CN212601892U - Expanding clamping jaw in manipulator - Google Patents
Expanding clamping jaw in manipulator Download PDFInfo
- Publication number
- CN212601892U CN212601892U CN202021447858.XU CN202021447858U CN212601892U CN 212601892 U CN212601892 U CN 212601892U CN 202021447858 U CN202021447858 U CN 202021447858U CN 212601892 U CN212601892 U CN 212601892U
- Authority
- CN
- China
- Prior art keywords
- piece
- cylinder
- movable pressing
- guide
- slide
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The utility model relates to a mechanical equipment technical field, concretely relates to expanding clamping jaw in manipulator, it includes: the device comprises a driving device, a guide base, a movable pressing piece, a first elastic piece and at least two connecting pieces. The movable pressing piece comprises a connecting part and a pressing part, the cross section area of the connecting part is smaller than that of the pressing part, and a smooth pressing inclined surface or a pressing cambered surface is formed on the side surface of the pressing part; the guide base comprises a guide slideway, the lower end of the connecting part is arranged in the guide slideway and can slide along the guide slideway, the first elastic piece is sleeved on the movable pressing piece, and the connecting piece is arranged on the first elastic piece. The driving device is used for driving the movable pressing piece to slide along the guide slide way, so that the extruding inclined plane extrudes the connecting piece, the connecting piece is far away from the movable pressing piece to fix a workpiece, and the first elastic piece drives the connecting piece to contract to loosen the workpiece by upward sliding.
Description
Technical Field
The utility model relates to a mechanical equipment technical field, concretely relates to expanding clamping jaw in manipulator.
Background
In the automatic application of manipulator, often need change the work piece of different specifications, current manipulator clamping jaw need adopt a plurality of screws to be connected it with the work piece mostly, need artifical manual elasticity screw when changing the work piece, consequently change the speed slow, influence production efficiency.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem that the speed of replacing the workpiece is slow in the prior art, the embodiment provides a clamping jaw of a manipulator, which aims to be conveniently disassembled and assembled with the workpiece, and improve the speed of replacing the workpiece.
An expanding clamping jaw in manipulator includes: the device comprises a driving device, a guide base, a movable pressing piece, a first elastic piece and at least two connecting pieces;
the movable pressing piece comprises a connecting part and a pressing part, the cross section area of the connecting part is smaller than that of the pressing part, and a smooth pressing inclined surface or a pressing arc surface is formed on the side surface of the pressing part;
the guide base comprises a guide slideway, the lower end of the connecting part is arranged in the guide slideway and can slide along the guide slideway, the first elastic piece is sleeved on the movable pressing piece and is positioned at the upper end of the guide base, and the connecting piece is arranged on the first elastic piece;
the driving device is connected with the movable pressing piece and used for driving the movable pressing piece to slide downwards along the guide slide way, so that the extrusion inclined plane or the extrusion cambered surface extrudes the connecting piece, and the connecting piece is far away from the movable pressing piece to fix a workpiece; the driving device is also used for driving the movable pressing piece to slide upwards along the guide slideway, so that the first elastic piece drives the connecting piece to contract to release the workpiece.
In one embodiment, the upper end of the guide base is provided with at least two limiting grooves, the connecting piece is arranged in the limiting grooves, and the left end surface and the right end surface of each limiting groove are used for limiting the connecting piece in a left-right mode and preventing the connecting piece from shaking in the left-right mode.
In one embodiment, the bottom surface of the limiting groove is an inclined downward sliding surface, the connecting member slides obliquely downward along the sliding surface when expanding, and the first elastic member drives the connecting member to slide obliquely upward along the sliding surface when contracting.
In one embodiment, the connecting part of the movable pressing part is a cylinder, the pressing part is a frustum, and the cross-sectional area of the cylinder is equal to that of the lower end of the frustum;
the guide base comprises an outer cylinder, the inner wall of the outer cylinder is enclosed into the guide slideway, and the cylinder is arranged in the guide slideway and can slide along the guide slideway.
In one embodiment, the cylinder is a hollow cylinder, and the hollow part inside the cylinder forms a limiting slide way;
the guide base further comprises an inner cylinder, the bottom of the inner cylinder is connected with the bottom of the outer cylinder through a circular connecting plate, the guide slide way is defined by the inner cylinder and the outer cylinder, and the inner cylinder is arranged in the limiting slide way.
