CN2410093Y

CN2410093Y - Clamping jaw for combined manipulator

Info

Publication number: CN2410093Y
Application number: CN 00203366
Authority: CN
Inventors: 简新锋
Original assignee: Individual
Current assignee: Individual
Priority date: 2000-03-10
Filing date: 2000-03-10
Publication date: 2000-12-13
Anticipated expiration: 2010-03-10

Abstract

The utility model relates to a clamping jaw for a combined mechanical hand. The utility model comprises a connecting cylinder connected with a telescopic arm of a mechanical hand, a control seat pivoted to the connecting cylinder, a driving member pivoted to the control seat, a rotary seat fixed to the driving member, a clamping jaw seat pivoted to the rotary seat, and a plurality of clamping jaw mechanisms arranged on the clamping jaw seat, wherein the driving member is engaged with the connecting cylinder through inclined gears and the rotary seat is provided with a piston mechanism. The clamping jaw seat is provided with a moving guiding shaft, a rotary plate connected with the moving guiding shaft, a slot guiding plate which is overlapped on the rotary plate and is fixedly provided with the rotary seat and a pressing plate fixedly overlapped on the slot guiding plate. The rotary plate can be driven by air guided into the piston mechanism to guide the clamping jaw mechanisms to move in the radial direction.

Description

The jaw of plug-in manipulator

The utility model relates to a kind of manipulator, particularly a kind of jaw of plug-in manipulator.

The automated production that in the past utilized manipulator to be engaged in is not only saved manually, more can raise the efficiency, and guarantees precision.The jaw of manipulator is one of manipulator main member, its whether flexibly action relationships to the efficient of automation.As shown in Figure 1, the jaw 1 of common mechanical hand mainly comprises: a holder 10, two are fixed in the transverse axis bar 11 of holder 10, one is parallel to transverse axis bar 11 and is installed in the transverse axis cylinder 12 of holder 10, one is fixed in the sideslip seat 13 that is set in transverse axis bar 11 on transverse axis cylinder 12 expansion links, one is fixed in the air feed seat 14 of sideslip seat 13, one is installed on the air feed seat 14 and the longitudinal axis cylinder 15 vertical with transverse axis cylinder 12, one is fixed in the vertical slide 16 on longitudinal axis cylinder 15 expansion links, one is hubbed on the rotating shaft 17 of vertical slide 16, one is arranged on the jaw seat 18 of rotating shaft 17, and a jaw 19 that is arranged on jaw seat 18.Start by transverse axis cylinder 12, sideslip seat 13 is slided on transverse axis bar 11 and make jaw seat 18 produce lateral displacements, and by the start of longitudinal axis cylinder 15, can drive vertical slide 16 makes jaw seat 18 produce length travel, add the rotation of jaw seat 18 itself and the holding action of jaw 19, make the jaw 1 of this manipulator can be engaged in the processing and the assembly work of workpiece.But the wireway that the jaw 1 of manipulator drives jaw 19 starts is to be communicated to air feed seat 14 from jaw seat 18 outsides, and when mechanical action, regular meeting interferes with the jaw 19 or motions of other members on every side own, and is inconvenient in actual use.

The purpose of this utility model is to provide the jaw of the easy plug-in manipulator of a kind of appearance structure, and it has effect easy to use.

