WO2021115073A1

WO2021115073A1 - Manipulator and automatic centering and clamping clamp thereof

Info

Publication number: WO2021115073A1
Application number: PCT/CN2020/129566
Authority: WO
Inventors: 徐耀辉; 何凯; 赵文亮
Original assignee: 中国科学院深圳先进技术研究院
Priority date: 2019-12-13
Filing date: 2020-11-17
Publication date: 2021-06-17
Also published as: CN110978020A

Abstract

A manipulator and an automatic centering and clamping clamp (100) thereof. The automatic centering and clamping clamp comprises a supporting frame (10), and a mounting base (20) and a centering and clamping assembly (30) which are supported on the supporting frame (10); the centering and clamping assembly (30) comprises four clamping jaw components (31) arranged along the whole circumferential direction of the mounting base (20) at equal intervals, and an operation shaft (32) slidingly provided in the mounting base (20) and separately abutting against the clamping jaw components (31); the four clamping jaw components (31) are respectively pivoted and attached to the mounting base (20); the supporting frame (10) is provided with a driving member (40) which enables the operation shaft (32) to move along the axial direction of the operation shaft (32) so as to drive the clamping jaw components (31) to rotate with respect to the mounting base (20). The automatic centering and clamping clamp (100) uses the four clamping jaw components (31) arranged along the whole circumferential direction of the mounting base (20) at equal intervals, the four clamping jaw components (31) are respectively pivoted and attached to the mounting base (20), the operation shaft (32) separately abuts against the clamping jaw components (31), the driving member (40) enables the operation shaft (32) to move so as to drive the clamping jaw components (31) to rotate with respect to the mounting base (20), in this way, by using a four-jaw type clamping mode, the structure is symmetrical, and self-centering and clamping can be implemented.

Description

Manipulator and its automatic centering clamping fixture

Technical field

The invention relates to the technical field of mechanical clamping jaws, in particular to a manipulator and an automatic centering clamping fixture thereof.

Background technique

Handling, clamping, process transfer, cutting and grinding of small workpieces are mainly done manually. However, for large-volume, multi-process production conditions, a batch of parts from the rough state to the product storage requires hundreds of processes at least, and tens of thousands or even hundreds of thousands of processes. The workload is huge and manual operation is required. The efficiency is low, it is difficult to meet the supply demand, and the demand for increasing production capacity is extremely urgent. Moreover, the manual operation accuracy is low, good consistency cannot be guaranteed, and the proficiency of the workers is relatively high. In particular, the grinding process will generate a large amount of dust, which is a great hazard to human health, and industrial accidents caused by improper operation occur from time to time, and there is a greater safety hazard. Therefore, manual operation has gradually been unable to meet the requirements of high-volume and multi-process working conditions.

The existing manual operation has been difficult to meet the requirements of large-volume, multi-process parts production. The use of pneumatic clamps to automatically grab the workpieces on the workbench, and realize the automation of workpiece handling, clamping and other actions can not only meet the requirements of mass and multi-process production, but also reduce health hazards, reduce safety accidents, and ensure consistent product quality Sex. At present, automatic clamps mostly use driving devices such as swing rod cylinders or motors to drive accessories to rotate at a certain angle to achieve clamping of the workpiece.

The traditional mainstream automatic fixture has the following shortcomings: (1) The structure is complex and the volume is large. The drive device body such as the motor and the pendulum cylinder is large in size, and the accessories to realize the clamping make the structure of the entire automatic fixture more complicated, and the volume is further enlarged. The huge volume easily causes problems such as interference and collision with other parts during the automated operation; ( 2) The fixture is heavy. The heavier driving device and accessories increase the load of the mechanical arm and greatly reduce the effective load capacity of the robot; (3) The fixture accuracy is low. The existing automatic clamps have errors such as eccentricity and low clamping accuracy; they are only suitable for general working conditions such as transportation, and cannot complete the finishing operations such as clamping and grinding of small parts.

