CN217020412U

CN217020412U - Claw assembly for manipulator

Info

Publication number: CN217020412U
Application number: CN202123281457.9U
Authority: CN
Inventors: 肖双喜; 王国斌; 张静
Original assignee: Zhenjiang Yujiu Intelligent Equipment Ltd By Share Ltd
Current assignee: Zhenjiang Yujiu Intelligent Equipment Ltd By Share Ltd
Priority date: 2021-12-24
Filing date: 2021-12-24
Publication date: 2022-07-22
Anticipated expiration: 2031-12-24

Abstract

The utility model discloses a jaw assembly for a manipulator, which comprises a first dust cover, a driving assembly and a clamping assembly, wherein the driving assembly is arranged on the inner side of the first dust cover; according to the utility model, through the arrangement of the driving assembly, the functions of automatic detection, automatic clamping and automatic return can be effectively realized, the automation is improved, the working efficiency is also improved, the personnel do not need to look by, so that the danger is reduced, the safety of the personnel is ensured, the clamping assembly can be used for realizing the clamping jaw effect on materials, the clamping assembly can be used for clamping objects with different sizes and specifications, and the clamping assembly has better support property and clamping property, so that the stable clamping effect is realized, and the movable installation of parts connected with the air cylinder is facilitated by the matching of the Y-shaped double toggle joint and the linkage connecting seat.

Description

A jack catch subassembly for manipulator

Technical Field

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

Background

The manipulator clamping jaw system is a novel device developed in the process of mechanization and automation production, in the modern production process, the manipulator clamping jaw system is widely applied to an automatic production line, the development and production of robots are in the high technical field, and a new technology is rapidly developed, so that the development of the manipulator clamping jaw system is promoted, the manipulator clamping jaw system can be better organically combined with mechanization and automation, and the manipulator clamping jaw system is not as flexible as a hand, but has the characteristics of continuously repeated work and labor, no fatigue, no danger and large force for grabbing heavy objects compared with the hand. However, the jaw assembly of the existing manipulator does not have the functions of automatic detection, automatic clamping and automatic returning, people need to pay attention to and control the jaw assembly all the time, the working efficiency is reduced, and the danger is easily increased when the jaw assembly is operated by a worker.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a jaw assembly for a manipulator, which has the functions of automatic detection, automatic clamping and automatic returning, not only improves the automation, but also improves the working efficiency, does not need to be attended by personnel, thereby reducing the danger and ensuring the safety of the personnel so as to solve the problems in the background technology.

In order to achieve the purpose, the utility model provides the following technical scheme: a clamping jaw assembly for a manipulator comprises a first dust cover, a driving assembly and a clamping assembly, wherein the driving assembly is arranged on the inner side of the first dust cover, the clamping assembly is arranged at one end of the driving assembly, and a mounting plate in the driving assembly is mounted on the inner side of the first dust cover;

the driving assembly further comprises a mechanical arm bearing plate, a first main body support, a second main body support, an assembly adapter flange, a rack, a first cylindrical gear, a jacking cap, a gear and an air cylinder, the mechanical arm bearing plate is mounted on the surface of the mounting plate, the first main body support is mounted on the two sides of the surface of the mounting plate, the second main body support is mounted on the two sides of the surface of the mounting plate and located on the inner side of the first main body support, the assembly adapter flange is movably mounted in the middle of the back of the mounting plate, the first cylindrical gear is movably mounted on the front side and the back side of the back of the mounting plate respectively, the rack is meshed with the outer side of the first cylindrical gear, the jacking cap is movably mounted on the surface of the mounting plate, and the air cylinder is movably mounted on the upper portion and the lower portion of the surface of the mounting plate.

The clamping component comprises a guide rail sliding block assembly, a first arm plate mounting seat, a second arm plate mounting seat, an arm plate, a second cylindrical gear and a gear middle shaft, the guide rail sliding block assembly is mounted on two sides of the back face of the mounting plate, and the first arm plate mounting seat is connected to one side of the surface of the rail sliding block assembly in a sliding mode.

The second arm plate mounting seat is connected to the other side of the surface of the sliding block assembly in a sliding mode, and the arm plates are mounted at one ends of the first arm plate mounting seat and the second arm plate mounting seat respectively.

The gear middle shaft is movably arranged at the front part and the middle part inside the arm plate respectively, and the second cylindrical gear is arranged at the upper part of the surface of the gear middle shaft.

The front side of the inside of the arm plate is provided with a first reinforcing rib, one side of the inside of the arm plate is provided with a second reinforcing rib, and the other side of the inside of the arm plate is provided with a third reinforcing rib.

