CN220840218U - Circular pipe fitting fixture and end effector thereof - Google Patents

Abstract

The utility model discloses a circular pipe fitting clamping mechanism and an end effector thereof, which comprise two groups of mounting bottom plates which are oppositely arranged, wherein the two groups of mounting bottom plates are connected through a fixed shaft, a plurality of groups of clamping mechanisms are uniformly distributed on the side wall of the fixed shaft along the circumferential direction and used for clamping the outer wall of a pipe fitting, a plurality of groups of jacking mechanisms matched with the clamping mechanisms are arranged on the surface of the mounting bottom plate positioned in front and used for jacking the inner wall of the pipe fitting.

Description

Circular pipe fitting fixture and end effector thereof

Technical Field

The utility model belongs to the field of clamping mechanisms, and particularly relates to a circular pipe fitting clamping mechanism and an end effector thereof.

Background

The end effector mentioned is a manipulator-guided tool, i.e. a tool arranged as prescribed at a manipulator, which may be any type of sports instrument, typically a robot, for which the end effector is a terminal mechanism performing work.

Wherein, want it to carry out corresponding work to the end effector, need set up corresponding working element above it, wherein the most commonly used working element is fixture and handling mechanism, contrast file 202110779703.9 discloses a fixture, and it has mainly solved: "set up clamping jaw subassembly and ejection subassembly for clamping jaw subassembly can stabilize the efficiency of centre gripping paper tube through the detection", but when this fixture was applied to the end effector and carries out centre gripping circular pipe fitting, derived a new problem: when the dead weight of the pipe fitting is large, the pipe fitting is clamped only by the internal cylinder, the risk of unstable clamping and falling off easily occurs, and in order to optimize the scheme, a circular pipe fitting clamping mechanism and an end effector thereof are designed by practitioners.

Disclosure of utility model

The utility model aims to solve the problem that when a clamping mechanism of the traditional end effector clamps a round pipe fitting with large dead weight, the clamping instability is easy to generate only by internal clamping, so that the risk of falling off is caused.

The utility model realizes the above purpose through the following technical scheme: the utility model provides a circular pipe fitting fixture, includes two sets of mounting plate that set up relatively, two sets of link up mutually through the fixed axle between the mounting plate, the fixed axle lateral wall is provided with a plurality of clamping mechanism of group along circumferencial direction evenly distributed, clamping mechanism is used for the outer wall of centre gripping pipe fitting, is located the place ahead mounting plate surface be provided with a plurality of groups with clamping mechanism matched with tight mechanism in top, tight mechanism in top is used for pushing up the inner wall of tight pipe fitting.

Further, the clamping mechanism comprises a clamping base fixedly arranged on the surface of the fixed shaft, a follower is rotationally arranged on the upper surface of the clamping base, a clamping assembly is arranged at the end part of the follower, a bearing is arranged on the side wall of the clamping base and one group of the clamping base, a driving screw rod is rotationally arranged between the two groups of the bearings, a driving motor is arranged at one end of the driving screw rod, a guide rod is fixedly arranged at one side of the driving screw rod, a ball nut base is arranged between the driving screw rod and the guide rod, a driving piece is rotationally arranged on the upper surface of the ball nut base, and the end part of the driving piece is rotationally connected with the middle part of the follower.

Further, the clamping assembly is composed of a clamping plate with an arc surface on the inner wall.

Further, the clamping assembly comprises a clamping plate with an arc surface formed in the inner wall, an extension plate is slidably arranged on the front surface of the clamping plate, and the clamping plate is matched with the extension plate through a locking bolt.

Further, the jacking mechanism comprises a jacking air cylinder fixedly arranged on the front surface of the mounting bottom plate, and a jacking plate with an arc-shaped section is fixedly arranged on a telescopic rod of the jacking air cylinder.

The end effector comprises an end effector and any circular pipe fitting clamping mechanism, wherein the end effector comprises a hollow rotary platform, a base table is arranged on the upper surface of the hollow rotary platform, a first swing arm is rotatably arranged on the upper surface of the base table, a first air cylinder for controlling the rotation of the first swing arm is arranged on the upper surface of the base table, a second swing arm is rotatably arranged at the end part of the first swing arm, a second air cylinder for controlling the rotation of the second swing arm is arranged on the first swing arm, a rotary motor is arranged at the end part of the second swing arm, a swing piece is arranged on a rotary shaft of the rotary motor, a lifting air cylinder is arranged at the end part of the swing piece, and a mounting base plate is fixedly arranged on a telescopic rod of the lifting air cylinder.

