Manipulator clamp

Abstract

The utility model discloses a manipulator clamp which comprises a clamp shell, a moving structure arranged in a containing cavity, two clamping plates symmetrically arranged on the two sides of the front portion of the moving structure respectively, a plurality of equidistant through cavities formed in the opposite sides of the two clamping plates respectively, and a plurality of sets of abutting structures arranged in the through cavities respectively. The connecting structure is arranged in the center of the rear side of the clamp shell, one side of the connecting structure is fixedly connected with the clamp shell, and the other side is fixedly connected with the mechanical arm. When the two clamping plates are driven by the moving structure to clamp an object, the clamping device can be attached to the outer wall of a cylinder or a ball through cooperation of a plurality of telescopic abutting blocks and an anti-skid pad, the limiting contact face is increased, the object clamping stability is ensured, the first T-shaped block slides into the second limiting groove from bottom to top, and the clamping effect is good. And then the bolt sequentially penetrates through the through hole II and the through hole III to be in threaded connection with the fastening nut, so that the connecting device is connected with the mechanical arm, and the connecting device is simple in structure, convenient to operate and rapid to mount.

Description

Technical Field

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

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms and is used to grasp, move objects or operate tools according to a fixed procedure.

[0003] A manipulator clamp with publication number CN215968836U includes a clamp housing, a driving mechanism and a clamping mechanism, wherein the clamp housing is provided with a driving mechanism, and two fixing plates are provided on the driving mechanism, and a fixing groove is provided on the left surface of the fixing plate, and a clamping mechanism is provided in each of the two fixing grooves, and the clamp housing is connected to the two fixing plates and the two clamping mechanisms by a fastening nut; the utility model effectively solves the problem that the existing manipulator clamp cannot fully contact the surface of the clamped object when clamping an object on an inclined surface, so that the object cannot be stably clamped during the clamping process, and the object is easy to fall. In addition, the existing manipulator clamp also has the following disadvantages during use:

[0004] (1) When clamping cylindrical or spherical objects, existing manipulator clamps cannot fully contact the surface of the clamped object, so that the object cannot be stably clamped during the clamping process, causing the object to fall easily;

[0005] (2) The existing manipulator fixture is not provided with a connection structure with the robot arm, so it cannot be quickly installed and disassembled with the robot arm, thereby increasing maintenance time and reducing the efficiency of the overall workflow. Utility Model Content

[0006] The technical problem to be solved by the utility model is to overcome the above technical defects and provide a manipulator clamp.

[0007] In order to solve the above problems, the technical solution of the utility model includes:

[0008] A fixture housing, wherein a cavity is provided inside the fixture housing;

[0009] A moving structure, wherein the moving structure is arranged inside the cavity;

[0010] Clamping plates, the number of the clamping plates is two, the two clamping plates are symmetrically arranged on both sides of the front of the moving structure, and the opposite sides of the two clamping plates are respectively provided with a plurality of equidistant through cavities, and the inner sides of the plurality of through cavities are respectively provided with sliding grooves;

[0011] Abutment structures, the abutment structures are in a plurality of groups, and the plurality of groups of abutment structures are respectively arranged inside the through cavity;

[0012] The connecting structure is arranged at the rear center of the clamp housing, one side of the connecting structure is fixedly connected to the clamp housing, and the other side of the connecting structure is fixedly connected to the mechanical arm.

[0013] Furthermore, the front sides of the two movable seats are respectively fixedly connected to the clamping plates, the inner centers of the two movable seats are respectively provided with threaded holes, and the tops and bottoms of the two threaded holes are respectively provided with through holes one.

[0014] Furthermore, each group of the abutment structure includes a telescopic rod, a spring, an abutment block and a slider. Telescopic rods are respectively provided on both sides of the interior of the through cavity. One end of the two telescopic rods is respectively fixedly connected to the inner wall of the through cavity, and the other end is respectively fixedly connected to the abutment blocks. The outer walls of the two telescopic rods are respectively wrapped with springs, and the two sides of the abutment block close to the telescopic rod are respectively fixedly connected to the slider. The outer wall of the abutment block is sleeved with an anti-slip pad, and the two sliders are respectively adapted to be connected to the slide groove.

