CN220241513U

CN220241513U - Clamp with quick-change interface

Info

Publication number: CN220241513U
Application number: CN202321908767.5U
Authority: CN
Inventors: 雒瑞民; 张金钰; 葛怀国; 马德盛; 陈彬; 范永
Original assignee: Shandong Youbaote Intelligent Robot Co ltd
Current assignee: Shandong Youbaote Intelligent Robot Co ltd
Priority date: 2023-07-19
Filing date: 2023-07-19
Publication date: 2023-12-26
Anticipated expiration: 2033-07-19

Abstract

The utility model discloses a clamp with a quick-change interface, which relates to the technical field of manipulators, solves the problem of complex structure of the existing hydraulic manipulator, simplifies the integral structure of the clamp, and improves the installation and positioning speed, and the specific scheme is as follows: the quick connecting mechanism comprises a driving mechanism, a quick connecting mechanism and a clamping hand, wherein the quick connecting mechanism and the clamping hand are detachably arranged at two ends of the driving mechanism; the two piston chambers of the linear oil cylinder are respectively communicated with an internal oil way of the quick connecting mechanism so as to drive the linear oil cylinder by utilizing the hydraulic energy of the mechanical arm.

Description

Clamp with quick-change interface

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to a clamp with a quick-change interface.

Background

The manipulator is an automatic operation device which can simulate some action functions of a human arm and is used for grabbing and carrying objects or operating tools according to a fixed program. The driving mode can be divided into hydraulic, pneumatic, electric and mechanical modes. The hydraulic manipulator is a structure driven by hydraulic pressure, has the biggest characteristics of large load/dead weight ratio, and is suitable for occasions which are sensitive to load and have strong requirement on weight bearing capacity.

The existing hydraulic manipulator is connected with the mechanical arm in a mode of matching a locating pin, a locating hole with a screw and a pin shaft, the connecting and locating speed is low, an oil cylinder for driving the clamping hand is connected with an independent hydraulic oil source through a plurality of rubber pipes, a large amount of rubber pipes are not convenient to use, the structure of the mechanical arm is simplified, and the later maintenance difficulty is high.

Disclosure of Invention

Aiming at the defects existing in the prior art, the utility model aims to provide the clamp with the quick-change interface, which is provided with the quick-connection mechanism, improves the installation speed of the manipulator, respectively communicates two piston chambers of the linear cylinder with one internal oil way of the quick-connection mechanism, utilizes the hydraulic energy of the mechanical arm to drive the linear cylinder, simplifies the oil way and solves the problem of complex structure of the traditional hydraulic manipulator.

In order to achieve the above object, the present utility model is realized by the following technical scheme:

the embodiment of the utility model provides a clamp with a quick-change interface, which comprises a driving mechanism, a quick connecting mechanism and a clamp, wherein the quick connecting mechanism and the clamp are detachably arranged at two ends of the driving mechanism; the two piston chambers of the linear oil cylinder are respectively communicated with an internal oil way of the quick connecting mechanism so as to drive the linear oil cylinder by utilizing the hydraulic energy of the mechanical arm.

As a further implementation mode, the quick connection mechanism consists of a quick-change disc, a taper sleeve detachably mounted on the quick-change disc through a screw and an automatic connector, wherein the taper sleeve is used for being matched with a taper hole on the tail end of the mechanical arm, and the automatic connector is provided with two taper sleeves and is oppositely arranged on two sides of the taper sleeve.

As a further implementation manner, the automatic connector is a groove piece matched with the joint piece on the mechanical arm, the automatic connector comprises a groove, and the automatic connector is communicated with the internal oil way of the quick-change disc.

As a further implementation mode, the quick-change disc is detachably provided with an oil port component, the oil port component comprises an internal oil way, two connectors are fixedly arranged on the oil port component, the internal oil way of the oil port component is respectively communicated with the corresponding connector and the internal oil way of the quick-change disc, hydraulic oil in the internal oil way of the quick-change disc is conveyed into the connectors, and the connectors are communicated with a piston cavity of the linear oil cylinder through a hydraulic rubber pipe.