Technical solutions

The purpose of the present invention is to provide a manipulator and its automatic centering clamping fixture, so as to solve the problem that the fixture in the prior art only has the function of clamping and loosening the workpiece, and cannot realize the centering of the workpiece while clamping. Positioning technical issues.

In order to achieve the above objective, the present invention provides the following technical solutions:

The present invention provides an automatic centering clamping fixture, which includes a support frame, a mounting seat supported on the support frame, and a centering clamping assembly; the centering clamping assembly includes an entire portion along the mounting seat Four clamping jaw members arranged at equal intervals in the circumferential direction and an operating shaft slidably arranged in the mounting seat and respectively abutting each of the clamping jaw members, the four clamping jaw members are pivotally attached to the respective clamping jaw members. The mounting seat; the support frame is provided with a driving member that allows the operating shaft to move along the axial direction of the operating shaft to drive the clamping jaw member to rotate relative to the mounting seat.

The technical solution of the present invention has the following advantages: the self-centering clamping fixture adopts four clamping jaw members arranged at equal intervals in the entire circumference of the mounting seat, and the four clamping jaw members are respectively pivoted and attached to the mounting seat , The operating shaft abuts each clamping claw member separately, and the driving member can move the operating shaft along the axial direction of the operating shaft to drive the clamping claw member to rotate relative to the mounting seat. In this way, the four-claw clamping method is adopted, and the structure is symmetrical. Realize self-centering clamping.

In one embodiment, the jaw member includes a driving part rotatably arranged in the mounting seat and a jaw part extending from the driving part to the outside of the mounting seat; the operating shaft has an operating part, The operating part is provided with a plurality of first teeth, and the plurality of first teeth are arranged along the axial direction of the operating shaft; the outer surface of the driving part is provided with a second tooth meshing with the first teeth. tooth.

In one embodiment, the operating portion has a rectangular cross-section, the operating portion includes four longitudinal side walls, and the four longitudinal side walls correspond to the four jaw members respectively, and each Each of the longitudinal side walls is provided with a plurality of the first teeth.

In one embodiment, the clamping jaw portion includes a first clamping finger portion connected with the driving portion and a second clamping portion extending outward in an arc from the first clamping finger portion to the outer periphery of the mounting seat. Refers to the part.

In an embodiment, the driving member is an air cylinder, and the output shaft of the air cylinder is coaxially arranged with the operating shaft and connected and fixed;

Alternatively, the driving member is a motor, and the motor shaft of the motor is connected to the operating shaft, or the motor is connected to the operating shaft through a screw assembly.

In one embodiment, the four clamping jaw members are divided into two first clamping jaw members and two second clamping jaw members facing each other in a two-by-two manner; the first clamping jaws The cross-sectional area size of the component is smaller than the cross-sectional area size of the second jaw component.

In one embodiment, the mounting seat includes a square mounting portion, a flange portion, and a sleeve portion extending from the mounting portion to the flange portion, the mounting portion has a cavity, and the jaw member The bottom end of the mounting portion is set in the cavity, the top surface of the mounting portion is provided with an opening communicating with the cavity, and the mounting portion is covered with a cover plate to close the opening. The mounting portion is connected and fixed by a fastener; the flange portion has a through hole, the sleeve portion has a hollow cavity communicating with the cavity and the through hole, and the operating shaft is built in Inside the hollow cavity, and the two ends of the operating shaft respectively extend beyond the end of the sleeve part.

In one embodiment, the surface of the cover plate is provided with four limiting grooves corresponding to the four clamping jaw members, and each of the limiting grooves extends from the center of the surface of the cover plate to the periphery.

