CN218364805U - Manipulator anchor clamps - Google Patents

Abstract

The utility model discloses a mechanical arm clamp, which comprises a T-shaped plate and a clamping mechanism; a T-shaped plate: its inside lower extreme is equipped with T type groove, it is connected with the rotary column to rotate through pivot one respectively around the transverse groove in T type groove between the inner wall, both ends all are equipped with the gear around the rotary column, the outer cambered surface middle part of rotary column all is equipped with first arc, two first arc bilateral symmetry distribute, all rotate through two pivots in the rotary tank of first arc lower extreme and be connected with the rotary plate, the side that the rotary plate is close to T template center all is equipped with splint, vertical sliding connection has the regulating plate in the vertical inslot in T type groove, the side all is equipped with the rack board about the regulating plate, this robotic arm anchor clamps, the lower extreme of article is conveniently supported, be applicable to article and place the face and not have gapped condition, avoid article weight too big and take place to drop at the centre gripping in-process, make the more stable of centre gripping effect.

Description

Manipulator anchor clamps

Technical Field

The utility model relates to the technical field of robot, specifically be a manipulator arm anchor clamps.

Background

The mechanical arm is an automatic mechanical device which is widely and practically applied in the technical field of robots, can see the figure of the robot in the fields of industrial manufacturing, medical treatment, entertainment service, military, semiconductor manufacturing, space exploration and the like, has the common characteristic of receiving an instruction and accurately positioning to a certain point on a three-dimensional or two-dimensional space for operation although the shapes of the robot are different, and is basically used for moving a paw to a required position and bearing the maximum weight of a paw for grabbing a workpiece, the weight of the arm and the like, wherein the paw is one of mechanical arm clamps and is mainly used for clamping an article so as to conveniently move the article through the mechanical arm; among the prior art, robotic arm's anchor clamps are mostly two claws or three-jaw anchor clamps, splint through two or more than two are close to each other, carry out the centre gripping to article, make article can remove along with anchor clamps together, the convenience is to robotic arm's use, but some anchor clamps are at the in-process that uses, because article's lower extreme can laminate completely with placing the plane sometimes, the splint of anchor clamps can not remove the downside to article, in clamping process, article's lower extreme does not support, it comes to carry out the centre gripping to article to lead to the frictional force between splint and the article more, lead to article to take place to drop at clamping process easily, influence the centre gripping effect, for this reason, we provide a robotic arm anchor clamps.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to overcome current defect, provide a mechanical arm anchor clamps, the convenience provides the support to the lower extreme of article, is applicable to article and places the face and does not have gapped condition, avoids article weight too big and takes place to drop in the centre gripping in-process, makes the more stability of centre gripping effect, can effectively solve the problem in the background art.

In order to achieve the above purpose, the utility model provides a following technical scheme: a mechanical arm clamp comprises a T-shaped plate and a clamping mechanism;

a T-shaped plate: the lower end of the inner part of the T-shaped groove is provided with a T-shaped groove, the front inner wall and the rear inner wall of a transverse groove of the T-shaped groove are respectively connected with a rotary column through a rotary shaft I in a rotating manner, gears are arranged at the front end and the rear end of the rotary column, first arc-shaped plates are arranged in the middle of the outer arc surface of the rotary column, the two first arc-shaped plates are distributed in a bilateral symmetry manner, rotary plates are rotatably connected in the rotary grooves at the lower ends of the first arc-shaped plates through rotary shafts II, clamping plates are arranged on the side surfaces of the rotary plates close to the center of the T-shaped plate, an adjusting plate is vertically and slidably connected in a vertical groove of the T-shaped groove, rack plates are arranged on the left side surface and the right side surface of the adjusting plate, and are respectively connected with adjacent gears in a meshing manner;

a clamping mechanism: set up in the inside of first arc, fixture's upper end and regulating plate fixed connection conveniently provide the support to the lower extreme of article, are applicable to article and place the face and do not have gapped condition, avoid article weight too big and take place to drop at the centre gripping in-process, make the stability more of centre gripping effect.

