Same-side two-claw floating centripetal clamping device, three-claw manipulator, four-claw manipulator and floating four-claw manipulator

Abstract

The utility model discloses a same-side two-claw floating centripetal clamping device. The same-side two-claw floating centripetal clamping device comprises a rack and a same-side two-claw centripetal clamping unit, the same-side two-jaw centripetal clamping unit comprises a positive and negative thread floating screw rod, a first sliding block, a second sliding block, a first movable clamping jaw and a second movable clamping jaw. The utility model further discloses a three-jaw manipulator, a four-jaw manipulator and a floating four-jaw manipulator. Compared with the prior art, the left-hand and right-hand floating screw rod in the same-side two-jaw floating centripetal clamping device is of a floating structure, the moving distance of the first movable clamping jaw and the moving distance of the second movable clamping jaw can be different, and the application range is widened. The same-side two-claw floating centripetal clamping device is flexible in use, can form a three-claw or four-claw manipulator by being matched with one or two fixed clamping claws, and can form a floating four-claw manipulator capable of clamping special-shaped parts by combining two sets of same-side two-claw centripetal clamping units for use.

Description

Technical Field

[0001] The utility model belongs to the technical field of manipulators, and particularly relates to a same-side two-claw floating centripetal clamping device, a three-claw manipulator, a four-claw manipulator and a floating four-claw manipulator. Background Art

[0002] In automated production lines, robots are often required to clamp workpieces.

[0003] In the prior art two-claw clamping device, if the two claws share a power (such as a power disk driving two bevel gears to rotate at the same time, and the bevel gears drive the screw to rotate to drive the claws to move), the two claws are an equidistant moving structure. When the workpiece to be clamped is clamped, the distances required for the two claws to move are not equal. This structure is not applicable. If the two claws are driven by different power, an additional power is required, resulting in high cost and bulky device.

[0004] Therefore, it is necessary to provide a new same-side two-claw floating centripetal clamping device, a three-claw manipulator, a four-claw manipulator and a floating four-claw manipulator to solve the above technical problems. Utility Model Content

[0005] 1. Technical issues to be resolved

[0006] Based on this, the utility model provides a same-side two-claw floating centripetal clamping device, a three-claw manipulator, a four-claw manipulator and a floating four-claw manipulator to solve the technical problem that the two-claw clamping device in the prior art cannot realize the unequal movement of the two clamping claws driven by a single power.

[0007] (II) Technical solution

[0008] In order to solve the above technical problems, the utility model proposes a same-side two-claw floating centripetal clamping device, including a frame and a same-side two-claw centripetal clamping unit; the same-side two-claw centripetal clamping unit includes: a forward and reverse floating screw, a first slider, a second slider, a first movable clamping jaw and a second movable clamping jaw; the forward and reverse floating screw is provided with two sections of first thread and second thread with opposite rotation directions; the first slider is connected to the forward and reverse floating screw thread via the first thread, and the second slider is connected to the forward and reverse floating screw thread via the second thread; the lower part of the frame is provided with an installation cavity formed therein, the forward and reverse floating screw, the first slider and the second slider are all installed in the installation cavity, and the The positive and negative floating screws, the first slider and the second slider are respectively connected to the mounting cavity in a sliding manner; the upper surface of the frame is provided with a recessed first jaw guide groove and a second jaw guide groove, the upper part of the first movable jaw is accommodated in the first jaw guide groove and the two are connected in a sliding manner; the upper part of the second movable jaw is accommodated in the second jaw guide groove and the two are connected in a sliding manner; the extension line of the sliding trajectory of the first movable jaw is L1; the extension line of the sliding trajectory of the second movable jaw is L2; ​​the intersection of L1 and L2 is the center P of the same circle; the upper part of the first slider is connected to the lower part of the first movable jaw in a sliding manner, and the upper part of the second slider is connected to the lower part of the second movable jaw in a sliding manner.

[0009] Preferably, a raised first oblique guide block is provided on the upper portion of the first sliding block, and a recessed first oblique guide groove is provided on the lower portion of the first movable clamp, and the first oblique guide block extends into the first oblique guide groove to realize the sliding connection between the first sliding block and the first movable clamp; a raised second oblique guide block is provided on the upper portion of the second sliding block, and a recessed second oblique guide groove is provided on the lower portion of the second movable clamp, and the second oblique guide block extends into the second oblique guide groove to realize the sliding connection between the second sliding block and the second movable clamp; a first stroke control hole for limiting the position of the first oblique guide block is also provided on the frame, and a second stroke control hole for limiting the position of the second oblique guide block is also provided on the frame, the first stroke control hole and the second stroke control hole are respectively connected to the mounting cavity, the first oblique guide block extends into the first stroke control hole, and the second oblique guide block extends into the second stroke control hole.

[0010] Preferably, the angle between the extension direction of the first oblique guide groove and the axial direction of the forward and reverse floating screw is T1, and the angle between the extension direction of the second oblique guide groove and the axial direction of the forward and reverse floating screw is T1, T1=55°-85°; the angle between the extension direction of the first clamping jaw guide groove and the axial direction of the forward and reverse floating screw is T2, and the angle between the extension direction of the second clamping jaw guide groove and the axial direction of the forward and reverse floating screw is T2, T2=35°-65°.

