Truss manipulator clamping mechanism

Abstract

The utility model relates to the technical field of truss manipulators, in particular to a truss manipulator clamping mechanism which comprises a rotary air cylinder, an installation block is installed at the bottom end of the rotary air cylinder, a movable plate is installed in the bottom end of the installation block in a sliding mode, and a rack plate is fixedly installed on the top face of the movable plate. Driving structures are mounted at the left and right ends of the inner side of the mounting block; and a clamping structure is installed on the movable plate, the clamping structure comprises a large-head clamping block, the large-head clamping block is fixedly installed on the bottom face of the movable plate, and a movable groove is formed in the large-head clamping block. The small-head clamping block is installed in the large-head clamping block, the small-head clamping block can stretch out and draw back in the large-head clamping block, in the using process, a large head and a small head of a workpiece can be clamped and fixed by adjusting the position of the small-head clamping block on the inner side of the large-head clamping block, the fixing position is not limited, and the fixing effect on the workpiece can be guaranteed.

Description

Technical Field

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

[0002] A truss robot is an industrial equipment with a frame structure that can move in three-dimensional space. The claws of the truss robot can clamp workpieces. When processing many shaft parts, one end is usually processed first and then flipped 180° before processing the other end. Both machine tools and automated claws need to grasp the large end and the small end during the processing, and the diameters of the two ends of the workpiece are quite different. There are defects in the flexible grasping of the large and small ends of the workpiece and the flipping during the processing.

[0003] In this regard, China applied for patent number: CN202023113327.X, which discloses a multifunctional truss manipulator gripper, belonging to the technical field of truss manipulators. The multifunctional truss manipulator gripper includes a rotating cylinder, one side of the rotating cylinder is fixedly connected to an air pipe joint, one side of the air pipe joint is fixedly connected to an air pipe, and the lower surface of the rotating cylinder is fixedly connected to a rotating shaft. The multifunctional truss manipulator gripper, through the coordinated arrangement of the rotating cylinder, the large-head grasping fingers and the small-head grasping fingers, provides rotational power to the rotating cylinder through the air pipe when in use, drives the rotating shaft and the connecting turntable to rotate, realizes a 180-degree flip of the workpiece, and the clamping motor rotates forward and reverse, driving the gear and the clamping claw to engage and rotate, so that the clamping claw clamps the workpiece. This arrangement reduces additional flipping stations, improves the beat, and improves production efficiency.

[0004] The robot arm's gripper can clamp and fix the large and small ends of the workpiece respectively by setting large and small head grasping fingers. However, the small head grasping fingers are installed on the side walls of the large head grasping fingers and cannot move. When in use, the small head grasping fingers will block the large end of the workpiece installed in the large head grasping fingers, so that the large head grasping fingers can only fix the end of the large end of the workpiece, and the fixing position is limited.

[0005] Therefore, in order to solve the above problems, a truss manipulator clamping mechanism is proposed. Utility Model Content

[0006] The purpose of the utility model is to provide a truss manipulator clamping mechanism to solve the problem that the manipulator claw in the prior art mentioned in the above background technology can clamp and fix the large and small heads of the workpiece respectively by setting large and small head grasping fingers, but the small head grasping fingers are installed on the side walls of the large head grasping fingers and cannot move. The small head grasping fingers will block the large head of the workpiece installed in the large head grasping fingers when in use, so that the large head grasping fingers can only fix the end of the large head of the workpiece, and the fixing position is limited.

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a truss manipulator gripping mechanism, comprising: a rotating cylinder, a mounting block is installed at the bottom end of the rotating cylinder, a movable plate is slidably installed inside the bottom end of the mounting block, a rack plate is fixedly installed on the top surface of the movable plate, and a driving structure is installed at the left and right ends of the inner side of the mounting block;

[0008] A clamping structure is installed on the movable plate, and the clamping structure includes a big head clamping block, and the big head clamping block is fixedly installed on the bottom surface of the movable plate. A movable groove is opened inside the big head clamping block, and a guide block is integrally formed on the inner wall of the movable groove. A small head clamping block is slidably installed on the inner side of the movable groove, and a guide groove is opened on the surface of the small head clamping block. A threaded rod is movably installed on the bottom surface of the movable plate through a bearing, and a motor is fixedly installed on the bottom surface of the movable plate.