The beneficial effects are that: the utility model has reasonable design, simple and stable structure and strong practicability, and has the following beneficial effects:

1. The main driving part of the clamping mechanism can effectively avoid the risk of loosening clamping caused by the back of the driving part in the clamping process;

2. The adjustable arrangement of the clamping assembly can adjust the whole area of the clamping assembly according to the pipe fitting to be clamped, so that the clamping is ensured to be more stable;

3. The setting of tight mechanism in top belongs to and plays the linkage effect with clamping mechanism, guarantees that it gives a pipe fitting inside tight power in top, guarantees the holistic stability of device.

Drawings

FIG. 1 is a schematic illustration of the present utility model;

FIG. 2 is a schematic view of a clamping mechanism according to the present utility model;

Fig. 3 is a schematic structural diagram of a second embodiment of the present utility model.

In the figure: 1-mounting bottom plate, 2-fixed shaft, 3-clamping mechanism, 4-pushing mechanism and 5-end effector;

301-clamping base, 302-follower, 303-clamping assembly, 304-bearing, 305-drive screw, 306-drive motor, 307-guide rod, 308-ball nut base, 309-drive, 401-jack cylinder, 402-jack plate, 501-hollow rotating platform, 502-base, 503-first swing arm, 504-first cylinder, 505-second swing arm, 506-second cylinder, 507-rotating motor, 508-swing, 509-lift cylinder;

3031-clamping plate, 3032-extension plate, 3033-locking bolt.

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.

Embodiment one:

The circular pipe fitting clamping mechanism comprises two groups of mounting base plates 1 which are oppositely arranged, the two groups of mounting base plates 1 are connected through a fixed shaft 2, a plurality of groups of clamping mechanisms 3 are uniformly distributed on the side wall of the fixed shaft 2 along the circumferential direction, at least three groups of clamping mechanisms 3 are arranged, the most basic clamping force along the circumferential direction is ensured, the clamping mechanisms 3 are used for clamping the outer wall of a pipe fitting, a plurality of groups of jacking mechanisms 4 matched with the clamping mechanisms 3 are arranged on the surface of the mounting base plate 1 positioned in front, the two groups of mechanisms are mutually matched to form inner and outer simultaneous clamping, the pipe fitting clamping is more stable, and the jacking mechanisms 4 are used for jacking the inner wall of the pipe fitting.

In this embodiment, the clamping mechanism 3 includes a clamping base 301 fixedly disposed on the surface of the fixed shaft 2, the clamping base 301 is retracted in the mounting base plate 1, so as to ensure that the overall subsequent use is not greatly affected by the leakage of the clamping base 301, a follower 302 is rotatably disposed on the upper surface of the clamping base 301, a clamping assembly 303 is disposed at the end of the follower 302, the clamping assembly 303 is used for contacting with the outer wall of a pipe fitting in the later stage, bearings 304 are disposed on the side wall of the clamping base 301 and one of the mounting base plates 1, a driving screw 305 is rotatably disposed between the two sets of bearings 304, so as to ensure the effective rotation of the driving screw 305, a driving motor 306 is disposed at one end of the driving screw 305 disposed on the side wall of the mounting base plate 1, a guide rod 307 is fixedly disposed on one side of the driving screw 305, a ball nut base 308 is disposed between the driving screw 305 and the guide rod 307, so that under the action of the guide rod 307, the ball nut base 308 can be operated along the direction, the driving member 309 is rotatably disposed on the upper surface of the ball nut base 308, the end of the driving member 309 is rotatably connected with the middle of the follower 302, thereby ensuring that the driving member 309 and the follower 302 act against the clamping assembly 302 in the displacement process of the ball nut base 308, and the driving screw 305 is effectively prevented from loosening the clamping part.

In this embodiment, the clamping assembly 303 is formed by a clamping plate 3031 with an inner wall provided with an arc surface, and the arc surface can ensure the fit degree between the clamping plate and the outer wall of the pipe fitting.

In this embodiment, the propping mechanism 4 comprises a propping cylinder 401 fixedly arranged on the front surface of the installation bottom plate 1, a propping plate 402 with an arc-shaped section is fixedly arranged on a telescopic rod of the propping cylinder 401, the propping mechanism 4 is matched with the clamping mechanism 3, and a propping force is applied to the inside of the pipe fitting, so that the stability of the whole clamping of the device is ensured.

