Manipulator clamp adaptive to various workpieces

Abstract

The utility model relates to the field of tools, in particular to the field of mechanical arm clamps, and particularly relates to a mechanical arm clamp suitable for various workpieces. The utility model provides a mechanical arm clamp suitable for various workpieces. The mechanical arm clamp comprises an installation base used for being installed at the tail end of a mechanical arm. Comprising a plurality of pairs of clamping jaws, and one pair of clamping jaws is detachably mounted on the mounting seat; each pair of clamping jaws comprises at least two clamping heads which are matched with each other to realize clamping, and the clamping heads of different clamping jaws are not completely the same in shape and correspond to workpieces of different shapes; and the driving device is used for driving the chuck mounted on the mounting seat to move relative to the mounting seat to clamp a workpiece. The manipulator clamp can adapt to various workpieces and can stably clamp the workpieces in different shapes for blanking.

Description

Technical Field

[0001] The utility model relates to the field of tooling, specifically to the field of manipulator clamps, and in particular to a manipulator clamp adapted to a variety of workpieces. Background Art

[0002] Existing production lines are usually equipped with robots to perform different processes. For example, a feeding robot is provided in the feeding area at the end of the conveyor belt to clamp and feed the finished workpieces on the conveyor belt. A clamp is installed at the end of the robot, and the clamp includes a mounting seat for mounting to the end of the robot, and at least two movable jaws are installed on the mounting seat. These jaws are each equipped with a drive cylinder / drive motor. Under the drive of the drive cylinder / drive motor, these jaws move closer or farther from each other to achieve clamping or releasing actions. In actual production, production lines usually produce workpieces in batches. The shapes of workpieces in the same batch are the same, and the shapes of workpieces in different batches are different. However, the shape of the clamp's jaws is fixed. If only one set of clamps is used to clamp workpieces of different shapes, it is easy for the shape of the clamp to not completely match the shape of the workpiece, resulting in the jaws being unable to clamp the workpiece firmly, affecting the feeding of the workpiece. Utility Model Content

[0003] The technical problem to be solved by the utility model is to provide a manipulator clamp which can be adapted to a variety of workpieces and can stably clamp workpieces of different shapes for cutting.

[0004] In order to solve the above problems, the utility model provides a manipulator clamp that is suitable for a variety of workpieces, including a mounting base for installation on the end of the manipulator; including multiple pairs of jaws, one pair of which is detachably mounted on the mounting base; each pair includes at least two chucks that cooperate with each other to achieve clamping, and different jaws have different chuck shapes corresponding to workpieces of different shapes; and also includes a driving device, which drives the chuck installed on the mounting base to move relative to the mounting base to clamp the workpiece.

[0005] Furthermore, a connecting seat is movably connected to the mounting seat, and one of the multiple pairs of clamping jaws is selected to be detachably mounted on the connecting seat, thereby being mounted on the mounting seat.

[0006] Furthermore, the driving device drives the connecting seat to move the clamp installed on the connecting seat.

[0007] Furthermore, one of the connecting seat and the mounting seat is provided with a clamping block and the other is provided with a clamping slot, and the clamping block is clamped into the clamping slot and moves along the clamping slot.

[0008] Furthermore: a mounting hole is provided on the surface of the connecting seat, and a mounting adjustment groove is provided on the chuck; a mounting bolt is provided which passes through the mounting adjustment groove and is screwed into and fixed in the mounting hole, and the chuck moves along the direction of the mounting adjustment groove to adjust its position relative to the connecting seat. During this process, the mounting bolt moves along the mounting adjustment groove relative to the chuck; the chuck is tightened by the mounting bolt to fix the chuck that has been adjusted into place on the connecting seat.

[0009] Furthermore, the surface of the connecting seat is a concave-convex surface, and the corresponding surface of the chuck is a matching concave-convex surface. When the chuck is installed on the connecting seat, the concave-convex surfaces of the two are embedded with each other.

[0010] Furthermore, there are multiple connecting seats, the number of which is not less than the number of chucks in the pair of jaws with the largest number of chucks, and in each pair of jaws, each chuck is installed on each connecting seat respectively.

[0011] Furthermore, the clamp is specifically clamped onto the mounting seat.

[0012] Furthermore, one of the mounting seat and the chuck is provided with a clamping block and the other is provided with a clamping slot, and the clamping block is clamped into the clamping slot and moves along the clamping slot.