[0011] Preferably, the first slider is in the shape of a rectangular block as a whole, and a first staggered overlapping guide groove is provided at an upper portion of the first slider on a side close to the second slider, and a side wall of the first staggered overlapping guide groove away from the second slider is a concave arc; the second slider is in the shape of a rectangular block as a whole, and a second staggered overlapping guide groove is provided at a lower portion of the second slider on a side close to the first slider, and a side wall of the second staggered overlapping guide groove away from the first slider is a concave arc; a first staggered overlapping column whose shape matches the second staggered overlapping guide groove is provided at a lower portion of the first slider on a side close to the second slider; a second staggered overlapping column whose shape matches the first staggered overlapping guide groove is provided at an upper portion of the second slider on a side close to the first slider.

[0012] Preferably, a recessed bottom air-avoiding groove is provided on the bottom inner side wall of the installation cavity, and a recessed side air-avoiding groove is provided on two opposite inner side walls of the installation cavity respectively; a recessed first bottom air-avoiding groove is provided on the bottom of the first sliding block opposite to the bottom air-avoiding groove, and a recessed second bottom air-avoiding groove is provided on the bottom of the second sliding block opposite to the bottom air-avoiding groove; the cross-section of the first clamping jaw guide groove is in the shape of an "I" character, the cross-sectional shape of the first movable clamping jaw matches the cross-sectional shape of the first clamping jaw guide groove, a first lubricating grease nipple is provided on the end of the first movable clamping jaw away from the center P, and a first lubricating channel connecting the first lubricating grease nipple and the first oblique guide groove is provided in the first movable clamping jaw; the cross-sectional shape of the second clamping jaw guide groove is in the shape of an "I" character, the cross-sectional shape of the second movable clamping jaw matches the cross-sectional shape of the second clamping jaw guide groove, a second lubricating grease nipple is provided on the end of the second movable clamping jaw away from the center P, and a second lubricating channel connecting the second lubricating grease nipple and the second oblique guide groove is provided in the second movable clamping jaw.

[0013] Preferably, a driving section is also provided on the forward and reverse floating screw, and the driving section is arranged at one end of the forward and reverse floating screw, and the driving section, the first thread and the second thread are arranged in sequence and spaced apart along the length direction of the forward and reverse floating screw; the cross-section of the driving section is a regular hexagon, and the driving section extends out of the frame.

[0014] Preferably, a driving section is also provided on the forward and reverse floating screw, and the driving section is arranged at one end of the forward and reverse floating screw, and the driving section is completely accommodated in the installation cavity, and the driving section, the first thread and the second thread are arranged in sequence and spaced along the length direction of the forward and reverse floating screw; the two-claw floating centripetal clamping device on the same side also includes a rotating drive connected to the driving section and used to drive the forward and reverse floating screw to rotate, and a power component accommodating cavity is also provided in the frame, and the rotating drive is accommodated in the power component accommodating cavity, and the rotating drive includes a motor and a gear system, and the gear system is respectively connected to the motor and the driving section.

[0015] The utility model also discloses a four-claw manipulator, comprising the two-claw floating centripetal clamping device on the same side as described above, the four-claw manipulator also comprising two second fixed jaws, one end of the second fixed jaws being respectively mounted on the frame, the other end of the second fixed jaws being respectively arranged opposite to the center P of the circle, and the first movable jaw, the second movable jaw and the two second fixed jaws being evenly arranged around the center P of the circle.

[0016] The utility model also discloses a floating four-claw manipulator, comprising the above-mentioned same-side two-claw floating centripetal clamping device, the number of the same-side two-claw centripetal clamping units is two sets, the number of the two mounting cavities is two, the two mounting cavities are parallel and spaced apart, the center P is located between the two mounting cavities, the two sets of the same-side two-claw centripetal clamping units are installed in the two mounting cavities one by one, the number of the first clamping jaw guide grooves is two, the number of the second clamping jaw guide grooves is two, each of the first clamping jaw guide grooves is correspondingly provided with a first movable clamping jaw, each of the second clamping jaw guide grooves is correspondingly provided with a second movable clamping jaw, and the two first movable clamping jaws and the two second movable clamping jaws in the two sets of the same-side two-claw floating centripetal clamping devices are evenly arranged around the center P.

[0017] (III) Beneficial effects

[0018] Compared with the prior art, the floating screw for forward and reverse wires in the same-side two-claw floating centripetal clamping device of the utility model is a floating structure, and the moving distances of the first movable clamping jaw and the second movable clamping jaw can be different, which expands the scope of application. The floating screw for forward and reverse wires is driven to rotate by a power source, and the overall structure is simple, the volume is small, and the cost is low. In addition, the same-side two-claw floating centripetal clamping device of the utility model is flexible to use, and can form a three-claw or four-claw manipulator in combination with one or two fixed clamping jaws. Two sets of same-side two-claw centripetal clamping units can be used in combination to form a floating four-claw manipulator that can clamp special-shaped parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 It is a three-dimensional schematic diagram of a same-side two-claw floating centripetal clamping unit in the utility model;

[0021] Figure 2 The schematic top view of the same-side two-claw floating centripetal clamping unit of the utility model is shown in FIG.

[0022] Figure 3 For along Figure 2 Schematic diagram of the cross section of the AA line;

[0023] Figure 4 For along Figure 3 Schematic diagram of the cross section of the BB line;

[0024] Figure 5 It is a top view of the structure of the same-side two-claw floating centripetal clamping device of the utility model (the frame is only partially shown);

[0025] Figure 6 For along Figure 5 Schematic diagram of the cross section of the CC line;

[0026] Figure 7 This is a three-dimensional schematic diagram of the frame of the utility model's two-claw floating centripetal clamping device on the same side (the frame is only partially shown);

[0027] Figure 8 It is a structural schematic diagram of a three-claw manipulator of the utility model;

[0028] Fig. 9 This is a schematic diagram of the structure of a four-claw manipulator of the utility model;

[0029] Fig.10 It is a structural schematic diagram of the floating four-claw manipulator of the utility model.

