CN211709337U - Manipulator clamping device with adjustable manipulator distance - Google Patents

Abstract

The utility model relates to a mechanical equipment technical field, more specifically say, it relates to a manipulator clamping device with adjustable manipulator distance, and its technical scheme main points are: including an Jiong shaped plate, a pair of first manipulator and a pair of second manipulator, the lower extreme of the both sides of Jiong shaped plate all is provided with the fly leaf that can slide from top to bottom, the both sides of Jiong shaped plate are provided with a first cylinder respectively, all be provided with a second cylinder on two fly leaves, two first manipulators are connected respectively on two first cylinders, two second manipulators are connected respectively on two second cylinders, be provided with the glide configuration of two fly leaves synchronous slippage of control on the Jiong shaped plate, glide configuration is connected with the driving piece, the utility model discloses a manipulator clamping device with adjustable manipulator distance can stabilize the article of the different length of centre gripping.

Description

Manipulator clamping device with adjustable manipulator distance

Technical Field

The utility model belongs to the technical field of the mechanical equipment technique and specifically relates to a manipulator clamping device with adjustable manipulator distance.

Background

At present, on assembly lines such as production, processing, adopt the manipulator to accomplish the action of the heavy compound formula of machinery mostly, if snatch etc. the operation mode of prior art's manipulator is mostly for cliping and mentioning the back and remove, when object surface is more smooth, or the weight of article is heavier, the manipulator drops article when removing very easily, causes the loss.

In order to solve the problems, a Chinese patent with a patent publication number of CN205572451U provides a manipulator clamping device, which comprises an upper protection cover plate, a lower protection cover plate, a pair of upper driving gears, a pair of lower driving gears, a pair of first manipulator bodies, a pair of second manipulator bodies, a pair of third manipulator bodies, a pair of fourth manipulator bodies, a pair of gear connecting columns, a pair of protection plate connecting columns, a pair of manipulator connecting columns, a motor connecting column and a driving motor; go up drive gear, lower drive gear passes through the gear connection post and connects, gear connection post is even gone up protection apron and protection apron down, motor connection post is even gear connection post and driving motor, drive gear even goes up to first manipulator body, drive gear under the fourth manipulator body, first manipulator body, the second manipulator body, third manipulator body and fourth manipulator body pass through protection shield connection post and manipulator connection post and connect, should use novel can follow the stable tight article of clamp of lateral part, four-layer structure increases area of contact, it is anti-skidding, and work efficiency and stability are improved.

However, when the length of the article is long, after the robot clamping device clamps the article, the distance between the first robot body and the fourth robot body is short relative to the length of the article, and at this time, the stability of clamping the article by the robot clamping device is insufficient.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a manipulator clamping device with adjustable manipulator distance, distance between the manipulator is adjustable in order to stabilize the article of the different length of centre gripping.

The above technical purpose of the present invention can be achieved by the following technical solutions: a manipulator clamping device with an adjustable manipulator distance comprises an Jiong-shaped plate, a pair of first manipulators and a pair of second manipulators, wherein movable plates capable of sliding up and down are arranged at the lower ends of the two sides of the Jiong-shaped plate, a first air cylinder is respectively arranged at the two sides of the Jiong-shaped plate, a second air cylinder is respectively arranged on the two movable plates, the two first manipulators are respectively connected onto the two first air cylinders, the two first manipulators are oppositely arranged, the two second manipulators are respectively connected onto the two second air cylinders, the two second manipulators are oppositely arranged, the two first air cylinders are respectively connected with a first air pipe and a second air pipe, the first air pipe and the second air pipe are connected onto the same air pump, and a first spiral air pipe and a second spiral air pipe are respectively connected between the left pair of first air cylinders and the right pair of first air cylinders and the second air cylinders, the Jiong shaped plate is provided with the glide configuration that two fly leaf synchronous slided, glide configuration is connected with the driving piece.