Further, still include the PLC controller, the PLC controller is located the left side of T template, and the input electricity of PLC controller is connected in external power source, controls whole device's start-up and stops.

Further, fixture includes slide, second arc and spout, the spout sets up respectively in the middle part of first arc, and the equal sliding connection in inside of spout has the slide, and the lower extreme of slide all is equipped with the second arc, and the inside of the lower extreme protrusion spout of second arc, dislocation distribution around two second arcs are for support component's receipts provide the space.

Further, fixture still includes electric putter, pressure disk and clamp plate, electric putter sets up in the mounting hole at regulating plate lower surface middle part, and electric putter's flexible end lower extreme is equipped with the pressure disk, and both ends all are equipped with the clamp plate about the extrados of pressure disk, the clamp plate respectively with the inside sliding connection of spout, clamp plate and slide cooperation installation, electric putter's input electricity is connected in the output of PLC controller, provides power for the removal of slide.

Further, fixture still includes arc spring and arc guide post, the arc guide post sets up respectively between the upper and lower inner wall of spout, the arc guide post respectively with the groove of stepping down at clamp plate middle part and the slide opening sliding connection at slide middle part, the equal movable sleeve of extrados of arc guide post is equipped with the arc spring, the lower extreme of arc spring respectively with the diapire fixed connection of spout, the upper end of arc spring respectively with adjacent slide fixed connection, make things convenient for the reseing of slide.

Further, all be equipped with the lead screw motor in the mounting hole of the vertical groove roof of T type groove, the lead screw of lead screw motor respectively with the regulating plate around the screw hole threaded connection at both ends, the input electricity of lead screw motor is connected in the output of PLC controller, provides power for the removal of regulating plate.

Furthermore, rubber pads are arranged at the front end and the rear end of the rotating plate and are respectively contacted with the inner wall of the rotating groove at the lower end of the first arc-shaped plate, and anti-slip pads are arranged on the opposite inner side surfaces of the two clamping plates, so that the clamping effect of the clamping plates is improved.

Compared with the prior art, the beneficial effects of the utility model are that: the mechanical arm clamp has the following advantages:

the lead screw motor is started through the PLC, the adjusting plate moves downwards, the rack plates on the left side and the right side of the adjusting plate are connected with adjacent gears in a meshed mode, the gears and the rotary columns are driven to rotate, the clamping plates are driven to be close to each other by the lower ends of the two first arc-shaped plates, clamping is carried out on articles through the matching of the two clamping plates, then the clamps are driven to move through the mechanical arms, the articles are lifted upwards, the electric push rod is started, the pressing plates move downwards, the sliding plates are driven to slide downwards in the sliding grooves, the second arc-shaped plates rotate towards the direction close to the articles in the process of moving downwards along with the sliding plates, until the two second arc-shaped plates are mutually crossed and are in contact with the lower ends of the articles, the lower ends of the articles are conveniently supported through the matching of the two second arc-shaped plates, the situation that the articles and the placing surfaces do not have gaps is suitable for avoiding the situation that the articles are too heavy and fall off in the clamping process, and the clamping effect is more stable.

Drawings

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

FIG. 2 is a schematic structural view of the interior of the T-shaped plate of the present invention;

FIG. 3 is a schematic view of the clamping mechanism of the present invention;

fig. 4 is a schematic structural view of the rotating plate of the present invention.

In the figure: 1T template, 2T type groove, 3 commentaries on classics post, 4 first arcs, 5 commentaries on classics boards, 6 splint, 7 gears, 8 regulating plates, 9 fixture, 91 electric putter, 92 pressure disks, 93 clamp plates, 94 slide, 95 second arcs, 96 spout, 97 arc spring, 98 arc guide posts, 10PLC controllers, 11 lead screw motor, 12 slipmats, 13 rubber pads.

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 efforts all belong to the protection scope of the present invention.

