CN220051843U - Cattle head type manipulator beneficial to clamping - Google Patents

Abstract

The utility model discloses a ox-head type manipulator beneficial to clamping, which comprises a frame, wherein a transverse beam is fixedly arranged on the frame, a longitudinal beam which is longitudinally arranged is in sliding fit on the transverse beam, one end of the longitudinal beam is fixedly provided with a vertical beam, a chuck rod which can be vertically and slidably adjusted is arranged on the vertical beam, the lower end of the chuck rod is provided with a chuck mechanism used for clamping operation, the chuck mechanism comprises a chuck box body fixedly connected with the lower end of the chuck rod, the lower end surface of the chuck box body is provided with a chuck bottom plate, and the chuck bottom plate is provided with a transverse through groove and a longitudinal through groove; the device has the advantages of simple structure, easy operation, suitability for picking up spherical parts of various specifications, simple assembly and low maintenance cost.

Description

Cattle head type manipulator beneficial to clamping

Technical Field

The utility model relates to the technical field of manipulators, in particular to a bull-nose manipulator beneficial to clamping.

Background

As described in the patent application number CN201810085829.4, in the mechanical production operation, the manipulator is very widely used, whether in the production line production or in the machining field, the manipulator is very common in use, and according to different working requirements, the structure of the manipulator is different, so that the spherical part is widely used in the field of mechanical equipment, and the type of part is not well grabbed due to the appearance reason, so that the manipulator used at present has high cost and complex structure, the production cost is increased, and the manipulator of one type cannot be well suitable for picking up spherical parts of multiple types, so that in the production operation, the manipulator device of the low cost capable of meeting the grabbing requirement of the spherical part needs to be equipped with the manipulator of the multiple types to match with the picking up of spherical parts of different types is required.

As described in the chinese patent application No. CN201620718150.0, the application of the manipulator device is gradually expanding on the product production line and the detection line, and the manipulator device is favored because of the advantages of operating and controlling the application program, automatic working, convenience and reliability, saving manpower, etc., but the manipulator used today works on the principle of electromagnet, and works on the anti-slip chuck, but when the product is spherical, the two modes are inconvenient for clamping the product, and a manipulator device capable of conveniently clamping the spherical product is needed to make up for the defect.

In view of the foregoing, there is a need for a low cost portable ball part grasping manipulator device.

Disclosure of Invention

The utility model aims to overcome the defects of the prior art and provides a technical scheme which is beneficial to clamping and solves the problems of the bovine-headed manipulator.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

the ox-head type manipulator comprises a frame, wherein a transverse beam is fixedly arranged on the frame, a longitudinal beam which is longitudinally arranged is in sliding fit on the transverse beam, one end of the longitudinal beam is fixedly provided with a vertical beam, a chuck rod which can be vertically and slidably adjusted is arranged on the vertical beam, and a chuck mechanism for clamping operation is arranged at the lower end of the chuck rod;

the clamping head mechanism comprises a clamping head box body fixedly connected with the lower end of a clamping head rod, a clamping head bottom plate is arranged on the lower end face of the clamping head box body, a transverse through groove and a longitudinal through groove are formed in the clamping head bottom plate, transverse sliding blocks are symmetrically arranged in the transverse through groove in a sliding mode, longitudinal sliding blocks are symmetrically arranged in the longitudinal through groove in a sliding mode, transverse threaded connectors and longitudinal threaded connectors are respectively fixedly arranged at the upper ends of the transverse sliding blocks and the longitudinal sliding blocks, and clamping jaw assemblies are respectively arranged at the lower ends of the transverse sliding blocks and the longitudinal sliding blocks;

the transverse screw is connected with a transverse screw in a screwed mode, the longitudinal screw is connected with a longitudinal screw in a screwed mode, a worm gear is fixedly arranged on the transverse screw, a worm rod matched with the worm gear in a toothed mode is fixedly arranged on the longitudinal screw, a chuck motor is arranged in the chuck rod, a first conical gear is fixedly connected onto an output shaft of the chuck motor, and a second conical gear matched with the first conical gear in a toothed mode is fixedly arranged on the longitudinal screw.

