Auxiliary clamping mechanism of manipulator

Abstract

The utility model relates to the technical field of machining and clamping, and discloses a mechanical arm auxiliary clamping mechanism which comprises a main disc, the outer edge of the main disc is rotationally connected with a gear ring, a sliding groove is formed in the inner wall of the main disc, the inner wall of the sliding groove is slidably connected with a sliding block, a clamping rod is fixedly assembled at the bottom of the sliding block, and the clamping rod is fixedly assembled on the outer edge of the main disc. A circular groove is formed in the inner wall, close to the bottom, of the clamping rod, a suction cup is fixedly assembled on the side face, close to the bottom, of the clamping rod, an electromagnetic valve pipe is fixedly assembled at the end, away from the suction cup, of the clamping rod, and a circular rod is fixedly assembled at the top of the sliding block. A first motor and a rotating rod are used in cooperation, the rotating rod drives a round rod to move through an arc-shaped rod, the inner wall of a sliding groove assists in limiting of a sliding block, then the sliding block drives a clamping rod to move, then the side face of a suction cup is in butt joint with a clamped object, an electromagnetic valve pipe is closed, and an air pump is started; and therefore, air extraction between the suction cup and the clamped object is assisted, and the suction cup is assisted to stably clamp the clamped object.

Description

Technical Field

[0001] The utility model relates to the technical field of processing and clamping, in particular to a manipulator auxiliary clamping mechanism. Background Art

[0002] Robot clamps are used to grab and fix processing objects in the mechanical manufacturing process. However, traditional devices are easily affected by the weight of the object during the clamping process, causing the object to fall off, which in turn affects the stable use of the device. On the other hand, traditional devices are difficult to adjust the clamping range of the robot according to the size of different objects. When the robot body uses a large-scale unfolding auxiliary device to stably clamp objects of different sizes for a long time, the robot body is prone to large movement assistance, affecting the efficiency of the device.

[0003] Therefore, it is necessary to design a manipulator-assisted clamping mechanism to solve the above problems. Utility Model Content

[0004] In view of the deficiencies of the prior art, the utility model provides a manipulator-assisted clamping mechanism to solve the problems raised by the above-mentioned background technology.

[0005] The utility model provides the following technical solutions: a manipulator auxiliary clamping mechanism, comprising a main disk, the outer edge of the main disk is rotatably connected to a gear ring, the inner wall of the main disk is provided with a slide groove, the inner wall of the slide groove is slidably connected to a slider, the bottom of the slider is fixedly equipped with a clamping rod, the inner wall of the clamping rod close to the bottom is provided with a circular groove, the side of the clamping rod close to the bottom is fixedly equipped with a suction cup, the end of the clamping rod away from the suction cup is fixedly equipped with a solenoid valve tube, the top of the slider is fixedly equipped with a round rod, the outer edge of the round rod is rotatably connected to an arc rod, the end of the arc rod away from the round rod is rotatably connected to a rotating rod, and the bottom of the rotating rod is rotatably connected to the top of the main disk, the inner wall of the main disk is fixedly equipped with an electromagnet sheet, the inner wall of the gear ring is provided with an auxiliary groove, and the inner wall of the auxiliary groove is slidably connected to the side of the slider.

[0006] As a preferred technical solution of the utility model, a fixing frame is fixedly installed on the top of the main plate, a motor 1 is fixedly installed on the top of the inner wall of the fixing frame, and the output shaft of the motor 1 is fixedly sleeved with the inner wall of the rotating rod.

[0007] As a preferred technical solution of the utility model, a connecting groove is provided on the inner wall of the clamp rod, an air pump is fixedly installed on the side of the clamp rod, and the air suction port of the air pump passes through the inner wall of the connecting groove and the inner wall of the circular groove to be connected with the inner wall of the suction cup, and the inner wall of the solenoid valve tube passes through the inner wall of the circular groove to be connected with the inner wall of the suction cup.

[0008] As a preferred technical solution of the utility model, the top of the inner wall of the fixed frame is fixedly equipped with motor 2, the output shaft of motor 2 is fixedly sleeved with a driving gear, and the convex teeth on the outer edge of the driving gear are meshed with the convex teeth on the outer edge of the gear ring.

[0009] As a preferred technical solution of the utility model, a fixed magnet sheet is fixedly mounted on the inner wall of the gear ring, and the inner wall of the fixed magnet sheet is adsorbed to the outer edge of the electromagnet sheet.

[0010] As a preferred technical solution of the utility model, the number of the arc-shaped rods is four, and a sliding block is disposed at the bottom of each of the four arc-shaped rods.

[0011] Compared with the prior art, the utility model has the following beneficial effects:

[0012] First, the robot auxiliary clamping mechanism, through the cooperation of motor 1 and rotating rod, uses the rotating rod to drive the round rod to move through the arc rod, so as to use the inner wall of the slide groove to assist the slider to limit, and then the slider drives the clamping rod to move, and then the side of the suction cup is connected with the clamped object, and the solenoid valve tube is closed and the vacuum pump is turned on to assist the suction between the suction cup and the clamped object, so as to assist the suction cup to stably clamp the clamped object.