[0015] Furthermore, a limiting groove one is respectively provided between the two L-shaped blocks and the T-shaped block one, a limiting groove two is provided between the two T-shaped blocks two, a through hole two is respectively provided at the inner center of the two L-shaped blocks and the T-shaped block one, a through hole three is provided at the inner center of the two T-shaped blocks two, the through hole two and the through hole three are at the same height level and have the same diameter, the T-shaped block one is adaptively connected to the limiting groove two, and the two T-shaped blocks two are adaptively connected to the limiting groove one.

[0016] Furthermore, the movable structure includes a sliding rod, a threaded rod, a movable seat and a motor. A threaded rod is passed through the interior of the cavity. A sliding rod is respectively provided at the top and bottom of the threaded rod. Both ends of the two sliding rods are respectively fixedly connected to the inner wall of the cavity. One end of the threaded rod is movably connected to the inner wall of the cavity, and the other end passes through the clamp housing and is fixedly connected to the output end of the motor. The movable seat is respectively sleeved on both sides of the outer walls of the threaded rod and the two sliding rods.

[0017] Furthermore, the internal threads of the two threaded holes are opposite to each other, the two threaded holes are respectively threadedly connected to the threaded rod, and the four through holes are respectively slidably connected to the sliding rod.

[0018] Furthermore, the connecting structure includes connecting plate 1, connecting plate 2, a limit block, T-shaped block 1, L-shaped block and T-shaped block 2. One side of connecting plate 1 is fixedly connected to the fixture housing, and the other side is provided with connecting plate 2. The connecting plate 2 is fixedly connected to the robotic arm on the side away from connecting plate 1. The rear bottom of connecting plate 1 is fixedly connected to the limit block. T-shaped block 1 is provided at the top center of the limit block. L-shaped blocks are respectively provided on both sides of T-shaped block 1. T-shaped blocks 2 are respectively provided on both sides of the front center of connecting plate 2. A fixed structure is passed between connecting plate 1 and connecting plate 2.

[0019] Furthermore, the fixing structure includes a bolt and a fastening nut, and one end of the bolt passes through through hole two and through hole three in sequence and is threadedly connected with the fastening nut.

[0020] The advantages of the utility model compared with the existing technology are:

[0021] 1. The utility model provides a manipulator clamp, which is provided with a plurality of abutment structures. When the moving structure drives two clamping plates to clamp an object, a plurality of retractable abutment blocks cooperate with the anti-slip pads, so that the outer wall of the cylinder or sphere can be attached, the limiting contact surface is increased, and the stability of the object clamping is ensured;

[0022] 2. The utility model provides a robot clamp with a connection structure. The connection between the utility model and the robot arm can be completed by sliding the T-shaped block 1 into the interior of the limit groove 2 from bottom to top, and then passing the bolts through the through hole 2 and the through hole 3 in sequence and threadedly connecting them with the fastening nut. The utility model has a simple structure, is easy to operate, and is quick to install, which reduces the installation and disassembly time of the staff and increases the efficiency of the overall work process. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a stereogram of the utility model.

[0024] Figure 2 It is a bottom-up sectional schematic diagram of the utility model.

[0025] Figure 3 yes Figure 2 Enlarged view of point A in the middle.

[0026] Figure 4 yes Figure 2 An exploded, enlarged view of the connecting structure.

