Opposite two-claw centripetal synchronous clamping device and single-power-driven two-claw linkage centering manipulator

Abstract

The utility model discloses a centripetal synchronous clamping device with two opposite claws. The centripetal synchronous clamping device comprises a screw rod, a rotary shifting ring, a first sliding block, a second sliding block, a first movable clamping claw and a second movable clamping claw, the upper portion of the first sliding block is slidably connected with the lower portion of the first movable clamping jaw. The second sliding block is slidably connected with the second movable clamping jaw. A transmission thread section and a standby thread section are arranged at the two ends of the transmission section of the screw correspondingly, and the transmission thread section is used for driving the first sliding block to slide along the axis of the transmission thread section; and the rotary shifting ring rotates under the driving of the first sliding block and shifts the second sliding block to move synchronously with the first sliding block. The utility model further discloses a single-power-driven two-claw linkage centering manipulator. Compared with the prior art, the opposite-direction two-jaw centripetal synchronous clamping device has the advantages that the two movable clamping jaws can be driven by one screw to move, the screw is further provided with a standby thread section capable of directly driving other sliding blocks to move, and conditions are provided for forming a single-power-driven three-jaw or four-jaw mechanical arm.

Description

Technical Field

[0001] The utility model belongs to the technical field of manipulators, and particularly relates to a centripetal synchronous clamping device with two opposing claws and a single-power-driven two-claw linkage centering manipulator. Background Art

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

[0003] In the process of designing a clamping manipulator, the problem is: how to design a clamping device that meets the following conditions 1-2 at the same time. Condition 1: A rotary power drives two clamps to move synchronously relative to or away from each other to meet the need for low-cost clamping. Condition 2: The rotary power must also reserve a structure that can directly drive other sliders to move, providing conditions for expanding the functions of the manipulator (such as single power driving three or four claws to move).

[0004] In the prior art, in order to realize the synchronous extension and retraction of two jaws driven by a single power, the adopted solution is: the two jaws are respectively fixed on two sliders, the two sliders are simultaneously threadedly connected to a screw rod, a power motor is connected to one end of the screw rod, the power motor serves as a rotary power to drive the screw rod to rotate, and the screw rod threadedly connected to the two sliders is used to drive the two sliders to move, so as to realize the relative or opposite movement of the two jaws.

[0005] The disadvantage of the prior art is that, in the prior art, the two sliders are respectively and directly connected to the screw rod with threads. When in use, one slider moves on the left section of the screw rod, and the other slider moves on the right section of the screw rod. The clamping centers of the two clamps are located directly above the screw rod. The installation space of the screw rod is completely occupied. The screw rod cannot be used to directly drive other parts such as the slider to move.

[0006] Therefore, it is necessary to provide a new opposing two-claw centripetal synchronous clamping device and a single-power-driven two-claw linkage centering manipulator to solve the above technical problems. Summary of the invention

[0007] 1. Technical issues to be resolved

[0008] Based on this, the utility model provides a two-claw centripetal synchronous clamping device and a single-power-driven two-claw linkage centering manipulator to solve the technical problem that the two sliders of the existing clamping manipulator are directly driven by a screw rod, which makes the screw rod unable to directly drive other sliders to move.

[0009] (II) Technical solution

[0010] In order to solve the above technical problems, the utility model proposes a concentric synchronous clamping device with two opposing jaws, comprising: a screw, a rotating dial ring, a first slider, a second slider, a first movable jaw and a second movable jaw; the upper part of the first slider is slidably connected to the lower part of the first movable jaw, and the upper part of the second slider is slidably connected to the lower part of the second movable jaw; the extension line of the sliding track of the first movable jaw is L1; the extension line of the sliding track of the second movable jaw is L2; ​​the screw comprises a transmission section, and the two ends of the transmission section are respectively provided with a transmission thread section and a spare thread section, the transmission thread section penetrates the first slider and is threadedly connected to the first slider, and is used to drive the first slider to slide along the axis of the transmission thread section; the two ends of the rotating dial ring are respectively inserted into the first slider and the second slider, and the rotating dial ring rotates under the drive of the first slider and drives the second slider to move synchronously with the first slider; L1 and L2 are collinear, and the intersection of L1 and the rotation center line of the rotating dial ring is P, the movement of the first slider can drive the first movable jaw to approach or move away from P; the movement of the second slider can drive the second movable jaw to approach or move away from P.