[0013] Second, the auxiliary clamping mechanism of the manipulator uses the motor 2 in conjunction with the gear ring. The motor 2 drives the gear ring to rotate, so that the gear ring rotates on the outer edge of the main disk. At this time, the electromagnet sheet is turned on until the outer edge of the electromagnet sheet is adsorbed on the inner wall of the fixed magnet sheet. At this time, the motor 2 stops operating, so that the auxiliary slider slides on the inner wall of the slide groove and the inner wall of the auxiliary groove, thereby facilitating the slider to drive the clamping rod to be conveniently adjusted according to the size of the clamped object. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0015] Figure 2 This is a schematic diagram of the front section structure of the utility model;

[0016] Figure 3 This is a schematic diagram of the three-dimensional structure of the main disk of the utility model;

[0017] Figure 4 For this utility model Figure 3 Enlarged structural diagram at A in the middle.

[0018] In the figure: 1. main plate; 2. gear ring; 3. slide groove; 4. slider; 5. clamping rod; 6. round groove; 7. suction cup; 8. solenoid valve tube; 9. connecting groove; 10. vacuum pump; 11. auxiliary groove; 12. fixing frame; 13. motor 1; 14. rotating rod; 15. round rod; 16. arc rod; 17. electromagnet sheet; 18. fixed magnet sheet; 19. motor 2; 20. driving gear. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0020] See also Figure 1-4 A manipulator-assisted clamping mechanism comprises a main plate 1, the outer edge of the main plate 1 is rotatably connected to a gear ring 2, the inner wall of the main plate 1 is provided with a slide groove 3, the inner wall of the slide groove 3 is slidably connected to a slider 4, a clamping rod 5 is fixedly mounted on the bottom of the slider 4, a circular groove 6 is opened on the inner wall of the clamping rod 5 near the bottom, a suction cup 7 is fixedly mounted on the side of the clamping rod 5 near the bottom, an end of the clamping rod 5 away from the suction cup 7 is fixedly mounted with an electromagnetic valve tube 8, a round rod 15 is fixedly mounted on the top of the slider 4, an arc rod 16 is rotatably connected to the outer edge of the round rod 15, an end of the arc rod 16 away from the round rod 15 is rotatably connected to a rotating rod 14, and the rotating rod 14 is fixedly mounted on the top of the slider 4. The bottom of the rod 14 is rotatably connected to the top of the main disk 1, the inner wall of the main disk 1 is fixedly equipped with an electromagnet sheet 17, the inner wall of the gear ring 2 is provided with an auxiliary groove 11, and the inner wall of the auxiliary groove 11 is slidably connected to the side of the slider 4, through the coordinated use of the slide groove 3 and the slider 4, the side of the slider 4 is used to slide in the inner wall of the slide groove 3, so that the slider 4 is used to drive the clamping rod 5 to adjust the position, and through the coordinated use of the suction cup 7 and the electromagnetic valve tube 8, the side of the suction cup 7 is connected to the side of the clamped object, and the electromagnetic valve tube 8 assists the inner cavity of the suction cup 7 to intake air, thereby assisting the suction cup 7 to separate from the clamped object.

[0021] In a preferred embodiment, a fixing frame 12 is fixedly installed on the top of the main disk 1, and a motor 13 is fixedly installed on the top of the inner wall of the fixing frame 12. The output shaft of the motor 13 is fixedly sleeved with the inner wall of the rotating rod 14. By using the motor 13 and the rotating rod 14 in coordination, the motor 13 is used to drive the rotating rod 14 to rotate, thereby driving the slider 4 to move through the arc rod 16 by the rotating rod 14.

[0022] In a preferred embodiment, a connecting groove 9 is provided on the inner wall of the clamping rod 5, and an air pump 10 is fixedly installed on the side of the clamping rod 5, and the air suction port of the air pump 10 passes through the inner wall of the connecting groove 9 and the inner wall of the circular groove 6 to be connected with the inner wall of the suction cup 7, and the inner wall of the solenoid valve tube 8 passes through the inner wall of the circular groove 6 to be connected with the inner wall of the suction cup 7. By the coordinated use of the air pump 10 and the connecting groove 9, the inner wall of the connecting groove 9 is utilized to assist the inner cavity of the suction cup 7 to be connected with the air suction port of the air pump 10, thereby assisting the suction cup 7 to stably dock with the clamped object.

[0023] In a preferred embodiment, a motor 2 19 is fixedly mounted on the top of the inner wall of the fixed frame 12, and a driving gear 20 is fixedly sleeved on the output shaft of the motor 2 19, and the convex teeth on the outer edge of the driving gear 20 are meshed with the convex teeth on the outer edge of the gear ring 2. By using the motor 2 19 and the driving gear 20 in coordination, the motor 2 19 is used to drive the driving gear 20 to rotate, and then the driving gear 20 is used to drive the gear ring 2 to rotate stably.

