CN218235923U - Clutch brake device for manipulator clamp arm - Google Patents

Abstract

The utility model discloses a separation and reunion arresting gear for manipulator anchor clamps arm, including first anchor clamps digging arm, second arm seat connecting bolt subassembly, separation and reunion arresting gear, second upper arm connecting bolt and second anchor clamps upper arm, separation and reunion arresting gear passes through second arm seat connecting bolt subassembly to be fixed at the top of first anchor clamps digging arm, separation and reunion arresting gear's top passes through second upper arm connecting bolt to be fixed at the bottom of second anchor clamps upper arm; all integrate on a device through with arm seat, clutch brake etc. design into a dedicated clutch brake device of a section with the function three unification of original anchor clamps arm seat function, anchor clamps arm dabber function, stopper, the device is installed in the middle of the anchor clamps arm, makes things convenient for the installation and the debugging of manipulator producer, and the cost is also cheaper simultaneously.

Description

Clutch braking device for manipulator clamp arm

Technical Field

The utility model belongs to the technical field of the manipulator is relevant, concretely relates to separation and reunion arresting gear for manipulator anchor clamps arm.

Background

Fig. 1, 2 and 3 show a mechanism for controlling the turning and locking of a gripper arm, which is known in the market. The mechanism is characterized in that a standard brake is arranged on a clamp arm seat and connected with a brake disc on the arm seat, the brake disc is fixed on the arm seat, the arm is braked and stopped by controlling the brake, and the rotation and the locking of the clamp arm are controlled by the mode.

The working principle of the existing mechanism is as follows: the first clamp movable arm 1 is a clamp arm, is a connecting arm for fixing a clamp, and needs to be locked with an upper arm to keep no relative movement or rotate around a clamp arm seat. First anchor clamps arm seat assembly 3 is connected with first anchor clamps digging arm 1 through first arm seat connecting bolt subassembly 2. The first clamp arm seat assembly 3 is structurally shown in fig. 2, a mandrel of the first clamp arm seat assembly 3 is fixed on the first clamp movable arm 1, and the mandrel 3.7 of the first clamp arm seat can rotate under the condition that no external force stops through bolt connection. The mandrel (the mandrel 3.7) of the first clamp arm seat assembly 3 is connected with the shell (the shell 3.1) of the clamp arm seat through a bearing (a first radial thrust bearing 3.4), and can rotate circularly under the condition of no external force stopping. The brake disc 3.8 is connected with the clamp arm seat core shaft 3.7 through a brake disc connecting bolt 3.6 and moves together. The first clamp upper arm 5 is connected to the clamp arm seat shell 3.1 through a first upper arm connecting bolt 4, and the clamp arm seat core shaft 3.7 and the clamp arm seat shell 3.1 are connected into a whole without relative movement. The brake mounting plate 3.10 is welded on the clamp arm seat shell 3.1, and the brake 3.9 is connected on the clamp arm seat shell 3.1 through a brake connecting bolt 3.11. The jaw of the brake 3.9 is opposite to the brake disc 3.8. When the brake 3.9 works and is switched on, the brake disc 3.8, the brake 3.9, the clamp arm seat shell 3.1 and the first clamp upper arm 5 are locked together, so that the clamp arm seat mandrel 3.7 cannot rotate. When the brake 3.9 is opened, the jaw is not contacted with the brake disc 3.8, and the clamp arm seat core shaft 3.7 can rotate around the clamp arm seat shell 3.1, so that the clamp arm can rotate around the arm seat center. Thereby creating a rotation of the robot gripper arm.

Through the structural analysis, the existing mechanism for controlling the rotation and the locking of the clamp arm has the following defects: the structure is complex, the number of parts is large, and the production cost is high; because the number of parts is large, the failure rate is high; because the brake is locked by the closing thrust of the brake, when the friction coefficient of the brake is unstable, stains are on the surface of a brake disc, a hung heavy object is heavy, and the brake has a brake gap, relative sliding can be generated, so that the locking is not firm and the phenomenon of sliding is caused; the parts are many, and the installation and debugging are troublesome.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a separation and reunion arresting gear for manipulator anchor clamps arm to solve the separation and reunion braking part of the current manipulator anchor clamps arm that proposes among the above-mentioned background art many with high costs, lock insecure and debug troublesome problem.