In one embodiment, the support frame includes a circular fixed plate and a supporting flange, the fixed plate has a central hole, and the driving member is installed in the central hole of the fixed plate through a locking member; The fixed plate is arranged between the mounting seat and the supporting flange, and a plurality of pillars are arranged between the fixed plate and the supporting flange, and the plurality of pillars are arranged along the circumference of the fixed plate. The two ends of the pillars are respectively connected and fixed with the fixed plate and the supporting flange; a plurality of folding brackets are arranged between the fixed plate and the mounting seat, and a plurality of The fold-shaped brackets are arranged at equal intervals along the circumferential direction of the fixed disk; each fold-shaped bracket includes a first horizontal portion connected with the flange portion, a second horizontal portion connected with the fixed disk, and a second horizontal portion connected to the fixed disk. The outer end of a horizontal part extends along the axial direction of the operating shaft to the vertical part of the inner end of the second horizontal part, the first horizontal part is provided with a first fixing hole, and the second horizontal part is provided with a second fixing Hole; the flange portion is provided with a first fixing matching hole corresponding to the first fixing hole, the first fixing matching hole is located on the outer periphery of the through hole; the fixing plate is provided with a second fixing hole Corresponding to the second fixing and fitting hole, the second fixing and fitting hole is located on the outer periphery of the central hole.

Another object of the present invention is to provide a manipulator to solve the technical problem that the manipulator in the prior art does not have the function of centering and clamping, and the clamping accuracy is low.

In order to achieve this objective, the present invention provides a manipulator including an arm assembly, which further includes the above-mentioned self-centering clamping fixture, and the support frame is connected and fixed with the arm assembly.

The manipulator adopts the above-mentioned automatic centering clamping fixture, therefore, the workpiece can be centered and positioned while the workpiece is clamped, and the clamping accuracy is high.

Description of the drawings

Figure 1 is a three-dimensional schematic diagram of a self-centering clamping fixture provided by an embodiment of the present invention;

2 is a schematic partial cross-sectional view of the self-centering clamping fixture provided by an embodiment of the present invention;

Figure 3 is an enlarged view of part A in Figure 2;

4 is a schematic top view of the self-centering clamping fixture provided by an embodiment of the present invention;

Fig. 5 is a schematic front view of the self-centering clamping fixture provided by an embodiment of the present invention when it is in use.

Symbol description of main components

100-Auto-centering clamping fixture; 10-support frame; 11-fixed plate; 12-support flange; 13-locking parts; 14-pillar; 15-folding bracket; 151-first horizontal part; 152 -Second horizontal part; 1521-Second fixing hole; 153-Vertical part; 20-Mounting seat; 21-Mounting part; 211-Cavity; 22-Flange part; 222-First fixing matching hole; 23- Sleeve part; 231-hollow cavity; 24-cover plate; 241-limiting groove; 30-centering clamping assembly; 31-clamping jaw member; 31a-first clamping jaw member; 31b-second clamping jaw member; 311-driving part; 3111-second tooth; 312-claw part; 3121-first finger-clamping part; 3122-second finger-clamping part; 3123-concave part; 3124-ridge part; 32-operation shaft; 321- Operating part; 3211-first tooth; 3212-longitudinal side wall; 40-drive member.

Embodiments of the present invention

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and embodiments. It should be understood that the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

In order to enable those skilled in the art to better understand the technical solutions of the present invention, the implementation of the present invention will be described in detail below in conjunction with specific drawings.

For the convenience of description, the “upper” and “lower” hereinafter referred to are consistent with the upper and lower directions of the drawings themselves, but do not limit the structure of the present invention.

Unless otherwise defined, the technical or scientific terms used herein shall have the usual meanings understood by those with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the specification and claims of the patent application of the present invention do not denote any order, quantity or importance, but are only used to distinguish different components. Similarly, similar words such as "one" or "one" do not mean a quantity limit, but mean that there is at least one.

As shown in Figures 1 to 5, it is a preferred embodiment provided by the present invention.

1, the present embodiment provides an automatic centering clamping fixture 100, which includes a support frame 10, a mounting seat 20 supported on the support frame 10, and a centering clamping assembly 30; the centering clamping assembly 30 includes Four clamping jaw members 31 arranged at equal intervals along the entire circumference of the mounting seat 20 and an operating shaft 32 slidably arranged in the mounting seat 20 and abutting each clamping jaw member 31 respectively, the four clamping jaw members 31 pivot respectively The adapter is attached to the mounting base 20; the support frame 10 is provided with a driving member 40 that moves the operating shaft 32 along the axial direction of the operating shaft 32 to drive the clamping jaw member 31 to rotate relative to the mounting base 20.

