Multifunctional manipulator clamping jaw mechanism

Abstract

The utility model discloses a multifunctional manipulator clamping jaw mechanism which comprises an installation frame, an auxiliary clamping jaw is installed on the surface of the installation frame, a first air cylinder is fixedly connected to the surface of the installation frame, grabbing plates are fixedly connected to the left side and the right side of the installation frame, and the output end of the first air cylinder is fixedly connected with a synchronous positioning mechanism. The output end of the first air cylinder drives the double-face rack to move, the double-face rack drives the first gear and the second gear to rotate oppositely, the second gear rotates to drive the second rack and the first sliding block to move together, the first sliding block drives the grabbing plate to move through the left moving rod, and the first gear rotates to drive the first rack and the second sliding block to move together. The second sliding block drives the grabbing plates to move through the right moving rod, the pair of grabbing plates get close to each other to clamp an object, the pair of grabbing plates conduct clamping in a synchronous and coordinated mode, and the situation that a pair of air cylinders cannot work in a coordinated mode is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulator clamping claws, in particular to a multifunctional manipulator clamping claw mechanism. Background Art

[0002] The primary function of a robotic gripper is to improve the accuracy and efficiency of assembly and gripping, ensuring stability and consistency throughout the production process. By integrating high-precision sensors and advanced control systems, the gripper achieves micron-level positioning accuracy and stable gripping force, ensuring that every detail of the assembly process is optimized.

[0003] When existing mechanical grippers are working, in order to clamp objects and ensure their stability, a pair of cylinders are usually used to drive them synchronously to clamp the objects. This clamping method requires a pair of cylinders to work synchronously. If the air supply pressure in the cylinders is unevenly distributed, the pair of cylinders will not work in a coordinated manner and cannot stably clamp the objects. Therefore, a multifunctional robotic gripper mechanism is needed. Utility Model Content

[0004] The purpose of the utility model is to solve the shortcomings of the prior art and to propose a multifunctional manipulator clamping claw mechanism.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A multifunctional manipulator gripper mechanism comprises a mounting frame, an auxiliary gripper mounted on a surface of the mounting frame, a first cylinder fixedly connected to the surface of the mounting frame, gripping plates fixedly connected to the left and right sides of the mounting frame, and a synchronous positioning mechanism fixedly connected to the output end of the first cylinder;

[0007] The synchronous positioning mechanism includes a double-sided rack fixedly connected to the output end of the first cylinder, a first slider and a second slider are slidably connected to the surface of the mounting frame, and a first gear and a second gear are rotatably connected to the surface of the mounting frame. The first gear and the second gear are respectively installed on the left and right sides of the double-sided rack, the double-sided rack is meshed with the first gear, and the double-sided rack is meshed with the second gear;

[0008] The side of the first slider close to the double-sided rack is fixedly connected to the second rack, the second rack is meshed with the second gear, the side of the second slider close to the double-sided rack is fixedly connected to the first rack, the first rack is meshed with the first gear, one side of the first slider is fixedly connected to the left motion rod, one side of the second slider is fixedly connected to the right motion rod, and the ends of the left motion rod and the right motion rod away from each other are fixedly connected to the surface of the grab plate.

[0009] Preferably, the lower surface of the mounting frame is fixedly connected to a guide rod, the surface of the grab plate is fixedly connected to an L-shaped plate, and the inner wall of the L-shaped plate is slidably connected to the surface of the guide rod.

[0010] Preferably, a guide groove is provided on the surface of the grab plate, the inner wall of the guide groove is rotatably connected to a screw rod, the surface of the screw rod is threadedly connected to a friction plate, and the surface of the friction plate is slidably connected to the inner wall of the guide groove.

[0011] Preferably, a second cylinder is fixedly connected to the surface of the mounting bracket, an output end of the second cylinder is fixedly connected to a T-shaped plate, and an inner wall of the T-shaped plate is fixedly connected to a plurality of pneumatic suction cups.

[0012] Preferably, a plurality of pressing plates are fixedly connected to the inner wall of the mounting frame.

[0013] Preferably, the height of the first gear and the second gear is greater than the height of the double-sided rack.

[0014] The beneficial effects of the utility model are:

[0015] 1. During the clamping operation, the output end of the first cylinder drives the double-sided rack to move, and the double-sided rack drives the first gear and the second gear to rotate relative to each other. The rotation of the second gear drives the second rack and the first slider to move together. The first slider drives the grab plate to move through the left motion rod. The rotation of the first gear drives the first rack and the second slider to move together. The second slider drives the grab plate to move through the right motion rod. A pair of grab plates approach each other to clamp the object. The pair of grab plates clamp synchronously and coordinately, avoiding the situation where a pair of cylinders cannot work in coordination.