[0030] Description of reference numerals:

[0031] 100, floating centripetal clamping device with two claws on the same side; 200, three-claw manipulator; 300, four-claw manipulator; 400, floating four-claw manipulator;

[0032] 01. Centripetal clamping unit with two jaws on the same side; 02. Frame; 03. First fixed jaw; 04. Second fixed jaw;

[0033] 021, first jaw guide groove; 022, second jaw guide groove; 023, mounting cavity; 024, first stroke control hole; 025, second stroke control hole; 026, bottom avoidance groove; 027, side avoidance groove; 028, power component receiving cavity;

[0034] 1. Floating screw for positive and negative threads; 2. First slider; 3. Second slider; 4. First movable jaw; 5. Second movable jaw; 6. First grease nipple; 7. Second grease nipple; 8. Motor; 9. Gear train;

[0035] 11. first thread; 12. second thread; 13. driving section;

[0036] 21. first oblique guide block; 22. first staggered overlapping guide groove; 23. first staggered overlapping column; 24. first bottom avoidance groove;

[0037] 31. second oblique guide block; 32. second staggered overlapping guide groove; 33. second staggered overlapping column; 34. second bottom avoidance groove;

[0038] 41. a first oblique guide groove; 42. a first lubrication channel;

[0039] 51. Second oblique guide groove; 52. Second lubrication channel. DETAILED DESCRIPTION

[0040] In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the specific implementation of the utility model is described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the utility model. However, the utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the utility model, so the utility model is not limited by the specific implementation disclosed below.

[0041] The following is combined with Figure 1-10 The utility model is further described. Example 1

[0042] Please refer to the attached Figure 1-7The utility model discloses a same-side two-claw floating centripetal clamping device 100, comprising a frame 02 and a same-side two-claw centripetal clamping unit 01; the same-side two-claw centripetal clamping unit 01 comprises: a forward and reverse floating screw 1, a first slider 2, a second slider 3, a first movable clamping jaw 4 and a second movable clamping jaw 5; the forward and reverse floating screw 1 is provided with two sections of a first thread 11 and a second thread 12 with opposite rotation directions; the first slider 2 is threadedly connected to the forward and reverse floating screw 1 via the first thread 11, and the second slider 3 is threadedly connected to the forward and reverse floating screw 1 via the second thread 12; the lower part of the frame 02 is provided with an installation cavity 023 formed therein, and the forward and reverse floating screw 1, the first slider 2, and the second slider 3 are all installed in the installation cavity 023, The positive and negative floating screws 1, the first slider 2 and the second slider 3 are respectively connected in a sliding manner to the mounting cavity 023; the upper surface of the frame 02 is provided with a recessed first jaw guide groove 021 and a second jaw guide groove 022, the upper part of the first movable jaw 4 is accommodated in the first jaw guide groove 021 and the two are connected in a sliding manner; the upper part of the second movable jaw 5 is accommodated in the second jaw guide groove 022 and the two are connected in a sliding manner; the extension line of the sliding trajectory of the first movable jaw 4 is L1; the extension line of the sliding trajectory of the second movable jaw 5 is L2; ​​the intersection of L1 and L2 is the center P of the same circle; the upper part of the first slider 2 is connected in a sliding manner to the lower part of the first movable jaw 4, and the upper part of the second slider 3 is connected in a sliding manner to the lower part of the second movable jaw 5.

[0043] In this embodiment, it includes two jaws (a first movable jaw 4 and a second movable jaw 5) that can be extended and retracted toward the same center P, and the two jaws are located on the same side of the center P, so it is called "same-side two-jaw floating centripetal clamping device 100". The frame 02 serves as an installation base, which is used to provide an installation space for the same-side two-jaw centripetal clamping unit 01. The frame 02 also provides a guide groove for the sliding component. The rotation of the forward and reverse floating screw 1 can drive the first slider 2 and the second slider 3 to move relative to or away from the axis of the forward and reverse floating screw 1; the movement of the first slider 2 can drive the first movable jaw 4 to approach or move away from the center P; the movement of the second slider 3 can drive the second movable jaw 5 to approach or move away from the center P.

[0044] In this embodiment, there is a structure between the first slider 2 and the first movable jaw 4 in which an inclined groove and a guide block cooperate to transmit force. When the first slider 2 moves along the forward and reverse floating screw 1, the inclined groove and the guide block cooperate to transmit force to the first movable jaw 4, and the first movable jaw 4 is driven to move along the first jaw guide groove 021 to approach or move away from the center of the circle P. There is also an inclined surface force transmission structure between the second slider 3 and the second movable jaw 5 in which an inclined groove and a guide block cooperate to transmit force. The operating principle is the same as the force transmission method between the first slider 2 and the first movable jaw 4, and will not be repeated here.

