Truss mechanical arm clamping jaw optimization structure

Abstract

The utility model belongs to the technical field of mechanical arm accessories, and discloses a truss mechanical arm clamping jaw optimization structure which comprises a parallel finger air cylinder installed on a mechanical arm, the parallel finger air cylinder is provided with two fingers, a T-shaped installation plate is installed on the end face of the top of each finger, and the two sides of the T-shaped installation plate are integrally connected with fixing plates. Each fixing plate is provided with four fixing holes in a rhombus shape, and the fixing plates on the two sides are provided with a first clamping jaw and a second clamping jaw matched with the fixing holes; the first clamping jaw and the second clamping jaw are both provided with studs matched with the fixing holes in position, number and specification, the T-shaped mounting plate is detachably provided with a rotary drum, the rotary drum is provided with screw holes matched with the studs in a threaded mode, and the end of the rotary drum is in threaded connection with a nut. And the first clamping jaw or the second clamping jaw can be quickly replaced and used according to specific conditions, so that the clamping device is suitable for clamping workpieces of various models and specifications.

Description

Technical Field

[0001] The utility model belongs to the technical field of manipulator accessories, and in particular relates to an optimized structure of a truss manipulator arm claw. Background Art

[0002] The truss manipulator is a gantry-type, fully automatic industrial equipment based on the right-angle X, Y, Z three-coordinate system, which automatically grabs, hoists, transports, stacks, and stacks workpieces or products according to the set program;

[0003] The equipment used by truss manipulators for grasping is mostly parallel finger cylinders, but the claws installed on the parallel finger cylinders are in contact with the workpiece. Currently, most common claws are of a single structure, that is, V-shaped or flat. The applicant found during use that the surface of the round bar material provided by the steel plant is not smooth and flat. The V-shaped claws installed on the corresponding bar material make the robot arm claws unstable in grasping the material during the product turning and grasping processes, and thus cannot effectively ensure the corresponding position of the subsequent equipment, which is prone to shaking, causing parts to fall off and affecting processing. Utility Model Content

[0004] In view of the problems raised by the above background technology, the purpose of the present utility model is to provide an optimized structure of the claws of a truss robot arm.

[0005] In order to achieve the above technical purpose, the technical solution adopted by the utility model is as follows:

[0006] A truss mechanical arm claw optimization structure, comprising a parallel finger cylinder installed on the mechanical arm, the parallel finger cylinder is provided with two fingers, the top end surface of the finger is installed with a T-shaped mounting plate, the two sides of the T-shaped mounting plate are integrally connected with a fixing plate, the fixing plate is rhombus-shaped and provided with four fixing holes, and the fixing plates on both sides are equipped with a first claw and a second claw in cooperation with the fixing holes;

[0007] The first clamping claw comprises a first base, the first base is provided with a V-shaped bayonet and an arc-shaped bayonet, the V-shaped bayonet and the arc-shaped bayonet are perpendicular to each other, the V-shaped bayonet and the arc-shaped bayonet are arranged at the center of the first base, and the V-shaped bayonet and the arc-shaped bayonet both pass through the first base;

[0008] The second clamping claw comprises a second base, a circular arc groove is provided at the center of the second base, and a cylindrical groove is provided at the bottom of the circular arc groove;

[0009] The first clamping claw and the second clamping claw are both provided with studs whose positions, quantities and specifications match the fixing holes. The T-shaped mounting plate is detachably mounted with a rotating cylinder, which is provided with screw holes matching the threads of the studs. A nut is threadedly connected to the end of the rotating cylinder.

[0010] It is further defined that the surface of the second base is provided with friction patterns, and such a design enhances the friction force and provides a better clamping effect for clamping a workpiece with a flat surface.

[0011] It is further defined that the finger is provided with a blind hole that matches the position specification and size of the fixing hole. Such a design makes way for the stud and will not interfere with the stud.

[0012] It is further defined that the stud thread is matched with a fixing cap. Such a design can prevent the fixing cap from being lost or falling by screwing it onto the first claw or the second claw that is not working.

[0013] It is further defined that the rotating drum is integrally provided with a six-sided screw cap, and such a design facilitates the rotation of the rotating drum.