As a further implementation mode, a sealing ring is arranged at the joint of the quick-change disc and the internal oil way of the oil port piece.

As a further implementation mode, the linear oil cylinder is detachably mounted in the oil cylinder mounting frame through screws, and the clamping hand and the quick connecting mechanism are relatively mounted at two ends of the oil cylinder mounting frame.

As a further implementation mode, the clamping hand is formed by a fixing seat fixedly installed on the oil cylinder installation frame and two groups of clamping arms movably connected with the fixing seat and a piston rod of the linear oil cylinder, and one end, far away from the fixing seat, of the clamping arm is connected with a clamp claw.

As a further implementation mode, each group of clamping arms consists of a clamping connecting arm and an outer connecting rod, one end of the clamping connecting arm and one end of the outer connecting rod of the same group are hinged with the fixed seat, the other end of the clamping connecting arm and one end of the outer connecting rod are connected with the clamp claw, and a rod body of the outer connecting rod is movably connected with a clamping fixing block on the piston rod.

As a further implementation mode, the piston rod comprises a first part, a second part and a third part which are coaxially arranged and sequentially reduced in diameter, the clamping hand fixing block is sleeved at the second part, a shaft sleeve is arranged between the second part and the second part, the third part is in threaded connection with a nut for limiting the position of the clamping hand fixing block, and a cotter pin is further inserted between the nut and the third part to prevent the nut from loosening.

As a further implementation mode, a cylindrical bulge is fixedly arranged on the clamping hand fixing block, a strip-shaped waist hole is formed in the end portion of the outer connecting rod, which is used for being connected with the clamping hand fixing block, and the bulge on the clamping hand fixing block is inserted into the waist hole of the outer connecting rod.

The beneficial effects of the utility model are as follows:

1) The quick connecting mechanism is arranged, the installation speed of the manipulator is improved, the two piston chambers of the linear oil cylinder are respectively communicated with one internal oil way of the quick connecting mechanism, the linear oil cylinder is driven by the hydraulic energy of the mechanical arm, the oil way is simplified, the integral structure of the manipulator is further simplified, and the maintenance and the use are convenient.

2) According to the automatic connector and the taper sleeve, radial quick positioning can be realized through the cooperation of the taper sleeve and the taper hole on the mechanical arm, and directional positioning can be realized through the cooperation of the automatic connector and the mechanical arm.

3) The sealing ring is arranged at the joint of the inner oil way of the quick-change disc and the oil port piece, and the joint of the inner oil way can be sealed through the sealing ring so as to prevent the phenomenon of oil leakage.

4) According to the utility model, the piston rod is of a stepped shaft structure, the clamping hand fixing block realizes axial positioning through the cooperation of the piston rod and the nut, and meanwhile, the split pin is also arranged, so that the split pin can be used for limiting the rotation of the lock nut, further, the loosening of the nut is prevented, and the connection stability of the whole structure is ensured.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model.

FIG. 1 is a schematic diagram of a front view of a hand grip with a quick change interface in accordance with one or more embodiments of the present utility model;

FIG. 2 is a schematic view of the cross-sectional A-A configuration of the structure shown in FIG. 1;

FIG. 3 is a schematic side view of a hand grip with a quick change interface in accordance with one or more embodiments of the present utility model;

FIG. 4 is a schematic view of a cross-sectional B-B structure of the structure of FIG. 1;

FIG. 5 is a schematic view of the C-C cross-sectional structure of the structure shown in FIG. 1;

in the figure: the mutual spacing or size is exaggerated for showing the positions of all parts, and the schematic drawings are used only for illustration;

101, quickly changing a disc; 102. an oil port member; 103. a joint; 104. aligning the wires; 105. the oil cylinder mounting frame; 106. a fixing seat; 107. a first pin; 108. the clamping arm is connected with the arm; 109. an outer link; 110. a second pin; 111. a jaw; 112. a clamping hand fixing block; 113. a nut; 114. a first screw;

201. a second screw; 202. an automatic connector; 203. a taper sleeve; 204. a linear oil cylinder; 205. a first sleeve; 206. a third screw; 207. a thrust washer; 208. a cotter pin;

301. a fourth screw; 401. a seal ring; 501. a fifth screw; 502. a second sleeve; 503. a baffle.