The above-mentioned self-centering clamping fixture 100 adopts four clamping jaw members 31 arranged at equal intervals in the entire circumference of the mounting seat 20, and the four clamping jaw members 31 are pivotally attached to the mounting seat 20 respectively, and the operating shaft 32 abuts against each clamping claw member 31 respectively, and the driving member 40 can move the operating shaft 32 along the axial direction of the operating shaft 32 to drive the clamping claw member 31 to rotate relative to the mounting seat 20. In this way, a four-claw clamping method is adopted, The structure is symmetrical and can realize self-centering clamping.

1 to 5, the automatic centering clamping fixture 100 of this embodiment includes a support frame 10, a mounting seat 20, a centering clamping assembly 30, and a driving member 40.

Referring to 1 to 3, the mounting seat 20 and the driving member 40 are supported on the support frame 10. The centering and clamping assembly 30 includes four clamping jaw members 31 and an operating shaft 32. The four clamping jaw members 31 are pivoted and attached respectively. On the mounting seat 20, and arranged at equal intervals along the entire circumference of the mounting seat 20, the operating shaft 32 is movably installed in the mounting seat 20 up and down (the up and down direction in the figure), and the driving member 40 is connected to the operating shaft 32 , And can drive the operating shaft 32 to move up and down relative to the mounting base 20. The upper end of the operating shaft 32 (the upper end shown in the figure) abuts each of the clamping jaw members 31 respectively. In this embodiment, the top surface of the mounting base 20 is parallel to each other. A horizontal direction (direction D1 in the figure, collectively referred to as the first direction D1 below) and a longitudinal direction (direction D2 in the figure, collectively referred to as the second direction D2 below), the jaw member 31 is mounted via a pivot (not shown) On the mounting seat 20, the four clamping jaw members 31 are divided into two first clamping jaw members 31a and two second clamping jaw members 31b opposite to each other in a pairwise manner, for mounting the first The pivot axis of the jaw member 31a extends in a direction parallel to the first direction D1, and the pivot axis for installing the second jaw member 31b extends in a direction parallel to the second direction D2; the two second jaw members 31b are in The center line of the first direction D1 is arranged symmetrically, and the two first jaw members 31a are arranged symmetrically on the center line of the second direction D2, and the distance from the center point of each pivot to the axis of the operating shaft 32 is equal, which is easy to understand Yes, under the drive of the driver 40, the operating shaft 32 moves up and down relative to the mounting base 20, and drives the first clamping jaw member 31a to take the direction parallel to the first direction D1 as the axis and the second clamping jaw member 31b to be parallel to the first direction D1. The direction of the two directions D2 is the simultaneous rotation of the shaft relative to the mounting seat 20. It should be pointed out that the rotation direction between the two first clamping jaw members 31a and the rotation direction between the two second clamping jaw members 31b are opposite. That is to say, the forward and retreat movement of the operating shaft 32 (that is, the upward and downward movement in the figure) will drive the four clamping jaw members 31 to rotate inward or outward at the same time, thereby realizing the opening and retraction of the four clamping jaw members 31 , That is, to realize the loosening and clamping of the workpiece (not shown in the figure), or clamping and loosening.

In particular, the four jaw members 31 can both be expanded and retracted. For a workpiece with an inner hole, the jaw member 31 is inserted into the inner hole of the workpiece after retracting, and the workpiece is opened after the jaw member 31 is opened. Hold on the self-centering clamping fixture 100; for an excircle type workpiece, the opened jaw member 31 moves to the outside of the workpiece, and after the jaw member 31 is retracted, the workpiece is clamped, so that not only can the inside Hole-type workpieces can be clamped, and it can also be clamped to outer-circular workpieces. The minimum can meet the grasping operation of workpieces with a contour of 3mm, and the application range is wider.

