CN219563157U - Self-adaptive flexible manipulator clamp - Google Patents
Self-adaptive flexible manipulator clamp Download PDFInfo
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- CN219563157U CN219563157U CN202320593993.2U CN202320593993U CN219563157U CN 219563157 U CN219563157 U CN 219563157U CN 202320593993 U CN202320593993 U CN 202320593993U CN 219563157 U CN219563157 U CN 219563157U
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- connecting rod
- clamping jaw
- fixedly connected
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Abstract
The utility model discloses a self-adaptive flexible manipulator clamp which comprises a driving cylinder, wherein the bottom of the driving cylinder is fixedly connected with a mounting plate, the outer side of the mounting plate is fixedly connected with three fixed connecting rods, the bottoms of the three fixed connecting rods are fixedly connected with a fixed plate, the output end of the driving cylinder is fixedly connected with a floating joint, the outer side of the floating joint is hinged with three flexible connecting rods, the bottoms of the three flexible connecting rods are hinged with flexible clamping jaws, two sides of each flexible clamping jaw are respectively provided with a cam bearing follower which is convenient for sliding and guiding of the flexible clamping jaw, the middle of the fixed plate is provided with a guide chute which is matched with the cam bearing follower, and the cam bearing followers are in sliding connection with the guide chute.
Description
Technical Field
The utility model relates to the technical field of manipulator clamps, in particular to a self-adaptive flexible manipulator clamp.
Background
The manipulator is an automatic operation device which can imitate some action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to fixed programs, and is characterized in that various expected operations can be completed through programming, the structure and the performance of the manipulator have the advantages of a human body and a manipulator, the manipulator is an industrial robot which appears earliest, and the manipulator is a modern robot which appears earliest, and the manipulator is often provided with clamping jaws for clamping objects.
The current manipulator clamping jaw has poor universality, and when the part specification is changed, the clamping jaw needs to be changed or the clamping jaw position needs to be adjusted repeatedly, so that the time and the labor are consumed, and the working efficiency is reduced.
Disclosure of Invention
The utility model aims to provide a self-adaptive flexible manipulator clamp, which solves the problems that the prior manipulator clamping jaw provided in the background technology has poor universality, the clamping jaw needs to be replaced or the clamping jaw position needs to be adjusted repeatedly when the part specification is replaced, the time and the labor are consumed, and the working efficiency is reduced.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a flexible manipulator anchor clamps of self-adaptation, includes the initiative cylinder, the bottom fixedly connected with mounting panel of initiative cylinder, the outside fixedly connected with three fixed connection pole of mounting panel, three the equal fixedly connected with fixed plate in bottom of fixed connection pole, the output fixedly connected with floating joint of initiative cylinder, the outside of floating joint articulates there are three flexible connection pole, and is three the bottom of flexible connection pole all articulates there is flexible clamping jaw, the camshaft holds follower that is convenient for flexible clamping jaw sliding guide is all installed to the both sides of flexible clamping jaw, the middle part of fixed plate offered with camshaft holds follower assorted direction spout, just camshaft holds follower and direction spout sliding connection.
As a preferable technical scheme of the utility model, the middle part of the fixed connecting rod is rotationally connected with a first cylindrical pin which is convenient for the flexible connecting rod to hinge, and the first cylindrical pin is connected with one side of the top of the flexible connecting rod in a penetrating way, and the first cylindrical pin is convenient for limiting the top of the flexible connecting rod.
As a preferable technical scheme of the utility model, the top of the flexible clamping jaw is rotationally connected with a second cylindrical pin which is convenient for the flexible connecting rod to hinge, the second cylindrical pin is connected with the bottom of the flexible connecting rod in a penetrating way, and the second cylindrical pin is convenient for limiting the bottom of the flexible connecting rod.
As a preferable technical scheme of the utility model, the outer side of the floating joint is rotationally connected with a third cylindrical pin hinged with the flexible connecting rod, and the third cylindrical pin is connected with one end, far away from the flexible clamping jaw, of the flexible connecting rod in a penetrating way.
As a preferable technical scheme of the utility model, one ends of the three fixing plates are connected in pairs, and clamping pieces which are convenient for clamping articles are fixedly arranged on the inner sides of the bottoms of the flexible clamping jaws and are used for clamping the articles.
As a preferable technical scheme of the utility model, the center of the fixed plate is provided with a center groove which is convenient for the flexible clamping jaw to slide, the flexible clamping jaw is in sliding connection with the inside of the center groove, and the center groove is convenient for the flexible clamping jaw to slide and guide.
