CN220179351U - Manipulator clamping device - Google Patents
Manipulator clamping device Download PDFInfo
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- CN220179351U CN220179351U CN202321698006.1U CN202321698006U CN220179351U CN 220179351 U CN220179351 U CN 220179351U CN 202321698006 U CN202321698006 U CN 202321698006U CN 220179351 U CN220179351 U CN 220179351U
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- fixed
- clamping
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- 210000000078 claw Anatomy 0.000 claims abstract description 5
- 239000000872 buffer Substances 0.000 claims description 7
- 238000005452 bending Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 description 9
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
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Abstract
A robot gripping device, comprising: a support base; the support frame, cage frame structure, the back end is fixed to the supporting seat; the fixing plate is uniformly provided with three fixing parts in a protruding mode along the circumferential direction, and the end portions of the fixing parts are provided with grooves; the back of the supporting plate is arranged in the middle of the front of the fixed plate through at least three supporting blocks; the three support positioning claws are respectively arranged at the three fixing parts of the fixing plate at the outer side of the support plate; clamping mechanism, including: the cylinder body of the clamping cylinder is arranged on the seat, and the piston rod of the clamping cylinder extends into the supporting frame; the three guide rods are arranged on the back surface of the fixed plate and correspond to the three fixed parts, and the other ends of the guide rods are fixed on the support frame; the movable plate is uniformly provided with three connecting parts with guide holes in a protruding mode along the circumferential direction and penetrates through the three guide rods; the center of the back of the movable plate is connected with the end part of a piston rod of the clamping cylinder; the end parts of the three connecting parts are respectively and movably connected with one end of a connecting joint through a connecting shaft; the middle parts of the three clamping jaws are pivotally connected in the grooves of the three fixing parts of the fixing plate; the rear end part of the clamping jaw is movably connected with the other end of the connecting joint through a connecting shaft.
Description
Technical Field
The utility model relates to the field of mechanical equipment, in particular to a manipulator clamping device.
Background
The existing clamping mechanism adopts air cylinder parallel clamping or lever type clamping jaw, so that the phenomenon that products are not firmly gripped easily occurs, the clamping force is unstable, and accidental falling often occurs.
In addition, when the product is grasped and aligned and installed, once the installation angle is deviated, the adjustment is difficult, and the alignment is difficult.
Furthermore, after the existing clamping mechanism is used for grabbing a product, once a power source is interrupted accidentally, the clamping force of the product is lost, and the product is easy to drop to cause potential safety hazards.
Disclosure of Invention
The utility model aims to provide a manipulator clamping device which solves the problem of positioning and clamping of flange products (20-200 kg); the problem of angular offset of flange products during installation is solved, and the compatibility of the installation angle is improved; the problem of accidental falling of flange products is solved; the positioning, clamping and mounting device is suitable for positioning, clamping and mounting of flange, wire body, machine, mould and other machines.
In order to achieve the above purpose, the technical scheme of the utility model is as follows:
a robot gripping device, comprising:
a support base;
the support frame is of a cage type frame structure, and the rear end part of the support frame is fixed on the support seat;
the fixing plate is uniformly provided with three fixing parts in a protruding mode along the circumferential direction, and the end portions of the fixing parts are provided with grooves; the fixed plate is arranged at the front end of the support frame;
the back of the supporting plate is arranged in the middle of the front of the fixed plate through at least three supporting blocks;
three supporting and positioning claws which are respectively arranged at three fixing parts of the fixing plate at the outer side of the supporting plate;
clamping mechanism, including:
the cylinder body of the clamping cylinder is arranged on the supporting seat, and the piston rod of the clamping cylinder extends into the supporting frame and is coaxially arranged with the supporting frame;
the three guide rods are arranged on the back surface of the fixed plate and correspond to the three fixed parts, and the other ends of the guide rods are fixed on the support frame;
the movable plate is uniformly provided with three connecting parts in a protruding mode along the circumferential direction, guide holes are formed in the connecting parts, and the movable plate is penetrated on the three guide rods; the center of the back of the movable plate is connected with the end part of a piston rod of the clamping cylinder which stretches into the supporting frame; the end parts of the three connecting parts are respectively and movably connected with one end of a connecting joint through a connecting shaft;
the middle parts of the three clamping jaws are pivotally connected in the grooves of the three fixing parts of the fixing plate; the rear end part of the clamping jaw is movably connected with the other end of the connecting joint through a connecting shaft.