[0011] Preferably, the rotating dial ring includes a circular ring body and a first lever head and a second lever head respectively protruding from the outer wall of the circular ring body, and the first lever head and the second lever head are respectively arranged on two opposite sides of the circular ring body; a recessed first lever groove is provided on the side of the first slider close to the rotating dial ring, and the first lever head extends into the first lever groove, and a recessed second lever groove is provided on the side of the second slider close to the rotating dial ring, and the second lever head extends into the second lever groove.

[0012] Preferably, the first lever groove is spherical as a whole, the first lever head is spherical as a whole, and the top of the first lever head is a plane; the first lever head is ball-jointed to the first lever groove, and there is a gap between the top of the first lever head and the bottom of the first lever groove; the second lever groove is spherical as a whole, the second lever head is spherical as a whole, and the top of the second lever head is a plane; the second lever head is ball-jointed to the second lever groove, and there is a gap between the top of the second lever head and the bottom of the second lever groove.

[0013] Preferably, a raised first oblique guide block is provided at the upper portion of the first sliding block, a recessed first oblique guide groove is provided at 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 at the upper portion of the second sliding block, a recessed second oblique guide groove is provided at 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.

[0014] Preferably, the first slider and the second slider have the same structure, and the first slider and the second slider are installed in opposite directions; the first movable jaw and the second movable jaw have the same structure, and the first movable jaw and the second movable jaw are arranged opposite to each other.

[0015] The utility model also proposes a single-power-driven two-jaw linkage centering manipulator, comprising a frame and the above-mentioned two-jaw centripetal synchronous clamping device, wherein the lower part of the frame is provided with a first mounting cavity, a center ring receiving groove and a second mounting cavity formed therein and connected in sequence, the first mounting cavity and the second mounting cavity are parallel and are respectively arranged on both sides of the center ring receiving groove; the first slider is installed in the first mounting cavity, and the first slider is slidably connected to the first mounting cavity; the second slider is installed in the first mounting cavity, and the second slider is slidably connected to the second mounting cavity; the circular ring body is arranged in the center ring receiving groove, and the circular ring body is rotatably connected to the center ring receiving groove; 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 slidably connected; the upper part of the second movable jaw is accommodated in the second jaw guide groove and the two are slidably connected.

[0016] Preferably, the frame is also provided with a first stroke control hole for limiting the first oblique guide block, and the frame is also provided with a second stroke control hole for limiting the second oblique guide block, the first stroke control hole is connected to the first mounting cavity, the second stroke control hole is connected to the second 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; the extension directions of the first stroke control hole and the second stroke control hole are both parallel to the axial direction of the screw.

[0017] Preferably, the frame further comprises a fixed circular ring column extending into the circular ring body and coaxially arranged with the circular ring body, the circular ring body is rotatably connected to the fixed circular cylinder, and the top of the fixed circular ring column is a placement area for workpieces to be clamped.

[0018] Preferably, the screw rod also includes a driving section fixed to one end of the transmission section, and the driving section is arranged away from the spare threaded section, and the single-power driven two-jaw linked centering manipulator also includes an axial limit spring surrounding the driving section close to the transmission section, and the axial limit spring is used to limit the axial movement of the screw rod.

[0019] Preferably, the single-power-driven two-claw linkage centering manipulator also includes a rotary drive connected to the drive section and used to drive the screw to rotate. A power component accommodating chamber is also provided in the frame. The drive section and the rotary drive are both accommodated in the power component accommodating chamber, and the transmission section is located in the first installation chamber; the rotary drive includes a motor and a gear train, and the gear train is respectively connected to the motor and the drive section; the single-power-driven two-claw linkage centering manipulator also includes a rotary sealing ring arranged around the transmission section, and the rotary sealing ring is located at one end of the transmission section close to the drive section, and the rotary sealing ring is used to isolate the first installation chamber and the power component accommodating chamber.