2 and 3, the jaw member 31 includes a driving portion 311 rotatably provided in the mounting seat 20 and a jaw portion 312 extending from the driving portion 311 to the outside of the mounting seat 20; the operating shaft 32 has an operating portion 321, A plurality of first teeth 3211 are provided on the operating portion 321, and the multiple first teeth 3211 are arranged along the axial direction of the operating shaft 32; the outer surface of the driving portion 311 is provided with second teeth 3111 meshing with the first teeth 3211. In this embodiment, the driving part 311 is approximately circular, the second teeth 3111 are arranged along its circumferential surface, the operating part 321 is located on the upper part of the operating shaft 32 (the upper end of the figure), and the operating part 321 is built in the four driving parts Between 311, the outer side wall of the operating portion 321 is provided with a plurality of first teeth 3211 meshing with the second teeth 3111. It is easy to understand that when the operating shaft 32 moves downward, the first teeth 3211 and the second teeth 3211 Under the action of 3111, the clamping jaw members 31 are driven to rotate clockwise, and the four clamping jaw members 31 are retracted inward; when the operating shaft 32 moves upward, the clamping jaw members 31 are driven to rotate counterclockwise, and the four clamping jaw members 31 move toward Outer expansion, the four clamping jaws are opened and retracted at the same time by means of meshing transmission, with high transmission accuracy, realizing self-centering clamping, and enhancing the reliability of locking.

In another embodiment, the side wall of the operating shaft 32 with the operating portion 321 may be provided with a rack corresponding to each of the driving portions 311, and the rack is connected to the operating shaft 32 through all existing fixing methods such as welding and screws. fixed.

In another embodiment, the operating portion 321 is hollow and is sleeved outside the four driving portions 311. The inner side wall of the operating portion 321 is provided with a plurality of first teeth 3211 meshing with the second teeth 3111. When the operating shaft 32 moves downwards, under the action of the first tooth 3211 and the second tooth 3111, the clamping jaw members 31 are driven to rotate counterclockwise, and the four clamping jaw members 31 are opened inward; when the operating shaft 32 moves upwards , The clamping jaw members 31 are driven to rotate clockwise, and the four clamping jaw members 31 are retracted outward.

Please continue to refer to Figures 2 and 3, in this embodiment, the operating portion 321 has a rectangular cross section, the operating portion 321 includes four longitudinal side walls 3212, the four longitudinal side walls 3212 and the four jaw members 31 respectively. Correspondingly, each longitudinal side wall 3212 is provided with a plurality of first teeth 3211.

In another embodiment, the operating portion 321 has a circular cross section, and each first tooth 3211 extends along the entire circumference of the operating portion 321.

Please continue to refer to FIGS. 2 and 3, the clamping jaw portion 312 includes a first clamping finger portion 3121 connected with the driving portion 311 and a second clamping finger extending outward in an arc from the first clamping finger portion 3121 to the outer periphery of the mounting seat 20 Part 3122. In this embodiment, the first clamping finger portion 3121 extends upward from the driving portion 311 (upward in the figure) and inward, and the second clamping finger portion 3122 extends upward from the first clamping finger portion 3121 and toward the outer periphery of the mounting seat 20. The arc extends outward, the junction of the outer wall of the first finger part 3121 and the outer wall of the second finger part 3122 forms a concave part 3123, and the inner wall of the first finger part 3121 and the inner wall of the second finger part 3122 A ridge part 3124 is formed at the junction of the two parts. It is worth mentioning that when fixing a workpiece with an inner hole, the concave part 3123 of each clamping jaw member 31 abuts against the inner hole wall of the workpiece; When the workpiece is being processed, the ridge portion 3124 of each clamping claw member 31 respectively abuts against the outer wall of the workpiece. In this way, the clamping and fixing effect can be improved, and the effectiveness of the clamping of the workpiece can be ensured.

In particular, the shape and size of the jaw portion 312 can be adapted to the shape and size of the workpiece.

In another embodiment, both the first clamping finger portion 3121 and the second clamping finger portion 3122 of the clamping jaw portion 312 may be straight, and are inclined at an obtuse angle between them.

