CN217020413U

CN217020413U - Clamping manipulator and clamping device

Info

Publication number: CN217020413U
Application number: CN202123406032.6U
Authority: CN
Inventors: 李继成; 孙春凤
Original assignee: Himile Mechanical Manufacturing Co Ltd
Current assignee: Himile Mechanical Manufacturing Co Ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-07-22
Anticipated expiration: 2031-12-31

Abstract

The utility model discloses a clamping manipulator and a clamping device, belonging to the technical field of clamping equipment, wherein the clamping manipulator comprises two clamping block groups capable of moving in opposite directions, and the two clamping block groups are respectively fixed at two output ends of a power driving device; each clamping block group comprises at least one clamping block, and the clamping blocks in the two clamping block groups are arranged in a staggered manner; the clamping device comprises a bracket, and a plurality of clamping manipulators are arranged on the bracket in parallel; the utility model can avoid the deformation of the clamped workpiece and ensure the product quality; interference between the clamped workpiece and the manipulator can be avoided.

Description

Clamping manipulator and clamping device

Technical Field

The utility model relates to a clamping manipulator and a clamping device, and belongs to the technical field of clamping equipment.

Background

In modern industrial production, more and more manipulators are used to replace manpower, so that grabbing, clamping and the like of articles are completed, and automation is realized. But snatching to long and thin part, especially to having certain crooked and easy slender pipe fitting that warp, for example the pyrocondensation pipe that preparation track board steel reinforcement cage was used, current clamp device had following problem when pressing from both sides the clamp steel reinforcement cage pyrocondensation pipe:

1. because the heat shrinkable tube needs to have certain bending, the bending part of the heat shrinkable tube is easy to interfere with the clamping jaw of the manipulator when grabbing.

2. Because the pyrocondensation pipe is yielding easily, the manipulator is when pressing from both sides the pyrocondensation pipe of getting, and the pyrocondensation pipe is pressed from both sides flat easily, causes the damage of pyrocondensation pipe.

In view of the foregoing, it is apparent that the prior art has inconvenience and disadvantages in practical use, and thus, needs to be improved.

SUMMERY OF THE UTILITY MODEL

The technical problem to be solved by the utility model is to provide a clamping manipulator and a clamping device, which can avoid deformation of a clamped workpiece and ensure the product quality; interference between the clamped workpiece and the manipulator can be avoided.

In order to solve the technical problems, the utility model adopts the following technical scheme: a clamping manipulator comprises two clamping block groups capable of moving oppositely, wherein the two clamping block groups are respectively fixed at two output ends of a power driving device;

each clamping block group comprises at least one clamping block, and the clamping blocks in the two clamping block groups are arranged in a staggered mode.

Preferably, the clamping block is L-shaped, and the inner side of the clamping block is provided with an arc surface; the lower end of the inner side of the clamping block is provided with a guide part, and the guide part is provided with an arc surface; the inclined surface or the arc surface is smoothly connected with the arc surface on the clamping block.

Preferably, a clamping cushion block is arranged on the inner side of the clamping block; the inner side of the clamping cushion block is provided with an arc surface.

Preferably, the clamping cushion block is made of rubber; the lower end of the inner side of the clamping cushion block is provided with a guide part; or the inner side of the clamping block is provided with a guide part which protrudes out of the clamping cushion block;

the guide part is provided with an inclined plane; the inclined plane is smoothly connected with the arc surface on the clamping cushion block.

Preferably, a connecting plate is fixed at the output end of the power driving device; the clamping block is fixed at one end of the connecting plate;

and the other end of the connecting plate is provided with a filling block.

Preferably, the connecting plates in the two clamping block groups are alternately arranged; when the clamping manipulator is in an opening state, the filling blocks are filled in the space between the adjacent clamping blocks.

Preferably, the filling block is L-shaped; the end part of the inner side of the filling block is provided with an inclined plane or an arc surface.

The clamping device comprises a support, wherein a plurality of clamping mechanical arms are arranged on the support in parallel;

and a baffle is arranged at the bottom of the clamping manipulator and is fixed on the support.

Preferably, the clamping manipulator is movably arranged on the bracket.

