Manipulator clamp

Abstract

The utility model relates to a manipulator clamp which is mainly used for machining a taper hole of an anchorage device in building construction. The clamp comprises a mounting handle, a mounting handle sleeve, a spring, a thrust catch, a clamp main body, an outer sleeve on the clamp main body, an angle adjusting motor, a hydraulic oil cylinder, a pull rod, a clamping piece and the like. The clamp main body can rotate to adapt to different working angles, the hydraulic oil cylinder applies force to the clamping piece through the pull rod to clamp or release objects, and the positioning pin can be adjusted to adapt to the objects of different sizes. Position deviation and angle difference possibly occurring in the logistics process of anchorage device blanks are considered in the design of the clamp, automatic alignment and clamping are achieved through an inductor and an angle adjusting motor, and the clamping accuracy and efficiency are improved. In addition, the clamp is further provided with a through square hole and a square rod, so that butt joint and fixation of the manipulator are facilitated. The design of the clamp aims at improving the automation level of anchorage device machining, reducing manual operation and ensuring the machining quality and efficiency.

Description

Technical Field

[0001] The utility model relates to the technical field of fixtures, and particularly relates to a fixture for transferring an anchor after drilling to conical hole machining. Background Technique

[0002] When anchoring the main cable at the side hole during the construction of a suspension bridge or other buildings, the main cable needs to be divided into many strands of steel wire bundles and respectively anchored in the anchor. These steel wires are called anchor cables. An anchor is a permanent anchoring device used in prestressed concrete. It is an anchoring tool in a post-tensioned structure or component to maintain the tension of the prestressed tendon and transfer it to the interior of the concrete. It is also called a prestressed anchor. Since the main cable is divided into many strands of steel bundles and respectively anchored in the anchor, the anchor is provided with a plurality of anchoring holes for the prestressed steel bundles to pass through. The inner end of the anchoring hole is a conical hole with a large outer side and a small inner side. The steel bundle is locked by the cooperation of a conical clamping piece and the conical hole. For the convenience of processing, the anchor is circular in shape.

[0003] In the process of machining the conical hole of the traditional anchor, in the method of first machining a pilot straight hole and then machining the conical hole, it needs to be divided into two steps. That is, first machine a plurality of straight holes on one device, and then transfer to another processing device to machine the conical hole. When machining the conical hole, the outer circle surface of the V-shaped fixture is used for positioning. After clamping, the central position is fixed. Only a certain concentricity between the straight hole and the tool or a relative deviation is required for tool setting. After the parts after drilling the straight hole in the previous process are placed on the transportation logistics vehicle to the designated position of the next process, but in order to store more anchor blanks, the logistics vehicle generally adopts a multi-layer flat stacking method, resulting in the physical positions of the anchor blanks and the angles of their holes not being the same for each one. Therefore, when using a programmed manipulator, it is required that the manipulator can clamp when there is a certain offset in the physical position of the anchor blank, and can identify and adjust the position of the straight hole of the anchor blank when the angles of the internal holes are different, so that after the anchor blank is placed on the conical hole machining device, the straight hole and the tool have a certain concentricity or a required relative deviation. Summary of the Utility Model

[0004] The purpose of the utility model is to solve the technical problems put forward in the above background technique.

[0005] The utility model adopts the following technical solutions:

[0006] The utility model provides a manipulator clamp, including: a mounting handle, a mounting handle sleeve, the mounting handle is arranged in the mounting handle sleeve, and there are also a spring and a thrust retaining plate. The spring and the thrust retaining plate are designed in the mounting handle sleeve. A through square hole is arranged above the mounting handle sleeve, and a square rod is arranged at the front part of the mounting handle. The mounting handle can move radially in the mounting handle sleeve and can be reset under the action of the spring. An inductor is installed on the side of the mounting handle sleeve, and there is an outer sleeve of the clamp body below, with a bearing arranged inside. A shaft platform on the upper part of the clamp body is arranged on the upper part of the clamp body, and the bearing is installed on the shaft platform on the upper part of the clamp body arranged on the upper part of the clamp body.

[0007] Below the outer sleeve of the clamp body is provided with the clamp body and on the side is provided with an angle adjustment motor, and the angle adjustment motor can drive the clamp body to rotate; inside the clamp body are provided with a hydraulic cylinder and two pull rods, the head of the hydraulic cylinder is connected to the pull rod, the pull rod is hinged to the clamping piece, and the hydraulic cylinder can drive the two clamping pieces to move; two positioning pins are arranged below the clamp body, and the positioning pins can be adjusted movably.

[0008] A second shaft platform of the clamp body is further arranged on the clamp body, a driven gear is installed on the second shaft platform of the clamp body, a driving gear is installed on the angle adjustment motor, and the driving gear is meshed with the driven gear to realize the rotation control of the clamp body.

[0009] Adopting the scheme of the utility model: 1. The clamp body can rotate relative to the mounting handle sleeve to meet the requirements of different working angles.

[0010] 2. The hydraulic cylinder applies force to the clamping piece through the pull rod to realize the function of clamping or releasing an object, and the stroke and force of the hydraulic cylinder are adjustable to meet the requirements of different clamping forces.

[0011] 3. The positioning pins can be adjusted to adapt to objects of different sizes, improving the versatility and adaptability of the clamp.

[0012] 4. An inductor is installed, which can confirm whether the positioning pin is inserted into the part. Description of the Drawings

[0013] Appendix Figure 1 : Front view of the manipulator clamp.

[0014] Appendix Figure 2 : Figure 1 Schematic cross-sectional structure diagram on the A-A plane.

[0015] Appendix Figure 3 : Figure 2 Schematic cross-sectional structure diagram on the B-B plane.

[0016] Appendix Figure 4 : Schematic three-dimensional structure diagram of the manipulator clamp.

[0017] Appendix Figure 5 : Figure 1 Schematic view of the C-C visual sectional structure.

[0018] Appendix Figure 6 :Schematic view of the clamp body structure.

[0019] Appendix Figure 7 :Schematic view of the mounting handle sleeve structure.

[0020] Appendix Figure 8 :Schematic view of the outer sleeve structure on the clamp body.

[0021] Appendix Figure 9 :Schematic view of the mounting handle structure.

[0022] Appendix Figure 10 :Schematic view of the storage of the blank of the anchor.

[0023] Legend:

[0024] 1. Mounting hole, 2. Mounting handle, 3. Mounting handle sleeve, 4. Spring, 5. Thrust washer, 6. Fixed shaft of hydraulic cylinder, 7. Hydraulic cylinder, 8. Pin 1, 9. Pull rod, 10. Pin 2, 11. Wedge, 12. Anti-pull nut, 13. Bearing, 14. Angle adjustment motor, 15. Driven gear, 16. Driving gear, 17. Clamp body, 18. Locking nut, 19. Positioning pin, 20. Outer sleeve on the clamp body, 21. Axial platform on the clamp body, 22. Second axial platform of the clamp body, 23. Square hole, 24. Positioning pin groove, 25. Square hole, 26. Stop positioning groove, 27. Inductor. Detailed implementation manners

[0025] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention will be further described below with reference to the drawings and embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0026] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the present invention is not limited by the specific embodiments disclosed in the following specification.

[0027] Embodiment

[0028] From Figures 1-10 , the mounting handle 2 is arranged in the mounting handle sleeve 3. The mounting handle 2 has a mounting hole 1, and an inductor 27 is also arranged on the mounting handle 2. A spring 4 and a thrust washer 5 are designed in the mounting handle sleeve 3. The mounting handle 2 can move radially in the mounting handle sleeve 3 and can be reset under the action of the spring 4. The inductor 27 can sense the position of the mounting handle 2.

[0029] Below the installation handle sleeve 3, there is an outer sleeve 20 on the clamp body, with a bearing 13 installed inside. On the upper part of the clamp body 17, there is an upper shaft platform 21 of the clamp body, and the bearing 13 is installed on the upper shaft platform 21 of the clamp body provided on the upper part of the clamp body 17.

[0030] Below the outer sleeve 20 of the clamp body, there is a clamp body 17, and on the side, there is an angle adjustment motor 14. On the clamp body 17, there is a second shaft platform 22 of the clamp body. A driven gear 15 is installed on the second shaft platform 22 of the clamp body. A driving gear 16 is installed on the angle adjustment motor 14. The driving gear 16 meshes with the driven gear 15. The angle adjustment motor 14 can drive the clamp body 17 to rotate through the second shaft platform 22 of the clamp body installed on the clamp body 17 and the driving gear on the angle adjustment motor 14.

[0031] Inside the clamp body 17, there is a hydraulic cylinder 7 and two pull rods 9. The hydraulic cylinder 7

[0032] is fixed on the clamp body 17 through a hydraulic cylinder fixing shaft 6. The pull rod head of the hydraulic cylinder 7 is hinged to the pull rod 9 through a pin shaft 8. The pull rod 9 is hinged to the clamping piece 11 through a pin shaft 10. Below the clamp body 17, there are two square holes 23. The hydraulic cylinder 7 can drive the two clamping pieces 11 to move inside the square holes 23.

[0033] Below the clamp body 17, there is a positioning pin groove 24. A positioning pin 19 is arranged in the positioning pin groove 24. The positioning pin 19 can be adjusted movably, and the locking nut 18 can lock the positioning pin 19.

[0034] During use: The manipulator docks with the installation handle 2 and is fixed through the installation hole 1. The manipulator is programmed. The transportation logistics vehicle arrives at the position of the next specified process. The blank of the anchor is placed in a multi-layer flat stacking manner. When the manipulator is started, the clamping piece 11 is opened, moved above the blank, and then moved downward. The inductor 27 senses the position of the installation handle 2.

[0035] If the positioning pin 19 is inserted into the hole of the anchor blank, the side clamping piece 11 clamps the anchor blank and moves the anchor blank to the processing position. If the inductor 27 senses the position of the installation handle 2 and the positioning pin 19 is not inserted into the hole of the anchor blank, the angle adjustment motor 14 rotates. Under the elastic force of the spring 4, when the positioning pin 19 aligns with the hole on the anchor blank, it will automatically insert. The inductor 27 emits a signal, the side clamping piece 11 clamps the anchor blank, and moves the anchor blank to the processing position to complete the clamping.

Claims

1. A manipulator fixture, characterized in that, The device includes: a mounting handle (2); a mounting handle sleeve (3) with the mounting handle (2) disposed therein; a spring (4) and a thrust washer (5) designed inside the mounting handle sleeve (3), the mounting handle (2) being able to move radially inside the mounting handle sleeve (3) and being able to reset under the action of the spring (4); an outer sleeve (20) of the clamp body, the outer sleeve (20) of the clamp body being fixed below the mounting handle sleeve (3), with a clamp body (17) disposed below the outer sleeve (20) of the clamp body; and an angle adjustment motor (14) provided on the side, the angle adjustment motor (14) being able to drive the clamp body (17) to rotate; a hydraulic cylinder (7) and two pull rods (9) are disposed inside the clamp body (17), and the head of the hydraulic cylinder (7) is connected to the pull rods (9); clamping pieces (11), the pull rods (9) being hinged to the clamping pieces (11), and the hydraulic cylinder (7) being able to drive the two clamping pieces (11) to move; two positioning pins (19) are disposed below the clamp body (17), and the positioning pins (19) can be adjusted movably.

2. The robotic hand fixture according to claim 1, wherein: a bearing (13) is disposed inside the outer sleeve (20) of the clamp body, and an upper shaft platform (21) of the clamp body is provided on the upper part of the clamp body (17), and the bearing (13) is installed on the upper shaft platform (21) of the clamp body provided on the upper part of the clamp body.

3. The robotic hand fixture according to claim 2, wherein, A second shaft platform (22) of the clamp body is further provided on the clamp body (17), a driven gear (15) is installed on the second shaft platform (22) of the clamp body, a driving gear (16) is installed on the angle adjustment motor (14), and the driving gear (16) meshes with the driven gear (15) to achieve the rotational control of the clamp body (17).

4. The robotic hand fixture according to any one of claims 1 to 3, characterized in that: The clamp body (17) can rotate relative to the mounting handle sleeve (3) to meet the requirements of different working angles.

5. The robotic hand fixture according to any one of claims 1 to 3, characterized in that: The hydraulic cylinder (7) applies a force to the clamping pieces (11) through the pull rods (9) to achieve the function of clamping or releasing an object, wherein the stroke and force of the hydraulic cylinder (7) are adjustable to meet the requirements of different clamping forces.

6. The robotic hand fixture according to any one of claims 1 to 3, characterized in that, The positioning pins (19) can be adjusted to adapt to objects of different sizes, improving the versatility and adaptability of the fixture.

7. The robotic hand fixture according to any one of claims 1 to 3, characterized in that A through square hole (25) is provided above the mounting handle sleeve (3), and a square rod is provided at the front part of the mounting handle (2).

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