The end effector comprises an end effector 5 and any circular pipe fitting clamping mechanism, the end effector 5 comprises a hollow rotary platform 501, the hollow rotary platform 501 drives a device to realize 360-degree rotation of a horizontal plane, a base table 502 is arranged on the upper surface of the hollow rotary platform 501, a first swing arm 503 is rotatably arranged on the upper surface of the base table 502, a first air cylinder 504 for controlling the first swing arm 503 to rotate is arranged on the upper surface of the base table 502, the change of the longitudinal angle of the device is conveniently realized, a second swing arm 505 is rotatably arranged at the end part of the first swing arm 503, a second air cylinder 506 for controlling the rotation of the second swing arm 505 is arranged on the first swing arm 503, the longitudinal angle of the device is conveniently and finely adjusted, a rotary motor 507 is arranged at the end part of the second swing arm 505, a swinging piece 508 is conveniently driven to rotate by the rotary motor 507, so that the pipe fitting generates angle change, a lifting air cylinder 509 is arranged at the end part of the swinging piece 508, a mounting base plate 1 is fixedly arranged on a telescopic rod of the lifting air cylinder 509, the telescopic rod 509 is conveniently used for controlling the clamping position, and the clamping stability is ensured.

Embodiment two: the clamping assembly 303 in the second embodiment is modified based on the above embodiment, and the technical content disclosed in the above embodiment is not repeated, and the content of the above disclosed embodiment also belongs to the content of the second embodiment.

In one embodiment of the present utility model, as shown in fig. 3, the clamping assembly 303 includes a clamping plate 3031 having an inner wall provided with an arc surface, an extension plate 3032 is slidably disposed on a front surface of the clamping plate 3031, the clamping plate 3031 is matched with the extension plate 3032 through a locking bolt 3033, and an extension area of the extension plate 3032 is changed through the locking bolt 3033, so that an overall area of the clamping assembly 303 is changed, and an effective clamping effect for pipes with different heights is ensured.

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.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims (6)

1. The utility model provides a circular pipe fitting fixture, includes two sets of mounting plate (1) of relative setting, two sets of link up through fixed axle (2) between mounting plate (1), its characterized in that: the utility model discloses a clamping device, including fixed axle (2) and mounting plate (1), fixed axle (2) lateral wall is provided with a plurality of clamping mechanism (3) of group along circumferencial direction evenly distributed, clamping mechanism (3) are used for the outer wall of centre gripping pipe fitting, are located the place ahead mounting plate (1) surface be provided with a plurality of groups with clamping mechanism (3) matched with tight mechanism (4) in top, tight mechanism (4) in top is used for pushing up the inner wall of tight pipe fitting.

2. A circular pipe gripping apparatus according to claim 1, wherein: the clamping mechanism (3) comprises a clamping base (301) fixedly arranged on the surface of the fixed shaft (2), a follower (302) is rotatably arranged on the upper surface of the clamping base (301), a clamping assembly (303) is arranged at the end part of the follower (302), a bearing (304) is arranged on the side wall of the clamping base (301) and one group of the clamping base, a driving screw (305) is rotatably arranged between the two groups of the bearings (304), a driving motor (306) is arranged at one end of the driving screw (305) on the side wall of the mounting base (1), a guide rod (307) is fixedly arranged on one side of the driving screw (305), a ball nut base (308) is arranged between the driving screw (305) and the guide rod (307), a driving member (309) is rotatably arranged on the upper surface of the ball nut base (308), and the end part of the driving member (309) is rotatably connected with the middle part of the follower (302).

3. A circular pipe gripping apparatus according to claim 2, wherein: the clamping assembly (303) is composed of a clamping plate (3031) with an arc surface on the inner wall.

4. A circular pipe gripping apparatus according to claim 2, wherein: the clamping assembly (303) comprises a clamping plate (3031) with an arc surface formed in the inner wall, an extension plate (3032) is slidably arranged on the front surface of the clamping plate (3031), and the clamping plate (3031) is matched with the extension plate (3032) through a locking bolt (3033).

5. A circular pipe gripping apparatus according to claim 3, wherein: the jacking mechanism (4) comprises a jacking cylinder (401) fixedly arranged on the front surface of the mounting base plate (1), and a jacking plate (402) with an arc-shaped section is fixedly arranged on a telescopic rod of the jacking cylinder (401).

6. An end effector, characterized by: including end effector (5) and circular pipe fitting fixture as claimed in any one of claims 1-5, end effector (5) includes cavity swivel platform (501), cavity swivel platform (501) upper surface is provided with base (502), base (502) upper surface rotates and is provided with first swing arm (503), base (502) upper surface is provided with first cylinder (504) of control first swing arm (503) pivoted, first swing arm (503) tip rotates and is provided with second swing arm (505), be provided with second swing arm (506) of control second swing arm (505) pivoted on first swing arm (503), second swing arm (505) tip is provided with rotary motor (507), be provided with swing piece (508) on the rotation axis of rotary motor (507), swing piece (508) tip is provided with lift cylinder (509), install bottom plate (1) fixed set up in on the telescopic link of lift cylinder (509).