CN222944415U - A clamping device for a robot - Google Patents

Abstract

The utility model discloses a clamping device for a manipulator, which belongs to the technical field of mechanical processing fixtures. The key points of its technical solution are: it includes a linear module, a workbench is arranged on the slider of the linear module, the linear module drives the workbench to move back and forth along its own length direction, cantilever 1, cantilever 2, and a driving mechanism are arranged on the workbench, the rear ends of cantilever 1 and cantilever 2 are slidably connected to the workbench, the driving mechanism is connected to cantilever 1 and cantilever 2, and the driving mechanism is used to drive cantilever 1 and cantilever 2 to clamp and separate, and a clamping part and a push plate are arranged at intervals at the front ends of cantilever 1 and cantilever 2, the clamping part follows cantilever 1 and cantilever 2 to clamp the blank, and the push plate is used to unload the workpiece. The clamping device can be installed on the Z-axis body of the manipulator or a conventional lifting mechanism, and is suitable for loading and unloading work in a small space in an extrusion device, and also improves the degree of automatic feeding of the manipulator.

Description

Clamping device for manipulator

Technical Field

The utility model belongs to the technical field of machining clamps, and particularly relates to a clamping device for a manipulator.

Background

Extrusion dies (also known as extruders and hydraulic presses) are widely used in the fields of automobiles, aerospace, electronics, machinery and the like for manufacturing various high-precision and high-strength parts. The method mainly uses the principle of metal plastic deformation to apply strong pressure to metal in the extrusion die cavity at normal temperature, so that the part is rapidly formed.

The cold extrusion device for extrusion molding of solid bar materials comprises a hydraulic machine of an upper oil cylinder, a hydraulic machine of a lower oil cylinder, and a die, wherein the die comprises an upper die fixing plate, an upper die inner core, an upper die outer core, a middle die inner core, a lower die inner core and an ejector rod, the upper die inner core and the outer core are provided with threaded flange caps, the upper die fixing plate is connected with a fixing groove of a platen of the hydraulic machine of the upper oil cylinder, the middle die inner core is sleeved on the lower die inner core through a taper sleeve, the lower die inner core is fixed on a lower die supporting plate of a lower machine table panel groove by a connecting flange and a screw rod, the middle die inner core and the lower die inner core are tightly pressed by common conical sleeves in an interference fit manner, the upper contact matching surface and the lower contact matching surface are designed to be in absolute plane precision matching, the middle die inner core and the lower die inner core are supported by two end faces of a lower die pad block to prevent the die core from moving downwards to become loose, the connecting flange on a round boss at the upper end is fixed on the lower die supporting plate by the screw rod, a flat cavity is arranged in the center of the lower die inner core, and the flat cavity of the lower die and the die core are required to be sleeved into an ejection ejector rod of the lower die; the ejector rod is fixedly connected with the piston center of the lower oil cylinder of the hydraulic machine, a threaded pull rod is arranged on the fixed plate, the ejector rod penetrates through the center of the lower die fixed plate and is fixed on the lower die plate, the ejector rod moves freely up and down in the inner core of the lower die, and the distance of the upper and lower strokes is determined to be an accurate position by positioning a travel switch of the oil cylinder push rod. The cold extrusion device (also called as a hydraulic machine) has no feeding and discharging device, and only manually realizes feeding and discharging, so that the labor cost is high, and the processing is dangerous.

The Chinese patent publication No. CN109773765A discloses a truss manipulator device for an intelligent production line, which comprises a beam main body, wherein at least two supporting columns are arranged at the bottom end of the beam main body, an X-axis horizontal moving unit is axially arranged along the beam main body, a sliding seat capable of horizontally moving is arranged on the X-axis horizontal moving unit, a Z-axis moving unit capable of vertically moving is arranged on the outer side of the sliding seat, the Z-axis moving unit comprises a Z-axis main body, and a grabbing mechanism for grabbing work materials is arranged at the lower end of the Z-axis main body. The truss manipulator has X, Z two degrees of freedom.