1 and 4, the shape and size of the four jaw members 31 can be the same or different. In this embodiment, the cross-sectional area size of the first jaw member 31a is smaller than the cross-sectional area size of the second jaw member 31b. It should be noted that the thickness of the first jaw member 31a and the second jaw member 31b are the same, and the shapes of the two are basically the same. The difference is that the first jaw member 31a is in a direction parallel to the first direction D1. The length dimension is smaller than the length dimension of the second clamping jaw member 31b in the direction parallel to the second direction D2. In this way, the use of clamping jaw members 31 with different width dimensions can be applied to workpieces with complex curved surfaces, and the improvement range is wider.

Please refer back to Figures 1 and 2. The driving member 40 may be a cylinder or a motor. In this embodiment, the driving member 40 is but not limited to a cylinder, preferably a screw cylinder. The output shaft of the cylinder is the same as the operating shaft 32. The shaft is arranged and connected and fixed. It is easy to understand that the screw cylinder has a smaller body and a lighter weight, which can make the overall structure smaller and save installation space.

In another embodiment, the driving member 40 is a motor, and the motor shaft of the motor is connected to the operating shaft 32.

In another embodiment, the driving member 40 is a motor, and the motor is connected to the operating shaft 32 through a screw assembly.

1 to 3, the mounting seat 20 includes a square mounting portion 21, a flange portion 22, and a sleeve portion 23 extending from the mounting portion 21 to the flange portion 22. The mounting portion 21 has a cavity 211, and the clamping jaw member 31 The bottom end is set in the cavity 211. The top surface of the mounting portion 21 is provided with an opening communicating with the cavity 211. The mounting portion 21 is covered with a cover plate 24 to close the opening. The cover plate 24 is tightened by screws, pins, etc. The firmware is connected and fixed with the mounting portion 21; the flange portion 22 has a through hole, the sleeve portion 23 has a hollow cavity 231 communicating with the cavity 211 and the through hole, respectively, the operating shaft 32 is built in the hollow cavity 231, and the operating shaft 32 The two ends of the sleeve portion 23 extend beyond the ends of the sleeve portion 23, respectively. In this embodiment, the driving portion 311 of the jaw member 31 is arranged in the cavity 211, the sleeve portion 23 has a circular cross section, the diameter of the flange portion 22 is larger than that of the sleeve portion 23, and the hollow cavity 231. The cross-sectional shape of the through hole is circular, the operating shaft 32 is built in the hollow cavity 231, the operating shaft 32 and the sleeve portion 23 are coaxially arranged, and a predetermined gap is left between the two for the operating shaft 32 slides, the two ends of the operating shaft 32 respectively extend beyond the end of the sleeve portion 23, and the upper end (the upper end shown) of the operating shaft 32 extends into the cavity 211 and engages with the driving portion 311 of the jaw member 31 , The lower end of the operating shaft 32 passes through a through hole and is connected to the driving member 40.

3 and 4, as a further optimization, the surface of the cover plate 24 is provided with four limiting grooves 241 respectively corresponding to the four clamping jaw members 31, and each limiting groove 241 respectively extends from the center of the surface of the cover plate 24 to The periphery extends, so that the swing range of the clamping jaw member 31 can be limited by the limiting groove 241 of the cover plate 24, thereby ensuring the stability of the structure.

