CN210998789U

CN210998789U - Clamping mechanism of automatic centering for arm

Info

Publication number: CN210998789U
Application number: CN201921029553.4U
Authority: CN
Inventors: 徐彪; 刘国平; 王强; 刘琨; 徐鑫
Original assignee: Lattice Power Jiangxi Corp
Current assignee: Lattice Power Jiangxi Corp
Priority date: 2019-07-03
Filing date: 2019-07-03
Publication date: 2020-07-14
Anticipated expiration: 2029-07-03

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

Clamping mechanism of automatic centering for arm

Technical Field

The utility model belongs to the technical field of the robot, concretely relates to fixture of automatic centering for arm.

Background

In the process of processing and transporting products, operations of clamping corresponding objects and positioning are often performed; the operation is simple in general action, high in positioning requirement and high in repeatability, and is suitable for replacing manual operation with a mechanical arm. The mechanical arm is used for working, so that the processing and transporting time can be greatly shortened, the positioning precision is improved, and meanwhile, the labor cost is greatly saved.

In the use process of the mechanical arm, a gripper for gripping an object is usually installed at the tail end of the mechanical arm, and the object is gripped by the gripper, so that the corresponding processing and transportation process is completed. However, most of the holders use motors as power sources, the control is complex, and the environment influence is great; the centering performance of the clamping jaws of the clamp holder is poor, and the positioning precision is influenced; the structure of the clamp holder is complex and the volume is large; at the moment of clamping the object, the clamping jaws are subjected to a large impact.

SUMMERY OF THE UTILITY MODEL

To not enough and a difficult problem among the prior art, the utility model aims at providing a fixture of automatic centering for arm, the soft object of specially adapted centre gripping.

The utility model discloses a following technical scheme realizes:

the automatic centering clamping mechanism for the mechanical arm comprises a rack, a cylinder and a belt transmission system which are arranged in the rack, and two groups of clamping claws which are symmetrically arranged at the side end of the rack.

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, wherein 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 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 near 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, wherein the cylinder body fixing frame is used for fixedly connecting the surface of a support carbon plate between the cylinder body and the rack through a bolt, and the piston rod fixing frame is used for fixedly connecting the piston rod with the belt transmission system through a bolt.

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 symmetrical hole positions at two ends of the rack through bearings, and a piston rod is fixedly connected with the synchronous belt through a piston rod fixing frame and bolts.

The clamping jaw comprises 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 an upper-layer L-shaped carbon plate and the top of a lower-layer L-shaped carbon plate and are matched with a linear guide rail on a 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.

Furthermore, the support carbon plate of the frame and the connection carbon plate of the clamping jaw are hollow carbon plates.

Compared with the prior art, the utility model discloses beneficial effect includes: the clamping mechanism of the utility model adopts the cylinder as the power source, the control is simple, and the response speed is fast; the same belt is used as a transmission system, so that the impact generated instantly when an object is clamped is effectively relieved; the synchronous belts on the two sides of the belt wheel are used for driving the left clamping claw and the right clamping claw respectively, so that the moving displacement of the left clamping claw and the moving displacement of the right clamping claw are the same, the object has an automatic centering function relative to the clamp, and the positioning precision is improved.

Drawings

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

FIG. 2 is a schematic view of a three-dimensional structure of a rack in the present invention;

FIG. 3 is a schematic view of a three-dimensional structure of a cylinder body in the present invention;

FIG. 4 is a schematic view of the belt drive system installation of the present invention;

fig. 5 is a schematic view of a three-dimensional structure of the clamping jaw of the present invention.

The drawing shows that 1-a frame, 11-an upper carbon plate, 12-a lower carbon plate, 13-a supporting carbon plate, 14-a side end carbon plate, 15-a linear guide rail and 16-symmetrical hole positions, 2-a cylinder, 21-a cylinder body, 22-a piston rod, 23-a cylinder body fixing frame, 24-a piston rod fixing frame, 3-a belt transmission system, 31-a left belt wheel, 32-a synchronous belt, 33-a right belt wheel, 4-a clamping claw, 41-an upper layer L carbon plate, 42-a lower layer L carbon plate, 43-a connecting carbon plate, 44-a fixed carbon plate, 45-a synchronous belt clamp and 46-a sliding block.

In the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, integrally connected; can be mechanical connection and electrical connection; may be directly connected, indirectly connected through intervening agents, or may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood to be specific to those skilled in the art.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

As shown in fig. 1, the automatic centering clamping mechanism for the mechanical arm comprises a frame 1, a cylinder 2 and a belt transmission system 3 which are arranged in the frame 1, and two groups of clamping claws 4 which are symmetrically arranged at the side end of the frame 1. The cylinder 2 drives the belt transmission system 3 to transmit, and then drives the clamping claw 4 to move linearly on the frame 1.