Through adopting above-mentioned technical scheme, the air pump during operation, admit air through first trachea and second trachea, two first cylinders work earlier, two first manipulators that connect respectively on two first cylinders press from both sides tight article, then admit air through first spiral trachea and second spiral trachea, two second manipulators that connect respectively on two second cylinders press from both sides tight article, under the clamp of two teams of manipulators, article can be pressed from both sides tightly fixedly, when the article that needs to be pressed from both sides tightly changes, can control the upper and lower displacement of two fly leafs through the sliding structure on the Jiong shaped plates, thereby control the position between first cylinder and the second cylinder, and then control the distance between first manipulator and the second manipulator, with the article of stable centre gripping length nonconformity.

The utility model discloses further set up to: jiong the one side that the shaped plate upper end deviates from first cylinder is provided with the lug, the guiding hole that runs through the lug is seted up from the top to the lug, it has the slide bar to slide in the guiding hole, the driving piece sets up the top at the lug, the driving piece control slide bar slides from top to bottom, the bottom of slide bar is connected with horizontal first connecting rod, the both ends of first connecting rod all are connected with a fore-and-aft second connecting rod, two the bottom of second connecting rod is connected with two fly leafs respectively.

Through adopting above-mentioned technical scheme, when the distance of first manipulator and second manipulator need be adjusted, start the driving piece and make driving piece drive slide bar slide from top to bottom, through the connection of first connecting rod for two second connecting rods slide from top to bottom, thereby drive two fly leafs and slide from top to bottom, and then adjust the distance between first manipulator and the second manipulator.

The utility model discloses further set up to: jiong the one side that the shaped plate upper end deviates from first cylinder is provided with the lug, the lug sets up the guiding hole that runs through the lug from the top, it has the slide bar to slide in the guiding hole, the driving piece sets up the top at the lug, the driving piece control slide bar slides from top to bottom, the lower extreme of slide bar is provided with first installation axle, first installation axle rotates and is connected with two first connecting rods, the one side that deviates from first manipulator on the Jiong shaped plate is provided with second installation axle, second installation axle rotates and is connected with two second connecting rods, two the one side that deviates from the second manipulator on the fly plate is provided with a third installation axle respectively, two the third installation axle all rotates and is connected with a third connecting rod, two first connecting rod one end is all connected on the slide bar, the other end is connected with two second connecting rods respectively, two second connecting rod one end links to each other with first, The other end is respectively connected with two third connecting rods, and the distance between the second mounting shaft and the first connecting rod is smaller than the distance between the second mounting shaft and the third connecting rods.

Through adopting above-mentioned technical scheme, when the distance of first manipulator and second manipulator need be adjusted, start the driving piece and make driving piece drive slide bar slide from top to bottom, the slide bar drives first connecting rod in proper order, second connecting rod and third connecting rod rotate, thereby make two fly leafs slide from top to bottom, and then the distance between adjustment first manipulator and the second manipulator, and because the distance of second mount pad and first connecting rod is less than the distance of second installation axle and third connecting rod, therefore the displacement distance of fly leaf is greater than the displacement distance of slide bar.

The utility model discloses further set up to: the driving piece is a third cylinder.

Through adopting above-mentioned technical scheme, the telescopic shaft and the first slide bar connection of third cylinder, the during operation of third cylinder, the telescopic shaft of third cylinder drives first slide bar and slides in the guiding hole.

The utility model discloses further set up to: the first cylinder and the second cylinder are guide rod cylinders.

Through adopting above-mentioned technical scheme, the compact structure of guide arm cylinder, the direction precision is high, can bear great horizontal load, utilizes the direction cylinder to drive when manipulator presss from both sides tight article, and it is good to press from both sides tight stability.

The utility model discloses further set up to: first manipulator and second manipulator are the rectangle, all overlap behind first manipulator and the second machinery and be equipped with the rubber sleeve.

Through adopting above-mentioned technical scheme, the rubber sleeve has elasticity for the in-process that the manipulator pressed from both sides tight article can cushion, reduces the condition that the bad article of clamp appears.

