Clamping device for manipulator

Abstract

The utility model discloses a clamping device for a manipulator, which belongs to the technical field of machining fixtures and is characterized by comprising a linear module, a worktable is arranged on a slider of the linear module, the linear module drives the worktable to reciprocate along the length direction of the worktable, and a cantilever I, a cantilever II and a driving mechanism are arranged on the worktable. The rear end of the first cantilever and the rear end of the second cantilever are both in sliding connection with the workbench, the driving mechanism is connected with the first cantilever and the second cantilever and used for driving the first cantilever and the second cantilever to be clamped and separated, clamping parts and push plates are arranged at the front ends of the first cantilever and the second cantilever at intervals, the clamping parts clamp blanks along with the first cantilever and the second cantilever, and the push plates are used for discharging workpieces. The clamping device can be installed on a Z-axis main body of the mechanical arm or a conventional lifting mechanism, is suitable for feeding and discharging work in a small space in an extrusion device, and also improves the automatic feeding degree of the mechanical arm.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical processing fixtures, and particularly relates to a clamping device for a manipulator. Background Art

[0002] Extrusion dies (also known as extruders, hydraulic presses) are widely used in the fields of automobiles, aerospace, electronics, machinery, etc. to manufacture various high-precision, high-strength parts. They mainly use the principle of metal plastic deformation to apply strong pressure to the metal in the extrusion die cavity at room temperature to quickly form parts.

[0003] For example, a cold extrusion device for extruding solid bars disclosed in a Chinese patent with publication number CN204523813U includes a hydraulic press of an upper oil cylinder, a hydraulic press of a lower oil cylinder, and a mold. The mold includes an upper mold fixing plate, an upper mold inner and outer core, a middle mold inner core, a lower mold inner core, and an ejector rod. The upper mold inner and outer cores are provided with a flange cap with a thread. The upper mold fixing plate is connected to the fixing groove of the upper machine table of the hydraulic press of the upper oil cylinder. The middle mold inner core is placed in the outer fixing sleeve through a conical sleeve and is fitted on the lower mold inner core. The lower mold inner core is fixed to the lower mold support plate of the lower machine table plate groove by a connecting flange and a screw. The middle mold inner core and the lower mold inner core are pressed tightly with a common conical sleeve by interference fit. The upper and lower contact mating surfaces are designed to be precisely matched with the absolute plane. The inner core of the middle die and the inner core of the lower die are supported by the two end surfaces of the lower die pad to prevent the die core from moving downward and becoming loose. The connecting flange on the upper circular boss is fixed to the lower die support plate by a screw. The center of the inner core of the lower die is provided with a flat cavity. The lower die flat cavity and the die core need to be inserted into the ejector rod of the lower die. The ejector rod is aligned and fixedly connected with the piston center of the lower cylinder of the hydraulic press. A threaded tie rod is provided on the fixed plate. The ejector rod passes through the lower die fixed plate to align the center and fix the lower template. The ejector rod moves freely up and down in the inner core of the lower die. The distance of the up and down stroke is determined to the precise position by the stroke switch positioning of the cylinder push rod. The cold extrusion device (also known as a hydraulic press) has no loading and unloading device and only relies on manual loading and unloading. Not only is the labor cost high, but the processing is also more dangerous.

[0004] The Chinese patent with publication number CN109773765A discloses a truss manipulator device for intelligent production line, including: a beam body, at least two supporting columns are installed at the bottom of the beam body; an X-axis horizontal moving unit is arranged along the axial direction of the beam body, the X-axis horizontal moving unit is installed with a horizontally movable slide, and a vertically movable Z-axis moving unit is installed outside the slide, the Z-axis moving unit includes a Z-axis body, and a gripping mechanism for gripping work materials is installed at the lower end of the Z-axis body. The truss manipulator has two degrees of freedom, X and Z.

