Manipulator clamping jaw

Abstract

The manipulator clamping jaw comprises a clamping piece and a connecting piece, a fixing plate is connected to the inner side of the clamping piece in a bolting mode, a telescopic rod is fixed to the middle of the side, away from the clamping piece, of the fixing plate, a first spring is arranged outside the telescopic rod, and second springs are fixed to the front end and the rear end of the side, away from the clamping piece, of the fixing plate. A clamping block is fixed to the tail end of the telescopic rod, an anti-skid pad is fixed to the side, away from the telescopic rod, of the clamping block, and rotating pieces are fixed to the front end and the rear end of the telescopic rod correspondingly. Compared with an existing mechanical arm clamping jaw, the mechanical arm clamping jaw is provided with the clamping mechanism capable of retracting and deforming, workpieces of different shapes and sizes can be stably clamped, the workpieces are not prone to being damaged by clamping, the applicability of the device is improved, meanwhile, the device is provided with the sensing mechanism, the distance of the workpieces can be detected, and the working efficiency is improved. And the height of the clamping structure is controlled according to the workpiece distance, so that clamping failure caused by too high or too low workpieces is avoided, and the practicability of the device is improved.

Description

Technical Field

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

[0002] Mechanical automation is the process of achieving automated control of a machine or device through mechanical means. In factory mechanical automation equipment, robotic grippers are often used to clamp workpieces.

[0003] The announcement number authorized by China is CN219617805U, and it is named a patent for a clamping manipulator. The device includes a clamping track installed on a fixed plate, and also includes a cylinder, which is fixed in the clamping track. A self-locking part is provided on the movable end of the cylinder. The self-locking part selectively engages or slides with the clamping track, wherein when the device is powered on, the self-locking part slides with the clamping track, and when the device is powered off, the self-locking part engages with the clamping track; a chuck, which is movably connected to one end of the clamping track away from the fixed plate, and the chuck is transmission-connected with the movable end of the cylinder. The utility model can improve the stability of the manipulator's clamping transportation, and can also maintain the clamping stability when the equipment stops suddenly.

[0004] Although the above device can improve the stability of the manipulator's gripping and transportation, there are still some problems when using the device:

[0005] 1. The device does not have a clamping mechanism that can be deformed according to the appearance of the workpiece, and the types of workpieces that can be clamped are relatively limited. In addition, since it does not have a retraction mechanism, it is easy to cause excessive clamping force.

[0006] 2. The device does not have an infrared distance detection mechanism and cannot detect the distance between the clamping mechanism and the workpiece. During operation, the clamping may fail due to the workpiece being too high or too low.

[0007] In view of the above situation, technical innovation is carried out on the basis of the existing robot gripper. Utility Model Content

[0008] The purpose of the utility model is to provide a mechanical gripper to solve the problems raised in the above background technology.

[0009] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a manipulator gripper, comprising a clamping member and a connecting member, a fixing plate bolted to the inner side of the clamping member, and a telescopic rod is fixed to the middle part of a side of the fixing plate away from the clamping member, a spring 1 is arranged on the outside of the telescopic rod, and spring 2 is fixed to both the front and rear ends of the side of the fixing plate away from the clamping member, a clamping block is fixed to the end of the telescopic rod, and a non-slip pad is fixed to the side of the clamping block away from the telescopic rod, a rotating member is fixed to both the front and rear ends of the telescopic rod, and a movable block is arranged at the end of the rotating member away from the clamping block, the connecting member is arranged at one end of the clamping member, and telescopic cylinders are arranged on both the left and right sides of the connecting member.

[0010] Furthermore, two clamping members are symmetrically arranged with the central axis of the connecting member, and the telescopic cylinder is rotationally connected to the connecting member.

[0011] Furthermore, the telescopic cylinder may be a pneumatic, hydraulic or electric telescopic cylinder.

[0012] Furthermore, a cylinder is fixed to the top of the connecting piece, and a control panel is fixed to the bottom of the front end of the cylinder.

[0013] Furthermore, an infrared sensor is fixed to the middle of the bottom end of the connecting piece, and the infrared sensor is electrically connected to the control panel.

