CN217225585U

CN217225585U - Pneumatic clamping device of manipulator

Info

Publication number: CN217225585U
Application number: CN202220209719.6U
Authority: CN
Inventors: 蒋文昭; 李家垒; 谭文成
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-01-26
Filing date: 2022-01-26
Publication date: 2022-08-19
Anticipated expiration: 2032-01-26

Abstract

The utility model discloses a pneumatic clamping device of manipulator relates to a machining technical field, including the arm tip board, be provided with the backup pad through position control structure symmetry on the arm tip board, the backup pad side is provided with clamping part, clamping part includes cylinder, fixed support board, holder and bracing piece, the backup pad side is fixed with the cylinder, the cylinder end fixing has fixed support board, the fixed support board side is provided with the bracing piece, the bracing piece side is provided with the rotation power structure, rotation power structure side is provided with the holder through the joint structure, the holder includes cambered surface grip block and plane grip block. This application rotates power structure through adopting and drives cambered surface grip block and plane grip block and rotate for can change according to the kind of goods, thereby can carry out the centre gripping to the plane goods and also can carry out the centre gripping to the cambered surface goods, the scope of use is great.

Description

Pneumatic clamping device of mechanical arm

Technical Field

The utility model relates to a machining technical field specifically is a manipulator pneumatic clamping device.

Background

A common robot arm is connected to a robot arm through joints so that the robot arm can perform a rotational motion or a translational motion, wherein the robot arm is connected through the joints to finally form a kinematic chain. Common robotic arms such as gantry machines are used for pick and place work, applying sealants, assembly operations, handling machines and arc welding. This is a robotic arm with three axes of movement, each coinciding with a cartesian coordinate. Different sizes of clamping devices are adopted for clamping different transported goods, and the common devices cannot rapidly change the clamping types according to requirements, so that the limitation of the transported goods is caused.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a pneumatic clamping device of manipulator to solve the problem that proposes in the above-mentioned background art.

In order to achieve the above purpose, the utility model provides a following technical scheme:

the utility model provides a pneumatic clamping device of manipulator, includes arm tip board, be provided with the backup pad through position control structure symmetry on the arm tip board, the backup pad side is provided with the hold assembly, the hold assembly includes cylinder, fixed bolster, holder and bracing piece, the backup pad side is fixed with the cylinder, the cylinder end fixing has the fixed bolster, the fixed bolster side is provided with the bracing piece, the bracing piece side is provided with rotates power structure, it is provided with the holder to rotate power structure side through the joint structure, the holder includes cambered surface grip block and plane grip block.

As a further aspect of the present invention: the rotary power structure comprises a driving motor and a conversion rotating shaft, the driving motor is arranged on the side edge of the supporting rod, the driving motor drives the conversion rotating shaft to be connected, and the conversion rotating shaft is provided with a clamping piece through a clamping structure.

As a further aspect of the present invention: the joint structure includes fixed slot, fixed telescopic link, mounting groove and fixed block, the fixed slot has been seted up to conversion pivot side, the mounting groove has been seted up to the holder side, mounting groove side symmetry is fixed with fixed telescopic link, fixed telescopic link end fixing has the fixed block, the size of fixed block is less than the size of fixed slot.

As a further aspect of the present invention: the position adjusting structure comprises a limiting slide bar, a power part, a movable plate and a clamping perforation, the power part is arranged on the end plate of the mechanical arm, the output end of the power part is provided with the movable plate, the side edge of the end plate of the mechanical arm is provided with the limiting slide bar in a sliding mode, the limiting plate is fixed to one side end of the limiting slide bar, the other end of the limiting slide bar is fixed with the movable plate, the clamping perforation is formed in the middle of the movable plate, and a supporting plate is fixed to the side edge of the clamping perforation.

