Multi-station clamping manipulator

Abstract

The utility model discloses a multi-station clamping manipulator which comprises a connecting plate, one side of the bottom end of the connecting plate is fixedly connected with a second arc-shaped clamping jaw, sliding grooves are formed in the two ends of the other side of the bottom end of the connecting plate, sliding blocks are arranged in the sliding grooves in a sliding fit mode, and the bottom ends of the sliding blocks are fixedly connected with first arc-shaped clamping jaws. A plurality of springs are fixedly connected to the inner side of the first arc-shaped clamping jaw, and an anti-skid plate is fixedly connected to one end of each spring; the outer side of the first arc-shaped clamping jaw and the outer side of the second arc-shaped clamping jaw are fixedly connected with small air cylinders correspondingly, and the extending ends of the small air cylinders are fixedly connected with abutting plates. By means of the structure, the small air cylinders and the abutting plates are arranged, when a clamped object is located on the outer sides of the first arc-shaped clamping jaw and the second arc-shaped clamping jaw, the inner wall cannot abut against and clamp the clamped object, the small air cylinders extend to abut against, clamp and fix the clamped object through the abutting plates, firmness is improved, and the problem that stability lacks due to clamping gaps is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of clamping manipulators, in particular to a multi-station clamping manipulator. Background Art

[0002] A manipulator is an automatic operating device that can imitate certain movements and functions of the human arm and is used to grasp, move objects or operate tools according to a fixed procedure; a multi-station refers to a gripping manipulator with multiple operating stations that can realize an assembly line structure.

[0003] A common problem of the multi-station gripping manipulator in the prior art is that it is difficult to precisely control the gripping force of the object. If the force is too great, the object will be dented and damaged, while if the force is too small, the object will fall off, affecting its use. Utility Model Content

[0004] The utility model aims to provide a multi-station clamping manipulator, which performs clamping pressure sensing operation through the inner side pressure sensor of the second arc-shaped clamping claw, and the clamping force can be set to a preset value. After reaching the preset value, clamping is stopped to prevent damage to the clamped object.

[0005] To achieve the above-mentioned purpose, a multi-station gripping manipulator is provided, comprising: a connecting plate, a second arc-shaped clamping claw is fixedly connected to one side of the bottom end of the connecting plate, a slide groove is provided at both ends of the other side of the bottom end of the connecting plate, a slider is slidably matched inside the slide groove, a first arc-shaped clamping claw is fixedly connected to the bottom end of the slider, a plurality of springs are fixedly connected to the inner side of the first arc-shaped clamping claw, and an anti-slip plate is fixedly connected to one end of the spring;

[0006] The outer sides of the first arc-shaped clamping jaw and the second arc-shaped clamping jaw are both fixedly connected with a small cylinder, and the extending end of the small cylinder is fixedly connected with a contact plate.

[0007] According to the multi-station gripping robot, one end of the connecting plate is fixedly connected to a driving motor, and the driving end of the driving motor is fixedly connected to a threaded rod.

[0008] According to the multi-station gripping robot, one end of the threaded rod and the other end of the connecting plate are rotationally matched, a threaded block is threadedly connected to one side of the middle of the threaded rod, and the threaded block is fixedly connected to the first arc-shaped clamping claw.

[0009] According to the multi-station gripping robot, the top end of the connecting plate is fixedly connected with a connecting shaft.

[0010] According to the multi-station gripping robot, a support plate is fixedly connected below one end of the connecting plate, and the upper surface of the support plate is fixedly connected to the bottom of the driving motor.

[0011] According to the multi-station gripping robot, pressure sensors are provided on the inner sides of the second arc-shaped clamping claw and the contact plate.

[0012] According to the multi-station gripping robot, the inner sides of the first arc-shaped clamping jaw and the second arc-shaped clamping jaw both clamp objects.

[0013] Beneficial effects:

[0014] 1. The utility model is provided with a clamped object, a first arc-shaped clamping jaw, a second arc-shaped clamping jaw and a pressure sensor. When the clamped object is in the first arc-shaped clamping jaw and the second arc-shaped clamping jaw, the clamping pressure sensing operation is performed through the inner pressure sensor of the second arc-shaped clamping jaw, and the clamping force can be set to a predetermined value. After reaching the predetermined value, the clamping is stopped to prevent damage to the clamped object, reduce the problem of concave damage caused by excessive clamping force, or fall off caused by too little force.