[0020] (III) Beneficial effects

[0021] Compared with the prior art, the utility model has the following advantages:

[0022] The utility model provides a two-claw centripetal synchronous clamping device that can realize the movement of two movable clamping claws driven by one screw rod, meeting the demand for low-cost clamping. One slider is directly driven by the screw rod, and the slider also drives another slider to move by rotating the dial ring, so that the screw rod also has an idle spare thread segment, which can be used to connect with the third slider thread. It provides conditions for forming a single-power-driven three-claw or four-claw manipulator.

[0023] The utility model discloses a two-claw linkage centering manipulator with single power drive, comprising a two-claw centripetal synchronous clamping device and a frame for providing installation space and sliding guide grooves for the two-claw centripetal synchronous clamping device. The frame cooperates with the two-claw centripetal synchronous clamping device to form a two-claw manipulator with a stable structure and smooth movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] 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.

[0025] Figure 1 It is a three-dimensional schematic diagram of the centripetal synchronous clamping device with two opposing claws of the utility model;

[0026] Figure 2 for Figure 1 Schematic diagram of the decomposition of

[0027] Figure 3 It is a schematic top view of the overall structure of the single-power-driven two-claw linkage centering manipulator of the utility model;

[0028] Figure 4 For along Figure 3Schematic diagram of the cross section of the BB line;

[0029] Figure 5 For along Figure 3 Schematic diagram of the cross section of the CC line;

[0030] Figure 6 For along Figure 3 Schematic diagram of the cross section of the middle DD line;

[0031] Figure 7 This is a three-dimensional schematic diagram of part of the structure of the single-power-driven two-claw linkage centering manipulator of the utility model;

[0032] Figure 8 This is a three-dimensional schematic diagram of a frame in the single-power-driven two-claw linkage centering manipulator of the utility model.

[0033] 100. Two-claw centripetal synchronous clamping device; 200. Single-power-driven two-claw linkage centering manipulator;

[0034] 1. Screw; 2. Rotating dial ring; 3. First slider; 4. Second slider; 5. First movable clamping jaw; 6. Second movable clamping jaw; 7. Frame; 8. Rotating sealing ring; 9. Axial limit spring; 10. Motor; 011. Gear train;

[0035] 11. Driving section; 12. Transmission section;

[0036] 21. Ring body; 22. First lever head; 23. Second lever head;

[0037] 31. first lever slot; 32. first oblique guide block;

[0038] 41. second lever slot; 42. second oblique guide block;

[0039] 51. The first oblique guide groove;

[0040] 61. Second oblique guide groove;

[0041] 71. First installation cavity; 72. Center ring receiving groove; 73. Second installation cavity; 74. First clamping jaw guide groove; 75. Second clamping jaw guide groove; 76. First stroke control hole; 77. Second stroke control hole; 78. Fixed annular column; 79. Placement area for workpiece to be clamped; 80. Power component receiving cavity;

[0042] 121. Transmission thread section; 122. Spare thread section. DETAILED DESCRIPTION

[0043] 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.

[0044] The following is combined with Figure 1-8 The utility model is further described. Example 1

[0045] Please focus on Figure 1-2 The utility model discloses a centripetal synchronous clamping device 100 of two opposing jaws, comprising: a screw rod 1, a rotating dial ring 2, a first slider 3, a second slider 4, a first movable jaw 5 and a second movable jaw 6; the upper portion of the first slider 3 is slidably connected to the lower portion of the first movable jaw 5, and the upper portion of the second slider 4 is slidably connected to the lower portion of the second movable jaw 6; the extension line of the sliding track of the first movable jaw 5 is L1; the extension line of the sliding track of the second movable jaw 6 is L2; ​​the screw rod 1 comprises a transmission section 12, and the two ends of the transmission section 12 are respectively provided with a transmission thread section 121 and a spare thread section 122 The transmission thread segment 121 passes through the first slider 3 and is threadedly connected to the first slider 3, and is used to drive the first slider 3 to slide along the axis of the transmission thread segment 121; the two ends of the rotating dial ring 2 are respectively inserted into the first slider 3 and the second slider 4, and the rotating dial ring 2 rotates under the drive of the first slider 3 and drives the second slider 4 to move synchronously with the first slider 3; L1 and L2 are colinear, and the intersection of L1 and the rotation center line of the rotating dial ring 2 is P, and the movement of the first slider 3 can drive the first movable clamp 5 to approach or move away from P; the movement of the second slider 4 can drive the second movable clamp 6 to approach or move away from P.

