and side carbon plate, upper carbon plate top surface and lower carbon plate bottom surface fixed mounting linear guide, upper carbon plate sets up the symmetry hole site with lower carbon plate, the cylinder includes the cylinder body, the piston rod, the cylinder body mount, the piston rod mount, belt drive system includes left band pulley, right band pulley, the hold-in range, left band pulley and right band pulley are fixed on the symmetry hole site, piston rod and hold-in range fixed connection, the gripper jaw includes that upper and lower two-layer L shape carbon plate connects carbon plate and fixed carbon plate, upper L shape carbon plate bottom, lower floor L shape carbon plate top installation and linear guide's slider of mutually supporting, be equipped with the synchronous belt clamp that connects with the hold-in range fixed on the fixed carbon plate inner wall.

Description

An automatic centering clamping mechanism for a robotic arm

technical field

The utility model belongs to the technical field of robots, in particular to an automatic centering clamping mechanism for a mechanical arm.

Background technique

In the process of product processing and transportation, there are often operations of clamping corresponding objects and positioning; this operation is generally simple, requires high positioning, and has high repeatability, and is suitable for using mechanical arms instead of manual operations. Working with a robotic arm can greatly shorten the processing and transportation time, improve the positioning accuracy, and greatly save labor costs.

During the use of the robotic arm, a gripper for gripping the object is usually installed at the end of the robotic arm, and the object is gripped by the gripper to complete the corresponding processing and transportation process. However, most of the grippers now use the motor as the power source, the control is more complicated, and it is greatly affected by the environment; the clamping jaws of the gripper are not neutral, which affects the positioning accuracy; the gripper has a complex structure and a large volume; At the moment of the object, the gripping claw will receive a great impact.

Utility model content

In view of the deficiencies and problems in the prior art, the utility model aims to provide an automatic centering clamping mechanism for a mechanical arm, which is especially suitable for clamping soft objects.

The utility model is realized through the following technical solutions:

An automatic centering clamping mechanism for a mechanical arm comprises a frame, a cylinder and a belt transmission system installed in the frame, and two sets of clamping claws symmetrically installed at the side ends of the frame.

Among them, the frame includes upper and lower carbon plates symmetrically arranged up and down, two sets of supporting carbon plates and two sets of symmetrical side carbon plates. The supporting carbon plate is supported, the left and right side ends of the upper carbon plate and the lower carbon plate are supported by the side end carbon plate, and the upper carbon plate and the lower carbon plate, the supporting carbon plate and the side end carbon plate are fixedly connected to form a whole; the top of the upper carbon plate is A linear guide rail is fixed and installed on the bottom surface of the surface and the lower carbon plate respectively; symmetrical holes are set at the two ends of the upper carbon plate and the lower carbon plate near the two ends of the linear guide rail;

Among them, the cylinder includes a cylinder block, a piston rod, a cylinder block fixing frame, and a piston rod fixing frame. The cylinder body is fixedly connected to the surface of the supporting carbon plate in the middle of the frame by using the cylinder body fixing frame. The piston rod is fixedly connected with the belt drive system.

The belt transmission system includes synchronous left and right pulleys, annular timing belts tensioned on the left and right pulleys, and the left and right pulleys are fixed to the symmetrical holes at both ends of the frame through bearings. In the position, use the piston rod holder to fix the piston rod and the timing belt with bolts.

The clamping claw includes an upper L-shaped carbon plate, a lower L-shaped carbon plate, a connecting carbon plate and a fixed carbon plate for fixing the upper L-shaped carbon plate and the lower L-shaped carbon plate, the upper L-shaped carbon plate, the lower L-shaped carbon plate The carbon plate, the connecting carbon plate and the fixed carbon plate are tightly connected to form a whole; several sliders are installed on the bottom of the upper L-shaped carbon plate and the top of the lower L-shaped carbon plate respectively, and the sliders are connected with the linear guides on the frame. Cooperate with each other; the fixed carbon plate is located at the angle between the upper L-shaped carbon plate and the lower L-shaped carbon plate, the inner wall of the fixed carbon plate is provided with a synchronous belt clip, and the synchronous belt clip is fixedly connected with the synchronous belt.

Further, the supporting carbon plates of the frame and the connecting carbon plates of the clamping claws are hollow carbon plates.

Compared with the prior art, the beneficial effects of the present utility model include: the clamping mechanism of the present utility model adopts the cylinder as the power source, which has simple control and fast response speed; Impact; by using the synchronous belts on both sides of the pulley to drive the left and right clamping claws respectively, to ensure the same displacement of the left and right clamping claws, the object has an automatic centering function relative to the clamp, and the positioning accuracy is improved.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present utility model;

Fig. 2 is the three-dimensional structure schematic diagram of the rack in the utility model;

Figure 3 is a schematic diagram of the three-dimensional structure of the cylinder in the utility model;

4 is a schematic diagram of the installation of the belt drive system of the present invention;

FIG. 5 is a schematic three-dimensional structure diagram of the clamping claw in the present invention.