[0027] As shown in the figure: 1. Clamp housing; 2. Receiving cavity; 3. Moving structure; 301. Sliding rod; 302. Threaded rod; 303. Moving seat; 304. Motor; 305. Threaded hole; 306. Through hole one; 4. Clamping plate; 5. Through cavity; 6. Abutment structure; 601. Telescopic rod; 602. Spring; 603. Abutment block; 604. Sliding block; 7. Connecting structure; 701. Connecting plate one; 702. Connecting plate two; 703. Limiting block; 704. T-shaped block one; 705. L-shaped block; 706. T-shaped block two; 707. Through hole two; 708. Through hole three; 709. Limiting groove one; 710. Limiting groove two; 711. Bolt; 712. Fastening nut; 8. Sliding groove. DETAILED DESCRIPTION

[0028] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices consistent with some aspects of the present disclosure as detailed in the appended claims.

[0029] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments; based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0030] Embodiment 1:

[0031] like Figures 1 to 4 As shown, this embodiment proposes a manipulator clamp, including a clamp housing 1, a moving structure 3, a clamping plate 4, an abutment structure 6 and a connecting structure 7. The clamp housing 1 is provided with a cavity 2, the moving structure 3 is arranged inside the cavity 2, there are two clamping plates 4, and the two clamping plates 4 are symmetrically arranged on both sides of the front of the moving structure 3, and a number of equidistant through cavities 5 are respectively provided on opposite sides of the two clamping plates 4, and slide grooves 8 are respectively provided on both sides of the interiors of the through cavities 5, there are several groups of abutment structures 6, and several groups of abutment structures 6 are respectively arranged inside the through cavities 5, and the connecting structure 7 is arranged at the rear center of the clamp housing 1, one side of the connecting structure 7 is fixedly connected to the clamp housing 1, and the other side is fixedly connected to the robot arm.

[0032] Embodiment 2:

[0033] The scheme in Example 1 is further introduced below in combination with the specific working method, as described below for details: the moving structure 3 includes a sliding rod 301, a threaded rod 302, a moving seat 303 and a motor 304, a threaded rod 302 is penetrated inside the cavity 2, and a sliding rod 301 is respectively provided on the top and bottom of the threaded rod 302, the two ends of the two sliding rods 301 are respectively fixedly connected to the inner wall of the cavity 2, one end of the threaded rod 302 is movably connected to the inner wall of the cavity 2, and the other end passes through the fixture housing 1 and is fixedly connected to the output end of the motor 304, the outer walls of the threaded rod 302 and the two sliding rods 301 are respectively sleeved on both sides of the moving seat 303, the front sides of the two moving seats 303 are respectively fixedly connected to the clamping plate 4, the inner centers of the two moving seats 303 are respectively provided with threaded holes 305, the tops and bottoms of the two threaded holes 305 are respectively provided with through holes 1 306, the internal threads of the two threaded holes 305 are opposite, the two threaded holes 305 are respectively threadedly connected to the threaded rod 302, and the four through holes 1 306 are respectively slidably connected to the sliding rod 301.

[0034] Embodiment 3:

[0035] The scheme in Example 2 is further introduced below in combination with the specific working method, as described below for details: each group of abutment structures 6 includes a telescopic rod 601, a spring 602, an abutment block 603 and a slider 604, and telescopic rods 601 are respectively provided on both sides of the interior of the through cavity 5, one end of the two telescopic rods 601 is respectively fixedly connected to the inner wall of the through cavity 5, and the other end is respectively fixedly connected to the abutment block 603, the outer walls of the two telescopic rods 601 are respectively wrapped with the spring 602, and the two sides of the abutment block 603 close to the telescopic rod 601 are respectively fixedly connected to the slider 604, the outer wall of the abutment block 603 is sleeved with an anti-slip pad, and the two sliders 604 are respectively adapted to be connected to the slide groove 8.

[0036] A plurality of groups of abutment structures 6 are provided. When the two clamping plates 4 are driven by the movable structure 3 to clamp an object, a plurality of retractable abutment blocks 603 cooperate with the anti-slip pads so as to fit the outer wall of the cylinder or sphere, increase the limiting contact surface, and ensure the stability of the object clamping.