[0046] It should be noted that the synchronous movement in the present invention refers to simultaneous movement, and is not limited to the same direction. In this embodiment, the movement direction of the second slider 4 is opposite. In this embodiment, the upper part of the first slider 3 is connected to the lower part of the first movable jaw 5 by sliding, and the movement of the first slider 3 can drive the first movable jaw 5 to move. The sliding direction between the first slider 3 and the first movable jaw 5 is not perpendicular to the axis of the screw 1 (including eccentric perpendicularity). Under a certain tilt angle, the rotation of the screw 1 can drive the first slider 3 to move and drive the first movable jaw 5 to extend and retract along its sliding trajectory. In specific implementation, the sliding direction of the first slider 3 and the first movable jaw 5 can be reasonably selected according to factors such as the size of the frame 7, the stroke of the first movable jaw 5, and the shape of the first slider 3 and the first movable jaw 5. In order to ensure that the first movable jaw 5 slides along L1, a guide groove extending along the L1 direction can be set outside the first movable jaw 5.

[0047] The structures and design principles of the second sliding block and the second movable clamping jaw are similar to the above description of the first sliding block 3 and the first movable clamping jaw 5 .

[0048] The working process of the opposite two-jaw centripetal synchronous clamping device 100 of the utility model is as follows: the screw 1 rotates, and the transmission thread section 121 directly drives the first slider 3 to move along its axis. When the first slider 3 moves, it drives the rotating dial ring 2 to rotate, thereby driving the second slider 4 on the other side to slide. The first slider 3 and the second slider 4 move, and finally the first movable jaw 5 and the second movable jaw 6 are simultaneously approached or away from the same point P. When the point P is located in the placement area of ​​the workpiece to be clamped, the first movable jaw 5 and the second movable jaw 6 clamp the workpiece to be clamped from opposite sides at the same time to achieve centering clamping of the workpiece. In specific implementation, clamping blocks can be fixedly installed on the first movable jaw 5 and the second movable jaw 6 according to the shape of the workpiece to be clamped to ensure stable clamping. For example, two right-angle clamping blocks with openings arranged opposite to each other are installed to stably clamp a circular workpiece.

[0049] The two-jaw centripetal synchronous clamping device 100 of this embodiment can use a screw rod 1 to drive the first movable clamping jaw 5 and the second movable clamping jaw 6 to move relative to or away from each other, meeting the need for low-cost clamping. The second slider 4 is not directly mounted on the screw rod 1. The screw rod 1 only directly drives the first slider 3 to move. When the first slider 3 moves, the second slider 4 is indirectly driven to slide through the rotating dial ring 2. Therefore, the screw rod 1 also has an idle spare thread segment 122 that can directly drive other sliders to move, so that the screw rod 1 in the utility model can also be used as the driving power of other sliders (such as the third slider), expanding the function of the utility model. At the same time, conditions 1 and 2 mentioned in the background technology are met.

[0050] Specifically: when expanding the functions, on the basis of the opposing two-jaw centripetal synchronous clamping device 100 of the utility model, if only a third clamping jaw is fixed on the top of the third slider, a single-power-driven three-jaw manipulator can be formed; if on the basis of the above single-power-driven three-jaw manipulator, a second rotating ring, a fourth slider and a fourth clamping jaw fixed on the fourth slider are added, when the third slider moves, the fourth slider is driven to move via the second rotating ring, then a single-power-driven four-jaw manipulator can be formed.

[0051] It should be noted that when the rotating dial ring 2 rotates, it is necessary to ensure that both ends of the rotating dial ring 2 are always inserted into the first slider 3 and the second slider 4 to prevent them from falling out.