The device comprises a top pressing cap, a jet mark bearing mounting base, a cylinder and a double lug ring upper base, wherein the jet mark bearing mounting base is movably mounted at one end of the top pressing cap, the bottom of the jet mark bearing mounting base is mounted on the back face of the mounting plate through bolts, and the double lug ring upper base is mounted at one end of the cylinder.

The double-earring mounting structure comprises a double-earring upper seat, a double-earring base, a bolt, a first main body support and a second main body support, wherein the double-earring base is movably mounted at one end of the double-earring upper seat, the bottom of the double-earring base is mounted at the back of a mounting plate through the bolt, and the second main body support is provided with a second dust cover on the surface.

The Y-shaped double-toggle joint is installed at the output end of the air cylinder, a linkage connection seat is movably installed on one side of the Y-shaped double-toggle joint, and one end of the linkage connection seat is installed on the inner surface of the first arm plate installation seat and the inner surface of the second arm plate installation seat.

The hydraulic buffer is installed at the bottom of the cylinder, a hydraulic buffer installation seat is installed at the bottom of the hydraulic buffer, and the bottom of the hydraulic buffer installation seat is installed on the surface of the installation plate.

In summary, due to the adoption of the technology, the utility model has the beneficial effects that:

according to the utility model, through the arrangement of the driving assembly, the functions of automatic detection, automatic clamping and automatic return can be effectively realized, the automation is improved, the working efficiency is also improved, and the personnel do not need to look by, so that the danger is reduced and the safety of the personnel is ensured.

The clamping assembly can be used for realizing the function of a clamping jaw on materials, can realize the clamping of objects with different sizes and specifications, and has better supporting property and clamping property, thereby achieving the function of stable clamping.

The utility model utilizes the matching of the Y-shaped double toggle joint and the linkage connecting seat, not only facilitates the movable installation of the air cylinder and the components connected with the air cylinder, but also ensures the stable push-pull of the air cylinder, and utilizes the matching of the hydraulic buffer and the hydraulic buffer installing seat to realize the buffer protection effect on the air cylinder, thereby avoiding the collision of the air cylinder when the air cylinder runs at a higher speed and ensuring the service life of the air cylinder.

Drawings

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

FIG. 2 is a schematic perspective view of the cylinder of the present invention;

FIG. 3 is a schematic perspective view of an assembly adaptor flange according to the present invention;

FIG. 4 is a schematic view of the arm plate assembly of the present invention;

FIG. 5 is a schematic view of a first spur gear mounting arrangement of the present invention;

FIG. 6 is a schematic view of a cylinder mounting structure of the present invention;

FIG. 7 is a schematic view of the electric putter of the present invention;

fig. 8 is a schematic view of the exhaust fan of the present invention.

In the figure: 1. a first dust cover; 2. a second dust cover; 3. mounting a plate; 4. a mechanical arm bearing plate; 5. a first body support; 6. a second body support; 7. an assembly adapter flange; 8. a guide rail slider assembly; 9. a rack; 10. a first arm plate mounting base; 11. a second arm plate mounting seat; 12. an arm plate; 13. a target bearing mounting base; 14. a first cylindrical gear; 15. pressing the cap; 16. a gear; 17. a earring base; 18. a double lug ring upper seat; 19. a cylinder; 20. a Y-shaped double toggle joint; 21. a linkage connection seat; 22. a second cylindrical gear; 23. a first reinforcing rib; 24. a gear middle shaft; 25. a second reinforcing rib; 26. a third reinforcing rib; 27. a hydraulic buffer; 28. a hydraulic buffer mount; 29. a first support plate; 30. an electric push rod; 31. a second support plate; 32. a baffle plate; 33. a port; 34 exhaust fan.

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 clearly and completely described below with reference to the accompanying drawings of the 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, as 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.

Example 1

The utility model provides a jaw assembly for a manipulator, which comprises a first dust cover 1, a driving assembly and a clamping assembly, wherein the driving assembly is arranged at the inner side of the first dust cover 1, the clamping assembly is arranged at one end of the driving assembly, a mounting plate 3 in the driving assembly is arranged at the inner side of the first dust cover 1, and the mounting plate 3 is used for connecting and mounting components of the driving assembly;

it is worth to be noted that the driving component further comprises a mechanical arm bearing plate 4, a first main body support 5, a second main body support 6, an assembly adapter flange 7, a rack 9, a first cylindrical gear 14, a jacking cap 15, a gear 16 and a cylinder 19, wherein the mechanical arm bearing plate 4 is installed on the surface of the installation plate 3, and the mechanical arm bearing plate 4 plays a role in installation and connection so as to ensure stable operation;

