Single-powered four-claw linkage gripping and clamping manipulator suitable for centering clamping of rectangular parts

Abstract

The present invention discloses a single-power four-jaw linkage grasping and clamping manipulator suitable for centering and clamping of rectangular parts, comprising: a frame, an active jaw unit, a driven jaw unit and a dial ring transmission unit. The active jaw unit comprises: a forward and reverse wire floating screw, a first slider, and a second slider. Compared with the prior art, the present invention utilizes a power to drive the forward and reverse wire floating screw to rotate, combined with a relatively simple structure of a dial ring transmission unit as a transmission component, and finally realizes the extension and retraction of four jaws, and the overall structure is simple and reliable. Two pairs of jaws clamp the workpiece to be clamped from two different directions successively, have a centering function and high centering accuracy, and the moving distances of different groups of jaws can be the same or different. It is not only suitable for square and circular workpieces, but also for rectangular workpieces, and has a wider range of applications.

Description

Technical Field

[0001] The invention belongs to the technical field of grabbing and clamping manipulators, and in particular relates to a single-power four-claw linkage grabbing and clamping manipulator suitable for centering and clamping of rectangular parts. Background Art

[0002] In automated production lines, robots are often required to center, grasp and clamp rectangular workpieces.

[0003] In the prior art, Chinese patent authorization announcement number CN220717817U discloses a four-jaw chuck. The four-jaw chuck includes a base plate, a driving mechanism is arranged on the upper end surface of the base plate, a clamping mechanism is arranged on the upper side of the driving mechanism, and a switching mechanism is arranged on the lower end surface of the base plate. The clamping mechanism is used to complete the clamping action. The driving mechanism can drive the clamping mechanism to work and individually control whether each clamping jaw is in action; the device can switch whether the clamping jaws on one side act synchronously through the switching mechanism, thereby completing the clamping of non-standard parts. The disadvantage of the four-jaw chuck is that the four-jaw chuck includes a large number of gear trains and a switching device needs to be provided. The number of components is large and when a rectangular workpiece needs to be clamped, it cannot ensure that the relative clamping jaws move at completely equal distances, that is, the centering clamping of the workpiece cannot be achieved.

[0004] In the prior art, a manual four-jaw self-centering chuck for machine tools is also disclosed, which is composed of a disc body, four small bevel teeth, and a pair of jaws. The four small bevel teeth are meshed with the coil wire, and the back of the coil wire has a flat thread structure, and the jaws are equally installed on the flat thread. When the small bevel teeth are turned with a wrench, the coil wire rotates, and the flat thread on its back causes the jaws to move toward or withdraw from the center at the same time. Because the pitch of the flat rectangular thread on the coil wire is equal, the four jaws move the same distance, which has the effect of automatic centering. The shortcomings of the four-jaw self-centering chuck are that, on the one hand, the four-jaw self-centering chuck includes a large number of gear trains and a large number of components. On the other hand, the four jaws of the four-jaw self-centering chuck are equally installed on the flat thread and the four jaws move the same distance, so it cannot be used to clamp rectangular workpieces.

[0005] As can be seen from the above, the four-jaw chucks in the prior art all have the technical problems of having a large number of components and being unable to achieve centering clamping of rectangular workpieces.

[0006] Therefore, it is necessary to provide a new single-power four-claw linkage grasping and clamping manipulator suitable for centering clamping of rectangular parts to solve the above technical problems. Summary of the invention

[0007] 1. Technical issues to be resolved

[0008] Based on this, the present invention provides a single-power four-jaw linkage grasping and clamping manipulator suitable for centering clamping of rectangular workpieces, so as to solve the technical problems that four-jaw chucks in the prior art have a large number of components and cannot achieve centering clamping of rectangular workpieces.

[0009] (II) Technical solution

[0010] In order to solve the above technical problems, the present invention proposes a single-power four-jaw linkage grasping and clamping manipulator suitable for centering clamping of rectangular parts, including: a frame, an active clamping jaw unit, a driven clamping jaw unit and a dial ring transmission unit; the lower part of the frame is provided with an active component installation cavity, a center ring receiving groove and a driven component installation cavity formed therein and connected in sequence, and the active component installation cavity and the driven component installation cavity are respectively arranged on both sides of the center ring receiving groove; the active clamping jaw unit includes: a positive and negative wire floating screw, a first slider, and a second slider; the positive and negative wire floating screw is provided with two sections of first and second threads with opposite rotation directions; the first slider is connected to the positive and negative wire floating screw thread via the first thread, and the second slider is connected to the positive and negative wire floating screw thread via the second thread; the positive and negative wire floating screw, the first slider, and the second slider are all installed in the active component installation cavity, and the positive and negative wire floating screw, the first slider, and the second slider are respectively connected to the active component installation cavity. The assembly mounting cavity is slidably connected; the driven clamping jaw unit includes a third slider and a fourth slider, the third slider and the fourth slider are both installed in the driven assembly mounting cavity, and the third slider and the fourth slider are respectively slidably connected to the driven assembly mounting cavity; the dial ring transmission unit is arranged in the center ring receiving groove, and the dial ring transmission unit includes an upper rotating dial ring and a lower rotating dial ring arranged up and down, and the lower rotating dial ring and the upper rotating dial ring are respectively rotatably connected to the center ring receiving groove; the two ends of the lower rotating dial ring are respectively inserted into the first slider and the fourth slider to realize the linkage of the first slider and the fourth slider; the two ends of the upper rotating dial ring are respectively inserted into the second slider and the third slider to realize the linkage of the second slider and the third slider; the upper parts of the first slider, the second slider, the third slider and the fourth slider are respectively slidably connected with a clamping jaw, and the sliding directions of the four clamping jaws are all toward or away from the rotation center line of the dial ring transmission unit.

[0011] (III) Beneficial effects

[0012] Compared with the prior art, the present invention utilizes a power-driven forward and reverse floating screw to rotate, combined with a relatively simple ring transmission unit as a transmission component, to ultimately achieve the extension and retraction of four jaws, with a simple and reliable overall structure, small size, low cost, and stable action. The present invention can achieve two pairs of jaws to clamp the workpiece to be clamped from two different directions in turn. The same group of jaws is a linkage structure with the same moving distance, so that the present invention has an automatic centering function. The moving distances of different groups of jaws can be the same or different, which is not only suitable for square and circular workpieces, but also for rectangular workpieces, and has a wider range of applications. The two pairs of jaws act in turn, the force situation of the clamped workpiece is simpler, the action path is clear, and it is beneficial to improve the centering accuracy of the workpiece to be clamped. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0014] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the present invention;

[0015] Figure 2 It is a top view schematic diagram of the present invention;

[0016] Figure 3 For along Figure 2 Schematic cross-sectional view of the middle BB line;

[0017] Figure 4 For along Figure 2 Schematic cross-sectional view of the CC line;

[0018] Figure 5 For along Figure 3 An enlarged view of the cross-sectional schematic diagram of the center DD line (without showing the frame);

[0019] Figure 6 The present invention is a three-dimensional schematic diagram of some mechanisms (active clamping jaw unit, driven clamping jaw unit and shifting ring transmission unit);

[0020] Figure 7 for Figure 6 A three-dimensional schematic diagram of the mechanism shown in another direction;

[0021] Figure 8 for Figure 6 An exploded schematic diagram of one direction of the mechanism shown;

[0022] Fig. 9 for Figure 6 An exploded schematic diagram of another orientation of the mechanism shown;

[0023] Fig.10 The decomposition diagram of the present invention is shown in FIG. Figure 1 ;

[0024] Fig.11 The decomposition diagram of the present invention is shown in FIG. Figure 2 .