Preferably, an accommodating channel is formed between the baffle and two clamping block groups in the clamping manipulator.

After the technical scheme is adopted, compared with the prior art, the utility model has the following advantages:

the utility model can avoid the deformation of the clamped workpiece and ensure the product quality; interference between the clamped workpiece and the manipulator can be avoided.

The clamping device can be used for clamping pipe fittings and can also be used for clamping bars.

The present invention will be described in detail below with reference to the drawings and examples.

Drawings

FIG. 1 is a schematic structural view showing an opened state of a clamping robot in accordance with embodiment 1;

FIG. 2 is a schematic structural view showing a clamping state of the clamping robot in accordance with embodiment 1;

fig. 3 is a schematic structural view of the gripping device according to embodiment 2;

fig. 4 is a schematic structural view of the gripping device according to embodiment 2 (the gripping robot is in an open state);

FIG. 5 is a schematic view showing a structure of a gripping apparatus in embodiment 2 (a gripping manipulator is in a gripping state);

in the figure, the position of the first and second end faces,

the device comprises a power driving device 1, a connecting plate 2, a clamping block 3, a clamping cushion block 4, a filling block 5, a guide part 6, a side convex part 7, a guide rail 8, a support 9 and a baffle 10.

Detailed Description

In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings.

Example 1

As shown in fig. 1-2, the present embodiment provides a clamping manipulator, which includes two clamping block sets capable of moving toward each other, where each clamping block set includes at least one clamping block 3, and the clamping blocks 3 in the two clamping block sets are arranged in a staggered manner; the clamping blocks 3 in the two clamping block groups are close to each other to clamp the pipe fitting, and the clamping blocks 3 in the two clamping block groups are far away from each other to release the pipe fitting.

The clamping block 3 is L-shaped, and the inner side of the clamping block 3 is provided with an arc surface, so that a round pipe fitting can be clamped conveniently, and deformation is reduced; the lower end of the inner side of the clamping block 3 is provided with a guide part 6, and the guide part 6 is provided with an inclined plane and has a guide function; the inclined plane is smoothly connected with the arc surface on the clamping block 3.

As an alternative, a clamping cushion block 4 is mounted on the inner side of the clamping block 3 by using a screw; the inner side of the clamping cushion block 4 is provided with an arc surface. The material of the clamping cushion block 4 is preferably rubber; the lower end of the inner side of the clamping cushion block 4 is provided with a guide part 6; or, the inner side of the clamping block 3 is provided with a guide part 6, and the guide part 6 protrudes out of the clamping cushion block 4; the guide part 6 is provided with an inclined plane or an arc surface, and has a guide function; the inclined surface or the arc surface is smoothly connected with the arc surface on the clamping cushion block 4.

The two clamping block groups are respectively fixed at two output ends of the power driving device 1, and the two output ends are sliding blocks which can move oppositely and oppositely; the power drive 1 is preferably a pneumatic finger.

Preferably, the clamping block 3 is fixed at the lower side of one end of the connecting plate 2, and the connecting plate 2 is fixed at the output end of the power driving device 1.

Preferably, a filling block 5 is arranged at the lower side of the other end of the connecting plate 2; the filling block 5 is L-shaped; the end part of the inner side of the filling block 5 is provided with an inclined surface or an arc surface which is the same as that of the guide part 6, and the filling block has a guide function.

Preferably, the connecting plates 2 in the two clamping block groups are arranged alternately, so that the filling blocks 5 can fill the space between the adjacent clamping blocks 3, and the interference of parts such as pipes and the like entering the manipulator is avoided.

A side convex part 7 is arranged at the upper part of one side of the clamping block 3; when the manipulator is in an opening state, the filling block 5 protrudes inwards to fill the space formed by two adjacent clamping blocks 3, namely the filling block 5 is filled in the space below the side protrusions 7 of the clamping blocks 3.

Example 2

As shown in fig. 3 to 5, this embodiment provides a clamping device, which includes a support 9, wherein a plurality of clamping manipulators described in embodiment 1 are arranged on the support 9 side by side, and the clamping manipulators are movably arranged on the support 9 through a guide rail 8; the bottom of the clamping manipulator is provided with a baffle 10, and the baffle 10 is fixed on the support 9.