[0014] Furthermore, a control component is fixed on one side of the cylinder, and the control component includes a control valve and a pipeline, and the outside of the control valve is connected to the pipeline.

[0015] Compared with the prior art, the beneficial effects of the utility model are as follows: the device is provided with a retractable clamping mechanism, which can firmly clamp workpieces of different shapes and sizes and is not easy to damage the workpieces, which is beneficial to improving the applicability of the device. At the same time, the device is provided with a sensing mechanism, which can detect the distance of the workpiece and control the height of the clamping structure according to the distance of the workpiece, thereby avoiding clamping failure due to the workpiece being too high or too low, which is beneficial to improving the practicality of the device.

[0016] 1. The utility model is provided with a telescopic rod, a spring one, a spring two, a clamping block, an anti-skid pad, a rotating part and a movable block. When the device clamps the workpiece, the spring one and the spring two are both hard springs. The clamping block and the movable block will first contact the workpiece. When the clamping part is clamped, the telescopic rod will contract. At the same time, the clamping block will press the workpiece under the thrust of the spring one, and the movable block can retreat a certain angle according to the shape of the workpiece. Under the stretching elastic force of the spring two, the movable block can assist in clamping and fixing, so that the device can clamp an arc-shaped contact surface or a flat contact surface. When the workpiece is small in size, the movable block can also prevent the workpiece from sliding forward or backward. The clamping block and the movable block are fixed with anti-skid pads on one side that contacts the workpiece, which can not only improve the friction force of the clamping parts, but also effectively avoid scratching the workpiece. Through the above structure, the device can firmly clamp workpieces of different shapes and sizes, and is not easy to damage the workpiece, which is conducive to improving the applicability of the device.

[0017] 2. The utility model is provided with a cylinder, a control panel, an infrared sensor, a control component, a control valve and a pipeline. The control panel is electrically connected to the infrared sensor and the control component. The control valve is connected to multiple pipelines, which lead to the top and bottom ends of the cylinder respectively. The control valve is also provided with a pipeline connected to the air source. The control valve is also provided with an air vent. A PLC control chip is provided in the control panel, which can control the extension or contraction of the cylinder. The infrared sensor is a distance measuring sensor, which can detect the distance between the clamping mechanism and the workpiece. The distance data detected by the infrared sensor will be transmitted to the control panel. The control panel can control the extension and contraction length of the cylinder according to the data transmitted by the infrared sensor, so as to avoid clamping failure due to the workpiece being too high or too low. Through the above structure, the device can detect the distance of the workpiece and control the height of the clamping structure according to the distance of the workpiece, so as to avoid clamping failure due to the workpiece being too high or too low, which is conducive to improving the practicality of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a front view structural diagram of a manipulator gripper of the utility model;

[0019] Figure 2 It is a partial front view enlarged structural diagram of a clamping part, a fixing plate, a movable block, a connecting part and an infrared sensor of a manipulator clamp of the utility model;

[0020] Figure 3 It is a partial top view enlarged structural schematic diagram of a fixed plate, a telescopic rod, a spring 1, a spring 2, a clamping block and a rotating part of a manipulator clamp of the utility model.

[0021] In the figure: 1. Clamping part; 2. Fixed plate; 3. Telescopic rod; 4. Spring 1; 5. Spring 2; 6. Clamping block; 7. Anti-slip pad; 8. Rotating part; 9. Movable block; 10. Connecting part; 11. Telescopic cylinder; 12. Cylinder; 13. Control panel; 14. Infrared sensor; 15. Control component; 1501. Control valve; 1502. Pipeline. DETAILED DESCRIPTION

[0022] The following is combined with Figure 1-3 The principles and features of the present invention are described, and the examples given are only used to explain the present invention, and are not used to limit the scope of the present invention. The present invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become clearer according to the following description and claims. It should be noted that the drawings are all in a very simplified form and are not in precise proportions, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