In one embodiment, the frustum is a hollow frustum, and a channel is formed inside the frustum and is communicated with the limiting slide way inside the cylinder;
the driving device comprises an air cylinder, and the upper end of a telescopic rod of the air cylinder sequentially penetrates through the inner cavity of the inner cylinder and a channel inside the frustum to be fixedly connected with the upper end of the extrusion part so as to drive the movable pressing part to slide in the vertical direction.
In one embodiment, the frustum is a hollow frustum, and a channel is formed inside the frustum and is communicated with the limiting slide way inside the cylinder;
the driving device comprises an air cylinder and a second elastic piece, and the upper end of a telescopic rod of the air cylinder sequentially penetrates through the inner cavity of the inner cylinder and a channel in the frustum to be fixedly connected with the upper end of the extrusion part so as to drive the movable pressing piece to slide in the vertical direction;
the second elastic piece is sleeved on the inner cylinder, the upper end of the second elastic piece is abutted against the lower end face of the connecting part, the lower end of the second elastic piece is abutted against the upper surface of the connecting plate, the second elastic piece is compressed to store energy when the cylinder drives the movable pressing piece to slide downwards, and the movable pressing piece is jacked to slide upwards to reset when the second elastic piece recovers deformation.
In one embodiment, the connecting piece is a cylindrical round connecting piece, the first elastic piece penetrates through a through hole in the round connecting piece so that the round connecting piece is sleeved on the first elastic piece, and the arc-shaped side face of the round connecting piece is in contact with the sliding face;
or the connecting piece is a square connecting piece in a prismoid shape, the cross section of the connecting piece is a regular hexagon, a through hole is formed in the connecting piece, the first elastic piece penetrates through the through hole in the square connecting piece so that the square connecting piece is sleeved on the first elastic piece, and a prismatic surface of the square connecting piece is in contact with the sliding surface.
In one embodiment, the first elastic member is detachably connected end to end by a detachable type locking member.
In one embodiment, the upper end of the telescopic rod is further provided with a stop block, the stop block is fixedly connected with the upper end of the extrusion part, and the cross sectional area of the stop block is larger than that of the internal channel of the frustum;
the cross section area of the guide slide way is equal to that of the cylinder, and the cross section area of the limit slide way is equal to that of the inner cylinder;
the first elastic piece and the second elastic piece are both springs;
the connecting piece sets up four, and four connecting pieces evenly set up along the circumferencial direction.
The manipulator internal expanding gripper according to the above embodiment includes: the device comprises a driving device, a guide base, a movable pressing piece, a first elastic piece and at least two connecting pieces. The movable pressing piece comprises a connecting part and a pressing part, the cross section area of the connecting part is smaller than that of the pressing part, and a smooth pressing inclined surface or a pressing cambered surface is formed on the side surface of the pressing part; the guide base comprises a guide slideway, the lower end of the connecting part is arranged in the guide slideway and can slide along the guide slideway, the first elastic piece is sleeved on the movable pressing piece and is positioned at the upper end of the guide base, and the connecting piece is arranged on the first elastic piece. The driving device is connected with the movable pressing piece and used for driving the movable pressing piece to slide downwards along the guide slide way, so that the extrusion inclined plane or the extrusion cambered surface extrudes the connecting piece, the connecting piece is far away from the movable pressing piece to fix a workpiece, and the expansion of the inward-expanding type clamping jaw is realized; the driving device is also used for driving the movable pressing piece to slide upwards along the guide slideway, so that the first elastic piece drives the connecting piece to contract to loosen the workpiece, and the connecting piece is driven to be close to the movable pressing piece, and the resetting of the connecting piece is realized. By adopting the manipulator clamping jaw of the embodiment, the workpiece can be conveniently mounted and dismounted, and the workpiece replacement speed is increased.