The upper plane of the baffle plate 10 is contacted with the lower end faces of the clamping block 3 and the filling block 3 in the clamping manipulator or a gap is arranged between the upper plane of the baffle plate 10 and the lower end faces of the clamping block 3 and the filling block 3 in the clamping manipulator, and the gap value is preferably less than or equal to 1/5 of the diameter of the pipe fitting; the baffle 10 and the clamping manipulator form an accommodating channel for clamping the pipe fitting between the two clamping block groups, and the accommodating channel can prevent components such as the pipe fitting from entering the manipulator to generate interference.

According to the utility model, the guide part is arranged on the inner side of the clamping block, and the inclined plane is arranged on the inner side end part of the filling block, so that the pipe fitting is prevented from being interfered when being conveyed to the accommodating channel, the pipe fitting is conveniently and gradually lifted to enter the accommodating channel between the clamping cushion blocks 4, and the clamping and the circle clamping of the pipe fitting are realized.

The clamping blocks in the two clamping block groups in the clamping manipulator are arranged in a staggered mode, so that the slender pipe fitting can be clamped from different positions, the pipe fitting is uniformly stressed, and the pipe fitting can be better clamped.

The clamping cushion block is made of rubber, so that friction force can be increased, clamping stability is guaranteed, and damage to the slender pipe fitting is avoided.

The clamping manipulator can also clamp materials such as bars and the like.

The foregoing is illustrative of the best mode of the utility model and details not described herein are within the common general knowledge of a person of ordinary skill in the art. The scope of the present invention is defined by the appended claims, and any equivalent modifications based on the technical teaching of the present invention are also within the scope of the present invention.

Claims

1. A clamping manipulator, its characterized in that: the clamping device comprises two clamping block groups capable of moving in opposite directions, wherein the two clamping block groups are respectively fixed at two output ends of a power driving device (1);

each clamping block group comprises at least one clamping block (3), and the clamping blocks (3) in the two clamping block groups are arranged in a staggered mode.

2. A clamping robot as recited in claim 1, further comprising: the clamping block (3) is L-shaped, and the inner side of the clamping block (3) is provided with an arc surface; the lower end of the inner side of the clamping block (3) is provided with a guide part (6), and the guide part (6) is provided with an inclined plane or an arc surface; the inclined surface or the arc surface is smoothly connected with the arc surface on the clamping block (3).

3. A clamping robot as recited in claim 1, further comprising: a clamping cushion block (4) is arranged on the inner side of the clamping block (3); the inner side of the clamping cushion block (4) is provided with an arc surface.

4. A clamping robot as recited in claim 3, further comprising: the clamping cushion block (4) is made of rubber; the lower end of the inner side of the clamping cushion block (4) is provided with a guide part (6); or the inner side of the clamping block (3) is provided with a guide part (6), and the guide part (6) protrudes out of the clamping cushion block (4);

the guide part (6) is provided with an inclined plane; the inclined plane is smoothly connected with the arc surface on the clamping cushion block (4).

5. A clamping robot as recited in claim 1, further comprising: a connecting plate (2) is fixed at the output end of the power driving device (1); the clamping block (3) is fixed at one end of the connecting plate (2);

and the other end of the connecting plate (2) is provided with a filling block (5).

6. A clamping robot as recited in claim 5, further comprising: the connecting plates (2) in the two clamping block groups are alternately arranged; when the clamping manipulator is in an open state, the filling blocks (5) are filled in the space between the adjacent clamping blocks (3).

7. A clamping robot as recited in claim 5, further comprising: the filling block (5) is L-shaped; the inner side end of the filling block (5) is provided with an inclined plane or an arc surface.

8. A clamping device is characterized in that: comprising a support (9), on which support (9) a plurality of gripping robots according to any one of claims 1 to 7 are juxtaposed;

the bottom of the clamping manipulator is provided with a baffle (10), and the baffle (10) is fixed on the support (9).

9. A grasping apparatus as claimed in claim 8, wherein: the clamping manipulator is movably arranged on the bracket (9).

10. A grasping apparatus as claimed in claim 8, wherein: an accommodating channel is formed between the baffle (10) and two clamping block groups in the clamping manipulator.