CN216299342U

CN216299342U - Manipulator and multi-claw clamp thereof

Info

Publication number: CN216299342U
Application number: CN202122654966.5U
Authority: CN
Inventors: 李伟; 王龙; 曾凤燕
Original assignee: Xiamen Aerospace Siert Robot System Co Ltd
Current assignee: Xiamen Aerospace Siert Robot System Co Ltd
Priority date: 2021-11-02
Filing date: 2021-11-02
Publication date: 2022-04-15
Anticipated expiration: 2031-11-02

Abstract

The utility model provides a manipulator and a multi-claw clamp thereof, and relates to the technical field of manipulators. Wherein the multi-jaw clamp comprises a jaw receptacle and a plurality of sets of jaw assemblies. The clamping jaw seat is used for being configured on an external movable structure. The clamping jaw assemblies are respectively arranged on the side surfaces of the clamping jaw seats in parallel. The clamping jaw assembly comprises an expansion piece arranged on the clamping jaw seat, a clamping driving piece arranged at the output end of the expansion piece, and at least two clamping pieces arranged on the clamping driving piece. The telescopic piece is used for driving the clamping driving piece to be close to or far away from the workpiece. The clamping driving part is used for driving the at least two clamping pieces to move close to or away from each other so as to clamp or release the workpiece. By arranging a plurality of groups of clamping jaw assemblies on the clamping jaw seat, the manipulator can clamp a plurality of elements at one time. Each set of jaw assemblies is capable of being individually extended outwardly by a telescoping member to grip a workpiece. The multi-claw clamp is more flexible through the telescopic piece and can be adapted to different working scenes.

Description

Manipulator and multi-claw clamp thereof

Technical Field

The utility model relates to the field of manipulators, in particular to a manipulator and a multi-claw clamp thereof.

Background

As industries have developed, more and more companies have introduced an automatic production line, and a robot, which is an indispensable part of the automatic production line, can move between a plurality of positions and perform a predetermined action at a predetermined position, thereby performing a predetermined task.

When moving a workpiece, a suction cup or a clamp is often mounted at the end of a robot arm; the suction cup or the clamp is moved to a predetermined position by a robot arm to pick up the workpiece or release the workpiece. At present, the clamp only has a clamping function and is not flexible enough. And the efficiency of the manipulator clamping the workpiece is low.

In view of the above, the applicant has specifically proposed the present application after studying the existing technologies.

SUMMERY OF THE UTILITY MODEL

The utility model provides a manipulator and a multi-claw clamp thereof, aiming at improving the problems.

In order to solve the technical problem, the utility model provides a multi-jaw clamp which comprises a jaw seat and a plurality of groups of jaw assemblies. The clamping jaw seat is used for being configured on an external movable structure. The clamping jaw assemblies are respectively arranged on the side surfaces of the clamping jaw seats in parallel. The clamping jaw assembly comprises an expansion piece arranged on the clamping jaw seat, a clamping driving piece arranged at the output end of the expansion piece, and at least two clamping pieces arranged on the clamping driving piece.

The telescopic piece is used for driving the clamping driving piece to be close to or far away from the workpiece. The clamping driving part is used for driving the at least two clamping pieces to move close to or away from each other so as to clamp or release the workpiece.

In an alternative embodiment, the multi-jaw clamp further comprises a valve plate nested in the jaw seat. The clamping jaw seat is provided with a boss for mounting the valve plate.

The valve plate has a first side and a second side. The part of the clamping jaw seat positioned on the first side surface is provided with a plurality of groups of clamping jaw assemblies, and the part positioned on one side of the second side surface is used for connecting an external movable mechanism.

In an alternative embodiment, the jaw assembly further comprises a first solenoid valve and a second solenoid valve disposed in the jaw seat. The first electromagnetic valve and the second electromagnetic valve are respectively connected to the telescopic piece and the clamping driving piece through pipelines.