Further, the supporting seat is a pipe body, and an angle adjusting mechanism is arranged on the supporting seat and comprises:
the upper part of the adjusting rod is penetrated with a rotating shaft, and the two ends of the rotating shaft are provided with bearings; the adjusting rod is inserted into the pipe body of the supporting seat, mounting holes are formed in two opposite sides of the upper part of the pipe body, and bearings at two ends of the rotating shaft of the adjusting rod are arranged in the mounting holes at two sides of the pipe body, so that swing is realized; the top end of the adjusting rod extends out of the upper end of the supporting seat pipe body, and a connecting piece connected with an external transfer device is arranged at the top end of the adjusting rod;
the cylinder body of the angle adjusting cylinder is arranged on the outer side surface of the lower part of the supporting seat pipe body, and the piston rod of the angle adjusting cylinder extends into the supporting seat pipe body and is movably connected with the lower end part of the adjusting rod;
an angle adjusting auxiliary handle is arranged on the outer side surface of the lower part of the supporting seat tube body.
Preferably, the end part of the piston rod of the angle adjusting cylinder is connected with a connecting block, the connecting block is provided with a shaft hole, the lower end part of the adjusting rod is provided with a groove, and two side walls of the groove are provided with through holes; the connecting block is inserted into the adjusting rod groove, and the adjusting rod is movably connected with the connecting block through a connecting shaft.
Still further, a movable dowel assembly is included, comprising:
the bearing seat and the upper bearing thereof are arranged in the center of the front surface of the fixed plate;
a fixing rod, one end of which is provided with a fixing ring, the end is inserted between the supporting plate and the fixing plate, and the fixing ring is sleeved and fixed on the bearing;
the guide rail and the sliding block are arranged on the front surface of the outer side end of the fixed rod;
the movable locating pin is vertically arranged on the sliding block;
the handle is arranged on the back surface of the outer side end of the fixing rod.
Preferably, the clamping jaw comprises a base, a connecting part formed by extending from one end of the base, and a hook part formed by extending and bending outwards and obliquely from the other end of the base; the base part is pivotally connected in the groove of the fixing part of the fixing plate, and the connecting part is movably connected with the other end of the connecting joint through a connecting shaft.
In addition, two buffers are also arranged on the front surface of the fixed plate and symmetrically arranged on two sides of the fixed rod.
Preferably, the buffer comprises a fixed seat and an upper adjusting bolt thereof, and a buffer spring arranged on the adjusting bolt, wherein the outer side end of the buffer spring is propped against the side surface of the fixed rod.
The utility model uses the cylinder to drive, so that the movable plate and the connecting joint can be arranged in a line or a plane to form a dead point mechanism, thereby clamping the product (the cylinder ensures the safety and stability of the clamping force, and the dead point mechanism ensures that the clamping force can be maintained when the clamping mechanism is accidentally disconnected).
According to the utility model, the swing angle of the mechanism is adjusted by utilizing the cylinder driving lever mechanism (the air pressure is adjusted to ensure that the driving force of the cylinder is equal to the weight of a product), and the swing angle can be manually adjusted through the handle, so that good compatibility of the product mounting alignment angle is realized, and the problem of difficult adjustment during product alignment mounting is solved.
Compared with the prior art, the utility model has the advantages or positive effects that:
the utility model solves the problem of positioning and clamping of flange products (20-200 kg) by designing a dead point mechanism; the problem of unexpected dropping of flange class product is solved.