If the truss manipulator device is used for feeding and discharging the cold extrusion die, two supporting columns at the bottom end of the beam main body can interfere with the cold extrusion device, the distance between the inner core and the outer core of the upper die of the cold extrusion device and the distance between the inner core of the middle die of the upper die of the cold extrusion device are limited, the Z-axis moving unit cannot easily supply bars to the inner core of the middle die, and the processed parts pushed out of the inner core of the middle die cannot easily be discharged, and the manipulator is difficult to be directly applied to automatic feeding operation of the cold extrusion device.

Disclosure of utility model

The utility model aims to solve the problems in the prior art and provides a clamping device for a manipulator, and the technical problem to be solved by the utility model is how to optimize the automatic feeding of the manipulator.

The technical aim of the utility model can be achieved by the following technical scheme:

The utility model provides a clamping device for manipulator, includes the sharp module, be provided with the workstation on the slider of sharp module, sharp module drive the workstation is along self length direction reciprocating motion, be provided with cantilever one, cantilever two, actuating mechanism on the workstation, cantilever one, cantilever two's rear end all with the workstation slides and is connected, actuating mechanism with cantilever one, cantilever two are connected, just actuating mechanism is used for the drive cantilever one, cantilever two press from both sides tightly and separate, cantilever one, cantilever two's front end is provided with clamping part, push pedal, cantilever one, cantilever two press from both sides tightly after, the blank is held to clamping part, the push pedal is used for unloading the work piece.

In the clamping device for the manipulator, a guide rail perpendicular to the linear module is arranged on the workbench, the first cantilever comprises a first supporting plate and a first clamping plate, an assembly groove for installing the first end of the clamping plate is formed in the outer end of the first supporting plate, the second cantilever comprises a second supporting plate and a second clamping plate, the inner ends of the second supporting plate and the first supporting plate are slidably connected with the guide rail, an assembly groove for installing the second end of the clamping plate is formed in the outer end of the second supporting plate, and the pushing plate is arranged at the outer end of the first clamping plate and/or the outer end of the second clamping plate.

In the clamping device for the manipulator, the first supporting plate is provided with the first pressing bar limiting the first clamping plate, and the second supporting plate is provided with the second pressing bar limiting the second clamping plate.

In the clamping device for a manipulator, the width of the first clamping plate is smaller than that of the first supporting plate, the width of the second clamping plate is smaller than that of the second supporting plate, and after the first supporting plate abuts against the second supporting plate, a gap exists between the first clamping plate and the second clamping plate.

In the clamping device for a manipulator, the thickness of the first clamping plate is smaller than that of the first supporting plate, and the thickness of the second clamping plate is smaller than that of the second supporting plate.

In the clamping device for the manipulator, the pushing plates are arranged at the outer ends of the clamping plates I and II, and after the clamping plates I and II are clamped, the end parts of the pushing plates are close to each other.

In the clamping device for the manipulator, the clamping part comprises a first clamping head arranged on the first clamping plate and a second clamping head arranged on the second clamping plate, and the first clamping head and the second clamping head are symmetrically arranged and can be matched for clamping the blank.

In the clamping device for the manipulator, the first clamping head is provided with the first adjusting plate, the first adjusting plate is provided with the first adjusting hole, the first adjusting plate adjusts the connecting position with the first clamping plate through the first adjusting hole, the second clamping head is provided with the second adjusting plate, the second adjusting plate is provided with the second adjusting hole, and the second adjusting plate adjusts the connecting position with the second clamping plate through the second adjusting hole.

In the clamping device for the manipulator, the driving mechanism comprises a driving motor, a driven wheel and a synchronous belt, the driving motor is arranged on the workbench, a driving wheel is arranged at the output end of the driving motor, the driven wheel is rotatably arranged on the workbench, the synchronous belt connects the driving wheel with the driven wheel, the driven wheel and the driving wheel tension the synchronous belt, two fixing pieces I connected with the synchronous belt are arranged on the supporting plate I, and two fixing pieces II connected with the synchronous belt are arranged on the supporting plate II.

