CN211867849U - Clamping jaw mechanism for tool changing robot - Google Patents
Clamping jaw mechanism for tool changing robot Download PDFInfo
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- CN211867849U CN211867849U CN201921858306.5U CN201921858306U CN211867849U CN 211867849 U CN211867849 U CN 211867849U CN 201921858306 U CN201921858306 U CN 201921858306U CN 211867849 U CN211867849 U CN 211867849U
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- tool changing
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Abstract
The utility model discloses a clamping jaw mechanism for tool changing robot has solved the nonadjustable problem in clamping jaw mechanism position among the prior art. The utility model discloses a stationary dog, removal claw and slide actuating mechanism, remove the claw and articulate and realize opening and shutting through the extensible member with the stationary dog, the top and the slide actuating mechanism of stationary dog are connected. The utility model discloses promote the translation that the stationary dog slides with removing the claw under the actuating mechanism's that slides effect, realize the change of its position to the dismouting that adapts to different position cutters is changed, changes the project organization that the transmission clamping jaw can not the translation, improves its flexibility and suitability.
Description
Technical Field
The utility model relates to a tool changing robot technical field especially indicates a clamping jaw mechanism for tool changing robot.
Background
The cutter consumption is big, the change is frequent in full-face entry driving machine work progress, often is the manual tool changing among the prior art, and the manual tool changing operation degree of difficulty is big, and is efficient, easily takes place the incident moreover. For guaranteeing the personal safety of constructors, complicated manual tool changing is avoided, tool changing efficiency is improved, material resources and financial resources are saved, and a tool changing robot is used for replacing manpower to change the tool of the shield machine, so that the current research topic is formed. However, the tool changing robot is less researched at the present stage, and particularly, a clamping jaw mechanism for the tool changing robot is provided. The existing clamping jaw mechanism is fixedly connected with a large arm structure (or other execution structures), the position of the existing clamping jaw mechanism is not adjustable, the existing clamping jaw mechanism is not flexible in movement, and the existing clamping jaw mechanism is inconvenient for clamping hobs at different positions.
SUMMERY OF THE UTILITY MODEL
Not enough to among the above-mentioned background art, the utility model provides a clamping jaw mechanism for tool changing robot has solved the nonadjustable problem in clamping jaw mechanism position among the prior art.
The technical scheme of the utility model is realized like this: the utility model provides a clamping jaw mechanism for tool changing robot, includes the stationary dog, removes the claw and slides actuating mechanism, removes the claw and articulates and realizes opening and shutting through the extensible member with the stationary dog, and the top of stationary dog is connected with the actuating mechanism that slides.
The sliding driving mechanism comprises a guide rail, a sliding block is arranged on the guide rail in a sliding mode and fixedly connected with the fixed claw, a moving oil cylinder is hinged to the sliding block, and the moving oil cylinder pushes the sliding block to move along the guide rail.
The outer walls of the two sides of the guide rail are respectively provided with a trapezoidal groove, the upper part of the sliding block is matched with the trapezoidal grooves, and the lower part of the sliding block is hinged with the telescopic end of the movable oil cylinder.
The fixed claw and the movable claw are both U-shaped clamping jaws with radian, and the movable claw is connected with the fixed claw through a pin shaft.
The clamping end of the fixed claw and the clamping end of the movable claw are in a wrapping state, and clamping grooves are formed in the inner wall of the clamping end of the fixed claw and the inner wall of the clamping end of the movable claw.
The outer walls of the fixed claw and the movable claw are respectively provided with a groove, the telescopic piece is a clamping oil cylinder, one end of the clamping oil cylinder is hinged in the groove on the fixed claw, and the other end of the clamping oil cylinder is hinged in the groove on the movable claw.
The utility model discloses promote the translation that the stationary dog slides with removing the claw under the actuating mechanism's that slides effect, realize the change of its position to the dismouting that adapts to different position cutters is changed, changes the project organization that the transmission clamping jaw can not the translation, improves its flexibility and suitability. Furthermore the utility model discloses according to cutter clamping position, set up corresponding chucking groove on the clamping jaw, make the clamping jaw firmly block the cutter, prevent to press from both sides the in-process and appear sliding, improve operating safety factor and tool changing efficiency.
Drawings
In order to illustrate the embodiments of the present invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and that other drawings can be obtained by those skilled in the art without inventive work.
Fig. 1 is an overall first view of the present invention.
Fig. 2 is an overall second view of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without any creative effort belong to the protection scope of the present invention.
As shown in fig. 1 and 2, in embodiment 1, a gripper mechanism for a tool changing robot includes a fixed gripper 101, a movable gripper 102, and a sliding driving mechanism, where the movable gripper 102 is hinged to the fixed gripper 101 and is opened and closed by a telescopic member 108, that is, under the telescopic action of the telescopic member, the movable gripper moves relative to the fixed gripper to grasp a tool. The top of the fixed claw 101 is connected with a sliding driving mechanism, and the fixed claw and the movable claw can perform sliding translation under the action of the sliding driving mechanism, so that the position of the fixed claw and the movable claw can be changed, and the tool can be suitable for dismounting and replacing tools at different positions.