According to the utility model, the angle adjusting mechanism and the movable locating pin assembly are designed, so that the problem of angle deviation of flange products during installation is further solved, and the compatibility of the installation angle is improved;
the utility model is suitable for positioning, clamping and installing the flange, the wire body, the machine, the mould and other machines.
Drawings
FIG. 1 is a perspective view of FIG. 1 according to an embodiment of the present utility model;
FIG. 2 is a perspective view of FIG. 2 according to an embodiment of the present utility model;
FIG. 3 is a front view of an embodiment of the present utility model;
FIG. 4 is a top view of an embodiment of the present utility model;
FIG. 5 is a cross-sectional view A-A of FIG. 4;
FIG. 6 is a partial perspective view of an embodiment of the present utility model;
fig. 7 is a perspective view of a clamping mechanism in an embodiment of the utility model.
Detailed Description
Referring to fig. 1 to 7, the manipulator clamping device according to the present utility model includes:
a support base 1;
the support frame 2 is of a cage type frame structure, and the rear end part of the support frame is fixed on the support seat 1;
the fixing plate 3 is uniformly provided with three fixing parts 31 in a protruding mode along the circumferential direction, and the end portions of the fixing parts are provided with grooves 311; the fixed plate 3 is arranged at the front end of the support frame 2;
the back of the supporting plate 4 is arranged in the middle of the front of the fixed plate 3 through at least three supporting blocks 5;
three supporting and positioning claws 6, 6', 6″ respectively provided at three fixing portions 31 of the fixing plate 3 outside the supporting plate 4;
clamping mechanism 7, includes:
the clamping cylinder 71 is arranged on the supporting seat 1, and a piston rod of the clamping cylinder extends into the supporting frame 2 and is coaxially arranged with the supporting frame 2;
three guide rods 72 are all arranged on the back surface of the fixed plate 3 and correspond to the three fixed parts 31, and the other ends of the guide rods are fixed on the support frame 2;
the movable plate 73 is uniformly provided with three connecting parts 731 in a protruding mode along the circumferential direction, and the connecting parts 731 are provided with guide holes which penetrate through the three guide rods 72; the back center of the movable plate 73 is connected with the end part of a piston rod of the clamping cylinder 71 extending into the support frame 2; the ends of the three connecting parts 73 are respectively and movably connected with one end of a connecting joint 75 through connecting shafts 74;
three clamping jaws 76, the middle parts of which are pivotally connected in grooves 311 of three fixing parts 31 of the fixing plate 3; the rear end of the clamping jaw 76 is movably connected with the other end of the connecting joint 75 through a connecting shaft.
Further, the supporting seat 1 is a tube body, on which an angle adjusting mechanism 8 is arranged, and includes:
the adjusting rod 81 is provided with a rotating shaft 82 in a penetrating way at the upper part, and bearings 83 are arranged at the two ends of the rotating shaft; the adjusting rod 81 is inserted into the tube body of the supporting seat 1, mounting holes 11 are formed in two opposite sides of the upper part of the tube body, and bearings 83 at two ends of a rotating shaft of the adjusting rod 81 are arranged in the mounting holes 11 at two sides of the tube body, so that swing is realized; the top end of the adjusting rod 81 extends out of the upper end of the pipe body of the supporting seat 1, and a connecting piece 84 connected with an external transfer device is arranged at the top end of the adjusting rod 81;
the cylinder body of the angle adjusting cylinder 85 is arranged on the outer side surface of the lower part of the pipe body of the supporting seat 1, and the piston rod of the angle adjusting cylinder extends into the pipe body of the supporting seat 1 and is movably connected with the lower end part of the adjusting rod 81;
an angle adjusting auxiliary handle 86 is arranged on the outer side surface of the lower part of the supporting seat tube body.