[0005] If the above-mentioned truss robot device is used to load and unload the above-mentioned cold extrusion mold, the two supporting columns at the bottom end of the beam body will interfere with the cold extrusion device; moreover, the distance between the inner and outer cores of the upper mold and the inner core of the middle mold of the above-mentioned cold extrusion device is limited, and the Z-axis moving unit is not only difficult to supply the rod material to the inner core of the middle mold, but also difficult to unload the processed parts pushed out of the inner core of the middle mold. The above-mentioned robot is difficult to be directly used in the automated feeding operation of the cold extrusion device, and the feeding method of the above-mentioned robot device needs to be improved urgently. Utility Model Content

[0006] The purpose of the utility model is to propose a clamping device for a manipulator in view of the above problems existing in the prior art. The technical problem to be solved by the utility model is: how to optimize the automatic feeding of the manipulator.

[0007] The above technical objectives of the utility model can be achieved through the following technical solutions:

[0008] A clamping device for a robot comprises a linear module, a slider of the linear module is provided with a worktable, the linear module drives the worktable to reciprocate along its own length direction, the worktable is provided with cantilever 1, cantilever 2 and a driving mechanism, the rear ends of the cantilever 1 and cantilever 2 are both slidably connected to the worktable, the driving mechanism is connected to the cantilever 1 and cantilever 2, and the driving mechanism is used to drive the cantilever 1 and cantilever 2 to clamp and separate, the front ends of the cantilever 1 and cantilever 2 are spaced apart with a clamping part and a push plate, after the cantilever 1 and cantilever 2 are clamped, the clamping part clamps the blank, and the push plate is used to unload the workpiece.

[0009] In the above-mentioned clamping device for the robot, a guide rail perpendicular to the linear module is arranged on the workbench, and the cantilever 1 includes a support plate 1 and a clamp plate 1, and the outer end of the support plate 1 is provided with an assembly groove 1 for installing the end of the clamp plate 1; the cantilever 2 includes a support plate 2 and a clamp plate 2, and the inner ends of the support plate 2 and the support plate 1 are both slidably connected to the guide rail, and the outer end of the support plate 2 is provided with an assembly groove 2 for installing the end of the clamp plate 2; the push plate is arranged at the outer end of the clamp plate 1 and / or the clamp plate 2.

[0010] In the above-mentioned clamping device for the robot, a first pressure strip for limiting the position of the first clamping plate is arranged on the first support plate, and a second pressure strip for limiting the position of the second clamping plate is arranged on the second support plate.

[0011] In the above-mentioned clamping device for the robot, the width of the clamping plate 1 is smaller than the width of the supporting plate 1, and the width of the clamping plate 2 is smaller than the width of the supporting plate 2. After the supporting plate 1 abuts against the supporting plate 2, there is a gap between the clamping plate 1 and the clamping plate 2.

[0012] In the above-mentioned clamping device for a robot, the thickness of the clamping plate 1 is smaller than the thickness of the supporting plate 1, and the thickness of the clamping plate 2 is smaller than the thickness of the supporting plate 2.

[0013] In the above-mentioned clamping device for the robot, the outer ends of the clamping plate 1 and the clamping plate 2 are both provided with the push plates. After the clamping plate 1 and the clamping plate 2 are clamped, the ends of the two push plates are close to each other.

[0014] In the above-mentioned clamping device for the robot, the clamping part includes a chuck 1 arranged on the clamping plate 1 and a chuck 2 arranged on the clamping plate 2. The chuck 1 and the chuck 2 are symmetrically arranged and can cooperate to clamp the blank.

[0015] In the above-mentioned clamping device for the robot, an adjustment plate 1 is provided on the chuck 1, and an adjustment hole 1 is provided on the adjustment plate 1, and the connection position of the adjustment plate 1 with the clamp 1 is adjusted through the adjustment hole 1; an adjustment plate 2 is provided on the chuck 2, and an adjustment hole 2 is provided on the adjustment plate 2, and the connection position of the adjustment plate 2 with the clamp 2 is adjusted through the adjustment hole 2.

[0016] In the above-mentioned clamping device for the manipulator, the driving mechanism includes a driving motor, a driven wheel, and a synchronous belt. The driving motor is arranged on the workbench, and a driving wheel is arranged at the output end of the driving motor. The driven wheel is rotatably arranged on the workbench, and the synchronous belt connects the driving wheel with the driven wheel, and the driven wheel and the driving wheel tension the synchronous belt; two fixing plates connected to the synchronous belt are arranged on the support plate one, and two fixing plates connected to the synchronous belt are arranged on the support plate two.