As a further scheme of the utility model: the transverse screw joint comprises a first transverse screw joint and a second transverse screw joint which are symmetrically arranged on the transverse screw rod, and the screwing directions of the first transverse screw joint and the second transverse screw joint are opposite; the longitudinal screw joint comprises a first longitudinal screw joint and a second longitudinal screw joint which are symmetrically arranged on the longitudinal screw rod, and the screwing directions of the first longitudinal screw joint and the second longitudinal screw joint are opposite.

As a further scheme of the utility model: the clamping jaw assembly comprises a clamping jaw piece, an arc clamping position is arranged on one side of clamping operation of the clamping jaw piece, an elastic abutting piece is arranged in the arc clamping position, one end of the elastic abutting piece is fixedly connected with the lower end of the clamping jaw piece, and the other end of the elastic abutting piece is fixedly connected with the upper end of the clamping jaw piece.

As a further scheme of the utility model: the horizontal slider and the vertical slider are gone up respectively and have been set firmly supplementary spiro union spare, supplementary spiro union spare respectively with horizontal screw rod and vertical screw rod spiro union cooperation, the lower extreme of supplementary spiro union spare is equipped with first pivot, and clamping jaw spare includes upper portion clamping jaw spare and lower part clamping jaw spare, and upper portion clamping jaw spare is connected with lower part clamping jaw spare rotation, is equipped with the second pivot on the lower part clamping jaw spare, is connected with the pivot piece between first pivot and the second pivot.

As a further scheme of the utility model: the transverse beam is provided with a sliding block, the sliding block is provided with a longitudinal guide rail, and the longitudinal beam is in sliding fit with the longitudinal guide rail.

As a further scheme of the utility model: the inner side of the clamping jaw piece is provided with a pressure sensor.

Compared with the prior art, the utility model has the following beneficial effects:

according to the utility model, the manipulator drives the transverse screw and the longitudinal screw to synchronously rotate through the chuck motor, so that the transverse clamping jaw assembly and the longitudinal clamping jaw assembly clamp products from four directions, spherical products can be clamped conveniently, and the manipulator is also suitable for clamping products with other curved surfaces, so that the manipulator can be suitable for picking up spherical parts with different diameters, the application range of the manipulator is widened, the problem that the picking up manipulator with different specifications is required to be equipped for parts with different specifications in actual production is solved, and the production cost is saved; the device has the advantages of simple structure, easy operation, suitability for picking up spherical parts of various specifications, simple assembly and low maintenance cost.

Drawings

FIG. 1 is a perspective view of the structure of the present utility model;

FIG. 2 is a perspective view of the collet mechanism of the present utility model;

FIG. 3 is a top view of the chuck mechanism of the present utility model;

FIG. 4 is a perspective view of the structure of the jaw assembly of the present utility model;

fig. 5 is a state diagram of centripetal movement of the jaw members in the present utility model.

Fig. 6 is a state diagram of the jaw members moving away from each other in the present utility model.

Reference numerals and names in the drawings are as follows:

the clamping device comprises a frame-1, a transverse beam-2, a longitudinal beam-3, a vertical beam-4, a clamping head rod-5, a clamping head mechanism-6, a clamping head box-7, a clamping bottom plate-8, a transverse through groove-9, a longitudinal through groove-10, a transverse sliding block-11, a longitudinal sliding block-12, a transverse screw-13, a longitudinal screw-14, a clamping jaw assembly-15, a transverse screw-16, a longitudinal screw-17, a worm gear-18, a worm piece-19, a first conical gear piece-20, a second conical gear piece-21, a first transverse screw-22, a second transverse screw-23, a first longitudinal screw-24, a second longitudinal screw-25, an auxiliary screw-26, a first rotating shaft-27, an upper clamping jaw piece-28, a lower clamping jaw piece-29, a second rotating shaft-30, a rotating shaft piece-31, a sliding block-32, an arc clamping position-33 and an elastic abutting piece-34.