The utility model discloses further set up to: the first air pipe and the second air pipe are connected to the same air pump through a three-way valve.

Through adopting above-mentioned technical scheme, the three-way valve makes first trachea and second trachea can connect on same air pump for first trachea and second trachea can admit air simultaneously, and then make between two first cylinders and between two second cylinders can drive first manipulator and second manipulator respectively simultaneously and press from both sides tight article.

The utility model discloses further set up to: and a limiting structure for limiting the first sliding rod to completely extend out of the guide hole is arranged between the first sliding rod and the guide hole.

Through adopting above-mentioned technical scheme, limit structure restriction first slide bar stretches out from the guiding hole completely to the displacement of restriction fly leaf, and then avoids the fly leaf to break away from Jiong shaped plates.

To sum up, the utility model discloses following beneficial effect has:

firstly, the distance between the first manipulator and the second manipulator can be adjusted, so that the manipulator clamping device can stably clamp articles with different lengths;

the first mechanical arm and the second mechanical arm are driven by the guide rod cylinder to clamp the articles, so that the clamping stability is high;

and thirdly, the first mechanical arm and the second mechanical arm are both sleeved with rubber sleeves, so that the first mechanical arm and the second mechanical arm have a buffering effect in the process of clamping articles.

Drawings

Fig. 1 is an overall schematic view of a robot gripping device according to a first embodiment;

FIG. 2 is an exploded view of a robot clamping device according to an embodiment;

FIG. 3 is a rear view of a robot gripping device according to one embodiment;

FIG. 4 is a sectional view of the structure taken along line A-A of FIG. 3;

fig. 5 is a rear view of the robot gripping device according to the second embodiment.

In the figure: 1. jiong shaped plates; 2. a chute; 3. a slider; 4. a movable plate; 5. a bump; 6. a guide hole; 7. a first cylinder; 8. a second cylinder; 9. a third cylinder; 10. a slide bar; 11. a first link; 12. a second link; 13. a third link; 14. a limiting groove; 15. a limiting block; 16. a first manipulator; 17. a second manipulator; 18. a rubber sleeve; 19. an air pump; 20. a three-way valve; 21. a first air pipe; 22. a second air pipe; 23. a helical gas pipe; 24. a first mounting shaft; 25. a second mounting shaft; 26. a third mounting axis.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings and examples.

The first embodiment, a manipulator clamping device with adjustable manipulator distance, as shown in fig. 1 and 2, including Jiong shaped plate 1, spout 2 has all been seted up by lower up to the lower extreme of Jiong shaped plate 1 both sides, spout 2 is the rectangle, all slide in the spout 2 and be provided with the slider 3 of rectangle, slider 3 corresponds the setting of spout 2, the lower extreme of slider 3 is connected with the fly leaf 4 of rectangle, fly leaf 4 is the rectangle and the width is unanimous with the lower extreme width of Jiong shaped plate 1 both sides, fly leaf 4 slides at the lower extreme of Jiong shaped plate 1 through slider 3. As shown in fig. 3 and 4, a projection 5 is provided on the rear surface of the upper end of the Jiong-shaped door, and the projection 5 has a rectangular shape. The center of the upper end of the bump 5 is provided with a guide hole 6 penetrating through the bump 5 from top to bottom. The upper end of the bump 5 is fixedly provided with a third cylinder 9, the third cylinder 9 is positioned above the guide hole 6, and the telescopic rod of the third cylinder 9 extends into the guide hole 6. A sliding rod 10 is arranged in the guide hole 6 in a sliding mode, the sliding rod 10 is cylindrical, the outer diameter of the sliding rod 10 is equal to the inner diameter of the guide hole 6, the upper end of the sliding rod 10 is connected with the lower end of a telescopic rod of a third air cylinder 9, and when the third air cylinder 9 works, the sliding rod 10 is driven to stretch in the guide hole 6.