Drawings
FIG. 1 is a schematic view of an overall structure of an internal expanding clamping jaw according to an embodiment of the application;
FIG. 2 is a cross-sectional view of an internally expanding jaw of an embodiment of the present application;
FIG. 3 is a front view of an internally expanding jaw of an embodiment of the present application;
FIG. 4 is a schematic structural view of an internal expansion type clamping jaw square connecting piece according to an embodiment of the application;
FIG. 5 is a schematic structural view of an internal expanding clamp according to an embodiment of the present application;
FIG. 6 is a schematic view of an embodiment of the present application showing the operation of an internal expanding clamp from one perspective;
fig. 7 is a schematic view of an operating state of the internal expanding clamp of the embodiment of the application in another view angle.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).
The embodiment of the utility model provides an in, provide an expanding clamping jaw in manipulator, it includes: the device comprises a driving device, a guide base, a movable pressing piece, a first elastic piece and at least two connecting pieces. The movable pressing piece comprises a connecting part and a pressing part, the cross section area of the connecting part is smaller than that of the pressing part, and a smooth pressing inclined surface or a pressing cambered surface is formed on the side surface of the pressing part; the guide base comprises a guide slideway, the lower end of the connecting part is arranged in the guide slideway and can slide along the guide slideway, the first elastic piece is sleeved on the movable pressing piece and is positioned at the upper end of the guide base, and the connecting piece is arranged on the first elastic piece. The driving device is connected with the movable pressing piece and used for driving the movable pressing piece to slide downwards along the guide slide way, so that the extrusion inclined plane or the extrusion cambered surface extrudes the connecting piece, the connecting piece is far away from the movable pressing piece to fix a workpiece, and the expansion of the inward-expanding type clamping jaw is realized; the driving device is also used for driving the movable pressing piece to slide upwards along the guide slideway, so that the first elastic piece drives the connecting piece to contract to loosen the workpiece, and the connecting piece is driven to be close to the movable pressing piece, and the resetting of the connecting piece is realized. Adopt the manipulator clamping jaw of this embodiment, this type of clamping jaw is to in certain size range, the different product parts of internal expanding shape to the simplest and most simple and easy convenient mode quick replacement clamping jaw contact point reaches the quick replacement of different shape parts, and the clamping jaw of single specification can adapt to not unidimensional work piece, need not change the clamping jaw, has improved production efficiency.
Example one
Referring to fig. 1 and 2, the present embodiment provides an expanding gripper in a manipulator, which includes: the device comprises a driving device 5, a guide base 2, a movable pressing piece 1, a first elastic piece 3 and at least two connecting pieces 4, wherein the movable pressing piece 1 comprises a connecting part 12 and a pressing part 11, the cross section area of the connecting part 12 is smaller than that of the pressing part 11, and the side surface of the pressing part 11 forms a smooth pressing inclined surface 111 or a pressing arc surface. The guide base 2 comprises a guide slideway 24, the lower end of the connecting part 12 is arranged in the guide slideway 24 and can slide along the guide slideway, the first elastic part 3 is sleeved on the movable pressing part 1 and is positioned at the upper end of the guide base 2, and the connecting part 4 is arranged on the first elastic part 3. The driving device 5 is connected with the movable pressing piece 1 and used for driving the movable pressing piece 1 to slide downwards along the guide slide way 24, so that the extrusion inclined plane 111 or the extrusion cambered surface extrudes the connecting piece 4, the connecting piece 4 is far away from the movable pressing piece 1 to fix a workpiece, and the expansion of the internal expansion type clamping jaw is realized; the driving device 5 is further used for driving the movable pressing piece 1 to slide upwards along the guide slideway, so that the first elastic piece 3 drives the connecting piece 4 to contract to loosen the workpiece, and simultaneously drives the connecting piece 4 to be close to the movable pressing piece 1, and the resetting of the connecting piece 4 is realized. By adopting the manipulator clamping jaw of the embodiment, the workpiece and the clamping jaw can be mounted and dismounted by controlling the driving device 1 to drive the movable pressing piece 1 to slide, so that the workpiece replacement speed is increased.
