CN215968836U

CN215968836U - Manipulator clamp

Info

Publication number: CN215968836U
Application number: CN202122693845.1U
Authority: CN
Inventors: 唐艳
Original assignee: Yantai Engineering and Technology College
Current assignee: Yantai Engineering and Technology College
Priority date: 2021-11-05
Filing date: 2021-11-05
Publication date: 2022-03-08
Anticipated expiration: 2031-11-05

Abstract

The utility model discloses a manipulator clamp, and belongs to the technical field of manipulators. The manipulator clamp comprises a clamp shell, a driving mechanism and a clamping jaw mechanism, wherein the driving mechanism is arranged in the clamp shell, two fixing plates are arranged on the driving mechanism, fixing grooves are formed in the left side surfaces of the fixing plates, the clamping jaw mechanism is arranged in each fixing groove, and the clamp shell is connected with the two fixing plates and the two clamping jaw mechanisms through fastening nuts; the utility model discloses the effectual current manipulator anchor clamps of having solved are getting the time-out to the article on inclined plane, can not get the surface of article with being got to the clamp and carry out abundant contact for get the in-process at the clamp, can not stably press from both sides article and get, make the problem that article dropped easily.

Description

Manipulator clamp

Technical Field

The utility model relates to the technical field of manipulators, in particular to a manipulator clamp.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program.

At present, when article to the inclined plane were got to current manipulator anchor clamps were getting, can not get the surface of article with being got to the clamp and carry out abundant contact for get the in-process at the clamp, can not stably get article and get, make article drop easily.

SUMMERY OF THE UTILITY MODEL

1. Technical problem to be solved by the utility model

The present invention aims to provide a manipulator clamp to solve the problems proposed in the background art:

when the existing manipulator clamp clamps the articles on the inclined plane, the surfaces of the clamped articles cannot be in full contact, so that the clamping process cannot be realized, the articles cannot be stably clamped, and the articles are easy to drop.

2. Technical scheme

In order to achieve the purpose, the utility model provides the following technical scheme:

the utility model provides a manipulator anchor clamps, includes anchor clamps shell, actuating mechanism and clamping jaw mechanism, the inside actuating mechanism that is provided with of anchor clamps shell, the last two fixed plates that are provided with of actuating mechanism, two the fixed slot has all been seted up to the fixed plate left side surface, two all be provided with clamping jaw mechanism in the fixed slot, all be connected through fastening nut between anchor clamps shell and two fixed plates and two clamping jaw mechanism.

Preferably, the driving mechanism comprises a servo motor and a ball screw, an output shaft of the servo motor is provided with a first bevel gear, a second bevel gear is arranged on the outer surface of the ball screw and meshed with the first bevel gear, ball nuts are arranged on the front side and the rear side of the outer surface of the ball screw, bearings are arranged on the front end and the rear end of the outer surface of the ball screw, the two fixing plates are fixedly arranged on the outer surfaces of the two ball nuts respectively, and the two bearings are arranged on the front surface and the rear surface inside the clamp shell respectively.

Preferably, clamping jaw mechanism is including the clamping jaw, two spacing grooves have been seted up to clamping jaw inboard surface left side, clamping jaw inboard surface left side is provided with articulated piece, articulated piece is in between two spacing grooves, articulated piece is articulated through cylindric lock and articulated slab, the terminal surface is provided with splint in the articulated slab, splint all are provided with gag lever post and spring with the one side left and right sides that the articulated slab is connected, two the spring sets up respectively at two gag lever post outside surfaces, two the one end activity setting respectively at two spacing grooves of splint is kept away from to the gag lever post, the one end setting of splint is kept away from to the clamping jaw is in the fixed slot on the fixed plate.

Preferably, threaded holes are formed in the front end and the rear end of the left sides of the upper surface and the lower surface of the clamp shell, the left sides of the upper surface and the lower surface of the two fixing plates and the right ends of the upper surfaces of the two clamping jaws, and the fastening nuts are arranged in the threaded holes in the clamping jaw shell, the two fixing plates and the two clamping jaws respectively.