[0015] 2. The utility model is provided with a small cylinder and a contact plate. When the clamped object is outside the first arc-shaped clamping jaw and the second arc-shaped clamping jaw, the inner wall cannot be contacted and clamped. The small cylinder is extended through the contact plate to contact and clamp the clamped object, thereby increasing firmness and reducing the problem of lack of stability caused by gap in clamping.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The utility model is further described below in conjunction with the accompanying drawings and embodiments;

[0018] Figure 1 This is a three-dimensional structural diagram of a multi-station gripping manipulator of the utility model;

[0019] Figure 2 This is a structural diagram of the inner side of the first arc-shaped clamping claw of a multi-station clamping manipulator of the utility model;

[0020] Figure 3 This is a front view structural diagram of a multi-station gripping manipulator of the utility model;

[0021] Figure 4 This is a structural diagram of the inner side of the second arc-shaped clamping claw of a multi-station clamping manipulator of the utility model.

[0022] Legend:

[0023] 1. Connecting plate; 2. Connecting shaft; 3. Contact plate; 4. First arc-shaped clamping jaw; 5. Second arc-shaped clamping jaw; 6. Small cylinder; 7. Driving motor; 8. Slider; 9. Spring; 10. Anti-slip plate; 11. Threaded rod; 12. Support plate; 13. Clamped object; 14. Pressure sensor. DETAILED DESCRIPTION

[0024] This section will describe in detail the specific embodiments of the utility model. The preferred embodiments of the utility model are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the utility model, but it cannot be understood as a limitation on the protection scope of the utility model.

[0025] Reference Figure 1-4 The utility model embodiment is a multi-station gripping manipulator, which includes: a connecting plate 1, a second arc-shaped clamping claw 5 is fixedly connected to one side of the bottom end of the connecting plate 1, and a slide groove is opened at both ends of the other side of the bottom end of the connecting plate 1. The sliding cooperation between the slide groove and the slider 8 realizes stable movement and movement limiting of the threaded rod 11. The inner sliding cooperation of the slide groove is equipped with a slider 8, and the bottom end of the slider 8 is fixedly connected to the first arc-shaped clamping claw 4. When the first arc-shaped clamping claw 4 and the second arc-shaped clamping claw 5 are in use, the connecting plate 1 is extended and moved to the upper surface of the clamped object 13, and then driven by the driving motor 7, a plurality of springs 9 are fixedly connected to the inner side of the first arc-shaped clamping claw 4, and elastic resistance is achieved through the spring 9. The anti-slip plate 10 fits with the clamped object 13 to increase friction and is not easy to fall off. One end of the spring 9 is fixedly connected to An anti-slip plate 10 is connected, and the friction force is increased by the anti-slip plate 10. The top of the connecting plate 1 is fixedly connected with a connecting shaft 2. By connecting the connecting plate 1 with the multi-station clamping mechanical arm, the connecting shaft 2 and other structures in the prior art are used to perform installation and fixing operations. The second arc-shaped clamping jaw 5 and the inner side of the contact plate 3 are both provided with a pressure sensor 14. The pressure is sensed by the pressure sensor 14, and the clamping can be stopped after reaching a preset pressure value. The clamping operation can be freely adjusted according to the clamping force of the required clamped object 13. When the clamped object 13 is in the first arc-shaped clamping jaw 4 and the second arc-shaped clamping jaw 5, the clamping pressure is sensed by the inner side pressure sensor 14 of the second arc-shaped clamping jaw 5, and the clamping force can be set to a preset value. After reaching the preset value, the clamping is stopped to prevent damage to the clamped object 13;

