A truss manipulator claw structure

Abstract

The present invention discloses a truss manipulator gripper structure, including a base, two gripper arms are axially connected to the base, the gripper arms are driven by a cylinder, a through slot is provided on the gripper arm, an elastic connecting rod is movably connected in the through slot, and a clamping disk is connected to the elastic connecting rod; the clamping disk includes a disk body, a mounting slot is provided on the disk body surface, a first slide slot is provided on the side wall of the mounting slot, a positioning pin is provided at the bottom end of the first slide slot, a support rod is provided in the mounting slot, both ends of the support rod are slidably inserted in the first slide slot, a plurality of gripper blocks are radially arranged on the support rod, positioning holes corresponding to the gripper blocks are provided at both ends of the support rod, the connecting line between the gripper block and its corresponding positioning hole is parallel to the axis of the support rod, and the positioning pin is matched with the positioning hole. The present invention can improve the deficiencies of the prior art, and ensure the clamping stability of the workpiece on the basis of adopting a two-claw structure.

Description

Technical Field

[0001] The invention relates to the technical field of truss robot arms, in particular to a truss robot arm claw structure. Background Art

[0002] A truss robot is an industrial device with a frame structure that can move in three-dimensional space. It has the advantages of high positioning accuracy, large load capacity, and simple structure, and is widely used in various automated production sites. The grippers of truss robots that clamp special-shaped workpieces are usually designed with three or more grippers to ensure gripping stability. Each gripper arm requires a set of drive devices and control programs, which results in a high cost for multi-claw robots. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a truss manipulator claw structure, which can solve the deficiencies of the prior art and ensure the clamping stability of the workpiece on the basis of adopting a two-claw structure.

[0004] In order to solve the above technical problems, the technical solutions adopted by the present invention are as follows.

[0005] A truss manipulator gripper structure comprises a base, two gripper arms are axially connected to the base, the gripper arms are driven by an oil cylinder, a through slot is arranged on the gripper arm, an elastic connecting rod is movably connected in the through slot, and the elastic connecting rod is connected to a clamping disk; the clamping disk comprises a disk body, a mounting slot is opened on the disk body surface, a first slide slot is arranged on the side wall of the mounting slot, a positioning pin is arranged on the bottom end of the first slide slot, a support rod is arranged in the mounting slot, both ends of the support rod are slidably inserted in the first slide slot, a plurality of clamping blocks are radially arranged on the support rod, positioning holes corresponding to the clamping blocks are arranged at both ends of the support rod, a line connecting the clamping block and its corresponding positioning hole is parallel to the axis of the support rod, and the positioning pin and the positioning hole are selectively matched.

[0006] Preferably, the elastic connecting rod includes an outer shell, a piston rod is connected to the bottom of the outer shell through a spring, the piston rod is connected to the clamping plate, a ring is fixed to the side wall of the piston rod, and a first rubber layer is fixed on the inner wall of the outer shell near the bottom, and the first rubber layer is interference fit with the ring.

[0007] Preferably, an airbag is arranged in the first rubber layer, the airbag is connected to an air pipe, and a stop valve is arranged on the air pipe.

[0008] Preferably, a second slide groove is provided on the side wall of the through groove, a mounting rod passing through the second slide groove is fixed on the outer shell, and a locking nut is connected to the top of the mounting rod.

[0009] Preferably, the shape of the clamping block includes rectangle, circle and triangle.

[0010] Preferably, a second rubber layer is provided on the surface of the clamping block.

[0011] The beneficial effect brought about by adopting the above technical scheme is that the present invention achieves stable clamping of special-shaped workpieces by installing an independent clamping disk on the traditional claw arm and using the clamping disk to clamp and position the workpiece. A rotatable multi-clamping block structure is provided on the clamping surface of the clamping disk, and clamping blocks of different shapes are used to adapt to workpieces of different shapes to improve the clamping stability. During the clamping process, the clamped workpiece pushes the support rod to move toward the bottom end of the slide slot, so that the positioning hole on it and the positioning pin are plugged into each other to fix the support rod. The structure of the elastic connecting rod can not only realize the two-stage release of elastic deformation, but also can flexibly control the size of the second-stage resistance by inflating and deflating the airbag to adapt to different working conditions. The connection structure between the elastic connecting rod and the through slot is flexible, which can realize the rotation and sliding of the elastic connecting rod, so as to adjust the clamping angle and position of the clamping disk and the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural diagram of a specific implementation mode of the present invention.

[0013] Figure 2 It is a structural diagram of a clamping disk in a specific embodiment of the present invention.

[0014] Figure 3 It is a structural diagram of an elastic connecting rod in a specific embodiment of the present invention.

[0015] Figure 4 It is a structural diagram of the connection portion between the elastic connecting rod and the clamping disk in a specific embodiment of the present invention.

[0016] In the figure: 1, base; 2, claw arm; 3, cylinder; 4, through groove; 5, elastic connecting rod; 6, clamping plate; 7, plate body; 8, mounting groove; 9, first slide groove; 10, positioning pin; 11, support rod; 12, clamping block; 13, positioning hole; 14, housing; 15, spring; 16, piston rod; 17, ring; 18, first rubber layer; 19, airbag; 20, air pipe; 21, stop valve; 22, second slide groove; 23, mounting rod; 24, locking nut; 25, second rubber layer. DETAILED DESCRIPTION

[0017] The standard parts used in the present invention can all be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, and bonding in the prior art, which will not be described in detail here.