[0023] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a component centered. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a component centered. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a component centered. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0025] like Figure 1-3As shown, a robot gripper comprises a clamping member 1 and a connecting member 10, a fixing plate 2 is bolted to the inner side of the clamping member 1, and a telescopic rod 3 is fixed to the middle part of the side of the fixing plate 2 away from the clamping member 1, a spring 1 4 is arranged on the outside of the telescopic rod 3, and spring 2 5 is fixed to both the front and rear ends of the side of the fixing plate 2 away from the clamping member 1, a clamping block 6 is fixed to the end of the telescopic rod 3, and a non-slip pad 7 is fixed to the side of the clamping block 6 away from the telescopic rod 3, a rotating member 8 is fixed to both the front and rear ends of the telescopic rod 3, and a movable block 9 is arranged at the end of the rotating member 8 away from the clamping block 6, a connecting member 10 is arranged at one end of the clamping member 1, and telescopic cylinders 11 are arranged on the left and right sides of the connecting member 10, when the device clamps the workpiece, the spring 1 4 and the spring 2 5 are both hard springs, and the clamping block 6 and the movable block 9 are fixed to each other. It will first contact with the workpiece. When the clamping member 1 is clamped, the telescopic rod 3 will shrink. At the same time, the clamping block 6 will press the workpiece under the thrust of the spring 1 4, and the movable block 9 can retreat a certain angle according to the shape of the workpiece. Under the stretching elastic force of the spring 2 5, the movable block 9 can assist in clamping and fixing, so that the device can clamp an arc-shaped contact surface or a flat contact surface. When the workpiece is small in size, the movable block 9 can also prevent the workpiece from sliding forward or backward. The clamping block 6 and the movable block 9 are fixed with anti-slip pads 7 on the side in contact with the workpiece, which can not only increase the friction of the clamping parts, but also effectively avoid scratching the workpiece. Through the above structure, the device can firmly clamp workpieces of different shapes and sizes, and is not easy to damage the workpiece, which is beneficial to improving the applicability of the device.

[0026] like Figure 1 and Figure 2As shown, two clamping members 1 are symmetrically arranged with the central axis of the connecting member 10, and the telescopic cylinder 11 is rotatably connected to the connecting member 10. The telescopic cylinder 11 can be a pneumatic, hydraulic or electric telescopic cylinder 11. A cylinder 12 is fixed to the top of the connecting member 10, and a control panel 13 is fixed to the bottom of the front end of the cylinder 12. An infrared sensor 14 is fixed to the middle of the bottom end of the connecting member 10, and the infrared sensor 14 is electrically connected to the control panel 13. A control component 15 is fixed to one side of the cylinder 12, and the control component 15 includes a control valve 1501 and a pipeline 1502. The outside of the control valve 1501 is connected to the pipeline 1502. The control panel 13 is electrically connected to the infrared sensor 14 and the control component 15. The control valve 1501 is connected to multiple pipelines 1502, and the pipelines 1502 lead to the cylinders respectively. The top and bottom ends of 12 are provided, and the control valve 1501 is also provided with a pipeline 1502 connected to the air source. The control valve 1501 is also provided with an air vent. A PLC control chip is provided in the control panel 13, which can control the extension or contraction of the cylinder 12. The infrared sensor 14 is a distance measuring sensor, which can detect the distance between the clamping mechanism and the workpiece. The distance data detected by the infrared sensor 14 will be transmitted to the control panel 13. The control panel 13 can control the telescopic length of the cylinder 12 according to the data transmitted by the infrared sensor 14, so as to avoid clamping failure due to the workpiece being too high or too low. Through the above structure, the device can detect the distance of the workpiece and control the height of the clamping structure according to the distance of the workpiece, so as to avoid clamping failure due to the workpiece being too high or too low, which is conducive to improving the practicability of the device.