[0025] Description of reference numerals:

[0026] 100, active clamping jaw unit; 200, driven clamping jaw unit; 300, dial ring transmission unit; 400, frame;

[0027] 1. First slider; 2. Second slider; 3. First movable jaw; 4. Second movable jaw; 5. Forward and reverse floating screw; 6. Third slider; 7. Fourth slider; 8. Third movable jaw; 9. Fourth movable jaw; 10. Upper rotating dial ring; 15. Driven component installation cavity; 16. Rotating sealing ring; 17. Motor; 18. Gear train; 19. Lifting ear; 20. Sealing plate body; 25. Lower rotating dial ring; 26. First lubricating grease nipple; 27. Second lubricating grease nipple; 28. Bolt; 29. ​​Positioning pin; 30. Active component installation cavity; 32. Slider seat; 33. Clamp seat;

[0028] 11. first staggered overlapping guide groove; 12. first staggered overlapping column; 13. first oblique guide block; 14. first block bottom avoidance groove;

[0029] 21. Second staggered overlapping guide groove; 22. Second staggered overlapping column; 23. Second oblique guide block; 24. Second block bottom avoidance groove;

[0030] 31. a first oblique guide groove; 32. a first lubrication channel;

[0031] 41. second oblique guide groove; 42. second lubrication channel;

[0032] 51. first thread; 52. second thread; 53. driving section;

[0033] 61. third staggered overlapping guide groove; 62. third staggered overlapping column; 63. third oblique guide block; 64. third block bottom avoidance groove;

[0034] 71. fourth staggered overlapping guide groove; 72. fourth staggered overlapping column; 73. fourth oblique guide block; 74. fourth block bottom avoidance groove;

[0035] 81. The third oblique guide groove;

[0036] 91. Fourth oblique guide groove;

[0037] 101. upper ring body; 102. second lever head; 103. third lever head;

[0038] 251, lower ring body; 252, first lever head; 253, fourth lever head;

[0039] 121, first lever slot;

[0040] 221, second lever slot;

[0041] 331. guide receiving plate; 332. center positioning ring;

[0042] 621, third lever slot;

[0043] 721, fourth lever slot;

[0044] 01. Center ring receiving groove; 02. First lower receiving slide groove; 03. Second lower receiving slide groove; 04. Ring positioning groove; 05. Electrical component receiving groove; 06. Gear train receiving groove; 07. Plug hole; 08. Gear train groove sealing plate mounting groove; 09. Bottom avoidance groove; 010. Side avoidance groove; 011. Lower positioning connector mounting hole;

[0045] 001, workpiece placement groove; 002, first upper receiving slide groove; 003, second upper receiving slide groove; 004, first stroke control hole; 005, second stroke control hole; 006, third stroke control hole; 007, fourth stroke control hole; 008, first clamping jaw guide groove; 009, second clamping jaw guide groove; 0010, third clamping jaw guide groove; 0011, fourth clamping jaw guide groove; 0012, fan-shaped area; 0013, upper positioning connector installation hole; 0014, clamping avoidance groove. DETAILED DESCRIPTION

[0046] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific implementation disclosed below.

[0047] The following is combined with Figure 1-11 The single-power four-claw linkage grasping and clamping manipulator suitable for centering clamping of rectangular parts of the present invention is further described.

[0048] Please focus on Figure 1-4 and Figure 6The present invention discloses a single-power four-claw linkage grasping and clamping manipulator suitable for centering and clamping rectangular parts, comprising: a frame 400, an active clamping claw unit 100, a driven clamping claw unit 200 and a dial ring transmission unit 300; the frame 400 has an active component installation cavity 30, a center ring receiving groove 01 and a driven component installation cavity 15 formed therein and connected in sequence at the lower part thereof, and the active component installation cavity 30 and the driven component installation cavity 15 are respectively arranged on both sides of the center ring receiving groove 01; the active clamping claw unit 100 comprises : positive and negative thread floating screw 5, first slider 1, second slider 2; positive and negative thread floating screw 5 is provided with two sections of first thread 51 and second thread 52 with opposite rotation directions; first slider 1 is threadedly connected to positive and negative thread floating screw 5 via first thread 51, and second slider 2 is threadedly connected to positive and negative thread floating screw 5 via second thread 52; positive and negative thread floating screw 5, first slider 1, and second slider 2 are all installed in active component installation cavity 30, and positive and negative thread floating screw 5, first slider 1, and second slider 2 are respectively connected to active component installation cavity 30. The assembly mounting cavity 30 is slidably connected; the driven clamping jaw unit 200 includes a third slider 6 and a fourth slider 7, both of which are installed in the driven assembly mounting cavity 15, and the third slider 6 and the fourth slider 7 are respectively slidably connected to the driven assembly mounting cavity 15; the dial ring transmission unit 300 is arranged in the center ring receiving groove 01, and the dial ring transmission unit 300 includes an upper rotating dial ring 10 and a lower rotating dial ring 25 arranged up and down, and the lower rotating dial ring 25 and the upper rotating dial ring 10 are respectively rotatably connected to the center ring receiving groove 01; the two ends of the lower rotating dial ring 25 are respectively inserted into the first slider 1 and the fourth slider 7 to realize the linkage of the first slider 1 and the fourth slider 7; the two ends of the upper rotating dial ring 10 are respectively inserted into the second slider 2 and the third slider 6 to realize the linkage of the second slider 2 and the third slider 6; the upper parts of the first slider 1, the second slider 2, the third slider 6 and the fourth slider 7 are respectively slidably connected with a clamping jaw, and the sliding directions of the four clamping jaws are all toward or away from the rotation center line of the dial ring transmission unit 300.

[0049] In this embodiment, the functions of each component are as follows.

[0050] The frame 400 is used to provide installation space for the active clamping jaw unit 100, the driven clamping jaw unit 200 and the ring transmission unit 300, and to provide sliding guide grooves for the sliding components therein. The active component installation cavity 30 is used to install the active clamping jaw unit 100, the driven component installation cavity 15 is used to install the driven clamping jaw unit 200, and the center ring receiving groove 01 is used to accommodate and install the ring transmission unit 300.

[0051] In the ring transmission unit 300 , the movement of the first slider 1 drives the lower rotating ring 25 to rotate, thereby driving the fourth slider 7 to move in the opposite direction of the first slider 1 ; the movement of the second slider 2 drives the upper rotating ring 10 to rotate, thereby driving the third slider 6 to move in the opposite direction of the second slider 2 .

[0052] The active gripper unit 100 as a whole is a structure in which the forward and reverse floating screw 5 drives two sliders (the first slider 1 and the second slider 2) to extend and retract. It should be noted that the forward and reverse floating screw 5 in this embodiment has the freedom of movement along its axial direction in addition to the rotational freedom along its axis. The forward and reverse floating screw 5 rotates to drive the first slider 1 and the second slider 2 to move toward or away from each other. The rotational power of a forward and reverse floating screw 5 is used to drive the four sliders to move. Each slider and the corresponding gripper have an inclined force transmission structure in which an inclined groove and a guide block cooperate. Finally, the four sliders respectively drive the four grippers to move along the rotation centerline of the dial ring transmission unit 300, forming a single-power-driven four-claw manipulator structure.

[0053] The use process of the present invention is further described below.

[0054] The forward and reverse floating screw 5 is slidably connected to the active component installation cavity 30, so the forward and reverse floating screw 5 has the freedom to move along the axis, that is, the forward and reverse floating screw 5 is a floating structure. Under the action of the rotational power, the forward and reverse floating screw 5 rotates. Since the forward and reverse floating screw 5, the first slider 1, and the second slider 2 are all installed in the active component installation cavity 30, there is a certain uncertainty in the movement of the forward and reverse floating screw 5, the first slider 1, and the second slider 2. It is possible that the first slider 1 moves first or the second slider 2 moves first.

[0055] Since the floating screw 5 for the forward and reverse wires is a floating structure, if the density of the screw and the slider is equivalent, the larger the component volume, the greater the mass. The first slider 1 and the second slider 2 have the same or equivalent mass, and the mass of the first slider 1 is slightly larger than the floating screw 5 for the forward and reverse wires. Therefore, it is difficult to achieve the effect that the floating screw 5 for the forward and reverse wires does not slide itself and drives the first slider 1 and the second slider 2 to move at the same time. Under normal circumstances, the first slider 1 and the second slider 2 will not move at the same time. However, no matter what the order of actions is, it does not affect the normal use function of the single-power four-claw linkage grasping and clamping manipulator suitable for centering clamping of rectangular parts of the present invention.

[0056] The following specifically describes the use of the single-power four-claw linkage grasping and clamping manipulator suitable for centering clamping of rectangular parts of the present invention.

[0057] (i) When the forward and reverse floating screw 5 rotates clockwise, if the starting force of the first slider 1 is relatively large, the first slider 1 is first in a stationary state, and the forward and reverse floating screw 5 rotates clockwise. Since the first slider 1 is stationary, the forward and reverse floating screw 5 will also move a distance outside the frame 400 along the axis of the forward and reverse floating screw 5. The second slider 2 moves toward the middle of the forward and reverse floating screw 5 under the action of the rotation of the forward and reverse floating screw 5, and the second slider 2 moves toward the middle of the forward and reverse floating screw 5 under the action of the movement of the forward and reverse floating screw 5. The final moving stroke of the second slider 2 is the superposition of the effects of the rotation and movement of the forward and reverse floating screw 5. Specific description: Assume that the forward and reverse floating screw 5 rotates clockwise and moves along the axis toward the outside of the frame 400 at the same time, and the moving distance is N. The second slider 2 moves toward the middle of the forward and reverse floating screw 5 under the rotation of the forward and reverse floating screw 5, and the moving distance is also N. The second slider 2 moves toward the middle of the forward and reverse floating screw 5 under the movement of the forward and reverse floating screw 5. The final moving stroke of the second slider 2 is 2N.