[0009] Preferably, a shielding structure is installed on the mounting block, and the shielding structure includes a mounting plate, and the mounting plate is fixedly mounted on the left and right side walls of the mounting block, and a fixing plate is fixedly mounted on the bottom surface of the mounting plate, and a brush is bonded to the bottom end of the fixing plate.

[0010] Preferably, the driving structure is used to drive the movable plate to move at the inner bottom end of the mounting block through the rack plate.

[0011] Preferably, the end of the small-head clamping block is flush with the side wall of the large-head clamping block, and the guide block is slidably installed inside the guide groove.

[0012] Preferably, the output end of the motor is fixedly connected to the threaded rod, and the threaded rod is threadedly connected to the small-head clamping block.

[0013] Preferably, the fixed plate is arranged in a wave shape, and the bottom end of the brush is in contact with the movable plate and the rack plate.

[0014] Compared with the prior art, the utility model has the following beneficial effects: the utility model installs the small head clamping block inside the large head clamping block, and the small head clamping block can be telescopically movable inside the large head clamping block. When in use, the small and large heads of the workpiece can be clamped and fixed by adjusting the position of the small head clamping block inside the large head clamping block, and the fixing position is not restricted, thereby ensuring the fixing effect of the workpiece.

[0015] When the movable plate is movable, the small head clamping block is driven to move by the big head clamping block, so that the two groups of small head clamping blocks are close to each other, and the big head of the workpiece can be fixed. When the small head clamping block is needed to fix the small head of the workpiece, the motor is started to drive the threaded rod to rotate, and the threaded rod is threadedly connected with the small head clamping block. The rotation of the threaded rod drives the guide block to move inside the movable groove, and the small head clamping block moves in the movable groove through the guide groove and the guide block, so that the end of the small head clamping block extends out of the movable groove. When the movable plate is movable, the small head clamping block is driven to move by the big head clamping block, so that the two groups of small head clamping blocks are close to each other, and the small head of the workpiece can be fixed. Moreover, the big head clamping block and the small head clamping block do not block each other when in use, and the fixing position of the workpiece is not restricted, which is more practical.

[0016] 2. The utility model is provided with a shielding structure. When the movable plate moves inside the mounting block, the bottom end of the brush will rub against the top surface of the movable plate, so the debris on the surface of the rack plate can be cleaned. The brush is wavy in shape, which has a better cleaning effect on the rack plate. The rack plate cooperates with the fixed plate to shield the left and right ends of the mounting block, which can reduce the entry of dust into the mounting block, ensure the smooth movement of the driving structure and the movable plate, and ensure the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the utility model;

[0018] Figure 2 It is a schematic diagram of the front cross-section of the structure of the mounting block of the utility model;

[0019] Figure 3 It is a schematic diagram of the structural explosion of the clamping structure of the utility model;

[0020] Figure 4 It is a structural schematic diagram of the brush and movable plate of the utility model.

[0021] In the figure: 1. Rotating cylinder; 11. Mounting block; 12. Movable plate; 13. Rack plate; 14. Driving structure; 2. Clamping structure; 21. Big head clamping block; 22. Movable groove; 23. Guide block; 24. Small head clamping block; 25. Guide groove; 26. Threaded rod; 27. Motor; 3. Shielding structure; 31. Mounting plate; 32. Fixed plate; 33. Brush. DETAILED DESCRIPTION

[0022] 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.

[0023] See also Figure 1-4 , an embodiment provided by the utility model:

[0024] The rotary cylinder 1, mounting block 11, movable plate 12, rack plate 13, drive structure 14 and motor 27 used in the present application are products that can be directly purchased on the market. Their principles and connection methods are existing technologies well known to technicians in this field, so they will not be repeated here.