Referring to fig. 1-4, the present embodiment provides a technical solution: a mechanical arm clamp comprises a T-shaped plate 1 and a clamping mechanism 9;

t-shaped plate 1: the lower end of the inner part of the T-shaped groove is provided with a T-shaped groove 2 which provides space for installing a clamping part, the front inner wall and the rear inner wall of a transverse groove of the T-shaped groove 2 are respectively connected with a rotary column 3 through a rotary shaft I in a rotating way, gears 7 are respectively arranged at the front end and the rear end of the rotary column 3, the middle part of the outer cambered surface of the rotary column 3 is provided with a first arc plate 4, the two first arc plates 4 are symmetrically distributed in the left and right directions, the rotary groove at the lower end of each first arc plate 4 is connected with a rotary plate 5 through a rotary shaft II in a rotating way, the side surfaces of the rotary plates 5 close to the center of the T-shaped plate 1 are respectively provided with a clamping plate 6, an adjusting plate 8 is vertically connected in a sliding way in the vertical groove of the T-shaped groove 2, the left side surface and the right side surface of the adjusting plate 8 are respectively provided with a rack plate which is meshed with the adjacent gears 7, when the adjusting plate 8 moves downwards, the rack plates on the left side surface and the right side surface of the adjusting plate are meshed with the adjacent gears 7 to drive the gears 7 and the rotary column 3 to rotate, the two first arc-shaped plates 4 are enabled to relatively rotate, the two clamping plates 6 are close to each other to clamp articles, the device further comprises a PLC (programmable logic controller) 10, the PLC 10 is located on the left side of the T-shaped plate 1, the input end of the PLC 10 is electrically connected with an external power supply to control the starting and stopping of the whole device, a lead screw motor 11 is arranged in a mounting hole of the top wall of a vertical groove of the T-shaped groove 2, lead screws of the lead screw motor 11 are respectively in threaded connection with threaded holes at the front end and the rear end of an adjusting plate 8, the input end of the lead screw motor 11 is electrically connected with the output end of the PLC 10 to provide power for the up-down movement of the adjusting plate 8, rubber pads 13 are arranged at the front end and the rear end of the rotating plate 5, the rubber pads 13 are respectively in contact with the inner walls of the rotating grooves at the lower ends of the first arc-shaped plates 4, the friction force between the rotating plate 5 and the rotating grooves at the lower ends of the first arc-shaped plates 4 is increased through the rubber pads 13, and the rotating plate 5 is prevented from easily rotating, the anti-skid pads 12 are arranged on the opposite inner side surfaces of the two clamping plates 6, so that the friction force between the clamping plates 6 and an article is increased, and the clamping effect is improved;