As shown in fig. 3 and 4, a transverse first connecting rod 11 is connected to the lower end of the sliding rod 10, the sliding rod 10 is connected to the middle position of the first connecting rod 11, two longitudinal second connecting rods 12 are connected to both ends of the first connecting rod 11, the upper ends of the two second connecting rods 12 are respectively connected to the first connecting rod 11, and the lower ends of the two second connecting rods 12 are respectively connected to the two movable plates 4. When the sliding rod 10 slides in the guiding hole 6, the sliding rod 10 drives the first connecting rod 11 to slide up and down, so that the second connecting rods 12 at two ends of the first connecting rod 11 simultaneously slide up and down, thereby driving the two movable plates 4 to simultaneously slide up and down. The lower extreme of lug 5 is provided with two vertical spacing grooves 14, and two spacing grooves 14 set up at the both sides interval of direction knot hole, and the both sides of first connecting rod 11 are provided with a stopper 15 respectively, two stopper 15 corresponds the setting with spacing groove 14, and when slide bar 10 slided in guiding hole 6, stopper 15 on the first connecting rod 11 slided in spacing groove 14, because stopper 15 can not roll-off spacing groove 14, consequently the scope of sliding of first connecting rod 11 is limited to avoid movable plate 4 excessively to slide and lead to movable plate 4 and Jiong shaped plate 1 to break away from.

As shown in fig. 1, two first air cylinders 7 are fixedly arranged on the Jiong-shaped plate 1 on the side away from the bump 5, the two first air cylinders 7 respectively displace the two sides of the Jiong-shaped plate 1, the two first air cylinders 7 are located at the same horizontal height, the telescopic ends of the two first air cylinders 7 are respectively connected with one first manipulator 16, the two first manipulators 16 are rectangular, the two first manipulators 16 are oppositely arranged, and when the two first air cylinders 7 work, the two first manipulators 16 can clamp or loosen an article. All fixedly provided with a second cylinder 8 on two fly leaves 4, two second cylinders 8 are located same level, and the flexible end of two second cylinders 8 is connected with a second manipulator 17 respectively, and two second manipulators 17 are the rectangle, and two second manipulators 17 set up relatively, and when two second cylinders 8 during operation, second manipulator 17 can press from both sides tightly or loosen article. When two fly leaves 4 slide from top to bottom simultaneously, two second cylinders 8 slide from top to bottom simultaneously under the drive of fly leaf 4 for two second cylinders 8 can be adjusted with the distance of two first cylinders 7, thereby make the distance between two second manipulator 17 and two first manipulator 16 adjustable, and then make two first manipulator 16 and two second manipulator 17 can stabilize the different article of centre gripping length. All the cover is equipped with a rubber sleeve 18 on two first machinery and two second manipulators 17, and rubber sleeve 18 has elasticity for the in-process that the manipulator pressed from both sides tight article can cushion, reduces the condition that the bad article of clamp appears. The first air cylinder 7 and the second air cylinder 8 are guide rod air cylinders, the guide rod air cylinders are compact in structure and high in guiding precision, large transverse loads can be borne, and when the guide air cylinders are used for driving the mechanical arm to clamp articles, the clamping stability is good.

As shown in fig. 1, an air pump 19 is disposed beside the Jiong-shaped plate 1, an air outlet pipe of the air pump 19 is connected to a three-way valve 20, three air valves are opened on the three-way valve 20, and an air outlet pipe of the air pump 19 is connected to one of the air valves of the three-way valve 20. Other two valves of three-way valve 20 are connected with first trachea 21 and second trachea 22 respectively, and the one end that three-way valve 20 was kept away from to first trachea 21 is connected on the first cylinder 7 of Jiong type board 1 one side, and the one end that three-way valve 20 was kept away from to second cylinder 8 is connected on the first cylinder 7 of Jiong type board 1 opposite side, and two first cylinders 7 are connected with a spiral trachea 23 respectively with two second cylinders 8. The three-way valve 20 allows the first air tube 21 and the second air tube 22 to be connected to the same air pump 19, so that the first air cylinder 7 connected to the first air tube 21 and the second air cylinder 8 connected to the second air tube 22 can be simultaneously operated, thereby allowing the two first manipulators 16 to be simultaneously moved. After the two first air cylinders 7 work, the air enters the two second air cylinders 8 through the two spiral air pipes 23 respectively, so that the two second air cylinders 8 start to work, and the two second mechanical arms 17 move. Because the spiral air pipe 23 can stretch out and draw back, when the movable plate 4 drives the two second air cylinders 8 to slide up and down, the air intake of the two second air cylinders 8 is not affected, and the stability of the clamping work of the manipulator is kept.