[0045] The forward and reverse floating screw 1 is connected to the installation cavity 023 in a sliding manner, so the forward and reverse floating screw 1 has the freedom to move along the axis, that is, the forward and reverse floating screw 1 is a floating structure. Under the action of external force, the forward and reverse floating screw 1 rotates. Since the forward and reverse floating screw 1, the first slider 2, and the second slider 3 are all installed in the installation cavity 023, there is a certain uncertainty in the movement of the forward and reverse floating screw 1, the first slider 2, and the second slider 3. There may be a possibility that the first slider 2 moves first or the second slider 3 moves first. Since the forward and reverse floating screw 1 is a floating structure, the first slider 2 and the second slider 3 have the same or equivalent mass, and the mass of the first slider 2 is slightly larger than the forward and reverse floating screw 1. Therefore, it is difficult for the forward and reverse floating screw 1 to drive the first slider 2 and the second slider 3 to move simultaneously without sliding itself. Generally, the first slider 2 and the second slider 3 will not move simultaneously. However, no matter what the action sequence is, it does not affect the normal use function of the same-side two-claw floating centripetal clamping device 100 of the utility model.

[0046] The following specifically describes the use of the same-side two-claw floating centripetal clamping device 100 of the present invention.

[0047] (i) When the forward and reverse floating screw 1 starts to rotate clockwise, if the starting force of the first slider 2 is large, the first slider 2 is first in a stationary state, and the forward and reverse floating screw 1 rotates clockwise. Since the first slider 2 is stationary, the forward and reverse floating screw 1 will also move a distance outside the frame 02 along the axis of the forward and reverse floating screw 1. The second slider 3 moves toward the middle of the forward and reverse floating screw 1 under the action of the rotation of the forward and reverse floating screw 1, and the second slider 3 moves toward the middle of the forward and reverse floating screw 1 under the action of the movement of the forward and reverse floating screw 1. The final moving stroke of the second slider 3 is the superposition of the rotation and movement effects of the forward and reverse floating screw 1. Assume that the forward and reverse floating screw 1 rotates clockwise and moves along the axis toward the outside of the frame 02 at the same time, and the moving distance is N. The second slider 3 moves toward the middle of the forward and reverse floating screw 1 under the rotation of the forward and reverse floating screw 1, and the moving distance is also N. The second slider 3 moves toward the middle of the forward and reverse floating screw 1 under the movement of the forward and reverse floating screw 1. The final moving stroke of the second slider 3 is 2N. The movement of the second slider 3 can drive the second movable clamp 5 to approach the center P of the circle, and the workpiece to be clamped is placed at the center P of the circle. When the second movable clamp 5 touches the workpiece to be clamped, the second slider 3 is blocked by the workpiece to be clamped and cannot continue to move. The second slider 3 will become stationary.

[0048] (ii) The forward and reverse floating screw 1 continues to rotate clockwise. Since the second slider 3 is stationary, the forward and reverse floating screw 1 will also move a distance along the axis toward the inside of the frame 02. The first slider 2 moves toward the middle of the forward and reverse floating screw 1 under the action of the rotation of the forward and reverse floating screw 1, and the first slider 2 moves toward the middle of the forward and reverse floating screw 1 under the action of the movement of the forward and reverse floating screw 1. The final movement stroke of the first slider 2 is the superposition of the effects of the rotation and movement of the forward and reverse floating screw 1. Assume that the forward and reverse floating screw 1 rotates clockwise and also moves toward the outside of the frame 02 along the axis, the movement distance is R, the first slider 2 moves toward the middle of the forward and reverse floating screw 1 under the action of the rotation of the forward and reverse floating screw 1, the movement distance is also R, and the first slider 2 moves toward the middle of the forward and reverse floating screw 1 under the action of the movement of the forward and reverse floating screw 1. The final movement stroke of the first slider 2 is 2R. The movement of the first slider 2 can drive the first movable jaw 4 to approach the center P. When the first movable jaw 4 hits the workpiece to be clamped, the first slider 2 is blocked by the workpiece to be clamped and cannot move further, and the first slider 2 becomes stationary.

[0049] It should be noted that: in this embodiment, the magnitude of the starting force of the slider is related to the friction between the slider and the frame 02, and the magnitude of the starting force of the slider is also related to the adhesion force of the lubricating grease on the slider to the slider.

[0050] By using the same-side two-jaw floating centripetal clamping device 100 of the utility model, the second movable clamping jaw 5 and the first movable clamping jaw 4 can clamp the workpiece to be clamped from two different directions in turn. When the external force drives the forward and reverse floating screw 1 to rotate counterclockwise, the second movable clamping jaw 5 and the first movable clamping jaw 4 can be opened in turn.

[0051] The same-side two-claw floating centripetal clamping device 100 of the utility model has a small number of components and is flexible to use. The utility model is used in conjunction with a fixed clamping jaw, which is suitable for clamping triangular and circular workpieces. The utility model is used in conjunction with two fixed clamping jaws, which is suitable for clamping circular, square and rectangular workpieces. In the utility model, two sets of independent same-side two-claw centripetal clamping units 01 are provided to form a floating four-claw manipulator 400 capable of clamping special-shaped parts.

[0052] Compared with the prior art, the floating screw 1 for positive and negative wires in the same-side two-claw floating centripetal clamping device of the utility model is a floating structure, and the moving distances of the first movable jaw 4 and the second movable jaw 5 can be different, which expands the scope of application. The floating screw for positive and negative wires is driven to rotate by a power source, and the overall structure is simple, the volume is small, and the cost is low. Moreover, the same-side two-claw floating centripetal clamping device of the utility model is flexible to use, and can form a three-claw or four-claw manipulator with one or two fixed jaws. Two sets of same-side two-claw centripetal clamping units are used in combination to form a floating four-claw manipulator that can clamp special-shaped parts. The ingenuity of the utility model also lies in that only one power is needed to drive the positive and negative wire floating screw 1 to rotate, so as to realize the successive movement of the second movable jaw 5 and the first movable jaw 4, and the moving stroke is twice the moving stroke obtained by the rotation of the screw.