the clamping mechanism 9: arranged inside the first arc-shaped plate 4, the upper end of the clamping mechanism 9 is fixedly connected with the adjusting plate 8, the clamping mechanism 9 comprises a sliding plate 94, a second arc-shaped plate 95 and a sliding groove 96, the sliding groove 96 is respectively arranged in the middle of the first arc-shaped plate 4, the sliding plate 94 is slidably connected inside the sliding groove 96, the second arc-shaped plate 95 is arranged at the lower end of the sliding plate 94, the lower end of the second arc-shaped plate 95 protrudes out of the sliding groove 96, the two second arc-shaped plates 95 are staggered front and back, the clamping mechanism 9 further comprises an electric push rod 91, a pressure plate 92 and a pressure plate 93, the electric push rod 91 is arranged in a mounting hole in the middle of the lower surface of the adjusting plate 8, the lower end of the telescopic end of the electric push rod 91 is provided with the pressure plate 92, the pressure plates 93 are arranged at the left and right ends of the outer arc surface of the pressure plate 92, the pressure plates 93 are respectively slidably connected with the inside of the sliding groove 96, the pressure plates 93 and the sliding plate 94 are installed in a matched manner, the input end of the electric push rod 91 is electrically connected with the output end of the PLC 10, the electric push rod 91 is started, the retractable end of the electric push rod 91 drives the pressure plate 92 and the pressure plate 93 to move downwards, after the pressure plate 93 contacts the sliding plate 94, downward pressure is applied to the sliding plate 94 along with the downward movement of the pressure plate 93, so that the sliding plate 94 slides downwards in the sliding groove 96, because the sliding groove 96 is an arc-shaped sliding groove, the second arc-shaped plates 95 rotate towards the direction close to the object in the process of moving downwards along with the sliding plate 94 until the two second arc-shaped plates 95 are mutually crossed and contact with the lower end of the object, the lower end of the object is supported by the matching of the two second arc-shaped plates 95, the falling of the object due to overlarge weight is avoided, the clamping effect is more stable, the clamping mechanism 9 further comprises an arc-shaped spring 97 and an arc-shaped guide column 98, the arc-shaped guide column 98 is respectively arranged between the upper inner wall and the lower inner wall of the sliding groove 96, and the arc-shaped guide column 98 is respectively connected with the yielding groove in the middle part of the pressure plate 93 and the sliding hole in the middle part of the sliding plate 94, arc spring 97 is all movably sleeved to the extrados of arc guide post 98, and arc spring 97's lower extreme respectively with the diapire fixed connection of spout 96, arc spring 97's upper end respectively with adjacent slide 94 fixed connection, when slide 94 glides downwards, under the direction of arc guide post 98, make arc spring 97 shrink and produce elasticity, after clamp plate 93 resets, under arc spring 97's elastic force effect, make slide 94 reset.

The utility model provides a pair of manipulator anchor clamps's theory of operation as follows: when clamping an article by using a mechanical arm, starting a screw rod motor 11 through a PLC (programmable logic controller) 10, enabling a screw rod of the screw rod motor 11 to rotate, enabling screw rods of two screw rod motors 11 to be respectively in threaded connection with threaded holes inside an adjusting plate 8, limiting the rotation of the adjusting plate 8, enabling the adjusting plate 8 to move downwards in the screw rod rotating process of the screw rod motor 11, enabling rack plates on the left side and the right side of the adjusting plate 8 to be in meshed connection with adjacent gears 7, driving the gears 7 and a rotary column 3 to rotate, enabling two first arc-shaped plates 4 to rotate relatively, enabling two clamping plates 6 to approach each other, simultaneously enabling an anti-skid pad 12 to be in contact with the lower end of the article through the mechanical arm, clamping the article through the cooperation of the two clamping plates 6, then driving the clamp to move through the mechanical arm, lifting the article upwards, then starting an electric push rod 91, a telescopic end of the electric push rod 91 drives a pressing plate 92 and a pressing plate 93 to move downwards, after the pressing plate 93 is in contact with the sliding plate 94, applying downward pressure to the sliding plate 94, enabling the sliding plate 94 to slide in the sliding plate 96, enabling the arc-shaped plate 95 to move downwards along with a second arc-shaped plate 95, enabling the arc-shaped sliding groove 95 to be in a second arc-shaped clamping and enabling the arc-shaped sliding plate to be in a second arc-shaped clamping and enabling the arc-shaped clamping device to be capable of a second arc-shaped plate to be capable of supporting spring to be capable of stably and capable of supporting the arc-shaped plate to be capable of supporting the arc-shaped plate 95 to be capable of supporting the arc-shaped plate to be capable of stably and capable of stably rotating in a second arc-shaped article to be capable of moving downwards.

It should BE noted that the PLC controller 10 disclosed in the above embodiments may BE a TPC8-8TD PLC controller, the electric push rod 91 and the lead screw motor 11 may BE freely configured according to the actual application scenario, the electric push rod 91 may BE an ANT-52 electric push rod, the lead screw motor 11 may BE a BE111S-B0601-100-AK1-0-100 lead screw motor, and the PLC controller 10 controls the electric push rod 91 and the lead screw motor 11 to work by a method commonly used in the prior art.