Compared with the prior art, the utility model has the beneficial effects that:
when the driving cylinder moves upwards in the use process, the driving cylinder drives the floating joint to move upwards, so that the flexible connecting rod moves upwards, the flexible clamping jaw at the bottom can be pulled in the process of moving upwards, meanwhile, the cam bearing follower slides inwards in the guide chute of the fixed plate, the three flexible clamping jaws are close to achieve the function of clamping parts, the three flexible clamping jaws keep away when the driving cylinder moves downwards, the clamped parts are loosened, the whole manipulator clamp utilizes a three-jaw structure, the clamping jaw is not required to be replaced or the clamping jaw position is repeatedly adjusted when the part specification is replaced according to the size of the fixed plate, and the clamping work can be completed by adjusting the driving cylinder.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is a top view connection block diagram of the mounting plate and the fixed link of the present utility model;
FIG. 3 is a front connection block diagram of a fixed plate and a flexible jaw of the present utility model;
fig. 4 is a top view connection structure of the fixing plate and the flexible clamping jaw of the present utility model.
In the figure: 1. an active cylinder; 2. a mounting plate; 3. a first cylindrical pin; 4. a fixed connecting rod; 5. a second cylindrical pin; 6. a fixing plate; 7. a flexible jaw; 8. cam bearing follower; 9. a flexible connecting rod; 10. a third cylindrical pin; 11. a floating joint; 12. a clamping piece; 13. a guide chute; 14. a central slot.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Referring to fig. 1-4, the utility model provides a self-adaptive flexible manipulator clamp, which comprises a driving cylinder 1, wherein the bottom of the driving cylinder 1 is fixedly connected with a mounting plate 2, the outer side of the mounting plate 2 is fixedly connected with three fixed connecting rods 4, the bottoms of the three fixed connecting rods 4 are fixedly connected with a fixed plate 6, the output end of the driving cylinder 1 is fixedly connected with a floating joint 11, the outer sides of the floating joint 11 are hinged with three flexible connecting rods 9, the bottoms of the three flexible connecting rods 9 are hinged with flexible clamping jaws 7, two sides of the flexible clamping jaws 7 are provided with cam bearing followers 8 which are convenient for sliding and guiding the flexible clamping jaws 7, the middle part of the fixed plate 6 is provided with guide sliding grooves 13 matched with the cam bearing followers 8, and the cam bearing followers 8 are in sliding connection with the guide sliding grooves 13.
Referring to fig. 1-4, the middle part of the fixed connecting rod 4 is rotationally connected with a first cylindrical pin 3 which is convenient for the flexible connecting rod 9 to hinge, and the first cylindrical pin 3 is connected with one side of the top of the flexible connecting rod 9 in a penetrating way, the top of the flexible clamping jaw 7 is rotationally connected with a second cylindrical pin 5 which is convenient for the flexible connecting rod 9 to hinge, the second cylindrical pin 5 is connected with the bottom of the flexible connecting rod 9 in a penetrating way, the outer side of the floating joint 11 is rotationally connected with a third cylindrical pin 10 which is hinged with the flexible connecting rod 9, the third cylindrical pin 10 is connected with one end of the flexible connecting rod 9 far away from the flexible clamping jaw 7 in a penetrating way, in the embodiment, the floating joint 11 is fixedly connected with the output end of the driving cylinder 1, the driving cylinder 1 can push and pull the floating joint 11, the flexible connecting rod 9 is connected with the floating joint 11 by using the clearance fit of the third cylindrical pin 10, and the flexible connecting rod 9 is connected with the flexible clamping jaw 7 by using the clearance fit of the second cylindrical pin 5.
Referring to fig. 1-4, one ends of three fixing plates 6 are connected in pairs, a clamping piece 12 which is convenient for clamping objects is fixedly arranged on the inner side of the bottom of a flexible clamping jaw 7, a central groove 14 which is convenient for sliding the flexible clamping jaw 7 is formed in the center of the fixing plate 6, the flexible clamping jaw 7 is in sliding connection with the inside of the central groove 14, in the embodiment, when a cam bearing follower 8 slides in a guide chute 13, the flexible clamping jaw 7 slides in the inside of the central groove 14 of the fixing plate 6, the whole moves in the inside of the central groove 14, and the three flexible clamping jaws 7 are close to clamp and far away from completing the loosening action of the objects.
