Manipulator clamping device

Abstract

The invention relates to the technical field of mechanical arms, in particular to a mechanical arm clamping device which comprises a mechanical arm connecting component, a transverse connecting rod is fixedly connected to the middle of the mechanical arm connecting component, vertical connecting rods are fixedly connected to the two ends of the transverse connecting rod correspondingly, and a first clamping jaw is slidably connected to the transverse connecting rod; a second clamping jaw is connected to the vertical connecting rod in a sliding mode, and sliding grooves are formed in the transverse connecting rod and the vertical connecting rod. The first clamping jaw and the second clamping jaw are slidably connected with the transverse connecting rod and the vertical connecting rod correspondingly, the working positions of the first clamping jaw and the second clamping jaw can be changed to adapt to different mold structures, the first supporting rod connected with the first clamping jaw is hinged to the first supporting base, and the first clamping jaw can freely change the clamping position and direction; the problem that special mechanical arm clamping devices need to be customized for new products of different structures is solved, and the production cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to a manipulator clamping device. Background Art

[0002] In recent years, robots have been widely used in injection molding production. Automated production effectively shortens and stabilizes the production cycle, improves production efficiency, and reduces production costs. Usually, in order to match molds with different structures, a special robot gripping device needs to be customized. For small batch production products, customizing special fixtures will increase manufacturing costs. Therefore, there is an urgent need for a robot gripping device for injection molding that can adapt to different mold structures and can freely change the gripping position and direction. Summary of the invention

[0003] The purpose of the present invention is to provide a robot gripping device that can solve the above-mentioned technical problems.

[0004] The present invention provides a robot gripping device, comprising a robot arm connecting component, a transverse connecting rod is fixedly connected to the middle of the robot arm connecting component, and vertical connecting rods are respectively fixedly connected to both ends of the transverse connecting rod, a first clamping claw is slidably connected to the transverse connecting rod, and a second clamping claw is slidably connected to the vertical connecting rod, the transverse connecting rod and the vertical connecting rod are both provided with a slide groove, a first nut is provided in the slide groove of the transverse connecting rod, the first nut matches the shape of the slide groove and the slide groove is used to limit the axial movement of the first nut, in addition, the shape of the slide groove is also used to limit the rotation of the nut along the axis itself, and the end of the first clamping claw is connected There is a first support seat, the first support seat is hinged with a first support rod, the first support rod is provided with a first through hole, the screw rod passes through the first through hole and is connected with the first nut to fix the first nut with the first support rod; a second nut is provided in the slide groove of the vertical connecting rod, the second nut matches the shape of the slide groove and the slide groove is used to limit the axial movement of the second nut, the end of the second clamp is connected with a second support seat, the second support seat is fixedly connected with a second support rod, the second support rod is provided with a second through hole, the screw rod passes through the second through hole and is connected with the second nut to fix the second nut with the second support rod. The first nut and the second nut are slidably connected in the slide groove of the horizontal connecting rod and the slide groove of the vertical connecting rod respectively, and the slide groove limits the rotation of the first nut and the second nut.

[0005] Preferably, the first supporting seat and the second supporting seat are rotatably connected to the first clamping jaw and the second clamping jaw respectively.

[0006] Preferably, the first through hole and the second through hole are both long strip structures.

[0007] Preferably, two first through holes are provided in parallel on the left and right sides.

[0008] Preferably, two second through holes are provided in parallel one above the other.

[0009] Preferably, the two vertical connecting rods are parallel to each other and perpendicular to the transverse connecting rod.

[0010] Preferably, the transverse connecting rod and the vertical connecting rod are fixedly connected via a connecting block.

[0011] Preferably, the connecting block is provided with a vertical slot on the front side and a transverse slot on the back side, the transverse connecting rod is located in the transverse slot and is fixedly connected to the connecting block by bolts; the vertical connecting rod is located in the vertical slot and is fixedly connected to the connecting block by bolts.

[0012] Preferably, the direction of the vertical card slot is 90° to the direction of the horizontal card slot.

[0013] Preferably, the robotic arm connecting component includes a U-shaped buckle and a fixing rod, the U-shaped buckle and the fixing rod are fixedly connected by a hexagon socket screw, and the transverse connecting rod is located in the enclosed space between the U-shaped buckle and the fixing rod.

[0014] Beneficial effects:

[0015] The first clamping jaw and the second clamping jaw of the present invention are respectively slidably connected to the horizontal connecting rod and the vertical connecting rod, and their working positions can be changed to adapt to different mold structures. The first support rod connected to the first clamping jaw is hinged to the first support seat, so that the first clamping jaw can freely change the clamping position and direction to solve the problem that new products with different structures need to be customized with special manipulator clamping devices, thereby reducing production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a front view schematic diagram of the overall structure of the present invention;

[0018] Figure 2 It is a side view schematic diagram of the overall structure of the present invention;

[0019] Figure 3 A schematic top view of the overall structure of the present invention

[0020] Figure 4 It is a schematic diagram of the structure of the U-shaped buckle and the fixing rod in the present invention;

[0021] Figure 5 It is a structural schematic diagram of the connection block in the present invention;

[0022] Figure 6 It is a schematic diagram of the positional relationship between the connecting block and the horizontal connecting rod and the vertical connecting rod in the present invention;

[0023] Figure 7 It is a schematic diagram used to show the rotational connection between the second support seat and the second clamping jaw in the present invention.

[0024] Explanation of the figure marks: 1-mechanical arm connecting part, 2-horizontal connecting rod, 3-vertical connecting rod, 4-first clamping jaw, 5-second clamping jaw, 6-slide groove, 702-second nut, 801-first support seat, 802-second support seat, 901-first support rod, 902-second support rod, 1001-first through hole, 1002-second through hole, 11-fixing rod, 12-screw rod, 13-connecting block, 14-vertical slot, 15-horizontal slot, 16-U-shaped buckle. DETAILED DESCRIPTION

[0025] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0027] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined. In addition, the terms "installed", "connected" and "connected" 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 or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] Example 1

[0029] A mechanical gripping device, such as Figure 1-7 As shown, it includes a mechanical arm connecting component 1, a transverse connecting rod 2 is fixedly connected to the middle of the mechanical arm connecting component 1, and the mechanical arm connecting component includes a U-shaped buckle 16 and a fixing rod 11, the U-shaped buckle 16 and the fixing rod 11 are fixedly connected by a hexagon socket screw, and the transverse connecting rod 2 is located in the enclosed space of the U-shaped buckle 16 and the fixing rod 11. The two ends of the transverse connecting rod 2 are respectively fixedly connected to vertical connecting rods 3, and the two vertical connecting rods 3 are parallel to each other and perpendicular to the transverse connecting rod 2. A first clamping jaw 4 is slidably connected to the transverse connecting rod 2, and a second clamping jaw 5 is slidably connected to the vertical connecting rod 3. Both the transverse connecting rod 2 and the vertical connecting rod 3 are provided with a slide groove. A first nut is provided in the slide groove of the transverse connecting rod 2. The first nut matches the shape of the slide groove 6 and the slide groove 6 is used to limit the axial movement of the first nut. The end of the first clamping jaw 4 is connected to a first support seat 801, and the first support seat 801 is hinged with a first support rod 901. The first support rod 901 is provided with a first through hole 1001, and the screw rod 12 passes through the first through hole 1001 and is connected to the first nut The first nut is fixedly connected to the first support rod 901; a second nut 702 is provided in the slide groove 6 of the vertical connecting rod 3, the second nut 702 matches the shape of the slide groove 6 and the slide groove 6 is used to limit the axial movement of the second nut 702, the end of the second clamp 5 is connected to the second support seat 802, the second support seat 802 is fixedly connected to the second support rod 902, the second support rod 902 is provided with a second through hole 1002, the screw rod 12 passes through the second through hole 1002 and is connected to the second nut 702 to fix the second nut 702 to the second support rod 902.

[0030] The first support seat 801 and the second support seat 802 are rotatably connected to the first clamping jaw 4 and the second clamping jaw 5 respectively. Figure 7The first through hole 1001 and the second through hole 1002 are both long strip-shaped structures, two first through holes 1001 are parallel to each other, and two second through holes 1002 are parallel to each other. By changing the position of the screw rod 12 in the long strip through hole, the first support rod 901 can be adjusted in front and back positions, and the second support rod 902 can be adjusted in left and right positions.

[0031] The transverse connecting rod 2 and the vertical connecting rod 3 are fixedly connected by a connecting block 13. The connecting block 13 is an octagonal structure. A vertical slot 14 is provided on the front of the connecting block 13, and a transverse slot 15 is provided on the back. The direction of the vertical slot 14 is 90° to that of the transverse slot 15. The transverse connecting rod 2 is located in the transverse slot 15 and is fixedly connected to the connecting block 13 by bolts; the vertical connecting rod 3 is located in the vertical slot 14 and is fixedly connected to the connecting block 13 by bolts.

[0032] The above-mentioned components such as the rotational connection between the clamp and the support seat, the hinge connection between the first support seat and the first support rod, etc., which are used to adjust the position and orientation of the clamp, are all provided with electric drive components for realizing the rotation of the clamp or the rotation of the hinge. The electric drive components all adopt the existing structure and will not be described in detail here.

[0033] Working process: When facing molds of different specifications, the first clamping jaw can freely change the clamping position and direction through the hinge between the first support rod and the first support seat. The second clamping jaw can be moved on the vertical connecting rod by loosening the screw first. When it reaches the specified position, the second clamping jaw is fixed by tightening the screw. The position of the second clamping jaw can be changed in the above way to adapt to molds of different specifications.

[0034] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot gripping device, characterized in that: The invention comprises a mechanical arm connecting component, wherein a transverse connecting rod is fixedly connected to the middle part of the mechanical arm connecting component, and two ends of the transverse connecting rod are respectively fixedly connected to a vertical connecting rod, a first clamping jaw is slidably connected to the transverse connecting rod, and a second clamping jaw is slidably connected to the vertical connecting rod, the transverse connecting rod and the vertical connecting rod are both provided with a slide groove, a first nut is provided in the slide groove of the transverse connecting rod, the first nut matches the shape of the slide groove and the slide groove is used to limit the axial movement of the first nut, the end of the first clamping jaw is connected to a first supporting seat, the first supporting seat is hinged with a first supporting rod, a first through hole is provided on the first supporting rod, a screw rod passes through the first through hole and is connected with the first nut to fix the first nut to the first supporting rod; a second nut is provided in the slide groove of the vertical connecting rod, the second nut matches the shape of the slide groove and the slide groove is used to limit the axial movement of the second nut, the end of the second clamping jaw is connected to a second supporting seat, the second supporting seat is fixedly connected to the second supporting rod, the second support rod is provided with a second through hole, the screw rod passes through the second through hole and is connected with the second nut to fix the second nut to the second supporting rod.

2. The robot gripping device according to claim 1, characterized in that: The first supporting seat and the second supporting seat are rotatably connected to the first clamping jaw and the second clamping jaw respectively.

3. The robot gripping device according to claim 1, characterized in that: The first through hole and the second through hole are both long strip structures.

4. The robot gripping device according to claim 3, characterized in that: Two first through holes are arranged in parallel on the left and right sides.

5. The robot gripping device according to claim 3, characterized in that: Two second through holes are arranged in parallel one above the other.

6. The robot gripping device according to claim 1, characterized in that: The two vertical connecting rods are parallel to each other and perpendicular to the transverse connecting rod.

7. The robot gripping device according to claim 1, characterized in that: The transverse connecting rod and the vertical connecting rod are fixedly connected via a connecting block.

8. The robot gripping device according to claim 7, characterized in that: The connecting block has a vertical slot on the front and a horizontal slot on the back. The horizontal connecting rod is located in the horizontal slot and is fixedly connected to the connecting block by bolts. The vertical connecting rod is located in the vertical slot and is fixedly connected to the connecting block by bolts.

9. The robot gripping device according to claim 8, characterized in that: The direction of the vertical slot is 90° to the direction of the horizontal slot.

10. The robot gripping device according to claim 1, characterized in that: The mechanical arm connecting component includes a U-shaped buckle and a fixing rod, the U-shaped buckle and the fixing rod are fixedly connected by a hexagon socket screw, and the transverse connecting rod is located in the enclosed space of the U-shaped buckle and the fixing rod.

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