[0053] According to a specific embodiment of the utility model, a raised first oblique guide block 21 is provided on the upper portion of the first slider 2, a recessed first oblique guide groove 41 is provided on the lower portion of the first movable clamp 4, and the first oblique guide block 21 extends into the first oblique guide groove 41 to achieve the sliding connection between the first slider 2 and the first movable clamp 4; a raised second oblique guide block 31 is provided on the upper portion of the second slider 3, a recessed second oblique guide groove 51 is provided on the lower portion of the second movable clamp 5, and the second oblique guide block 31 extends into the second oblique guide groove 51 to achieve the sliding connection between the second slider 3 and the second movable clamp 5; a first stroke control hole 024 ( Figure 7 The frame 02 is also provided with a second stroke control hole 025 ( Figure 7 The first stroke control hole 024 and the second stroke control hole 025 are respectively connected to the mounting cavity 023, the first oblique guide block 21 extends into the first stroke control hole 024, and the second oblique guide block 31 extends into the second stroke control hole 025.

[0054] This embodiment defines a specific structure of the inclined groove and the guide block between the slider and the movable clamping jaw for force transmission. It should be noted that the inclined groove and the guide block cooperate to form an inclined surface force transmission structure between the first slider 2 and the first movable clamping jaw 4, and the inclined groove can be provided on the first movable clamping jaw 4 as described above, or on the first slider 2.

[0055] The first stroke control hole 024 is used to control the sliding stroke of the first slider 2 to prevent the first slider 2 from being slidably connected to the first movable clamp 4; the second stroke control hole 025 is used to control the sliding stroke of the second slider 3 to prevent the second slider 3 from being slidably connected to the second movable clamp 5.

[0056] Since the first slider 2 and the second slider 3 are respectively threadedly connected to the forward and reverse floating screw 1, after the first slider 2 and the second slider 3 are limited by the stroke control hole, the axial movement stroke of the forward and reverse floating screw 1 is also limited within a certain range, and the forward and reverse floating screw 1 can only move within a certain range at all times, which can effectively prevent the forward and reverse floating screw 1 from unscrewing. In addition, the moving range of the forward and reverse floating screw 1 is not large, which is conducive to the gear system 9 always being connected to the forward and reverse floating screw 1. In specific implementation, the gear system 9 at least includes: a screw gear fixedly connected to the forward and reverse floating screw 1, and a transmission gear meshing with the screw gear. The transmission gear can be directly fixed to the motor 8, or fixed to the motor 8 via an intermediate gear. When the screw gear moves with the forward and reverse floating screw 1, the screw gear always has a meshing section with the transmission gear to ensure effective transmission.

[0057] According to the specific implementation mode of the utility model, the angle between the extension direction of the first oblique guide groove 41 and the axial direction of the forward and reverse floating screw 1 is T1, the angle between the extension direction of the second oblique guide groove 51 and the axial direction of the forward and reverse floating screw 1 is T1, T1=55°-85°; the angle between the extension direction of the first clamping jaw guide groove 021 and the axial direction of the forward and reverse floating screw 1 is T2, the angle between the extension direction of the second clamping jaw guide groove 022 and the axial direction of the forward and reverse floating screw 1 is T2, T2=35°-65°.

[0058] In the present embodiment, the specific angle range of each group of inclined force transmission structures is specifically limited. Within this angle range, it can ensure that the force from the positive and negative floating screws 1 is smoothly transmitted to the first movable jaw 4 and the second movable jaw 5, and a sufficiently long guide groove (the first jaw guide groove 021 and the second jaw guide groove 022) can be obtained to meet the required guide stroke.

[0059] According to a specific implementation of the utility model, the first slider 2 is a rectangular block as a whole, and the upper part of the first slider 2 on the side close to the second slider 3 is provided with a recessed first staggered overlapping guide groove 22, and the side wall of the first staggered overlapping guide groove 22 away from the second slider 3 is a recessed arc; the second slider 3 is a rectangular block as a whole, and the lower part of the second slider 3 on the side close to the first slider 2 is provided with a recessed second staggered overlapping guide groove 32, and the side wall of the second staggered overlapping guide groove 32 away from the first slider 2 is a recessed arc; the lower part of the first slider 2 on the side close to the second slider 3 is provided with a first staggered overlapping column 23 whose shape matches the second staggered overlapping guide groove 32; the upper part of the second slider 3 on the side close to the first slider 2 is provided with a second staggered overlapping column 33 whose shape matches the first staggered overlapping guide groove 22.

[0060] In this embodiment, the structure of the first slider 2 and the second slider 3 is further designed, and a staggered overlap structure is provided at the adjacent position of the two. When the first slider 2 and the second slider 3 are close to each other, the first staggered overlap column 23 extends into the first staggered overlap guide groove 22, and the first staggered overlap column 23 is slidably connected to the first staggered overlap guide groove 22; the second staggered overlap column 33 extends into the second staggered overlap guide groove 32, and the second staggered overlap column 33 is slidably connected to the second staggered overlap guide groove 32; adopting this structure, the length of the first slider 2 and the second slider 3 is extended, the strength of the first slider 2 and the second slider 3 is improved, and the sliding stroke of the first slider 2 and the second slider 3 is not affected, and the sliding stability of the first slider 2 and the second slider 3 can also be improved.