[0018] Reference Figure 1-4A specific embodiment of the present invention includes a base 1, on which two claw arms 2 are axially connected, and the claw arms 2 are driven by a cylinder 3. A through groove 4 is provided on the claw arm 2, and an elastic connecting rod 5 is movably connected in the through groove 4, and the elastic connecting rod 5 is connected to a clamping plate 6; the clamping plate 6 includes a plate body 7, and a mounting groove 8 is provided on the surface of the plate body 7. The side wall of the mounting groove 8 is provided with a first slide groove 9, and a positioning pin 10 is provided at the bottom end of the first slide groove 9. A support rod 11 is provided in the mounting groove 8, and both ends of the support rod 11 are slidably inserted in the first slide groove 9. A plurality of clamping blocks 12 are radially arranged on the support rod 11, and positioning holes 13 corresponding to the clamping blocks 12 are provided at both ends of the support rod 11. The connecting line of the clamping block 12 and its corresponding positioning hole 13 is parallel to the axis of the support rod 11, and the positioning pin 10 and the positioning hole 13 are selectively matched. The elastic connecting rod 5 includes a shell 14, a piston rod 16 is connected to the bottom of the shell 14 through a spring 15, the piston rod 16 is connected to the clamping plate 6, a ring 17 is fixed to the side wall of the piston rod 16, and a first rubber layer 18 is fixed to the inner wall of the shell 14 near the bottom, and the first rubber layer 18 is interference fit with the ring 17. An air bag 19 is arranged in the first rubber layer 18, and the air bag 19 is connected to the air pipe 20, and a stop valve 21 is arranged on the air pipe 20. A second slide groove 22 is arranged on the side wall of the through groove 4, and a mounting rod 23 that passes through the second slide groove 22 is fixed to the shell 14, and a locking nut 24 is connected to the top of the mounting rod 23. The shape of the clamping block 12 is rectangular. A second rubber layer 25 is arranged on the surface of the clamping block 12.

[0019] In addition, the elastic connecting rod 5 is connected to the clamping disk 6 through a rubber sleeve 26, and two rubber pads 27 are arranged in the rubber sleeve 26. The rubber pads 27 are interference fit with the rubber sleeve 26, and the two rubber pads 27 are respectively fixed to the elastic connecting rod 5 and the clamping disk 6. A clamping groove 28 is arranged on any one of the rubber pads 27, and a clamping pin 29 engaged with the clamping groove 28 is arranged on the other rubber pad 27. The rubber pads 27 are connected to the rubber sleeve 26, so that the connection structure has a certain flexible deformation ability when the elastic connecting rod 5 and the clamping disk 6 are fixedly connected, so that the clamping disk 6 can maintain a good contact effect with the workpiece after the clamping disk 6 is clamped by force.

[0020] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0021] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A truss manipulator gripper structure, comprising a base (1), two gripper arms (2) being axially connected to the base (1), the gripper arms (2) being driven by a cylinder (3), characterized in that: The claw arm (2) is provided with a through groove (4), and an elastic connecting rod (5) is movably connected in the through groove (4), and the elastic connecting rod (5) is connected to a clamping disk (6); the clamping disk (6) comprises a disk body (7), and a mounting groove (8) is provided on the surface of the disk body (7), and a first slide groove (9) is provided on the side wall of the mounting groove (8), and a positioning pin (10) is provided at the bottom end of the first slide groove (9), and a support rod (11) is provided in the mounting groove (8), and both ends of the support rod (11) are slidably inserted in the first slide groove (9), and a plurality of clamping blocks (12) are radially arranged on the support rod (11), and positioning holes (13) corresponding to the clamping blocks (12) are provided at both ends of the support rod (11), and the connecting line between the clamping block (12) and the corresponding positioning hole (13) is parallel to the axis of the support rod (11), and the positioning pin (10) and the positioning hole (13) are selectively connected. A match; the elastic connecting rod (5) comprises a shell (14), the bottom of the shell (14) is connected to a piston rod (16) through a spring (15), the piston rod (16) is connected to the clamping plate (6), a ring (17) is fixed to the side wall of the piston rod (16), a first rubber layer (18) is fixed to the inner wall of the shell (14) near the bottom, the first rubber layer (18) and the ring (17) are interference fit; an air bag (19) is arranged in the first rubber layer (18), the air bag (19) is connected to an air pipe (20), and a stop valve (21) is arranged on the air pipe (20); a second slide groove (22) is arranged on the side wall of the through groove (4), a mounting rod (23) penetrating the second slide groove (22) is fixed to the shell (14), and a locking nut (24) is connected to the top of the mounting rod (23); the shape of the clamping block (12) comprises a rectangle, a circle, and a triangle.

2. The truss manipulator gripper structure according to claim 1, characterized in that: A second rubber layer (25) is provided on the surface of the clamping block (12).

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