When a workpiece is not fixed on the clamping jaw of the embodiment, the lower end of the connecting part 12 is less in the guide slideway 24, the connecting part 12 is located outside the guide slideway 24, and at the moment, the first elastic part 3 drives the connecting part 4 to contract on the connecting part 12 located outside the guide slideway 24. When the driving device 5 drives the movable pressing piece 1 to slide downwards along the guide slideway 24, the extrusion inclined surface 111 or the extrusion cambered surface extrudes the connecting piece 4, so that the connecting piece 4 is far away from the movable pressing piece 1, namely the connecting piece 4 is expanded to fix a workpiece, as shown in fig. 2, at the moment, the connecting piece 4 is positioned at the joint of the connecting part 12 and the extrusion part 11, and the first elastic piece 3 is also positioned at the joint of the connecting part 12 and the extrusion part 11, namely, the first elastic piece 3 is positioned between the upper end of the guide base 2 and the extrusion part 11.
In this embodiment, the guide base 2 upper end is equipped with two at least spacing grooves 22, for example, in this embodiment, set up four spacing grooves 22 along the circumferencial direction equidistant, four connecting pieces 4 set up respectively in spacing groove 22, two terminal surfaces are used for controlling spacing to connecting piece 4 about spacing groove 22, prevent to rock about it, no matter be like this at activity casting die 1 up-and-down slip in-process, still after the installation work piece, connecting piece 4 all is in relatively stable state, has guaranteed the stability of workpiece setting.
In this embodiment, the bottom surface of the limiting groove 22 is a sliding surface 21 inclined downward from inside to outside, when the connecting element 4 is away from the movable pressing element 1 and expands, the connecting element 4 slides obliquely downward along the sliding surface 21, and when the first elastic element 3 drives the connecting element 4 to contract, the connecting element 4 slides obliquely upward along the sliding surface 21 and then contracts on the connecting portion 12 located outside the guide slideway 24. The sliding surface 21 provides a sliding transition surface for the connecting element 4 during expansion and contraction, which makes the expansion and contraction process more natural and reduces the friction between the connecting element 4 and the limiting groove 22.
The connecting part 12 of the movable pressing part 1 of the embodiment is a cylinder, the extrusion part 11 is a frustum, the cross-sectional area of the cylinder is equal to that of the lower end of the frustum, and the side surface of the frustum is an extrusion inclined surface 111. The guide base 2 comprises an outer cylinder 21, the inner wall of the outer cylinder 21 encloses a guide slideway 24, and the cylinder is arranged in the guide slideway 24 and can slide along the guide slideway 24. The cylinder is more favorable to the installation of first elastic component 3 for first elastic component 3 forms an annular suit on the cylinder, and first elastic component 3 each department atress is even like this, conveniently drives connecting piece 4 expansion and shrink more.
In another embodiment, the connecting portion 12 may be a rectangular parallelepiped, so that the corresponding pressing portion 11 is a prism, and the guiding slideway 24 is a rectangular slideway, which can also achieve the above technical objects.
In this embodiment, the cylinder is a hollow cylinder, the hollow portion inside the cylinder forms a limiting slide 121, the guiding base 2 further includes an inner cylinder 25, the bottom of the inner cylinder 25 is connected with the bottom of the outer cylinder 21 through a circular connecting plate 23, a circular guiding slide 24 is enclosed between the inner cylinder 25 and the outer cylinder 21, and the inner cylinder 25 is disposed in the limiting slide 121 inside the cylinder. Therefore, the movable pressing piece 1 can slide up and down stably through the limit sliding connection of the connecting part 12 and the guide slide way 24 and the limit sliding connection of the inner cylinder 25 and the limit slide way 121. The cross section area of the guide slide way 24 is equal to that of the cylinder, and the cross section area of the limiting slide way 121 is equal to that of the inner cylinder, so that the movable pressing piece 1 cannot swing along the radial direction when sliding up and down stably, the position accuracy during workpiece installation is guaranteed, the workpiece is installed in place in one step, and the installation speed is increased.
Further, the frustum of this embodiment is a hollow frustum, and a channel is formed inside the frustum, and the channel is communicated with the limiting slide 121 inside the cylinder. The driving device 5 comprises an air cylinder and a second elastic piece 52, wherein the upper end of a telescopic rod 51 of the air cylinder sequentially penetrates through an inner cavity of the inner cylinder, a limiting slide way 121 and a channel inside the frustum to be fixedly connected with the upper end of the extrusion part 11 so as to drive the movable pressing piece 1 to slide in the vertical direction. The second elastic element 52 is sleeved on the inner cylinder 25, the upper end of the second elastic element is abutted against the lower end face of the connecting part 12, the lower end of the second elastic element is abutted against the upper surface of the connecting plate 23, the cylinder drives the movable pressing element 1 to slide downwards, the second elastic element 52 is compressed to store energy, and the movable pressing element 1 is jacked to slide upwards to reset when the second elastic element 52 recovers deformation.