The first electromagnetic valve and the second electromagnetic valve are arranged on the second side surface of the valve plate, and a through hole for a pipeline to pass through is formed in the valve plate.

In an alternative embodiment, the number of jaw assemblies is N. The clamping jaw seat is provided with 2N side faces. The 2N side faces are configured as a mounting plane and an adjusting plane which are arranged at intervals. The mounting plane is used for mounting the clamping jaw assembly. The adjusting plane is provided with an adjusting hole which is opposite to the mounting plane.

In an alternative embodiment, the clamping driving member is a four-claw cylinder or a two-claw cylinder which can be opened and closed in parallel.

The number of the clamping pieces is two. The two clamping pieces are oppositely arranged on two claws in the two-claw cylinder or the four-claw cylinder. The clamping piece is provided with a clamping groove for clamping a workpiece.

In an alternative embodiment, the number of jaw assemblies is 3.

In an alternative embodiment, the jaw assembly includes a background member disposed on the clamp drive.

When the clamping driving piece is a four-claw cylinder:

the number of the background pieces is 1, and the background pieces are arranged on one side of the clamping driving piece facing the workpiece. The background piece is provided with a sliding groove for the clamping piece to slide.

When the clamping driving piece is a two-claw cylinder:

the number of the background pieces is 2, the background pieces are respectively arranged on two sides of the clamping piece and extend along the direction vertical to the movement of the clamping piece.

In an alternative embodiment, the multi-jaw clamp further comprises a sleeve disposed over the plurality of sets of jaw assemblies and jaw receptacles to wrap around the sides of the entire multi-jaw clamp. The sleeve is configured on the clamping claw seat through an L-shaped connecting piece.

The extensible member is a sliding table cylinder. The clamping driving piece is arranged on the sliding table cylinder through the L-shaped connecting seat.

In an alternative embodiment, the jaw seat is a tubular geometry. The clamping jaw seat is far away from one end of the clamping jaw assembly and used for being sleeved with an external movable structure, and is provided with a positioning groove and a locking structure.

The second aspect,

The present invention provides a robot including a robot arm and the multi-claw jig according to the first aspect disposed on the robot arm.

By adopting the technical scheme, the utility model can obtain the following technical effects:

according to the utility model, the plurality of groups of clamping jaw assemblies are arranged on the clamping jaw seat, so that the manipulator can clamp a plurality of elements at one time. Each set of jaw assemblies is capable of being individually extended outwardly by a telescoping member to grip a workpiece. The multi-claw clamp is more flexible through the telescopic piece and can be adapted to different working scenes.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 is an isometric view of a multi-jaw clamp;

FIG. 2 is an exploded view of the multi-jaw clamp 1;

FIG. 3 is an isometric view of the jaw receptacle;

FIG. 4 is an exploded view of the multi-jaw clamp of FIG. 2 (showing only the telescoping member and jaw seat);

FIG. 5 is an isometric view of the jaw assembly;

FIG. 6 is an isometric view of the robot;

fig. 7 is an exploded view of the robot.

The labels in the figure are: the clamping device comprises a clamping jaw assembly 1, a sleeve 2, a valve plate 3, a clamping jaw seat 4, a telescopic part 5, a connecting part 6, a clamping driving part 7, a background part 8, a clamping part 9, a multi-jaw clamp 10 and a mechanical arm 11.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The utility model is described in further detail below with reference to the following detailed description and accompanying drawings:

as shown in fig. 1 to 7, the embodiment of the present invention provides

To solve the above technical problem, the present invention provides a multi-jaw clamp 10, which comprises a jaw seat 4 and a plurality of sets of jaw assemblies 1. The jaw base 4 is configured to be an external movable structure. The plurality of groups of clamping jaw assemblies 1 are respectively arranged on the side surfaces of the clamping jaw seat 4 in parallel. The clamping jaw assembly 1 comprises an expansion piece 5 arranged on the clamping jaw seat 4, a clamping driving piece 7 arranged on the output end of the expansion piece 5, and at least two clamping pieces 9 arranged on the clamping driving piece 7.