In the clamping device for the manipulator, a protective cover is arranged on the workbench and covers the guide rail.

In summary, compared with the prior art, the utility model has the following beneficial effects:

1. The cantilever I and the cantilever II are horizontally arranged and driven by the driving mechanism to clamp and separate, so that the clamping part is controlled to clamp and release the blank to be processed, after the clamping part clamps the blank, the linear module can drive the workbench and the cantilever I and the cantilever II on the workbench to feed and reset in the directions of the extrusion device, so that automatic feeding of the blank is realized, in the feeding process, the blank processed into a workpiece in the extrusion device is pushed out by the push plate so as to smoothly feed the next blank.

2. The clamping device can be arranged on a Z-axis main body of the manipulator or a conventional lifting mechanism, and has wider application range.

3. The protective cover has reasonable structural design, the thickness and the width of the clamping plate I and the clamping plate II are smaller than those of the supporting plate I and the supporting plate II, the weight of the protective cover is smaller, the front ends of the cantilever I and the cantilever II are not easy to deform and sag after long-term use, and the protective cover can prevent external sundries from interfering with the normal work of the guide rail and the driving mechanism, so that the service life of the protective cover is ensured.

Drawings

FIG. 1 is a schematic diagram of an embodiment;

FIG. 2 is a schematic diagram of an exploded construction of an embodiment;

FIG. 3 is a schematic diagram of another exploded construction of an embodiment;

FIG. 4 is a schematic view of a partial structure of an embodiment;

FIG. 5 is another partial schematic view of an embodiment;

Fig. 6 is a schematic diagram of a variation of the embodiment.

Reference numeral 1, blank 2, extrusion device;

100. a linear module 110 and a slide block;

200. the device comprises a workbench, 210, a guide rail, 220 and a protective cover;

300. cantilever one, support plate one, 311, assembly groove one, 312, pressing bar one, 313, fixing piece one, 320 and clamping plate one;

400. Cantilever II 410, support plate II 411, assembly groove II 412, press bar II 413, fixing piece II 420, clamping plate II;

500. 510 parts of driving mechanism, 511 parts of driving motor, 520 parts of driving wheel, 520 parts of driven wheel, 530 parts of synchronous belt;

600. Clamping part 610, first clamping head 611, first adjusting plate 6111, first adjusting hole 620, second clamping head 621, second adjusting plate 6211, second adjusting hole 700 and push plate.

Detailed Description

The following are specific embodiments of the present utility model and the technical solutions of the present utility model will be further described with reference to the accompanying drawings, but the present utility model is not limited to these embodiments.

The clamping device for the manipulator is shown in fig. 1-6, and comprises a linear module 100 which is transversely arranged, wherein a workbench 200 is arranged on a sliding block 110 of the linear module 100, the linear module 100 can drive the workbench 200 to reciprocate along the length direction of the workbench 200, a cantilever I300, a cantilever II 400 and a driving mechanism 500 are arranged on the workbench 200, the rear ends of the cantilever I300 and the cantilever II 400 are slidably connected with the workbench 200, the driving mechanism 500 is connected with the rear ends of the cantilever I300 and the cantilever II 400, the driving mechanism 500 is used for driving the cantilever I300 and the cantilever II 400 to clamp and separate, a clamping part 600 and a push plate 700 are arranged at the front ends of the cantilever I300 and the cantilever II 400, after the cantilever I300 and the cantilever II 400 are clamped, the clamping part 600 clamps a blank 1, the linear module 100 can drive the cantilever I300 and the cantilever II 400 to feed and feed the blank 1, and the push plate 700 is used for blanking a workpiece (the blank 1 after the processing of the extrusion device 2 is completed).