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. 1-6, a ox-head manipulator beneficial to clamping comprises a frame 1, wherein a transverse beam 2 is fixedly arranged on the frame 1, a longitudinal beam 3 longitudinally arranged is in sliding fit with the transverse beam 2, a vertical beam 4 is fixedly arranged at one end of the longitudinal beam 3, a chuck rod 5 capable of sliding and adjusting up and down is arranged on the vertical beam 4, and a chuck mechanism 6 used for clamping is arranged at the lower end of the chuck rod 5;

the chuck mechanism 6 comprises a chuck box body 7 fixedly connected with the lower end of the chuck rod 5, a chuck bottom plate is arranged on the lower end face of the chuck box body 7, a transverse through groove 9 and a longitudinal through groove 10 are formed in the chuck bottom plate, transverse sliding blocks 11 are symmetrically arranged in the transverse through groove 9 in a sliding manner, longitudinal sliding blocks 12 are symmetrically arranged in the longitudinal through groove 10 in a sliding manner, a transverse screw joint 13 and a longitudinal screw joint 14 are respectively fixedly arranged at the upper ends of the transverse sliding blocks 11 and the longitudinal sliding blocks 12, and clamping jaw assemblies 15 are respectively arranged at the lower ends of the transverse sliding blocks 11 and the longitudinal sliding blocks 12;

the transverse screw connecting piece 13 is in screw connection with a transverse screw 16, the longitudinal screw connecting piece 14 is in screw connection with a longitudinal screw 17, a worm wheel 18 is fixedly arranged on the transverse screw 16, a worm piece 19 in tooth connection with the worm wheel 18 is fixedly arranged on the longitudinal screw 17, a chuck motor is arranged in the chuck rod 5, a first conical gear piece 20 is fixedly connected on an output shaft of the chuck motor, and a second conical gear piece 21 in tooth connection with the first conical gear piece 20 is fixedly arranged on the longitudinal screw 17.

As shown in fig. 1 and 2, during the clamping operation, firstly, the longitudinal beam 3 is in sliding fit on the transverse beam 2 to enable the chuck mechanism 6 to move to a preset position, after the chuck mechanism 6 moves to the preset position, the chuck rod 5 is lowered to the preset position on the vertical beam 4, the chuck motor is controlled to operate, the chuck motor rotates to drive the first conical gear piece 20 to rotate, the first conical gear piece 20 rotates to drive the second conical gear piece 21 to rotate, the rotation of the second conical gear piece 21 drives the rotation of the longitudinal screw 17, the rotation of the longitudinal screw 17 drives the worm piece 19 to rotate, and the rotation of the longitudinal screw 17 drives the longitudinal screw piece 14 and the longitudinal sliding block 12 to be in sliding fit in the longitudinal through groove 10;

the longitudinal sliding blocks 12 are symmetrically arranged in the longitudinal through grooves 10, the longitudinal screw connectors 14 are symmetrically arranged on the longitudinal screw rods 17, and the longitudinal sliding blocks 12 are driven to centripetally shrink by the rotation of the longitudinal screw rods 17, so that the clamping jaw assemblies 15 on the longitudinal sliding blocks 12 move centripetally;

the rotation of the worm rod 19 drives the worm wheel to rotate, so that the transverse screw rod 16 rotates, the rotation of the transverse screw rod 16 drives the transverse screw connector 13 and the transverse sliding block 11 to slide and cooperate in the transverse through groove 9, the transverse sliding block 11 is symmetrically arranged in the transverse through groove 9, the transverse screw connector 13 is symmetrically arranged on the transverse screw rod 16, and the transverse sliding block 11 is driven to shrink centripetally by the rotation of the transverse screw rod 16, so that the clamping jaw assembly 15 on the transverse sliding block 11 moves centripetally, and the clamping jaw assembly 15 on the transverse sliding block 11 and the longitudinal sliding block 12 move centripetally to clamp parts;