Illustration description: 1-frame, 11-upper carbon plate, 12-lower carbon plate, 13-support carbon plate, 14-side carbon plate, 15-linear guide rail, 16-symmetrical hole position; 2-cylinder, 21 -Cylinder block, 22-piston rod, 23-cylinder block holder, 24-piston rod holder; 3-belt drive system, 31-left pulley, 32-timing belt, 33-right pulley; 4-clamping Claw, 41-upper L-shaped carbon plate, 42-lower L-shaped carbon plate, 43-connecting carbon plate, 44-fixed carbon plate, 45-synchronous belt clamp, 46-slider.

In the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or The positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation , so it cannot be construed as a limitation of the present invention.

In the description of the present invention, it should be noted that, unless otherwise expressly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, a It can be connected in one piece; it can be a mechanical connection, an electrical connection; it can be a direct connection, an indirect connection through an intermediate medium, or an internal communication between two elements. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention under specific circumstances.

Detailed ways

The present utility model will be further described below in conjunction with the accompanying drawings.

As shown in Figure 1, an automatic centering clamping mechanism for a robotic arm includes a frame 1, a cylinder 2 installed in the frame 1, a belt drive system 3, and two sets of clamps symmetrically installed on the side of the frame 1. Claw 4. The belt transmission system 3 is driven by the cylinder 2 to drive the clamping claw 4 to move linearly on the frame 1 .

Among them, as shown in FIG. 2 , the frame 1 includes a long upper carbon plate 11 and a lower carbon plate 12 arranged symmetrically up and down, two groups of supporting carbon plates 13 and two groups of symmetrical side end carbon plates 14, the upper carbon plate 11 The middle of the lower carbon plate 12 is supported by two rectangular supporting carbon plates 13 placed in parallel, and the left and right ends of the upper carbon plate 11 and the lower carbon plate 12 are supported by the side end carbon plates 14. The upper carbon plate 11 and the lower carbon plate 12, the supporting carbon plate 13 and the side end carbon plate 14 are connected and fixed as a whole; a linear guide rail 15 is installed on the top surface of the upper carbon plate 11 and the bottom surface of the lower carbon plate 12 respectively, using bolts The linear guide rail 15 is fastened together with the upper carbon plate 11 and the lower carbon plate 12 by other fasteners; symmetrical holes 16 are provided on the upper carbon plate 11 and the lower carbon plate 12 near the two ends of the linear guide rail 15 for installation. Belt drive system 3.

Among them, as shown in FIG. 3 , the cylinder 2 includes a cylinder block 21, a piston rod 22, a cylinder block fixing frame 23, and a piston rod fixing frame 24. The cylinder block fixing frame 23 is used to support the middle of the cylinder block 21 and the frame through bolt connection. The surface of the carbon plate 13 is fixedly connected, and the piston rod fixing frame 24 is fixedly connected to the piston rod 22 and the belt transmission system 3 through bolts. The utility model also includes the power drive system of the cylinder 2, and its structure and connection method are all conventional designs, and the utility model will not elaborate.

Among them, as shown in FIG. 4 , the belt transmission system 3 includes a synchronous left pulley 31 and a right pulley 33 , an annular timing belt 32 tensioned on the left pulley 31 and the right pulley 33 , and the left pulley 31 and the right pulley 33 . The right pulley 33 is fixed on the symmetrical holes 16 at both ends of the frame 1 through bearings, and the synchronous belt 32 is used in conjunction with the pulley, relying on the rotation of the left pulley 31 and the right pulley 33 to drive the synchronous belt 32 to drive, using the piston rod fixing frame 24 The piston rod 22 is fixedly connected with the timing belt 32 through bolts.