As a further aspect of the present invention: the power part includes accommodate motor, two-way screw rod, sliding block, hinge bar and articulated seat, the power groove has been seted up to arm tip board bottom, the inside side in power groove is fixed with accommodate motor, accommodate motor drive connects two-way screw rod, the symmetry screw thread is provided with the sliding block just on the two-way screw rod sliding connection sliding block and power groove sliding connection, the sliding block bottom is articulated to be provided with the hinge bar, be fixed with articulated seat on the movable plate, the other end of hinge bar articulates on articulated seat.

As the utility model discloses further scheme again: the end plate of the mechanical arm is fixed on the pneumatic arm, and the pneumatic arm is fixed at a fixed position.

Compared with the prior art, the beneficial effects of the utility model are that: this application rotates power structure through adopting to rotate and drives cambered surface grip block and plane grip block for can change according to the kind of goods, thereby can also can carry out the centre gripping to the plane goods and carry out the centre gripping to the cambered surface goods, the scope of use is great, simultaneously this application is through utilizing the joint structure, makes the joint spare that can change not unidimensional as required, makes and to change as required.

Drawings

Fig. 1 is a schematic structural diagram of a pneumatic clamping device of a robot arm.

Fig. 2 is a schematic structural diagram of a clamping part in the pneumatic clamping device of the mechanical arm.

Fig. 3 is a schematic view of a clamping structure of the pneumatic clamping device of the robot arm.

Description of the reference numerals: 1. a mechanical arm end plate; 2. adjusting the motor; 3. clamping the through hole; 4. a clamping member; 5. a support plate; 6. moving the plate; 7. a hinged seat; 8. a hinged lever; 9. a slider; 10. a limiting slide bar; 11. a bidirectional screw; 12. a support bar; 13. converting the rotating shaft; 14. a cambered surface clamping plate; 15. a planar clamping plate; 16. fixing the support plate; 17. a cylinder; 18. fixing the telescopic rod; 19. a fixing groove; 20. a fixed block; 21. and (4) mounting the groove.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1 to 3, in an embodiment of the present invention, a pneumatic clamping device for a robot arm is a structure disposed at an end of the robot arm for clamping goods, wherein the clamping device includes a robot arm end plate 1, a support plate 5 is symmetrically disposed on the robot arm end plate 1 through a position adjusting structure, so that a position of clamping the goods can be adjusted by the position adjusting structure, a clamping member 4 is disposed at a side of the support plate 5, so that a position of the clamping member 4 is adjusted by the position adjusting structure, so that the goods can be clamped by the clamping member 4, wherein the clamping member 4 includes a cylinder 17, a fixed support plate 16, a clamping member and a support rod 12, first, in order to clamp the goods, the cylinder 17 is fixed at a side of the support plate 5, wherein the end of the cylinder 17 is fixed with the fixed support plate 16, so that the fixed clamping of the fixed support plate 16 is realized by pushing the cylinder 17, be provided with bracing piece 12 at the 16 sides of fixed bolster board, bracing piece 12 sides are provided with the rotation power structure, wherein are provided with the holder through the joint structure at rotation power structure side, make to utilize the rotation power structure action to drive the rotation through the holder that the joint structure set up, thereby make and to rotate the holding surface of holder and adjust, wherein the holder includes cambered surface grip block 14 and plane grip block 15, make can whether automatically regulated carries out the centre gripping to plane or cambered surface. In this embodiment, at first utilize the position control structure action, adjust the concrete position of hold assembly 4, utilize the goods that rotates the power structure centre gripping as required to carry out automatic adjustment afterwards, utilize cylinder 17 action afterwards, promote fixed support plate 16 and carry out lateral shifting to promote the holder and remove, utilize the holder to move, in order to adapt to not unidimensional goods, when the holder is changed to needs, utilize the joint structure to realize the automatic centre gripping to the goods.

As a further embodiment of the present application, please refer to fig. 1 and fig. 2, wherein in order to replace the clamping surface of the clamping member, the rotating power structure includes a driving motor and a converting rotating shaft 13, wherein the driving motor is disposed at the side of the supporting rod 12, the driving motor drives the converting rotating shaft 13, and the converting rotating shaft 13 is provided with the clamping member through a clamping structure, so that the driving motor is utilized to drive the converting rotating shaft 13 to rotate, thereby driving the clamping member to rotate, and converting the clamping surface of the clamping member.