Preferably, the end of the piston rod of the angle adjusting cylinder 85 is connected with a connecting block 87, the connecting block 87 is provided with a shaft hole 871, the lower end of the adjusting rod 81 is provided with a groove 811, and two side walls of the groove are provided with through holes 812; the connecting block 87 is inserted into the groove 811 of the adjusting rod 81, and the adjusting rod 81 is movably connected with the connecting block 87 through a connecting shaft 88.
Still further, a movable dowel assembly 9 is included, comprising:
a bearing seat 91 and an upper bearing 92 thereof, wherein the bearing seat 91 is arranged at the front center of the fixed plate 3;
a fixing rod 93 having a fixing ring 931 at one end thereof, the end being inserted between the support plate 4 and the fixing plate 3, the fixing ring 931 being fixed to the bearing 92 by being sleeved;
a guide rail 94 and a slide block 95, wherein the guide rail 94 is arranged on the front surface of the outer side end of the fixed rod 93;
the movable positioning pin 96 is vertically arranged on the slide block 95;
the handle 97 is disposed at the back of the outer end of the fixing rod 93.
Preferably, the clamping jaw 76 includes a base 761, a connecting portion 762 extending from one end of the base 761, and a hook portion 763 extending and bending obliquely outwards from the other end of the base 761; the base is pivotally connected to the fixing portion 31 of the fixing plate 3 in the groove 311, and the connecting portion 762 is movably connected to the other end of the connecting joint 75 through a connecting shaft.
In addition, two buffers 10, 10' are provided on the front surface of the fixing plate 3 and symmetrically provided on both sides of the fixing rod 93.
Preferably, the damper 10 includes a fixed seat 101 and an adjusting bolt 102 thereon, a damper spring 103 disposed on the adjusting bolt 102, and an outer end of the damper spring 103 abuts against a side surface of the fixed rod 93.
When the picking piece is clamped, the picking piece is clamped: the clamping jaw at the front end of the clamping mechanism is aligned with the flange surface of the product, a clamping button (not shown in the figure) is pressed, a clamping cylinder is driven to advance, a movable plate is driven to form a dead point clamping mechanism, the clamping jaw (three claws) is pressed down to buckle the flange surface of the product, and the clamping of the product is completed (even if the cylinder is disconnected, the dead point clamping mechanism can still buckle the flange surface of the product, so that the product is prevented from falling).
When in alignment and installation: the clamping mechanism with the product is moved to the installation position of the product, the product is moved to the installation surface, the pitching balance button is pressed, the pitching angle of the clamping mechanism is in a floating state, the pitching angle of the clamping mechanism can be freely adjusted by manually holding the angle adjusting auxiliary handle, and the free adjustment of the installation angle of the product is completed.
Claims (9)
1. A manipulator clamping device, comprising:
a support base;
the support frame is of a cage type frame structure, and the rear end part of the support frame is fixed on the support seat;
the fixing plate is uniformly provided with three fixing parts in a protruding mode along the circumferential direction, and the end portions of the fixing parts are provided with grooves; the fixed plate is arranged at the front end of the support frame;
the back of the supporting plate is arranged in the middle of the front of the fixed plate through at least three supporting blocks;
three supporting and positioning claws which are respectively arranged at three fixing parts of the fixing plate at the outer side of the supporting plate;
clamping mechanism, including:
the cylinder body of the clamping cylinder is arranged on the supporting seat, and the piston rod of the clamping cylinder extends into the supporting frame and is coaxially arranged with the supporting frame;
the three guide rods are arranged on the back surface of the fixed plate and correspond to the three fixed parts, and the other ends of the guide rods are fixed on the support frame;
the movable plate is uniformly provided with three connecting parts in a protruding mode along the circumferential direction, guide holes are formed in the connecting parts, and the movable plate is penetrated on the three guide rods; the center of the back of the movable plate is connected with the end part of a piston rod of the clamping cylinder which stretches into the supporting frame; the end parts of the three connecting parts are respectively and movably connected with one end of a connecting joint through a connecting shaft;
the middle parts of the three clamping jaws are pivotally connected in the grooves of the three fixing parts of the fixing plate; the rear end part of the clamping jaw is movably connected with the other end of the connecting joint through a connecting shaft.