The purpose of this utility model is to be realized by following technical scheme: the jaw of the utility model plug-in manipulator, comprise that one is connected the connecting cylinder of the telescopic arm of manipulator, one is hubbed on the control seat of this connecting cylinder, one is hubbed on the driving member of this control seat, one is fixed in the rotating seat of this driving member, at least one jaw seat and a plurality of clip claw mechanism that is arranged on the jaw seat that is hubbed on this rotating seat, wherein, be formed with the air intake duct of the exhaust duct that is communicated with telescopic arm in this connecting cylinder, and the end that this connecting cylinder extends in the control seat is provided with an active oblique gear, the end that this driving member extends in control seat be provided with one with the driven helical gear of active oblique gear engagement, and this driving member is formed with a through hole; In addition, this rotating seat forms at least one piston mechanism, this piston mechanism has a piston chamber, and is arranged on the piston body in the piston chamber, the tooth bar of an affixed piston body, the flexible member and a wireway of a resistance piston body, this wireway is communicated to the opposite side that piston body is resisted by flexible member, and the other end of this wireway then passes through hole and is communicated to air intake duct; In addition, this jaw seat has the moving axis of leading, one links this leads the rotor plate of moving axis, one is stacked on this rotor plate and the guide channel plate and that is installed in rotating seat is stacked on this frid and is installed in the pressing plate of guide channel plate, and this lead a end that moving axis extends into rotating seat be provided with one with the rim gear wheel of tooth bar engagement, this rotor plate is located between rotating seat and the guide channel plate rotationally, and this rotor plate offers a plurality of helicla flutes, the relative helicla flute of this guide channel plate offers a plurality of guiding grooves respectively, the relative guiding groove of this pressing plate place offers the less retaining system groove of area, several clip claw mechanisms are embedded between rotor plate and pressing plate, each clip claw mechanism sets firmly a motion guide rod respectively, and each motion guide rod extends in helicla flute and the guiding groove, when this rotor plate rotates, each clip claw mechanism can move radially with the track of helicla flute and guiding groove, gas by this wireway self extending arm in future exhaust duct imports piston mechanism, make this piston move and drive the rotor plate rotation, this guided jaw mechanism moves radially.

The utility model has the advantages that: the appearance structure by the jaw of plug-in manipulator of the present utility model is simple, so can not disturb a plurality of members actions in use, has guaranteed the functional reliability of the jaw of manipulator thus, for practical operation provides convenience.

Be elaborated below by preferred embodiment and accompanying drawing jaw to the utility model plug-in manipulator, in the accompanying drawing:

Fig. 1 is the jaw schematic perspective view of common mechanical hand.

Fig. 2 is the schematic side view of the utility model preferred embodiment.

Fig. 3 is the part Zoom Side pseudosection of the utility model preferred embodiment.

Fig. 4 is the part elevation cross-sectional view of the utility model preferred embodiment.

Fig. 5 is the cutaway view along the line V-V intercepting of Fig. 3.

Fig. 6 is the cutaway view along the line VI one VI intercepting of Fig. 3.

Fig. 7 is the jaw seat of the utility model preferred embodiment and the three-dimensional exploded view of clip claw mechanism.

Fig. 8 is the schematic side view of another preferred embodiment of the utility model.

Fig. 9 is the front elevational schematic of another preferred embodiment of the utility model.

As shown in Figure 2, the jaw 2 of the utility model plug-in manipulator comprises: one is connected the connecting cylinder 20 of the telescopic arm 3 of manipulator, one is hubbed on the control seat 21 of connecting cylinder 20, one is hubbed on the driving member 22 of control seat 21, one is fixed in the rotating seat 23 of driving member 22, two are hubbed on the

