Robotic gripper

Abstract

The utility model relates to the field of mechanical clamps, and discloses a manipulator clamp, including a clamp seat, a partition plate is fixedly connected to the top of the clamp seat, a plurality of sliding columns in an annular array are slidably connected inside the partition plate, an outer expansion plate is fixedly connected to one end of the sliding column, a top plate is fixedly connected to the other end of the sliding column, a spring 1 is sleeved on the outer wall of the sliding column, one end of the spring 1 is fixedly connected to the outer wall of the top plate, and the other end of the spring 1 is fixedly connected to the outer wall of the partition plate, the top plate is arranged on the inner side of the partition plate, and the outer expansion plate is arranged on the outer side of the partition plate. In the utility model, the top plate can be pushed out by the push rod, and the top plate can push out the outer expansion plate by the sliding column, so that the plurality of outer expansion plates are unfolded inside the handle glove, so as to adapt to the handle glove on the left and right sides and fix the handle glove, solve the problem that the left and right handle glove are inconvenient to be positioned by the same clamp, and improve the convenience of positioning.

Description

Technical Field

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

[0002] Handles play an important role in various environments such as homes, offices, and commercial places. Most handles are equipped with handle covers, which are usually designed as sleeves and can be easily put on door handles. When using, you only need to put your hand into the handle cover to avoid direct contact with the door handle. When processing the handle cover, a professional fixture is required to cooperate with the manipulator to clamp it for easy transportation of the handle cover.

[0003] When processing most handle gloves, the products are placed on a material tray and need to be grabbed by a robot and then taken for processing. The robot will be designed with a clamp for the handle gloves. Since there are positioning columns on the handle gloves, a positioning groove is designed on the clamp. The positioning column of the handle glove can be combined with the positioning groove to achieve accurate clamping of the handle glove.

[0004] However, when positioning the handle gloves, most of the handle gloves are symmetrical, that is, one on the left and one on the right, and the positions of the positioning columns of the left and right handles are opposite, and the fixture has only one positioning hole. Therefore, another fixture is needed to make the two fixtures have the same structure and ensure that the positions of the holes are relative. However, this will increase the cost, and the fixture needs to be replaced during the processing, which is more troublesome. Utility Model Content

[0005] In order to make up for the above shortcomings, the utility model provides a manipulator clamp, aiming to improve the problem in the prior art that two clamps are needed to fix the gloves, which will lead to increased costs.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] The manipulator clamp comprises a clamp seat, a partition plate is fixedly connected to the top of the clamp seat, a plurality of sliding columns in an annular array are slidably connected inside the partition plate, one end of the sliding column is fixedly connected to an outward expansion plate, the other end of the sliding column is fixedly connected to a top plate, a spring 1 is sleeved on the outer wall of the sliding column, one end of the spring 1 is fixedly connected to the outer wall of the top plate, the other end of the spring 1 is fixedly connected to the outer wall of the partition plate, the top plate is arranged on the inner side of the partition plate, the outward expansion plate is arranged on the outer side of the partition plate, a fixing ring is fixedly connected to the outer wall of the fixing ring, a positioning ring is slidably connected to the outer wall of the positioning ring, a left-right symmetrical positioning groove is opened on the outer wall of the positioning ring, and a connecting component is arranged at the bottom of the clamp seat;

[0008] Through the above technical scheme, positioning is performed by the positioning groove, and then the robot arm inserts the push rod into the fixture seat and the partition, so that the top plate can be pushed out by the push rod, and the top plate can push out the outer expansion plate through the sliding column, so that multiple outer expansion plates can be unfolded inside the handle cover, thereby adapting to the handle covers on the left and right sides and fixing the handle covers.

[0009] As a further description of the above technical solution:

[0010] The connecting assembly comprises a flange, the inner wall of which is fixedly connected to the bottom of the outer wall of the clamp seat;

[0011] Through the above technical solution, the robot can be connected by the flange.

[0012] As a further description of the above technical solution:

[0013] The outer wall of the fixing ring is fixedly connected with a positioning block of an annular array, and one side of the outer wall of the positioning ring is provided with a sliding groove of an annular array;

[0014] Through the above technical solution, the position of the positioning ring is determined by the positioning block.