As shown in fig. 2, the frame 1 includes an upper elongated carbon plate 11 and a lower elongated carbon plate 12, two sets of supporting carbon plates 13, and two sets of symmetrical side carbon plates 14, which are disposed in a vertically symmetrical manner, the middle of the upper carbon plate 11 and the lower carbon plate 12 is supported by two rectangular supporting carbon plates 13 disposed in parallel, the left and right side ends of the upper carbon plate 11 and the lower carbon plate 12 are supported by the side carbon plates 14, and in a specific implementation, the upper carbon plate 11, the lower carbon plate 12, the supporting carbon plates 13, and the side carbon plates 14 are connected and fixed into a whole by fasteners such as bolts; a linear guide 15 is respectively installed on the top surface of the upper carbon plate 11 and the bottom surface of the lower carbon plate 12, and the linear guide 15, the upper carbon plate 11 and the lower carbon plate 12 are fastened together by fasteners such as bolts; symmetrical hole sites 16 are respectively arranged at the two ends of the upper carbon plate 11 and the lower carbon plate 12 close to the linear guide rail 15 and used for installing the belt transmission system 3.

As shown in fig. 3, the cylinder 2 includes a cylinder body 21, a piston rod 22, a cylinder body fixing frame 23, and a piston rod fixing frame 24, the cylinder body 21 is fixedly connected to the surface of the support carbon plate 13 in the middle of the frame by using the cylinder body fixing frame 23 through a bolt, and the piston rod 22 is fixedly connected to the belt drive system 3 by using the piston rod fixing frame 24 through a bolt. The utility model discloses still include the power drive system of cylinder 2, its structure, connected mode all belong to conventional design, the utility model discloses do not explain in detail.

As shown in fig. 4, the belt transmission system 3 includes a left belt pulley 31 and a right belt pulley 33 which are synchronous, and an annular synchronous belt 32 tensioned on the left belt pulley 31 and the right belt pulley 33, the left belt pulley 31 and the right belt pulley 33 are fixed on symmetrical holes 16 at two ends of the frame 1 through bearings, the synchronous belt 32 is used in cooperation with the belt pulleys, the left belt pulley 31 and the right belt pulley 33 rotate to drive the synchronous belt 32 to transmit, and the piston rod 22 is fixedly connected with the synchronous belt 32 through a bolt by using the piston rod fixing frame 24.

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 and a fixed carbon plate 44, which fix the upper L0-shaped carbon plate 41 and the lower L1-shaped carbon plate 42, 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 by bolts and other fasteners, the upper L-shaped carbon plate 41 and the lower L-shaped carbon plate 42 are both straight-edge plates, one straight-edge plate is connected with the frame 1, the other straight-edge plate is used for clamping an object, a plurality of sliders 46 are respectively mounted at the bottom of the upper L-shaped carbon plate 41 and the top of the lower L-shaped carbon plate 42, the sliders 46 are straight-edge plates connected with the frame 1, the sliders 46 are matched with the linear guide 15 on the frame 1 to enable the clamping claw 4 to slide along the linear guide 15, the fixed carbon plate 44 is located at the upper L-shaped carbon plate 41 and the corner of the lower L-shaped carbon plate, the synchronous belt clamp 45 is fixed with the synchronous belt 32, and the synchronous belt clamp 32 is arranged on the synchronous belt clamp.

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

The utility model discloses the working process: the piston rod 22 of the cylinder 2 moves linearly back and forth to drive the synchronous belt 32 to rotate for a fixed distance; the synchronous belt 32 can move for a fixed distance, and the moving directions of the synchronous belt 32 on the two sides of the left pulley 31 and the right pulley 33 are opposite; the rotation of the left clamping claw 4 and the fixed synchronous belt 32 on one side of the synchronous belt 32 drives the left clamping claw 4 to move along one end of the linear guide rail; the gripper jaw 4 on the right side is fixed with the other side of the synchronous belt 32, the gripper jaw 4 on the right side is driven to move along the other end of the linear guide rail 15, relative movement or opposite movement of the gripper jaws 4 on the left side and the right side is further realized, and clamping and loosening of the gripper jaws 4 on the left side and the right side are completed.

The foregoing merely illustrates preferred embodiments of the present invention, which are described in considerable detail and detail, but are not to be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several changes, modifications and substitutions can be made, which are all within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

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.