As a further embodiment of the present application, please refer to fig. 1, fig. 2 and fig. 3, wherein in order to replace and install the clamping member, the clamping structure includes a fixing groove 19, a fixing telescopic rod 18, a mounting groove 21 and a fixing block 20, the fixing groove 19 is first opened at a side of the converting rotating shaft 13 for providing a clamping position, wherein the mounting groove 21 is opened at a side of the clamping member for receiving the entering of the converting rotating shaft 13, the fixing telescopic rods 18 are symmetrically fixed at sides of the mounting groove 21, the fixing block 20 is fixed at an end of the fixing telescopic rod 18, and the fixing of the relative position of the converting rotating shaft 13 and the clamping member is realized by clamping the fixing block 20 and the fixing groove 19, wherein a size of the fixing block 20 is smaller than a size of the fixing groove 19. In the present embodiment, the conversion rotation shaft 13 is first clamped into the installation groove 21, and then the fixing telescopic rod 18 is used to move, so that the fixing block 20 is clamped into the fixing groove 19 to realize clamping.

As a further embodiment of the present application, please refer to fig. 1, wherein in order to adjust the position of the clamping component 4, the position adjusting structure includes a position-limiting slide bar 10, a power component, a moving plate 6 and a clamping through hole 3, the power component is disposed on the end plate 1 of the arm, the moving plate 6 is disposed at the output end of the power component, so that the moving plate 6 is driven by the power component to move longitudinally, the position-limiting slide bar 10 is slidably disposed at the side edge of the end plate 1 of the arm, the position-limiting slide bar 10 is used to limit the longitudinal position of the moving plate 6, the position-limiting slide bar 10 is fixed to the end of one side of the position-limiting slide bar 10, the moving plate 6 is fixed to the other end of the position-limiting slide bar 10, the clamping through hole 3 is opened in the middle of the moving plate 6, so that a small piece of goods can be clamped through the clamping through hole 3, the clamping stability is ensured, but if the large piece of goods, the top or the bottom of the clamping hole 3 is required to be clamped, the clamping hole cannot enter the clamping hole, and a supporting plate 5 is fixed on the side edge of the clamping hole 3. In the embodiment, the moving plate 6 is controlled to move longitudinally by a power member, wherein the limiting slide bar 10 slides inside the end plate 1 of the mechanical arm to limit the position of the moving plate 6.

As a further embodiment of the present application, please refer to fig. 1, wherein in order to realize the longitudinal movement of the moving plate 6, the power component includes an adjusting motor 2, a bidirectional screw 11, a sliding block 9, a hinge rod 8 and a hinge seat 7, first, a power groove is formed at the bottom of the end plate 1 of the robot arm, the adjusting motor 2 is fixed at the inner side of the power groove, and the adjusting motor 2 is used to provide the power for the longitudinal movement, in this embodiment, due to the limiting function of a limiting sliding rod 10, the adjusting motor 2 is drivingly connected with the bidirectional screw 11, the sliding block 9 is symmetrically threaded on the bidirectional screw 11 and the sliding block 9 is slidably connected with the power groove, so that when the bidirectional screw 11 rotates, the sliding block 9 can be driven to move in opposite directions or in opposite directions, the bottom of the sliding block 9 is hinged with the hinge rod 8, the hinge seat 7 is fixed on the moving plate 6, the other end of the hinge rod 8 is hinged on the hinge seat 7, thereby can utilize the turned angle of hinge bar 8, realize fixed to the centre gripping of movable plate 6, wherein in this embodiment, utilize accommodate motor 2 to drive two-way screw 11 for sliding block 9 removes in opposite directions or dorsad, thereby realizes the control to the turned angle of hinge bar 8, thereby controls the vertical height of movable plate 6.