[0017] In the above-mentioned clamping device for a robot, a protective cover is provided on the workbench, and the protective cover covers the guide rail.

[0018] In summary, the beneficial effects of the present invention compared with the prior art are as follows:

[0019] 1. Cantilever 1 and cantilever 2 are arranged horizontally and driven by a driving mechanism to clamp and separate them, thereby controlling the clamping part to clamp and release the blank to be processed. After the clamping part clamps the blank, the linear module can drive the workbench and cantilever 1 and cantilever 2 on the workbench to feed and reset in the direction of the extrusion device to realize automatic loading of the blank; during the loading process, the push plate will push out the blank that has been processed into a workpiece in the extrusion device to facilitate the smooth loading of the next blank; the overall structure of the present application is flatter, which can effectively adapt to the loading and unloading work in the small space of the extrusion device, and will not interfere with the extrusion device, thereby improving the degree of automatic feeding of the manipulator.

[0020] 2. The distance between the first chuck and the second chuck is adjustable, and can clamp blanks of different diameters; the clamping device can also be installed on the Z-axis body of the robot or a conventional lifting mechanism, and has a wider range of applications.

[0021] 3. The structural design is reasonable. The thickness and width of the splint 1 and the splint 2 are smaller than the thickness and width of the support plate 1 and the support plate 2, and their weight is smaller. The front ends of the cantilever 1 and the cantilever 2 are not easy to deform or sag after long-term use; and the protective cover can prevent external debris from interfering with the normal work of the guide rail and the driving mechanism, thereby ensuring the service life of the utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of an embodiment;

[0023] Figure 2 It is a schematic diagram of the explosion structure of the embodiment;

[0024] Figure 3 Another exploded structural schematic diagram of the embodiment;

[0025] Figure 4 It is a partial structural schematic diagram of an embodiment;

[0026] Figure 5 is another partial structural schematic diagram of the embodiment;

[0027] Figure 6 Schematic diagram of the variation of the embodiment.

[0028] Reference numerals: 1, blank; 2, extrusion device;

[0029] 100, linear module; 110, slider;

[0030] 200, workbench; 210, guide rail; 220, protective cover;

[0031] 300, a cantilever; 310, a support plate; 311, an assembly groove; 312, a pressure strip; 313, a fixing plate; 320, a clamping plate;

[0032] 400, cantilever 2; 410, support plate 2; 411, assembly groove 2; 412, pressure strip 2; 413, fixing plate 2; 420, clamping plate 2;

[0033] 500, driving mechanism; 510, driving motor; 511, driving wheel; 520, driven wheel; 530, synchronous belt;

[0034] 600, clamping part; 610, chuck one; 611, adjustment plate one; 6111, adjustment hole one; 620, chuck two; 621, adjustment plate two; 6211, adjustment hole two; 700, push plate. DETAILED DESCRIPTION

[0035] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0036] A gripping device for a manipulator, such as Figure 1-Figure 6 As shown, it includes a horizontally arranged linear module 100, a slider 110 of the linear module 100 is provided with a workbench 200, the linear module 100 can drive the workbench 200 to move back and forth along its own length direction, and the workbench 200 is provided with a cantilever 1 300, a cantilever 2 400, and a driving mechanism 500, the rear ends of the cantilever 1 300 and the cantilever 2 400 are both slidably connected to the workbench 200, and the driving mechanism 500 is connected to the rear ends of the cantilever 1 300 and the cantilever 2 400 , and the driving mechanism 500 is used to drive the cantilever 1 300 and the cantilever 2 400 to clamp and separate. The front ends of the cantilever 1 300 and the cantilever 2 400 are spaced apart with a clamping part 600 and a push plate 700. After the cantilever 1 300 and the cantilever 2 400 are clamped, the clamping part 600 clamps the blank 1, and the linear module 100 can drive the cantilever 1 300 and the cantilever 2 400 to feed and load the blank 1. The push plate 700 is used to unload the workpiece (the blank 1 after processing by the extrusion device 2).

