CN217020424U

CN217020424U - Manipulator clamping device with good stability

Info

Publication number: CN217020424U
Application number: CN202123088350.2U
Authority: CN
Inventors: 江建国
Original assignee: Shanghai Puya Automation Technology Co ltd
Current assignee: Shanghai Puya Automation Technology Co ltd
Priority date: 2021-12-10
Filing date: 2021-12-10
Publication date: 2022-07-22
Anticipated expiration: 2031-12-10

Abstract

The utility model relates to the technical field of manipulators, in particular to a manipulator clamping device with good stability, which comprises a concave mounting plate, wherein the inner wall of the bottom of the concave mounting plate is provided with a moving platform, the outer walls of the two sides of the moving platform are respectively provided with a first resetting component, the two sides of the top of the moving platform are respectively provided with a first sliding opening, the middle part of the top of the moving platform is provided with a second sliding opening, the first sliding opening and the second sliding opening are mutually vertical, clamping mechanisms are arranged in the first sliding opening and the second sliding opening, fixing plates are respectively arranged on the two sides of the clamping mechanisms, one end of the outer wall of one side of each fixing plate, which is far away from the moving platform, is provided with a square rod, a fixing cylinder with a coaxial square hole central shaft is fixed on the outer wall of one side of each fixing plate, the manipulator clamping device has two working performances, not only can ensure that the clamping force is constant for parts which are made of the same material and have different sizes, therefore, the parts can be protected, automatic adaptation can be realized, and the position supplementing and clamping can be carried out.

Description

Manipulator clamping device with good stability

Technical Field

The utility model relates to the technical field of manipulators, in particular to a manipulator clamping device with good stability.

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. It features that it can be programmed to perform various expected tasks, with the advantages of both human and robotic machines in construction and performance. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

The robot is generally used in combination with a clamping device, but if the clamping device clamps a workpiece, the workpiece may be damaged if the clamping force is too large.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a manipulator clamping device with good stability so as to solve the problems in the background technology.

The technical scheme of the utility model is as follows: a manipulator clamping device with good stability comprises a concave mounting plate, a mobile station is arranged on the inner wall of the bottom of the concave mounting plate, the outer walls of the two sides of the mobile station are respectively provided with a first resetting component, the two sides of the top of the mobile station are respectively provided with a first sliding opening, the middle part of the top of the mobile station is provided with a sliding opening II, the sliding opening I and the sliding opening II are mutually vertical, a clamping mechanism is arranged in the first sliding opening and the second sliding opening, fixed plates are arranged on two sides of the clamping mechanism, a square hole is arranged at one end of the outer wall of one side of the fixed plate, which is far away from the mobile station, a square rod is arranged on the inner wall of the square hole in a sliding way, the outer wall of one side of the fixed plate is fixed with a fixed cylinder with a coaxial square hole central shaft, the two fixed cylinders are respectively positioned on the outer wall of one side far away from the two fixed plates, and a second reset assembly is arranged in the fixed cylinder, and clamping plates are fixed at the ends, close to each other, of the two square rods.

Preferably, the bottom outer wall of mobile station has seted up the T-slot, the both sides outer wall of mobile station is run through to the T-slot, the bottom inner wall of spill mounting panel is fixed with T shape guide rail and slidable mounting on the inner wall in T-slot, and the setting of T-slot and T shape guide rail is in order to improve the mobility stability of mobile station.

Preferably, reset assembly one includes joint post one, joint post two and spring one, two joint post one is fixed respectively on the both sides outer wall of mobile station, two the joint post is two to be fixed respectively on the both sides inner wall of spill mounting panel, the spring cup joints on the periphery wall of joint post one and joint post two that are close to each other, and one of them splint can contact the part earlier, does the motion that is close to each other after that as two splint, then the mobile station removes along T shape guide rail, and the mobile station removes along the splint direction of contacting the part earlier promptly to realize the self-adaptation, mend the position and press from both sides tightly, one both sides spring one this moment is compressed, and one is stretched.