[0061] According to a specific embodiment of the utility model, the bottom inner wall of the installation cavity 023 is provided with a recessed bottom air-avoiding groove 026, and the two opposite inner walls of the installation cavity 023 are respectively provided with a recessed side air-avoiding groove 027, and the bottom of the first slider 2 is provided with a recessed first bottom air-avoiding groove 24 at a position opposite to the bottom air-avoiding groove 026, and the bottom of the second slider 3 is provided with a recessed second bottom air-avoiding groove 34 at a position opposite to the bottom air-avoiding groove 026; the cross-section of the first clamping jaw guide groove 021 is in the shape of an "I", and the cross-section shape of the first movable clamping jaw 4 is the same as the cross-section of the first clamping jaw guide groove 021 The shapes match, a first grease nipple 6 is provided at the end of the first movable jaw 4 away from the center P, and a first lubrication channel 42 connecting the first grease nipple 6 and the first oblique guide groove 41 is provided inside the first movable jaw 4; the cross-section of the second jaw guide groove 022 is an "I" shape, and the cross-sectional shape of the second movable jaw 5 matches the cross-sectional shape of the second jaw guide groove 022, a second grease nipple 7 is provided at the end of the second movable jaw 5 away from the center P, and a second lubrication channel 52 connecting the second grease nipple 7 and the second oblique guide groove 51 is provided inside the second movable jaw 5.

[0062] In this embodiment, the bottom air-avoiding groove 026 and the side air-avoiding groove 027 can be used to contain lubricating grease to ensure that the slider slides smoothly in the installation cavity 023. After the air-avoiding groove structure is set, a gap can be formed between the slider and the cavity wall of the installation cavity 023 to facilitate air entry, thereby avoiding the slider from being tightly attached to the cavity wall of the installation cavity 023 and causing sliding difficulties. The "I"-shaped movable clamping claw (the first movable clamping claw 4 and the second movable clamping claw 5) and the "I"-shaped clamping claw guide groove (the first clamping claw guide groove 021 and the second clamping claw guide groove 022) cooperate to prevent the movable clamping claw from radially escaping from the clamping claw guide groove, which is conducive to forming a stable sliding connection structure. The lubricating grease nozzle (the first lubricating grease nozzle 6 and the second lubricating grease nozzle 7) and the lubricating channel (the first lubricating channel 42 and the second lubricating channel 52) are used to inject lubricating grease into the oblique guide groove (the first oblique guide groove 41 and the second oblique guide groove 51) from the outside, which is conducive to the subsequent maintenance of the same-side two-claw floating centripetal clamping device 100 of the utility model.

[0063] According to a specific implementation of the utility model, a driving section 13 is also provided on the forward and reverse floating screw 1, and the driving section 13 is arranged at one end of the forward and reverse floating screw 1, and the driving section 13, the first thread 11 and the second thread 12 are arranged in sequence at intervals along the length direction of the forward and reverse floating screw 1; the cross-section of the driving section 13 is a regular hexagon, and the driving section 13 extends out of the frame 02.

[0064] In this embodiment, the driving section 13 is a square head structure extending out of the frame 02, so a socket wrench can be used as a rotation drive, and the socket wrench can be manually rotated to drive the forward and reverse floating screw 1 to rotate. This structure is a manual method.

[0065] The utility model also provides the following electric mode: a driving section 13 is also provided on the floating screw rod 1 for forward and reverse wires, and the driving section 13 is arranged at one end of the floating screw rod 1 for forward and reverse wires, and the driving section 13 is completely accommodated in the installation cavity 023, and the driving section 13, the first thread 11 and the second thread 12 are arranged in sequence and spaced along the length direction of the floating screw rod 1 for forward and reverse wires; the two-claw floating centripetal clamping device 100 on the same side also includes a rotating drive connected to the driving section 13 and used to drive the floating screw rod 1 for forward and reverse wires to rotate, and a power component accommodating cavity 028 is also provided in the frame 02, and the rotating drive is accommodated in the power component accommodating cavity 028, and the rotating drive includes a motor 8 and a gear train 9, and the gear train 9 is respectively connected to the motor 8 and the driving section 13.

[0066] In this embodiment, the rotary drive member is an electric structure, so that the same-side two-claw floating centripetal clamping device 100 of the utility model is an electric clamping device, and with the sensor and electrical control technology, it can realize automatic intelligent control of the opening and closing of the same-side two-claw floating centripetal clamping device 100. The positive and negative floating screws 1 and the rotary drive are both built into the frame 02, so that in the same-side two-claw floating centripetal clamping device 100 of the utility model, the only exposed movable parts are the first movable clamping jaw 4 and the second movable clamping jaw 5, and there are no other protruding components outside the frame 02, and there are no rotating parts outside the frame 02, which improves the safety and integrity of the same-side two-claw floating centripetal clamping device 100 of the utility model. Example 2

[0067] Please refer to the attached Figure 8 The utility model also discloses a three-jaw manipulator 200, including the floating centripetal clamping device 100 with two jaws on the same side as the above-mentioned embodiment 1. The three-jaw manipulator 200 also includes a first fixed jaw 03, one end of the first fixed jaw 03 is installed on the frame 02, and the other end of the first fixed jaw 03 is arranged opposite to the center P of the circle.