[0015] As a further description of the above technical solution:

[0016] The outer wall of the positioning block is slidably connected to the inside of the slide slot 1, and both sides of the outer wall of the positioning block are provided with slots;

[0017] Through the above technical solution, the positioning block is easily fixed by the clamping groove.

[0018] As a further description of the above technical solution:

[0019] A plurality of left-right symmetrical clamping balls are slidably connected inside the positioning ring, and the outer walls of the clamping balls are slidably connected inside the clamping slots;

[0020] Through the above technical solution, the locking slot is locked by the locking ball.

[0021] As a further description of the above technical solution:

[0022] A plurality of left-right symmetrical sliding grooves are provided inside the positioning ring, the outer wall of the clamping ball is slidably connected inside the sliding grooves, and one side of the outer wall of the clamping ball is fixedly connected to a limiting column;

[0023] Through the above technical solution, the position of the stuck ball is limited by the second slide groove.

[0024] As a further description of the above technical solution:

[0025] A plurality of left-right symmetrical sliding grooves 3 are provided inside the positioning ring, the outer wall of the limiting column is slidably connected inside the sliding grooves 3, and the outer wall of the limiting column is sleeved with a spring 2;

[0026] Through the above technical solution, the direction of the force of the second spring is determined by the limiting column.

[0027] As a further description of the above technical solution:

[0028] One end of the second spring is fixedly connected to one side of the outer wall of the ball, and the other end of the second spring is fixedly connected to the inner wall of the second slide groove;

[0029] Through the above technical solution, the force bearing object of the second spring is ensured.

[0030] The utility model has the following beneficial effects:

[0031] 1. In the utility model, firstly, positioning is performed by the positioning groove, and then the robot arm inserts the push rod into the inside of the clamp seat and the partition, and the push rod can push out the top plate, and the top plate can push out the outer expansion plate through the sliding column, so that multiple outer expansion plates are unfolded inside the handle cover, so as to adapt to the handle covers on the left and right sides and fix the handle covers, which solves the problem that the left and right handle covers are inconvenient to be positioned by the same clamp, and improves the convenience of positioning.

[0032] 2. In the utility model, with the cooperation of the positioning block, the first slide groove, the second spring and the slot structure, the positioning ring can be removed from the fixed ring, so that the positioning ring with different positioning groove positions can be replaced according to the size of the handle cover, so as to solve the problem that the positioning groove is inconvenient to adapt to different handle covers, thereby improving the applicability of the clamp. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A three-dimensional schematic diagram of the manipulator clamp proposed by the utility model;

[0034] Figure 2 This is a schematic diagram of the cross-sectional structure of the partition of the manipulator clamp proposed by the utility model;

[0035] Figure 3 for Figure 2 The enlarged view of point A in the middle;

[0036] Figure 4 This is a schematic diagram of the cross-sectional structure of the positioning ring of the manipulator clamp proposed by the utility model;

[0037] Figure 5 for Figure 4 Enlarged view of point B in the middle.

[0038] Legend:

[0039] 1. Clamp seat; 2. Partition plate; 3. Outward expansion plate; 4. Top plate; 5. Positioning ring; 6. Positioning groove; 7. Flange; 8. Fixed ring; 9. Positioning block; 10. Slide groove 1; 11. Slide column; 12. Spring 1; 13. Card ball; 14. Slide groove 2; 15. Limit column; 16. Slide groove 3; 17. Spring 2; 18. Card groove. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0041] Reference Figure 1 - Figure 3 , the utility model provides an embodiment: a manipulator clamp, including a clamp seat 1, a partition plate 2 is fixedly connected to the top of the clamp seat 1, a plurality of sliding columns 11 in an annular array are slidably connected inside the partition plate 2, one end of the sliding column 11 is fixedly connected to an outer expansion plate 3, and the other end of the sliding column 11 is fixedly connected to a top plate 4, a spring 12 is sleeved on the outer wall of the sliding column 11, one end of the spring 12 is fixedly connected to the outer wall of the top plate 4, and the other end of the spring 12 is fixedly connected to the outer wall of the partition plate 2, the top plate 4 is arranged on the inner side of the partition plate 2, and the outer expansion plate 3 is arranged on the outer side of the partition plate 2, a fixing ring 8 is fixedly connected to the outer wall of the fixing ring 8, and a positioning ring 5 is slidably connected to the outer wall of the positioning ring 5, and a left-right symmetrical positioning groove 6 is opened on the outer wall of the positioning ring 5, and a connecting component is arranged at the bottom of the clamp seat 1, and the connecting component includes a flange 7, and the inner wall of the flange 7 is fixedly connected to the bottom of the outer wall of the clamp seat 1;