in addition, the first main body bracket 5 is arranged on two sides of the surface of the mounting plate 3, the second main body bracket 6 is arranged on two sides of the surface of the mounting plate 3 and is positioned at the inner side of the first main body bracket 5, the assembly adapter flange 7 is movably arranged in the middle of the back of the mounting plate 3, the first cylindrical gears 14 are respectively and movably arranged on the front side and the back side of the back of the mounting plate 3, the rack 9 is meshed with the outer side of the first cylindrical gear 14, the jacking cap 15 is movably arranged on the surface of the mounting plate 3, the air cylinder 19 is movably arranged on the upper part and the lower part of the surface of the mounting plate 3, the first main body bracket 5 and the second main body bracket 6 are respectively used for supporting and installing the components of the main body so as to ensure the stable operation of the main body components, the assembly adapter flange 7 plays a role in transmission so as to drive the rack 9 to work after being stressed, and the first cylindrical gear 14 plays a role in supporting assistance, so as to ensure the rack 9 to stably move, and the jacking cap 15 is matched with the first cylindrical gear 14 to ensure the rack 9 to horizontally and stably work, thereby driving the clamping assembly to carry out clamping work.

The automatic clamping device is characterized in that the automatic clamping device is installed on a mechanical arm through an assembly adapter flange 7, an electrical system is connected simultaneously to achieve the aim of automatic control, after the electromagnetic valve receives a signal, the air cylinder 19 is propelled through air pressure control, a push rod of the air cylinder 19 advances outwards, meanwhile, the first follow-up cylindrical gear 14 and the rack 9 interact, due to the fact that the two sets of racks are arranged, each set is divided into a driving rack, at the moment, the driven racks can act synchronously, clamping and loosening of clamping arms are achieved, photoelectric detectors are arranged at two ends, the photoelectric detectors at the two ends can feed back real-time workpiece position states, automatic detection, automatic clamping and automatic return functions are achieved, and working efficiency is improved.

In addition, as shown in fig. 5 and 6, a shooting mark bearing mounting seat 13 is movably mounted at one end of the jacking cap 15, the bottom of the shooting mark bearing mounting seat 13 is mounted on the back surface of the mounting plate 3 through a bolt, a double-lug ring upper seat 18 is mounted at one end of the air cylinder 19, the shooting mark bearing mounting seat 13 is used for supporting and mounting the jacking cap 15, and the double-lug ring upper seat 18 is used for assisting the double-lug ring base 17 in mounting the air cylinder 19.

In addition, as shown in fig. 1, 2 and 6, a binaural ring base 17 is movably mounted at one end of the binaural ring upper seat 18, the bottom of the binaural ring base 17 is mounted on the back surface of the mounting plate 3 through bolts, the surface of the first main body bracket 5 is provided with a second dust cover 2, the binaural ring upper seat 18 is used for being matched with the binaural ring upper seat 18 to mount the cylinder 19, and the second dust cover 2 is used for being matched with the first dust cover 1 to achieve the effect of shielding and shielding various components.

In addition, as shown in fig. 3 and 6, a Y-shaped double toggle joint 20 is mounted at the output end of the cylinder 19, a linkage joint seat 21 is movably mounted at one side of the Y-shaped double toggle joint 20, one end of the linkage joint seat 21 is mounted on the inner surfaces of the first arm plate mounting seat 10 and the second arm plate mounting seat 11, and the Y-shaped double toggle joint 20 and the linkage joint seat 21 are matched to enable the output end of the cylinder 19 to push the first arm plate mounting seat 10 and the second arm plate mounting seat 11 to move.

In addition, as shown in fig. 6, a hydraulic shock absorber 27 is mounted on the bottom of the cylinder 19, a hydraulic shock absorber mounting seat 28 is mounted on the bottom of the hydraulic shock absorber 27, the bottom of the hydraulic shock absorber mounting seat 28 is mounted on the surface of the mounting plate 3, the hydraulic shock absorber mounting seat 28 is used for mounting and fixing the hydraulic shock absorber 27, and the hydraulic shock absorber 27 is used for performing a shock-absorbing protection function on the cylinder 19, so that the cylinder 19 is prevented from being damaged due to collision.