Detailed Description

It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the utility model. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs.

As described in the background art, most of the existing hydraulic manipulators are connected with the mechanical arm through positioning pins, positioning holes, screws and pin shafts, the connection and positioning speed is low, an oil cylinder for driving the manipulator needs to be connected with an independent hydraulic oil source through a plurality of rubber pipes, the large-scale use of the rubber pipes is inconvenient for the structure simplification of the manipulator, and the problem of high later maintenance difficulty is solved.

Example 1

In an exemplary embodiment of the present utility model, as shown in fig. 1 to 5, a hand grip with a quick-change interface is provided, including a quick-connect mechanism, a driving mechanism, and a hand grip, where one end of the driving mechanism is detachably provided with the quick-connect mechanism for quick connection with a mechanical arm; the other end of the driving mechanism is hinged with the clamping hand so as to drive the opening and closing actions of the clamping hand.

Specifically, the quick connection mechanism is composed of a quick-change disc 101, an automatic connector 202 and a taper sleeve 203, wherein one taper sleeve 203 is arranged, and the taper sleeve 203 is detachably arranged at the center of the quick-change disc 101 through a fourth screw 301 and is used for being matched with a taper hole on the tail end of the mechanical arm so as to realize quick connection and positioning of the clamping hand and the mechanical arm;

the two automatic connectors 202 are arranged, the two automatic connectors 202 are oppositely arranged on two sides of the taper sleeve 203 and are detachably connected with the quick-change disc 101 through the second screw 201, the automatic connectors 202 are of a groove piece structure and can be matched with a joint piece on the tail end of the mechanical arm to realize quick connection and directional positioning, the automatic connectors 202 comprise grooves, and protrusions matched with the grooves are arranged on the joint of the joint piece.

The quick-change disc 101 is provided with an internal oil circuit, the automatic connector 202 is also communicated with the internal oil circuit of the quick-change disc 101, and hydraulic oil of the mechanical arm can be conveyed into the internal oil circuit of the quick-change disc 101 through the automatic connector 202, so that the hydraulic energy of the mechanical arm is utilized to drive the driving mechanism, and the structure is simplified.

The quick-change disc 101 is detachably connected with the oil port member 102 through screws, two connectors 103 are fixedly mounted on the oil port member 102, and the internal oil paths of the oil port member 102 are respectively communicated with the internal oil paths of the quick-change disc 101 and the connectors 103 so as to be used for conveying hydraulic oil in the internal oil paths of the quick-change disc 101 into the connectors 103.

The inner oil path joint of the quick change disc 101 and the oil port member 102 is provided with a sealing ring 401, so that the inner oil path joint is sealed by the sealing ring 401 to prevent oil leakage.

The driving mechanism comprises an oil cylinder mounting frame 105, a linear oil cylinder 204 and opposite wires 104, wherein the oil cylinder mounting frame 105 is detachably connected with the quick-change disc 101 through a plurality of third screws 206, the linear oil cylinder 204 is detachably connected and mounted in the oil cylinder mounting frame 105 through a plurality of third screws 206, the opposite wires 104 are fixedly mounted on the oil cylinder mounting frame 105, two opposite wires 104 are arranged, and the two opposite wires 104 are respectively communicated with the inner parts of two piston cavities of the linear oil cylinder 204.