In order to achieve the above object, the utility model provides a following technical scheme: a clutch brake device for a manipulator clamp arm comprises a first clamp movable arm, a second arm seat connecting bolt assembly, a clutch brake device, a second upper arm connecting bolt and a second clamp upper arm, wherein the clutch brake device is fixed at the top end of the first clamp movable arm through the second arm seat connecting bolt assembly, and the top of the clutch brake device is fixed at the bottom end of the second clamp upper arm through the second upper arm connecting bolt;

clutch brake device includes the fixing base, the outside nestification of fixing base has the key piece that the cross distributes, the outside slip cap of key piece is equipped with the slip adapter sleeve, the inboard rotation of fixing base is provided with anchor clamps arm seat dabber, the top fixedly connected with second lock nut of anchor clamps arm seat dabber, the inboard cover in bottom of slip adapter sleeve is equipped with the direction adapter sleeve, the direction adapter sleeve passes through seat cover connecting bolt to be fixed in the bottom of fixing base, form the spring chamber around the fixing base distributes between the top of direction adapter sleeve and the slip adapter sleeve, be provided with the spring that a plurality of annular distributes in the spring chamber, leave one section clearance between slip adapter sleeve and the fixing base, the communicating inlet port in this clearance has been seted up on the surface of slip adapter sleeve.

Preferably, the two ends of the clamp arm seat mandrel are rotatably connected with the fixed seat and the guide connecting sleeve through a second radial thrust bearing.

Preferably, a gasket is arranged between the bottom surface of the second locking nut and the second radial thrust bearing, and the gasket is sleeved outside the mandrel of the arm seat of the clamp.

Preferably, the outer part of the section of the fixed seat located at the inner side of the sliding connection sleeve and the inner side of the sliding connection sleeve between the spring cavity and the gap are fixedly nested with sealing rings.

Preferably, a circle of face teeth is fixedly arranged on the bottom surface of the sliding connection sleeve.

Preferably, the clamp arm seat core shaft is of an inverted T-shaped structure, a circle of end face teeth are fixedly arranged on the upper surface of the bottom of the clamp arm seat core shaft, and the end face teeth on the clamp arm seat core shaft can be meshed with the end face teeth on the bottom surface of the sliding connecting sleeve when in contact.

Compared with the prior art, the utility model provides a separation and reunion arresting gear for manipulator anchor clamps arm possesses following beneficial effect:

1. the utility model integrates the arm seat, the clutch brake and the like on one device, integrates the functions of the original clamp arm seat, the clamp arm mandrel and the brake into a whole, designs a special clutch brake device, is arranged in the middle of the clamp arm, is convenient for the installation and debugging of a manipulator manufacturer, and has lower cost;

2. the utility model discloses when compressed air enters, because the sealed effect of sealing washer, make and form a sealed chamber between slip adapter sleeve and direction adapter sleeve and the fixing base, under the effect of air pressure, slip adapter sleeve downstream, and compression spring in the downstream process, when slip adapter sleeve and the meshing of anchor clamps arm seat dabber axle head face tooth, spacing stop motion, the meshing of anchor clamps arm seat dabber and slip adapter sleeve's terminal surface tooth this moment, at this moment because circumferencial direction's motion restriction, anchor clamps arm seat dabber can not rotate around the fixing base, thereby realize aerifing the function of meshing braking, when exhausting, elasticity through the spring can the unblock restriction.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description, do not constitute a limitation of the invention, in which:

FIG. 1 is a diagram of a conventional robot clamp arm seat assembly;

FIG. 2 is a schematic perspective view of a conventional clamp arm base assembly;

FIG. 3 is a cross-sectional view of a conventional clamp arm base assembly;

fig. 4 is an installation schematic view of a clutch brake device for a manipulator clamp arm according to the present invention;

fig. 5 is a schematic view of a three-dimensional structure of the clutch brake device provided by the present invention;

fig. 6 is a schematic front view of the clutch brake device of the present invention;

fig. 7 is a schematic cross-sectional view taken along line B-B of fig. 6 according to the present invention;

fig. 8 isbase:Sub>A schematic structural view ofbase:Sub>A sectionbase:Sub>A-base:Sub>A (in an uninflated state) in fig. 6 according to the present invention;

fig. 9 isbase:Sub>A schematic structural view ofbase:Sub>A sectionbase:Sub>A-base:Sub>A (an inflation braking state) in fig. 6 according to the present invention;

in the figure: 1. a first clamp movable arm; 2. the first arm seat is connected with the bolt assembly; 3. a first clamp arm mount assembly; 4. a first upper arm connecting bolt; 5. a first clamp upper arm; 3.1, a clamp arm seat shell; 3.2, a first locking nut; 3.3, a first baffle; 3.4, a first radial thrust bearing; 3.5, a second baffle plate; 3.6, connecting bolts of the brake disc; 3.7, a clamp arm seat mandrel; 3.8, a brake disc; 3.9, a brake; 3.10, a brake mounting plate; 3.11, connecting bolts of the brake;