jaw seat

24,25 of rotating seat 23, and are separately positioned on four

clip claw mechanisms

26,27 in the jaw seat 24,25.Consult Fig. 3, shown in 4, spiral shell is solid mutually with telescopic arm 3 by the collar 30 for these connecting cylinder 20 1 ends, the other end is then stretched and is put in control seat 21, articulate by bearing 210 and control seat 21, and set firmly an active oblique gear 200 in the termination, and be formed with two air intake ducts 201 that are communicated with the exhaust duct of telescopic arms 3 in connecting cylinder 20 inside, simultaneously, offer control flume 211 on the pivot joint face of this control seat 21 and connecting cylinder 20, and be provided with a control plug 212 in this control flume 211, and between control plug 212 bottoms and control flume 211 bottoms, being provided with a spring 213, control plug 212 tops then form a male member 214.In addition, connecting cylinder 20 relative male members 214 form a breach 202, and be installed with control loop 32 on the outer arm 31 of telescopic arm 3, and relative control flume 211 is installed with resistance lever 320 on control loop 32, when the inner arm 33 of telescopic arm 3 stretches out outer arm 31, the thrust that control plug 212 can be subjected to spring 213 up moves, and make male member 214 stretch into clip in the breach 202 of connecting cylinder 20, and during the inner arm 33 indentation outer arms 31 of telescopic arm 3, resistance lever 320 just can put in the control flume 211, and promote control plug 212 and move down, make male member 214 break away from the breach 202 of connecting cylinders 20.In addition, these driving member 22 formation one are fixed in the disk 220 of rotating seat 23, and be formed centrally the power transmission shaft 221 of a vertical disk 220 in this disk 220, this power transmission shaft 221 extends in the control seat 21 and by bearing 215 and control seat 21 and articulates, and this power transmission shaft 221 in control seat 21, be installed with one with the driven helical gear 222 of active oblique gear 200 engagements, its center offers a through hole 223.

In addition, this rotating seat 23 is the rectangular leg-of-mutton column in a cross section, and this two orthogonal right angles face forms first working face 230 and second working face 231, is pivoted with

jaw seat

24,25 on it respectively, the inclined-plane of corresponding right angle face then with disk 220 Joints of driving member 22.Consult again shown in Fig. 5,6, these rotating seat 23 two ends form relative piston mechanism 28 respectively, each piston mechanism 28 has a piston chamber 280, respectively and is arranged on the tooth bar 282 of piston mobile body 281, an affixed piston body in the piston chamber 280 and the flexible member 283 that a resistance piston body 281 relies on side, other two wireways 29 are communicated to the opposite side that two-piston body 281 is resisted by flexible member 283 respectively, and the other end of each wireway 29 then passes through hole 223 and is connected with air intake duct 201 respectively.

Consult shown in Fig. 7,3, the jaw seat 24 that is provided with on this first working face 230 has leads moving axis 240, and links the rotor plate 241, of leading moving axis 240 and be enclosed within rotor plate 241 locating ring 242, peripheral and that be installed in rotating seat 23 and be stacked on the rotor plate 241 and the guide channel plate 243, that is installed in locating ring 242 is stacked on the guide channel plate 243 and the pressing plate 244 and that is installed in guide channel plate 243 is attached at cushion pad 246 on the pressing plate 244 by flexible member 245.Wherein, lead moving axis 240 and extend to rotating seat 23 inside, and terminal be provided with one with the rim gear wheel 247 of tooth bar 282 engagements, simultaneously, this rotor plate 241 can rotate between first working face 230 and guide channel plate 243, and rotor plate 241 offers four helicla flutes 241 ', and guide channel plate 243 relative helicla flutes 241 ' offer four guiding grooves 243 ' respectively, and pressing plate 244 relative guiding grooves 243 ' locate to offer less retaining system groove 244 '.In addition, each clip claw mechanism 26 has a fixed block 260 respectively, one is installed in the jaw member 261 of fixed block 260, an and motion guide rod 262 that is installed in fixed block 260, each fixed block 260 is embedded 244 of rotor plate 241 and pressing plates, and can in the guiding groove 243 ' of guide channel plate 243, slide, each motion guide rod 262 then extends in the helicla flute 241 ' of rotor plate 241, when rotor plate 241 rotates, each motion guide rod 262 is pind down by helicla flute 241 ', and fixed block 260 is moved along guiding groove 243 ', and drive jaw 261 produces radial displacements, in addition, on the jaw seat 25 that is provided with on this second working face 231 and the jaw seat 25 clip claw mechanism 27 of setting also with first working face 230 on that situation is set is identical.