The number of the joints 103 is two, and the two joints 103 are in one-to-one correspondence with the two automatic connectors 202; the two opposite wires 104 are respectively connected with a corresponding connector 103 through a hydraulic rubber pipe, so that the connector 103 can convey hydraulic oil into a piston cavity of the linear oil cylinder 204 through the hydraulic rubber pipe and the corresponding opposite wires 104, the piston is pushed to apply work through the hydraulic oil, and the opening of the clamping hand is controlled by the forward and reverse directions of the oil in the two automatic connectors 202.

The clamp is composed of a fixed seat 106, a clamp connecting arm 108, an outer connecting rod 109, a clamp claw 111, a clamp fixing block 112 and a nut 113.

The fixing seat 106 is detachably mounted at one end of the oil cylinder mounting frame 105, which is far away from the quick-change disc 101, through a plurality of fifth screws 501, so as to be used for mounting the clamping connecting arm 108; the two clamping arm connecting arms 108 are arranged, the two clamping arm connecting arms 108 are oppositely arranged, and one ends of the two clamping arm connecting arms are hinged to the fixing seat 106 through the first pin shafts 107.

The end of each clamp arm 108 far away from the fixing seat 106 is connected with a clamp claw 111, meanwhile, the inner side of each clamp arm 108 is respectively provided with an outer connecting rod 109, the clamp arms 108 and the outer connecting rods 109 are combined together to form clamp arms, one end of the clamp arm 108 and one end of the outer connecting rod 109 of the same group are hinged with the corresponding clamp claw 111 through a second pin shaft 110, and one end of the clamp arm 108 and one end of the outer connecting rod 109 of the other group are fixedly connected with the corresponding clamp claw 111 through a first pin 114.

As shown in fig. 5, the first pin 107 is mounted on the fixed seat 106, a pin edge at one end of the first pin 107 is in a stepped shaft shape and is mounted in the fixed seat 106, a baffle 503 is arranged at the other end of the pin 107 and is connected with a first screw 114, and the first screw 114 passes through the baffle 503 to be connected with the end of the first pin 107 so as to limit the position of the first pin 107; a second sleeve 502 is installed in the shaft hole of the jaw 111, and the second sleeve 502 is matched with the second pin 110 to prevent the second pin 110 from being worn.

One end of the outer connecting rod 109 is movably connected with the clamping hand fixing block 12 on the linear oil cylinder 204, the other end of the outer connecting rod 109 is hinged with the corresponding clamping claw 111, and the rod body of the outer connecting rod 109 is also hinged with the fixing seat 106, so that the clamping hand connecting arm 108 and the clamping claw 111 can be driven to move through the outer connecting rod 109 under the linear motion of the linear oil cylinder 204, and the integral opening and closing action of the clamping hand is realized.

Specifically, the hand clamping fixing block 12 is rotatably disposed on a piston rod of the linear cylinder 204, and a first shaft sleeve 205 is disposed between the hand clamping fixing block 12 and the piston rod of the linear cylinder 204, so as to prevent abrasion between the hand clamping fixing block 12 and the piston rod.

As shown in fig. 1, a cylindrical protrusion is fixedly arranged outside the clamping hand fixing block 12, a strip-shaped waist hole is formed in the end portion, connected with the clamping hand fixing block 12, of the outer connecting rod 109, the protrusion on the clamping hand fixing block 12 is inserted into the waist hole of the outer connecting rod 109, and then when a piston rod of the linear oil cylinder 204 performs telescopic motion, the cylindrical protrusion can move along the waist hole to drive the clamping hand to integrally perform parallel clamping or loosening motion.

The body of the piston rod is of a stepped shaft structure with three sections of different diameters, and is particularly divided into a first part, a second part and a third part which are coaxially arranged and sequentially reduced in diameter, wherein the diameter of the first part is larger than that of the second part, and the diameter of the second part is larger than that of the third part.

The grip fixing block 112 is installed at the second portion, and the length of the grip fixing block 112 is the same as that of the second portion; an external thread is arranged on the outer wall of the third part of the piston rod, a nut 113 is connected with the third part of the piston rod in a threaded manner, the nut 113 can be matched with the first part to jointly clamp the clamping fixing block 112 so as to limit the axial movement of the clamping fixing block 112, and a thrust washer 207 is arranged between the nut 113 and the clamping fixing block 112.

