CN216781856U

CN216781856U - Industrial manipulator capable of adjusting clamping mode

Info

Publication number: CN216781856U
Application number: CN202220354587.6U
Authority: CN
Inventors: 孟路路
Original assignee: Suzhou Tuoyuan Automation Co ltd
Current assignee: Suzhou Tuoyuan Automation Co ltd
Priority date: 2022-02-21
Filing date: 2022-02-21
Publication date: 2022-06-21
Anticipated expiration: 2032-02-21

Abstract

The utility model discloses an industrial manipulator capable of adjusting a clamping mode, which comprises a driving frame, a clamping jaw and a first air cylinder, wherein the driving frame structurally comprises a handle rod, pin shafts, rotating rods, push rods and pull rods, the left end and the right end of the handle rod are respectively provided with the pin shafts, the front end and the rear end of each pin shaft are respectively fixed with one rotating rod, the top end of each rotating rod is respectively hinged with one push rod, the two push rods on the front side and the two push rods on the rear side are respectively coaxially hinged with the bottom ends of the two pull rods, and the top ends of the two pull rods are fixed at the bottom end of the first air cylinder through a connecting block; the clamping jaws are arranged on the left lower side and the right lower side of the handle rod respectively, the clamping jaw structurally comprises a main rod and an extension rod, the top of the main rod is sleeved and fixed on a pin shaft, and a sliding block is arranged in a sliding hole in the main rod; the extension rod is arranged in a notch on the inner side of the main rod and is fixedly connected with the sliding block, and the extension rod is connected with a clamping block through a hinge with a torsion spring. The utility model has a plurality of clamping modes.

Description

Industrial manipulator capable of adjusting clamping mode

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to an industrial mechanical arm capable of adjusting a clamping mode.

Background

The manipulator is coupled to the robotic arm for grasping, carrying objects or handling tools according to a fixed procedure. In the production and processing process of products, the products need to be grabbed through the clamping of the mechanical arm, and then the mechanical arm is enabled to grab the shaft parts to the destination through the movement of the mechanical arm. The clamping modes of the mechanical arms for clamping different products are different, for example, the clamping jaws for the box-packed products are vertical, the clamping jaws for the shaft-type products are furled and clamped, and the clamping jaws for the plate-shaped products are flat rods. The clamping mode of the manipulator in the prior art is single, and various requirements of users cannot be met.

Therefore, the technical personnel in the field provide an industrial robot capable of adjusting the clamping mode so as to solve the problems in the prior art.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problems, the utility model provides an industrial manipulator capable of adjusting a clamping mode, which comprises a driving frame, a clamping jaw and a first air cylinder, wherein the driving frame structurally comprises a handle rod, pin shafts, rotating rods, push rods and pull rods, the notches at the left end and the right end of the handle rod are respectively and rotatably connected with one pin shaft, the front end and the rear end of each pin shaft are respectively fixed with the bottom end of one rotating rod, the top end of each rotating rod is respectively hinged with the bottom end of one push rod, the top ends of two push rods at the front side are coaxially hinged with the bottom end of one pull rod, the top ends of two push rods at the rear side are coaxially hinged with the bottom end of one pull rod, the top ends of the two pull rods are fixedly connected through a connecting block, and the connecting block is fixed at the bottom end of a telescopic rod of the first air cylinder; the clamping jaws are arranged on the left lower side and the right lower side of the handle rod respectively, the clamping jaw structurally comprises a main rod and an extension rod, the top of the main rod is sleeved and fixed on a pin shaft, and a sliding block is arranged in a sliding hole in the main rod; the extension rod is arranged in a notch on the inner side of the main rod and is fixedly connected with the sliding block, and the extension rod is connected with a clamping block through a hinge with a torsion spring.

Preferably: the top ends of the two push rods on the front side and the hinged parts of the top ends of the two push rods on the rear side are both provided with torsion springs, and the torsion of the torsion springs drives the two push rods to rotate oppositely.

Preferably: the middle-upper sliding connection in the bottom breach of extension rod has the locating piece, the locating piece slides downwards and promotes the inside side rotation of clamp splice.

Preferably: the first cylinder is fixed at the top end of the fixing frame, the bottom ends of the four supporting legs of the fixing frame are fixed on the handle rod, and the fixing frame is fixed at the head of the mechanical arm.

Preferably: the bar-shaped through holes at the left part and the right part of the handle rod are respectively provided with a movable rod, the front end and the rear end of each movable rod are respectively fixed with a push block, and after the two movable rods move oppositely, the push blocks push the rotating rod to rotate outwards.