[0037] Embodiment 4:

[0038] The scheme in Example 3 is further introduced below in combination with the specific working method, as described below for details: the connecting structure 7 includes a connecting plate 1 701, a connecting plate 2 702, a limiting block 703, a T-shaped block 1 704, an L-shaped block 705 and a T-shaped block 2 706, one side of the connecting plate 1 701 is fixedly connected to the clamp housing 1, and the other side is provided with a connecting plate 2 702, the side of the connecting plate 2 702 away from the connecting plate 1 701 is fixedly connected to the robotic arm, the rear bottom of the connecting plate 1 701 is fixedly connected to the limiting block 703, a T-shaped block 1 704 is provided at the top center of the limiting block 703, L-shaped blocks 705 are respectively provided on both sides of the T-shaped block 1 704, T-shaped blocks 2 706 are respectively provided on both sides of the front center of the connecting plate 2 702, and a fixed structure is passed between the connecting plate 1 701 and the connecting plate 2 702.

[0039] Embodiment 5:

[0040] The scheme in Example 4 is further introduced below in combination with the specific working method, as described below for details: a limiting groove 1 709 is respectively provided between the two L-shaped blocks 705 and the T-shaped block 1 704, a limiting groove 2 710 is provided between the two T-shaped blocks 2 706, a through hole 2 707 is respectively provided at the inner center of the two L-shaped blocks 705 and the T-shaped block 1 704, a through hole 3 708 is provided at the inner center of the two T-shaped blocks 2 706, the through hole 2 707 and the through hole 3 708 are at the same height horizontal plane and have the same diameter, the T-shaped block 1 704 is adaptively connected to the limiting groove 2 710, the two T-shaped blocks 2 706 are adaptively connected to the limiting groove 1 709, the fixing structure includes a bolt 711 and a fastening nut 712, one end of the bolt 711 passes through the through hole 2 707 and the through hole 3 708 in turn and is threadedly connected to the fastening nut 712.

[0041] A connecting structure 7 is provided, by sliding the T-shaped block 1 704 into the interior of the limiting groove 2 710 from bottom to top, and then passing the bolt 711 through the through hole 2 707 and the through hole 3 708 in sequence and threading them with the fastening nut 712, the connection between the utility model and the robot arm can be completed. The structure is simple, the operation is convenient, the installation is quick, the installation and disassembly time of the staff is reduced, and the efficiency of the overall work process is increased.

[0042] The electrical components appearing in this article are all connected to an external main controller and 220V AC power, and the main controller can be a conventional known device that controls a computer, etc. The specific implementation method of the present disclosure omits the detailed description of known functions and known components. To ensure the compatibility of the equipment, the operating methods used are consistent with the parameters of marketed equipment.

[0043] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0044] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

[0045] The above description of the utility model and its implementation methods is not restrictive. The drawings show only one implementation method of the utility model, and the actual structure is not limited thereto. In short, if ordinary technicians in this field are inspired by it and design structural methods and embodiments similar to the technical solution without creativity without departing from the purpose of the invention of the utility model, they should all fall within the protection scope of the utility model.

Claims

1. A manipulator clamp, characterized in that: include: A clamp housing (1), wherein a cavity (2) is provided inside the clamp housing (1); A movable structure (3), wherein the movable structure (3) is arranged inside the containing cavity (2); A clamping plate (4), wherein the number of the clamping plates (4) is two, and the two clamping plates (4) are symmetrically arranged on both sides of the front of the moving structure (3), and a plurality of equidistant through cavities (5) are respectively arranged on opposite sides of the two clamping plates (4), and a plurality of slide grooves (8) are respectively arranged on both sides of the interior of the plurality of through cavities (5); Abutment structures (6), the abutment structures (6) being provided in a plurality of groups, and the plurality of groups of abutment structures (6) being respectively arranged inside the through cavity (5); A connecting structure (7), wherein the connecting structure (7) is arranged at the rear center of the clamp housing (1), one side of the connecting structure (7) is fixedly connected to the clamp housing (1), and the other side of the connecting structure (7) is fixedly connected to the mechanical arm.