Construct as mentioned above, during jaw 2 starts of present embodiment plug-in manipulator, when the inner arm 33 of telescopic arm 3 stretches out under the state of outer arm 31, because the male member 214 on the control plug 212 stretches into clip in the breach 202 of connecting cylinder 20, if inner arm 33 is driven and is rotated, cause connecting cylinder 20 can't control seat 21 rotations relatively, then make control seat 21 can drive

jaw seat

24,25 along with inner arm 33 rotates together, simultaneously, when the inner arm 33 indentation outer arms 31 of telescopic arm 3, promote control plug 212 by resistance lever 320, make male member 214 break away from the breach 202 of connecting cylinder 20, inner arm 33 is driven and is rotated, connecting cylinder 20 can be controlled seat 21 rotations relatively, at this moment, and by the engagement of active oblique gear 200 with driven helical gear 222, making connecting cylinder 20 drive driving member 22 rotates, and the disk 220 of driving member 22 is affixed with rotating seat 23, and driven rotary seat 23 rotations again add that rotating seat 23 is to be geometry, after making rotating seat 23 Rotate 180 degree, the position of first working face 230 and second working face 231 will be changed mutually.

In addition, gas from pneumatic supply is communicated in the air intake duct 201 of connecting cylinder 20 respectively by telescopic arm 3, enter respectively in two wireways 29 by each air intake duct 201 again, and be inducted into respectively by each wireway 29 in the piston mechanism 28 at rotating seat 23 two ends, when no gas is led into, piston body 281 in the piston chamber 280 is resisted by flexible member 283 and relies on side, this moment, each motion guide rod 262 was located at the outboard end of the helicla flute 241 ' of rotor plate 241, and make each jaw 261 be open form, when wireway 29 guiding gases enter piston chamber 280 to piston body 281 and are subjected to the opposite side of flexible member 283 compactings, piston body 281 is subjected to the gas pressure effect toward medial movement, drive tooth bar 282 simultaneously also toward medial movement, because this tooth bar 282 is meshed with rim gear wheel 247 on leading moving axis 240, the mobile drive of tooth bar 282 is led moving axis 240 and is rotated, be connected with rotor plate 241 and lead moving axis 240, making rotor plate 241 and then lead moving axis 240 rotates, simultaneously, rotation along with rotor plate 241, each motion guide rod 262 is subjected to pining down of helicla flute 241 ' and moves on to helicla flute 241 ' medial extremity, each clip claw mechanism 24 moves to the center by the guiding of guiding groove 243 ', and make each jaw 261 be closed state, if block the importing of gas again, piston body 281 is subjected to the spring return of flexible member 283 and suppresses back original position, and get back to jaw 261 open states, in addition, when the cushion pad 246 that is provided with on the pressing plate 244 makes clip claw mechanism 26 holding workpieces, can avoid workpiece directly to touch jaw seat 24, prevent to cause both sides' damage.

So, the jaw 2 of present embodiment plug-in manipulator is in fact during start, can make clip claw mechanism 26 holding workpieces on first working face 230 earlier, this workpiece stretches out under the state of outer arm 31 at the inner arm 33 of telescopic arm 3, can move the rotation location with inner arm 33, for processing or assembling utilization, when processing or assembling when finishing, the inner arm 33 indentation outer arms 31 of telescopic arm 3, can make the unprocessed workpiece of clip claw mechanism 27 clampings on second working face 231, by the rotation of rotating seat 23,, discharge the workpiece of having processed on first working face 230 again with the location swap of first working face 230 and second working face 231, and the utilization that second working face 231 can be processed or assemble, so repetitiousness carries out, and makes the operating efficiency of processing or assembling high, and reaches effect easy to use.In addition, because the pipeline of guiding pneumatic supply gas all is located at the inside of associated components, make appearance structure quite simple and easy, the problem that disturbed by pipeline is guaranteed the smooth of machine operation.