3. Advantageous effects

This use is novel through the actuating mechanism who sets up for two fixed plates drive two clamping jaw mechanisms and remove, thereby press from both sides article, through the clamping jaw mechanism who sets up, can press from both sides article and get, press from both sides article and get the time, make splint can the rotation and incline through articulated joint piece and articulated slab, make splint can laminate with the inclined plane of article, thereby enlarge area of contact, improve the steadiness of getting article clamp, can be better press from both sides article and get.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a view of the connection of the drive mechanism and the jaw mechanism of the present invention;

FIG. 3 is a view of the drive mechanism of the present invention;

FIG. 4 is a top cross-sectional view of the present invention;

FIG. 5 is a view of the hinge block and hinge plate of the present invention.

The reference numbers in the figures illustrate:

1. a clamp housing; 2. a drive mechanism; 201. a servo motor; 202. a first bevel gear; 203. a ball screw; 204. a second bevel gear; 205. a ball nut; 206. a bearing; 3. a jaw mechanism; 301. a clamping jaw; 302. a splint; 303. a hinge plate; 304. a hinged block; 305. a limiting rod; 306. a spring; 307. a limiting groove; 4. a fixing plate; 5. fastening a nut; 6. a threaded bore.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1:

referring to fig. 1 to 5, a manipulator fixture includes a fixture housing 1, a driving mechanism 2 and a clamping jaw mechanism 3, the driving mechanism 2 is disposed inside the fixture housing 1, two fixing plates 4 are disposed on the driving mechanism 2, fixing grooves are disposed on left side surfaces of the two fixing plates 4, the clamping jaw mechanism 3 is disposed in the two fixing grooves, and the fixture housing 1 is connected to the two fixing plates 4 and the two clamping jaw mechanisms 3 through fastening nuts 5.

The driving mechanism 2 comprises a servo motor 201 and a ball screw 203, an output shaft of the servo motor 201 is provided with a first bevel gear 202, the outer surface of the ball screw 203 is provided with a second bevel gear 204, the second bevel gear 204 is meshed with the first bevel gear 202, ball nuts 205 are arranged on the front side and the rear side of the outer surface of the ball screw 203, bearings 206 are arranged on the front end and the rear end of the outer surface of the ball screw 203, two fixing plates 4 are respectively fixedly arranged on the outer surfaces of the two ball nuts 205, and the two bearings 206 are respectively arranged on the front surface and the rear surface inside the clamp shell 1.

The clamping jaw mechanism 3 comprises a clamping jaw 301, two limiting grooves 307 are formed in the left side of the inner side surface of the clamping jaw 301, a hinge block 304 is arranged on the left side of the inner side surface of the clamping jaw 301, the hinge block 304 is located between the two limiting grooves 307, the hinge block 304 is hinged with a hinge plate 303 through a cylindrical pin, a clamping plate 302 is arranged on the inner end face of the hinge plate 303, a limiting rod 305 and a spring 306 are arranged on the left side and the right side of the side where the clamping plate 302 is connected with the hinge plate 303, the two springs 306 are respectively arranged on the outer side surfaces of the two limiting rods 305, one ends, far away from the clamping plate 302, of the two limiting rods 305 are respectively movably arranged in the two limiting grooves 307, and one end, far away from the clamping plate 302, of the clamping jaw 301 is arranged in a fixing groove formed in the fixing plate 4.

Both ends around the left side of two surfaces about anchor clamps shell 1, two surfaces left sides about two fixed plates 4 and two clamping jaw 301 upper surface right-hand members all seted up threaded hole 6, and two fastening nut 5 set up respectively in threaded hole 6 on clamping jaw 301 shell, two fixed plates 4 and two clamping jaw 301.