after the product is clamped stably, the chuck rod 5 is lifted on the vertical beam 4, then the chuck mechanism 6 is moved to a target position through sliding fit of the longitudinal beam 3 on the transverse beam 2, the chuck motor is reversed, the back movement of the clamping jaw assemblies 15 on the transverse slide block 11 and the longitudinal slide block 12 is released, so that conveying operation is completed, and then the chuck mechanism 6 is reset to an initial state;

according to the utility model, the manipulator drives the transverse screw 16 and the longitudinal screw 17 to synchronously rotate through the chuck motor, so that the transverse clamping jaw assembly 15 and the longitudinal clamping jaw assembly 15 can clamp products in four directions, spherical products can be clamped conveniently, and meanwhile, the manipulator is also suitable for clamping products with other curved surfaces, so that the manipulator can be suitable for picking up spherical parts with different diameters, the application range of the manipulator is widened, the problem that the picking up manipulator with different specifications needs to be equipped for parts with different specifications in actual production is solved, and the production cost is saved; the device has the advantages of simple structure, easy operation, suitability for picking up spherical parts of various specifications, simple assembly and low maintenance cost.

In the embodiment of the utility model, the transverse screw 13 comprises a first transverse screw 22 and a second transverse screw 23 which are symmetrically arranged on the transverse screw 16, and the screwing directions of the first transverse screw 22 and the second transverse screw 23 are opposite; the longitudinal screw 14 comprises a first longitudinal screw 24 and a second longitudinal screw 25 symmetrically arranged on the longitudinal screw 17, the screwing directions of the first longitudinal screw 24 and the second longitudinal screw 25 being opposite.

As shown in fig. 3, during the rotation of the transverse screw 16, the first transverse screw 22 and the second transverse screw 23 are rotated, when the transverse screw 16 rotates in the forward direction, the first transverse screw 22 moves centripetally, and the second transverse screw 23 rotates in the opposite direction to the first transverse screw 22, so that the first transverse screw 22 and the second transverse screw 23 synchronously move centripetally on the transverse screw 16, and the transverse slide blocks 11 fixedly connected with the first transverse screw 22 and the second transverse screw 23 respectively slide centripetally, so that the clamping jaw assemblies 15 arranged at the lower ends of the clamping jaw assemblies move centripetally respectively;

the forward rotation of the transverse screw 16 drives the forward rotation of the longitudinal screw 17, the first longitudinal screw member 24 moves centripetally, and the twisting direction of the second longitudinal screw member 25 is opposite to the twisting direction of the first longitudinal screw member 24, so that the first longitudinal screw member 24 and the second longitudinal screw member 25 synchronously move centripetally on the longitudinal screw 17, and the longitudinal sliding blocks 12 fixedly connected with the first longitudinal screw member 24 and the second longitudinal screw member 25 respectively slide centripetally, so that the clamping jaw assemblies 15 arranged at the lower ends of the clamping jaw assemblies respectively move centripetally, and the clamping jaw assemblies 15 can move centripetally from four directions conveniently and conveniently, so that clamping operation is facilitated;

when the transverse screw 16 rotates positively, the first transverse screw 22 moves reversely, and the second transverse screw 23 rotates reversely to the first transverse screw 22, so that the first transverse screw 22 and the second transverse screw 23 synchronously move back on the transverse screw 16, the transverse sliding blocks 11 fixedly connected with the first transverse screw 22 and the second transverse screw 23 respectively slide back, and the clamping jaw assemblies 15 arranged at the lower ends of the clamping jaw assemblies move back respectively, so that the clamped product is loosened.