[0068] In this embodiment, the first fixed jaw 03 is a fixed structure, the first movable jaw 4 and the second movable jaw 5 are movable structures. The first fixed jaw 03, the first movable jaw 4 and the second movable jaw 5 serve as the three jaws of the three-jaw manipulator 200. The three are used in combination to clamp the workpiece located at the center of the circle P. The workpiece can be triangular or circular. Example 3

[0069] Please refer to the attached Fig. 9 The utility model also discloses a four-claw manipulator 300, including the two-claw floating centripetal clamping device 100 on the same side as disclosed in the above-mentioned embodiment 1, and the four-claw manipulator 300 also includes two second fixed jaws 04, one end of the second fixed jaws 04 is respectively installed on the frame 02, and the other end of the second fixed jaws 04 is respectively arranged opposite to the center P of the circle, and the first movable jaw 4, the second movable jaw 5 and the two second fixed jaws 04 are evenly arranged around the center P of the circle.

[0070] In this embodiment, the two second fixed jaws 04 are fixed structures, the first movable jaw 4 and the second movable jaw 5 are movable structures, the two second fixed jaws 04, the first movable jaw 4 and the second movable jaw 5 serve as the four jaws of the four-jaw manipulator 300, and the four are used in combination to clamp the workpiece located at the center of the circle P. The workpiece can be round, square or rectangular. Example 4

[0071] Please refer to the attached Fig.10The utility model also discloses a floating four-claw manipulator 400, including the same-side two-claw floating centripetal clamping device 100 disclosed in the above-mentioned embodiment 1, the number of the same-side two-claw centripetal clamping units 01 is two sets, the number of the mounting cavities 023 is two, the two mounting cavities 023 are arranged in parallel and at intervals, the center P is located between the two mounting cavities 023, the two sets of the same-side two-claw centripetal clamping units 01 are installed in the two mounting cavities 023 one by one, the number of the first clamping jaw guide grooves 021 is two, the number of the second clamping jaw guide grooves 022 is two, each first clamping jaw guide groove 021 is correspondingly provided with a first movable clamping jaw 4, each second clamping jaw guide groove 022 is correspondingly provided with a second movable clamping jaw 5, the two first movable clamping jaws 4 and the two second movable clamping jaws 5 in the two sets of the same-side two-claw floating centripetal clamping devices 100 are evenly arranged around the center P.

[0072] In this embodiment, the two first movable jaws 4 and the two second movable jaws 5 are both movable structures. The four jaws are used together to clamp the workpiece located at the center of the circle P. Since the positive and negative wire floating screw 1 is a floating structure, the moving distances of the first slider 2 and the second slider 3 can be different, that is, the telescopic distances of the two first movable jaws 4 and the two second movable jaws 5 can also be different. This allows the floating four-jaw manipulator 400 of the utility model to clamp round, square, rectangular or even irregular shaped parts.

[0073] It should be noted that Figure 8-10 In the figure, the direction of the arrow is the extension and retraction direction of the movable clamping jaw. Figure 8-10 In the figure, the cross-sectional views along the M1, M2, and M3 lines (with the same cutting direction) are shown. Figure 5 The cutting direction of the CC line Figure 6 same, Fig.10 In the figure, the cross-sectional views along the M4 line (and the cutting direction is the same as Figure 5 The cutting direction of the CC line is opposite to that of Figure 6 same.

[0074] In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements, or it can be a "transmission connection", that is, a power connection through various appropriate methods such as belt drive, gear drive or sprocket drive. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

Claims

1. A floating centripetal clamping device with two claws on the same side, characterized in that: The machine comprises a frame and a centripetal clamping unit with two jaws on the same side; the centripetal clamping unit with two jaws on the same side comprises: a floating screw for forward and reverse wires, a first slider, a second slider, a first movable clamping jaw and a second movable clamping jaw; the floating screw for forward and reverse wires is provided with two sections of a first thread and a second thread with opposite rotation directions; the first slider is connected to the thread of the floating screw for forward and reverse wires via the first thread, and the second slider is connected to the thread of the floating screw for forward and reverse wires via the second thread; the lower part of the frame is provided with an installation cavity formed therein, the floating screw for forward and reverse wires, the first slider and the second slider are all installed in the installation cavity, and the floating screw for forward and reverse wires, the first slider, the second slider are The sliders are respectively connected to the mounting cavity in a sliding manner; the upper surface of the frame is provided with a recessed first jaw guide groove and a second jaw guide groove, the upper part of the first movable jaw is accommodated in the first jaw guide groove and the two are connected in a sliding manner; the upper part of the second movable jaw is accommodated in the second jaw guide groove and the two are connected in a sliding manner; the extension line of the sliding trajectory of the first movable jaw is L1; the extension line of the sliding trajectory of the second movable jaw is L2; ​​the intersection of L1 and L2 is the center P of the same circle; the upper part of the first slider is connected to the lower part of the first movable jaw in a sliding manner, and the upper part of the second slider is connected to the lower part of the second movable jaw in a sliding manner.

2. The same-side two-claw floating centripetal clamping device according to claim 1 is characterized in that: The upper part of the first slider is provided with a raised first oblique guide block, and the lower part of the first movable clamp is provided with a recessed first oblique guide groove, and the first oblique guide block extends into the first oblique guide groove to realize the sliding connection between the first slider and the first movable clamp; the upper part of the second slider is provided with a raised second oblique guide block, and the lower part of the second movable clamp is provided with a recessed second oblique guide groove, and the second oblique guide block extends into the second oblique guide groove to realize the sliding connection between the second slider and the second movable clamp; the frame is also provided with a first stroke control hole for limiting the position of the first oblique guide block, and the frame is also provided with a second stroke control hole for limiting the position of the second oblique guide block, the first stroke control hole and the second stroke control hole are respectively connected to the mounting cavity, the first oblique guide block extends into the first stroke control hole, and the second oblique guide block extends into the second stroke control hole.