As shown in fig. 1 and 2, a plurality of limiting holes are formed in the nut 113 at intervals along the circumferential side of the nut, and a plurality of limiting holes are formed in corresponding positions on a piston rod of the linear cylinder 204, so that after the nut 113 is installed in place, the cotter pin 208 can be utilized to sequentially penetrate through the nut 113 and the limiting holes on the piston rod, and further the cotter pin 208 is utilized to limit the rotation of the nut 113 around the shaft, so that the function of preventing the nut 113 from loosening is achieved.

The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims

1. The clamping hand with the quick-change interface is characterized by comprising a driving mechanism, a quick connecting mechanism and a clamping hand, wherein the quick connecting mechanism and the clamping hand are detachably arranged at two ends of the driving mechanism; the two piston chambers of the linear oil cylinder are respectively communicated with an internal oil way of the quick connecting mechanism so as to drive the linear oil cylinder by utilizing the hydraulic energy of the mechanical arm.

2. The hand grip with a quick change interface according to claim 1, wherein the quick connect mechanism comprises a quick change disc, a taper sleeve detachably mounted on the quick change disc by screws, and an automatic connector, wherein the taper sleeve is used for being matched with a taper hole on the tail end of the mechanical arm, and the automatic connector is provided with two taper sleeves and is oppositely arranged on two sides of the taper sleeve.

3. A hand grip with a quick change interface as claimed in claim 2 wherein the automatic connector is a recess member for mating with a fitting member on the arm, the automatic connector having a recess and the automatic connector being in communication with the internal oil circuit of the quick change plate.

4. The hand grip with quick change port according to claim 2, wherein the quick change disc is detachably provided with an oil port member, the oil port member comprises an internal oil path and two connectors are fixedly arranged on the oil port member, the internal oil path of the oil port member is respectively communicated with the corresponding connector and the internal oil path of the quick change disc for conveying hydraulic oil in the internal oil path of the quick change disc into the connectors, and the connectors are communicated with a piston chamber of the linear cylinder through a hydraulic rubber pipe.

5. The hand grip with quick change interface as claimed in claim 4, wherein a seal is provided at the inner oil passage joint of the quick change disc and the oil port member.

6. The clamp with the quick-change interface according to claim 1, wherein the linear cylinder is detachably mounted in the cylinder mounting frame through screws, and the clamp and the quick-connection mechanism are oppositely mounted at two ends of the cylinder mounting frame.

7. The hand grip with quick change interface according to claim 6, wherein the hand grip comprises a fixed seat fixedly mounted on the cylinder mounting frame and two groups of clamping arms movably connected with the fixed seat and a piston rod of the linear cylinder, and a clamp claw is connected to one end of the clamping arm far away from the fixed seat.

8. A hand grip with quick change interface as claimed in claim 7 wherein each of said hand grip arms comprises a hand grip connecting arm and an outer link, the hand grip connecting arms of the same group being hinged at one end to the fixed base and at the other end to the jaw, the shaft of the outer link also being movably connected to a hand grip fixed block on the piston rod.

9. The clamp with the quick-change interface according to claim 8, wherein the piston rod is composed of a first part, a second part and a third part which are coaxially arranged and sequentially reduced in diameter, the clamp fixing block is sleeved at the second part, a shaft sleeve is arranged between the second part and the second part, a nut is connected to the third part in a threaded manner so as to limit the position of the clamp fixing block, and a cotter pin is inserted between the nut and the third part so as to prevent the nut from loosening.

10. The hand grip with the quick change connector according to claim 8, wherein the hand grip fixing block is fixedly provided with a cylindrical protrusion, the end part of the outer connecting rod, which is used for being connected with the hand grip fixing block, is provided with a strip-shaped waist hole, and the protrusion on the hand grip fixing block is inserted into the waist hole of the outer connecting rod.