The implementation principle of the embodiment is as follows: when the length of the article to be clamped by the manipulator clamping device changes, in order to stably clamp the article, the distance between the first manipulator 16 and the second manipulator 17 needs to be adjusted, and at this time, under the operation of the third cylinder 9, the movable plate 4 can slide up and down on the lower end of the Jiong-shaped plate 1, so that the second cylinder 8 can slide up and down, and further the distance between the second cylinder 8 and the first cylinder 7 can be adjusted, so as to stably clamp the article with different lengths.

Embodiment two is another manipulator clamping device with adjustable manipulator distance disclosed by the present invention, as shown in fig. 5, the difference from the first embodiment is that the lower end of the sliding rod 10 is a rectangular block, the rectangular block is provided with a first installation shaft 24 with an axis direction perpendicular to the Jiong-shaped plate 1, two first connecting rods 11 are installed on the first installation shaft 24, a second installation shaft 25 is vertically installed on the Jiong-shaped plate 1 on the side away from the first cylinder 7, the second installation shaft 25 is located under the sliding rod 10, two second cylinders 8 are installed on the second installation shaft 25, third installation shafts 26 are installed on the two movable plates 4 on the sides away from the second cylinders 8, a third connecting rod 13 is installed on each of the two third installation shafts 26, one end of the first connecting rod 11 is installed on the sliding rod 10, the other end is connected with one end of the second connecting rod 12, the other end of the second connecting rod 12 is connected with one end of the third connecting rod 13, the other end of the third link 13 is mounted on the third mounting shaft 26. When the sliding rod 10 slides up and down, the two movable plates 4 slide up and down simultaneously through the transmission of the two first connecting rods 11, the two second connecting rods 12 and the two third connecting rods 13, so as to drive the second cylinders 8 on the two movable plates 4 to slide up and down, and further enable the distance between the two second cylinders 8 and the two first cylinders 7 to be adjustable. The distance between the second mounting shaft 25 and the first link 11 is smaller than the distance between the second mounting shaft 25 and the third link 13, so that the moving distance of the movable plate 4 is greater than that of the slide rod 10, thereby allowing a greater adjustment range of the movable plate 4.

The implementation principle of the embodiment is as follows: when the distance between the two second manipulators 17 and the two first manipulators 16 needs to be adjusted, the sliding rod 10 connected with the third cylinder 9 is made to slide up and down, so that the movable plate 4 is driven by the two first connecting rods 11, the two second connecting rods 12 and the two third connecting rods 13 to slide up and down, and further the two second cylinders 8 are driven to slide up and down, the distance between the two second manipulators 17 and the two first manipulators 16 is adjustable, so as to stably clamp articles with different lengths, and the distance between the second mounting shaft 25 and the first connecting rod 11 is smaller than the distance between the second mounting shaft 25 and the third connecting rod 13, so that the moving distance of the movable plate 4 is larger than that of the sliding rod 10, and the adjusting range of the movable plate 4 is larger.

The embodiment of this specific implementation mode is the preferred embodiment of the present invention, not limit according to this the utility model discloses a protection scope, so: all equivalent changes made according to the structure, shape and principle of the utility model are covered within the protection scope of the utility model.