[0042] Specifically, the clamp can be fixed to the manipulator by a flange 7, a positioning ring 5 is fixed to the clamp seat 1, and a positioning groove 6 is provided on the positioning ring 5 for positioning the handlebar cover. The positioning groove 6 is designed to be bilaterally symmetrical, so that the positioning columns on the handlebar covers on both sides can be adapted to be in relative positions to ensure that the handlebar covers on both sides can be correctly positioned. After positioning the handlebar cover, the manipulator can insert the push rod into the clamp seat 1, and the push rod will be inserted into the partition 2, and overcome the force of the spring 12 to push the top plate 4 outward, and then the top plate 4 pushes the outer expansion plate 3 to move outward through the sliding column 11, so that the outer expansion plate 3 formed by the annular array moves outward at the same time, thereby fixing the handlebar cover.

[0043] Reference Figure 4 and Figure 5 The outer wall of the fixing ring 8 is fixedly connected with a circular array of positioning blocks 9, and one side of the outer wall of the positioning ring 5 is provided with a circular array of slide grooves 10, and the outer wall of the positioning block 9 is slidably connected inside the slide groove 10;

[0044] Specifically, when a different positioning ring 5 needs to be replaced, the new positioning ring 5 is put on the outer wall of the fixed ring 8. When the positioning ring 5 is put on the outer wall of the fixed ring 8, the positioning block 9 on the fixed ring 8 will slide into the slide groove 10 inside the positioning ring 5. This design can realize the rapid replacement and positioning of the positioning ring 5. Through the cooperation between the positioning block 9 and the slide groove 10, it can be ensured that the new positioning ring 5 can be firmly installed on the fixture and can be accurately positioned.

[0045] Reference Figure 4 and Figure 5 , the outer wall of the positioning block 9 is provided with a card slot 18 on both sides, and a plurality of left-right symmetrical card balls 13 are slidably connected inside the positioning ring 5. The outer wall of the card ball 13 is slidably connected inside the card slot 18. A plurality of left-right symmetrical slide grooves 14 are provided inside the positioning ring 5. The outer wall of the card ball 13 is slidably connected inside the slide groove 14. A limiting column 15 is fixedly connected to one side of the outer wall of the card ball 13. A plurality of left-right symmetrical slide grooves 16 are provided inside the positioning ring 5. The outer wall of the limiting column 15 is slidably connected inside the slide groove 16. A spring 2 17 is sleeved on the outer wall of the limiting column 15. One end of the spring 2 17 is fixedly connected to one side of the outer wall of the card ball 13, and the other end of the spring 2 17 is fixedly connected to the inner wall of the slide groove 14;

[0046] Specifically, in the process of the fixing ring 8 sliding into the inside of the slide groove 10, the locking ball 13 can overcome its force and retract into the inside of the positioning ring 5, so as to ensure that the locking ball 13 will not interfere with the sliding process of the fixing ring 8. When the fixing ring 8 completely slides into the slide groove 10, the locking ball 13 will be aligned with the locking groove 18 on the positioning block 9. Under the action of the spring 2 17, the locking ball 13 will be locked into the inside of the locking groove 18, so as to ensure that the positioning ring 5 is fixed on the fixing ring 8 and maintains a stable positioning state, so that the fixing ring 8 and the positioning ring 5 can be reliably connected. The design of the locking ball 13 and the locking groove 18, as well as the action of the spring 2 17, ensure that the positioning ring 5 is firmly fixed on the fixing ring 8.