[0013] Beneficial effects: The fixture of the utility model includes multiple pairs of jaws. When producing the first workpiece, the production personnel can select the first pair of jaws corresponding to the shape of the first workpiece from the multiple pairs of jaws, and install the jaws on the mounting seat. Since the shape of the first pair of jaws corresponds to the first workpiece, the chuck of the first pair of jaws can stably clamp the first workpiece of the corresponding shape for cutting when driven by the driving device. When it is necessary to produce a second workpiece with a shape different from the first workpiece, the production personnel first remove the first pair of jaws on the mounting seat, and then select the second pair of jaws corresponding to the shape of the second workpiece from the multiple pairs of jaws, and install the second pair of jaws on the mounting seat. As described above, the second workpiece can be stably clamped by the second pair of jaws for cutting. It can be seen that the fixture of the utility model can adapt to a variety of workpieces and can stably clamp workpieces of different shapes for cutting. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the structure of the manipulator clamp (with the first pair of grippers installed).

[0015] Figure 2 It is a schematic diagram of the partial explosion of the robot gripper.

[0016] Figure 3 This is a schematic diagram of the components of the robot gripper from above.

[0017] Figure 4 It is a schematic diagram of the structure of the robot gripper (with a second pair of grippers installed).

[0018] Explanation of symbols:

[0019] 1-mounting seat; 11-slot; 12-block; 2-connecting seat; 21-mounting screw hole; 22-concave and convex surface of the connecting seat; 3-first pair of jaws; 31-chuck of the first pair of jaws; 311-clamping part; 312-mounting adjustment groove; 313-concave and convex surface of the chuck; 4-second pair of jaws; 41-chuck of the second pair of jaws; 411-clamping part. DETAILED DESCRIPTION

[0020] The present invention is further described in detail below in conjunction with specific implementation methods.

[0021] Manipulator fixture Figure 1 and Figure 2 , including a mounting base 1, the lower end surface of the mounting base 1 is provided with a screw hole (not visible due to the angle of the drawing) for mounting to the end of a manipulator (not shown in the figure), and the upper end surface is provided with a section of transverse slot 11 on both sides, and a block 12 is installed in each slot 11, and the block 12 can move along the slot 11. A connecting base 2 is provided above each block 12, and the two connecting bases 2 have the same structure and are detachably bolted to the two blocks 12. Each connecting base 2 is equipped with a driving device (not shown in the figure), which can be a telescopic cylinder, a telescopic motor or a screw stepping motor, and can drive the connecting base 2 together with the block 12 to move left and right along the slot 11.

[0022] See Figure 2 Each connection seat 2 has two rows of mounting screw holes 21 on its surface, and each row has five mounting screw holes 21 (combined with Figure 3 ), two rows of ten mounting screw holes 21 are arranged in an array. Two chucks 31 are arranged opposite to each other on the left and right and are respectively installed on the two connecting seats 2 on the left and right. The chuck 31 is an L-shaped plate, and its vertical plate side is a clamping part 311 for clamping the workpiece and the horizontal plate side is provided with two horizontal mounting adjustment grooves 312. First, the two mounting adjustment grooves 312 of the chuck 31 are respectively aligned with the two rows of mounting screw holes 21 of the connecting seat 2, and two mounting bolts (not shown in the figure) are respectively passed through the two mounting adjustment grooves 312, and then the two mounting bolts are respectively screwed into the two mounting screw holes 21 respectively aligned with the two mounting adjustment grooves 312 to be fixed. In this way, the chuck 31 can be moved along the direction of its mounting adjustment groove 312 to adjust its position relative to the connecting seat 2. In this process, the two mounting bolts move relative to the chuck 31 along the two mounting adjustment grooves 312; after the chuck 31 is moved into place, the two mounting bolts are tightened to fix the chuck 31 that has been adjusted into place on the connecting seat 2. The chuck 31 is like Figure 1As shown, it is installed on the mounting base 1 by means of the connecting base 2 and the clamping block 12. When it is necessary to clamp a workpiece, the fixture moves into position with the manipulator (not shown in the figure), and the two clamps 31 are driven by their respective connecting bases 2, wherein the connecting base 2 on the left moves to the right under the driving device thereof, and the connecting base 2 on the right moves to the left under the driving device thereof, that is, the two clamps 31 move closer to each other relative to the mounting base 1, and the workpiece can be clamped.

[0023] See Figure 2 The upper surface of the connection seat 2 is a concave-convex surface 22 (see Figure 1 ), with multiple triangular prisms arranged left and right; the lower surface of the chuck 31 is also a concave-convex surface 313, also with multiple triangular prisms. When the chuck 31 is installed on the connecting seat 2 as described above, the concave-convex surfaces 22 and 313 of the two are interlocked, so that the chuck 31 is not easy to deviate left and right relative to the connecting seat 2 and slip during the process of clamping the workpiece.