The above is only the embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structures or equivalent processes of the present invention can be used in other related technical fields, directly or indirectly, or in the same way as the present invention.

Claims (7)

1. The utility model provides a manipulator anchor clamps which characterized in that: comprises a T-shaped plate (1) and a clamping mechanism (9);

t-shaped plate (1): the T-shaped groove (2) is arranged at the lower end of the T-shaped groove, the front inner wall and the rear inner wall of a transverse groove of the T-shaped groove (2) are respectively connected with a rotary column (3) through a rotary shaft I in a rotating manner, gears (7) are arranged at the front end and the rear end of the rotary column (3), first arc plates (4) are respectively arranged in the middle of the outer arc surfaces of the rotary column (3), the two first arc plates (4) are symmetrically distributed in the left and right direction, rotary plates (5) are respectively connected in the rotary grooves at the lower ends of the first arc plates (4) through rotary shafts II in a rotating manner, clamping plates (6) are respectively arranged on the side surfaces, close to the centers of the T-shaped plates (1), adjusting plates (8) are vertically connected in a sliding manner in vertical grooves of the T-shaped groove (2), rack plates are respectively arranged on the left side surface and the right side surface of each adjusting plate (8), and the rack plates are respectively connected with adjacent gears (7) in a meshing manner;

a holding mechanism (9): is arranged in the first arc-shaped plate (4), and the upper end of the clamping mechanism (9) is fixedly connected with the adjusting plate (8).

2. A robotic arm gripper according to claim 1, wherein: still include PLC controller (10), PLC controller (10) are located the left side of T template (1), and the input electricity of PLC controller (10) is connected in external power source.

3. A robotic arm gripper according to claim 2, wherein: fixture (9) include slide (94), second arc (95) and spout (96), spout (96) set up respectively in the middle part of first arc (4), and the equal sliding connection in inside of spout (96) has slide (94), and the lower extreme of slide (94) all is equipped with second arc (95), and the inside of the lower extreme protrusion spout (96) of second arc (95), dislocation distribution around two second arcs (95).

4. A robot clamp according to claim 3, characterized in that: fixture (9) still include electric putter (91), pressure disk (92) and clamp plate (93), electric putter (91) set up in the mounting hole at regulating plate (8) lower surface middle part, and the flexible end lower extreme of electric putter (91) is equipped with pressure disk (92), and both ends all are equipped with clamp plate (93) about the extrados of pressure disk (92), and clamp plate (93) respectively with the inside sliding connection of spout (96), and clamp plate (93) and slide (94) cooperation are installed, and the input electricity of electric putter (91) is connected in the output of PLC controller (10).

5. A robotic arm gripper according to claim 4, wherein: fixture (9) still include arc spring (97) and arc guide post (98), arc guide post (98) set up respectively between the upper and lower inner wall of spout (96), arc guide post (98) respectively with clamp plate (93) middle part the groove of stepping down and slide hole sliding connection at slide (94) middle part, the equal movable sleeve of extrados face of arc guide post (98) is equipped with arc spring (97), the lower extreme of arc spring (97) respectively with the diapire fixed connection of spout (96), the upper end of arc spring (97) respectively with adjacent slide (94) fixed connection.

6. A robot clamp according to claim 2, characterized in that: all be equipped with lead screw motor (11) in the mounting hole of the vertical groove roof of T type groove (2), the lead screw of lead screw motor (11) respectively with regulating plate (8) screw hole threaded connection at both ends around, the input electricity of lead screw motor (11) is connected in the output of PLC controller (10).

7. A robotic arm gripper according to claim 1, wherein: rubber pads (13) are arranged at the front end and the rear end of the rotating plate (5), the rubber pads (13) are respectively contacted with the inner wall of the rotating groove at the lower end of the first arc-shaped plate (4), and anti-skid pads (12) are arranged on the opposite inner side surfaces of the two clamping plates (6).

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