[0037] The linear module 100 is a prior art, and its essence is to drive the slider 110 to slide back and forth along its own length direction through a screw rod. For details, please refer to the linear drive module disclosed in a double-guide linear module (publication number: CN217406319U), a linear module (publication number: CN216045276U), or a conventional linear drive module on the market.

[0038] like Figure 2 , Figure 3 As shown, a guide rail 210 perpendicular to the linear module 100 is arranged on the workbench 200, and the cantilever 1 300 includes a support plate 1 310 and a clamp 1 320, and the outer end of the support plate 1 310 is provided with an assembly groove 1 311 for installing the end of the clamp 1 320; the cantilever 2 400 includes a support plate 2 410 and a clamp 2 420, and the inner ends of the support plate 2 410 and the support plate 1 310 are both slidably connected to the guide rail 210, and the outer end of the support plate 2 410 is provided with an assembly groove 2 411 for installing the end of the clamp 2 420. A pressure strip 1 312 is provided on the support plate 1 310, and the pressure strip 1 312 limits the clamping plate 1 320 in the assembly groove 1 311 to ensure the connection strength between the clamping plate 1 320 and the support plate 1 310; a pressure strip 2 412 is provided on the support plate 2 410, and the pressure strip 2 412 limits the clamping plate 2 420 in the assembly groove 2 411 to ensure the connection strength between the clamping plate 2 420 and the support plate 2 410.

[0039] The push plate 700 is arranged at the outer end of the clamping plate 1 320 and / or the clamping plate 2 420. In this embodiment, the outer ends of the clamping plate 1 320 and the clamping plate 2 420 are both provided with the push plate 700. After the clamping plate 1 320 and the clamping plate 2 420 are clamped, the ends of the two push plates 700 also approach each other. As another solution, only one push plate 700 can be arranged at the outer end of the clamping plate 1 320 or the clamping plate 2 420, as long as the length of the push plate 700 is guaranteed to be able to push out the processed workpiece in the extrusion device 2, and the push plate 700 will not interfere with the blank 1 installed in the extrusion device 2 during the process of retreating and resetting with the clamping plate 1 320 or the clamping plate 2 420.

[0040] like Figure 2-Figure 4 As shown, further, the width of the first clamping plate 320 is smaller than the width of the first support plate 310, and the width of the second clamping plate 420 is smaller than the width of the second support plate 410. After the first support plate 310 and the second support plate 410 are in contact, there is a gap between the first clamping plate 320 and the second clamping plate 420. The thickness of the first clamping plate 320 is smaller than the thickness of the first support plate 310, and the thickness of the second clamping plate 420 is smaller than the thickness of the second support plate 410. In some embodiments, as long as the strength of the first support plate 310 and the second support plate 410 is guaranteed, the first clamping plate 320 and the first support plate 310 can also be integrally formed, and correspondingly, the second clamping plate 420 is also integrally formed with the second support plate 410.

[0041] like Figure 4-Figure 6 As shown, the clamping part 600 includes a chuck 1 610 disposed on a clamp 1 320 and a chuck 2 620 disposed on a clamp 2 420 . The chuck 1 610 and the chuck 2 620 are symmetrically disposed and can cooperate to clamp the blank 1 .

[0042] The first clamp 610 is provided with an adjustment plate 611, which has one or more adjustment holes 6111, and the first clamp 611 adjusts the connection position with the first clamp 320 through the adjustment holes 6111; the second clamp 620 is provided with an adjustment plate 621, which has one or more adjustment holes 6211, and the first adjustment holes 6111 and the second adjustment holes 6211 are waist-shaped holes, and the second clamp 621 adjusts the connection position with the second clamp 420 through the adjustment holes 6211. Specifically, the bolt passes through the adjustment hole 6111 and is screwed into the first clamp 320. First, the adjustment plate 611 is moved to a predetermined position, and then the bolt is tightened, so that the distance between the first clamp 610 and the first clamp 320 can be changed. The position adjustment method of the second clamp 620 is the same as that of the first clamp 610.