10. a first clamp movable arm; 20. the second arm seat is connected with the bolt assembly; 30. a clutch brake device; 40. a second upper arm connecting bolt; 50. a second clamp upper arm; 60. an air inlet; 301. a fixed seat; 302. a second lock nut; 303. a gasket; 304. a second radial thrust bearing; 305. a guide connecting sleeve; 306. a clamp arm base mandrel; 307. a connecting sleeve is slid; 308. the seat cover is connected with the bolt; 309. a seal ring; 310. a spring; 311. a key block.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the 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. 1-9, the present invention provides a technical solution: a clutch brake device for a manipulator clamp arm comprises a first clamp movable arm 10, a second arm seat connecting bolt assembly 20, a clutch brake device 30, a second upper arm connecting bolt 40 and a second clamp upper arm 50, wherein the clutch brake device 30 is fixed at the top end of the first clamp movable arm 10 through the second arm seat connecting bolt assembly 20, and the top of the clutch brake device 30 is fixed at the bottom end of the second clamp upper arm 50 through the second upper arm connecting bolt 40;

as shown in fig. 8, the clutch brake device 30 includes a fixed base 301, a key block 311 distributed in a cross shape is nested on the outer side of the fixed base 301, a sliding connection sleeve 307 is slidably sleeved on the outer side of the key block 311, the sliding connection sleeve 307 can slide up and down relative to the clamp arm base mandrel 306, a clamp arm base mandrel 306 is rotatably arranged on the inner side of the fixed base 301, a second lock nut 302 is fixedly connected to the top end of the clamp arm base mandrel 306, a guide connection sleeve 305 is sleeved on the inner side of the bottom of the sliding connection sleeve 307, the guide connection sleeve 305 is fixed on the bottom of the fixed base 301 through a base connection bolt 308, a spring cavity distributed around the fixed base 301 is formed between the upper side of the guide connection sleeve 305 and the sliding connection sleeve 307, a plurality of springs 310 distributed in a ring shape are arranged in the spring cavity, a gap is left between the sliding connection sleeve 307 and the fixed base 301, a connection sleeve 60 communicated with the gap is formed on the surface of the sliding connection sleeve 307, and the gap is inflated through the air inlet 60, so that the sliding connection 307 can slide connection sleeve 307 can slide downward slide.

It should be noted that both ends of the clamp arm base mandrel 306 are rotatably connected to the fixed base 301 and the guide connecting sleeve 305 through the second radial thrust bearing 304, and the clamp arm base mandrel 306 can rotate relative to the fixed base 301 in an unlocked state.

It is worth mentioning that a washer 303 is disposed between the bottom surface of the second lock nut 302 and the second radial thrust bearing 304, the washer 303 is sleeved outside the clamp arm seat core shaft 306, and the bottom surface of the washer 303 is in contact with the inner collar of the second radial thrust bearing 304.

It should be noted that, the sealing rings 309 are fixedly nested outside the section of the fixed seat 301 located inside the sliding connection sleeve 307 and inside the sliding connection sleeve 307 between the spring cavity and the gap, so that the gap maintains a sealed environment, and the sliding connection sleeve 307 can be pressed to move downward during the inflation process.

It should be added that a circle of end face teeth is fixedly arranged on the bottom surface of the sliding connection sleeve 307, the clamp arm base mandrel 306 is in an inverted T-shaped structure, a circle of end face teeth is also fixedly arranged on the upper surface of the bottom of the clamp arm base mandrel 306, and the end face teeth on the clamp arm base mandrel 306 can be meshed with the end face teeth on the bottom surface of the sliding connection sleeve 307 when contacting.