In another embodiment, the driving device 1 includes a cylinder, and the upper end of the telescopic rod 51 of the cylinder sequentially passes through the internal cavity of the internal cylinder, the limiting slide way 121, and the channel inside the frustum to be fixedly connected with the upper end of the extrusion part 11, so as to drive the movable pressing part 1 to slide in the vertical direction.
In this embodiment, in order to make the connection between the upper end of the telescopic rod 51 and the upper end of the movable pressing member 1 more stable, a stopper 53 is further disposed at the upper end of the telescopic rod 51, the stopper 53 is fixedly connected with the upper end of the pressing portion 11, and the cross-sectional area of the stopper 53 is larger than that of the internal channel of the frustum.
In order to adapt to the installation of different workpieces, the connecting element 4 may be configured in different structures, for example, in an embodiment, as shown in fig. 3, the connecting element 4 is a cylindrical circular connecting element, the first elastic element 3 passes through a through hole in the circular connecting element so that the circular connecting element is sleeved on the first elastic element 3, and the circular arc-shaped side surface of the circular connecting element is in sliding contact with the sliding surface 21. Alternatively, in another embodiment, as shown in fig. 4, the connecting member 4 is a square connecting member in the shape of a frustum of a pyramid, for example, a hexagonal frustum, and has a cross section of a regular hexagon, and a through hole is provided inside the square connecting member, the first elastic member 3 passes through the through hole inside the square connecting member so that the square connecting member is sleeved on the first elastic member 3, and one edge surface of the square connecting member is in sliding contact with the sliding surface 21.
The clamping jaw in the embodiment further comprises a mounting seat 6, the mounting seat 6 is mounted on the end face of the cylinder, a mounting groove is formed in the mounting seat 6, the guide base 2 is mounted in the mounting groove of the mounting seat 6 and fixedly connected with the mounting seat 6, and a through hole is formed in the bottom of the mounting seat 6 and used for enabling the telescopic rod of the cylinder to penetrate through.
In another embodiment, the connecting elements 4 can be arranged in two, three or six, for example, when two connecting elements 4 are arranged, two connecting elements 4 are on the same diameter to ensure the symmetry of the stress when the workpiece is installed, in another embodiment, three connecting elements 4 can be arranged, the three connecting elements 4 are arranged at equal intervals along the circumference and are spaced by 120 degrees central angle, or in another embodiment, six connecting elements 4 can be arranged uniformly along the circumferential direction to ensure the stability of the workpiece installation.
Wherein, the first elastic component 3 of this embodiment is through the detachable connection of detachable retaining member 31 from beginning to end, for example adopts the screw knob to connect, when dismantling or connecting the first elastic component 3 from beginning to end, only need twist the screw knob and can realize, can change the connecting piece 4 of different shapes according to the needs of work piece after dismantling first elastic component 3. Correspondingly, a connecting hole corresponding to the shape of the connecting piece 4 is generally formed in the workpiece, the connecting piece 4 is expanded and embedded into the connecting hole to realize the installation of the workpiece, when the first elastic piece 3 drives the connecting piece 4 to contract, the connecting piece 4 is driven to be close to the movable pressing piece 1, the resetting of the connecting piece 4 is realized, and at the moment, the connecting piece 4 slides out of the connecting hole of the workpiece to loosen the workpiece.
Example two
In the present embodiment, an internal expanding type clamp for a robot is provided, and as shown in fig. 5, the clamp includes two internal expanding type clamping jaws provided in the first embodiment, the two clamping jaws are connected through a connecting seat 7, and the two clamping jaws are respectively installed at two ends of the connecting seat 7, so that the two clamping jaws can simultaneously connect two workpieces. When the manipulator works, the connecting seat 7 is fixed on the manipulator as shown in fig. 6 and 7.
It is right to have used specific individual example above the utility model discloses expound, only be used for helping to understand the utility model discloses, not be used for the restriction the utility model discloses. To the technical field of the utility model technical personnel, the foundation the utility model discloses an idea can also be made a plurality of simple deductions, warp or replacement.