3. The same-side two-claw floating centripetal clamping device according to claim 2 is characterized in that: The angle between the extension direction of the first oblique guide groove and the axial direction of the forward and reverse floating screw is T1, and the angle between the extension direction of the second oblique guide groove and the axial direction of the forward and reverse floating screw is T1, T1=55°-85°; the angle between the extension direction of the first clamping jaw guide groove and the axial direction of the forward and reverse floating screw is T2, and the angle between the extension direction of the second clamping jaw guide groove and the axial direction of the forward and reverse floating screw is T2, T2=35°-65°.

4. The same-side two-claw floating centripetal clamping device according to claim 3 is characterized in that: The first slider is in the shape of a rectangular block as a whole, and a first staggered overlapping guide groove is provided at the upper part of the side of the first slider close to the second slider, and a side wall of the first staggered overlapping guide groove away from the second slider is a concave arc shape; the second slider is in the shape of a rectangular block as a whole, and a second staggered overlapping guide groove is provided at the lower part of the side of the second slider close to the first slider, and a side wall of the second staggered overlapping guide groove away from the first slider is a concave arc shape; a first staggered overlapping column whose shape matches the second staggered overlapping guide groove is provided at the lower part of the side of the first slider close to the second slider; a second staggered overlapping column whose shape matches the first staggered overlapping guide groove is provided at the upper part of the side of the second slider close to the first slider.

5. The same-side two-claw floating centripetal clamping device according to claim 4 is characterized in that: The bottom inner wall of the installation cavity is provided with a recessed bottom air-avoiding groove, and the two opposite inner side walls of the installation cavity are respectively provided with a recessed side air-avoiding groove, and the bottom of the first sliding block is provided with a recessed first bottom air-avoiding groove at a position opposite to the bottom air-avoiding groove, and the bottom of the second sliding block is provided with a recessed second bottom air-avoiding groove at a position opposite to the bottom air-avoiding groove; the cross-section of the first clamping jaw guide groove is in the shape of an "I", and the cross-sectional shape of the first movable clamping jaw matches the cross-sectional shape of the first clamping jaw guide groove, a first lubricating grease nozzle is provided at one end of the first movable clamping jaw away from the center P, and a first lubricating channel connecting the first lubricating grease nozzle and the first oblique guide groove is provided in the first movable clamping jaw; the cross-sectional shape of the second clamping jaw guide groove is in the shape of an "I", and the cross-sectional shape of the second movable clamping jaw matches the cross-sectional shape of the second clamping jaw guide groove, a second lubricating grease nozzle is provided at one end of the second movable clamping jaw away from the center P, and a second lubricating channel connecting the second lubricating grease nozzle and the second oblique guide groove is provided in the second movable clamping jaw.

6. The same-side two-claw floating centripetal clamping device according to claim 5, characterized in that: A driving section is also provided on the forward and reverse floating screw, and the driving section is arranged at one end of the forward and reverse floating screw. The driving section, the first thread and the second thread are arranged in sequence and spaced apart along the length direction of the forward and reverse floating screw; the cross-section of the driving section is a regular hexagon, and the driving section extends out of the frame.

7. The same-side two-claw floating centripetal clamping device according to claim 5, characterized in that: A driving section is also provided on the floating screw for forward and reverse wires, and the driving section is arranged at one end of the floating screw for forward and reverse wires, and the driving section is completely accommodated in the installation cavity, and the driving section, the first thread and the second thread are arranged in sequence and spaced apart along the length direction of the floating screw for forward and reverse wires; the floating centripetal clamping device with two claws on the same side also includes a rotating drive connected to the driving section and used to drive the floating screw for forward and reverse wires to rotate, and a power component accommodating cavity is also provided in the frame, and the rotating drive is accommodated in the power component accommodating cavity, and the rotating drive includes a motor and a gear system, and the gear system is respectively connected to the motor and the driving section.

8. A three-claw manipulator, characterized in that: It includes the same-side two-jaw floating centripetal clamping device as described in any one of claims 1 to 7, and the three-jaw manipulator also includes a first fixed jaw, one end of the first fixed jaw is installed on the frame, and the other end of the first fixed jaw is arranged opposite to the center P of the circle.

9. A four-claw manipulator, characterized in that: It includes the two-jaw floating centripetal clamping device on the same side as described in any one of claims 1 to 7, and the four-jaw manipulator also includes two second fixed jaws, one end of the second fixed jaws are respectively installed on the frame, and the other end of the second fixed jaws are respectively arranged opposite to the center P of the circle, and the first movable jaw, the second movable jaw and the two second fixed jaws are evenly arranged around the center P of the circle.

10. A floating four-claw manipulator, characterized in that: It comprises the same-side two-jaw floating centripetal clamping device as described in any one of claims 1 to 7, the number of the same-side two-jaw centripetal clamping units is two sets, the number of the said mounting cavities is two, the two said mounting cavities are arranged in parallel and at intervals, the said center P is located between the two said mounting cavities, the two sets of the said same-side two-jaw centripetal clamping units are installed in the two said mounting cavities one by one, the number of the first clamping jaw guide grooves is two, the number of the second clamping jaw guide grooves is two, each of the first clamping jaw guide grooves is correspondingly provided with a first movable clamping jaw, each of the second clamping jaw guide grooves is correspondingly provided with a second movable clamping jaw, the two first movable clamping jaws and the two second movable clamping jaws in the two sets of the said same-side two-jaw floating centripetal clamping devices are evenly arranged around the said center P.

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