[0016] 2. When the height of the friction plate needs to be adjusted to suit the size of objects, when the equipment stops running, manually rotate the screw rod to change the height of the friction plate and adjust it to suit the size requirements of grabbing different objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0018] Figure 2 This is a schematic diagram of the three-dimensional structure of the double-sided rack in the utility model;

[0019] Figure 3 This is a schematic diagram of the three-dimensional structure of the guide rod in the utility model;

[0020] Figure 4 For this utility model Figure 3 Schematic diagram of the enlarged structure at A in the middle;

[0021] Figure 5 It is a schematic diagram of the planar structure of the first gear and the second gear in the present utility model.

[0022] In the figure: 1. Mounting frame; 2. Auxiliary clamp; 3. First cylinder; 4. Grabbing plate; 5. Second cylinder; 6. T-shaped plate; 7. Pneumatic suction cup; 8. Left motion rod; 9. Right motion rod; 10. Double-sided rack; 11. Second gear; 12. First gear; 13. Pressing plate; 14. Guide rod; 15. L-shaped plate; 16. Guide groove; 17. Screw; 18. Friction plate; 19. First rack; 20. Second rack; 21. First slider; 22. Second slider. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0024] Reference Figure 1-Figure 5 A multifunctional manipulator gripper mechanism includes a mounting frame 1, an auxiliary gripper 2 is mounted on the surface of the mounting frame 1, a first cylinder 3 is fixedly connected to the surface of the mounting frame 1, gripping plates 4 are fixedly connected to the left and right sides of the mounting frame 1, and a synchronous positioning mechanism is fixedly connected to the output end of the first cylinder 3;

[0025] The synchronous positioning mechanism includes a double-sided rack 10 fixedly connected to the output end of the first cylinder 3, a first slider 21 and a second slider 22 are slidably connected to the surface of the mounting frame 1, and a first gear 12 and a second gear 11 are rotatably connected to the surface of the mounting frame 1. The first gear 12 and the second gear 11 are respectively installed on the left and right sides of the double-sided rack 10, and the double-sided rack 10 is meshed with the first gear 12, and the double-sided rack 10 is meshed with the second gear 11;

[0026] The first slider 21 is fixedly connected to the second rack 20 on one side close to the double-sided rack 10, and the second rack 20 is engaged with the second gear 11. The second slider 22 is fixedly connected to the first rack 19 on one side close to the double-sided rack 10, and the first rack 19 is engaged with the first gear 12. The left motion rod 8 is fixedly connected to one side of the first slider 21, and the right motion rod 9 is fixedly connected to one side of the second slider 22. The ends of the left motion rod 8 and the right motion rod 9 that are away from each other are fixedly connected to the surface of the grab plate 4.

[0027] In the utility model, by setting the first cylinder 3, the first cylinder 3 is started, and its output end drives the double-sided rack 10 to move. By setting the double-sided rack 10, the first gear 12 and the second gear 11 are driven to reverse relative to each other. By setting the first slider 21 and the second slider 22, the stability of the movement of the second rack 20 and the first rack 19 is ensured. By setting the second rack 20, the second gear 11 rotates to drive the second rack 20 to move. By setting the first rack 19, the first gear 12 rotates to drive the first rack 19 to move. By setting the left motion rod 8 and the right motion rod 9, a pair of grab plates 4 are driven to move closer to or away from each other, thereby realizing synchronous grabbing operations.

[0028] A guide rod 14 is fixedly connected to the lower surface of the mounting frame 1 , an L-shaped plate 15 is fixedly connected to the surface of the grab plate 4 , and an inner wall of the L-shaped plate 15 is slidably connected to the surface of the guide rod 14 .

[0029] In the present invention, the guide rod 14 is provided to maintain the stability of the overall movement of the L-shaped plate 15 and the gripping plate 4, so that the pair of gripping plates 4 are more firmly clamped when close together.

[0030] A guide groove 16 is provided on the surface of the grab plate 4 , the inner wall of the guide groove 16 is rotatably connected to a screw rod 17 , the surface of the screw rod 17 is threadedly connected to a friction plate 18 , and the surface of the friction plate 18 is slidably connected to the inner wall of the guide groove 16 .

[0031] In the present invention, by providing a guide groove 16, space is avoided for the movement of the friction plate 18. By providing a screw rod 17, the operator rotates the screw rod 17, and the rotation of the screw rod 17 drives the height of the friction plate 18 to be adjusted to meet the size requirements of grabbing different objects.

[0032] A second cylinder 5 is fixedly connected to the surface of the mounting frame 1 , an output end of the second cylinder 5 is fixedly connected to a T-shaped plate 6 , and a plurality of pneumatic suction cups 7 are fixedly connected to the inner wall of the T-shaped plate 6 .

[0033] In the present invention, by setting up the second cylinder 5 and starting the second cylinder 5, the output end of the second cylinder 5 drives the T-shaped plate 6 and the plurality of pneumatic suction cups 7 to change the height. By setting up the plurality of pneumatic suction cups 7, the clamped objects are assisted in being adsorbed.

[0034] A plurality of pressing plates 13 are fixedly connected to the inner wall of the mounting frame 1 .

[0035] In the present invention, by providing a plurality of pressing plates 13 , it is ensured that the upper plurality of pressing plates 13 can press the object stably during clamping.

[0036] The heights of the first gear 12 and the second gear 11 are greater than the height of the double-sided rack 10 .

[0037] In the present invention, by setting the height of the first gear 12 and the second gear 11 to be greater than the height of the double-sided rack 10, the first gear 12 can rotate to engage with the double-sided rack 10 and the first rack 19 at the same time, and the second gear 11 can rotate to engage with the double-sided rack 10 and the second rack 20 at the same time.

[0038] Working principle: When clamping, the first cylinder 3 is started, and the output end of the first cylinder 3 drives the double-sided rack 10 to move. The double-sided rack 10 drives the first gear 12 and the second gear 11 to rotate relative to each other. The second gear 11 rotates to drive the second rack 20 and the first slider 21 to move together. The first slider 21 drives the grab plate 4 to move through the left motion rod 8. The first gear 12 rotates to drive the first rack 19 and the second slider 22 to move together. The second slider 22 drives the grab plate 4 to move through the right motion rod 9. The pair of grab plates 4 move closer to each other to clamp the object. Hold, at this time start the second cylinder 5, the output end of the second cylinder 5 drives the T-shaped plate 6 to descend, so that the pneumatic suction cup 7 is adsorbed and fixed on the top of the object, and a pair of grab plates 4 and L-shaped plates 15 slide on the surface of the guide rod 14 to maintain stability. When it is necessary to adjust the height of the friction plate 18 to adapt to the size of different objects, when the equipment stops running, manually rotate the screw rod 17, and the screw rod 17 rotates to change the height of the friction plate 18 for adjustment. With the above structure, the pair of grab plates 4 are clamped synchronously and coordinated, avoiding the situation where the pair of cylinders cannot work in coordination.

[0039] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the present invention can make equivalent replacements or changes based on the technical solution and utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A multifunctional manipulator gripper mechanism, comprising a mounting frame (1), characterized in that: An auxiliary clamping claw (2) is installed on the surface of the mounting frame (1), a first cylinder (3) is fixedly connected to the surface of the mounting frame (1), grab plates (4) are fixedly connected to the left and right sides of the mounting frame (1), and a synchronous positioning mechanism is fixedly connected to the output end of the first cylinder (3); The synchronous positioning mechanism includes a double-sided rack (10) fixedly connected to the output end of the first cylinder (3), a first slider (21) and a second slider (22) are slidably connected to the surface of the mounting frame (1), a first gear (12) and a second gear (11) are rotatably connected to the surface of the mounting frame (1), the first gear (12) and the second gear (11) are respectively installed on the left and right sides of the double-sided rack (10), the double-sided rack (10) is meshed with the first gear (12), and the double-sided rack (10) is meshed with the second gear (11); The first slider (21) is fixedly connected to a second rack (20) on one side close to the double-sided rack (10), and the second rack (20) is meshed with the second gear (11). The second slider (22) is fixedly connected to a first rack (19) on one side close to the double-sided rack (10), and the first rack (19) is meshed with the first gear (12). One side of the first slider (21) is fixedly connected to a left motion rod (8), and one side of the second slider (22) is fixedly connected to a right motion rod (9). The ends of the left motion rod (8) and the right motion rod (9) that are away from each other are fixedly connected to the surface of the grab plate (4).

2. A multifunctional manipulator gripper mechanism according to claim 1, characterized in that: The lower surface of the mounting frame (1) is fixedly connected to a guide rod (14), the surface of the grab plate (4) is fixedly connected to an L-shaped plate (15), and the inner wall of the L-shaped plate (15) is slidably connected to the surface of the guide rod (14).

3. A multifunctional manipulator gripper mechanism according to claim 1, characterized in that: A guide groove (16) is provided on the surface of the grab plate (4), the inner wall of the guide groove (16) is rotatably connected to a screw rod (17), the surface of the screw rod (17) is threadedly connected to a friction plate (18), and the surface of the friction plate (18) is slidably connected to the inner wall of the guide groove (16).

4. A multifunctional manipulator gripper mechanism according to claim 1, characterized in that: A second cylinder (5) is fixedly connected to the surface of the mounting frame (1), an output end of the second cylinder (5) is fixedly connected to a T-shaped plate (6), and an inner wall of the T-shaped plate (6) is fixedly connected to a plurality of pneumatic suction cups (7).

5. The multifunctional manipulator gripper mechanism according to claim 1, characterized in that: A plurality of pressing plates (13) are fixedly connected to the inner wall of the mounting frame (1).

6. A multifunctional manipulator gripper mechanism according to claim 1, characterized in that: The heights of the first gear (12) and the second gear (11) are greater than the height of the double-sided rack (10).

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