[0025] A truss manipulator gripping mechanism, comprising: a rotating cylinder 1, a mounting block 11 is mounted at the bottom end of the rotating cylinder 1, a movable plate 12 is slidably mounted inside the bottom end of the mounting block 11, a rack plate 13 is fixedly mounted on the top surface of the movable plate 12, and a driving structure 14 is mounted on the left and right ends of the inner side of the mounting block 11;

[0026] A clamping structure 2 is installed on the movable plate 12, and the clamping structure 2 includes a big head clamping block 21, which is fixedly installed on the bottom surface of the movable plate 12, and a movable groove 22 is provided inside the big head clamping block 21, and a guide block 23 is integrally formed on the inner wall of the movable groove 22, and a small head clamping block 24 is slidably installed on the inner side of the movable groove 22, and a guide groove 25 is provided on the surface of the small head clamping block 24, and a threaded rod 26 is movably installed on the bottom surface of the movable plate 12 through a bearing, and a motor 27 is fixedly installed on the bottom surface of the movable plate 12, by installing the small head clamping block 24 inside the big head clamping block 21, and the small head clamping block 24 can be telescopic and movable in the big head clamping block 21, when in use, the position of the small head clamping block 24 on the inner side of the big head clamping block 21 can be adjusted to clamp and fix the large and small heads of the workpiece, and the fixing position is not restricted, so the fixing effect of the workpiece can be guaranteed.

[0027] Furthermore, a shielding structure 3 is installed on the mounting block 11, and the shielding structure 3 includes a mounting plate 31, and the mounting plate 31 is fixedly mounted on the left and right side walls of the mounting block 11. A fixing plate 32 is fixedly mounted on the bottom surface of the mounting plate 31, and a brush 33 is bonded to the bottom end of the fixing plate 32. When the movable plate 12 moves inside the mounting block 11, the bottom end of the brush 33 will rub against the top surface of the movable plate 12, so as to clean the debris on the surface of the rack plate 13, and the brush 33 is wavy in shape, which has a better cleaning effect on the rack plate 13, and the rack plate 13 cooperates with the fixing plate 32 to shield the left and right ends of the mounting block 11, which can reduce the dust from entering the mounting block 11, and can ensure the smooth movement of the driving structure 14 and the movable plate 12, thereby ensuring the user experience.

[0028] Furthermore, the driving structure 14 is used to drive the movable plate 12 to move at the inner bottom end of the mounting block 11 through the rack plate 13. The driving structure 14 provides power for the movement of the movable plate 12 so that the two groups of large-head clamping blocks 21 and the two groups of small-head clamping blocks 24 can move closer to or farther away from each other.

[0029] Furthermore, the end of the small head clamping block 24 is flush with the side wall of the large head clamping block 21, and the guide block 23 is slidably installed inside the guide groove 25. The guide block 23 cooperates with the guide groove 25 to provide a movable guide limit for the small head clamping block 24 on the inner side of the movable groove 22.

[0030] Furthermore, the output end of the motor 27 is fixedly connected to the threaded rod 26, and the threaded rod 26 is threadedly connected to the small head clamping block 24. The motor 27 provides power for the rotation of the threaded rod 26, and the rotation of the threaded rod 26 can drive the small head clamping block 24 to move inside the movable groove 22.

[0031] Furthermore, the fixed plate 32 is arranged in a wave shape, and the bottom end of the brush 33 contacts the movable plate 12 and the rack plate 13. The brush 33 cooperates with the fixed plate 32 to block dust and reduce the dust from entering the inner side of the mounting block 11. When the movable plate 12 moves, it can drive the rack plate 13 to move at the bottom end of the brush 33, and the brush 33 can clean the surface of the rack plate 13.