In addition, as shown in fig. 7 and 8, the first support plate 29 is installed at two parts outside the first dust cover 1, the electric push rod 30 is installed at one side of the first support plate 29, the second support plate 31 is installed at the output end of the electric push rod 30, the baffle 32 is installed at the back of the second support plate 31, the through opening 33 is formed in the middle of the outside of the first dust cover 1, the exhaust fan 34 is installed in the inner cavity of the through opening 33, the first support plate 29 can be used for supporting the electric push rod 30 and facilitating pushing and pulling of the baffle 32, the baffle 32 is used for shielding the through opening 33, the through opening 33 facilitates ventilation and heat dissipation, the exhaust fan 34 installed inside the first dust cover is used for accelerating the speed and the effect of exhaust, and the baffle 32 can be used for protecting the first dust cover when not in use.

Example 2

Referring to fig. 1-4, the difference between the embodiment 2 and the embodiment 1 is:

the centre gripping subassembly includes guide rail slider assembly 8, first arm board mount pad 10, second arm board mount pad 11, arm board 12, second cylindrical gear 22, gear axis 24, guide rail slider assembly 8 is installed in the both sides at the mounting panel 3 back, first arm board mount pad 10 sliding connection is in one side on guide rail slider assembly 8 surface, guide rail slider assembly 8 is used for carrying out auxiliary connection to second arm board mount pad 11, thereby guarantee its steady operation, first arm board mount pad 10 then is used for connecting and fixes one of them group arm board 12.

Preferably, as shown in fig. 1, 2, 3 and 4, the second arm plate mounting seat 11 is slidably connected to the other side of the surface of the slider assembly 8, and the arm plates 12 are respectively mounted at one end of the first arm plate mounting seat 10 and one end of the second arm plate mounting seat 11, so as to facilitate connection and mounting of another group of arm plates 12, and the arm plates 12 are used for mounting the gear center shaft 24 and the second cylindrical gear 22 and assisting in holding the material.

In addition, as shown in fig. 4, the gear middle shaft 24 is movably installed at the front part and the middle part inside the arm plate 12, the second cylindrical gear 22 is installed at the upper part of the surface of the gear middle shaft 24, the gear middle shaft 24 is used for supporting and installing the second cylindrical gear 22, the second cylindrical gear 22 can be used for clamping materials, so that the clamping stability and effect of the materials are improved, the clamping operation of materials with different specifications is realized in a driven state, the use and clamping multi-directionality is improved, and the use effect of the materials is improved.

In addition, as shown in fig. 4, a first reinforcing rib 23 is installed on the front side inside the arm plate 12, a second reinforcing rib 25 is installed on one side inside the arm plate 12, and a third reinforcing rib 26 is installed on the other side inside the arm plate 12, and the first reinforcing rib 23, the second reinforcing rib 25 and the third reinforcing rib 26 are matched to increase the supporting force of the arm plate 12, so that the clamping stability of the arm plate is ensured, and a material with a large specification can be clamped and supported.

Example 3

The present example also provides a method of using a jaw assembly for a robot arm, comprising the steps of:

s1, assembling, namely firstly, installing the components according to the attached drawings, and sequentially installing the components according to the installation sequence, wherein the components are connected and installed through hexagon socket bolts, self-locking nuts, plain washers, deep groove ball bearings, roller bearings and hexagon socket countersunk head screws, so that the connection stability of the components is ensured;

s2, driving, starting connection through an external controller, connecting an electrical system to achieve the aim of automatic control, wherein an assembly adapter flange is arranged on a mechanical arm, then after an electromagnetic valve receives a signal, the electromagnetic valve utilizes air pressure to control and propel a cylinder, a push rod at the output end of the cylinder extends outwards and can be driven by the first cylindrical gear and a rack to move according to the interaction of the first cylindrical gear and the rack, two groups of clamping components are arranged, because the two groups of clamping components are provided with four racks, each group is divided into a driving rack, the driven racks can synchronously act at the moment to clamp and release the clamping arms, and the photoelectric detectors arranged at two ends can be used for feeding back the real-time position state of a workpiece, so that the workpiece achieves the functions of automatic detection, automatic clamping and automatic return, and the working efficiency of the workpiece is improved;

s3, clamping the materials, namely, when the first arm plate mounting seat and the second arm plate mounting seat are driven to drive the arm plates to move together, and the inner sides of the first arm plate mounting seat and the second arm plate mounting seat move close to each other during clamping, clamping the materials by using the second cylindrical gear and the teeth on the outer surface of the second cylindrical gear so as to fix the materials, so that the clamping stability and the stable clamping work of the materials are improved, and when the materials are clamped to a required position, the materials are driven to move outwards so as to put down the materials, so that the subsequent work is facilitated;

s4, testing and maintenance, need inspect each part after finishing work at every turn to avoid appearing the screw not hard up or phenomenon such as crackle appears in the part and take place, need adopt spare part and spare part to change it after the above-mentioned problem appears, or screw up the screw that becomes flexible, should need the professional to work when the operation, in order to avoid taking place the accident, detect and accomplish the back and can close this equipment like unconsciously outward, in order to guarantee next normal use.