Claims (8)

1. The utility model provides a manipulator clamping device with adjustable manipulator distance which characterized in that: the pneumatic manipulator comprises an Jiong-shaped plate (1), a pair of first manipulators (16) and a pair of second manipulators (17), wherein movable plates (4) capable of sliding up and down are arranged at the lower ends of two sides of the Jiong-shaped plate (1), first air cylinders (7) are respectively arranged at two sides of the Jiong-shaped plate (1), a second air cylinder (8) is respectively arranged on the movable plates (4), the two first manipulators (16) are respectively connected onto the two first air cylinders (7), the two first manipulators (16) are oppositely arranged, the two second manipulators (17) are respectively connected onto the two second air cylinders (8), the two second manipulators (17) are oppositely arranged, the two first air cylinders (7) are respectively connected with a first air pipe (21) and a second air pipe (22), the first air pipe (21) and the second air pipe (22) are connected onto the same air pump (19), control two pairs be connected with first spiral trachea (23) and second spiral trachea (23) respectively between first cylinder (7) and second cylinder (8), be provided with the glide structure that two fly leaf (4) of control slided in step on Jiong shaped plate (1), glide structure is connected with the driving piece.

2. The robot gripping device with an adjustable robot distance according to claim 1, characterized in that: jiong one side that shaped plate (1) upper end deviates from first cylinder (7) is provided with lug (5), guiding hole (6) that run through lug (5) are seted up from the top in lug (5), it has slide bar (10) to slide in guiding hole (6), the driving piece sets up the top at lug (5), driving piece control slide bar (10) slides from top to bottom, the bottom of slide bar (10) is connected with horizontal first connecting rod (11), the both ends of first connecting rod (11) all are connected with a fore-and-aft second connecting rod (12), two the bottom of second connecting rod (12) is connected with two fly leaf (4) respectively.

3. The robot gripping device with an adjustable robot distance according to claim 1, characterized in that: the one side that deviates from first cylinder (7) in Jiong shaped plate (1) upper end is provided with lug (5), guiding hole (6) that runs through lug (5) are seted up from the top in lug (5), slide bar (10) have been slided in guiding hole (6), the driving piece sets up the top at lug (5), driving piece control slide bar (10) slides from top to bottom, the lower extreme of slide bar (10) is provided with first installation axle (24), first installation axle (24) rotates and is connected with two first connecting rods (11), the one side that deviates from first manipulator (16) on Jiong shaped plate (1) is provided with second installation axle (25), second installation axle (25) rotates and is connected with two second connecting rods (12), two the one side that deviates from second manipulator (17) on fly leaf (4) is provided with a third installation axle (26) respectively, two third installation axle (26) all rotates and is connected with a third connecting rod (13), two first connecting rod (11) one end all is connected on slide bar (10), and the other end is connected with two second connecting rods (12) respectively, two second connecting rod (12) one end links to each other with first connecting rod (11) respectively, and the other end links to each other with two third connecting rods (13) respectively, the distance of second installation axle (25) and first connecting rod (11) is less than the distance of second installation axle (25) and third connecting rod (13).

4. The robot gripping device with an adjustable robot distance according to claim 1, characterized in that: the driving piece is a third cylinder (9).

5. The robot gripping device with an adjustable robot distance according to claim 1, characterized in that: the first cylinder (7) and the second cylinder (8) are guide rod cylinders.

6. The robot gripping device with an adjustable robot distance according to claim 1, characterized in that: first manipulator (16) and second manipulator (17) are the rectangle, all overlap behind first manipulator (16) and the second machinery and be equipped with rubber sleeve (18).

7. The robot gripping device with an adjustable robot distance according to claim 1, characterized in that: the first air pipe (21) and the second air pipe (22) are connected to the same air pump (19) through a three-way valve (20).

8. The robot gripping device with adjustable robot distance according to claim 2 or 3, wherein: and a limiting structure for limiting the sliding rod (10) to completely extend out of the guide hole (6) is arranged between the sliding rod (10) and the guide hole (6).

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