[0024] The two clamps 31 described above cooperate with each other to clamp the workpiece and together form the first pair of clamps 3 (see Figure 1 ); This embodiment is also equipped with a second pair of jaws 4, such as Figure 4 As shown, the second pair of jaws 4 also has two clamping heads 41. The clamping heads 41 of the second pair of jaws 4 are different from those of the first pair only in the shape of the clamping portion 411. Figure 1 ) is removed from the connecting seat 2, the chuck 41 of the second pair of jaws 4 can be installed on the connecting seat 2 in the same way as the chuck 31 of the first pair of jaws 3. The two pairs of jaws 3, 4 can clamp workpieces of different shapes by virtue of their chucks 31, 41 of different shapes (clamping parts 311, 411). The production personnel select one pair of jaws 3, 4 from the two pairs of jaws 3, 4 to be detachably installed on the connecting seat 2 according to the shape of the workpiece to be cut. The driving device drives the connecting seat 2 to drive the chuck 31, 41 of the pair of jaws 3, 4 installed on the connecting seat 2 to move relative to the mounting seat 1, so as to stably clamp the workpiece corresponding to the shape of the jaws 3, 4 for cutting. In other embodiments, a third or more pairs of jaws may be provided, and the shapes of the chucks of different jaws are not completely the same. For example, the third pair of jaws may include two chucks, one of which is the same as the chuck 31 of the first pair of jaws 3, and the other is the same as the chuck 41 of the second pair of jaws 4. In addition, in this embodiment, there are two connecting seats 2, and the chucks 31 and 41 of the two pairs of jaws 3 and 4 are both two. In other embodiments, the number of chucks of each pair of jaws may be different, and the number of chucks of a pair of jaws may be changed to more than two, and multiple chucks cooperate with each other to achieve clamping. Accordingly, the number of connecting seats 2 may also be changed to more than two, but the number of connecting seats 2 is not less than the number of chucks in the pair of jaws with the largest number of chucks, so as to ensure that each chuck in the same pair of jaws can be installed in each connecting seat 2 respectively.

[0025] In this embodiment, the chuck 31 is mounted on the mounting base 1 via the connecting base 2 and the clamping block 12, and the driving device drives the connecting base 2. In other embodiments, the connecting base 2 and the clamping block 12 can be changed to an integrated type; or even the chuck 31, the connecting base 2 and the clamping block 12 can be changed to an integrated type, that is, the chuck 31 is directly and movably clamped into the clamping slot 11 of the mounting base 1 and is directly driven by the driving device.

[0026] The above is only an implementation method of the invention, and does not limit the scope of patent protection. Those skilled in the art can make non-substantial changes or substitutions based on the invention, which still fall within the scope of patent protection.

Claims

1. A manipulator fixture adapted to a variety of workpieces, characterized by: Includes a mounting base for mounting to the end of a robot; It includes multiple pairs of jaws, one pair of which is detachably mounted on the mounting seat; each pair includes at least two chucks that cooperate with each other to achieve clamping, and the shapes of the chucks of different jaws are not completely the same, corresponding to workpieces of different shapes; it also includes a driving device, which drives the chuck installed on the mounting seat to move relative to the mounting seat to clamp the workpiece.

2. The manipulator clamp according to claim 1, characterized in that: A connecting seat is movably connected to the mounting seat, and one of the multiple pairs of clamping jaws is selected and detachably mounted on the connecting seat, thereby being mounted on the mounting seat.

3. The manipulator clamp according to claim 2, characterized in that: The driving device specifically drives the connecting seat to drive the clamp installed on the connecting seat to move.

4. The robot gripper according to claim 2, characterized in that: One of the connecting seat and the mounting seat is provided with a clamping block and the other is provided with a clamping slot. The clamping block is clamped into the clamping slot and moves along the clamping slot.

5. The manipulator clamp according to claim 2, characterized in that: The surface of the connecting seat is provided with a mounting hole, and the chuck is provided with a mounting adjustment groove; a mounting bolt is provided which passes through the mounting adjustment groove and is screwed into the mounting hole to be fixed thereto; the chuck moves along the direction of the mounting adjustment groove relative to the connecting seat to adjust its position, and during this process, the mounting bolt moves along the mounting adjustment groove relative to the chuck; the chuck is tightened by the mounting bolt to fix the chuck that has been adjusted into place on the connecting seat.

6. The robot gripper according to claim 5, characterized in that: The surface of the connecting seat is a concave-convex surface, and the corresponding surface of the clamp is a matching concave-convex surface. When the clamp is installed on the connecting seat, the concave-convex surfaces of the two are embedded with each other.

7. The robot gripper according to any one of claims 2 to 6, characterized in that: There are multiple connecting seats, the number of which is not less than the number of chucks in the pair of jaws with the largest number of chucks. In each pair of jaws, each chuck is installed on each connecting seat respectively.

8. The robot gripper according to claim 1, characterized in that: The clamp is specifically clamped onto the mounting seat.

9. The robot gripper according to claim 8, characterized in that: One of the mounting seat and the clamp is provided with a clamping block and the other is provided with a clamping slot. The clamping block is clamped into the clamping slot and moves along the clamping slot.

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