Claims (10)
1. The utility model provides an expanding clamping jaw in manipulator which characterized in that includes: the device comprises a driving device, a guide base, a movable pressing piece, a first elastic piece and at least two connecting pieces;
the movable pressing piece comprises a connecting part and a pressing part, the cross section area of the connecting part is smaller than that of the pressing part, and a smooth pressing inclined surface or a pressing arc surface is formed on the side surface of the pressing part;
the guide base comprises a guide slideway, the lower end of the connecting part is arranged in the guide slideway and can slide along the guide slideway, the first elastic piece is sleeved on the movable pressing piece and is positioned at the upper end of the guide base, and the connecting piece is arranged on the first elastic piece;
the driving device is connected with the movable pressing piece and used for driving the movable pressing piece to slide downwards along the guide slide way, so that the extrusion inclined plane or the extrusion cambered surface extrudes the connecting piece, and the connecting piece is far away from the movable pressing piece to fix a workpiece; the driving device is also used for driving the movable pressing piece to slide upwards along the guide slideway, so that the first elastic piece drives the connecting piece to contract to release the workpiece.
2. The manipulator internal expanding clamping jaw as claimed in claim 1, wherein the upper end of the guide base is provided with at least two limiting grooves, the connecting piece is arranged in the limiting grooves, and the left end surface and the right end surface of the limiting grooves are used for limiting the connecting piece left and right to prevent the connecting piece from shaking left and right.
3. The manipulator internal expanding jaw of claim 2, wherein the bottom surface of said limiting groove is a sliding surface inclined downward, along which said connecting member slides obliquely downward when expanded, and along which said first resilient member slides obliquely upward when said connecting member is contracted.
4. The manipulator internal expanding jaw of claim 1, wherein said connecting portion of said movable pressing member is a cylinder, said pressing portion is a frustum of a cone, and the cross-sectional area of said cylinder is equal to the cross-sectional area of the lower end of said frustum of a cone;
the guide base comprises an outer cylinder, the inner wall of the outer cylinder is enclosed into the guide slideway, and the cylinder is arranged in the guide slideway and can slide along the guide slideway.
5. The manipulator internal expansion jaw of claim 4, wherein said cylinder is a hollow cylinder, the hollow portion of the interior of said cylinder forming a limit slide;
the guide base further comprises an inner cylinder, the bottom of the inner cylinder is connected with the bottom of the outer cylinder through a circular connecting plate, the guide slide way is defined by the inner cylinder and the outer cylinder, and the inner cylinder is arranged in the limiting slide way.
6. The manipulator internal expanding jaw of claim 5, wherein said frustum is a hollow frustum having a channel formed therein, said channel communicating with a limiting slide in said cylinder;
the driving device comprises an air cylinder, and the upper end of a telescopic rod of the air cylinder sequentially penetrates through the inner cavity of the inner cylinder and a channel inside the frustum to be fixedly connected with the upper end of the extrusion part so as to drive the movable pressing part to slide in the vertical direction.
7. The manipulator internal expanding jaw of claim 5, wherein said frustum is a hollow frustum having a channel formed therein, said channel communicating with a limiting slide in said cylinder;
the driving device comprises an air cylinder and a second elastic piece, and the upper end of a telescopic rod of the air cylinder sequentially penetrates through the inner cavity of the inner cylinder and a channel in the frustum to be fixedly connected with the upper end of the extrusion part so as to drive the movable pressing piece to slide in the vertical direction;
the second elastic piece is sleeved on the inner cylinder, the upper end of the second elastic piece is abutted against the lower end face of the connecting part, the lower end of the second elastic piece is abutted against the upper surface of the connecting plate, the second elastic piece is compressed to store energy when the cylinder drives the movable pressing piece to slide downwards, and the movable pressing piece is jacked to slide upwards to reset when the second elastic piece recovers deformation.
8. The manipulator internal expanding jaw of claim 3, wherein said connecting member is a cylindrical circular connecting member, said first elastic member passes through a through hole in said circular connecting member so that said circular connecting member is fitted over said first elastic member, and a circular arc-shaped side surface of said circular connecting member is in contact with said sliding surface;
or the connecting piece is a square connecting piece in a prismoid shape, the cross section of the connecting piece is a regular hexagon, a through hole is formed in the connecting piece, the first elastic piece penetrates through the through hole in the square connecting piece so that the square connecting piece is sleeved on the first elastic piece, and a prismatic surface of the square connecting piece is in contact with the sliding surface.