Preferably, the sliding driving mechanism comprises a guide rail 105, and when the sliding driving mechanism is used, the guide rail is fixed on a corresponding actuating mechanism of the tool-changing robot to provide support for the guide rail. The guide rail 105 is provided with a sliding block 103 in a sliding manner, the sliding block 103 is fixedly connected with the fixed jaw 101 or integrally formed, the sliding block 103 is hinged with a moving oil cylinder 106, the moving oil cylinder 106 pushes the sliding block 103 to move along the guide rail 105, and when the position of the clamping jaw mechanism is adjusted, the moving oil cylinder is controlled to stretch and contract, the sliding block is pushed to drive the fixed clamping jaw to move along the guide rail, so that the horizontal axial position of the clamping jaw mechanism is adjusted. The outer walls of two sides of the guide rail 105 are respectively provided with a trapezoidal groove 107, the upper part of the sliding block 103 is matched with the trapezoidal groove 107, and the lower part of the sliding block 103 is hinged with the telescopic end of the movable oil cylinder 106. The slider 103 is the concave type seat, and the concave type seat lock is on the dovetail groove of guide rail, keeps the stability of concave type seat, realizes simultaneously that the removal hydro-cylinder does not interfere the connection and steadily stretches out and draws back.
Embodiment 2, a clamping jaw mechanism for tool changing robot, stationary dog 101 and removal claw 102 are the U-shaped clamping jaw that has the radian, make the clamping jaw have two clamping fingers of synchronous motion, the both sides of centre gripping at the cutter respectively, realize steady firm centre gripping. The movable jaw 102 is connected with the fixed jaw 102 through a pin 104, and the movable jaw moves around the pin relative to the fixed jaw under the action of the telescopic piece, so that the clamping jaws of the movable jaw are opened and closed.
Preferably, the clamping end of the fixed jaw 101 and the clamping end of the movable jaw 102 are in a clasping state, and the inner walls of the clamping end of the fixed jaw 101 and the clamping end of the movable jaw 102 are both provided with clamping grooves 109 which are matched with the cutter shaft of the cutter, so that the clamping jaws can firmly clamp the cutter shaft, and the sliding in the clamping process is prevented. The outer walls of the fixed claw 101 and the movable claw 102 are both provided with grooves 110, the telescopic piece 108 is a clamping oil cylinder, one end of the clamping oil cylinder is hinged in the groove 110 on the fixed claw 101, the other end of the clamping oil cylinder is hinged in the groove 110 on the movable claw 102, the surface of the clamping oil cylinder is not larger than the outer surfaces of the fixed claw 101 and the movable claw 102, the clamping oil cylinder is prevented from interfering with other fixed parts in the clamping process, and the flexibility of the clamping claw is improved.
The other structure is the same as embodiment 1.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and 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 (5)
1. The utility model provides a clamping jaw mechanism for tool changing robot which characterized in that: the device comprises a fixed claw, a movable claw and a sliding driving mechanism, wherein the movable claw is hinged with the fixed claw and is opened and closed through a telescopic piece (108), and the top of the fixed claw is connected with the sliding driving mechanism; the fixed claw and the movable claw are both U-shaped clamping claws with radian, and the movable claw is connected with the fixed claw through a pin shaft (104).
2. The gripper mechanism for a tool changing robot according to claim 1, characterized in that: the sliding driving mechanism comprises a guide rail (105), a sliding block (103) is arranged on the guide rail (105) in a sliding mode, the sliding block (103) is fixedly connected with the fixed claw, a moving oil cylinder (106) is hinged to the sliding block (103), and the moving oil cylinder (106) pushes the sliding block (103) to move along the guide rail (105).
3. The gripper mechanism for a tool changing robot according to claim 2, characterized in that: the outer walls of two sides of the guide rail (105) are respectively provided with a trapezoidal groove (107), the upper part of the sliding block (103) is matched with the trapezoidal groove (107), and the lower part of the sliding block (103) is hinged with the telescopic end of the movable oil cylinder (106).
4. The gripper mechanism for a tool changing robot according to claim 1, characterized in that: the clamping end of the fixed claw and the clamping end of the movable claw are in a wrapping state, and clamping grooves (109) are formed in the inner wall of the clamping end of the fixed claw and the inner wall of the clamping end of the movable claw.
5. The gripper mechanism for a tool changing robot according to claim 4, characterized in that: the outer walls of the fixed jaw and the movable jaw are respectively provided with a groove (110), the telescopic piece (108) is a clamping oil cylinder, one end of the clamping oil cylinder is hinged in the groove (110) on the fixed jaw, and the other end of the clamping oil cylinder is hinged in the groove (110) on the movable jaw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921858306.5U CN211867849U (en) | 2019-10-31 | 2019-10-31 | Clamping jaw mechanism for tool changing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921858306.5U CN211867849U (en) | 2019-10-31 | 2019-10-31 | Clamping jaw mechanism for tool changing robot |
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| Publication Number | Publication Date |
|---|---|
| CN211867849U true CN211867849U (en) | 2020-11-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921858306.5U Active CN211867849U (en) | 2019-10-31 | 2019-10-31 | Clamping jaw mechanism for tool changing robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112421496A (en) * | 2020-11-10 | 2021-02-26 | 贵州电网有限责任公司 | Multifunctional temporary wire fixing device |
| CN113714577A (en) * | 2021-08-06 | 2021-11-30 | 深圳市瑞鹏飞模具有限公司 | Automobile hardware die linear cutting machining device and using method thereof |
| CN114308452A (en) * | 2021-09-26 | 2022-04-12 | 安徽鑫生新型建材有限公司 | Rust prevention device used in steel stacking process |
-
2019
- 2019-10-31 CN CN201921858306.5U patent/CN211867849U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112421496A (en) * | 2020-11-10 | 2021-02-26 | 贵州电网有限责任公司 | Multifunctional temporary wire fixing device |
| CN113714577A (en) * | 2021-08-06 | 2021-11-30 | 深圳市瑞鹏飞模具有限公司 | Automobile hardware die linear cutting machining device and using method thereof |
| CN114308452A (en) * | 2021-09-26 | 2022-04-12 | 安徽鑫生新型建材有限公司 | Rust prevention device used in steel stacking process |
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