The linear module 100 is a prior art, and is essentially driven by a screw to slide back and forth along the length direction of the slider 110, and can be referred to as a dual-rail linear module (publication number: CN 217406319U), a linear driving module disclosed in a linear module (publication number: CN 216045276U), or a conventional linear driving module in the market.

As shown in fig. 2 and 3, a guide rail 210 perpendicular to the linear module 100 is provided on the workbench 200, the cantilever one 300 comprises a first support plate 310 and a first clamping plate 320, an assembling groove one 311 for installing the end of the first clamping plate 320 is formed at the outer end of the first support plate 310, the cantilever two 400 comprises a second support plate 410 and a second clamping plate 420, the inner ends of the second support plate 410 and the first support plate 310 are slidably connected with the guide rail 210, and an assembling groove two 411 for installing the end of the second clamping plate 420 is formed at the outer end of the second support plate 410. The first support plate 310 is provided with a first pressing bar 312, the first pressing bar 312 limits the first clamping plate 320 in the first assembling groove 311 to ensure the connection strength of the first clamping plate 320 and the first support plate 310, the second support plate 410 is provided with a second pressing bar 412, and the second pressing bar 412 limits the second clamping plate 420 in the second assembling groove 411 to ensure the connection strength of the second clamping plate 420 and the second support plate 410.

The push plate 700 is disposed at the outer end of the first clamp plate 320 and/or the second clamp plate 420. In this embodiment, the outer ends of the first clamping plate 320 and the second clamping plate 420 are both provided with the pushing plates 700, and after the first clamping plate 320 and the second clamping plate 420 are clamped, the ends of the pushing plates 700 are also close to each other. As another solution, the pushing plate 700 may be disposed only at the outer end of the first clamping plate 320 or the second clamping plate 420, so long as the length of the pushing plate 700 is ensured to push out the machined workpiece in the extrusion device 2, and the pushing plate 700 does not interfere with the blank 1 installed in the extrusion device 2 during the retraction and resetting process of the first clamping plate 320 or the second clamping plate 420.

As shown in fig. 2-4, further, the width of the clamping plate one 320 is smaller than the width of the supporting plate one 310, the width of the clamping plate two 420 is smaller than the width of the supporting plate two 410, and a gap exists between the clamping plate one 320 and the clamping plate two 420 after the supporting plate one 310 abuts against the supporting plate two 410. The thickness of the clamping plate one 320 is smaller than the thickness of the supporting plate one 310, and the thickness of the clamping plate two 420 is smaller than the thickness of the supporting plate two 410. In some embodiments, the first clamping plate 320 and the first supporting plate 310 may be integrally formed as long as the strength of the first supporting plate 310 and the second supporting plate 410 is ensured, and the second clamping plate 420 and the second supporting plate 410 may be integrally formed.

As shown in fig. 4-6, the clamping portion 600 includes a first clamping head 610 disposed on the first clamping plate 320 and a second clamping head 620 disposed on the second clamping plate 420, where the first clamping head 610 and the second clamping head 620 are symmetrically disposed and are capable of cooperatively clamping the blank 1.

The first clamping head 610 is provided with a first adjusting plate 611, the first adjusting plate 611 is provided with more than one first adjusting hole 6111, the first adjusting plate 611 adjusts the connecting position with the first clamping plate 320 through the first adjusting hole 6111, the second clamping head 620 is provided with a second adjusting plate 621, the second adjusting plate 621 is provided with more than one second adjusting hole 6211, the first adjusting hole 6111 and the second adjusting hole 6211 are kidney-shaped holes, and the second adjusting plate 621 adjusts the connecting position with the second clamping plate 420 through the second adjusting hole 6211. Specifically, the first bolt passes through the first adjusting hole 6111 and is screwed onto the first clamping plate 320, the first adjusting plate 611 is moved to a predetermined position, and then the first bolt is screwed, so that the distance between the first clamping head 610 and the first clamping plate 320 can be changed, and the second clamping head 620 is adjusted in the same position as the first clamping head 610.