As a further embodiment of the application, please refer to fig. 1, wherein in order to make sense for the end-of-arm plate 1 and the clamping part 4, the end-of-arm plate 1 is fixed on the pneumatic arm, and the pneumatic arm is fixed at the fixed place. The pneumatic arm can be a common joint robot arm, an anthropomorphic robot arm and other robots which can be used by various factories.

The utility model discloses a theory of operation is: at first inside 13 calories of switching pivot go into mounting groove 21, utilize fixed telescopic link 18 action afterwards, make and utilize the joint of fixed block 20 to enter into the inside joint that realizes of fixed slot 19, utilize the position control structure action afterwards, adjust the concrete position of hold assembly 4, utilize the goods that the power structure of rotating was as required the centre gripping to carry out automatic adjustment afterwards, utilize cylinder 17 action afterwards, promote fixed support plate 16 and carry out lateral shifting, thereby promote the holder and remove, utilize the holder to move, in order to adapt to not unidimensional goods, when needing to be changed the holder, utilize the joint structure to realize the automatic centre gripping to the goods.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides a pneumatic clamping device of manipulator, includes arm end plate (1), its characterized in that, be provided with backup pad (5) through position control structure symmetry on arm end plate (1), backup pad (5) side is provided with clamping part (4), clamping part (4) are including cylinder (17), fixed support board (16), holder and bracing piece (12), backup pad (5) side is fixed with cylinder (17), cylinder (17) end fixing has fixed support board (16), fixed support board (16) side is provided with bracing piece (12), bracing piece (12) side is provided with rotates power structure, it is provided with the holder to rotate power structure side through the joint structure, the holder includes cambered surface grip block (14) and plane grip block (15).

2. The pneumatic clamping device of robotic arm as claimed in claim 1, wherein the rotational power structure comprises a driving motor and a conversion rotating shaft (13), the driving motor is disposed at the side of the support rod (12), the driving motor is driven to connect the conversion rotating shaft (13), and the conversion rotating shaft (13) is provided with a clamping member through a clamping structure.

3. The pneumatic clamping device of robotic arm according to claim 2, wherein the clamping structure comprises a fixing groove (19), a fixing telescopic rod (18), a mounting groove (21) and a fixing block (20), the fixing groove (19) is formed in the side edge of the conversion rotating shaft (13), the mounting groove (21) is formed in the side edge of the clamping member, the fixing telescopic rod (18) is symmetrically fixed to the side edge of the mounting groove (21), the fixing block (20) is fixed to the end portion of the fixing telescopic rod (18), and the size of the fixing block (20) is smaller than that of the fixing groove (19).

4. The pneumatic clamping device of mechanical arm according to claim 1, wherein the position adjusting structure comprises a limiting slide bar (10), a power part, a moving plate (6) and a clamping through hole (3), the power part is arranged on the mechanical arm end plate (1), the moving plate (6) is arranged at the output end of the power part, the limiting slide bar (10) is arranged on the side edge of the mechanical arm end plate (1) in a sliding manner, the limiting plate is fixed on one side end of the limiting slide bar (10), the moving plate (6) is fixed on the other end of the limiting slide bar (10), the clamping through hole (3) is formed in the middle of the moving plate (6), and a support plate (5) is fixed on the side edge of the clamping through hole (3).

5. The pneumatic clamping device of robotic arm according to claim 4, wherein the power part comprises an adjusting motor (2), a two-way screw (11), a sliding block (9), a hinge rod (8) and a hinge seat (7), a power groove is formed in the bottom of the end plate (1) of the robotic arm, the adjusting motor (2) is fixed on the inner side of the power groove, the adjusting motor (2) is in driving connection with the two-way screw (11), the two-way screw (11) is symmetrically and threadedly provided with the sliding block (9) and the sliding block (9) is in sliding connection with the power groove, the hinge rod (8) is hinged to the bottom of the sliding block (9), the hinge seat (7) is fixed on the moving plate (6), and the other end of the hinge rod (8) is hinged to the hinge seat (7).

6. The pneumatic gripper device for robot arm according to claim 1, characterized in that the end plate (1) of robot arm is fixed to a pneumatic arm, and the pneumatic arm is fixed in place.