[0043] like Figure 2 , Figure 3As shown, the driving mechanism 500 includes a driving motor 510, a driven wheel 520, and a synchronous belt 530. The driving motor 510 is disposed on the workbench 200. The output end of the driving motor 510 is provided with a driving wheel 511. The driven wheel 520 is rotatably disposed on the workbench 200. The synchronous belt 530 is a closed loop. The synchronous belt 530 connects the driving wheel 511 and the driven wheel 520. The driven wheel 520 and the driving wheel 511 tighten the synchronous belt 530 to form a waist-shaped hole and form two parallel sides. Figure 3 , Figure 5 As shown, two fixing plates 1 313 for clamping the synchronous belt 530 are provided on the support plate 1 310, and two fixing plates 2 413 for clamping the synchronous belt 530 are provided on the support plate 2 410. The fixing plates 1 313 and 2 413 are respectively connected to the two side edges of the synchronous belt 530 to ensure that after the synchronous belt 530 rotates, the support plates 1 310 and 2 410 can approach each other, and after the synchronous belt 530 rotates in the opposite direction, the support plates 1 310 and 2 410 can move away from each other.

[0044] like Figure 1 , Figure 2 As shown, a protective cover 220 is provided on the workbench 200 , and the protective cover 220 covers the guide rail 210 and the synchronous belt 530 .

[0045] In some embodiments, the driving mechanism 500 includes two cylinders disposed on the workbench 200, and the output ends of the two cylinders are respectively connected to cantilever 1 300 and cantilever 2 400. When the output ends of the two cylinders are extended at the same time, cantilever 1 300 and cantilever 2 400 can be pushed to clamp, and when the output ends of the two cylinders are retracted at the same time, cantilever 1 300 and cantilever 2 400 can be driven to separate.

[0046] The working principle of the utility model is as follows:

[0047] The linear module 100 is installed on the Z-axis body of the robot in the background art or a conventional lifting mechanism, so that the height of the cantilever 1 300 and the cantilever 2 400 can be changed, so that they can be extended into the working part of the extrusion device 2.

[0048] The driving motor 510 drives the driving wheel 511 to rotate, and the driving wheel 511 can drive the synchronous belt 530 and the driven wheel 520 to rotate, so that the cantilever 1 300 and the cantilever 2 400 are close to each other, and the chuck 1 610 and the chuck 2 620 clamp the blank 1 accordingly, and the two push plates 700 are close to each other, and the Z-axis body of the manipulator or the conventional lifting mechanism drives the clamping device to rise as a whole; then the linear module 100 drives the workbench 200 and the cantilever 1 300, the cantilever 2 400, and the driving mechanism 500 on the workbench 200 to feed as a whole toward the extrusion device 2, and the two push plates 700 will After the processed workpiece on the extrusion device 2 is pushed out and the blank 1 is located in the extrusion device 2, the Z-axis body of the manipulator or the conventional lifting mechanism drives the clamping device to descend as a whole, so that the blank 1 is loaded into the extrusion device 2, and then the driving motor 510 drives the active wheel 511 to rotate in the opposite direction, so that the chuck 1 610 and the chuck 2 620 are separated, and the two push plates 700 are also separated accordingly. The Z-axis body of the manipulator or the conventional lifting mechanism drives the clamping device to rise as a whole and move away from the blank 1. At the same time, the linear module 100 drives the workbench 200 to retreat and reset, so that the next loading and unloading can be carried out.

[0049] The specific embodiments described in this article are merely examples of the spirit of the utility model; technicians in the technical field to which the utility model belongs can make various modifications or additions to the described specific embodiments or replace them in a similar manner, but will not deviate from the spirit of the utility model or exceed the scope defined by the attached claims.

Claims

1. A clamping device for a robot, characterized in that: The invention comprises a linear module (100), a slider (110) of the linear module (100) is provided with a workbench (200), the linear module (100) drives the workbench (200) to move back and forth along its own length direction, the workbench (200) is provided with a cantilever 1 (300), a cantilever 2 (400), and a driving mechanism (500), the rear ends of the cantilever 1 (300) and the cantilever 2 (400) are both slidably connected to the workbench (200), and the driving mechanism (500) is provided with a cantilever 1 (300) and a cantilever 2 (400) to move back and forth along its length direction. 00) is connected with the cantilever one (300) and the cantilever two (400), and the driving mechanism (500) is used to drive the cantilever one (300) and the cantilever two (400) to clamp and separate, and the front ends of the cantilever one (300) and the cantilever two (400) are spaced apart with a clamping part (600) and a push plate (700), and after the cantilever one (300) and the cantilever two (400) are clamped, the clamping part (600) clamps the blank (1), and the push plate (700) is used to unload the workpiece.

2. The robot gripping device according to claim 1, characterized in that: The workbench (200) is provided with a guide rail (210) perpendicular to the linear module (100), and the cantilever 1 (300) includes a support plate 1 (310) and a clamping plate 1 (320), and the outer end of the support plate 1 (310) is provided with an assembly groove 1 (311) for mounting the end of the clamping plate 1 (320); the cantilever 2 (400) includes a support plate 2 (410) and a clamping plate 2 (420), and the inner ends of the support plate 2 (410) and the support plate 1 (310) are both slidably connected to the guide rail (210), and the outer end of the support plate 2 (410) is provided with an assembly groove 2 (411) for mounting the end of the clamping plate 2 (420); the push plate (700) is arranged at the outer end of the clamping plate 1 (320) and / or the clamping plate 2 (420).

3. The gripping device for a robot according to claim 2, characterized in that: The support plate one (310) is provided with a pressure strip one (312) for limiting the position of the clamping plate one (320), and the support plate two (410) is provided with a pressure strip two (412) for limiting the position of the clamping plate two (420).

4. The robot gripping device according to claim 2, characterized in that: The width of the first clamping plate (320) is smaller than the width of the first support plate (310), and the width of the second clamping plate (420) is smaller than the width of the second support plate (410). After the first support plate (310) and the second support plate (410) are in contact with each other, there is a gap between the first clamping plate (320) and the second clamping plate (420).

5. The robot gripping device according to claim 4, characterized in that: The thickness of the clamping plate 1 (320) is smaller than the thickness of the supporting plate 1 (310), and the thickness of the clamping plate 2 (420) is smaller than the thickness of the supporting plate 2 (410).

6. The gripping device for a robot according to claim 2, characterized in that: The outer ends of the clamping plate 1 (320) and the clamping plate 2 (420) are both provided with the pushing plate (700). After the clamping plate 1 (320) and the clamping plate 2 (420) are clamped, the ends of the two pushing plates (700) are close to each other.

7. The robot gripping device according to claim 2, characterized in that: The clamping part (600) includes a first chuck (610) arranged on the first clamp (320) and a second chuck (620) arranged on the second clamp (420). The first chuck (610) and the second chuck (620) are symmetrically arranged and can cooperate to clamp the blank (1).

8. The robot gripping device according to claim 7, characterized in that: The chuck one (610) is provided with an adjustment plate one (611), and the adjustment plate one (611) has an adjustment hole one (6111), and the adjustment plate one (611) adjusts the connection position with the clamp one (320) through the adjustment hole one (6111); the chuck two (620) is provided with an adjustment plate two (621), and the adjustment plate two (621) has an adjustment hole two (6211), and the adjustment plate two (621) adjusts the connection position with the clamp two (420) through the adjustment hole two (6211).

9. The robot gripping device according to any one of claims 2 to 8, characterized in that: The driving mechanism (500) comprises a driving motor (510), a driven wheel (520), and a synchronous belt (530); the driving motor (510) is arranged on the workbench (200); a driving wheel (511) is arranged at the output end of the driving motor (510); the driven wheel (520) is rotatably arranged on the workbench (200); the synchronous belt (530) connects the driving wheel (511) with the driven wheel (520); and the driven wheel (520) and the driving wheel (511) tighten the synchronous belt (530); two fixing plates (313) connected to the synchronous belt (530) are arranged on the first support plate (310); and two fixing plates (413) connected to the synchronous belt (530) are arranged on the second support plate (410).

10. The robot gripping device according to claim 9, characterized in that: A protective cover (220) is provided on the workbench (200), and the protective cover (220) covers the guide rail (210).

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