[0024] In a preferred embodiment, the inner wall of the gear ring 2 is fixedly equipped with a fixed magnet sheet 18, and the inner wall of the fixed magnet sheet 18 is adsorbed with the outer edge of the electromagnet sheet 17. By using the fixed magnet sheet 18 and the electromagnet sheet 17 in coordination, the inner wall of the fixed magnet sheet 18 and the outer edge of the electromagnet sheet 17 are docked and adsorbed, thereby the inner wall of the auxiliary slide groove 3 and the inner wall of the auxiliary groove 11 are docked, thereby assisting the slider 4 to stably adjust its position.

[0025] In a preferred embodiment, the number of arc-shaped rods 16 is four, and a slider 4 is provided at the bottom of each of the four arc-shaped rods 16. By installing four arc-shaped rods 16, the four sliders 4 are driven by the four arc-shaped rods 16 to adjust the position, and then the auxiliary device stably drives the four clamping rods 5 to adjust the displacement, and the auxiliary device stably clamps the clamped object.

[0026] When the utility model is in use, the rotating rod 14 is used to drive the round rod 15 to move through the arc rod 16, so that the inner wall of the slide groove 3 is used to assist the slider 4 to limit the position, and then the slider 4 drives the clamping rod 5 to move, and then the side of the suction cup 7 is used to dock with the clamped object, and the solenoid valve tube 8 is closed and the vacuum pump 10 is turned on, so as to assist the suction cup 7 and the clamped object to extract air, so as to assist the suction cup 7 to clamp the clamped object stably, and the motor 2 19 is used to drive the gear ring 2 to rotate, so that the gear ring 2 is used to rotate on the outer edge of the main disk 1, and the electromagnet sheet 17 is turned on at this time until the outer edge of the electromagnet sheet 17 is adsorbed with the inner wall of the fixed magnet sheet 18, at this time, the motor 2 19 stops operating, so as to assist the slider 4 to slide on the inner wall of the slide groove 3 and the inner wall of the auxiliary groove 11, so as to facilitate the slider 4 to drive the clamping rod 5 to be conveniently adjusted according to the size of the clamped object.

[0027] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A manipulator-assisted gripping mechanism, characterized in that: It includes: A main plate (1) and a gear ring (2) rotatably connected to the outer edge of the main plate (1); a slide groove (3) is provided on the inner wall of the main plate (1); a slider (4) is slidably connected to the inner wall of the slide groove (3); a clamping rod (5) is fixedly mounted on the bottom of the slider (4); a circular groove (6) is provided on the inner wall of the clamping rod (5) near the bottom; a suction cup (7) is fixedly mounted on the side of the clamping rod (5) near the bottom; an electromagnetic valve tube (8) is fixedly mounted on the end of the clamping rod (5) away from the suction cup (7); and the slider (4) A round rod (15) is fixedly mounted on the top of the main plate (1), an arc-shaped rod (16) is rotatably connected to the outer edge of the round rod (15), an end of the arc-shaped rod (16) away from the round rod (15) is rotatably connected to a rotating rod (14), and the bottom of the rotating rod (14) is rotatably connected to the top of the main plate (1), an electromagnet sheet (17) is fixedly mounted on the inner wall of the main plate (1), an auxiliary groove (11) is provided on the inner wall of the gear ring (2), and the inner wall of the auxiliary groove (11) is slidably connected to the side of the slider (4).

2. A manipulator-assisted gripping mechanism according to claim 1, characterized in that: A fixing frame (12) is fixedly mounted on the top of the main plate (1), a motor (13) is fixedly mounted on the top of the inner wall of the fixing frame (12), and an output shaft of the motor (13) is fixedly sleeved with the inner wall of the rotating rod (14).

3. A manipulator-assisted gripping mechanism according to claim 1, characterized in that: The inner wall of the clamping rod (5) is provided with a connecting groove (9), and the side of the clamping rod (5) is fixedly equipped with an air pump (10), and the air suction port of the air pump (10) passes through the inner wall of the connecting groove (9) and the inner wall of the circular groove (6) and is connected to the inner wall of the suction cup (7), and the inner wall of the solenoid valve tube (8) passes through the inner wall of the circular groove (6) and is connected to the inner wall of the suction cup (7).

4. A manipulator-assisted gripping mechanism according to claim 2, characterized in that: A second motor (19) is fixedly mounted on the top of the inner wall of the fixing frame (12); a driving gear (20) is fixedly sleeved on the output shaft of the second motor (19); and the convex teeth on the outer edge of the driving gear (20) mesh with the convex teeth on the outer edge of the gear ring (2).

5. The manipulator-assisted gripping mechanism according to claim 1, characterized in that: A fixed magnet sheet (18) is fixedly mounted on the inner wall of the gear ring (2), and the inner wall of the fixed magnet sheet (18) is adsorbed onto the outer edge of the electromagnet sheet (17).

6. A manipulator-assisted gripping mechanism according to claim 1, characterized in that: The number of the arc-shaped rods (16) is four, and a sliding block (4) is disposed at the bottom of each of the four arc-shaped rods (16).

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