Please refer back to Figures 1 and 2. In this embodiment, the support frame 10 includes a circular fixed plate 11 and a supporting flange 12. The fixed plate 11 has a central hole (not shown), and the drive member 40 passes through the locking member. 13 is installed in the central hole of the fixed plate 11, the locking part 13 is but not limited to a nut, the nut is connected and fixed to the fixed plate 11 by welding, tight fitting and other existing fixing methods; the fixed plate 11 is arranged on the mounting seat 20 Between the support flange 12 and the fixed plate 11 and the support flange 12, there are pillars 14. The number of the pillars 14 is but not limited to three, and the three pillars 14 are equal in the circumferential direction of the fixed plate 11. The two ends of the pillar 14 are respectively connected and fixed with the fixing plate 11 and the supporting flange 12 through all existing fixing methods such as threads, bolts, welding, etc.; a folding bracket 15 is arranged between the fixing plate 11 and the mounting seat 20 The number of folding brackets 15 is but not limited to three. The three folding brackets 15 are arranged at equal intervals along the circumference of the fixed plate 11; each folding bracket 15 includes a flange portion 22 connected to the mounting seat 20 The first horizontal portion 151 and the second horizontal portion 152 connected to the fixed plate 11 extend upward (upward in the figure) from the outer end of the first horizontal portion 151 along the axial direction of the operating shaft 32 to the second horizontal portion 152. In the vertical portion 153 of the inner end, the first horizontal portion 151 is provided with a first fixing hole (not shown), and the second horizontal portion 152 is provided with a second fixing hole 1521; the flange portion 22 is provided with a first fixing hole (not shown). The fixing hole corresponds to the first fixing fitting hole 222, the first fixing fitting hole 222 is located on the outer periphery of the through hole (not shown); the fixing plate 11 is provided with a second fixing fitting hole corresponding to the second fixing hole 1521 (not shown) Show), the second fixing fitting hole is located on the outer periphery of the central hole, and the first fixing fitting hole 222 and the first fixing hole are screwed into the first fixing fitting hole 222 and the first fixing hole in sequence by bolts, the mounting base 20 is connected and fixed with the folding bracket 15, and the second fixing hole is screwed in sequence by bolts. The fixing hole 1521 and the second fixing matching hole connect and fix the folding bracket 15 with the fixing plate 11, so that the mounting seat 20 is fixedly installed on the support frame 10. It is easy to understand that the overall structure is simple, compact and easy to disassemble, which not only ensures the reliability of the locking, but also reduces the difficulty of the fixture manufacturing and assembly process, and saves manpower and material resources.

In another embodiment, the locking member 13 and the fixed plate 11 are integrally formed.

Referring to Figure 5, the manipulator of this embodiment includes an arm assembly (not shown), which also includes the above-mentioned self-centering clamping fixture 100. The support flange 12 of the support frame 10 is connected and fixed with the arm assembly. The flange plate 12 and the arm assembly are detachably connected and fixed by fasteners such as screws, screws, etc., and the end of the self-centering clamping fixture 100 where the clamping claw member 31 is installed faces downward. In particular, the above-mentioned manipulator can be applied to mechanical devices or robots such as conveying, clamping, cutting, and polishing.

The above-mentioned manipulator adopts the above-mentioned automatic centering and clamping fixture 100, therefore, the workpiece can be centered and positioned while clamping the workpiece, and the clamping accuracy is high.

The action process of the self-centering clamping fixture 100 provided in this embodiment will be described in detail below with reference to FIG. 5.

When the robot is working, after receiving the designated signal, the manipulator reaches the designated position according to the instruction. The solenoid valve connected to the drive member 40 sends out a grab signal. The drive member 40 pushes the operating shaft 32 to move upward, and the operating part 321 on the operating shaft 32 drives the The gears on the one clamping jaw member 31a and the second clamping jaw member 31b rotate clockwise around the rotating shaft, so that the four clamping jaw members 31 are folded and the workpiece is clamped. After the fixture is completed, the solenoid valve sends a release signal, and the driving member 40 drives the push rod to move downward to release the workpiece.

The above descriptions are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement or improvement made within the spirit and principle of the present invention shall be included in the protection of the present invention. Within range.