The telescopic member 5 is used to drive the clamp driving member 7 to approach or move away from the workpiece. The clamping driving member 7 is used for driving at least two clamping members 9 to move close to or away from each other so as to clamp or release a workpiece.

Specifically, the present embodiment is connected to an external movable structure through the jaw seat 4, for example: a robot arm 11. By arranging a plurality of groups of clamping jaw assemblies 1 on the clamping jaw seat 4, the manipulator can clamp a plurality of elements at one time. Each clamping jaw assembly 1 comprises an expansion piece 5, a clamping driving piece 7 arranged at the output end of the expansion piece 5, and a clamping piece 9 arranged at the output end of the clamping driving piece 7. The telescopic piece 5 can drive the clamping driving piece 7 and the clamping piece 9 to move towards the direction away from the clamping jaw seat 4, so that the two clamping pieces 9 and other clamping pieces 9 are in different planes, and the workpiece is clamped independently. The multi-jaw clamp 10 is more flexible through the telescopic piece 5, each group of clamping jaw assemblies 1 can work independently to adapt to different working scenes, and the multi-jaw clamp has good practical significance.

As shown in fig. 2, on the basis of the above embodiment, in an alternative embodiment of the present invention, the multi-jaw clamp 10 further includes a valve plate 3 sleeved on the jaw seat 4. The jaw seat 4 is provided with a boss for mounting the valve plate 3. The valve plate 3 has a first side and a second side. The part of the clamping jaw seat 4 on the first side surface is provided with a plurality of groups of clamping jaw assemblies 1, and the part on one side of the second side surface is used for connecting an external movable mechanism.

Specifically, the side of the gripper base 4 to which the robot arm 11 is connected and the side to which the extensible member 5 is attached can be separated by the valve plate 3. Preventing interference and the like. At the same time, the spacer can increase the surface area of the jaw seat 4. That is, other components can be mounted on the partition plate.

As shown in fig. 2, based on the above embodiment, in an alternative embodiment of the present invention, the clamping jaw assembly 1 further includes a first solenoid valve and a second solenoid valve disposed on the clamping jaw seat 4. The first solenoid valve and the second solenoid valve are connected to the telescopic member 5 and the clamping driving member 7 through pipes, respectively. The first electromagnetic valve and the second electromagnetic valve are arranged on the second side surface of the valve plate 3, and a through hole for a pipeline to pass through is formed in the valve plate 3. Specifically, the cylinder controls the activity through the solenoid valve, and the solenoid valve electricity is connected in PLC control panel. The solenoid valve of the gripper assembly 1 is mounted on the valve plate 3 to be integrated, thereby increasing the integrity of the multi-jaw clamp 10. In use, the gripper base 4 is simply mounted to the robot arm 11 and the solenoid valve is connected to a source of pressurised gas and to a control circuit. Is simple and practical.

In an alternative embodiment of the present invention, as shown in fig. 3 and 4, based on the above-mentioned embodiments, the number of the clamping jaw assemblies 1 is N. The jaw receptacle 4 is provided with 2N side faces. The 2N side faces are configured as a mounting plane and an adjusting plane which are arranged at intervals. The mounting plane is used for mounting the clamping jaw assembly 1. The adjusting plane is provided with an adjusting hole which is opposite to the mounting plane.

Specifically, the number of the jaw assemblies 1 is 3. The part of the jaw housing 4 for mounting the jaw assembly 1 is arranged as a hexagon. Wherein, the six sides of clamping jaw subassembly 1 interval installation in clamping jaw seat 4 are on, and the face that clamping jaw seat 4 is used for installing clamping jaw subassembly 1 is the plane, and the connection face between the plane is the arc surface. The arc surface is provided with an adjusting hole facing the plane, and the adjusting hole faces a bolt hole or a pin hole on the plane, so that the telescopic piece 5 is convenient to mount.

