CN217577244U - Clamp mechanism and grabbing manipulator with same - Google Patents
Clamp mechanism and grabbing manipulator with same Download PDFInfo
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- CN217577244U CN217577244U CN202220573365.3U CN202220573365U CN217577244U CN 217577244 U CN217577244 U CN 217577244U CN 202220573365 U CN202220573365 U CN 202220573365U CN 217577244 U CN217577244 U CN 217577244U
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- rack
- guide rail
- sliding
- clamping
- bottom plate
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Abstract
The utility model belongs to the technical field of grabbing equipment, and discloses a clamp mechanism, which comprises a bottom plate, a driving device, a clamping assembly and a sliding assembly; the fixed end of the driving device is connected with the bottom plate; the driving end of the clamping assembly is connected with the driving end of the driving device; the fixed end of the sliding assembly is connected with the bottom plate, and the active end of the sliding assembly is connected with the clamping assembly. The utility model discloses can be fine be applied to the production line, replace the manual work to transport to very big improvement production efficiency. The utility model also discloses a manipulator that snatchs that has above-mentioned anchor clamps mechanism.
Description
Technical Field
The utility model belongs to the technical field of snatch the equipment, especially, relate to an anchor clamps mechanism and have its manipulator that snatchs.
Background
At present, a lot of transport anchor clamps can't realize snatching of work piece and transport, consequently, the mode that the work piece adopted artifical transport to carry out the position transfer usually. Particularly, in the production line, if the workpieces are transported only by means of manual transportation, the production efficiency of the workpieces is greatly limited.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model discloses a fixture mechanism, the production line of being applied to that can be fine replaces artifical the transportation to very big improvement production efficiency. The utility model also discloses a manipulator that snatchs of having above-mentioned anchor clamps mechanism. The utility model has the following concrete technical scheme:
a clamp mechanism comprising:
a base plate;
the fixed end of the driving device is connected with the bottom plate;
the driving end of the clamping assembly is connected with the driving end of the driving device; and
the fixed end of the sliding assembly is connected with the bottom plate, and the active end of the sliding assembly is connected with the clamping assembly.
Drive arrangement can drive the centre gripping subassembly and realize picking up or the blowing to the work piece, and the slip subassembly can improve the motion efficiency of anchor clamps subassembly to the slip subassembly assists the centre gripping subassembly to carry out the work piece and transports, fine assurance to the even clamping-force of work piece, on the basis of conveniently transporting, has avoided the slip damage of work piece.
Preferably, the clamping assembly comprises:
the gear is rotationally connected with the bottom plate;
a first rack engaged with the gear;
the second rack is meshed with the gear, and the second rack and the first rack are rotationally symmetrical relative to a central axis of the gear;
the first bracket is fixedly connected with the first rack; and
the second bracket is fixedly connected with the second rack;
and the end part of the first rack or the second rack is connected with the driving end of the driving device.
After the driving equipment drives the first rack or the second rack to move, the acting force is transmitted to the second rack or the first rack through the gear, so that the first support and the second support realize synchronous movement, at the moment, the first support and the second support move close to each other or move away from each other, and therefore picking or placing of workpieces is realized.
Preferably, the sliding assembly includes:
the first guide rail is fixedly connected with the bottom plate;
the second guide rail is fixedly connected with the bottom plate, and the second guide rail and the first guide rail are rotationally symmetrical relative to a central axis of the gear;
the first sliding blocks are fixedly connected with the first support, one first sliding block is in sliding connection with the first guide rail, and the other first sliding block is in sliding connection with the second guide rail; and
and the second sliding blocks are fixedly connected with the second bracket, one of the second sliding blocks is in sliding connection with the first guide rail, and the other second sliding block is in sliding connection with the second guide rail.
The positions of the first guide rail and the second guide rail are kept static relative to the bottom plate, and when the driving device acts, the first sliding block moves along with the first support, and the second sliding block moves along with the second support, so that the first guide rail and the second guide rail are used for limiting a movement path, and the clamping force of the clamping assembly is guaranteed.
Preferably, the first slider and the second slider are provided with first grooves respectively facing the insides thereof; the first guide rail and the second guide rail are both provided with a convex rib matched with the first groove.
The first groove is matched with the rib, so that the first support and the second support can be stably hung through the first sliding block and the second sliding block, and the connection of too many fixing pieces is avoided.
Preferably, the first bracket is provided with a second groove for matching with the second rack to slide; the second support is provided with a third groove used for matching the first rack in a sliding mode.
The second groove enables the second rack to be supported on the first support, and the third groove enables the first rack to be supported on the second support, so that the first rack and the second rack are prevented from being shifted in position during movement.