Preferably: a double-end second cylinder is fixed in a through hole in the middle of the handle rod, and two ends of the second cylinder are fixedly connected with the two moving rods respectively.

The utility model has the technical effects and advantages that:

1. the driving frame is arranged, the first air cylinder drives the pull rod to move downwards to enable the rotating rod to move inwards, so that the clamping jaw moves outwards and is suitable for clamping boxed articles; the push block is driven by the second cylinder to push the rotating rod outwards, so that the rotating rod is pushed to rotate outwards when the pull rod moves downwards, the two clamping jaws rotate downwards, and tubular objects are clamped suitably.

2. The clamping jaw is arranged, the extension rod slides downwards to increase the length of the clamping jaw, the positioning block slides downwards to enable the clamping block to rotate upwards, the driving rack can drive the clamping jaw to rotate upwards to be horizontal, and the clamping block is vertical and suitable for clamping plate-shaped objects.

Drawings

Fig. 1 is a perspective view of an industrial robot capable of adjusting a clamping manner according to an embodiment of the present disclosure;

fig. 2 is a perspective view of a driving frame of an industrial robot capable of adjusting a clamping manner according to an embodiment of the present application;

fig. 3 is a perspective view of a clamping jaw of an industrial robot capable of adjusting a clamping manner according to an embodiment of the application.

In the figure: the device comprises a handle rod 10, a clamping jaw 11, a main rod 12, a sliding block 13, an extension rod 14, a pin shaft 15, a clamping block 16, a positioning block 17, a rotating rod 18, a push rod 19, a pull rod 20, a connecting block 21, a fixing frame 22, a first air cylinder 23, a second air cylinder 24, a moving rod 25 and a push block 26.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the utility model in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the utility model and the practical application, and to enable others of ordinary skill in the art to understand the utility model for various embodiments with various modifications as are suited to the particular use contemplated.

Example 1

Referring to fig. 1 to 3, in the present embodiment, an industrial robot with an adjustable clamping manner is provided, including a driving frame, a clamping jaw 11, and a first air cylinder 23, where the driving frame includes a handle 10, a pin 15, a rotating rod 18, a push rod 19, and a pull rod 20, a moving rod 25 is respectively disposed in a strip-shaped through hole at the left and right portions of the handle 10, a push block 26 is respectively fixed at the front and rear ends of each moving rod 25, after the two moving rods 25 move oppositely, the push block 26 pushes the rotating rod 18 to rotate outward, a second air cylinder 24 with two ends is fixed in a through hole at the middle portion of the handle 10, and two ends of the second air cylinder 24 are respectively fixedly connected to the two moving rods 25; the notches at the left end and the right end of the handle rod 10 are respectively and rotatably connected with a pin shaft 15, the front end and the rear end of each pin shaft 15 are respectively fixed with the bottom end of a rotating rod 18, and the top end of each rotating rod 18 is respectively hinged with the bottom end of a push rod 19; the top ends of the two push rods 19 at the front side are coaxially hinged with the bottom end of one pull rod 20, the top ends of the two push rods 19 at the rear side are coaxially hinged with the bottom end of one pull rod 20, torsion springs are arranged at the hinged parts of the top ends of the two push rods 19 at the front side and the top ends of the two push rods 19 at the rear side, and the torsion forces of the torsion springs drive the two push rods 19 to rotate oppositely; the top ends of the two pull rods 20 are fixedly connected through a connecting block 21, and the connecting block 21 is fixed at the bottom end of a telescopic rod of the first air cylinder 23; the two clamping jaws 11 are respectively arranged at the left lower side and the right lower side of the handle rod 10, the structure of the clamping jaw 11 comprises a main rod 12 and an extension rod 14, the top of the main rod 12 is sleeved and fixed on a pin shaft 15, and a sliding block 13 is arranged in a sliding hole in the main rod 12; the extension rod 14 is arranged in a gap on the inner side of the main rod 12 and is fixedly connected with the sliding block 13, the extension rod 14 is connected with a clamping block 16 through a hinge with a torsion spring, a positioning block 17 is connected with the gap on the bottom end of the extension rod 14 in a sliding manner up and down, and the positioning block 17 slides downwards to push the clamping block 16 to rotate inwards; the first cylinder 23 is fixed at the top end of the fixing frame 22, the bottom ends of four supporting legs of the fixing frame 22 are fixed on the handle rod 10, and the fixing frame 22 is fixed at the head of the mechanical arm.

