Manipulator clamping structure

Abstract

The invention relates to the technical field of machining, in particular to a manipulator clamping structure which comprises a mounting sleeve assembly, a clamping jaw driving assembly connected with the mounting sleeve assembly, a clamping jaw assembly arranged below the clamping jaw driving assembly, an air cylinder assembly arranged below the mounting sleeve assembly and a base assembly arranged at the top of the mounting sleeve assembly. A clamping jaw is connected with a mounting block of a mounting sleeve through a hinge shaft, a guide groove is formed in the mounting sleeve, an air cylinder comprises a telescopic part, a guide column is arranged on the telescopic part and movably arranged in the guide groove, a third mounting hole is formed in the top end of a connecting plate, and the guide column is arranged in the third mounting hole. The guide grooves and the guide columns have the limiting and guiding functions, the stability of the clamping and loosening actions of the clamping jaws is improved, the mounting holes are formed in the base, the threaded holes correspond to the mounting holes in a one-to-one mode, the mounting sleeve is fixedly mounted on the base, the base is fixedly mounted on a machine tool truss, and the stability of the whole structure is improved.

Description

Technical Field

[0001] This invention relates to the field of machining technology, specifically to a robotic gripper structure. Background Technology

[0002] With the development of industrial automation, the traditional machining industry faces challenges such as rising labor costs, low production efficiency, and unstable product quality. Robotic arm material handling applications can effectively solve these problems, primarily used to achieve automatic transport and positioning of workpieces between different processing equipment or processes.

[0003] The handling and transfer of cylinder head workpieces require the support of a robotic arm. The existing robotic arm operates by moving multiple clamping parts within multiple mounting slots of the cylinder, with the clamping parts converging to hold the workpiece. Due to the large amount of iron filings and dust generated during workpiece processing, this clamping method easily causes the clamping parts and the moving parts of the cylinder to become filled with iron filings and dust, leading to cylinder jamming and damage. In such cases, a new cylinder is usually replaced directly, resulting in a waste of resources. Summary of the Invention

[0004] To overcome the problems of existing robotic gripper structures where multiple gripping parts converge to hold the workpiece during use; and the fact that the workpiece processing generates a lot of iron filings and dust, this gripping method easily causes the gripping parts and the moving parts of the cylinder to become filled with iron filings and dust, leading to cylinder jamming and damage.

[0005] The technical solution of the present invention is: a robotic gripper structure, including a mounting sleeve assembly, a gripper drive assembly connected to the mounting sleeve assembly, a gripper assembly disposed below the gripper drive assembly, a cylinder assembly disposed below the mounting sleeve assembly, and a base assembly disposed on top of the mounting sleeve assembly; The mounting sleeve assembly includes a sleeve body, a guide groove formed on the side wall of the sleeve body, a mounting block set at the bottom of the sleeve body, a first mounting hole formed on the mounting block, and a threaded hole formed at the top of the sleeve body. The gripper drive assembly includes a connecting plate, a second mounting hole at the end of the connecting plate, a guide post at the top of the connecting plate, a connecting shaft fixedly mounted at the end of the connecting plate, and a hinge shaft fixedly mounted on the side of the sleeve body. The gripper assembly includes a gripper body, a third mounting hole on one side of the gripper body, and a fourth mounting hole on the other side of the gripper body. Preferably, the cylinder assembly includes a cylinder body and a telescopic part disposed on the cylinder body, the telescopic part being connected to a guide post.

[0006] Preferably, the connecting shaft passes through the second mounting hole and the third mounting hole in sequence to achieve a rotatable connection between the connecting plate and the gripper body.

[0007] Preferably, the hinge shaft passes through the first mounting hole and the fourth mounting hole to achieve a rotatable connection between the gripper body and the mounting block.

[0008] Preferably, the base assembly includes a base plate and mounting holes formed on the base plate.

[0009] Preferably, the threaded hole and the mounting hole are fixedly connected by fasteners.