[0032] Working principle: The small-end clamping block 24 is installed on the inner side of the movable groove 22, and the end of the small-end clamping block 24 is flush with the inner wall of the large-end clamping block 21. When the driving structure 14 is started, the movable plate 12 can be driven to move on the bottom surface of the mounting block 11 through the rack plate 13. The movement of the movable plate 12 drives the large-end clamping block 21 to move, so that the two groups of large-end clamping blocks 21 are close to each other, and the large end of the workpiece can be fixed;

[0033] When the small head clamping block 24 is needed to fix the small head of the workpiece, the motor 27 is started to drive the threaded rod 26 to rotate. The threaded rod 26 is threadedly connected to the small head clamping block 24. The rotation of the threaded rod 26 drives the guide block 23 to move inside the movable groove 22. The small head clamping block 24 moves in the movable groove 22 through the guide groove 25 and the guide block 23, so that the end of the small head clamping block 24 extends out from the movable groove 22. When the movable plate 12 is active, the large head clamping block 21 drives the small head clamping block 24 to move, so that the two groups of small head clamping blocks 24 are close to each other, and the small head of the workpiece can be fixed. In addition, when the large head clamping block 21 and the small head clamping block 24 are in use, they do not block each other, and the fixing position of the workpiece is not restricted, which is more practical.

[0034] When the movable plate 12 moves inside the mounting block 11, the bottom end of the brush 33 will rub against the top surface of the movable plate 12, so as to clean the debris on the surface of the rack plate 13. The brush 33 is wavy in shape, which has a better cleaning effect on the rack plate 13. The rack plate 13 cooperates with the fixed plate 32 to block the left and right ends of the mounting block 11, which can reduce the dust from entering the mounting block 11, and can ensure the smooth movement of the driving structure 14 and the movable plate 12, thereby ensuring the user experience.

[0035] The above description is only a preferred embodiment of the utility model and does not limit the utility model in any form. 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 truss manipulator gripping mechanism, comprising: A rotary cylinder (1), wherein a mounting block (11) is mounted at the bottom end of the rotary cylinder (1), a movable plate (12) is slidably mounted inside the bottom end of the mounting block (11), a rack plate (13) is fixedly mounted on the top surface of the movable plate (12), and a driving structure (14) is mounted on the left and right ends of the inner side of the mounting block (11); Features: A clamping structure (2) is installed on the movable plate (12), and the clamping structure (2) comprises a large-head clamping block (21). The large-head clamping block (21) is fixedly installed on the bottom surface of the movable plate (12), a movable groove (22) is provided inside the large-head clamping block (21), a guide block (23) is integrally formed on the inner wall of the movable groove (22), a small-head clamping block (24) is slidably installed on the inner side of the movable groove (22), and a guide groove (25) is provided on the surface of the small-head clamping block (24), a threaded rod (26) is movably installed on the bottom surface of the movable plate (12) through a bearing, and a motor (27) is fixedly installed on the bottom surface of the movable plate (12).

2. A truss manipulator gripping mechanism according to claim 1, characterized in that: A shielding structure (3) is installed on the mounting block (11), and the shielding structure (3) comprises a mounting plate (31), the mounting plate (31) is fixedly mounted on the left and right side walls of the mounting block (11), a fixing plate (32) is fixedly mounted on the bottom surface of the mounting plate (31), and a brush (33) is bonded to the bottom end of the fixing plate (32).

3. The truss manipulator gripping mechanism according to claim 1, characterized in that: The driving structure (14) is used to drive the movable plate (12) to move at the inner bottom end of the mounting block (11) via the rack plate (13).

4. The truss manipulator gripping mechanism according to claim 1, characterized in that: The end of the small-head clamping block (24) is flush with the side wall of the large-head clamping block (21), and the guide block (23) is slidably mounted inside the guide groove (25).

5. The truss manipulator gripping mechanism according to claim 1, characterized in that: The output end of the motor (27) is fixedly connected to the threaded rod (26), and the threaded rod (26) is threadedly connected to the small-head clamping block (24).

6. A truss manipulator gripping mechanism according to claim 2, characterized in that: The fixed plate (32) is arranged in a wave shape, and the bottom end of the brush (33) is in contact with the movable plate (12) and the rack plate (13).

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