[0047] Working principle: The fixture can be fixed on the manipulator through the flange 7, and the positioning ring 5 is fixed on the fixture seat 1. The positioning groove 6 on the positioning ring 5 can be used to position the handle glove, and the positioning groove 6 is designed to be bilaterally symmetrical, so that the positioning columns on the handle glove on both sides can be adapted to be in relative positions, so that the handle glove on both sides can be positioned. After the handle glove is positioned, the manipulator can insert the push rod into the inside of the fixture seat 1, and the push rod will be inserted into the inside of the partition 2, and overcome the force of the spring 12 to push the top plate 4 outward, and then the top plate 4 pushes the outer expansion plate 3 to move outward through the sliding column 11, and the ring The outer expansion plate 3 of the shaped array moves outward at the same time to fix the handle. When different positioning rings 5 ​​are replaced, the positioning ring 5 can be sleeved on the outer wall of the fixing ring 8, and the positioning block 9 on the fixing ring 8 will slide into the slide groove 10 inside the positioning ring 5. In the process of the fixing ring 8 sliding into the slide groove 10, the card ball 13 can overcome the force of the spring 17 and retract into the positioning ring 5. After sliding in completely, the card ball 13 will be aligned with the card groove 18 on the positioning block 9, so that under the action of the spring 17, the card ball 13 can be stuck in the card groove 18, so that the positioning ring 5 is fixed on the fixing ring 8.

[0048] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A manipulator fixture, comprising a fixture seat (1), characterized in that: The top of the clamp seat (1) is fixedly connected to a partition plate (2), and a plurality of sliding columns (11) in an annular array are slidably connected inside the partition plate (2). One end of the sliding column (11) is fixedly connected to an outer expansion plate (3), and the other end of the sliding column (11) is fixedly connected to a top plate (4). The outer wall of the sliding column (11) is sleeved with a spring 1 (12), one end of the spring 1 (12) is fixedly connected to the outer wall of the top plate (4), and the other end of the spring 1 (12) is fixedly connected to the outer wall of the partition plate (2). The top plate (4) is arranged on the inner side of the partition plate (2), and the outer expansion plate (3) is arranged on the outer side of the partition plate (2). The outer wall of the clamp seat (1) is fixedly connected to a fixing ring (8), and the outer wall of the fixing ring (8) is slidably connected to a positioning ring (5). The outer wall of the positioning ring (5) is provided with left-right symmetrical positioning grooves (6). A connecting component is arranged at the bottom of the clamp seat (1).

2. The manipulator clamp according to claim 1, characterized in that: The connection assembly comprises a flange (7), the inner wall of the flange (7) being fixedly connected to the bottom of the outer wall of the clamp seat (1).

3. The manipulator clamp according to claim 1, characterized in that: The outer wall of the fixing ring (8) is fixedly connected with a positioning block (9) in an annular array, and one side of the outer wall of the positioning ring (5) is provided with a sliding groove (10) in an annular array.

4. The manipulator clamp according to claim 3, characterized in that: The outer wall of the positioning block (9) is slidably connected to the interior of the first slide groove (10), and both sides of the outer wall of the positioning block (9) are provided with clamping grooves (18).

5. The manipulator clamp according to claim 4, characterized in that: A plurality of left-right symmetrical locking balls (13) are slidably connected inside the positioning ring (5), and the outer walls of the locking balls (13) are slidably connected inside the locking grooves (18).

6. The manipulator clamp according to claim 5, characterized in that: A plurality of left-right symmetrical sliding grooves (14) are provided inside the positioning ring (5), the outer wall of the locking ball (13) is slidably connected inside the sliding grooves (14), and one side of the outer wall of the locking ball (13) is fixedly connected to a limiting column (15).

7. The manipulator clamp according to claim 6, characterized in that: A plurality of left-right symmetrical sliding grooves (16) are provided inside the positioning ring (5), the outer wall of the limiting column (15) is slidably connected inside the sliding grooves (16), and the outer wall of the limiting column (15) is sleeved with a spring (17).

8. The manipulator clamp according to claim 7, characterized in that: One end of the second spring (17) is fixedly connected to one side of the outer wall of the locking ball (13), and the other end of the second spring (17) is fixedly connected to the inner wall of the second slide groove (14).

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