[0026] The outsides of the first arc-shaped clamping jaw 4 and the second arc-shaped clamping jaw 5 are fixedly connected with a small cylinder 6. When the clamped object 13 is outside the first arc-shaped clamping jaw 4 and the second arc-shaped clamping jaw 5, the inner wall cannot resist and clamp, and the small cylinder 6 is extended to resist and clamp the clamped object 13 through the contact plate 3. The extended end of the small cylinder 6 is fixedly connected with the contact plate 3, and the contact plate 3 is used to achieve a close contact with the clamped object 13, reducing the gap and lacking a stabilizing effect. One end of the connecting plate 1 is fixedly connected with a driving motor 7, and the driving motor 7 is used to drive and rotate the threaded rod 11. The driving end of the driving motor 7 is fixedly connected with the threaded rod 11, and the threaded rod 11 is driven by the threaded rod 11. The thread rotates and cooperates with the thread block to achieve thread movement, and the threaded rod 11 rotates and realizes thread cooperation with the thread block after rotation, so as to move the first arc-shaped clamping jaw 4. After movement, the arc-shaped clamping and fixing are realized by the first arc-shaped clamping jaw 4 and the second arc-shaped clamping jaw 5. One end of the threaded rod 11 and the other end of the connecting plate 1 rotate and cooperate, and a thread block is threadedly connected to one side of the middle part of the threaded rod 11, and the thread block and the first arc-shaped clamping jaw 4 are fixedly connected. A support plate 12 is fixedly connected to the lower part of one end of the connecting plate 1, and the upper surface of the support plate 12 is fixedly connected to the bottom of the driving motor 7. The inner sides of the first arc-shaped clamping jaw 4 and the second arc-shaped clamping jaw 5 both clamp the clamped object 13.

[0027] Working principle: When in use, first connect the connecting plate 1 to the multi-station clamping robot arm, and install and fix it through the connecting shaft 2 and other structures in the prior art. Then, when the first arc-shaped clamping jaw 4 and the second arc-shaped clamping jaw 5 are used, the connecting plate 1 is extended and moved to the upper surface of the clamped object 13. Then, the threaded rod 11 is driven by the driving motor 7 to rotate, and after rotation, it is threadedly matched with the threaded block to move the first arc-shaped clamping jaw 4. After moving, the first arc-shaped clamping jaw 4 and the second arc-shaped clamping jaw are connected. 5 is used to realize arc-shaped clamping and fixing. Subsequently, when the clamped object 13 is in the first arc-shaped clamping jaw 4 and the second arc-shaped clamping jaw 5, the clamping pressure sensing operation is performed through the inner pressure sensor 14 of the second arc-shaped clamping jaw 5, and the clamping force can be set to a predetermined value. After reaching the predetermined value, the clamping is stopped to prevent damage to the clamped object 13. When the clamped object 13 is outside the first arc-shaped clamping jaw 4 and the second arc-shaped clamping jaw 5, the inner wall cannot resist the clamping, and the small cylinder 6 is extended through the resistance plate 3 to resist and clamp the clamped object 13.

[0028] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present invention.

Claims

1. A multi-station gripping robot, characterized in that: include: A connecting plate (1), wherein one side of the bottom end of the connecting plate (1) is fixedly connected to a second arc-shaped clamping claw (5), and both ends of the other side of the bottom end of the connecting plate (1) are provided with sliding grooves, and a slider (8) is slidably matched inside the sliding groove, and the bottom end of the slider (8) is fixedly connected to a first arc-shaped clamping claw (4), and the inner side of the first arc-shaped clamping claw (4) is fixedly connected to a plurality of springs (9), and one end of the spring (9) is fixedly connected to an anti-slip plate (10); The outer sides of the first arc-shaped clamping jaw (4) and the second arc-shaped clamping jaw (5) are both fixedly connected to a small cylinder (6), and the extended end of the small cylinder (6) is fixedly connected to a contact plate (3).

2. A multi-station gripping robot according to claim 1, characterized in that: One end of the connecting plate (1) is fixedly connected to a driving motor (7), and the driving end of the driving motor (7) is fixedly connected to a threaded rod (11).

3. A multi-station gripping robot according to claim 2, characterized in that: One end of the threaded rod (11) and the other end of the connecting plate (1) are rotatably matched, one side of the middle portion of the threaded rod (11) is threadedly connected to a threaded block, and the threaded block and the first arc-shaped clamping jaw (4) are fixedly connected.

4. A multi-station gripping robot according to claim 1, characterized in that: The top end of the connecting plate (1) is fixedly connected to a connecting shaft (2).

5. The multi-station gripping robot according to claim 1, characterized in that: A support plate (12) is fixedly connected below one end of the connection plate (1), and the upper surface of the support plate (12) is fixedly connected to the bottom of the drive motor (7).

6. The multi-station gripping robot according to claim 1, characterized in that: Pressure sensors (14) are provided on the inner sides of the second arc-shaped clamping jaw (5) and the contact plate (3).

7. The multi-station gripping robot according to claim 1, characterized in that: The inner sides of the first arc-shaped clamping jaw (4) and the second arc-shaped clamping jaw (5) both clamp an object (13).

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