[0027] In summary: when the manipulator gripper is used, first, the clamping block 6 is rotationally connected to the connecting member 10, and the telescopic cylinder 11 is rotationally connected to the clamping member 1 and the connecting member 10. When the telescopic cylinder 11 is extended, the two clamping members 1 are pushed by the telescopic cylinder 11 to move toward the middle, so that the clamping block 6 and the movable block 9 are clamped toward the middle to achieve the clamping of the workpiece. The telescopic cylinder 11 is electrically connected to the control panel 13, and the clamping and opening of the device can be controlled by the control panel 13. When the device clamps the workpiece When the clamp 1 is clamped, the spring 1 4 and the spring 2 5 are both hard springs, the clamping block 6 and the movable block 9 will first contact the workpiece. When the clamp 1 is clamped, the telescopic rod 3 will shrink, and the clamping block 6 will press the workpiece under the thrust of the spring 1 4, while the movable block 9 can retreat a certain angle according to the shape of the workpiece. Under the stretching elastic force of the spring 2 5, the movable block 9 can assist in clamping and fixing, so that the device can clamp an arc-shaped contact surface or a straight contact surface. When the workpiece is small in size, the movable block 9 can also prevent The control panel 13 is electrically connected to the infrared sensor 14 and the control assembly 15. The control valve 1501 is connected to a plurality of pipelines 1502, and the pipelines 1502 lead to the top and bottom of the cylinder 12 respectively. The control valve 1501 is also provided with a pipeline 1502 connected to the air source. The control valve 1501 is also provided with an air vent. A PLC control chip is provided in the control panel 13, which can control the extension or contraction of the cylinder 12. The infrared sensor 14 is a distance measuring sensor, which can detect the distance between the clamping mechanism and the workpiece. The distance data detected by the infrared sensor 14 will be transmitted to the control panel 13. The control panel 13 can control the extension and contraction length of the cylinder 12 according to the data transmitted by the infrared sensor 14, so as to avoid the failure of clamping due to the workpiece being too high or too low. This is the working principle of the manipulator gripper.

[0028] The above description is only a preferred embodiment of the utility model and does not impose any form of limitation on the utility model. Any ordinary technician in the industry can smoothly implement the utility model as shown in the drawings of the specification and described above. However, any equivalent changes, modifications and evolutions made by technicians familiar with the profession without departing from the scope of the technical solution of the utility model using the technical content disclosed above are all equivalent embodiments of the utility model. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the utility model are still within the protection scope of the technical solution of the utility model.

Claims

1. A robot gripper, comprising a gripper (1) and a connecting member (10), characterized in that: A fixing plate (2) is bolted to the inner side of the clamping member (1), and a telescopic rod (3) is fixed to the middle part of the side of the fixing plate (2) away from the clamping member (1), a spring 1 (4) is arranged on the outside of the telescopic rod (3), and spring 2 (5) is fixed to both the front and rear ends of the side of the fixing plate (2) away from the clamping member (1), a clamping block (6) is fixed to the end of the telescopic rod (3), and a non-slip pad (7) is fixed to the side of the clamping block (6) away from the telescopic rod (3), a rotating member (8) is fixed to both the front and rear ends of the telescopic rod (3), and a movable block (9) is arranged at one end of the rotating member (8) away from the clamping block (6), and a connecting member (10) is arranged at one end of the clamping member (1), and telescopic cylinders (11) are arranged on both the left and right sides of the connecting member (10).

2. A robot gripper according to claim 1, characterized in that: Two clamping members (1) are symmetrically arranged with the central axis of the connecting member (10), and the telescopic cylinder (11) is rotatably connected to the connecting member (10).

3. A robot gripper according to claim 1, characterized in that: The telescopic cylinder (11) may be a pneumatic, hydraulic or electric telescopic cylinder (11).

4. A robot gripper according to claim 1, characterized in that: A cylinder (12) is fixed to the top of the connecting member (10), and a control panel (13) is fixed to the bottom of the front end of the cylinder (12).

5. A robot gripper according to claim 1, characterized in that: An infrared sensor (14) is fixed at the middle of the bottom end of the connecting member (10), and the infrared sensor (14) is electrically connected to the control panel (13).

6. A robot gripper according to claim 4, characterized in that: A control component (15) is fixed to one side of the cylinder (12), and the control component (15) comprises a control valve (1501) and a pipeline (1502), and the outside of the control valve (1501) is connected to the pipeline (1502).

Images