Among them, as shown in FIG. 5 , the clamping claw 4 includes an upper L-shaped carbon plate 41 , a lower L-shaped carbon plate 42 , a connecting carbon plate 43 for fixing the upper L-shaped carbon plate 41 and the lower L-shaped carbon plate 42 , and The carbon plate 44 is fixed, and the upper L-shaped carbon plate 41, the lower L-shaped carbon plate 42, the connecting carbon plate 43 and the fixed carbon plate 44 are fastened into a whole through fasteners such as bolts, and the upper L-shaped carbon plate 41 and the lower layer L The carbon plates 42 are connected with two straight edge plates, the straight edge plate is connected to the frame 1, and the other straight edge plate is used to clamp objects; A number of sliders 46 are respectively installed on the top. The area where the sliders 46 are installed is a straight edge plate connected with the frame 1. The sliders 46 cooperate with the linear guide rails 15 on the frame The linear guide rail 15 slides; the fixed carbon plate 44 is located at the angle between the upper L-shaped carbon plate 41 and the lower L-shaped carbon plate 42, and the inner wall of the fixed carbon plate 44 is provided with a synchronous belt clip 45, and the synchronous belt clip 45 is fixed with the synchronous belt 32 Connected, the fixed carbon plate 44 and the timing belt clip 45 fix the clamping claw 4 and the timing belt 32 together.

Specifically, the supporting carbon plate 13 of the frame 1 and the connecting carbon plate 43 of the clamping claw 4 are hollow carbon plates to reduce the weight of the clamping mechanism.

The working process of the utility model: the back-and-forth linear motion of the piston rod 22 of the cylinder 2 drives the synchronous belt 32 to rotate for a fixed distance; The directions are opposite; the left clamping claw 4 and the synchronous belt 32 on one side fix the rotation of the synchronous belt 32 to drive the left clamping claw 4 to move along one end of the linear guide rail; the right clamping claw 4 and the synchronous belt 32 on the other side The side is fixed, and the right clamping claw 4 is driven to move along the other end of the linear guide rail 15, so as to realize the relative movement or relative movement of the left and right clamping claw 4, and complete the clamping and loosening of the left and right clamping claw 4.

The above descriptions only represent the preferred embodiments of the present invention, and the descriptions thereof are specific and detailed, but should not be construed as limiting the scope of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications, improvements and substitutions can be made, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for this utility model shall be subject to the appended claims.

Claims (2)

1. The utility model provides a fixture of automatic centering for robotic arm which characterized in that: comprises a frame, a cylinder and belt transmission system arranged in the frame, and two groups of clamping claws symmetrically arranged at the side end of the frame,

the frame comprises an upper elongated carbon plate and a lower elongated carbon plate which are arranged in an up-down symmetrical manner, two groups of supporting carbon plates and two groups of symmetrical side end carbon plates, the middle parts of the upper carbon plate and the lower carbon plate are supported by the two rectangular supporting carbon plates which are arranged in parallel, the left side end and the right side end of the upper carbon plate and the lower carbon plate are supported by the side end carbon plates, and the upper carbon plate, the lower carbon plate, the supporting carbon plates and the side end carbon plates are fixedly connected into a whole; the top surface of the upper carbon plate and the bottom surface of the lower carbon plate are respectively and fixedly provided with a linear guide rail; symmetrical hole sites are respectively arranged on the upper carbon plate and the lower carbon plate at positions close to the two ends of the linear guide rail;

the cylinder comprises a cylinder body, a piston rod, a cylinder body fixing frame and a piston rod fixing frame, the cylinder body is fixedly connected with the surface of the support carbon plate in the middle of the rack through bolt connection by using the cylinder body fixing frame, and the piston rod is fixedly connected with the belt transmission system through a bolt by using the piston rod fixing frame;

the belt transmission system comprises a left belt wheel, a right belt wheel and an annular synchronous belt tensioned on the left belt wheel and the right belt wheel, the left belt wheel and the right belt wheel are fixed on the symmetrical hole positions at the two ends of the rack through bearings, and the piston rod is fixedly connected with the synchronous belt through a piston rod fixing frame through bolts;

the clamping jaws comprise an upper layer L-shaped carbon plate, a lower layer L-shaped carbon plate, a connecting carbon plate and a fixing carbon plate, wherein the connecting carbon plate and the fixing carbon plate are fixedly arranged between the upper layer L-shaped carbon plate and the lower layer L-shaped carbon plate, the upper layer L-shaped carbon plate, the lower layer L-shaped carbon plate, the connecting carbon plate and the fixing carbon plate are fixedly connected into a whole, a plurality of sliding blocks are respectively arranged at the bottom of the upper layer L-shaped carbon plate and the top of the lower layer L-shaped carbon plate, the sliding blocks are matched with the linear guide rail on the rack, the fixing carbon plate is positioned at the included angle of the upper layer L-shaped carbon plate and the lower layer L-shaped carbon plate, a synchronous belt clamp is arranged on the inner wall of the fixing carbon plate, and the synchronous belt clamp is fixedly connected.

2. The automatic centering clamping mechanism for the mechanical arm according to claim 1, wherein: the support carbon plate of frame and the connection carbon plate of gripper jaw are the carbon plate of fretwork.

Images