As shown in fig. 2 and 3, the driving mechanism 500 includes a driving motor 510, a driven wheel 520, and a synchronous belt 530, the driving motor 510 is disposed on the workbench 200, the driving wheel 511 is disposed at an output end of the driving motor 510, the driven wheel 520 is rotatably disposed on the workbench 200, the synchronous belt 530 is in a closed ring shape, the driving wheel 511 and the driven wheel 520 are connected by the synchronous belt 530, and the driven wheel 520 and the driving wheel 511 tension the synchronous belt 530 in a waist-shaped hole shape and form two parallel sides. As shown in fig. 3 and 5, the first support plate 310 is provided with a first fixing plate 313 for clamping the synchronous belt 530, the second support plate 410 is provided with a second fixing plate 413 for clamping the synchronous belt 530, the first fixing plate 313 and the second fixing plate 413 are respectively connected to two sides of the synchronous belt 530, so that after the synchronous belt 530 rotates, the first support plate 310 and the second support plate 410 can be close to each other, and after the synchronous belt 530 reversely rotates, the first support plate 310 and the second support plate 410 can be far away from each other.

As shown in fig. 1 and 2, a protective cover 220 is provided on the table 200, and the protective cover 220 covers the guide rail 210 and the timing belt 530.

In some embodiments, the driving mechanism 500 includes two cylinders disposed on the workbench 200, the output ends of the two cylinders are respectively connected with the cantilever one 300 and the cantilever two 400, the output ends of the two cylinders extend simultaneously to push the cantilever one 300 and the cantilever two 400 to clamp, and the output ends of the two cylinders retract simultaneously to drive the cantilever one 300 and the cantilever two 400 to separate.

The working principle of the utility model is as follows:

The linear module 100 is mounted on the Z-axis main body of the manipulator or a conventional lifting mechanism in the background art, so that the heights of the cantilever one 300 and the cantilever two 400 can be changed, and thus the linear module can extend into the working part of the extrusion device 2.

The driving motor 510 drives the driving wheel 511 to rotate, the driving wheel 511 can drive the synchronous belt 530 and the driven wheel 520 to rotate, so that the cantilever one 300 and the cantilever two 400 are close, the chuck one 610 and the chuck two 620 clamp the blank 1, the two pushing plates 700 are close to each other, the Z-axis main body of the manipulator or the conventional lifting mechanism drives the whole clamping device to ascend, then the linear module 100 drives the workbench 200 and the cantilever one 300, the cantilever two 400 and the driving mechanism 500 on the workbench 200 to integrally feed towards the extruding device 2, the two pushing plates 700 push out processed workpieces on the extruding device 2, the blank 1 is positioned in the extruding device 2, the Z-axis main body of the manipulator or the conventional lifting mechanism drives the whole clamping device to descend, the blank 1 is arranged in the extruding device 2, then the driving motor 510 drives the driving wheel 511 to reversely rotate, the chuck one 610 and the chuck two 620 are separated, the two pushing plates 700 are separated, the Z-axis main body of the manipulator or the conventional lifting mechanism drives the whole clamping device to ascend and depart from the blank 1, and the linear module 100 drives the workbench 200 to retreat and reset, and the next loading and unloading can be carried out.

The embodiments described herein are merely illustrative of the principles of the present utility model, and various modifications or additions may be made to the described embodiments by those skilled in the art without departing from the spirit of the utility model or beyond the scope of the appended claims.

Claims (10)

1. The clamping device for the manipulator is characterized by comprising a linear module (100), wherein a workbench (200) is arranged on a sliding block (110) of the linear module (100), the linear module (100) drives the workbench (200) to reciprocate along the length direction of the workbench (200), a first cantilever (300), a second cantilever (400) and a driving mechanism (500) are arranged on the workbench (200), the rear ends of the first cantilever (300) and the second cantilever (400) are slidably connected with the workbench (200), the driving mechanism (500) is connected with the first cantilever (300) and the second cantilever (400), the driving mechanism (500) is used for driving the first cantilever (300) and the second cantilever (400) to clamp and separate, a clamping part (600) and a pushing plate (700) are arranged between the front ends of the first cantilever (300) and the second cantilever (400), after the first cantilever (300) and the second cantilever (400) are clamped, the clamping part (600) is used for clamping a blank (1) and the pushing plate (700) is used for blanking a workpiece.