Preferably, the clamping mechanism comprises a cylinder, two moving blocks, two connecting rods and a pushing plate, the pushing plate is slidably mounted on the inner wall of the sliding port II, the two moving blocks are respectively slidably mounted on the inner walls of the two sliding ports I, the bottoms of one ends of the two connecting rods are respectively rotatably mounted at the tops of the two moving blocks, the bottom of the other end of the two connecting rods is rotatably mounted at the top of the pushing plate, the cylinder is fixed on the outer wall of one end of the moving table, the pushing plate is fixed on the telescopic end of the cylinder, the two fixing plates are respectively fixed at the bottoms of the moving blocks, the cylinder is controlled to be shortened, and the two moving blocks are enabled to be close to each other by the pushing plate through the two connecting rods.

Preferably, the second reset assembly comprises a threaded rod, a second spring and a limiting plate, the limiting plate is fixed on the outer wall of one side of the square rod, the threaded rod is connected to the position, away from the fixing plate, of the inner wall of the fixing barrel through threads, the two ends of the second spring are respectively in contact with the limiting plate and the threaded rod, and the second spring is enabled to move back and forth in the fixing barrel through rotation of the threaded rod, so that the telescopic length of the second spring is changed, and the second spring is enabled to act on the limiting plate on the square rod to change.

Preferably, the rubber layers are arranged on the surfaces, close to each other, of the two clamping plates, and the friction force between the rubber layers of the clamping plates and the surfaces of the parts prevents relative sliding.

The utility model provides a manipulator clamping device with good stability through improvement, and compared with the prior art, the manipulator clamping device has the following improvements and advantages:

one is as follows: the two-side adjustable spring has two working performances, the first working performance aims at the protection of parts made of the same material and different in size, the threaded rod is rotated according to the size of the parts to move back and forth in the fixed cylinder, so that the telescopic length of the second spring is changed, the second spring acts on the limiting plate on the square rod to change the action, the control cylinder is shortened, the pushing plate passes through the two connecting rods to enable the two moving blocks to approach each other until the two clamping plates contact the parts, and at the moment, the second spring is compressed, so that the clamping force is constant for the parts made of the same material and different in size, and the parts can be protected; the second working property is to the dislocation part, when placing the part on the station not in the positive centre of two splint, one of them splint can contact the part earlier, does the motion that is close to each other after that when two splint, then the mobile station moves along T shape guide rail, and the mobile station moves along the splint direction of contacting the part earlier promptly to realize automatic adaptation, mend the position and press from both sides tightly.

Drawings

The utility model is further explained below with reference to the figures and examples:

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

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

FIG. 3 is a schematic left sectional view of the present invention;

FIG. 4 is a schematic diagram of the right-hand side view of the present invention;

fig. 5 is a schematic view of the cut-away structure a-a of fig. 4.

Description of reference numerals:

1. a concave mounting plate; 2. a first spring; 3. a first clamping column; 4. a mobile station; 5. a cylinder; 6. clamping a second column; 7. a connecting rod; 8. a push plate; 9. a fixing plate; 10. a fixed cylinder; 11. a square bar; 12. a splint; 13. a moving block; 14. a threaded rod; 15. a second spring; 16. and a limiting plate.

Detailed Description

The present invention is described in detail below, and technical solutions in the embodiments of the present invention are clearly and completely described, 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.

The utility model provides a manipulator clamping device with good stability through improvement, and the technical scheme of the manipulator clamping device is as follows:

as shown in fig. 1-5, a manipulator clamping device with good stability, including a concave mounting plate 1, a mobile station 4 is disposed on the inner wall of the bottom of the concave mounting plate 1, outer walls of two sides of the mobile station 4 are provided with first reset components, a first sliding opening is disposed on two sides of the top of the mobile station 4, a second sliding opening is disposed in the middle of the top of the mobile station 4, the first sliding opening and the second sliding opening are perpendicular to each other, a clamping mechanism is mounted in the first sliding opening and the second sliding opening, fixing plates 9 are mounted on two sides of the clamping mechanism, a square hole is disposed at one end, away from the mobile station 4, of the outer wall of one side of each fixing plate 9, a square rod 11 is slidably mounted on the inner wall of the square hole, a fixing cylinder 10 with a coaxial square hole center shaft is fixed on the outer wall of one side of each fixing plate 9, the two fixing cylinders 10 are respectively located on the outer wall of one side, away from the two fixing plates 9, a second reset component is disposed inside the fixing cylinder 10, and a clamping plate 12 is fixed at one end, which the two square rods 11 are close to each other.

Furthermore, a T-shaped groove is formed in the outer wall of the bottom of the mobile station 4, the T-shaped groove penetrates through the outer walls of the two sides of the mobile station 4, a T-shaped guide rail is fixed to the inner wall of the bottom of the concave mounting plate 1 and is slidably mounted on the inner wall of the T-shaped groove, and the T-shaped groove and the T-shaped guide rail are arranged to improve the moving stability of the mobile station 4.

Further, reset assembly one includes joint post one 3, joint post two 6 and spring one 2, two joint post one 3 are fixed respectively on the both sides outer wall of mobile station 4, two joint post two 6 are fixed respectively on the both sides inner wall of spill mounting panel 1, spring one 2 cup joints on the periphery wall of joint post one 3 and joint post two 6 that are close to each other, one of them splint 12 can contact the part earlier, do the motion that is close to each other after two splint 12 are, then mobile station 4 removes along T shape guide rail, mobile station 4 removes along the splint 12 direction of contacting the part earlier promptly, thereby realize automatic adaptation, it presss from both sides tightly to mend the position, 2 one of both sides spring is compressed this moment, one is stretched.

Further, the clamping mechanism comprises a cylinder 5, two moving blocks 13, two connecting rods 7 and a pushing plate 8, the pushing plate 8 is slidably mounted on the inner wall of the sliding opening II, the two moving blocks 13 are respectively slidably mounted on the inner walls of the two sliding openings I, the bottoms of one ends of the two connecting rods 7 are respectively rotatably mounted at the tops of the two moving blocks 13, the bottom of the other end of the two connecting rods 7 is rotatably mounted at the top of the pushing plate 8, the cylinder 5 is fixed on the outer wall of one end of the moving platform 4, the pushing plate 8 is fixed on the telescopic end of the cylinder 5, the two fixing plates 9 are respectively fixed at the bottoms of the moving blocks 13, the cylinder 5 is controlled to be shortened, the pushing plate 8 passes through the two connecting rods 7, and the two moving blocks 13 are made to be close to each other.

Further, the subassembly that resets is two including threaded rod 14, two 15 springs and limiting plate 16, limiting plate 16 is fixed on one side outer wall of square bar 11, threaded rod 14 is on one side position that fixed plate 9 was kept away from to the fixed section of thick bamboo 10 inner wall through threaded connection, two 15 spring's both ends head contacts with limiting plate 16 and threaded rod 14 respectively, through rotating threaded rod 14, make its back-and-forth movement in fixed section of thick bamboo 10, thereby change two 15 flexible lengths of spring, make its effect change in the limiting plate 16 effect on square bar 11.

Furthermore, rubber layers are arranged on the surfaces, close to each other, of the two clamping plates 12, and the friction force between the rubber layers of the clamping plates 12 and the surfaces of the parts prevents relative sliding.