[0052] According to a specific embodiment of the utility model, the rotating dial ring 2 includes a circular ring body 21 and a first lever head 22 and a second lever head 23 respectively protruding from the outer wall of the circular ring body 21, and the first lever head 22 and the second lever head 23 are respectively arranged on two opposite sides of the circular ring body 21; the first slider 3 is provided with a recessed first lever groove 31 on the side close to the rotating dial ring 2, and the first lever head 22 extends into the first lever groove 31; the second slider 4 is provided with a recessed second lever groove 41 on the side close to the rotating dial ring 2, and the second lever head 23 extends into the second lever groove 41.

[0053] In this embodiment, the structure of the rotating dial ring 2 and the structure of the lever groove on the slider matching the rotating dial ring 2 are specifically designed, and the second slider 4 is moved by the lever head inserted into the lever groove. The structure is simple and practical.

[0054] According to a specific embodiment of the present utility model, the first lever groove 31 is spherical as a whole, the first lever head 22 is spherical as a whole, and the top of the first lever head 22 is a plane; the first lever head 22 is ball-jointed with the first lever groove 31, and there is a gap between the top of the first lever head 22 and the bottom of the first lever groove 31; the second lever groove 41 is spherical as a whole, the second lever head 23 is spherical as a whole, and the top of the second lever head 23 is a plane; the second lever head 23 is ball-jointed with the second lever groove 41, and there is a gap between the top of the second lever head 23 and the bottom of the second lever groove 41.

[0055] In this embodiment, the structure of inserting the rotating dial ring 2 into the slider is set as a ball-hinged structure, which is conducive to improving the smoothness of rotation; and adopting this structure is also conducive to the tight fit between the outer spherical surface of the lever head and the lever groove, ensuring transmission accuracy.

[0056] It should be noted that: since the rotating dial ring 2 rotates along its axis, the rotation trajectory of the first lever head 22 and the second lever head 23 is an arc. When the rotating dial ring 2 is in the middle position, the distance between the lever head and the bottom of the lever groove is the shortest, and when the rotating dial ring 2 rotates to the left and right extreme positions, the distance between the lever head and the bottom of the lever groove is the farthest.

[0057] After a section is removed from the top of the lever head in this embodiment, the top forms a planar structure, which is conducive to forming a sufficient gap between the top of the lever head and the bottom of the lever groove, ensuring that when the rotating ring 2 is in the middle position, the top of the lever head will not hit the bottom of the lever groove.

[0058] According to a specific embodiment of the utility model, a raised first oblique guide block 32 is provided at the upper portion of the first slider 3, a recessed first oblique guide groove 51 is provided at the lower portion of the first movable clamp 5, and the first oblique guide block 32 extends into the first oblique guide groove 51 to realize the sliding connection between the first slider 3 and the first movable clamp 5; a raised second oblique guide block 42 is provided at the upper portion of the second slider 4, and a recessed second oblique guide groove 61 is provided at the lower portion of the second movable clamp 6, and the second oblique guide block 42 extends into the second oblique guide groove 61 to realize the sliding connection between the second slider 4 and the second movable clamp 6.

[0059] In this embodiment, the specific structure of the inclined groove and the guide block cooperating to transmit force between the slider and the movable clamping jaw is defined. It should be noted that the inclined groove and the guide block cooperating to transmit force between the first slider 3 and the first movable clamping jaw 5 is an inclined surface force transmission structure, and the inclined groove can be set on the first movable clamping jaw 5 as described above, or can be set on the first slider 3. In specific implementation, lubricating grease is provided in the first inclined guide groove 51 and the second inclined guide groove 61 to further improve the smoothness of the sliding of the first slider 3 and the second slider 4.

[0060] According to a specific embodiment of the present invention, the first slider 3 and the second slider 4 have the same structure, and the installation directions of the first slider 3 and the second slider 4 are opposite; the first movable jaw 5 and the second movable jaw 6 have the same structure, and the first movable jaw 5 and the second movable jaw 6 are arranged oppositely.