[0014] The beneficial effects of adopting the utility model are:

[0015] By adopting the structural design of the utility model, the first clamping jaw or the second clamping jaw can be quickly replaced according to the specific situation, thereby adapting to clamping workpieces of various models and specifications;

[0016] With the structural design of the utility model, an arc-shaped bayonet is provided in the longitudinal direction of the V-shaped bayonet, which is equivalent to changing the V-shaped bayonet with a two-petal structure into a four-petal structure, thereby improving the force point of clamping the material. In clamping the raw bar material, good results are obtained through actual application, and no material falling due to unstable clamping is found. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention can be further described by the non-limiting embodiments given in the accompanying drawings;

[0018] Figure 1 It is a structural schematic diagram of an embodiment of an optimized structure of a truss mechanical arm claw of the utility model;

[0019] Figure 2 It is a structural schematic diagram of the first clamping claw and the second clamping claw of an embodiment of the optimized structure of the clamping claw of a truss mechanical arm of the utility model;

[0020] Figure 3 It is a partial cross-sectional structural schematic diagram of an embodiment of an optimized structure of a truss mechanical arm claw of the utility model;

[0021] The main component symbols are described as follows:

[0022] Parallel finger cylinder 1; two fingers 2; T-shaped mounting plate 3; fixing plate 4; fixing hole 5; first clamping claw 6; second clamping claw 7; stud 8; rotating cylinder 9; screw hole 10; nut 11; blind hole 12; six-sided screw cap 13; fixing cap 14;

[0023] First base 61; V-shaped bayonet 62; arc-shaped bayonet 63;

[0024] The second base 71 ; the arc groove 72 ; the cylindrical groove 73 ; and the friction pattern 74 . DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the present invention, the technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0026] like Figure 1 , Figure 2 , Figure 3 As shown, a truss mechanical arm claw optimization structure of the utility model comprises a parallel finger cylinder 1 installed on the mechanical arm, the parallel finger cylinder 1 is provided with two fingers 2, the top end surface of the finger 2 is provided with a T-shaped mounting plate 3, the two sides of the T-shaped mounting plate 3 are integrally connected with a fixing plate 4, the fixing plate 4 is rhombus-shaped and provided with four fixing holes 5, and the fixing plates 4 on both sides are provided with a first claw 6 and a second claw 7 in coordination with the fixing holes 5;

[0027] The first clamping claw 6 includes a first base 61, and the first base 61 is provided with a V-shaped bayonet 62 and an arc bayonet 63, the V-shaped bayonet 62 and the arc bayonet 63 are perpendicular to each other, the V-shaped bayonet 62 and the arc bayonet 63 are arranged at the center of the first base 61, and the V-shaped bayonet 62 and the arc bayonet 63 both penetrate the first base 61;

[0028] The second clamping claw 7 comprises a second base 71, a circular arc groove 72 is provided at the center of the second base 71, and a cylindrical groove 73 is provided at the bottom of the circular arc groove 72;

[0029] The first clamping claw 6 and the second clamping claw 7 are both provided with studs 8 whose positions and quantities match the fixing holes 5. The T-shaped mounting plate 3 is detachably mounted with a rotating drum 9, which is provided with screw holes 10 that match the threads of the studs 8, and a nut 11 is threadedly connected to the end of the rotating drum 9.

[0030] In this embodiment, when a truss robot arm claw optimization structure is used, the T-shaped mounting plate 3 is fixedly mounted on the finger 2 by screws or direct welding, and then a set of first claws 6 and a set of second claws 7 are correspondingly fitted on the fixing plate 4 integrally connected to the T-shaped mounting plate 3, and the rotating cylinder 9 is rotated to connect the screw hole 10 with the stud 8, and then the rotating cylinder 9 is locked with the nut 11 to complete the installation;

[0031] The stud 8 and the fixing hole 5 cooperate to limit the fixing plate 4, ensuring that the first claw 6 and the second claw 7 are not offset in use. The fixing method of the rotating drum 9 makes the fixing and replacement of the first claw 6 and the second claw 7 quick and convenient.

[0032] The V-shaped bayonet 62 on the first clamping jaw 6 is suitable for clamping workpieces with edges and curved surfaces, and the curved bayonet 63 is suitable for clamping rod-shaped workpieces. In addition, due to the staggered V-shaped bayonet 62 and the curved bayonet 63, the first base 61 has a four-petal structure as a whole, which improves the force point of clamping materials and makes the clamping more stable.