Preferably, a limiting block is arranged between the first support and the second support, and a proximity switch is arranged on the limiting block.
The limiting block can well bear the proximity switch, so that the proximity switch can well judge the distance between the first support and the second support.
Preferably, the first bracket is provided with a plurality of first clamping blocks which are uniformly distributed in the length direction of the first bracket; the second support is provided with a plurality of second clamping blocks which are arranged corresponding to the first clamping blocks.
The workpiece is arranged between the first clamping block and the second clamping block so as to meet the requirement of transferring the workpiece.
Preferably, any one of the first clamping blocks and any one of the second clamping blocks are provided with a gasket.
The gasket can well prevent the workpiece from being abraded in the picking or discharging process, so that the workpiece is well protected.
A gripping robot comprising a gripper mechanism as described above.
When the clamp mechanism is used for grabbing the manipulator, the manipulator can be well applied to a flow production line, so that the production efficiency of workpieces is well improved, and the defects caused by manual carrying are avoided.
Preferably, the method further comprises the following steps:
the manipulator body is connected with the bottom plate.
The manipulator body is multi-axis manipulator, consequently can realize multi-angle, multi-direction displacement, consequently, after it is connected with the bottom plate, can drive anchor clamps mechanism and realize multi-azimuth displacement to make the work piece can transport according to actual demand.
Compared with the prior art, the utility model can complete the picking, transferring and placing of the workpieces, thereby improving the production efficiency of the workpieces on the production line, and on the basis, the utility model can change the postures of the workpieces in the working range thereof under the action of the manipulator, thereby the utility model can better replace manual carrying; the utility model can protect the workpiece well, and avoid the abrasion of the workpiece in the operation process; furthermore, the utility model discloses a first guide rail and second guide rail have realized having satisfied the even operation requirement of atress to the automatic aligning of centre gripping subassembly.
Drawings
Fig. 1 is a schematic view of a gripping manipulator in an embodiment of the present invention;
FIG. 2 is a schematic view of a clamping mechanism according to an embodiment of the present invention;
fig. 3 is an internal schematic view of a clamping mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic view of the other direction of FIG. 3;
FIG. 5 is an enlarged view of FIG. 3 at A;
fig. 6 is a top view of fig. 3.
In the figure: 100-a manipulator body; 200-a clamp mechanism; 300-a base; 400-a workpiece; 1-a bottom plate; 2-driving the device; 3-a flange plate; 4-a gear; 5-a first rack; 6-a second rack; 7-a first scaffold; 8-a second support; 9-a mounting seat; 10-a first guide rail; 11-a second guide rail; 12-a first slider; 13-a second slide; 14-a first groove; 15-ribs; 16-a second groove; 17-a third groove; 18-a stop block; 19-a proximity switch; 20-a first clamping block; 21-a second clamp block; 22-a gasket; 23-electromagnetic valve.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the present invention will be further described in detail with reference to the specific embodiments.
As shown in fig. 1 to 6, the gripper mechanism 200 of the present embodiment is used for a gripping robot, which includes a robot body 100; the robot body 100 is connected to a jig mechanism 200.
Specifically, the clamp mechanism 200 comprises a base plate 1, a driving device 2, a clamping assembly and a sliding assembly; the fixed end of the driving device 2 is connected with the bottom plate 1; the driving end of the clamping component is connected with the driving end of the driving device 2; the stiff end and the bottom plate 1 of slip subassembly are connected, the initiative end and the centre gripping subassembly of slip subassembly are connected.
The manipulator body 100 is connected with the base 300 through the flange 3, so that the whole clamp mechanism 200 is borne by the base 300. In this embodiment, the driving device 2 is an air cylinder, a fixed end of the air cylinder is connected with the bottom plate 1, meanwhile, the driving device 2 is provided with an electromagnetic valve 23, and a worker can control the driving device 2 through the electromagnetic valve 23, and it can be understood that the electromagnetic valve 23 can also be connected through communication with an external control system to control the driving device 2. The external control system belongs to the prior art and can be directly used by workers.
For better use of this embodiment, the clamping assembly comprises a gear 4, a first rack 5, a second rack 6, a first bracket 7 and a second bracket 8; the gear 4 is rotationally connected with the bottom plate 1; the first rack 5 is meshed with the gear 4; the second rack 6 is meshed with the gear 4, and the second rack 6 and the first rack 5 are rotationally symmetrical relative to the central axis of the gear 4; the first bracket 7 is fixedly connected with the first rack 5; the second bracket 8 is fixedly connected with the second rack 6; the end of the first rack 5 or the second rack 6 is connected with the driving end of the driving device 2.