The working principle of the utility model is as follows: when box-shaped articles are clamped, after the first air cylinder 23 extends, the two pull rods 20 are driven to move downwards through the connecting block 21, the two push rods 19 on the front side and the two push rods 19 on the rear side are matched and rotated under the action of the torsion spring to drive the rotating rod 18 to rotate inwards, the rotating rod 18 drives the clamping jaws 11 to rotate outwards through the pin shaft 15 after rotating, so that the two clamping jaws 11 cover two sides of the articles, and then after the first air cylinder 23 contracts and resets, the two clamping jaws 11 are folded to clamp the articles; when a tubular article is clamped, the second cylinder 24 extends out and then drives the two moving rods 25 to move oppositely, so that the pushing block 26 moves outwards and pushes the rotating rod 18 to rotate outwards, after the first cylinder 23 extends, the two pull rods 20 move downwards and press the top ends of the two push rods 19 at the front side and the two push rods 19 at the rear side downwards, so that after the two push rods 19 are opened, the rotating rod 18 pushes the rotating rod 18 to move outwards, the rotating rod 18 drives the clamping jaws 11 to move inwards through the pin shafts 15, and after the two clamping jaws 11 are folded, the tubular article is clamped through the two clamping blocks 16; when the plate-shaped article is clamped, the clamping block 16 is rotated upwards, the positioning block 17 slides downwards and abuts against the outer side of the clamping block 16 to prevent the clamping block 16 from rotating downwards, then the first air cylinder 23 opens like driving the clamping jaw 11 to clamp the box-shaped article, the rotating rod 18 is pressed downwards along with the downward movement of the push rod 19 until the rotating rod 18 drives the clamping jaw 11 to rotate outwards to be horizontal through the pin shaft 15, the clamping block 16 is vertical, and then the first air cylinder 23 contracts again to drive the two clamping jaws 11 to rotate downwards and oppositely, so that the clamping block 16 clamps the plate-shaped article. The utility model has a plurality of clamping modes.

It is to be understood that the described embodiments are merely a few embodiments of the utility model, and not all embodiments. All other embodiments, which can be derived by one of ordinary skill in this and related arts based on the embodiments of the present invention without creative efforts, shall fall within the protection scope of the present invention. Structures, devices, and methods of operation not specifically described or illustrated herein are generally practiced in the art without specific recitation or limitation.

Claims

1. An industrial manipulator capable of adjusting a clamping mode is characterized by comprising a driving frame, a clamping jaw (11) and a first air cylinder (23), the structure of the driving frame comprises a handle rod (10), a pin shaft (15), a rotating rod (18), a push rod (19) and a pull rod (20), the handle rod (10) is respectively and rotatably connected with a pin shaft (15) in the gap at the left end and the right end, the front end and the rear end of each pin shaft (15) are respectively fixed with the bottom end of a rotating rod (18), the top end of each rotating rod (18) is respectively hinged with the bottom end of a push rod (19), the top ends of two push rods (19) at the front side are coaxially hinged with the bottom end of a pull rod (20), the top ends of two push rods (19) at the rear side are coaxially hinged with the bottom end of a pull rod (20), the top ends of two pull rods (20) are fixedly connected through a connecting block (21), the connecting block (21) is fixed at the bottom end of the telescopic rod of the first air cylinder (23); the two clamping jaws (11) are respectively arranged on the left lower side and the right lower side of the handle rod (10), the structure of each clamping jaw (11) comprises a main rod (12) and an extension rod (14), the top of the main rod (12) is sleeved and fixed on a pin shaft (15), and a sliding block (13) is arranged in a sliding hole in the main rod (12); the extension rod (14) is arranged in a notch on the inner side of the main rod (12) and is fixedly connected with the sliding block (13), and the extension rod (14) is connected with a clamping block (16) through a hinge with a torsion spring.

2. The industrial manipulator with the adjustable clamping manner as claimed in claim 1, wherein torsion springs are arranged at the hinged positions of the top ends of the two push rods (19) at the front side and the top ends of the two push rods (19) at the rear side, and the torsion forces of the torsion springs drive the two push rods (19) to rotate oppositely.

3. The industrial robot with adjustable clamping manner according to claim 1, wherein a positioning block (17) is connected to the bottom end notch of the extension rod (14) in a vertically sliding manner, and the positioning block (17) slides downwards to push the clamping block (16) to rotate inwards.

4. An industrial robot with adjustable clamping modes according to claim 1, characterized in that the first air cylinder (23) is fixed at the top end of a fixing frame (22), the bottom ends of four legs of the fixing frame (22) are fixed on a handle rod (10), and the fixing frame (22) is fixed at the head of a mechanical arm.