CN215358491U

CN215358491U - Grabbing device for manipulator

Info

Publication number: CN215358491U
Application number: CN202121317814.XU
Authority: CN
Inventors: 岳岩; 王钪; 董继伟; 刘彬; 王春业; 王广才
Original assignee: Qingdao Zhongtianpeng Forging Manufacturing Co ltd
Current assignee: Qingdao Zhongtianpeng Forging Manufacturing Co ltd
Priority date: 2021-06-11
Filing date: 2021-06-11
Publication date: 2021-12-31
Anticipated expiration: 2031-06-11

Abstract

The utility model discloses a gripping device for a manipulator, which comprises an installation support, a driving rod and a driving unit, wherein a first clamping jaw mechanism and a second clamping jaw mechanism are sequentially arranged on the installation support, the first clamping jaw mechanism comprises two first clamping jaw parts, the two first clamping jaw parts are identical in structure and symmetrically arranged on two sides of the driving rod, the second clamping jaw mechanism comprises two second clamping jaw parts, the two second clamping jaw parts are identical in structure and symmetrically arranged on two sides of the driving rod, and the driving unit arranged on the installation support can synchronously drive the first clamping jaw parts to open or clamp and the second clamping jaw parts to open or clamp through the driving rod. The utility model has reasonable structure, strong self-adaptive capacity and low production and manufacturing cost, and is beneficial to popularization and application.

Description

Grabbing device for manipulator

Technical Field

The utility model relates to the technical field of clamps, in particular to a grabbing device for a manipulator.

Background

With the increasing progress in technology and increased labor costs, the manufacturing industry, which previously required manual operations, began to shift to automated technology. Industrial robots, manipulators, and the like, which are high-tech production facilities developed in recent decades, play an extremely important role in modern manufacturing industries, and these automation devices carry workpieces by means of gripper devices instead of workers performing many heavy and boring works. The personal safety is guaranteed, the working efficiency can be improved, and the damage caused by manual operation errors is avoided.

Existing gripping devices often have some drawbacks: the structure is complex, the production and manufacturing cost is high, and the enterprise cost is not reduced; the method is not suitable for severe operation environments, such as high production cost and difficult popularization and application in severe operation environments; the self-adaptive performance is poor, and the clamping of materials with larger size deviation, such as blank parts, is difficult to realize.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a grabbing device for a manipulator, which solves the technical problems of complex structure, high cost, poor self-adaption performance and inapplicability to severe operating environments of grabbing devices in the prior art, and has the technical effects of reasonable structure, strong self-adaption capability and low production and manufacturing cost. The adopted technical scheme is as follows:

a grabbing device for a manipulator comprises a mounting support, a driving rod and a driving unit, wherein a first clamping jaw mechanism and a second clamping jaw mechanism are sequentially arranged on the mounting support, the first clamping jaw mechanism comprises two first clamping jaw parts, the two first clamping jaw parts are identical in structure and symmetrically arranged on two sides of the driving rod, each first clamping jaw part comprises a first clamping jaw shaft rod rotatably connected with the mounting support, and a first clamping jaw is arranged at the lower end of each first clamping jaw shaft rod; the second clamping jaw mechanism comprises two second clamping jaw portions, wherein the second clamping jaw portions are identical in structure and symmetrically arranged on two sides of the driving rod, each second clamping jaw portion comprises a second clamping jaw shaft rod which is connected with the mounting support in a rotating mode, a second clamping jaw is arranged at the lower end of each second clamping jaw shaft rod, a driving unit arranged on the mounting support can drive the first clamping jaw shaft rod and the second clamping jaw shaft rod to rotate through the driving rod, the first clamping jaw shaft rod can drive the first clamping jaw to open or clamp, and the second clamping jaw shaft rod can drive the second clamping jaw to open or clamp.

On the basis of the technical scheme, the driving unit comprises an air cylinder or a hydraulic cylinder fixedly arranged on the mounting bracket, and the air cylinder or the hydraulic cylinder can drive the driving rod to slide back and forth.

On the basis of the technical scheme, the first clamping jaw shaft rod is connected with the driving rod through the connecting rod mechanism, and when the driving rod slides forwards and backwards, the driving rod can drive the first clamping jaw to open or clamp through the connecting rod mechanism.

On the basis of the technical scheme, the driving rod is vertically connected with a push rod, two rocking bars which are abutted to each other are arranged on two sides of the push rod, one end of each rocking bar is connected with the second clamping jaw shaft rod, the other end of each rocking bar is connected with the other end of each rocking bar through a return spring, and when the driving rod slides forwards and backwards, the push rod can drive the second clamping jaw to open or clamp through the rocking bars.

On the basis of the technical scheme, the two ends of the push rod are respectively connected with a shaft sleeve in a rotating mode, and the outer peripheral surface of each shaft sleeve is abutted to the inner side face of the rocker.