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 equivalent alternatives or modifications according to the technical solution of the present invention and the inventive concept thereof should be covered by the scope of the present invention.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Claims

1. The utility model provides a jack catch assembly for manipulator, includes first dust cover (1), drive assembly and centre gripping subassembly, its characterized in that: the driving assembly is arranged on the inner side of the first dust cover (1), the clamping assembly is arranged at one end of the driving assembly, and the mounting plate (3) in the driving assembly is mounted on the inner side of the first dust cover (1);

the driving component further comprises a mechanical arm bearing plate (4), a first main body support (5), a second main body support (6), an assembly adapter flange (7), a rack (9), a first cylindrical gear (14), a top pressing cap (15), a gear (16) and a cylinder (19), the mechanical arm bearing plate (4) is installed on the surface of the installation plate (3), the first main body support (5) is installed on two sides of the surface of the installation plate (3), the second main body support (6) is installed on two sides of the surface of the installation plate (3) and located on the inner side of the first main body support (5), the assembly adapter flange (7) is movably installed in the middle of the back of the installation plate (3), the first cylindrical gear (14) is movably installed on the front side and the rear side of the back of the installation plate (3) respectively, and the rack (9) is meshed with the outer side of the first cylindrical gear (14), the top pressing cap (15) is movably arranged on the surface of the mounting plate (3), and the air cylinder (19) is movably arranged on the upper portion and the lower portion of the surface of the mounting plate (3).

2. A jaw assembly for a robot arm according to claim 1, wherein: the clamping component comprises a guide rail sliding block assembly (8), a first arm plate mounting seat (10), a second arm plate mounting seat (11), an arm plate (12), a second cylindrical gear (22) and a gear middle shaft (24), the guide rail sliding block assembly (8) is mounted on two sides of the back face of the mounting plate (3), and the first arm plate mounting seat (10) is connected to one side of the surface of the guide rail sliding block assembly (8) in a sliding mode.

3. A jaw assembly for a robot according to claim 2, wherein: the second arm plate installation seat (11) is connected to the other side of the surface of the sliding block assembly (8) in a sliding mode, and the arm plates (12) are installed at one ends of the first arm plate installation seat (10) and the second arm plate installation seat (11) respectively.

4. The jaw assembly for a robot hand of claim 2, wherein: the gear middle shaft (24) is movably arranged at the front part and the middle part of the inner part of the arm plate (12) respectively, and the second cylindrical gear (22) is arranged at the upper part of the surface of the gear middle shaft (24).

5. The jaw assembly for a robot hand of claim 2, wherein: first strengthening rib (23) are installed to the inside front side of arm board (12), second strengthening rib (25) are installed to one side of arm board (12) inside, third strengthening rib (26) are installed to the inside opposite side of arm board (12).

6. A jaw assembly for a robot arm according to claim 1, wherein: one end movable mounting of top pressure cap (15) has shot mark bearing mount pad (13), the back mounted of bolt and mounting panel (3) is passed through to the bottom of shot mark bearing mount pad (13), seat (18) on the binaural is installed to the one end of cylinder (19).

7. The jaw assembly for a robot hand of claim 6, wherein: the double-lug-ring mounting structure is characterized in that a double-lug-ring base (17) is movably mounted at one end of a double-lug-ring upper seat (18), the bottom of the double-lug-ring base (17) is mounted on the back face of the mounting plate (3) through bolts, and a second dust cover (2) is mounted on the surface of the first main body support (5).

8. The jaw assembly for a robot hand of claim 2, wherein: the Y-shaped double-toggle joint (20) is installed at the output end of the air cylinder (19), a linkage joint seat (21) is movably installed on one side of the Y-shaped double-toggle joint (20), and one end of the linkage joint seat (21) is installed on the inner surfaces of the first arm plate installation seat (10) and the second arm plate installation seat (11).

9. The jaw assembly for a robot hand of claim 1, wherein: the hydraulic buffer mounting structure is characterized in that a hydraulic buffer (27) is mounted at the bottom of the air cylinder (19), a hydraulic buffer mounting seat (28) is mounted at the bottom of the hydraulic buffer (27), and the bottom of the hydraulic buffer mounting seat (28) is mounted on the surface of the mounting plate (3).