[0061] In this embodiment, the structure is adopted to facilitate parts standardization, reduce the types of parts, and reduce processing costs. Example 2

[0062] Please continue to combine Figure 3-8 The utility model also discloses a single-power-driven two-claw linkage centering manipulator 200, comprising a frame 7 and the two-claw centripetal synchronous clamping device 100 as described in the above embodiment 1, the lower part of the frame 7 is provided with a first mounting cavity 71, a center ring receiving groove 72 and a second mounting cavity 73 formed therein and connected in sequence, the first mounting cavity 71 and the second mounting cavity 73 are parallel and are respectively arranged on both sides of the center ring receiving groove 72; the first slider 3 is installed in the first mounting cavity 71, and the first slider 3 slides with the first mounting cavity 71 The second slider 4 is installed in the first installation cavity 71, and the second slider 4 is slidably connected to the second installation cavity 73; the annular body 21 is arranged in the center ring receiving groove 72, and the annular body 21 is rotatably connected to the center ring receiving groove 72; the upper surface of the frame 7 is provided with a recessed first clamping jaw guide groove 74 and a second clamping jaw guide groove 75, the upper part of the first movable clamping jaw 5 is received in the first clamping jaw guide groove 74 and the two are slidably connected; the upper part of the second movable clamping jaw 6 is received in the second clamping jaw guide groove 75 and the two are slidably connected.

[0063] More specifically, the cross-sections of the first installation cavity 71 and the second installation cavity 73 are rectangular, and the center ring receiving groove 72 is circular. The first slider 3 has a side surface that cooperates with the first installation cavity 71, and the second slider 4 has a side surface that cooperates with the second installation cavity 73. The slider cooperates with the installation cavity to realize the sliding of the slider in the installation cavity and prevent the slider from rotating with the screw 1.

[0064] The single-power-driven two-claw linkage centering manipulator of this embodiment is a specific two-claw manipulator structure, including a two-claw centripetal synchronous clamping device and a frame 7 for providing an installation space and a sliding guide groove for the opposing two-claw centripetal synchronous clamping device 100. The frame 7 cooperates with the opposing two-claw centripetal synchronous clamping device 100 to form a two-claw manipulator with a stable structure and smooth movement. Specifically: the frame 7 is the installation base of the opposing two-claw centripetal synchronous clamping device 100, which is used to provide an installation space for the opposing two-claw centripetal synchronous clamping device 100. The frame 7 also provides a guide groove for the sliding member to ensure that the sliding member slides according to a preset trajectory. The center ring receiving groove 72 is used to receive the circular ring body 21, and the two are rotatably connected. The first jaw guide groove 74 is used to guide the first movable jaw 5 to ensure that the first movable jaw 5 slides along the first jaw guide groove 74 after being subjected to force, and the sliding direction is L1; the second jaw guide groove 75 is used to guide the second movable jaw 6 to ensure that the second movable jaw 6 slides along the second jaw guide groove 75 after being subjected to force, and the sliding direction is L2.

[0065] According to a specific embodiment of the utility model, a first stroke control hole 76 for limiting the first oblique guide block 32 is further provided on the frame 7, and a second stroke control hole 77 for limiting the second oblique guide block 42 is further provided on the frame 7. The first stroke control hole 76 is communicated with the first mounting cavity 71, and the second stroke control hole 77 is communicated with the second mounting cavity 73. The first oblique guide block 32 extends into the first stroke control hole 76, and the second oblique guide block 42 extends into the second stroke control hole 77. The extension directions of the first stroke control hole 76 and the second stroke control hole 77 are both parallel to the axial direction of the screw 1.

[0066] In this embodiment, when the screw 1 rotates, the first slider 3 moves along the axial direction of the screw 1, and the second slider 4 moves along the direction parallel to the axial direction of the screw 1. At the same time, the first slider 3 and the second slider 4 move in opposite directions. The first stroke control hole 76 is used to control the sliding stroke of the first slider 3 to prevent the first slider 3 from being detached from the sliding connection with the first movable clamp 5; at the same time, the second stroke control hole 77 is used to control the sliding stroke of the second slider 4.

[0067] According to a specific embodiment of the present utility model, the frame 7 also includes a fixed circular column 78 extending into the circular ring body 21 and coaxially arranged with the circular ring body 21. The circular ring body 21 is rotatably connected to the fixed column, and the top of the fixed circular column 78 is a workpiece placement area 79 to be clamped.