[0010] The beneficial effects of this invention are: 1. The present invention connects the gripper and the mounting block of the mounting sleeve through a hinge shaft. This connection method is a purely mechanical rotational connection. Compared with the gripper moving in multiple mounting slots of the cylinder, it is less likely to get iron filings, dust, etc., thus solving the problem of the robot arm being easily jammed and damaged, and avoiding waste of resources. 2. The present invention features a guide groove on the mounting sleeve, a cylinder including a telescopic part with a guide post on the telescopic part, the guide post being movably mounted in the guide groove, and a third mounting hole on the top of the connecting plate, with the guide post positioned within the third mounting hole. When the guide post moves within the guide groove, the gripper can rotate relative to the mounting sleeve, thereby enabling the gripper to clamp and release. The guide groove and guide post provide limiting and guiding functions, improving the stability of the gripper's clamping and releasing actions.

[0011] 3. The present invention has threaded holes on the mounting sleeve and mounting holes on the base. The threaded holes and mounting holes are set one-to-one. The mounting sleeve is fixedly installed on the base, and the base is fixedly installed on the machine tool truss, thereby improving the stability of the overall structure. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of the robotic gripper structure of the present invention; Figure 2 This is a partial structural diagram of the robotic gripper structure of the present invention; Figure 3 This is a schematic diagram of the action structure of the robotic gripper structure of the present invention; Figure 4 This is a schematic diagram of the clamping part of the robotic gripper structure of the present invention; Figure 5 This is a schematic diagram of the mounting sleeve structure of the robotic gripper structure of the present invention; Figure 6 This is a schematic diagram of the connecting plate structure of the robotic gripper structure of the present invention; Explanation of reference numerals in the attached drawings: 1. Mounting sleeve assembly; 2. Gripper drive assembly; 3. Gripper assembly; 4. Cylinder assembly; 5. Base assembly; 101. Sleeve body; 102. Guide groove; 103. Mounting block; 104. First mounting hole; 105. Threaded hole; 201. Connecting plate; 202. Second mounting hole; 203. Guide post; 204. Connecting shaft; 205. Hinge shaft; 301. Gripper body; 302. Third mounting hole; 303. Fourth mounting hole; 401. Cylinder body; 402. Telescopic part; 501. Base plate; 502. Mounting hole. Detailed Implementation

[0013] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0014] A robotic gripper structure, based on Figures 1-6 As shown, it includes a mounting sleeve assembly 1, a gripper drive assembly 2 connected to the mounting sleeve assembly 1, a gripper assembly 3 disposed below the gripper drive assembly 2, a cylinder assembly 4 disposed below the mounting sleeve assembly 1, and a base assembly 5 disposed on top of the mounting sleeve assembly 1. The mounting sleeve assembly 1 includes a sleeve body 101, a guide groove 102 formed on the side wall of the sleeve body 101, a mounting block 103 set at the bottom of the sleeve body 101, a first mounting hole 104 formed on the mounting block 103, and a threaded hole 105 formed at the top of the sleeve body 101. The gripper drive assembly 2 includes a connecting plate 201, a second mounting hole 202 opened at the end of the connecting plate 201, a guide post 203 disposed on the top of the connecting plate 201, a connecting shaft 204 fixedly installed at the end of the connecting plate 201, and a hinge shaft 205 fixedly installed on the side of the sleeve body 101. The gripper assembly 3 includes a gripper body 301, a third mounting hole 302 on one side of the gripper body 301, and a fourth mounting hole 303 on the other side of the gripper body 301. according to Figure 3 As shown, the cylinder assembly 4 includes a cylinder body 401 and a telescopic part 402 disposed on the cylinder body 401. The telescopic part 402 is connected to the guide post 203.