When the self-adaptive flexible manipulator clamp is specifically used, the outer side of the driving cylinder 1 is fixedly connected with the middle part of the mounting plate 2, the three fixed connecting rods 4 are respectively fixed on the outer side of the mounting plate 2 at equal intervals, the driving cylinder 1 is contracted by utilizing compressed air when the driving cylinder 1 moves upwards in the use process, the driving cylinder 1 drives the floating joint 11 to move upwards, so that the flexible connecting rods 9 move upwards, the flexible clamping jaw 7 at the bottom can be pulled in the process of moving upwards the flexible connecting rods 9, simultaneously, the three flexible clamping jaws 7 are enabled to slide inwards along the cam bearing follower 8 in the guide sliding groove 13 of the fixing plate 6, the three flexible clamping jaws 7 are enabled to approach to achieve the function of clamping parts, and when the driving cylinder 1 moves downwards, the driving cylinder 1 pushes the floating joint 11 to move downwards, so that the flexible clamping jaw 7 at the bottom can be pushed outwards in the process of moving downwards along the cam bearing follower 8 in the guide sliding groove 13 of the fixing plate 6, the three flexible clamping jaws 7 are far away, the clamped parts can be loosened, the whole manipulator clamp can be adjusted in a large range by utilizing the cam bearing follower 6, and the clamping jaw 1 can be replaced repeatedly when the clamping jaw 1 is required to be adjusted in a certain specification.
Although the present utility model has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present utility model.
Claims (6)
1. The utility model provides a flexible manipulator anchor clamps of self-adaptation, includes initiative cylinder (1), its characterized in that: the automatic feeding device is characterized in that the bottom of the driving cylinder (1) is fixedly connected with the mounting plate (2), the outer side of the mounting plate (2) is fixedly connected with three fixed connecting rods (4), the bottom of each fixed connecting rod (4) is fixedly connected with the fixed plate (6), the output end of the driving cylinder (1) is fixedly connected with the floating joint (11), the outer side of the floating joint (11) is hinged with three flexible connecting rods (9), the bottom of each flexible connecting rod (9) is hinged with the flexible clamping jaw (7), the two sides of each flexible clamping jaw (7) are respectively provided with the cam bearing follower (8) which is convenient for the sliding guide of the flexible clamping jaw (7), the middle part of each fixed plate (6) is provided with the guide sliding groove (13) which is matched with the cam bearing follower (8), and the cam bearing follower (8) is in sliding connection with the guide sliding groove (13).
2. An adaptive flexible manipulator clamp according to claim 1, wherein: the middle part of fixed connecting rod (4) rotates and is connected with first cylindric lock (3) that be convenient for flexible connecting rod (9) articulated, just first cylindric lock (3) alternate with one side at flexible connecting rod (9) top and be connected.
3. An adaptive flexible manipulator clamp according to claim 1, wherein: the top of flexible clamping jaw (7) rotates and is connected with second cylindric lock (5) that flexible connecting rod (9) are articulated of being convenient for, second cylindric lock (5) are connected with the bottom of flexible connecting rod (9) interlude.
4. An adaptive flexible manipulator clamp according to claim 1, wherein: the outside rotation of floating joint (11) is connected with and flexible connecting rod (9) articulated third cylindric lock (10), third cylindric lock (10) are connected with flexible connecting rod (9) one end that keeps away from flexible clamping jaw (7) alternate.
5. An adaptive flexible manipulator clamp according to claim 1, wherein: one ends of the three fixing plates (6) are connected in pairs, and clamping pieces (12) which are convenient for clamping articles are fixedly arranged on the inner sides of the bottoms of the flexible clamping jaws (7).
6. An adaptive flexible manipulator clamp according to claim 1, wherein: the center of the fixed plate (6) is provided with a center groove (14) which is convenient for the flexible clamping jaw (7) to slide, and the flexible clamping jaw (7) is in sliding connection with the inside of the center groove (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320593993.2U CN219563157U (en) | 2023-03-24 | 2023-03-24 | Self-adaptive flexible manipulator clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320593993.2U CN219563157U (en) | 2023-03-24 | 2023-03-24 | Self-adaptive flexible manipulator clamp |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219563157U true CN219563157U (en) | 2023-08-22 |
Family
ID=87652550
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320593993.2U Active CN219563157U (en) | 2023-03-24 | 2023-03-24 | Self-adaptive flexible manipulator clamp |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219563157U (en) |
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2023
- 2023-03-24 CN CN202320593993.2U patent/CN219563157U/en active Active
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