When the utility model is used, the power is switched on for the servo motor 201, the output shaft of the servo motor 201 starts to rotate, the rotating output shaft drives the bevel gear 202 to rotate, the rotating bevel gear 202 drives the bevel gear two 204 to rotate, the rotating bevel gear two 204 drives the ball screw 203 to rotate, the rotation directions of the two ball nuts 205 are opposite, the rotating ball screw 203 enables the two ball nuts 205 to move oppositely through the matching relation between the two ball nuts 205, the two ball nuts 205 respectively drive the two fixing plates 4 to move together, the two moving fixing plates 4 drive the two clamping jaws 301 to move, so that the two clamping plates 302 on the two clamping jaws 301 are in surface contact with an article, when the two clamping plates 302 are in surface contact with the article, the clamping plates 302 are hinged with the hinged plates 303 through the hinged blocks 304, so that the clamping plates 302 can rotate and incline, when the clamping plate 302 inclines, the limiting rod 305 moves into the limiting groove 307, the spring 306 is squeezed and contracted, the clamping plate 302 can be attached to the surface of an object sufficiently to contact with the surface of the object, so that the contact area is enlarged, the stability of clamping the object is improved, the object can be clamped better, and the limiting rod 305 and the spring 306 are arranged, so that the clamping plate 302 can be in a planar state when not clamping the object; the utility model discloses the effectual current manipulator anchor clamps of having solved are getting the time-out to the article on inclined plane, can not get the surface of article with being got to the clamp and carry out abundant contact for get the in-process at the clamp, can not stably press from both sides article and get, make the problem that article dropped easily.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the equivalent replacement or change according to the technical solution and the modified concept of the present invention should be covered by the scope of the present invention.

Claims

1. The utility model provides a manipulator anchor clamps, includes anchor clamps shell (1), actuating mechanism (2) and clamping jaw mechanism (3), its characterized in that: anchor clamps shell (1) inside actuating mechanism (2) that is provided with, be provided with two fixed plates (4) on actuating mechanism (2), two the fixed slot has all been seted up to fixed plate (4) left surface, two all be provided with clamping jaw mechanism (3) in the fixed slot, all be connected through fastening nut (5) between anchor clamps shell (1) and two fixed plates (4) and two clamping jaw mechanism (3).

2. The manipulator clamp according to claim 1, characterized in that: the driving mechanism (2) comprises a servo motor (201) and a ball screw (203), an output shaft of the servo motor (201) is provided with a first bevel gear (202), the outer surface of the ball screw (203) is provided with a second bevel gear (204), the second bevel gear (204) is meshed with the first bevel gear (202), ball nuts (205) are arranged on the front side and the rear side of the outer surface of the ball screw (203), bearings (206) are arranged at the front end and the rear end of the outer surface of the ball screw (203), the two fixing plates (4) are respectively fixedly arranged on the outer surfaces of the two ball nuts (205), and the two bearings (206) are respectively arranged on the front surface and the rear surface inside the clamp shell (1).

3. The manipulator clamp according to claim 1, characterized in that: the clamping jaw mechanism (3) comprises a clamping jaw (301), two limiting grooves (307) are formed in the left side of the inner side surface of the clamping jaw (301), the left side of the inner side surface of the clamping jaw (301) is provided with a hinge block (304), the hinge block (304) is positioned between two limiting grooves (307), the hinge block (304) is hinged with a hinge plate (303) through a cylindrical pin, a clamping plate (302) is arranged on the inner end surface of the hinge plate (303), the left side and the right side of one surface, connected with the hinged plate (303), of the clamping plate (302) are respectively provided with a limiting rod (305) and a spring (306), the two springs (306) are respectively arranged on the outer side surfaces of the two limiting rods (305), one ends, far away from the clamping plate (302), of the two limiting rods (305) are respectively movably arranged in the two limiting grooves (307), one end of the clamping jaw (301) far away from the clamping plate (302) is arranged in a fixing groove on the fixing plate (4).

4. The manipulator clamp according to claim 1, characterized in that: both ends, two fixed plate (4) upper and lower two surface left sides and two clamping jaw (301) upper surface right-hand members all seted up screw hole (6), two about anchor clamps shell (1) two surface left sides about, fastening nut (5) set up respectively in screw hole (6) on clamping jaw (301) shell, two fixed plate (4) and two clamping jaw (301).