As shown in fig. 5, on the basis of the above embodiment, in an alternative embodiment of the present invention, the telescopic member 5 is a sliding table cylinder, and the clamping driving member 7 is a multi-claw finger cylinder, preferably a four-claw cylinder or a two-claw cylinder that opens and closes in parallel. Specifically, the number of the holding members 9 is two. The two clamping pieces 9 are oppositely arranged on two claws in the two-claw cylinder or the four-claw cylinder. The clamping piece 9 is provided with a clamping groove for clamping a workpiece. Through the centre gripping groove on the holder 9, the centre gripping work piece that can be better has fine practical meaning.

As shown in fig. 5, the clamp driving member 7 is disposed on the extensible member 5 through an L-shaped connection seat. The clamping driving part 7 can be installed right ahead of the telescopic direction of the telescopic part 5 through the L-shaped connecting seat, so that the telescopic part 5 can stably drive the finger cylinder along the finger direction (namely the extending direction of the clamping part) of the clamping driving part 7. As shown in fig. 5, on the basis of the above embodiment, in an alternative embodiment of the present invention, the clamping jaw assembly 1 includes a background member 8 disposed on the clamping driving member 7. Preferably, when the clamp drive 7 is a four-jaw cylinder: the number of the background members 8 is 1, and the background members are disposed on the side of the clamp driving member 7 facing the workpiece. The background member 8 is provided with a slide groove for sliding the holding member 9. When the clamp drive 7 is a two-jaw cylinder: the number of the background pieces 8 is 2, and the background pieces are respectively arranged on two sides of the clamping piece 9 and extend along the direction perpendicular to the moving direction of the clamping piece 9.

In an alternative embodiment of the present invention, as shown in fig. 2, based on the above embodiment, the multi-jaw clamp 10 further comprises a sleeve 2, and the sleeve 2 is sleeved on the plurality of sets of jaw assemblies 1 and jaw seats 4 to wrap the side of the whole multi-jaw clamp 10. The sleeve 2 is disposed on the jaw base 4 via an L-shaped connector 6. Specifically, the clamping jaw seat 4 and the clamping jaw assembly 1 are sleeved by the sleeve 2, so that the multi-jaw clamp 10 is cylindrical in appearance and does not have a part protruding outwards, collision is not easy to occur, and the appearance is more attractive.

In an alternative embodiment of the utility model, as shown in fig. 3, based on the above embodiment, the jaw receptacle 4 is a tubular geometry. One end of the clamping jaw seat 4, which is far away from the clamping jaw assembly 1, is used for being sleeved with an external movable structure, and is provided with a positioning groove and a locking structure. Specifically, the tubular structure enables the jaw seat 4 to greatly reduce the weight of the jaw seat while maintaining the performance strength, and has good practical significance. The tubular shape is cut into a C-shaped hoop structure at the end of the clamping jaw seat 4 by cutting, so as to clamp the mechanical arm 11.

Example II,

An embodiment of the present invention provides a robot including a robot arm 11 and the multi-jaw chuck 10 according to the first aspect disposed on the robot arm 11. Specifically, the mechanical arm 11 is an Epson LS6-602S mechanical arm 11.

According to the utility model, the plurality of groups of clamping jaw assemblies 1 are arranged on the clamping jaw seat 4, so that the manipulator can clamp a plurality of elements at one time. Each set of jaw assemblies 1 can be individually extended outwardly by the telescopic members 5 to grip a workpiece. The multi-jaw clamp 10 is more flexible through the telescopic piece 5 and can be adapted to different working scenes.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-jaw clamp, comprising:

a jaw seat (4) for being disposed in an external movable structure;

the clamping jaw assemblies (1) are respectively arranged on the side surfaces of the clamping jaw seats (4) in parallel; the clamping jaw assembly (1) comprises an expansion piece (5) arranged on the clamping jaw seat (4), a clamping driving piece (7) arranged on the output end of the expansion piece (5), and at least two clamping pieces (9) arranged on the clamping driving piece (7);

the telescopic piece (5) is used for driving the clamping driving piece (7) to approach or separate from a workpiece; the clamping driving piece (7) is used for driving at least two clamping pieces (9) to move close to or away from each other so as to clamp or release a workpiece.