[0033] The arc groove 72 on the second jaw 7 is suitable for clamping a workpiece with a spherical surface, while the cylindrical groove 73 is suitable for clamping a workpiece with a special cylindrical end. The arc groove 72 and the cylindrical groove 73 do not interfere with the plane clamping of the second base 71, that is, they can also be used for clamping a workpiece with a plane.

[0034] In summary, by replacing the first jaw 6 and the second jaw 7, it is possible to adapt to the clamping of workpieces of various specifications, thereby expanding the adaptation range. The replacement of the first jaw 6 only requires unscrewing the screw hole 10 away from the stud 8, then rotating the first base 61 90°, and then connecting the screw hole 10 with the stud 8, which is simple, convenient and quick.

[0035] Preferably, the surface of the second base 71 is provided with friction grooves 74. Such a design enhances friction force and provides better clamping effect for workpieces with flat surfaces. In fact, the specifications and styles of the friction grooves 74 may also be considered according to specific circumstances.

[0036] Preferably, the finger 2 is provided with a blind hole 12 that matches the position and size of the fixing hole 5. Such a design makes way for the stud 8 and does not interfere with the stud 8. In fact, the depth of the blind hole 12 can also be considered according to specific circumstances.

[0037] Preferably, the thread of the stud 8 is matched with a fixing cap 14. Such a design can prevent the fixing cap 14 from being lost or falling by screwing it onto the first claw 6 or the second claw 7 which is not working. In fact, simple fixing measures for the first claw 6 or the second claw 7 can also be considered according to specific circumstances.

[0038] Preferably, the rotating drum 9 is integrally provided with a six-sided screw cap 13. Such a design facilitates the rotation of the rotating drum 9. In fact, a structure that facilitates the rotation of the rotating drum 9 may also be considered according to specific circumstances.

[0039] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the relevant technical field without departing from the spirit and technical ideas disclosed in the present invention shall still be covered by the claims of the present invention.

Claims

1. A truss robot arm claw optimization structure, comprising a parallel finger cylinder (1) mounted on the robot arm, characterized in that: The parallel finger cylinder (1) is provided with two fingers (2), the top end surface of the finger (2) is installed with a T-shaped mounting plate (3), the two sides of the T-shaped mounting plate (3) are integrally connected with a fixing plate (4), the fixing plate (4) is rhombus-shaped and provided with four fixing holes (5), and the fixing plates (4) on both sides are equipped with a first clamping claw (6) and a second clamping claw (7) in cooperation with the fixing holes (5); The first clamping claw (6) comprises a first base (61), the first base (61) is provided with a V-shaped bayonet (62) and an arc-shaped bayonet (63), the V-shaped bayonet (62) and the arc-shaped bayonet (63) are perpendicular to each other, the V-shaped bayonet (62) and the arc-shaped bayonet (63) are arranged at the center of the first base (61), and the V-shaped bayonet (62) and the arc-shaped bayonet (63) both pass through the first base (61); The second clamping claw (7) comprises a second base (71), a circular arc groove (72) is provided at the center of the second base (71), and a cylindrical groove (73) is provided at the bottom of the circular arc groove (72); The first clamping claw (6) and the second clamping claw (7) are both provided with studs (8) whose positions, quantities and specifications match those of the fixing holes (5); the T-shaped mounting plate (3) is detachably mounted with a rotating cylinder (9); the rotating cylinder (9) is provided with screw holes (10) whose threads match those of the studs (8); and a nut (11) is threadedly connected to the end of the rotating cylinder (9).

2. The optimized structure of the truss robot arm claw according to claim 1, characterized in that: The second base (71) has a friction pattern (74) on its surface.

3. The optimized structure of the truss robot arm claw according to claim 2, characterized in that: The finger (2) is provided with a blind hole (12) whose position, specification and size match those of the fixing hole (5).

4. The optimized structure of the truss robot arm claw according to claim 3 is characterized in that: The thread of the stud (8) is matched with a fixing cap (14).

5. The optimized structure of the truss robot arm claw according to claim 4, characterized in that: The rotating drum (9) is integrally provided with a six-sided screw cap (13).

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