In the embodiment of the utility model, the clamping jaw assembly 15 comprises a clamping jaw member, wherein an arc-shaped clamping position 33 is arranged on one side of the clamping operation of the clamping jaw member, an elastic abutting member 34 is arranged in the arc-shaped clamping position 33, one end of the elastic abutting member 34 is fixedly connected with the lower end of the clamping jaw member, and the other end of the elastic abutting member 34 is fixedly connected with the upper end of the clamping jaw member;

as shown in fig. 4, in the clamping operation, the clamping heads have radians, so that the spherical product can be shoveled up and held by the four clamping heads, clamping of the spherical product is realized, the product is protected from the inner side by the elastic abutting piece 34 and abutting with the product on the one hand, the product is prevented from being clamped, and on the other hand, the elastic abutting piece 34 is coated on the product to have a better stabilizing effect on the product, so that the overall clamping stability of the product is better.

In the embodiment of the utility model, the transverse sliding block 11 and the longitudinal sliding block 12 are respectively fixedly provided with an auxiliary screw joint part 26, the auxiliary screw joint part 26 is respectively in screw joint with the transverse screw rod 16 and the longitudinal screw rod 17, the lower end of the auxiliary screw joint part 26 is provided with a first rotating shaft 27, the clamping jaw parts comprise an upper clamping jaw part 28 and a lower clamping jaw part 29, the upper clamping jaw part 28 is rotationally connected with the lower clamping jaw part 29, the lower clamping jaw part 29 is provided with a second rotating shaft 30, and a rotating shaft part 31 is connected between the first rotating shaft 27 and the second rotating shaft 30.

During the clamping operation, the first transverse sliding block 11 and the second transverse sliding block 11, the first longitudinal sliding block 12 and the second longitudinal sliding block 12 move back to back along with the increase of the radius of the product, so as to drive the clamping jaw members to separate, thereby facilitating the clamping operation, during the separation of the first transverse sliding block 11 and the second transverse sliding block 11, the auxiliary screw joint piece 26 is synchronously screw-jointed and matched on the screw rod, so that the auxiliary screw joint piece 26 drives the lower clamping jaw member 29 to move,

as shown in fig. 5, when the first transverse slider 11 moves centripetally, the corresponding auxiliary screw member 26 also moves centripetally, so that the lower clamping jaw swings centripetally, and the arc-shaped clamping position 33 formed by the clamping jaw members is more curved, so that the clamping of spheres with relatively smaller diameters is facilitated;

as shown in fig. 3 and 6, when the first transverse slider 11 moves reversely, the corresponding auxiliary screw 26 also moves reversely, so that the lower clamping jaw swings outwards, the arc-shaped clamping position 33 formed by the clamping jaw pieces is bent to a smaller extent, and the clamping of spheres with relatively large diameters is facilitated;

the pitches of the threads on the transverse screw 16 and the longitudinal screw 17 are respectively divided into a first section e and a second section f, the first section e is in threaded connection with the first transverse screw joint 22, the second section f is in threaded connection with the auxiliary screw joint 26, and the pitches of the first section and the second section are different, so that a speed difference exists between the auxiliary screw joint 26 and the first transverse sliding block 11 in the rotation process of the transverse screw 16, and the magnitude of the speed difference between the auxiliary screw joint 26 and the first transverse sliding block 11 can be controlled by adjusting the pitch ratio of the first section e and the second section f, so that the swing angle of the lower clamping jaw piece 29 is convenient to control.

In the embodiment of the utility model, the transverse beam 2 is provided with the sliding block 32, the sliding block 32 is provided with the longitudinal guide rail, and the longitudinal beam 3 is in sliding fit on the longitudinal guide rail;

the clamping operation is more flexible.

In the embodiment of the utility model, the pressure sensor is arranged on the inner side of the clamping jaw piece.

Avoid the clamping strength too big, damage the product.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model 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.