2. A multi-jaw clamp according to claim 1, characterized in that the multi-jaw clamp (10) further comprises a valve plate (3) nested in said jaw seat (4); the clamping jaw seat (4) is provided with a boss for mounting the valve plate (3);

the valve plate (3) has a first side and a second side; the part of the clamping jaw seat (4) on the first side surface is provided with a plurality of groups of clamping jaw assemblies (1), and the part on one side of the second side surface is used for connecting an external movable mechanism.

3. A multi-jaw clamp according to claim 2, wherein said jaw assembly (1) further comprises a first solenoid valve and a second solenoid valve arranged at said jaw seat (4); the first electromagnetic valve and the second electromagnetic valve are respectively connected to the telescopic piece (5) and the clamping driving piece (7) through pipelines;

the first electromagnetic valve and the second electromagnetic valve are arranged on the second side face of the valve plate (3), and a through hole for the pipeline to pass through is formed in the valve plate (3).

4. A multi-jaw clamp according to claim 1, wherein the number of jaw assemblies (1) is N; the clamping jaw seat (4) is provided with 2N side faces; the 2N side faces are configured into a mounting plane and an adjusting plane which are arranged at intervals; the mounting plane is used for mounting the clamping jaw assembly (1); the adjusting plane is provided with an adjusting hole which is opposite to the mounting plane.

5. A multi-jaw clamp according to claim 1, characterized in that the clamping driving member (7) is a four-jaw cylinder or a two-jaw cylinder which opens and closes in parallel;

the number of the clamping pieces (9) is two; the two clamping pieces (9) are oppositely arranged on two claws in the two-claw cylinder or the four-claw cylinder; the clamping piece (9) is provided with a clamping groove for clamping a workpiece.

6. A multi-jaw clamp according to claim 5, wherein said jaw assembly (1) comprises a background member (8) arranged on said clamp drive member (7);

when the clamping driving piece (7) is a four-claw cylinder:

the number of the background pieces (8) is 1, and the background pieces are arranged on one side, facing the workpiece, of the clamping driving piece (7); the background piece (8) is provided with a sliding groove for the clamping piece (9) to slide;

when the clamping driving piece (7) is a two-claw cylinder:

the number of the background pieces (8) is 2, the background pieces are respectively arranged on two sides of the clamping piece (9), and the background pieces extend along the direction perpendicular to the moving direction of the clamping piece (9).

7. A multi-jaw clamp according to claim 1, wherein the multi-jaw clamp (10) further comprises a sleeve (2), the sleeve (2) being fitted over a plurality of sets of the jaw assembly (1) and the jaw seat (4) to wrap the entire side of the multi-jaw clamp (10); the sleeve (2) is configured on the clamping jaw seat (4) through an L-shaped connecting piece (6);

the telescopic piece (5) is a sliding table cylinder; the clamping driving piece (7) is configured on the sliding table cylinder through an L-shaped connecting seat.

8. A multi-jaw clamp according to any one of claims 1 to 7, characterized in that said jaw seat (4) is of tubular geometry; the clamping jaw seat (4) is far away from one end of the clamping jaw assembly (1) and is used for being sleeved with an external movable structure, and is provided with a positioning groove and a locking structure.

9. A multi-jaw clamp according to any one of claims 1 to 7, characterised in that the number of jaw assemblies (1) is 3.

10. A manipulator, characterized by comprising a robot arm (11) and a multi-jaw gripper (10) according to any of claims 1 to 9 arranged on the robot arm (11).