Claims

An automatic centering clamping fixture, which is characterized in that it includes a support frame, a mounting seat supported on the support frame, and a centering clamping assembly; the centering clamping assembly includes an entire circumference of the mounting seat. To the four clamping jaw members arranged at equal intervals and the operating shaft slidably arranged in the mounting seat and respectively abutting each of the clamping jaw members, the four clamping jaw members are respectively pivotally attached to the The mounting seat; the support frame is provided with a driving member that allows the operating shaft to move along the axial direction of the operating shaft to drive the clamping jaw member to rotate relative to the mounting seat.
The self-centering clamping fixture according to claim 1, wherein the clamping jaw member includes a driving part rotatably arranged in the mounting seat and a driving part extending from the driving part to the outside of the mounting seat. Claw portion; the operating shaft has an operating portion, the operating portion is provided with a plurality of first teeth, the plurality of first teeth are arranged along the axial direction of the operating shaft; on the outer surface of the driving portion A second tooth meshing with the first tooth is provided.
The self-centering clamping fixture according to claim 2, wherein the operating portion has a rectangular cross-section, the operating portion includes four longitudinal side walls, the four longitudinal side walls and the four The clamping jaw members correspond to each other one to one, and each of the longitudinal side walls is provided with a plurality of the first teeth.
The self-centering clamping fixture according to claim 2, wherein the clamping claw portion includes a first clamping finger portion connected with the driving portion, and the first clamping finger portion extends from the first clamping finger to the mounting seat. The outer circumference of the second finger part extends outward in an arc shape.
The self-centering clamping fixture according to any one of claims 1 to 4, wherein the driving member is an air cylinder, and the output shaft of the air cylinder and the operating shaft are coaxially arranged and connected and fixed;

Alternatively, the driving member is a motor, and the motor shaft of the motor is connected to the operating shaft, or the motor is connected to the operating shaft through a screw assembly.
The self-centering clamping fixture according to any one of claims 1 to 4, wherein the four clamping jaw members are divided into two first clamping jaw members and Two second clamping jaw members opposite to each other; the cross-sectional area size of the first clamping jaw member is smaller than the cross-sectional area size of the second clamping jaw member.
The self-centering clamping fixture according to any one of claims 1 to 4, wherein the mounting seat includes a square mounting portion, a flange portion, and a flange extending from the mounting portion to the flange portion. A sleeve portion, the mounting portion has a cavity, the bottom end of the clamping claw member is arranged in the cavity, the top surface of the mounting portion is provided with an opening communicating with the cavity, the mounting portion The upper cover cover plate is used to close the opening, the cover plate is connected and fixed with the mounting part by a fastener; the flange part has a through hole, and the sleeve part has a cavity with the cavity respectively. In a hollow cavity communicating with the through hole, the operating shaft is built in the hollow cavity, and both ends of the operating shaft extend beyond the ends of the sleeve portion, respectively.
The automatic centering clamping fixture according to claim 7, wherein the surface of the cover plate is provided with four limiting grooves corresponding to the four clamping jaw members, and each of the limiting grooves is from The surface of the cover plate extends from the center to the periphery.
The self-centering clamping fixture according to claim 7, wherein the supporting frame comprises a circular fixed plate and a supporting flange, the fixed plate has a central hole, and the driving member passes through the locking member Installed in the central hole of the fixed plate; the fixed plate is arranged between the mounting seat and the supporting flange, and a plurality of pillars are arranged between the fixed plate and the supporting flange, A plurality of the pillars are arranged at equal intervals along the circumferential direction of the fixed plate, and the two ends of the pillars are respectively connected and fixed with the fixed plate and the supporting flange; the fixed plate and the mounting seat A plurality of fold-shaped brackets are arranged between them, and the plurality of fold-shaped brackets are arranged at equal intervals along the circumferential direction of the fixed disk; each fold-shaped bracket includes a first horizontal portion connected with the flange portion, and The second horizontal part connected to the fixed plate and the vertical part extending from the outer end of the first horizontal part to the inner end of the second horizontal part in the axial direction of the operating shaft, and the first fixed part is provided on the first horizontal part. A second horizontal part is provided with a second fixing hole; the flange portion is provided with a first fixing matching hole corresponding to the first fixing hole, and the first fixing matching hole is located on the outer periphery of the through hole; The fixing plate is provided with a second fixing fitting hole corresponding to the second fixing hole, and the second fixing fitting hole is located on the outer periphery of the central hole.
A manipulator comprising an arm assembly, characterized in that it further comprises the self-centering clamping fixture according to any one of claims 1 to 9, and the support frame is connected and fixed with the arm assembly.