[0058] When the second slider 2 moves, the upper rotating dial ring 10 is rotated, and the third slider 6 is slid along the driven component installation cavity 15, and the sliding stroke of the third slider 6 is equal to that of the second slider 2 and the sliding directions of the two are opposite. The movement of the second slider 2 can drive the clamping jaws (such as the second movable clamping jaw 4) located thereon to approach the rotation center line of the dial ring transmission unit 300, and the movement of the third slider 6 can drive the clamping jaws (such as the third movable clamping jaw 8) located thereon to approach the rotation center line of the dial ring transmission unit 300, and the workpiece to be clamped is placed above the center ring receiving groove 01. When the second movable clamping jaw 4 and / or the third movable clamping jaw 8 touch the workpiece to be clamped, the second slider 2 and / or the third slider 6 are blocked by the workpiece to be clamped and cannot continue to move, and the second slider 2 and the third slider 6 will both become stationary.

[0059] (ii) The forward and reverse floating screw 5 continues to rotate clockwise. Since the second slider 2 is stationary, the forward and reverse floating screw 5 will also move a distance along the axis toward the inside of the frame 400. The first slider 1 moves toward the middle of the forward and reverse floating screw 5 under the action of the rotation of the forward and reverse floating screw 5, and the first slider 1 moves toward the middle of the forward and reverse floating screw 5 under the action of the movement of the forward and reverse floating screw 5. The final movement stroke of the first slider 1 is the superposition of the effects of the rotation and movement of the forward and reverse floating screw 5. Specific description: Assume that the forward and reverse floating screw 5 rotates clockwise and also moves toward the outside of the frame 400 along the axis, and the movement distance is R. The first slider 1 moves toward the middle of the forward and reverse floating screw 5 under the action of the rotation of the forward and reverse floating screw 5, and the movement distance is also R. The first slider 1 moves toward the middle of the forward and reverse floating screw 5 under the action of the movement of the forward and reverse floating screw 5 by a distance R, and the final movement stroke of the first slider 1 is 2R.

[0060] When the first slider 1 moves, the lower rotating dial ring 25 is rotated, and the fourth slider 7 is slid along the active component installation cavity 30, and the sliding stroke of the fourth slider 7 is equal to that of the first slider 1, and the sliding directions of the two are opposite. The movement of the first slider 1 can drive the clamping jaws (such as the first movable clamping jaw 3) located thereon to approach the rotation center line of the dial ring transmission unit 300, and the movement of the fourth slider 7 can drive the clamping jaws (such as the fourth movable clamping jaw 9) located thereon to approach the rotation center line of the dial ring transmission unit 300, and the workpiece to be clamped is placed above the center ring receiving groove 01. When the first movable clamping jaw 3 and / or the fourth movable clamping jaw 9 touch the workpiece to be clamped, the first slider 1 and / or the fourth slider 7 are blocked by the workpiece to be clamped and cannot continue to move, and the first slider 1 and the fourth slider 7 will both become stationary.

[0061] It should be noted that in this embodiment, the magnitude of the slider's starting force is related to the slider's own mass, the friction between the slider and the frame 400, and the slider's starting force is also related to the adhesion of the lubricating grease on the slider to the slider. However, no matter which pair of sliders moves first, it will not affect the final clamping effect of the present invention.

[0062] The beneficial effects of the present invention are as follows.

[0063] (I) The present invention has a wide range of applications. In the present invention, the second movable jaw 4 and the third movable jaw 8 form a pair of jaws, the first movable jaw 3 and the fourth movable jaw 9 form a pair of jaws, and the first movable jaw 3 and the second movable jaw 4 can move at different distances, that is, the moving distances of the two pairs of jaws can be different, so that the single-power four-jaw linkage grasping and clamping manipulator suitable for centering and clamping of rectangular parts of the present invention is not only suitable for square and circular workpieces, but also for rectangular workpieces. Expand the scope of application of the present invention.

[0064] (ii) The present invention has an automatic centering function. In the present invention, the second movable jaw 4 and the third movable jaw 8 are a pair of jaws, and the first movable jaw 3 and the fourth movable jaw 9 are a pair of jaws. Since the same pair of jaws are a linkage structure, the two have the same moving distance, so the centering clamping of the workpiece to be clamped can be achieved, so that the single-power four-jaw linkage grasping and clamping manipulator suitable for centering clamping of rectangular parts of the present invention has a centering function.

[0065] (iii) The present invention is ingeniously designed and has high centering accuracy.

[0066] The single-power four-claw linkage grasping and clamping manipulator suitable for centering and clamping rectangular parts of the present invention can finally realize that two pairs of clamping jaws can clamp the workpiece to be clamped from two different directions in succession. When the external force drives the forward and reverse wire floating screw 5 to rotate counterclockwise, the two pairs of clamping jaws can be opened in succession.

[0067] The ingenuity of the present invention includes: the forward and reverse wire floating screw 5 in the same-side two-jaw floating centripetal clamping unit of the present invention is a floating structure, and only one power is needed to drive the forward and reverse wire floating screw 5 to rotate, so as to realize the successive movement of the two pairs of clamping jaws, and the moving stroke is twice the moving stroke obtained by the rotation of the screw, so that the forward and reverse wire floating screw 5 rotates a smaller number of circles, which can obtain a longer slider moving distance and shorten the clamping time.

[0068] The two pairs of jaws clamp the workpiece from two different directions successively, avoiding the technical problem that the two pairs of jaws push the workpiece to be clamped to move at the same time, which leads to complex force on the workpiece to be clamped and unclear action path. After adopting this structure, the two pairs of jaws act successively, the force on the clamped workpiece is simpler, the action path is clear, and it is conducive to improving the centering accuracy of the workpiece to be clamped.

[0069] (IV) The present invention has good comprehensive performance. The present invention uses a power to drive the forward and reverse floating screw 5 to rotate, combined with a relatively simple ring transmission unit 300 as a transmission component, and finally realizes the extension and retraction of four clamping claws. The overall structure is simple and reliable, the volume is small, and the cost is low.

[0070] Please focus on Figure 2 and Fig.10 According to a specific embodiment of the present invention, the four jaws are: a first movable jaw 3, a second movable jaw 4, a third movable jaw 8 and a fourth movable jaw 9; the upper surface of the frame 400 is provided with four recessed jaw guide grooves, and the four jaw guide grooves are evenly arranged around the center ring receiving groove 01, and the four jaw guide grooves are: a first jaw guide groove 008, a second jaw guide groove 009, a third jaw guide groove 0010 and a fourth jaw guide groove 0011; the upper part of the first movable jaw 3 is received in the first jaw guide groove 008 and the two are slidably connected, the lower part of the first movable jaw 3 is slidably connected to the upper part of the first slider 1, and the extension line of the sliding track of the first movable jaw 3 is L1; the upper part of the second movable jaw 4 is received in the second jaw guide groove 0 09 and the two are slidably connected, the lower part of the second movable jaw 4 is slidably connected to the upper part of the second slider 2, and the extension line of the sliding trajectory of the second movable jaw 4 is L2; ​​the upper part of the third movable jaw 8 is accommodated in the third jaw guide groove 0010 and the two are slidably connected, the lower part of the third movable jaw 8 is slidably connected to the upper part of the third slider 6, and the extension line of the sliding trajectory of the third movable jaw 8 is L3; the upper part of the fourth movable jaw 9 is accommodated in the fourth jaw guide groove 0011 and the two are slidably connected, the lower part of the fourth movable jaw 9 is slidably connected to the upper part of the fourth slider 7, and the extension line of the sliding trajectory of the fourth movable jaw 9 is L4; the intersection of L1, L2, L3 and L4 is the center P of the same circle; and the center P is located on the rotation center line of the dial ring transmission unit 300.

[0071] In this embodiment, the jaw guide grooves are pre-set on the frame 400, and the four jaw guide grooves are used to guide the sliding direction of the four jaws, so that the movement of the slider along the forward and reverse floating screw 5 is converted into the centripetal movement of the jaws. The structure of this embodiment is conducive to ensuring that the four jaws move smoothly along the sliding track.

[0072] According to a specific embodiment of the present invention, a raised first oblique guide block 13 is provided on the upper portion of the first sliding block 1, and a recessed first oblique guide groove 31 is provided on the lower portion of the first movable clamping jaw 3. The first oblique guide block 13 extends into the first oblique guide groove 31 to realize the sliding connection between the first sliding block 1 and the first movable clamping jaw 3. A first stroke control hole 004 for limiting the first oblique guide block 13 is also provided on the frame 400; the first oblique guide block 13 extends into the first stroke control hole 004; a raised second oblique guide block 23 is provided on the upper portion of the second sliding block 2, and a recessed second oblique guide groove 41 is provided on the lower portion of the second movable clamping jaw 4. The second oblique guide block 23 extends into the second oblique guide groove 41 to realize the sliding connection between the second sliding block 2 and the second movable clamping jaw 4. A second stroke control hole 005 for limiting the second oblique guide block 23 is also provided on the frame 400, and the second oblique guide block 23 extends into the second stroke control hole 005; a raised third oblique guide block 63 is provided on the upper portion of the third sliding block 6, and the third movable clamping jaw 8 A concave third oblique guide groove 81 is provided at the lower part of the fourth slider 7, and the third oblique guide block 63 extends into the third oblique guide groove 81, so as to realize the sliding connection between the third slider 6 and the third movable clamp 8. The frame 400 is also provided with a third stroke control hole 006 for limiting the third oblique guide block 63, and the third oblique guide block 63 extends into the third stroke control hole 006; a convex fourth oblique guide block 73 is provided at the upper part of the fourth slider 7, and a concave fourth oblique guide groove 91 is provided at the lower part of the fourth movable clamp 9, and the fourth oblique guide block 73 is provided at the lower part of the fourth movable clamp 9. The guide block 73 extends into the fourth inclined guide groove 91 to realize the sliding connection between the fourth slider 7 and the fourth movable clamp 9. The frame 400 is also provided with a fourth stroke control hole 007 for limiting the fourth inclined guide block 73. The fourth inclined guide block 73 extends into the fourth stroke control hole 007; the first stroke control hole 004 and the second stroke control hole 005 are respectively connected to the active component mounting cavity 30, and the third stroke control hole 006 and the fourth stroke control hole 007 are respectively connected to the driven component mounting cavity 15.

[0073] This embodiment defines the specific structure of the inclined groove and the guide block for force transmission between the slider and the clamp. It should be noted that the inclined groove and the guide block are used for the inclined force transmission structure between the first slider 1 and the first movable clamp 3. The inclined groove can be set on the first movable clamp 3 as described above, or on the first slider 1. The same is true for other sliders and clamps. The inclined groove can be set on the movable clamp or the slider.

[0074] The stroke control hole is used to control the sliding stroke of the slider to prevent the slider from being detached from the sliding connection with the corresponding movable clamp; for example, the first stroke control hole 004 is used to control the sliding stroke of the first slider 1 to prevent the first slider 1 from being detached from the sliding connection with the first movable clamp 3; the functions of other stroke control holes refer to the first stroke control hole 004.

[0075] Since the first slider 1 and the second slider 2 are respectively threadedly connected to the positive and negative wire floating screw 5, after the first slider 1 and the second slider 2 are limited by the stroke control hole, the axial movement stroke of the positive and negative wire floating screw 5 is also limited within a certain range. While the first slider 1 and the second slider 2 on the same side are limited by the stroke control hole, the third slider 6 and the fourth slider 7 on the other side are also limited by the stroke control hole. When the four sliders are in the extreme state, they are all limited by the corresponding stroke control holes, ensuring that the four sliders are evenly stressed, which is beneficial to ensuring the stability and clamping accuracy of the present invention after long-term use.

[0076] Under the action of the stroke control hole, the forward and reverse floating screw 5 can only move within a certain range (the moving range is called the floating stroke), which can effectively prevent the forward and reverse floating screw 5 from spinning off. In addition, the moving range of the forward and reverse floating screw 5 is not large, which is conducive to the forward and reverse floating screw 5 always being connected to the rotating power.

[0077] Please focus on Figure 5 According to a specific embodiment of the present invention, the angle between the extension direction of the first oblique guide groove 31 and the axial direction of the forward and reverse floating screw 5 is T1, the angle between the extension direction of the second oblique guide groove 41 and the axial direction of the forward and reverse floating screw 5 is T1, the angle between the extension direction of the third oblique guide groove 81 and the sliding direction of the third slider 6 is T1, and the angle between the extension direction of the fourth oblique guide groove 91 and the sliding direction of the fourth slider 7 is T1, T1=55°-85°.

[0078] In this embodiment, the specific angle range of each group of inclined force transmission structures is specifically defined. Within this angle range, it can ensure that the force from the positive and negative wire floating screw 5 is smoothly transmitted to the first movable clamping jaw 3 and the second movable clamping jaw 4, and a sufficiently long guide groove (the first clamping jaw guide groove 008 and the second clamping jaw guide groove 009) can be obtained to obtain the required guide stroke. The sliders and the clamping jaws on both sides of the ring transmission unit 300 are uniformly arranged around the rotation center line of the ring transmission unit 300, ensuring that the four clamping jaws transmit power symmetrically and smoothly.

[0079] Please focus on Figure 7According to a specific embodiment of the present invention, the first slider 1 is in the shape of a rectangular block as a whole, and a first interlaced overlapping guide groove 11 is provided at the upper part of the first slider 1 close to the second slider 2, and a side wall of the first interlaced overlapping guide groove 11 away from the second slider 2 is a concave arc; the second slider 2 is in the shape of a rectangular block as a whole, and a second interlaced overlapping guide groove 21 is provided at the lower part of the second slider 2 close to the first slider 1, and a side wall of the second interlaced overlapping guide groove 21 away from the first slider 1 is a concave arc; the lower part of the first slider 1 close to the second slider 2 is provided with a shape similar to the first interlaced overlapping guide groove 21. The first staggered overlapping column 12 matches the second staggered overlapping guide groove 21; the upper part of the second slider 2 close to the first slider 1 is provided with a second staggered overlapping column 22 whose shape matches the first staggered overlapping guide groove 11; the fourth slider 7 is a rectangular block as a whole, and the upper part of the fourth slider 7 close to the third slider 6 is provided with a concave fourth staggered overlapping guide groove 71, and the side wall of the fourth staggered overlapping guide groove 71 away from the third slider 6 is a concave arc; the third slider 6 is a rectangular block as a whole, and the lower part of the third slider 6 close to the fourth slider 7 is provided with a concave third staggered overlapping guide groove The fourth slider 7 is provided with a third staggered overlapping column 72 whose shape matches the third staggered overlapping guide groove 61; the third slider 6 is provided with a third staggered overlapping column 62 whose shape matches the fourth staggered overlapping guide groove 71; the fourth slider 7 has the same structure as the first slider 1 and the installation directions of the two are opposite; the third slider 6 has the same structure as the second slider 2 and the installation directions of the two are opposite; the lower rotating dial ring 25 includes a lower ring main The first lever head 252 and the fourth lever head 253 are respectively protruded from the outer wall of the lower circular ring body 251, and the first lever head 252 and the fourth lever head 253 are respectively arranged on the opposite sides of the lower circular ring body 251; the first staggered overlapping column 12 is provided with a concave first lever groove 121 on one side close to the lower rotating dial ring 25, and the first lever head 252 extends into the first lever groove 121; the fourth staggered overlapping column 72 is provided with a concave fourth lever groove 721 on one side close to the lower rotating dial ring 25, and the fourth lever head 253 extends into the fourth lever groove 721; please refer to Figure 8-9 The upper rotating dial ring 10 includes an upper circular ring body 101 and a second lever head 102 and a third lever head 103 respectively protruding from the outer wall of the upper circular ring body 101, and the second lever head 102 and the third lever head 103 are respectively arranged on two opposite sides of the upper circular ring body 101; the second staggered overlapping column 22 is provided with a recessed second lever groove 221 on the side close to the upper rotating dial ring 10, and the second lever head 102 extends into the second lever groove 221; the third staggered overlapping column 62 is provided with a recessed third lever groove 621 on the side close to the upper rotating dial ring 10, and the third lever head 103 extends into the third lever groove 621.

[0080] In the present embodiment, the slider structure is further designed, and the design points include: the adjacent parts of the two sliders on the same side (such as the first slider 1 and the second slider 2) are an upper and lower staggered overlapping structure, and the beneficial effects of this structure are as follows: when the first slider 1 and the second slider 2 are close to each other, the first staggered overlapping column 12 extends into the first staggered overlapping guide groove 11, and the first staggered overlapping column 12 is slidably connected to the first staggered overlapping guide groove 11; the second staggered overlapping column 22 extends into the second staggered overlapping guide groove 21, and the second staggered overlapping column 22 is slidably connected to the second staggered overlapping guide groove 21; with this structure, under the premise that the volume occupied by the slider remains unchanged, the length of the first slider 1 and the second slider 2 is extended, the strength of the first slider 1 and the second slider 2 is improved, and the sliding stroke of the first slider 1 and the second slider 2 is not affected, and the staggered overlapping parts of the first slider 1 and the second slider 2 guide each other, which can further improve the smoothness of the sliding of the first slider 1 and the second slider 2. The third slider 6 and the fourth slider 7 also have adjacent parts that are staggered and overlapped up and down. The beneficial effects thereof are as described above for the corresponding structures of the first slider 1 and the second slider 2, and will not be repeated here.

[0081] The design of the slider structure in this embodiment also includes: the staggered overlapping columns of the two opposing sliders (such as the first slider 1 and the fourth slider 7) are arranged at the same height, specifically: the first lever head 252, the fourth lever head 253, the first staggered overlapping column 12 and the fourth staggered overlapping column 72 are located at the same height; the second lever head 102, the third lever head 103, the second staggered overlapping column 22 and the third staggered overlapping column 62 are located at the same height. The design of the slider structure in this embodiment also includes: the staggered overlapping columns (such as the first staggered overlapping column 12 and the second staggered overlapping column 22) that are staggered up and down are used as components that directly contact and transmit force with the rotating dial ring. This structure in which the same group of transmission components are located at the same height and are staggered up and down is cleverly designed, effectively avoids interference, ensures the smooth and stable transmission of force, and makes full use of space, which is conducive to reducing the overall volume of the present invention.

[0082] In this embodiment, the structure of the rotating dial ring and the lever groove on the slider that matches the rotating dial ring is specifically designed, and the slider is moved by the lever head inserted into the lever groove. The structure is simple and practical. In this embodiment, the slider is set to the same structure, and the movable clamp is also set to the same structure, which is conducive to parts standardization, reducing the types of parts and reducing processing costs.

[0083] Please focus on Figure 10-11According to a specific embodiment of the present invention, the frame 400 includes a clamping claw seat 33 and a slider seat 32 which are detachably fixedly connected to each other in an upper and lower manner; the center ring receiving groove 01 is formed by a depression on the upper surface of the slider seat 32, and the upper surface of the slider seat 32 is also provided with a first lower receiving slide groove 02 and a second lower receiving slide groove 03 which are recessed. The center ring receiving groove 01 is arranged at the center position of the slider seat 32 and is connected to the first lower receiving slide groove 02 and the second lower receiving slide groove 03 respectively. The first lower receiving slide groove 02 and the second lower receiving slide groove 03 are parallel and are respectively arranged on both sides of the center ring receiving groove 01; the clamping claw seat 33 includes: a guide receiving plate 331 and a center positioning ring 332 protruding from the lower center of the guide receiving plate 331, and the guide receiving plate 331 is disc-shaped as a whole, and a recessed workpiece placement groove 001 is also provided at the center of the upper part of the guide receiving plate 331. The four clamping claw guide grooves are also formed by the recess of the upper part of the guide receiving plate 331. The workpiece placement groove 001 is co-centered with the center ring receiving groove 01. One end of the four clamping claw guide grooves is respectively connected to the workpiece placement groove 001, and the other end of the four clamping claw guide grooves respectively penetrates the outer wall of the guide receiving plate 331; a recessed first upper receiving groove 002 is provided at the position of the first lower receiving groove 02 at the lower part of the guide receiving plate 331, and the first upper receiving groove 002 and the first lower receiving groove 02 together form an active component installation cavity 30, and the component receiving cavity is rectangular as a whole; the lower part of the guide receiving plate 331 A recessed second upper receiving slot 003 is provided opposite to the second lower receiving slot 03; the second upper receiving slot 003 and the second lower receiving slot 03 together form a driven component mounting cavity 15, and the driven component mounting cavity 15 is rectangular as a whole; the first stroke control hole 004, the second stroke control hole 005, the third stroke control hole 006 and the fourth stroke control hole 007 are respectively formed in the guide receiving plate 331; the lower part of the first stroke control hole 004 is connected to the active component mounting cavity 30, the upper part of the first stroke control hole 004 is connected to the first movable clamp 3 receiving slot, and the extension direction of the first stroke control hole 004 is consistent with the moving direction of the first slider 1; the lower part of the second stroke control hole 005 It is connected to the active component mounting cavity 30, the upper part of the second stroke control hole 005 is connected to the receiving groove of the second movable clamp 4, and the extension direction of the second stroke control hole 005 is consistent with the moving direction of the second slider 2; the lower part of the third stroke control hole 006 is connected to the driven component mounting cavity 15, the upper part of the third stroke control hole 006 is connected to the third clamp guide groove 0010, and the extension direction of the third stroke control hole 006 is consistent with the moving direction of the third slider 6; the lower part of the fourth stroke control hole 007 is connected to the driven component mounting cavity 15, the upper part of the fourth stroke control hole 007 is connected to the fourth clamp guide groove 0011, and the extension direction of the fourth stroke control hole 007 is consistent with the moving direction of the fourth slider 7.

[0084] In this embodiment, the structure of the rack 400 is specifically designed.

[0085] Regarding the overall structure of the frame 400: the frame 400 is a structure composed of a clamping jaw seat 33 and a slider seat 32, which is convenient for split processing and reduces the processing difficulty of the frame 400. This structure is also convenient for assembling the active clamping jaw unit 100, the driven clamping jaw unit 200 and the ring transmission unit 300.

[0086] The upper part (the first upper receiving groove 002) and the lower part (the first lower receiving groove 02) of the active component installation cavity 30 are respectively formed in the clamping claw seat 33 and the slider seat 32, which is conducive to the clamping claw seat 33 and the slider seat 32 being respectively connected to the slider for sliding, thereby further improving the smoothness of the sliding of the slider.

[0087] The top of the center positioning ring 332 is a workpiece placement groove 001. The added center positioning ring 332 can center the upper rotating dial ring 10 and the lower rotating dial ring 25, further ensuring the smoothness of the rotation of the upper rotating dial ring 10 and the lower rotating dial ring 25 and improving the position accuracy of the rotating dial ring. When each slider moves to the left or right limit position, the corresponding stroke control hole limits the inclined guide block on the upper part of the slider.

[0088] As can be seen from the above, in the frame 400 of this embodiment: part of the receiving or guiding structure is respectively arranged on the clamping claw seat 33 and the slider seat 32, and part of the receiving or guiding structure is composed of the clamping claw seat 33 and the slider seat 32. The structure of the frame 400 not only ensures the basic functions of installation and guidance, but also helps to reduce the difficulty of processing and assembly, and improves the integrity of the present invention and the stability of the component movement.

[0089] According to a specific embodiment of the present invention, a recessed ring positioning groove 04 is also provided at the bottom of the center ring receiving groove 01, the center positioning ring 332 extends into the center ring receiving groove 01, and the bottom of the center positioning ring 332 is inserted into the ring positioning groove 04, the lower rotating dial ring 25 and the upper rotating dial ring 10 are respectively sleeved on the outside of the center positioning ring 332, and the clamping claw seat 33 and the slider seat 32 are fixedly connected.

[0090] In the present embodiment, the ring positioning groove 04 is used to position and limit the center positioning ring 332, which is beneficial to ensure the position accuracy of the center positioning ring 332. When the single-power four-jaw linkage grasping and clamping manipulator suitable for centering clamping of rectangular parts of the present invention is working, since the lower rotating ring 25 and the upper rotating ring 10 both rotate around the center positioning ring 332, the position accuracy of the center positioning ring 332 is relatively high, which also ensures the movement accuracy of the lower rotating ring 25 and the upper rotating ring 10.

[0091] According to a specific embodiment of the present invention, a driving section 53 is also provided on the forward and reverse floating screw 5, and the driving section 53 is arranged at one end of the forward and reverse floating screw 5, and the driving section 53, the first thread 51 and the second thread 52 are arranged in sequence along the length direction of the forward and reverse floating screw 5; the single-power four-claw linkage grasping and clamping manipulator suitable for centering clamping of rectangular parts also includes a rotating sealing ring 16 surrounding the transmission section; the driving section 53 is a manual structure or an electric structure; wherein: when the driving section 53 is a manual structure, the driving section 53 extends out of the frame 400, and the cross-section of the driving section 53 is a regular hexagon; when the driving section 53 is an electric structure, the slider seat 3 An electrical component receiving groove 05 is provided at the lower part, and the electrical component receiving groove 05 is located at a side of the first lower receiving chute 02 away from the center ring receiving groove 01. A concave gear train receiving groove 06 is also provided at one side of the slider seat 32, and the gear train receiving groove 06 is connected with the first lower receiving chute 02 and the electrical component receiving groove 05. The single-power four-claw linkage grasping and clamping manipulator suitable for centering and clamping of rectangular parts also includes a motor 17 and a gear train 18, and the gear train 18 is located in the gear train receiving groove 06, and the driving section 53 extends into the gear train receiving groove 06. The motor 17 is transversely installed in the electrical component receiving groove 05, and the gear train 18 is connected to the motor 17 and the driving section 53 respectively.

[0092] In this embodiment, when the driving section 53 is a manual structure, the single-power four-claw linkage grasping and clamping manipulator suitable for centering and clamping of rectangular parts of the present invention is a manual driving structure. When in use, it is convenient for the socket wrench to directly cover the driving section 53 to drive the forward and reverse floating screw 5 to rotate. When the socket wrench rotates, the distance of the lateral movement of the socket wrench is equal to the floating stroke of the forward and reverse floating screw 5. Since the floating stroke of the forward and reverse floating screw 5 is small (as mentioned above), it is convenient for manual hand-held socket wrench to operate.

[0093] When the driving section 53 is an electric structure: the single-power four-claw linkage grasping and clamping manipulator suitable for centering and clamping of rectangular parts of the present invention is an electric drive structure. With the help of sensors and electrical control technology, automatic intelligent control of the opening and closing of the clamping jaws can be realized. The positive and negative floating screws 5 and the rotary drive are both built into the frame 400, so that the exposed movable parts in the present invention are only four clamping jaws, and there are no other protruding components outside the frame 400, and there are no rotating parts outside the frame 400, which improves the safety and overall stability of the present invention.

[0094] When in use, the motor 17 rotates, driving the gear train to rotate, thereby driving the forward and reverse floating screw 5 to rotate. It should be noted that the gear train 18 at least includes: a screw gear fixedly connected to the forward and reverse floating screw 5, and a transmission gear meshing with the screw gear. The transmission gear can be directly fixed to the motor 17, or fixed to the motor 17 via an intermediate gear. When the screw gear moves with the forward and reverse floating screw 5, since the floating stroke of the forward and reverse floating screw 5 is small (as mentioned above), the screw gear always has a meshing section with the transmission gear to ensure effective transmission.

[0095] In this embodiment, after the rotary sealing ring 16 is added, the rotary sealing ring 16 effectively prevents the lubricating grease from flowing out from the gap on the outer wall of the driving section 53 .

[0096] According to a specific embodiment of the present invention, a plug hole 07 is provided on one side of the slider seat 32 close to the electrical component receiving groove 05, and the plug hole 07 is connected to the electrical component receiving groove 05; the slider seat 32 is square as a whole, and the outer side wall of the slider seat 32 is provided with at least one hanging ear 19 fixedly connected thereto; a recessed gear train groove sealing plate mounting groove 08 is also provided on one side of the slider seat 32 facing the gear train receiving groove 06, and a sealing plate body 20 is provided in the gear train groove sealing plate mounting groove 08, and the sealing plate body 20 completes covering the opening of the gear train receiving groove 06.

[0097] In the present invention, the plug hole 07 is used to install an aviation plug to facilitate the connection of electrical circuits and to realize automatic control for the electric structure in the driving section 53. The lifting lug 19 is used for lifting. The gear train slot sealing plate installation groove 08 is used for positioning and installing the sealing plate body 20, and can also prevent the sealing plate body 20 from protruding.

[0098] According to a specific embodiment of the present invention, a recessed bottom air-avoiding groove 09 is provided on the bottom inner side wall of the first lower receiving chute 02, and a recessed side air-avoiding groove 010 is provided on the two opposite inner side walls of the first lower receiving chute 02 respectively, a recessed first bottom air-avoiding groove 14 is provided on the bottom of the first sliding block 1 facing the bottom air-avoiding groove 09, and a recessed second bottom air-avoiding groove 24 is provided on the bottom of the second sliding block 2 facing the bottom air-avoiding groove 09; the cross-section of the first clamping jaw guide groove 008 is in the shape of an "I" character, and the cross-sectional shape of the first movable clamping jaw 3 matches the cross-sectional shape of the first clamping jaw guide groove 008, and the first movable clamping jaw 3 is away from the workpiece placement groove A first lubricating grease nipple 26 is provided at one end of 001, and a first lubricating channel 32 connecting the first lubricating grease nipple 26 and the first oblique guide groove 31 is provided in the first movable jaw 3; the cross-section of the second jaw guide groove 009 is in the shape of an "I", and the cross-sectional shape of the second movable jaw 4 matches the cross-sectional shape of the second jaw guide groove 009, and a second lubricating grease nipple 27 is provided at the end of the second movable jaw 4 away from the workpiece placement groove 001, and a second lubricating channel 42 connecting the second lubricating grease nipple 27 and the second oblique guide groove 41 is provided in the second movable jaw 4; the structure of the second lower receiving slide groove 03 is the same as that of the first lower receiving slide groove 02.

[0099] It should be noted that the third movable jaw 8 and the fourth movable jaw 9 are also provided with lubricating oil channels and lubricating oil nozzles. The bottom of the third slider 6 is also provided with a recessed third block bottom avoidance groove 64, and the bottom of the fourth slider 7 is also provided with a recessed fourth block bottom avoidance groove 74. The shape of the fourth jaw guide groove 0011 is the same as the shape of the first jaw guide groove 008; the shape of the fourth movable jaw 9 is the same as the shape of the first movable jaw 3; the shape of the third jaw guide groove 0010 is the same as the shape of the second jaw guide groove 009; the shape of the third movable jaw 8 is the same as the shape of the second movable jaw 4.

[0100] When the single-power four-claw linkage grasping and clamping manipulator suitable for centering and clamping rectangular parts of the present invention is in use, in order to further ensure the smooth sliding of the four sliders, lubricating grease is provided in the active component installation cavity 30 and the driven component installation cavity 15. The bottom air-avoiding groove 09 and the side air-avoiding groove 010 in this embodiment can be used to accommodate lubricating grease to ensure smooth sliding of the slider. After the air-avoiding groove 0014 structure is provided, a gap can be formed between the slider and the cavity wall to facilitate air entry, thereby avoiding the problem of sliding difficulty caused by the slider being tightly fitted to the cavity wall. The cooperation of the "I"-shaped movable jaw and the "I"-shaped jaw guide groove can prevent the movable jaw from radially escaping from the jaw guide groove, which is conducive to forming a stable sliding connection structure. The lubricating grease nozzle and the lubricating channel are used to inject lubricating grease into the stroke control hole from the outside, which is conducive to the subsequent maintenance of the manipulator of the present invention.

[0101] According to a specific embodiment of the present invention, the first lever groove 121 is spherical as a whole, the lower first lever head 252 is spherical as a whole, and the top of the lower first lever head 252 is a plane; the lower first lever head 252 is ball-hinged with the first lever groove 121, and there is a gap between the top of the lower first lever head 252 and the bottom of the first lever groove 121; the structures of the second lever head 102, the third lever head 103, and the fourth lever head 253 are the same as the structure of the first lever head 252; the structures of the second lever groove 221, the third lever groove 621, and the fourth lever groove 721 are the same as the structure of the first lever groove 121.

[0102] In this embodiment, the structure of inserting the upper rotating ring 10 into the slider is set as a ball-hinged structure, which is conducive to improving the smoothness of rotation; and adopting this structure is also conducive to the tight fit between the outer spherical surface of the lever head and the lever groove, ensuring transmission accuracy.

[0103] It should be noted that: since the upper rotating dial ring 10 rotates along its axis, the rotation trajectory of the lower first lever head 252 and the lower second lever head 102 is an arc. When the upper rotating dial ring 10 is in the middle position, the distance between the lever head and the bottom of the lever groove is the shortest. When the upper rotating dial ring 10 rotates to the left and right extreme positions, the distance between the lever head and the bottom of the lever groove is the farthest. After a section is removed from the top of the lever head in this embodiment, the top forms a planar structure, which is conducive to forming a sufficient gap between the top of the lever head and the bottom of the lever groove, ensuring that when the upper rotating dial ring 10 is in the middle position, the top of the lever head will not hit the bottom of the lever groove.

[0104] According to a specific embodiment of the present invention, a recessed clamping avoidance groove 0014 is provided on the upper portion of the center positioning ring 332, and the clamping avoidance groove 0014 is connected to the workpiece placement groove 001; four clamping jaw guide grooves divide the upper surface of the guide receiving plate 331 into four sector-shaped areas 0012, and each sector-shaped area 0012 is provided with a recessed upper positioning connection member mounting hole 0013; the slider seat 32 is provided with a lower positioning connection member mounting hole 011 at a position opposite to the upper positioning connection member mounting hole 0013; the single-power four-jaw linkage grasping and clamping manipulator suitable for centering clamping of rectangular parts also includes a positioning connection member, and the clamping jaw seat 33 and the slider seat 32 are fixedly connected by a positioning connection member, and the positioning connection member includes a bolt 28 and a positioning pin 29.

[0105] In this embodiment, the positioning connector mounting hole is provided in each sector area 0012, which can ensure a stable connection between the clamping jaw seat 33 and the slider seat 32, and can also effectively prevent the positioning connector from interfering with the movable component in the present invention.

[0106] In summary, the single-powered four-jaw linkage grasping and clamping robot suitable for centering and clamping of rectangular parts of the present invention is used for four-jaw centering and clamping of rectangular, square and circular workpieces, and can be loaded on the existing three-axis servo robot module to grasp rectangular or circular workpieces; the single-powered four-jaw linkage grasping and clamping robot suitable for centering and clamping of rectangular parts of the present invention can also be used as a chuck for CNC machining, for clamping and fixing rectangular or circular workpieces. Both structures can realize workpiece centering and ensure the accuracy of workpiece position.

[0107] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements, or it can be a "transmission connection", that is, a power connection through various appropriate methods such as belt drive, gear drive or sprocket drive. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. A single-power four-claw linkage grabbing and clamping manipulator suitable for centering and clamping rectangular parts, characterized in that: include: A frame, an active clamping jaw unit, a driven clamping jaw unit and a dial ring transmission unit; the lower part of the frame is provided with an active component installation cavity, a center ring receiving groove and a driven component installation cavity formed therein and connected in sequence, and the active component installation cavity and the driven component installation cavity are respectively arranged on both sides of the center ring receiving groove; the active clamping jaw unit comprises: a forward and reverse wire floating screw, a first slider, and a second slider; the forward and reverse wire floating screw is provided with two sections of a first thread and a second thread with opposite rotation directions; the first slider is connected to the forward and reverse wire floating screw thread via the first thread, and the second slider is connected to the forward and reverse wire floating screw thread via the second thread; the forward and reverse wire floating screw, the first slider, and the second slider are all installed in the active component installation cavity, and the forward and reverse wire floating screw, the first slider, and the second slider are respectively connected to the active component installation cavity in a sliding manner; the driven clamping jaw unit comprises a third slider and a fourth slider, the third slider and the fourth slider are both installed in the driven component mounting cavity, and the third slider and the fourth slider are respectively slidably connected to the driven component mounting cavity; the dial ring transmission unit is arranged in the center ring receiving groove, and the dial ring transmission unit includes an upper rotating dial ring and a lower rotating dial ring arranged up and down, and the lower rotating dial ring and the upper rotating dial ring are respectively rotatably connected to the center ring receiving groove; the two ends of the lower rotating dial ring are respectively inserted into the first slider and the fourth slider to realize the linkage of the first slider and the fourth slider; the two ends of the upper rotating dial ring are respectively inserted into the second slider and the third slider to realize the linkage of the second slider and the third slider; the upper parts of the first slider, the second slider, the third slider and the fourth slider are respectively slidably connected with a clamping claw, and the sliding directions of the four clamping claws are all toward or away from the rotation center line of the dial ring transmission unit.

2. The single-power four-claw linkage grabbing and clamping manipulator suitable for centering and clamping of rectangular parts according to claim 1 is characterized in that: The four clamping jaws are respectively: a first movable clamping jaw, a second movable clamping jaw, a third movable clamping jaw and a fourth movable clamping jaw; the upper surface of the frame is provided with four recessed clamping jaw guide grooves, and the four clamping jaw guide grooves are evenly arranged around the central ring receiving groove, and the four clamping jaw guide grooves are respectively: a first clamping jaw guide groove, a second clamping jaw guide groove, a third clamping jaw guide groove and a fourth clamping jaw guide groove; the upper part of the first movable clamping jaw is accommodated in the first clamping jaw guide groove and the two are slidably connected, the lower part of the first movable clamping jaw is slidably connected to the upper part of the first slider, and the extension line of the sliding track of the first movable clamping jaw is L1; the upper part of the second movable clamping jaw is accommodated in the second clamping jaw guide groove and the two are slidably connected, the second The lower part of the movable jaw is slidably connected to the upper part of the second slider, and the extension line of the sliding trajectory of the second movable jaw is L2; ​​the upper part of the third movable jaw is accommodated in the third jaw guide groove and the two are slidably connected, the lower part of the third movable jaw is slidably connected to the upper part of the third slider, and the extension line of the sliding trajectory of the third movable jaw is L3; the upper part of the fourth movable jaw is accommodated in the fourth jaw guide groove and the two are slidably connected, the lower part of the fourth movable jaw is slidably connected to the upper part of the fourth slider, and the extension line of the sliding trajectory of the fourth movable jaw is L4; the intersection of L1, L2, L3 and L4 is the center P of the same circle; and the center P is located on the rotation center line of the shifting ring transmission unit.

3. The single-power four-claw linkage grabbing and clamping manipulator suitable for centering and clamping of rectangular parts according to claim 2 is characterized in that: The upper part of the first sliding block is provided with a raised first oblique guide block, and the lower part of the first movable clamping jaw is provided with a recessed first oblique guide groove, and the first oblique guide block extends into the first oblique guide groove to realize the sliding connection between the first sliding block and the first movable clamping jaw, and the frame is also provided with a first stroke control hole for limiting the position of the first oblique guide block; the first oblique guide block extends into the first stroke control hole; the upper part of the second sliding block is provided with a raised second oblique guide block, and the lower part of the second movable clamping jaw is provided with a recessed second oblique guide groove, and the second oblique guide block extends into the second oblique guide groove to realize the sliding connection between the second sliding block and the second movable clamping jaw, and the frame is also provided with a second stroke control hole for limiting the position of the second oblique guide block, and the second oblique guide block extends into the second stroke control hole; the upper part of the third sliding block is provided with a raised third oblique guide block, and the lower part of the third movable clamping jaw A recessed third oblique guide groove is provided, and the third oblique guide block extends into the third oblique guide groove to realize the sliding connection between the third sliding block and the third movable clamping jaw, and the frame is also provided with a third stroke control hole for limiting the third oblique guide block, and the third oblique guide block extends into the third stroke control hole; the upper part of the fourth sliding block is provided with a protruding fourth oblique guide block, and the lower part of the fourth movable clamping jaw is provided with a recessed fourth oblique guide groove, and the fourth oblique guide block extends into the fourth stroke control hole to realize the sliding connection between the fourth sliding block and the fourth movable clamping jaw, and the frame is also provided with a fourth stroke control hole for limiting the fourth oblique guide block, and the fourth oblique guide block extends into the fourth stroke control hole; the first stroke control hole and the second stroke control hole are respectively connected to the active component mounting cavity, and the third stroke control hole and the fourth stroke control hole are respectively connected to the driven component mounting cavity.

4. The single-power four-claw linkage grabbing and clamping manipulator suitable for centering and clamping of rectangular parts according to claim 3 is characterized in that: The angle between the extension direction of the first oblique guide groove and the axial direction of the forward and reverse wire floating screw is T1, the angle between the extension direction of the second oblique guide groove and the axial direction of the forward and reverse wire floating screw is T1, the angle between the extension direction of the third oblique guide groove and the sliding direction of the third slider is T1, and the angle between the extension direction of the fourth oblique guide groove and the sliding direction of the fourth slider is T1, T1=55°-85°.

5. The single-power four-claw linkage grabbing and clamping manipulator suitable for centering and clamping rectangular parts according to claim 4 is characterized in that: The first slider is in the shape of a rectangular block as a whole, and a concave first staggered overlapping guide groove is provided at the upper part of the first slider close to the second slider, and a side wall of the first staggered overlapping guide groove away from the second slider is a concave arc shape; the second slider is in the shape of a rectangular block as a whole, and a concave second staggered overlapping guide groove is provided at the lower part of the second slider close to the first slider, and a side wall of the second staggered overlapping guide groove away from the first slider is a concave arc shape; a first staggered overlapping column whose shape matches the second staggered overlapping guide groove is provided at the lower part of the first slider close to the second slider; a first staggered overlapping column whose shape matches the second staggered overlapping guide groove is provided at the upper part of the second slider close to the first slider A second staggered overlapping column whose shape matches the first staggered overlapping guide groove; the fourth slider is a rectangular block as a whole, and the upper part of the fourth slider close to the third slider is provided with a recessed fourth staggered overlapping guide groove, and a side wall of the fourth staggered overlapping guide groove away from the third slider is a recessed arc; the third slider is a rectangular block as a whole, and the lower part of the third slider close to the fourth slider is provided with a recessed third staggered overlapping guide groove, and a side wall of the third staggered overlapping guide groove away from the fourth slider is a recessed arc; the lower part of the fourth slider close to the third slider is provided with a fourth staggered overlapping column whose shape matches the third staggered overlapping guide groove Connecting column; the upper part of the third slider close to the fourth slider is provided with a third staggered overlapping column whose shape matches the fourth staggered overlapping guide groove; the fourth slider has the same structure as the first slider and the installation directions of the two are opposite; the third slider has the same structure as the second slider and the installation directions of the two are opposite; the lower rotating dial ring includes a lower circular ring body and a first lever head and a fourth lever head respectively protruding from the outer wall of the lower circular ring body, and the first lever head and the fourth lever head are respectively arranged on opposite sides of the lower circular ring body; the first staggered overlapping column is provided with a recessed first lever groove on the side close to the lower rotating dial ring, and the first lever head extends into the first lever groove The fourth staggered overlapping column is provided with a recessed fourth lever groove on a side close to the lower rotating dial ring, and the fourth lever head extends into the fourth lever groove; the upper rotating dial ring comprises an upper circular ring body and a second lever head and a third lever head respectively protruding from the outer wall of the upper circular ring body, and the second lever head and the third lever head are respectively arranged on opposite sides of the upper circular ring body; the second staggered overlapping column is provided with a recessed second lever groove on a side close to the upper rotating dial ring, and the second lever head extends into the second lever groove, and the third staggered overlapping column is provided with a recessed third lever groove on a side close to the upper rotating dial ring, and the third lever head extends into the third lever groove.

6. The single-power four-claw linkage grabbing and clamping manipulator suitable for centering and clamping rectangular parts according to claim 5 is characterized in that: The frame includes a clamping claw seat and a sliding block seat which are detachably connected and fixed to each other in an upper and lower manner; the center ring receiving groove is formed by a depression on the upper surface of the sliding block seat, and the upper surface of the sliding block seat is also provided with a first lower receiving slide groove and a second lower receiving slide groove which are recessed, the center ring receiving groove is arranged at the center position of the sliding block seat and is respectively connected to the first lower receiving slide groove and the second lower receiving slide groove, the first lower receiving slide groove and the second lower receiving slide groove are parallel and are respectively arranged on both sides of the center ring receiving groove; the clamping claw seat includes: a guide receiving plate and a center positioning ring protruding from the center of the lower part of the guide receiving plate, the guide receiving plate is disc-shaped as a whole, and the guide receiving The upper center of the disk is also provided with a recessed workpiece placement groove, and the four clamping claw guide grooves are also formed by the recess of the upper part of the guide receiving disk. The workpiece placement groove is concentric with the center ring receiving groove, and one end of the four clamping claw guide grooves is respectively connected to the workpiece placement groove, and the other end of the four clamping claw guide grooves respectively penetrates the outer side wall of the guide receiving disk; the lower part of the guide receiving disk is directly opposite to the position of the first lower receiving slide groove, and the first upper receiving slide groove and the first lower receiving slide groove jointly enclose the active component installation cavity, and the component receiving cavity is rectangular as a whole; the lower part of the guide receiving disk is directly opposite to the second lower receiving slide groove A recessed second upper receiving slide groove is provided at the receiving slide groove position; the second upper receiving slide groove and the second lower receiving slide groove together form the driven component installation cavity, and the driven component installation cavity is rectangular as a whole; the first stroke control hole, the second stroke control hole, the third stroke control hole and the fourth stroke control hole are respectively formed in the guide receiving plate; the lower part of the first stroke control hole is connected to the active component installation cavity, the upper part of the first stroke control hole is connected to the first clamping claw guide groove, and the extension direction of the first stroke control hole is consistent with the moving direction of the first slider; the lower part of the second stroke control hole is connected to the active component installation cavity The second stroke control hole is connected to the driven component mounting cavity, the upper part of the second stroke control hole is connected to the second clamping jaw guide groove, and the extension direction of the second stroke control hole is consistent with the moving direction of the second slider; the lower part of the third stroke control hole is connected to the driven component mounting cavity, the upper part of the third stroke control hole is connected to the third clamping jaw guide groove, and the extension direction of the third stroke control hole is consistent with the moving direction of the third slider; the lower part of the fourth stroke control hole is connected to the driven component mounting cavity, the upper part of the fourth stroke control hole is connected to the fourth clamping jaw guide groove, and the extension direction of the fourth stroke control hole is consistent with the moving direction of the fourth slider.

7. The single-power four-claw linkage grabbing and clamping manipulator suitable for centering and clamping rectangular parts according to claim 6 is characterized in that: A recessed ring positioning groove is also provided at the bottom of the center ring receiving groove, the center positioning ring extends into the center ring receiving groove, and the bottom of the center positioning ring is inserted into the ring positioning groove, the lower rotating dial ring and the upper rotating dial ring are respectively sleeved on the outside of the center positioning ring, and the clamping claw seat and the slider seat are fixedly connected.

8. The single-power four-claw linkage grabbing and clamping manipulator suitable for centering and clamping rectangular parts according to claim 7 is characterized in that: A driving section is also provided on the forward and reverse floating screw, and the driving section is arranged at one end of the forward and reverse floating screw, and the driving section, the first thread and the second thread are arranged in sequence and at intervals along the length direction of the forward and reverse floating screw; the single-power four-claw linkage grasping and clamping manipulator suitable for centering clamping of rectangular parts also includes a rotating sealing ring surrounding the transmission section; the driving section is one of a manual structure or an electric structure; wherein: when the driving section is the manual structure, the driving section extends out of the frame, and the cross-section of the driving section is a regular hexagon; when the driving section is the electric structure, the slider An electrical component receiving groove is provided at the lower part of the seat, and the electrical component receiving groove is located on the side of the first lower receiving slide groove away from the center ring receiving groove. One side of the slider seat is also provided with a recessed gear train receiving groove, and the gear train receiving groove connects the first lower receiving slide groove and the electrical component receiving groove. The single-power four-claw linkage grasping and clamping manipulator suitable for centering clamping of rectangular parts also includes a motor and a gear train, the gear train is located in the gear train receiving groove, the drive section extends into the gear train receiving groove, the motor is horizontally installed in the electrical component receiving groove, and the gear train is respectively connected to the motor and the drive section.

9. The single-power four-claw linkage grabbing and clamping manipulator suitable for centering and clamping rectangular parts according to claim 8, characterized in that: A plug hole is provided on one side of the slider seat close to the electrical component receiving groove, and the plug hole is communicated with the electrical component receiving groove; the slider seat is square as a whole, and the outer side wall of the slider seat is provided with at least one hanging ear for fixed connection; a side of the slider seat is also provided with a recessed gear train slot sealing plate mounting groove at a position facing the gear train receiving groove, and a sealing plate body is provided in the gear train slot sealing plate mounting groove, and the sealing plate body completes covering the opening of the gear train receiving groove.

10. The single-power four-claw linkage grabbing and clamping manipulator suitable for centering and clamping rectangular parts according to claim 9, characterized in that: The bottom inner side wall of the first lower receiving slide groove is provided with a recessed bottom air-avoiding groove, and the two opposite inner side walls of the first lower receiving slide groove are respectively provided with a recessed side air-avoiding groove, and the bottom of the first sliding block is provided with a recessed first bottom air-avoiding groove at a position opposite to the bottom air-avoiding groove, and the bottom of the second sliding block is provided with a recessed second bottom air-avoiding groove at a position opposite to the bottom air-avoiding groove; the cross-section of the first clamping jaw guide groove is in the shape of an "I" character, and the cross-sectional shape of the first movable clamping jaw matches the cross-sectional shape of the first clamping jaw guide groove; the first movable clamping jaw is provided with a first lubricating grease nozzle at one end away from the workpiece placement groove, and a first lubrication channel connecting the first lubricating grease nozzle and the first oblique guide groove is provided in the first movable clamping jaw; the cross-sectional shape of the second clamping jaw guide groove is in the shape of an "I" character, and the cross-sectional shape of the second movable clamping jaw matches the cross-sectional shape of the second clamping jaw guide groove, and the second movable clamping jaw is provided with a second lubricating channel connecting the second lubricating grease nozzle and the second oblique guide groove; The structure of the second lower receiving chute is the same as that of the first lower receiving chute.

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