2. The manipulator clamping apparatus of claim 1, wherein the support is a tube with an angle adjustment mechanism thereon, comprising:
the upper part of the adjusting rod is penetrated with a rotating shaft, and the two ends of the rotating shaft are provided with bearings; the adjusting rod is inserted into the pipe body of the supporting seat, mounting holes are formed in two opposite sides of the upper part of the pipe body, and bearings at two ends of the rotating shaft of the adjusting rod are arranged in the mounting holes at two sides of the pipe body, so that swing is realized; the top end of the adjusting rod extends out of the upper end of the supporting seat pipe body, and a connecting piece connected with an external transfer device is arranged at the top end of the adjusting rod;
the cylinder body of the angle adjusting cylinder is arranged on the outer side surface of the lower part of the supporting seat pipe body, and the piston rod of the angle adjusting cylinder extends into the supporting seat pipe body and is movably connected with the lower end part of the adjusting rod;
an angle adjusting auxiliary handle is arranged on the outer side surface of the lower part of the supporting seat tube body.
3. The manipulator clamping device according to claim 2, wherein the end part of the piston rod of the angle adjusting cylinder is connected with a connecting block, the connecting block is provided with a shaft hole, the lower end part of the adjusting rod is provided with a groove, and two side walls of the groove are provided with through holes; the connecting block is inserted into the adjusting rod groove, and the adjusting rod is movably connected with the connecting block through a connecting shaft.
4. A robot gripping device according to claim 1, 2 or 3, further comprising a movable detent assembly comprising:
the bearing seat and the upper bearing thereof are arranged in the center of the front surface of the fixed plate;
a fixing rod, one end of which is provided with a fixing ring, the end is inserted between the supporting plate and the fixing plate, and the fixing ring is sleeved and fixed on the bearing;
the guide rail and the sliding block are arranged on the front surface of the outer side end of the fixed rod;
the movable locating pin is vertically arranged on the sliding block;
the handle is arranged on the back surface of the outer side end of the fixing rod.
5. A manipulator clamping device as claimed in claim 1, 2 or 3, wherein the clamping jaw comprises a base, a connecting part extending from one end of the base, and a hook extending and bending outwards and obliquely from the other end of the base; the base part is pivotally connected in the groove of the fixing part of the fixing plate, and the connecting part is movably connected with the other end of the connecting joint through a connecting shaft.
6. The manipulator clamping device of claim 4, wherein the clamping jaw comprises a base, a connecting portion extending from one end of the base, and a hook extending and bending outward from the other end of the base; the base part is pivotally connected in the groove of the fixing part of the fixing plate, and the connecting part is movably connected with the other end of the connecting joint through a connecting shaft.
7. The manipulator clamping apparatus of claim 4, further comprising two buffers disposed on the front surface of the fixed plate and symmetrically disposed on both sides of the fixed rod.
8. The manipulator clamping apparatus of claim 6, further comprising two buffers disposed on the front surface of the fixed plate and symmetrically disposed on both sides of the fixed rod.
9. The manipulator clamping apparatus of claim 7 or 8, wherein the damper comprises a fixed seat and an adjusting bolt thereon, and a damper spring disposed on the adjusting bolt, and an outer end of the damper spring abuts against a side surface of the fixed rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321698006.1U CN220179351U (en) | 2023-06-30 | 2023-06-30 | Manipulator clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321698006.1U CN220179351U (en) | 2023-06-30 | 2023-06-30 | Manipulator clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220179351U true CN220179351U (en) | 2023-12-15 |
Family
ID=89106032
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321698006.1U Active CN220179351U (en) | 2023-06-30 | 2023-06-30 | Manipulator clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220179351U (en) |
-
2023
- 2023-06-30 CN CN202321698006.1U patent/CN220179351U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant |