Manipulator tail end executing device

Abstract

The utility model provides a manipulator end executive device which comprises a connecting seat, the cross section of the connecting seat is rectangular, two parallel side faces of the connecting seat are provided with inserting holes, movable arms are inserted in the inserting holes, two side faces, adjacent to the inserting holes, of the connecting seat are provided with electric push rods, and the movable arms are connected with the electric push rods. The movable ends of the two electric push rods are fixedly connected with the two movable arms correspondingly, the electric push rods are arranged in the length directions of the movable arms, the ends, located on the outer sides of the inserting holes, of the two movable arms are fixedly connected with clamping plates correspondingly, and the opposite faces of the two clamping plates are in threaded connection with a plurality of clamping screws used for limiting the positions of workpieces correspondingly. The clamping device has the beneficial effect that a workpiece with an arc-shaped surface or a curved surface can be stably clamped.

Description

Technical Field

[0001] The utility model relates to a manipulator end execution device, belonging to the technical field of manipulators. Background Art

[0002] A manipulator can imitate certain movements and functions of human hands and arms, and is an automatic operating device used to grab, carry objects or operate tools according to a fixed procedure. A clamping part often needs to be installed at the end of the manipulator. The clamping part installed at the end of the manipulator is generally two clamping plates. A driving part such as a cylinder or an electric push rod is used to control the distance between the two clamping plates to achieve the purpose of clamping the workpiece or preventing the workpiece from loosening. It is known that the surface hubs of the workpieces are different, and different workpieces require matching clamping plates, that is, a clamping plate of a certain specification installed at the end of the manipulator is only suitable for workpieces with a flat outer surface. When the workpiece surface is an arc or curved surface, when the clamping plate is used for clamping, the contact range between the clamping plate and the workpiece surface is small, so there is a situation where the stability of clamping the workpiece is poor. Therefore, it is necessary to design a manipulator end actuator that can stably clamp workpieces with arc or curved surfaces. Utility Model Content

[0003] In view of the deficiencies in the prior art, the utility model aims to provide a manipulator end effector to solve the problems raised in the above-mentioned background technology. The utility model can achieve stable clamping of workpieces with arc-shaped or curved surfaces.

[0004] In order to achieve the above-mentioned purpose, the utility model is implemented through the following technical scheme: a manipulator end effector, including a connecting seat, the connecting seat has a rectangular cross-section, and plug-in holes are provided on two parallel sides of the connecting seat, and a movable arm is inserted in the plug-in hole, and electric push rods are installed on the two sides of the connecting seat adjacent to the plug-in hole, and the two movable ends of the electric push rods are respectively connected and fixed to the two movable arms, and the electric push rods are arranged along the length direction of the movable arms, and the ends of the two movable arms on the outside of the plug-in hole are connected and fixed with a clamping plate, and the opposite surfaces of the two clamping plates are threadedly connected with a plurality of clamping screws for limiting the position of the workpiece.

[0005] Furthermore, a plurality of circular openings are provided on the opposing surfaces of the two clamping plates, a straight cylinder is connected and fixed in the circular opening, both ends of the straight cylinder are open, a nut is connected and fixed in the middle position of the straight cylinder, the clamping screw passes through the straight cylinder, the nut is threadedly connected to the clamping screw, a first retaining ring is provided on one side of the nut, the first retaining ring is sleeved on the clamping screw and fixed to the clamping screw, the first retaining ring is slidably installed in the straight cylinder, a second retaining ring is provided on the side of the nut away from the first retaining ring, the second retaining ring is sleeved on the clamping screw and fixed to the clamping screw, the second retaining ring is slidably installed in the straight cylinder, and the spacing between the first retaining ring and the second retaining ring is smaller than the length of the straight cylinder.

[0006] Further, a rubber head is fixedly connected to one end of the clamping screw close to the connecting seat, and the diameter of the rubber head is the same as that of the clamping screw.

[0007] Further, a connecting plate is fixedly connected to the upper surface of the connecting seat, a docking plate perpendicular to the connecting plate is fixedly connected to the upper end of the connecting plate, and a plurality of fixing holes for inserting bolts are uniformly formed in the upper surface of the docking plate.

[0008] Further, a bent rod is fixedly connected to the movable end of the electric push rod, and one end of the bent rod far from the electric push rod is fixedly connected to the movable arm.

[0009] Further, the cross section of the movable arm is rectangular, and the cross section of the insertion hole is rectangular.

[0010] Advantages of the utility model:

[0011] 1. When it is necessary to clamp a workpiece with an arc-shaped or curved surface, rotate the plurality of clamping screws on the clamping plate so that the lengths of the plurality of clamping screws on one clamping plate between the two clamping plates are different. At this time, the plurality of clamping screws on one clamping plate form a support structure matching the surface of the workpiece. When the electric push rod is controlled to contract, the distance between the two clamping plates is reduced. At this time, the clamping screws on the two clamping plates are all in contact with the workpiece with an arc-shaped or curved surface, thereby increasing the clamping range of the workpiece with an arc-shaped or curved surface and realizing stable clamping of the workpiece with an arc-shaped or curved surface.

[0012] 2. Fix the nut at the middle position inside the straight cylinder and make the clamping screw penetrate through the straight cylinder. At this time, the first retaining ring, the second retaining ring and the straight cylinder together play a role in hiding the connection part between the clamping screw and the nut, preventing small sundries from entering the connection part between the clamping screw and the nut. Description of the drawings

[0013] By reading the detailed description of the non-restrictive embodiments with reference to the following drawings, other features, purposes and advantages of the utility model will become more obvious:

[0014] Figure 1 It is a schematic structural diagram of an end effector of a manipulator of the utility model;

[0015] Figure 2 It is an assembly schematic diagram of a docking plate, a connecting plate and a connecting seat in an end effector of a manipulator of the utility model;

[0016] Figure 3 It is an assembly schematic diagram of a nut, a clamping screw, a straight cylinder and a clamping plate in an end effector of a manipulator of the utility model;

[0017] In the figure: 1-connecting seat, 2-docking plate, 3-connecting plate, 4-bending rod, 5-electric push rod, 6-rubber head, 7-straight tube, 8-clamping screw, 9-clamping plate, 10-movable arm, 11-plug hole, 12-first retaining ring, 13-nut, 14-second retaining ring. DETAILED DESCRIPTION

[0018] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific implementation methods.

[0019] See also Figure 1 and Figure 2 The utility model provides a technical solution: a manipulator end effector, comprising a connecting seat 1 with a rectangular cross-section, a connecting plate 3 connected and fixed to the upper surface of the connecting seat 1, and a docking plate 2 arranged vertically to the connecting plate 3 is connected and fixed to the upper end, wherein the upper surface of the docking plate 2 is evenly provided with a plurality of fixing holes for inserting bolts, and by installing a structure formed by the docking plate 2 and the connecting plate 3 on the connecting seat 1, it is convenient to install the connecting seat 1 at the end of the manipulator.

[0020] See also Figure 1 and Figure 2 , a plug hole 11 with a rectangular cross section is provided on two parallel sides of the connecting seat 1, wherein a movable arm 10 with a rectangular cross section is inserted in the plug hole 11, and an electric push rod 5 is installed on the two sides of the connecting seat 1 adjacent to the plug hole 11, and a boss is fixed at the position where the connecting seat 1 is installed with the electric push rod 5, and an arc groove is provided on the side of the boss away from the connecting seat 1, and the cylinder end of the electric push rod 5 is fixed in the arc groove, thereby increasing the contact range between the electric push rod 5 and the connecting seat 1, and improving the stability of the installation of the electric push rod 5. The movable ends of the two electric push rods 5 arranged along the length direction of the movable arm 10 are respectively connected and fixed to the two movable arms 10 through the bent rod 4, and the bent rod 4 plays the role of connecting the movable arm 10 and the movable end of the electric push rod 5. The two movable arms 10 One end outside the plug-in hole 11 is connected and fixed with a clamping plate 9, and the opposite surfaces of the two clamping plates 9 are threadedly connected with a plurality of clamping screws 8 for limiting the position of the workpiece. When it is necessary to clamp a workpiece with an arc-shaped or curved surface, the plurality of clamping screws 8 on the clamping plates 9 are rotated so that the plurality of clamping screws 8 on one clamping plate 9 are of different lengths between the two clamping plates 9. At this time, the plurality of clamping screws 8 on one clamping plate 9 form a supporting structure that matches the surface of the workpiece. When the electric push rod 5 is controlled to retract, the distance between the two clamping plates 9 is reduced. At this time, the clamping screws 8 on the two clamping plates 9 are in contact with the workpiece with an arc-shaped or curved surface, thereby increasing the clamping range of the workpiece with an arc-shaped or curved surface and achieving stable clamping of the workpiece with an arc-shaped or curved surface.

[0021] See also Figure 1 andFigure 3 , circular openings are formed on the opposite surfaces of the two clamping plates 9. A straight cylinder 7 with openings at both ends is fixedly connected inside the circular openings. A nut 13 is fixedly connected in the middle of the straight cylinder 7. The nut 13 is threadedly connected to a clamping screw 8 passing through the straight cylinder 7. A first retaining ring 12 on one side of the nut 13 is sleeved on the clamping screw 8 and fixedly connected to the clamping screw 8. The first retaining ring 12 is slidably installed inside the straight cylinder 7. A second retaining ring 14 on the side of the nut 13 away from the first retaining ring 12 is sleeved on the clamping screw 8 and fixedly connected to the clamping screw 8. The second retaining ring 14 is slidably installed inside the straight cylinder 7. The distance between the first retaining ring 12 and the second retaining ring 14 is less than the length of the straight cylinder 7. The nut 13 is fixed in the middle of the straight cylinder 7, and the clamping screw 8 passes through the straight cylinder 7. At this time, the first retaining ring 12, the second retaining ring 14 and the straight cylinder 7 together play a role in hiding the connection part of the clamping screw 8 and the nut 13, preventing small sundries from entering the connection part of the clamping screw 8 and the nut 13. A rubber head 6 with the same diameter as the clamping screw 8 is fixedly connected to one end of the clamping screw 8 close to the connecting seat 1, so as to realize the flexible contact between the clamping screw 8 and the surface of the workpiece.

[0022] The above shows and describes the basic principles, main features and advantages of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claimed rights.

[0023] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A robot end effector, comprising a connection seat (1), characterized in that: The cross section of the connecting seat (1) is rectangular. A plug-in hole (11) is provided on two parallel sides of the connecting seat (1). A movable arm (10) is inserted into the plug-in hole (11). Electric push rods (5) are installed on two sides of the connecting seat (1) adjacent to the plug-in hole (11). The movable ends of the two electric push rods (5) are respectively connected and fixed to the two movable arms (10). The electric push rods (5) are arranged along the length direction of the movable arms (10). The ends of the two movable arms (10) outside the plug-in hole (11) are connected and fixed to a clamping plate (9). The opposite surfaces of the two clamping plates (9) are threadedly connected with a plurality of clamping screws (8) for limiting the position of the workpiece.

2. A manipulator end effector according to claim 1, characterized in that: The two clamping plates (9) are provided with a plurality of circular openings on the opposite surfaces thereof, a straight tube (7) is connected and fixed in the circular opening, both ends of the straight tube (7) are open, a nut (13) is connected and fixed in the middle of the straight tube (7), the clamping screw (8) passes through the straight tube (7), the nut (13) is threadedly connected to the clamping screw (8), a first retaining ring (12) is provided on one side of the nut (13), and the first retaining ring (12) is sleeved on the clamping screw (8) The first retaining ring (12) is slidably mounted in the straight cylinder (7), and a second retaining ring (14) is provided on the side of the nut (13) away from the first retaining ring (12). The second retaining ring (14) is sleeved on the clamping screw (8) and is connected and fixed to the clamping screw (8). The second retaining ring (14) is slidably mounted in the straight cylinder (7), and the distance between the first retaining ring (12) and the second retaining ring (14) is smaller than the length of the straight cylinder (7).

3. A manipulator end effector according to claim 2, characterized in that: A rubber head (6) is connected and fixed to one end of the clamping screw (8) close to the connecting seat (1); the diameter of the rubber head (6) is the same as that of the clamping screw (8).

4. The end effector of a manipulator according to claim 1, characterized in that: A connecting plate (3) is connected and fixed to the upper surface of the connecting seat (1), and a docking plate (2) arranged perpendicular to the connecting plate (3) is connected and fixed to the upper end of the connecting plate (3), and a plurality of fixing holes for inserting bolts are evenly opened on the upper surface of the docking plate (2).

5. The end effector of a manipulator according to claim 1, characterized in that: The movable end of the electric push rod (5) is connected and fixed with a bent rod (4), and one end of the bent rod (4) away from the electric push rod (5) is connected and fixed with a movable arm (10).

6. The end effector of a manipulator according to claim 1, characterized in that: The cross section of the movable arm (10) is rectangular, and the cross section of the plug hole (11) is rectangular.

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