[0068] In this embodiment, the fixed circular column 78 has two functions. On the one hand, the added fixed circular column 78 can center the circular body 21, prevent the circular body 21 from being skewed, ensure that the rotation center line of the rotating dial ring 2 is the axis of the fixed circular column 78, further ensure the smoothness of the rotation of the rotating dial ring 2 and improve the position accuracy of the rotating dial ring 2. On the other hand, the top of the fixed circular column 78 is used to support the workpiece to be clamped, forming a placement area 79 for the workpiece to be clamped. Point P is exactly located at the center of the placement area 79 for the workpiece to be clamped, that is, passing through the axis of the fixed circular column 78. The rotating dial ring 2 rotates around the fixed circular column 78 to realize the linkage between the first slider 3 and the second slider 4, ensuring the centering effect.

[0069] According to a specific embodiment of the utility model, the screw 1 also includes a driving section 11 fixed to one end of the transmission section 12, and the driving section 11 is arranged away from the spare threaded section 122. The single-power driven two-claw linkage centering manipulator 200 also includes an axial limit spring 9 surrounding the driving section 11 close to the transmission section 12. The axial limit spring 9 is used to limit the axial movement of the screw 1.

[0070] In this embodiment, the driving section 11 is used to connect with the rotary drive to transmit the rotary power to the screw 1, and the driving section 11 is arranged away from the spare thread section 122, which is conducive to retaining more space in the area where the spare thread section 122 is located, and is conducive to the installation of other components. The structure of the axial limit spring 9 to achieve the axial limit of the screw 1 is simple and practical.

[0071] According to a specific embodiment of the utility model, the single-power-driven two-claw linkage centering manipulator also includes a rotary drive connected to the drive section 11 and used to drive the screw 1 to rotate. A power component accommodating chamber 80 is also provided in the frame 7. The drive section 11 and the rotary drive are both accommodated in the power component accommodating chamber 80, and the transmission section 12 is located in the first installation chamber 71; the rotary drive includes a motor 10 and a gear train 011, and the gear train 011 is respectively connected to the motor 10 and the drive section 11; the single-power-driven two-claw linkage centering manipulator 200 also includes a rotary sealing ring 8 surrounding the transmission section 12, and the rotary sealing ring 8 is located at one end of the transmission section 12 close to the drive section 11, and the rotary sealing ring 8 is used to isolate the first installation chamber 71 and the power component accommodating chamber 80.

[0072] In this embodiment, the rotational drive is a mechanism in which the motor 10 drives the gear to rotate. Therefore, the single-power-driven two-claw linkage centering manipulator of the utility model is an electric manipulator. Of course, the socket wrench can also be directly used to directly cover the drive section 11 to drive the screw 1 to rotate, forming a manual drive structure.

[0073] During use, in order to ensure the smooth sliding of the first slider 3 and the second slider 4, lubricating grease is provided in the first mounting cavity 71 and the second mounting cavity 73. After adding the rotating sealing ring 8, the rotating sealing ring 8 can isolate the first mounting cavity 71 and the power component accommodating cavity 80, and effectively prevent the lubricating grease from flowing out from the gap on the outer wall of the driving section 11.

[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 centripetal synchronous clamping device with two opposing claws, characterized in that: include: A screw rod, a rotating dial ring, a first slider, a second slider, a first movable clamping jaw and a second movable clamping jaw; The upper part of the first slider is slidably connected to the lower part of the first movable jaw, and the upper part of the second slider is slidably connected to the lower part of the second movable jaw; 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 screw rod includes a transmission section, and the two ends of the transmission section are respectively provided with a transmission thread section and a spare thread section, the transmission thread section passes through the first slider and is threadedly connected to the first slider, and is used to drive the first slider to slide along the axis of the transmission thread section; the two ends of the rotating dial ring are respectively inserted into the first slider and the second slider, and the rotating dial ring rotates under the drive of the first slider and drives the second slider to move synchronously with the first slider; L1 and L2 are collinear, and the intersection of L1 and the rotation center line of the rotating dial ring is P, the movement of the first slider can drive the first movable jaw to approach or move away from P; the movement of the second slider can drive the second movable jaw to approach or move away from P.