[0015] It should be noted that the cylinder body 401 pushes the telescopic part 402 to make linear motion, and the telescopic part 402 drives the guide column 203 to slide in the guide groove 102. The connecting plate 201 transmits the lifting motion to the gripper body 301 through the connecting shaft 204. Under the constraint of the rotation pair formed by the hinge shaft 205, the synchronous opening and closing action of the two gripper bodies 301 is realized, thereby completing the clamping and release of the workpiece.

[0016] according to Figure 3As shown, the connecting shaft 204 passes through the second mounting hole 202 and the third mounting hole 302 in sequence to realize the rotational connection between the connecting plate 201 and the gripper body 301.

[0017] It should be noted that when the cylinder body 401 drives the connecting plate 201 to move up and down, the connecting shaft 204 enables the gripper body 301 to freely clamp around the shaft.

[0018] according to Figures 3-4 As shown, the hinge shaft 205 passes through the first mounting hole 104 and the fourth mounting hole 303 to achieve a rotatable connection between the gripper body 301 and the mounting block 103.

[0019] It should be noted that the hinge shaft 205 forms a rotating pair with the first mounting hole 104 and the fourth mounting hole 303, so that the gripper body 301 can rotate around the hinge shaft 205.

[0020] according to Figure 5 As shown, the base assembly 5 includes a base plate 501 and mounting holes 502 formed on the base plate 501.

[0021] It should be noted that the base assembly 5 is fixedly connected to the external equipment through the mounting holes 502 on the base plate 501, providing a stable mounting base for the entire clamping device.

[0022] according to Figure 1 and Figure 5 As shown, the threaded hole 105 and the mounting hole 502 are fixedly connected by fasteners.

[0023] It should be noted that the threaded hole 105 and the mounting hole 502 are connected by a bolt and locked by a thread, which rigidly fixes the base assembly 5 and the mounting sleeve assembly 1 into one piece.

[0024] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A robotic gripping structure, characterized in that: It includes a mounting sleeve assembly (1), a gripper drive assembly (2) connected to the mounting sleeve assembly (1), a gripper assembly (3) disposed below the gripper drive assembly (2), a cylinder assembly (4) disposed below the mounting sleeve assembly (1), and a base assembly (5) disposed on top of the mounting sleeve assembly (1). The mounting sleeve assembly (1) includes a sleeve body (101), a guide groove (102) formed on the side wall of the sleeve body (101), a mounting block (103) set at the bottom of the sleeve body (101), a first mounting hole (104) formed on the mounting block (103), and a threaded hole (105) formed at the top of the sleeve body (101). The gripper drive assembly (2) includes a connecting plate (201), a second mounting hole (202) opened at the end of the connecting plate (201), a guide post (203) set on the top of the connecting plate (201), a connecting shaft (204) fixedly installed at the end of the connecting plate (201), and a hinge shaft (205) fixedly installed on the side of the sleeve body (101). The gripper assembly (3) includes a gripper body (301), a third mounting hole (302) disposed on the side of the gripper body (301), and a fourth mounting hole (303) disposed on the other side of the gripper body (301).

2. The robotic gripper structure according to claim 1, characterized in that: The cylinder assembly (4) includes a cylinder body (401) and a telescopic part (402) disposed on the cylinder body (401), the telescopic part (402) being connected to a guide post (203).

3. The robotic gripping structure according to claim 1, characterized in that: The connecting shaft (204) passes through the second mounting hole (202) and the third mounting hole (302) in sequence to realize the rotational connection between the connecting plate (201) and the gripper body (301).

4. The robotic gripping structure according to claim 1, characterized in that: The hinge shaft (205) passes through the first mounting hole (104) and the fourth mounting hole (303) to achieve a rotational connection between the gripper body (301) and the mounting block (103).

5. The robotic gripping structure according to claim 1, characterized in that: The base assembly (5) includes a base plate (501) and mounting holes (502) formed on the base plate (501).

6. The robotic gripper structure according to claim 1, characterized in that: The threaded hole (105) and the mounting hole (502) are fixedly connected by fasteners.

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