Claims (6)

1. The ox-head type manipulator is beneficial to clamping and is characterized by comprising a frame (1), wherein a transverse beam (2) is fixedly arranged on the frame (1), a longitudinal beam (3) longitudinally arranged is in sliding fit on the transverse beam (2), one end of the longitudinal beam (3) is fixedly provided with a vertical beam (4), a chuck rod (5) capable of sliding and adjusting up and down is arranged on the vertical beam (4), and a chuck mechanism (6) for clamping is arranged at the lower end of the chuck rod (5);

the clamping head mechanism (6) comprises a clamping head box body (7) fixedly connected with the lower end of a clamping head rod (5), a clamping head bottom plate is arranged on the lower end face of the clamping head box body (7), a transverse through groove (9) and a longitudinal through groove (10) are formed in the clamping head bottom plate, transverse sliding blocks (11) are symmetrically arranged in the transverse through groove (9) in a sliding mode, longitudinal sliding blocks (12) are symmetrically arranged in the longitudinal through groove (10) in a sliding mode, transverse screw connectors (13) and longitudinal screw connectors (14) are respectively fixedly arranged at the upper ends of the transverse sliding blocks (11) and the longitudinal sliding blocks (12), and clamping jaw assemblies (15) are respectively arranged at the lower ends of the transverse sliding blocks (11) and the longitudinal sliding blocks (12);

the transverse screw connecting piece (13) is connected with a transverse screw (16) in a screwed mode, the longitudinal screw connecting piece (14) is connected with a longitudinal screw (17) in a screwed mode, a worm wheel (18) is fixedly arranged on the transverse screw (16), a worm piece (19) matched with the worm wheel (18) in a toothed mode is fixedly arranged on the longitudinal screw (17), a chuck motor is arranged in the chuck rod (5), a first conical gear piece (20) is fixedly connected to an output shaft of the chuck motor, and a second conical gear piece (21) matched with the first conical gear piece (20) in a toothed mode is fixedly arranged on the longitudinal screw (17).

2. The bovine-headed manipulator facilitating gripping according to claim 1, characterized in that the transverse screw (13) comprises a first transverse screw (22) and a second transverse screw (23) symmetrically arranged on the transverse screw (16), the screwing directions of the first transverse screw (22) and the second transverse screw (23) being opposite; the longitudinal screw-connection piece (14) comprises a first longitudinal screw-connection piece (24) and a second longitudinal screw-connection piece (25) which are symmetrically arranged on the longitudinal screw rod (17), and the screwing directions of the first longitudinal screw-connection piece (24) and the second longitudinal screw-connection piece (25) are opposite.

3. The bovine head manipulator of claim 2, wherein the clamping jaw assembly (15) comprises a clamping jaw member, an arc-shaped clamping position (33) is arranged on one side of the clamping operation of the clamping jaw member, an elastic abutting piece (34) is arranged in the arc-shaped clamping position (33), one end of the elastic abutting piece (34) is fixedly connected with the lower end of the clamping jaw member, and the other end of the elastic abutting piece (34) is fixedly connected with the upper end of the clamping jaw member.

4. A bull-nose manipulator according to claim 3, characterized in that, auxiliary screw joint parts (26) are respectively fixed on the transverse slide block (11) and the longitudinal slide block (12), the auxiliary screw joint parts (26) are respectively in screw joint with the transverse screw rod (16) and the longitudinal screw rod (17), the lower end of the auxiliary screw joint parts (26) is provided with a first rotating shaft (27), the clamping jaw parts comprise an upper clamping jaw part (28) and a lower clamping jaw part (29), the upper clamping jaw part (28) is rotationally connected with the lower clamping jaw part (29), a second rotating shaft (30) is arranged on the lower clamping jaw part (29), and a rotating shaft part (31) is connected between the first rotating shaft (27) and the second rotating shaft (30).

5. The bovine-headed manipulator facilitating gripping according to claim 4, wherein the transverse beam (2) is provided with a slider (32), the slider (32) is provided with a longitudinal rail, and the longitudinal beam (3) is slidably fitted on the longitudinal rail.

6. The gripping bovine manipulator of claim 5, wherein said jaw members are internally mounted with pressure sensors.