The base 300 is provided with a mounting seat 9 in a concave structure, and the gear 4 is rotatably connected with the mounting seat 9; in this embodiment, the driving device 2 is an air cylinder, and the driving end of the driving device is connected to the end of the first rack 5, so that when the driving device 2 extends, transmission is realized between the first rack 5 and the gear 4, and the gear 4 drives the second rack 6 to move. In this process, the first carriage 7 and the second carriage 8 are mutually moved, and therefore, the present embodiment achieves picking up and blanking of the workpiece 400 by the above-described simple structure.
For better use of the present embodiment, the sliding assembly comprises a first guide rail 10, a second guide rail 11, two first sliding blocks 12, and two second sliding blocks 13; the first guide rail 10 is fixedly connected with the bottom plate 1; the second guide rail 11 is fixedly connected with the bottom plate 1, and the second guide rail 11 and the first guide rail 10 are rotationally symmetrical relative to the central axis of the gear 4; the first sliding blocks 12 are fixedly connected with the first bracket 7, one first sliding block 12 is in sliding connection with the first guide rail 10, and the other first sliding block 12 is in sliding connection with the second guide rail 11; the second sliding blocks 13 are fixedly connected with the second bracket 8, one of the second sliding blocks 13 is connected with the first guide rail 10 in a sliding manner, and the other second sliding block 13 is connected with the second guide rail 11 in a sliding manner.
When the first bracket 7 and the second bracket 8 move relative to each other, the first slider 12 and the second slider 13 slide on the first guide rail 10 and the second guide rail 11. In this embodiment, there are two first sliding blocks 12 and two second sliding blocks 13 respectively located at two ends of the first bracket 7 and the second bracket 8, and the two first sliding blocks 12 are symmetrical with respect to the center of the first bracket 7 and the two second sliding blocks 13 are symmetrical with respect to the center of the second bracket 8, thereby providing stable connection performance for the first bracket 7 and the second bracket 8. It will be appreciated that one of the first slides 12 and one of the second slides 13 share the first guide track 10, and the other of the first slides 12 and the other of the second slides 13 share the second guide track 11.
For better use of this embodiment, the first slider 12 and the second slider 13 each have a first recess 14 facing the inside thereof, respectively; the first rail 10 and the second rail 11 each have a rib 15 cooperating with the first groove 14.
In the present embodiment, the first grooves 14 are in contact with the corresponding ribs 15, thereby achieving sliding therebetween. On the basis of the structure, the first support 7 and the second support 8 transfer the force to the first groove 14 through the convex rib 15, so that the first groove 14 is used for supporting the first support 7 and the second support 8.
For better use of the present embodiment, the first bracket 7 is provided with a second groove 16 for sliding with the second rack 6; the second bracket 8 is provided with a third groove 17 for matching the first rack 5 to slide.
The second groove 16 and the third groove 17 are arranged, so that the second rack 6 and the first rack 5 are well supported, and the motion stability of the first rack 5 and the second rack 6 is ensured. In fact, the arrangement of said second and third grooves 16, 17 achieves the contact of the second rack 6 with the first support 7 and the contact of the first rack 5 with the second support 8. Of course, in different embodiments, since the actual structures of the first bracket 7 and the second bracket 8 may be different, in some embodiments, the second groove 16 and the third groove 17 are not provided, and it can be understood that the second groove 16 and the third groove 17 are provided to ensure that the levelness of the first rack 5 and the second rack 6 is equal, and to ensure that the forces applied to the gear 4 are balanced.
In order to better use the embodiment, a limit block 18 is arranged between the first bracket 7 and the second bracket 8, and the limit block 18 is provided with a proximity switch 19.
The proximity switch 19 transmits the detection data to an external control system, so as to sense the distance between the first bracket 7 and the second bracket 8, and to monitor the clamping condition of the workpiece 400 under the condition that the width of the workpiece 400 is constant.
For better use of the present embodiment, the first bracket 7 has a plurality of first clamping blocks 20 uniformly distributed along the length direction thereof; the second bracket 8 is provided with a plurality of second clamping blocks 21 which are arranged corresponding to the first clamping blocks 20.
In this embodiment, the workpiece 400 is realized by the first clamping blocks 20 and the second clamping blocks 21, and on the basis of that, any one of the first clamping blocks 20 and any one of the second clamping blocks 21 are provided with the gasket 22, so that the abrasion of the workpiece 400 is avoided by the gasket 22.