On the basis of the technical scheme, the first clamping jaw mechanism and the second clamping jaw mechanism are sequentially arranged from inside to outside, the first clamping jaw comprises a U-shaped clamping part with an inward opening, and materials can be embedded into a U-shaped groove of the clamping part.

On the basis of the technical scheme, the second clamping jaw comprises a vertical clamping part, and the vertical clamping part can be abutted against two side faces of the material.

On the basis of the technical scheme, the driving rod is provided with the stop block, and the mounting bracket is provided with a convex block matched with the stop block.

Advantageous effects

The material clamping device comprises the first clamping jaw mechanism and the second clamping jaw mechanism, and the two clamping jaw mechanisms can clamp materials at two positions, so that the clamping is firmer, and the safety is better. In addition, the first clamping jaw mechanism and the second clamping jaw mechanism can synchronously realize the loosening or clamping of the materials under the action of the same driving unit, and have the advantages of reasonable structure and low production and manufacturing cost; in addition, the driving rod drives the first clamping jaw shaft lever to rotate through the connecting rod mechanism so as to drive the first clamping jaw to open or clamp, and drives the second clamping jaw shaft lever to rotate through the push rod and the rocker so as to drive the second clamping jaw to open or clamp, so that the clamping device has the advantages of reasonable structure and simple structure, and can further reduce the production and manufacturing cost;

the requirement on the matching precision of all parts is not high, the production and manufacturing cost can be further reduced, the service life can be prolonged, and the method can be well applied even under severe action environments. In addition, the clamping jaw mechanism clamps the materials in an opening or clamping mode, so that larger material size deviation is allowed, the materials can be well clamped even under the condition of large material size deviation, and the self-adaption performance is good.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary of the utility model, and that other embodiments can be derived from the drawings provided by those skilled in the art without inventive effort.

FIG. 1: a schematic structural diagram of a material to be clamped;

FIG. 2: the utility model has a three-dimensional structure diagram I;

FIG. 3: the utility model has a three-dimensional structure diagram II;

Detailed Description

The utility model is further illustrated by the following figures and examples:

reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

The grabbing device for the manipulator shown in figures 2-3 comprises a mounting support 1, a driving rod 2 and a driving unit 3, wherein a first clamping jaw mechanism and a second clamping jaw mechanism are sequentially arranged on the mounting support 1, and the first clamping jaw mechanism and the second clamping jaw mechanism are sequentially arranged from inside to outside. The mounting bracket 1 comprises two mounting rods parallel to the driving rod 2.

The first clamping jaw mechanism comprises two first clamping jaw parts 4, the two first clamping jaw parts 4 are identical in structure and are symmetrically arranged on two sides of the driving rod 2, the first clamping jaw parts 4 comprise first clamping jaw shaft rods 41, the first clamping jaw shaft rods 41 are rotatably connected with the mounting bracket 1 through mounting plates, the mounting plates are fixedly connected to the two mounting rods, the upper ends of the first clamping jaw shaft rods 41 are connected with the driving rod 2 through link mechanisms 44, the link mechanisms 44 comprise first connecting rods and second connecting rods, the first ends of the first connecting rods are rotatably connected with the driving rod 2, the second ends of the first connecting rods are rotatably connected with the first ends of the second connecting rods, the second ends of the second connecting rods are rotatably connected with the first clamping jaw shaft rods 41, the lower ends of the first clamping jaw shaft rods 41 are provided with first clamping jaws 42, the first clamping jaws 42 comprise U-shaped clamping parts 43 with inward openings, and materials can be embedded into U-shaped grooves of the U-shaped clamping parts 43, when the driving rod 2 slides back and forth, the driving rod 2 can drive the first clamping jaw 42 to open or clamp through the link mechanism 44.

The second clamping jaw mechanism comprises two second clamping jaw portions 5, the second clamping jaw portions 5 are identical in structure and are symmetrically arranged on two sides of the driving rod 2, each second clamping jaw portion 5 comprises a second clamping jaw shaft rod 51, the second clamping jaw shaft rods 51 are rotatably connected with the mounting support 1 through mounting plates, the mounting plates are fixedly connected onto the two mounting rods, second clamping jaws 52 are arranged at the lower ends of the second clamping jaw shaft rods 51, each second clamping jaw 52 comprises a vertical clamping portion 53, and the vertical clamping portions 53 can be abutted to two side faces of the material.