Consult Fig. 8 again, shown in 9, the jaw 4 of this plug-in manipulator is same as the previously described embodiments, it comprises that one is connected the connecting cylinder 40 of the telescopic arm 5 of manipulator, one is hubbed on the control seat 41 of connecting cylinder 40, one is hubbed on the driving member 42 of control seat 41, one is fixed in the rotating seat 43 of driving member 42, two are hubbed on the jaw seat 44 of rotating seat 43,45 and be separately positioned on jaw seat 44,45 clip claw mechanism 46,47, but, each jaw seat 44,45 clip claw mechanism 46,47 quantity has only three, and jaw seat 44, on 45 with respect to clip claw mechanism 46,47 helicla flutes that form, guiding groove, retaining system groove also has only three, this structure also can make clip claw mechanism 46,47 produce the effect of holding workpiece, and it is simple and easy also to possess appearance structure, effect easy to use.

Claims

1. the jaw of a plug-in manipulator, comprise that the driving member, that control seat, that a connecting cylinder, that is connected the telescopic arm of manipulator is hubbed on this connecting cylinder is hubbed on this control seat is fixed in the rotating seat of this driving member, at least one jaw seat and a plurality of clip claw mechanism that is arranged on this pawl seat that is hubbed on this rotating seat, is characterized in that:

Be formed with the air intake duct of the exhaust duct that is communicated with telescopic arm in this connecting cylinder, and the end that this connecting cylinder extends in the control seat is provided with an active oblique gear, the end that this driving member extends in control seat be provided with one with the driven helical gear of active oblique gear engagement, and this driving member is formed with a through hole;

This rotating seat forms at least one piston mechanism, this piston mechanism has the tooth bar of a piston chamber, a piston body that can move, an affixed piston body, the flexible member and a wireway of a resistance piston body in this piston chamber, this wireway is communicated to the opposite side that this piston body is resisted by flexible member, and the other end of this wireway then passes through hole and is communicated to air intake duct;

This jaw seat has leads moving axis, and links this rotor plate, one of leading moving axis and be stacked on this rotor plate and the guide channel plate and that is installed in rotating seat is stacked on this guide channel plate and is installed in the pressing plate of guide channel plate, and this lead a end that moving axis extends into rotating seat be provided with one with the rim gear wheel of tooth bar engagement, this rotor plate is to be located at rotationally between rotating seat and the guide channel plate, and this rotor plate offers a plurality of helicla flutes, the relative helicla flute of this guide channel plate offers a plurality of guiding grooves respectively, and the relative guiding groove of this pressing plate place offers the less retaining system groove of area;

These clip claw mechanisms are embedded between rotor plate and pressing plate, and each clip claw mechanism sets firmly a motion guide rod respectively, and each motion guide rod is to extend in helicla flute and the guiding groove and each clip claw mechanism can move radially with the track of helicla flute and guiding groove.

2. the jaw of plug-in manipulator as claimed in claim 1 is characterized in that:

This rotating seat is formed with two vertical relatively working faces, and is pivoted with a jaw seat on each working face respectively, also is formed with two-piston mechanism in this rotating seat, and the tooth bar of each piston mechanism meshes with the rim gear wheel of leading on the moving axis respectively.

3. the jaw of plug-in manipulator as claimed in claim 1 or 2 is characterized in that:

The rotor plate of this jaw seat offers three helicla flutes, and this guide channel plate offers three guiding grooves of relative spiral fluted respectively with pressing plate, and is embedded with three clip claw mechanisms.

4. the jaw of plug-in manipulator as claimed in claim 1 or 2 is characterized in that:

The rotor plate of this jaw seat offers four helicla flutes, and this guide channel plate offers four guiding grooves of relative spiral fluted respectively with pressing plate, and is embedded with four clip claw mechanisms.

5. the jaw of plug-in manipulator as claimed in claim 1 is characterized in that:

This pressing plate is provided with a cushion pad.

6. the jaw of plug-in manipulator as claimed in claim 1 is characterized in that:

Offer control flume on the pivot joint face of this control seat and connecting cylinder, and be provided with a control plug in this control flume, and between control plug bottom and control flume bottom, be provided with a spring, this control plug top forms a male member, the relative male member of this connecting cylinder forms a breach, and be installed with control loop on the outer arm of this telescopic arm, and relative control flume place is installed with resistance lever on this control loop.