In the embodiment, the manipulator body 100 finishes actions such as grabbing, carrying, placing and the like through manual teaching of a work flow, and changes any posture in a working range; the manipulator is controlled to start through an external control system, and the movable clamp mechanism 200 is moved to the position of the workpiece 400; then the air cylinder is started to push the first bracket 7 and the second bracket 8 to move relatively so as to clamp the workpiece 400; the workpiece 400 is then moved to the target position by the robot body 100; then the air cylinder is controlled to enable the first support 7 and the second support 8 to move away from each other, namely the driving device 2 is reset, and the workpiece 400 is put down; finally, the manipulator body 100 is reset and sends a completion signal to an external control system, and the whole grabbing and moving action is completed.
It should be noted that the manipulator further includes a base 300, the base 300 is formed by splicing thick steel plates, and the installation of the manipulator body 100 provides support. In addition, in the present embodiment, the robot body 100 is a six-axis industrial robot. Whereby the clamping mechanism 200 is located at the end of the robot body 100.
From this, this embodiment can be used for wading nuclear equipment, because the material that is snatched has characteristics such as overall dimension precision height, surface quality is good, not allow the handling in the bump, therefore the technical scheme that this embodiment provided can improve wading nuclear equipment's degree of automation.
The above are only preferred embodiments of the present invention, and it should be noted that the above preferred embodiments should not be considered as limitations of the present invention, and the scope of the present invention should be subject to the scope defined by the claims. It will be apparent to those skilled in the art that various modifications and enhancements can be made without departing from the spirit and scope of the invention, and such modifications and enhancements are intended to be within the scope of the invention.
Claims (10)
1. A clamp mechanism, comprising:
a base plate;
the fixed end of the driving device is connected with the bottom plate;
the driving end of the clamping assembly is connected with the driving end of the driving device; and
the fixed end of the sliding assembly is connected with the bottom plate, and the active end of the sliding assembly is connected with the clamping assembly.
2. A clamping mechanism as claimed in claim 1, wherein said clamping assembly comprises:
the gear is rotationally connected with the bottom plate;
a first rack engaged with the gear;
the second rack is meshed with the gear, and the second rack and the first rack are rotationally symmetrical relative to the central axis of the gear;
the first bracket is fixedly connected with the first rack; and
the second bracket is fixedly connected with the second rack;
and the end part of the first rack or the second rack is connected with the driving end of the driving device.
3. A clamping mechanism as claimed in claim 2, wherein said slide assembly comprises:
the first guide rail is fixedly connected with the bottom plate;
the second guide rail is fixedly connected with the bottom plate, and the second guide rail and the first guide rail are rotationally symmetrical relative to a central axis of the gear;
the first sliding blocks are fixedly connected with the first support, one first sliding block is in sliding connection with the first guide rail, and the other first sliding block is in sliding connection with the second guide rail; and
and the second sliding blocks are fixedly connected with the second bracket, one of the second sliding blocks is in sliding connection with the first guide rail, and the other second sliding block is in sliding connection with the second guide rail.
4. A clamping mechanism as claimed in claim 3, wherein said first and second slides each have a first recess facing inwardly thereof; the first guide rail and the second guide rail are respectively provided with a convex edge matched with the first groove.
5. A clamping mechanism as claimed in claim 2, wherein said first bracket has a second recess for sliding engagement with said second rack; the second support is provided with a third groove used for being matched with the first rack to slide.
6. The clamping mechanism as recited in claim 2, wherein a stop is disposed between said first and second supports, said stop having a proximity switch.
7. A clamping mechanism as claimed in claim 2, wherein said first support has a plurality of first clamping blocks uniformly distributed along its length; the second support is provided with a plurality of second clamping blocks which are arranged corresponding to the first clamping blocks.
8. The clamping mechanism of claim 7 wherein each of the first clamping blocks and each of the second clamping blocks are provided with a spacer.
9. A gripper robot comprising a gripper mechanism as claimed in any one of claims 1 to 8.
10. A grasping robot as claimed in claim 9, further comprising:
the manipulator body is connected with the bottom plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220573365.3U CN217577244U (en) | 2022-03-16 | 2022-03-16 | Clamp mechanism and grabbing manipulator with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220573365.3U CN217577244U (en) | 2022-03-16 | 2022-03-16 | Clamp mechanism and grabbing manipulator with same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217577244U true CN217577244U (en) | 2022-10-14 |
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ID=83539391
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220573365.3U Active CN217577244U (en) | 2022-03-16 | 2022-03-16 | Clamp mechanism and grabbing manipulator with same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217577244U (en) |
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2022
- 2022-03-16 CN CN202220573365.3U patent/CN217577244U/en active Active
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