The utility model discloses the operating principle that anchor clamps arm seat dabber 306 separation and reunion rotates and brake locking is as follows:

the principle of engagement braking: the fixed seat 301 is connected with the sliding connection sleeve 307 in a sliding manner through a key block 311, and the sliding connection sleeve 307 can slide up and down on the fixed seat 301; the spring 310 is a cylindrical compression spring, when compressed air enters, a sealing cavity is formed among the sliding connecting sleeve 307, the guide connecting sleeve 305 and the fixed seat 301 due to the sealing effect of the sealing ring 309, the sliding connecting sleeve 307 moves downwards under the action of air pressure, the spring 310 is compressed in the downward movement process, when the sliding connecting sleeve 307 is meshed with the end face teeth of the clamp arm seat core shaft 306, the limiting and stopping movement is achieved, at the moment, the clamp arm seat core shaft 306 is meshed with the end face teeth of the sliding connecting sleeve 307, at the moment, due to the movement limitation in the circumferential direction, the clamp arm seat core shaft 306 cannot rotate around the fixed seat 301, and therefore the function of inflation meshing braking is achieved.

Separation and clutch principle: the mechanism is exhausted, the sliding connecting sleeve 307 slides upwards on the key block 311 under the action of the elastic force of the spring 310, when the sliding connecting sleeve 307 is in contact with the key block 311, the limiting stop moves, the sliding connecting sleeve 307 is disengaged from the end face teeth of the clamp arm seat mandrel 306 at the moment, a gap C shown in figure 7 is formed, and at the moment, because no limitation is carried out in the circumferential direction, the clamp arm seat mandrel 306 can rotate around the fixed seat 301, so that the function of inflation clutch rotation is realized.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (6)

1. The clutch brake device for the manipulator clamp arm is characterized by comprising a first clamp movable arm (10), a second arm seat connecting bolt assembly (20), a clutch brake device (30), a second upper arm connecting bolt (40) and a second clamp upper arm (50), wherein the clutch brake device (30) is fixed at the top end of the first clamp movable arm (10) through the second arm seat connecting bolt assembly (20), and the top of the clutch brake device (30) is fixed at the bottom end of the second clamp upper arm (50) through the second upper arm connecting bolt (40);

clutch brake device (30) are including fixing base (301), the outside nestification of fixing base (301) has key piece (311) of cross distribution, the outside slip cover of key piece (311) is equipped with slip adapter sleeve (307), the inboard rotation of fixing base (301) is provided with anchor clamps arm seat dabber (306), the top fixedly connected with second lock nut (302) of anchor clamps arm seat dabber (306), the inboard cover in bottom of slip adapter sleeve (307) is equipped with direction adapter sleeve (305), direction adapter sleeve (305) are fixed in the bottom of fixing base (301) through seat cover connecting bolt (308), form the spring chamber around fixing base (301) distribution between the top of direction adapter sleeve (305) and slip adapter sleeve (307), be provided with spring (310) of a plurality of annular distribution in the spring chamber, leave one section clearance between slip adapter sleeve (307) and fixing base (301), slip adapter sleeve (307) the surface seted up with the communicating inlet port (60) in this clearance.

2. The clutched brake device for a robot gripper arm of claim 1, wherein: and two ends of the clamp arm seat mandrel (306) are rotatably connected with the fixed seat (301) and the guide connecting sleeve (305) through a second radial thrust bearing (304).

3. The clutched brake device for a robot gripper arm of claim 1, wherein: a washer (303) is arranged between the bottom surface of the second locking nut (302) and the second radial thrust bearing (304), and the washer (303) is sleeved outside the clamp arm seat mandrel (306).

4. The clutched brake device for a robot gripper arm of claim 1, wherein: and the sealing rings (309) are fixedly nested outside the section of the fixed seat (301) located at the inner side of the sliding connecting sleeve (307) and inside the sliding connecting sleeve (307) between the spring cavity and the gap.

5. The clutched brake device for a robot gripper arm of claim 1, wherein: and a circle of end surface teeth are fixedly arranged on the bottom surface of the sliding connecting sleeve (307).

6. The clutched brake device for a robot gripper arm of claim 5, wherein: the clamp arm seat core shaft (306) is of an inverted T-shaped structure, a circle of end face teeth are fixedly arranged on the upper surface of the bottom of the clamp arm seat core shaft, and the end face teeth on the clamp arm seat core shaft (306) can be meshed with the end face teeth on the bottom surface of the sliding connecting sleeve (307) when in contact.

Images