9. The manipulator internal expanding jaw of claim 1, wherein said first resilient member is removably attached end to end by a removable type lock.
10. The manipulator internal expanding jaw of claim 6, wherein the upper end of the telescopic rod is further provided with a stopper, the stopper is fixedly connected with the upper end of the extrusion part, and the cross-sectional area of the stopper is larger than that of the channel inside the frustum;
the cross section area of the guide slide way is equal to that of the cylinder, and the cross section area of the limit slide way is equal to that of the inner cylinder;
the first elastic piece and the second elastic piece are both springs;
the connecting piece sets up four, and four connecting pieces evenly set up along the circumferencial direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021447858.XU CN212601892U (en) | 2020-07-21 | 2020-07-21 | Expanding clamping jaw in manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021447858.XU CN212601892U (en) | 2020-07-21 | 2020-07-21 | Expanding clamping jaw in manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212601892U true CN212601892U (en) | 2021-02-26 |
Family
ID=74720628
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021447858.XU Active CN212601892U (en) | 2020-07-21 | 2020-07-21 | Expanding clamping jaw in manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212601892U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114572683A (en) * | 2022-05-07 | 2022-06-03 | 南通杰蕾机械有限公司 | Grabbing device for machine-building |
| CN115415791A (en) * | 2022-10-18 | 2022-12-02 | 成都中科注能科技股份有限公司 | Automatic assembly device for valve inner assembly |
-
2020
- 2020-07-21 CN CN202021447858.XU patent/CN212601892U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114572683A (en) * | 2022-05-07 | 2022-06-03 | 南通杰蕾机械有限公司 | Grabbing device for machine-building |
| CN115415791A (en) * | 2022-10-18 | 2022-12-02 | 成都中科注能科技股份有限公司 | Automatic assembly device for valve inner assembly |
| CN115415791B (en) * | 2022-10-18 | 2023-10-27 | 成都中科注能科技股份有限公司 | Automatic assembly device for inner assembly of valve |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN212601892U (en) | Expanding clamping jaw in manipulator | |
| KR101335593B1 (en) | O-ring inserting apparatus | |
| CN110682319A (en) | Automatic change and get a manipulator | |
| US20180078985A1 (en) | Method for pressing groove section with bending angle smaller than or equal to 90 degrees | |
| CN109397183B (en) | Puller structure for completing two working processes by single driving force based on dead point position | |
| CN210240201U (en) | Quick-dismantling type foundation hoop for electric power construction | |
| CN220481503U (en) | Pipe fitting internal stay clamping and positioning device and processing equipment | |
| KR20200072063A (en) | product and connecting method of Coupler of connecting reinforcing rod | |
| CN110802624B (en) | Gripper-replaceable robot arm | |
| CN209100891U (en) | Automatically reset floating installation and equipment | |
| CN109807521B (en) | Positioning and clamping tool for rotary table of robot welding crane | |
| CN213471016U (en) | O-shaped ring mounting tool | |
| CN114043646B (en) | Die cavity die changing and disassembling tool based on special-shaped expansion block | |
| CN210731578U (en) | Vertical oil cylinder assembling and tightening device | |
| CN211137913U (en) | Quick change device for manipulator of injection molding machine | |
| CN203510093U (en) | Adjustable drawing device | |
| CN210492377U (en) | Unfolding demoulding mousse ring | |
| CN220331058U (en) | Manual biax vice structure | |
| CN220395642U (en) | Downhole choke fishing tool | |
| CN220095602U (en) | Micro bottle cap inner sleeve sealing ring equipment | |
| CN218576133U (en) | Efficient assembling tool set for hoisting ring body | |
| CN211662078U (en) | Automatic change and get a manipulator | |
| CN219426193U (en) | Quick clamp fixing structure | |
| CN212760663U (en) | Aluminum cover stamping die head capable of being integrally replaced | |
| CN218461990U (en) | Outer hexagonal centre gripping frock of adjustable fastener |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |