Manipulator tool clamp

Abstract

The invention discloses a manipulator work fixture, which relates to the technical field of fixtures and comprises a supporting seat, a U-shaped plate is mounted on the upper portion of the supporting seat, a manipulator is mounted on the upper portion of the U-shaped plate, clamping plates are symmetrically and slidably arranged at the bottom of the supporting seat, and side limiting assemblies are arranged on the clamping plates. The side face limiting assembly comprises a linkage unit arranged on the clamping plate, a pressed plate and a push rod which are arranged on the inner side of the clamping plate in a sliding mode, and a limiting plate rotationally connected with the side face of the clamping plate, and after the clamping plate clamps a workpiece, the pressed plate is extruded to drive the push rod to move. According to the clamping device, the limiting plates lock the side face of the workpiece after the workpiece is clamped, the workpiece is prevented from sliding off from the side face of the clamping plate, after the workpiece is clamped, the position sensor detects that the distance between the workpiece and the workbench exceeds a threshold value, the rotating rod rotates, and the workpiece is clamped. And finally, the arc-shaped plate rotates to the bottom of the workpiece for supporting.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of clamps, in particular to a mechanical hand tool clamp. BACKGROUND

[0002] The mechanical hand tool clamp is a key device in the end effector of a mechanical hand (or industrial robot) for grasping, fixing, positioning and operating workpieces. The workpieces are clamped by the clamp, and then transported and transferred, which can replace the heavy labor of humans to realize automation, protect the safety of humans in harmful environments, and is widely used in the fields of mechanical manufacturing, metallurgy, electronics, light industry and atomic energy.

[0003] The conventional clamp usually only relies on opposite clamping (such as parallel clamping jaws). Under high-speed motion, vibration or external force impact, the workpiece is easy to slide off the side of the clamp due to inertia or vibration, and the thin-walled part (such as sheet metal, plastic shell) is easy to bend or sag due to excessive local stress. Therefore, a mechanical hand tool clamp is proposed. SUMMARY

[0004] The purpose of the present application is to solve the problem that the workpiece is easy to slide off the side of the clamp due to inertia or vibration, and the thin-walled part (such as sheet metal, plastic shell) is easy to bend or sag due to excessive local stress in the prior art. A mechanical hand tool clamp is proposed.

[0005] In order to achieve the above purpose, the present application adopts the following technical scheme:

[0006] A mechanical hand tool clamp, comprising a support seat, a U-shaped plate is installed on the upper part of the support seat, a mechanical hand is installed on the upper part of the U-shaped plate, a clamping plate is symmetrically and slidably arranged at the bottom of the support seat, a side limiting assembly is arranged on the clamping plate, the side limiting assembly comprises a linkage unit arranged on the clamping plate, a pressure plate and a push rod slidably arranged on the inner side of the clamping plate, and a limiting plate rotatably connected to the side of the clamping plate. After the clamping plate clamps the workpiece, the pressure plate is extruded to drive the push rod to move. After the pressure plate moves, the two limiting plates are rotated to the side of the workpiece to be locked by the linkage unit, so as to prevent the workpiece from sliding off the side of the clamping plate.

[0007] The support seat and the clamping plate are jointly provided with a bottom limit assembly, and the bottom limit assembly includes a transmission unit arranged on the support seat, a rotating unit arranged inside the clamping plate, a position sensor installed at the bottom of the support seat, a pushing plate slidingly arranged inside the clamping plate, a rotating rod rotatably connected to the inside of the clamping plate, and an arc plate installed on the outside of the rotating rod. The position sensor drives the transmission unit after the clamping plate clamps the workpiece and moves upward. The transmission unit drives the pushing plate to move downward. After the pushing plate moves downward, the rotating rod is driven to rotate by the rotating unit. After the rotating rod rotates, it drives the arc plate to rotate to the bottom of the workpiece for support, so that the arc plate rotates to the bottom support of the workpiece. The bottom support disperses the gravity of the workpiece to prevent thin-walled parts from being deformed due to excessive clamping force.

[0008] The above technical solution further includes:

[0009] A first sliding groove is symmetrically provided on the upper part of the support seat, a sliding plate is slidingly provided on the inner side of the first sliding groove, the sliding plate is fixedly connected to the clamping plate, a first cylinder is symmetrically installed on the upper part of the support seat, and the output end of the first cylinder is fixedly connected to the sliding plate.

[0010] A guide plate is installed on the inner side of the first sliding groove, and the guide plate is slidably connected to the sliding plate. The size of the opening of the first sliding groove is adapted to the size of the sliding plate. The first cylinder drives the sliding plate to move along the first sliding groove through the guidance of the guide plate.

[0011] The linkage unit includes a circular groove on the inner side of the clamping plate, the pressure plate and the push rod are both slidably connected to the circular groove, the push rod and the pressure plate are fixedly connected, a spring is installed on the side of the pressure plate, and the end of the spring away from the pressure plate is fixedly connected to the inner wall of the circular groove. The pressure plate is squeezed by the workpiece and drives the push rod to move toward the inner side of the circular groove.

[0012] The two limiting plates on the side surfaces of the clamping plate are both located on the movement track of the push rod.

[0013] A support plate is symmetrically installed on the side of the clamping plate, and a round rod is rotatably connected to the bottom of the support plate. The end of the round rod away from the support plate is fixedly connected to the limiting plate. A torsion spring is installed on the upper part of the limiting plate, and the end of the torsion spring away from the limiting plate is fixedly connected to the support plate. The limiting plate rotates around the round rod, and at the same time, the torsion spring contracts.

[0014] The transmission unit includes a connecting rod slidingly arranged on the inner side of the support base, a backplate is installed at the bottom of the connecting rod, a square rod is installed at the end of the connecting rod away from the backplate, a second air cylinder is installed at the upper part of the support base, and the output end of the second air cylinder is fixedly connected with the square rod.

[0015] The inner side of the clamping plate is symmetrically slidingly provided with sliding blocks, the end portions of the two sliding blocks are fixedly connected with the pushing plate, the inner side of the backplate is symmetrically provided with second sliding grooves, and the sliding blocks are slidingly connected with the second sliding grooves.

[0016] The bottom of the clamping plate is provided with an opening groove, the pushing plate is slidingly arranged on the inner side of the pushing plate, and the backplate moves downward to drive the sliding blocks to move downward.

[0017] The bottom of the pushing plate is provided with a rack, the inner side of the opening groove is rotatably connected with a gear, the gear is engaged with the rack, the end portion of the gear is provided with a rotating wheel, the rotating rod is rotatably connected to the inner side of the opening groove, the rotating rod and the rotating wheel are jointly sleeved with a transmission belt, and when the rack moves downward, the rotating rod is driven to rotate through the gear, the rotating wheel and the transmission belt, so that the arc-shaped plate is driven to rotate to support the bottom of the workpiece.

[0018] The present application has the following advantages:

[0019] In the present application, the side limiting assembly and the bottom limiting assembly are combined for use, so that the limiting plate locks the side of the workpiece after the workpiece is clamped, the workpiece is prevented from sliding off the side of the clamping plate, when the workpiece is clamped, the position sensor detects that the distance between the workpiece and the workbench exceeds a threshold value, the rotating rod rotates, and finally the arc-shaped plate rotates to support the bottom of the workpiece, the bottom support disperses the gravity of the workpiece, and deformation of the thin-walled workpiece due to excessive clamping force is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is an overall structure schematic diagram of a mechanical hand tool clamp proposed in the present application;

[0021] Figure 2 It is an overall side first cross-sectional structure schematic diagram in the present application;

[0022] Figure 3 It is an overall side second cross-sectional structure schematic diagram in the present application;

[0023] Figure 4 It is Figure 2 It is an enlarged schematic diagram of structure A in the present application;

[0024] Figure 5 It is Figure 2An enlarged schematic view of the structure at B;

[0025] Figure 6 As Figure 3 An enlarged schematic view of the structure at C;

[0026] Figure 7 As Figure 3 An enlarged schematic view of the structure at D.

[0027] In the figure: 1, support seat; 2, U-shaped plate; 3, mechanical hand; 4, first sliding groove; 5, guide plate; 6, sliding plate; 7, first cylinder; 8, clamping plate; 9, circular groove; 10, push rod; 11, pressure plate; 12, spring; 13, support plate; 14, round rod; 15, torsion spring; 16, limiting plate; 17, connecting rod; 18, square rod; 19, second cylinder; 20, back-shaped plate; 21, second sliding groove; 22, sliding block; 23, push plate; 24, open slot; 25, rack; 26, gear; 27, rotating wheel; 28, rotating rod; 29, arc-shaped plate; 30, position sensor; 31, transmission belt. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0029] Embodiment one

[0030] As Figure 1 - Figure 7 The mechanical hand tool clamp provided by the present application includes a support seat 1, the upper part of the support seat 1 is provided with a U-shaped plate 2, the upper part of the U-shaped plate 2 is provided with a mechanical hand 3, the bottom of the support seat 1 is symmetrically provided with a clamping plate 8 which is slidably arranged, the clamping plate 8 is provided with a side limiting assembly, the side limiting assembly includes a linkage unit arranged on the clamping plate 8, a pressure plate 11 and a push rod 10 which are slidably arranged on the inner side of the clamping plate 8, and a limiting plate 16 which is rotatably connected to the side of the clamping plate 8, after the clamping plate 8 clamps a workpiece, the pressure plate 11 is extruded to drive the push rod 10 to move, after the pressure plate 11 moves, the two limiting plates 16 are driven by the linkage unit to rotate to the side of the workpiece to be locked, so as to prevent the workpiece from sliding off the side of the clamping plate 8.

[0031] The bottom limiting assembly is arranged on the support seat 1 and the clamping plate 8, and comprises a transmission unit arranged on the support seat 1, a rotating unit arranged on the inner side of the clamping plate 8, a position sensor 30 mounted on the bottom of the support seat 1, a push plate 23 slidingly arranged on the inner side of the clamping plate 8, a rotating rod 28 rotatably connected to the inner side of the clamping plate 8, and an arc-shaped plate 29 mounted on the outer side of the rotating rod 28. After the position sensor 30 senses that the clamping plate 8 is clamped to the workpiece and moves upward, the transmission unit is driven, the push plate 23 is driven downward by the transmission unit, the rotating rod 28 is rotated by the rotating unit after the push plate 23 moves downward, and the arc-shaped plate 29 is rotated to the bottom of the workpiece to support the arc-shaped plate 29, so that the arc-shaped plate 29 is rotated to the bottom of the workpiece to support the arc-shaped plate 29, the gravity of the workpiece is dispersed, and the thin-walled part is prevented from being deformed due to excessive clamping force

[0032] The upper part of the support seat 1 is symmetrically provided with a first sliding groove 4, and a sliding plate 6 is slidingly arranged on the inner side of the first sliding groove 4. The sliding plate 6 is fixedly connected between the clamping plate 8. The upper part of the support seat 1 is symmetrically provided with a first cylinder 7, and the output end of the first cylinder 7 is fixedly connected with the sliding plate 6.

[0033] The inner side of the first sliding groove 4 is provided with a guide plate 5, and the guide plate 5 is slidingly connected between the sliding plate 6. The opening size of the first sliding groove 4 is matched with the size of the sliding plate 6. The sliding plate 6 is driven by the first cylinder 7 to move along the first sliding groove 4 through the guidance of the guide plate 5.

[0034] The linkage unit comprises a circular groove 9 formed in the inner side of the clamping plate 8, and the pressure plate 11 and the push rod 10 are slidingly connected with the circular groove 9. The push rod 10 is fixedly connected with the pressure plate 11. The side surface of the pressure plate 11 is provided with a spring 12, one end of the spring 12 away from the pressure plate 11 is fixedly connected with the inner wall of the circular groove 9, and the pressure plate 11 is driven to move to the inner side of the circular groove 9 by the extrusion of the workpiece.

[0035] The two limiting plates 16 on the side surface of the clamping plate 8 are above the movement track of the push rod 10.

[0036] The side surface of the clamping plate 8 is symmetrically provided with a support plate 13, and the bottom of the support plate 13 is rotatably connected with a circular rod 14. One end of the circular rod 14 away from the support plate 13 is fixedly connected with the limiting plate 16. The upper part of the limiting plate 16 is provided with a torsion spring 15, and one end of the torsion spring 15 away from the limiting plate 16 is fixedly connected with the support plate 13. The limiting plate 16 rotates around the circular rod 14, and at the same time, the torsion spring 15 is contracted.

[0037] When the workpiece needs to be clamped, the two first air cylinders 7 are started at this time, the first air cylinder 7 drives the sliding plate 6 to move along the first sliding groove 4 through the guide of the guide plate 5, so as to drive the two clamping plates 8 to move oppositely to clamp the workpiece, the sliding block 22 moves along the second sliding groove 21 when the clamping plate 8 moves, and the pressure plate 11 is pressed to the inside of the circular groove 9 at this time, the spring 12 is retracted at this time, the pressure plate 11 moves to drive the push rod 10 to move, the push rod 10 moves to push the two limiting plates 16, the limiting plate 16 is rotated around the circular rod 14 at this time, and the torsional spring 15 is retracted, the end of the circular rod 14 is rotated to the side of the workpiece, the side of the workpiece is locked to avoid the workpiece from sliding from the side, and the clamping plate 8 is released to fix the workpiece, at this time the spring 12 is reset to drive the pressure plate 11 and the push rod 10 to reset, the push rod 10 no longer presses the limiting plate 16, and the torsional spring 15 drives the limiting plate 16 to reset at this time.

[0038] Embodiment two

[0039] As shown in Figure 1 - Figure 7 Based on the basis of embodiment one, the transmission unit includes a connecting rod 17 slidably arranged on the inner side of the support seat 1, a backplate 20 is installed at the bottom of the connecting rod 17, a square rod 18 is installed at the end of the connecting rod 17 away from the backplate 20, a second air cylinder 19 is installed on the upper part of the support seat 1, and the output end of the second air cylinder 19 is fixedly connected with the square rod 18. The square rod 18 moves towards the support seat 1 through the second air cylinder 19, and the backplate 22 is driven to move downward.

[0040] The inner side of the clamping plate 8 is symmetrically slidably provided with a sliding block 22, the end of the two sliding blocks 22 is fixedly connected with a push plate 23, the inner side of the backplate 20 is symmetrically provided with a second sliding groove 21, and the sliding block 22 is slidably connected with the second sliding groove 21.

[0041] The bottom of the clamping plate 8 is provided with an opening groove 24, the push plate 23 is slidably arranged on the inner side of the push plate 23, and the backplate 22 drives the sliding block 22 to move downward.

[0042] The bottom of the push plate 23 is provided with a rack 25, the inner side of the opening groove 24 is rotatably connected with a gear 26, the gear 26 is engaged with the rack 25, the end of the gear 26 is provided with a rotating wheel 27, a rotating rod 28 is rotatably connected on the inner side of the opening groove 24, the rotating rod 28 and the rotating wheel 27 are jointly sleeved with a transmission belt 31, the rack 25 drives the rotating rod 28 to rotate through the gear 26, the rotating wheel 27 and the transmission belt 31 when the rack 25 moves downward, so as to drive the arc-shaped plate 29 to rotate to support the bottom of the workpiece.

[0043] In this embodiment, after the clamping plate 8 clamps the workpiece, when the position sensor 30 senses that the support seat 1 has moved away from the workbench by a certain distance, the second air cylinder 19 is started to move the square rod 18 towards the support seat 1, at this time the square rod 18 drives the connecting rod 17 to move downwards, and at the same time drives the back-shaped plate 20 to move downwards, the back-shaped plate 20 drives the sliding block 22 to move downwards after moving downwards, thereby driving the push plate 23 to move downwards along the open slot 24, since the rack 25 and the gear 26 are engaged, when the rack 25 moves downwards, the gear 26 is driven to rotate, the gear 26 drives the rotating wheel 27 to rotate when rotating, the rotating wheel 27 drives the rotating rod 28 to rotate through the transmission belt 31, thereby driving the arc-shaped plate 29 to rotate to the bottom of the workpiece to support the bottom of the workpiece.

[0044] Although embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, replacements and changes can be made to these embodiments without departing from the principles and spirit of the present application, the scope of the present application being defined by the appended claims and their equivalents.

Claims

1. A mechanical manual fixture, comprising a support seat (1), characterized in that: A U-shaped plate (2) is installed on the upper part of the support seat (1), and a manipulator (3) is installed on the upper part of the U-shaped plate (2). A clamping plate (8) is symmetrically slidably provided on the bottom of the support seat (1), and a side limit assembly is provided on the clamping plate (8). The side limit assembly includes a linkage unit provided on the clamping plate (8), a pressure plate (11) and a push rod (10) slidingly provided on the inner side of the clamping plate (8), and a limit plate (16) rotatably connected to the side of the clamping plate (8). After the clamping plate (8) clamps the workpiece, the pressure plate (11) is squeezed and drives the push rod (10) to move. After the pressure plate (11) moves, it drives the two limit plates (16) to rotate to the side of the workpiece through the linkage unit to lock it. The support seat (1) and the clamping plate (8) are jointly provided with a bottom limit assembly, and the bottom limit assembly comprises a transmission unit provided on the support seat (1), a rotation unit provided inside the clamping plate (8), a position sensor (30) installed at the bottom of the support seat (1), a push plate (23) slidingly provided inside the clamping plate (8), a rotation rod (28) rotatably connected to the inside of the clamping plate (8), and an arc plate (29) installed outside the rotation rod (28). The position sensor (30) drives the transmission unit after sensing that the clamping plate (8) clamps the workpiece and moves upward, and the transmission unit drives the push plate (23) to move downward. After the push plate (23) moves downward, the rotation rod (28) is driven to rotate by the rotation unit. After the rotation rod (28) rotates, the arc plate (29) is driven to rotate to the bottom of the workpiece for support.

2. A mechanical manual fixture according to claim 1, characterized in that: A first sliding groove (4) is symmetrically provided on the upper portion of the support seat (1), a sliding plate (6) is slidably provided inside the first sliding groove (4), the sliding plate (6) is fixedly connected to the clamping plate (8), and a first cylinder (7) is symmetrically installed on the upper portion of the support seat (1), the output end of the first cylinder (7) is fixedly connected to the sliding plate (6).

3. A mechanical manual fixture according to claim 2, characterized in that A guide plate (5) is installed on the inner side of the first sliding groove (4), and the guide plate (5) is slidably connected to the sliding plate (6). The size of the opening of the first sliding groove (4) is adapted to the size of the sliding plate (6).

4. A mechanical manual fixture according to claim 1, characterized in that: The linkage unit includes a circular groove (9) on the inner side of the clamping plate (8), the pressure plate (11) and the push rod (10) are both slidably connected to the circular groove (9), the push rod (10) and the pressure plate (11) are fixedly connected, and a spring (12) is installed on the side of the pressure plate (11), and the end of the spring (12) away from the pressure plate (11) is fixedly connected to the inner wall of the circular groove (9).

5. A mechanical manual fixture according to claim 4, characterized in that: The two limiting plates (16) on the side surfaces of the clamping plate (8) are both located on the movement track of the pushing rod (10).

6. A mechanical manual fixture according to claim 5, characterized in that: A support plate (13) is symmetrically mounted on the side of the clamping plate (8); a round rod (14) is rotatably connected to the bottom of the support plate (13); an end of the round rod (14) away from the support plate (13) is fixedly connected to a limiting plate (16); a torsion spring (15) is mounted on the upper portion of the limiting plate (16); an end of the torsion spring (15) away from the limiting plate (16) is fixedly connected to the support plate (13).

7. A mechanical manual fixture according to claim 1, characterized in that: The transmission unit comprises a connecting rod (17) slidably provided on the inner side of a support base (1), a circular plate (20) being installed at the bottom of the connecting rod (17), a square rod (18) being installed at one end of the connecting rod (17) away from the circular plate (20), a second cylinder (19) being installed on the upper part of the support base (1), and an output end of the second cylinder (19) being fixedly connected to the square rod (18).

8. A mechanical manual fixture according to claim 7, characterized in that: A sliding block (22) is symmetrically provided on the inner side of the clamping plate (8), and the ends of the two sliding blocks (22) are fixedly connected to the pushing plate (23). A second sliding groove (21) is symmetrically opened on the inner side of the circular plate (20), and the sliding block (22) is slidably connected to the second sliding groove (21).

9. A mechanical manual fixture according to claim 8, characterized in that: An open slot (24) is provided at the bottom of the clamping plate (8), and the pushing plate (23) is slidably arranged on the inner side of the pushing plate (23).

10. A mechanical manual fixture according to claim 9, characterized in that: The rotating unit comprises a rack (25) installed at the bottom of a pushing plate (23), a gear (26) rotatably connected to the inner side of the opening slot (24), the gear (26) and the rack (25) being meshed with each other, a rotating wheel (27) being installed at the end of the gear (26), the rotating rod (28) being rotatably connected to the inner side of the opening slot (24), and a transmission belt (31) being sleeved between the rotating rod (28) and the rotating wheel (27).

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