The driving rod 2 is vertically connected with a push rod 6, wherein the push rod 6 is horizontally arranged and is symmetrical about the axis of the driving rod 2, two rocking bars 54 which are abutted with each other are arranged on two sides of the push rod 6, one end of each rocking bar 54 is connected with the second clamping jaw shaft rod 51, the other ends of the two rocking bars 54 are connected through a return spring 55, and when the driving rod 2 slides forwards and backwards, the push rod 6 can drive the second clamping jaw 52 to open or clamp through the rocking bars 54. Wherein, the both ends of push rod 6 are rotated respectively and are connected with axle sleeve 7, and axle sleeve 7 rotates the junction with push rod 6 and is equipped with the bearing, the outer peripheral face and the inboard side butt of rocker 54 of axle sleeve 7, but so greatly reduced frictional resistance. In addition, be equipped with backstop 8 on the actuating lever 2, be equipped with on the installing support 1 with backstop 8 complex lug, so can spacing actuating lever 2 the back and forth stroke of sliding, avoid appearing the incident.

The driving unit 3 comprises a hydraulic cylinder fixedly arranged on the mounting bracket 1, a piston rod of the hydraulic cylinder is coaxial with the driving rod 2 and can drive the driving rod 2 to slide back and forth, the driving rod 2 slides back and forth to drive the first clamping jaw shaft rod 41 and the second clamping jaw shaft rod 51 to rotate, the first clamping jaw shaft rod 41 can drive the first clamping jaw 42 to open or clamp, the second clamping jaw shaft rod 51 can drive the second clamping jaw 52 to open or clamp correspondingly, and thus the material can be clamped.

The present invention has been described above by way of example, but the present invention is not limited to the above-described specific embodiments, and any modification or variation made based on the present invention is within the scope of the present invention as claimed.

Claims

1. The grabbing device for the manipulator is characterized by comprising a mounting support (1), a driving rod (2) and a driving unit (3), wherein a first clamping jaw mechanism (4) and a second clamping jaw mechanism (5) are sequentially arranged on the mounting support (1), the first clamping jaw mechanism comprises two first clamping jaw parts (4), the two first clamping jaw parts (4) are identical in structure and symmetrically arranged on two sides of the driving rod (2), each first clamping jaw part (4) comprises a first clamping jaw shaft lever (41) rotatably connected with the mounting support (1), and a first clamping jaw (42) is arranged at the lower end of each first clamping jaw shaft lever (41); the second clamping jaw mechanism comprises two second clamping jaw portions (5), the second clamping jaw portions (5) are identical in structure and are symmetrically arranged on two sides of the driving rod (2), each second clamping jaw portion (5) comprises a second clamping jaw shaft rod (51) rotatably connected with the mounting support (1), a second clamping jaw (52) is arranged at the lower end of each second clamping jaw shaft rod (51), the driving unit arranged on the mounting support (1) can drive the first clamping jaw shaft rod (41) and the second clamping jaw shaft rod (51) to rotate through the driving rod (2), the first clamping jaw shaft rod (41) can drive the first clamping jaw (42) to open or clamp, and the second clamping jaw shaft rod (51) can drive the second clamping jaw (52) to open or clamp.

2. The gripper device according to claim 1, wherein the drive unit (3) comprises a pneumatic or hydraulic cylinder fixed to the mounting bracket (1), the pneumatic or hydraulic cylinder being capable of driving the driving rod (2) to slide back and forth.

3. The gripper device according to claim 2, wherein the first gripper shaft (41) is connected to the driving rod (2) via a link mechanism (44), and when the driving rod (2) slides back and forth, the driving rod (2) can drive the first gripper (42) to open or clamp via the link mechanism (44).

4. The grabbing device for the manipulator of claim 2, wherein the driving rod (2) is vertically connected with a push rod (6), two sides of the push rod (6) are provided with two abutting rocker arms (54), one end of each rocker arm (54) is connected with the second clamping jaw shaft rod (51), the other ends of the two rocker arms (54) are connected through a return spring (55), and when the driving rod (2) slides forwards and backwards, the push rod (6) can drive the second clamping jaw (52) to open or clamp through the rocker arms (54).

5. The gripper device according to claim 4, wherein the push rod (6) has a sleeve (7) rotatably connected to each end thereof, and the outer circumferential surface of the sleeve (7) is adapted to abut against the inner surface of the rocker (54).

6. The gripper assembly of any one of claims 1-5, wherein the first gripper mechanism and the second gripper mechanism are arranged in sequence from inside to outside, and the first gripper (42) comprises a U-shaped grip portion (43) with an inward opening, and the material can be inserted into the U-shaped groove of the U-shaped grip portion (43).

7. Gripping device for robots, according to claim 6, characterised in that said second jaw (52) comprises vertical gripping portions (53), said vertical gripping portions (53) being abuttable to both sides of the material.

8. Gripper device for a manipulator according to claim 6, characterized in that the driving lever (2) is provided with a stop (8) and the mounting bracket (1) is provided with a projection cooperating with the stop (8).