2. The clamping device for the manipulator of claim 1, wherein the workbench (200) is provided with a guide rail (210) perpendicular to the linear module (100), the cantilever I (300) comprises a support plate I (310) and a clamping plate I (320), an assembling groove I (311) for installing the end part of the clamping plate I (320) is formed in the outer end of the support plate I (310), the cantilever II (400) comprises a support plate II (410) and a clamping plate II (420), the inner ends of the support plate II (410) and the support plate I (310) are slidably connected with the guide rail (210), an assembling groove II (411) for installing the end part of the clamping plate II (420) is formed in the outer end of the support plate II (410), and the push plate (700) is arranged at the outer ends of the clamping plate I (320) and/or the clamping plate II (420).

3. The clamping device for a manipulator according to claim 2, wherein the first support plate (310) is provided with a first pressing bar (312) for limiting the first clamping plate (320), and the second support plate (410) is provided with a second pressing bar (412) for limiting the second clamping plate (420).

4. The clamping device for a manipulator according to claim 2, wherein the first clamping plate (320) has a width smaller than that of the first supporting plate (310), the second clamping plate (420) has a width smaller than that of the second supporting plate (410), and a gap is formed between the first clamping plate (320) and the second clamping plate (420) after the first supporting plate (310) abuts against the second supporting plate (410).

5. The manipulator clamping apparatus as set forth in claim 4, wherein the first clamping plate (320) has a thickness less than the first support plate (310), and the second clamping plate (420) has a thickness less than the second support plate (410).

6. The clamping device for a manipulator according to claim 2, wherein the pushing plates (700) are disposed at outer ends of the first clamping plate (320) and the second clamping plate (420), and after the first clamping plate (320) and the second clamping plate (420) are clamped, ends of the pushing plates (700) are close to each other.

7. The clamping device for a manipulator according to claim 2, wherein the clamping portion (600) comprises a first clamping head (610) arranged on the first clamping plate (320) and a second clamping head (620) arranged on the second clamping plate (420), and the first clamping head (610) and the second clamping head (620) are symmetrically arranged and can be matched with each other to clamp the blank (1).

8. The clamping device for the manipulator of claim 7, wherein the first clamping head (610) is provided with a first adjusting plate (611), the first adjusting plate (611) is provided with a first adjusting hole (6111), the first adjusting plate (611) is used for adjusting the connection position with the first clamping plate (320) through the first adjusting hole (6111), the second clamping head (620) is provided with a second adjusting plate (621), the second adjusting plate (621) is provided with a second adjusting hole (6211), and the second adjusting plate (621) is used for adjusting the connection position with the second clamping plate (420) through the second adjusting hole (6211).

9. The clamping device for the manipulator according to any one of claims 2 to 8, wherein the driving mechanism (500) comprises a driving motor (510), a driven wheel (520) and a synchronous belt (530), the driving motor (510) is arranged on the workbench (200), a driving wheel (511) is arranged at an output end of the driving motor (510), the driven wheel (520) is rotatably arranged on the workbench (200), the synchronous belt (530) connects the driving wheel (511) with the driven wheel (520), the driven wheel (520) and the driving wheel (511) tension the synchronous belt (530), two fixing pieces I (313) connected with the synchronous belt (530) are arranged on the support plate I (310), and two fixing pieces II (413) connected with the synchronous belt (530) are arranged on the support plate II (410).

10. The manipulator clamping device according to claim 9, wherein a protective cover (220) is provided on the table (200), and the protective cover (220) covers the guide rail (210).