2. The centripetal synchronous clamping device with two opposing claws according to claim 1 is characterized in that: The rotating dial ring includes a circular ring body and a first lever head and a second lever head respectively protruding from the outer wall of the circular ring body, and the first lever head and the second lever head are respectively arranged on two opposite sides of the circular ring body; a concave first lever groove is provided on the side of the first slider close to the rotating dial ring, and the first lever head extends into the first lever groove; a concave second lever groove is provided on the side of the second slider close to the rotating dial ring, and the second lever head extends into the second lever groove.

3. The centripetal synchronous clamping device with two opposing claws according to claim 2 is characterized in that: The first lever groove is spherical as a whole, the first lever head is spherical as a whole, and the top of the first lever head is a plane; the first lever head is ball-jointed to the first lever groove, and there is a gap between the top of the first lever head and the bottom of the first lever groove; the second lever groove is spherical as a whole, the second lever head is spherical as a whole, and the top of the second lever head is a plane; the second lever head is ball-jointed to the second lever groove, and there is a gap between the top of the second lever head and the bottom of the second lever groove.

4. The centripetal synchronous clamping device with two opposing claws according to claim 3 is characterized in that: A raised first oblique guide block is provided at the upper portion of the first sliding block, a recessed first oblique guide groove is provided at 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 at the upper portion of the second sliding block, a recessed second oblique guide groove is provided at 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.

5. The centripetal synchronous clamping device with two opposing claws according to claim 4 is characterized in that: The first slider and the second slider have the same structure, and the first slider and the second slider are installed in opposite directions; the first movable clamp and the second movable clamp have the same structure, and the first movable clamp and the second movable clamp are arranged opposite to each other.

6. A single-power-driven two-claw linkage centering manipulator, characterized in that: It comprises a frame and a two-jaw concentric synchronous clamping device as claimed in claim 4 or 5, wherein the lower part of the frame is provided with a first mounting cavity, a center ring receiving groove and a second mounting cavity which are formed therein and connected in sequence, the first mounting cavity and the second mounting cavity are parallel and are respectively arranged on both sides of the center ring receiving groove; the first slider is installed in the first mounting cavity, and the first slider is slidably connected to the first mounting cavity; the second slider is installed in the first mounting cavity, and the second slider is slidably connected to the second mounting cavity; the circular ring body is arranged in the center ring receiving groove, and the circular ring body is rotatably connected to the center ring receiving groove; 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 slidably connected; the upper part of the second movable jaw is accommodated in the second jaw guide groove and the two are slidably connected.

7. The single-power-driven two-claw linkage centering manipulator according to claim 6 is characterized in that: The frame is also provided with a first stroke control hole for limiting the first oblique guide block, and the frame is also provided with a second stroke control hole for limiting the second oblique guide block. The first stroke control hole is connected to the first mounting cavity, and the second stroke control hole is connected to the second 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; the extension directions of the first stroke control hole and the second stroke control hole are both parallel to the axial direction of the screw.

8. The single-power-driven two-claw linkage centering manipulator according to claim 7 is characterized in that: The frame also includes a fixed circular ring column extending into the circular ring body and coaxially arranged with the circular ring body. The circular ring body is rotatably connected to the fixed circular cylinder, and the top of the fixed circular ring column is a placement area for workpieces to be clamped.

9. The single-power-driven two-claw linkage centering manipulator according to claim 8 is characterized in that: The screw rod also includes a driving section fixed to one end of the transmission section, and the driving section is arranged away from the spare threaded section. The single-power driven two-claw linkage centering manipulator also includes an axial limit spring surrounding the driving section close to the transmission section, and the axial limit spring is used to limit the axial movement of the screw rod.

10. The single-power-driven two-claw linkage centering manipulator according to claim 9, characterized in that: The single-power-driven two-claw linkage centering manipulator also includes a rotary drive connected to the drive section and used to drive the screw to rotate. A power component accommodating chamber is also provided in the frame. The drive section and the rotary drive are both accommodated in the power component accommodating chamber, and the transmission section is located in the first installation chamber; the rotary drive includes a motor and a gear train, and the gear train is respectively connected to the motor and the drive section; the single-power-driven two-claw linkage centering manipulator also includes a rotary sealing ring arranged around the transmission section, and the rotary sealing ring is located at one end of the transmission section close to the drive section, and the rotary sealing ring is used to isolate the first installation chamber and the power component accommodating chamber.

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