2. A manipulator clamp according to claim 1, characterized in that: The movable structure (3) comprises a sliding rod (301), a threaded rod (302), a movable seat (303) and a motor (304); the interior of the cavity (2) is provided with a threaded rod (302); the top and bottom of the threaded rod (302) are provided with sliding rods (301) respectively; the two ends of the two sliding rods (301) are respectively fixedly connected to the inner wall of the cavity (2); one end of the threaded rod (302) is movably connected to the inner wall of the cavity (2); the other end passes through the fixture housing (1) and is fixedly connected to the output end of the motor (304); the outer walls of the threaded rod (302) and the two sliding rods (301) are respectively sleeved with the movable seat (303) on both sides.

3. A manipulator clamp according to claim 2, characterized in that: The front sides of the two movable seats (303) are respectively fixedly connected to the clamping plate (4), the inner centers of the two movable seats (303) are respectively provided with threaded holes (305), and the tops and bottoms of the two threaded holes (305) are respectively provided with through holes (306).

4. A manipulator clamp according to claim 3, characterized in that: The internal threads of the two threaded holes (305) are opposite to each other, the two threaded holes (305) are respectively threadedly connected to the threaded rod (302), and the four through holes (306) are respectively slidably connected to the sliding rod (301).

5. A manipulator clamp according to claim 1, characterized in that: Each group of the abutment structures (6) comprises a telescopic rod (601), a spring (602), an abutment block (603) and a sliding block (604); telescopic rods (601) are respectively arranged on both sides of the interior of the through cavity (5); one end of the two telescopic rods (601) is respectively fixedly connected to the inner wall of the through cavity (5); the other end is respectively fixedly connected to the abutment blocks (603); the outer walls of the two telescopic rods (601) are respectively wound with the spring (602); the two sides of the abutment blocks (603) close to the telescopic rods (601) are respectively fixedly connected to the sliding blocks (604); the outer walls of the abutment blocks (603) are sleeved with anti-slip pads; and the two sliding blocks (604) are respectively adapted to be connected to the slide grooves (8).

6. A manipulator clamp according to claim 1, characterized in that: The connection structure (7) comprises a connection plate 1 (701), a connection plate 2 (702), a limit block (703), a T-shaped block 1 (704), an L-shaped block (705) and a T-shaped block 2 (706); one side of the connection plate 1 (701) is fixedly connected to the fixture housing (1), and the other side is provided with a connection plate 2 (702); the side of the connection plate 2 (702) away from the connection plate 1 (701) is fixedly connected to the mechanical arm; the bottom of the rear side of the connection plate 1 (701) is fixedly connected to the limit block (703); the top center of the limit block (703) is provided with a T-shaped block 1 (704); the two sides of the T-shaped block 1 (704) are respectively provided with L-shaped blocks (705); the two sides of the front center of the connection plate 2 (702) are respectively provided with T-shaped blocks 2 (706); and a fixed structure is provided between the connection plate 1 (701) and the connection plate 2 (702).

7. A manipulator clamp according to claim 6, characterized in that: A limiting groove 1 (709) is respectively provided between the two L-shaped blocks (705) and the T-shaped block 1 (704), a limiting groove 2 (710) is provided between the two T-shaped blocks 2 (706), a through hole 2 (707) is respectively provided at the inner center of the two L-shaped blocks (705) and the T-shaped block 1 (704), a through hole 3 (708) is provided at the inner center of the two T-shaped blocks 2 (706), the through hole 2 (707) and the through hole 3 (708) are at the same height level and have the same diameter, the T-shaped block 1 (704) is adaptively connected to the limiting groove 2 (710), and the two T-shaped blocks 2 (706) are adaptively connected to the limiting groove 1 (709).

8. A manipulator clamp according to claim 6, characterized in that: The fixing structure comprises a bolt (711) and a fastening nut (712), and one end of the bolt (711) passes through the second through hole (707) and the third through hole (708) in sequence and is threadedly connected to the fastening nut (712).

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