The working principle is as follows: the clamping device has two working performances, the first working performance aims at the protection of parts made of the same material and different in size, the threaded rod 14 is rotated according to the size of the parts to enable the parts to move back and forth in the fixed cylinder 10, so that the telescopic length of the second spring 15 is changed, the action of the second spring on the upper limiting plate 16 of the square rod 11 is changed, the control cylinder 5 is shortened, the push plate 8 enables the two moving blocks 13 to be close to each other through the two connecting rods 7 until the two clamping plates 12 contact the parts, and the second spring 15 is compressed at the moment, so that the clamping force can be constant for the parts made of the same material and different in size, and the parts can be protected; the second working performance is directed at the dislocation part, when the part placed on the station is not in the middle of the two clamping plates 12, one of the clamping plates 12 can contact the part firstly, when the two clamping plates 12 move close to each other, the mobile station 4 moves along the T-shaped guide rail, namely the mobile station 4 moves along the direction of the clamping plate 12 which contacts the part firstly, so that automatic adaptation is realized, and the position supplementing clamping is performed.

The previous description is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The utility model provides a manipulator clamping device that stability is good which characterized in that: the device comprises a concave mounting plate (1), wherein a mobile station (4) is arranged on the inner wall of the bottom of the concave mounting plate (1), two outer walls of two sides of the mobile station (4) are respectively provided with a first reset component, two sides of the top of the mobile station (4) are respectively provided with a first sliding opening, a second sliding opening is arranged in the middle of the top of the mobile station (4), the first sliding opening and the second sliding opening are mutually vertical, a clamping mechanism is arranged in the first sliding opening and the second sliding opening, fixing plates (9) are respectively arranged on two sides of the clamping mechanism, a square hole is arranged at one end, far away from the mobile station (4), of the outer wall of one side of each fixing plate (9), a square rod (11) is arranged on the inner wall of each square hole in a sliding manner, a fixing barrel (10) with a coaxial square hole center shaft is fixed on the outer wall of one side of each fixing plate (9), and the two fixing barrels (10) are respectively positioned on the outer walls of one side, far away from the two fixing plates (9), and a second resetting component is arranged in the fixed cylinder (10), and clamping plates (12) are fixed at one ends of the two square rods (11) which are close to each other.

2. The manipulator clamping device with good stability as recited in claim 1, wherein: the bottom outer wall of mobile station (4) has seted up the T-slot, the both sides outer wall of mobile station (4) is run through in the T-slot, the bottom inner wall of spill mounting panel (1) is fixed with T shape guide rail and slidable mounting on the inner wall in T-slot.

3. The manipulator clamping device with good stability as claimed in claim 1, wherein: the first reset component comprises a first clamping column (3), a second clamping column (6) and a first spring (2), wherein the first clamping column (3) is fixed on the outer walls of the two sides of the mobile station (4) respectively, the second clamping column (6) is fixed on the inner walls of the two sides of the concave mounting plate (1) respectively, and the first spring (2) is sleeved on the outer peripheral walls of the first clamping column (3) and the second clamping column (6) which are close to each other.

4. The manipulator clamping device with good stability as claimed in claim 1, wherein: the clamping mechanism comprises an air cylinder (5), two moving blocks (13), two connecting rods (7) and a pushing plate (8), the pushing plate (8) is slidably mounted on the inner wall of a sliding port II, the two moving blocks (13) are slidably mounted on the inner walls of two sliding ports I respectively, the bottoms of one ends of the two connecting rods (7) are rotatably mounted at the tops of the two moving blocks (13) respectively, the bottom of the other end of the two connecting rods (7) is rotatably mounted at the top of the pushing plate (8), the air cylinder (5) is fixed on the outer wall of one end of a moving table (4), the pushing plate (8) is fixed on the telescopic end of the air cylinder (5), and the two fixing plates (9) are fixed at the bottoms of the moving blocks (13) respectively.

5. The manipulator clamping device with good stability as recited in claim 1, wherein: reset assembly is two including threaded rod (14), spring two (15) and limiting plate (16), limiting plate (16) are fixed on one side outer wall of square bar (11), threaded rod (14) are kept away from one side position of fixed plate (9) through threaded connection at solid fixed cylinder (10) inner wall on, the both ends head of spring two (15) contacts with limiting plate (16) and threaded rod (14) respectively.

6. The manipulator clamping device with good stability as claimed in claim 1, wherein: and rubber layers are arranged on the surfaces, close to each other, of the two clamping plates (12).