Clamping manipulator with automatic feeding function

Abstract

The utility model relates to the field of clamping manipulators, in particular to an automatic feeding clamping manipulator which is characterized in that a clamping jaw driving mechanism is movably arranged on a clamping manipulator body, movable clamping jaws are movably arranged at two ends of the clamping jaw driving mechanism, and detachable clamping plates are mounted on the movable clamping jaws; mounting cavities are formed in the movable clamping jaws, mounting columns are arranged on the clamping plates corresponding to the mounting cavities in a matched mode, and clamping columns used for clamping the mounting columns are inserted into the movable clamping jaws. According to the clamping mechanical arm, automatic feeding of workpieces can be achieved through the clamping mechanical arm body, the clamping jaw driving mechanism and the movable clamping jaw, fixed installation of the clamping plates can be achieved through mutual clamping between the clamping columns and the through holes and cooperation of fixing of the top cover through the limiting cavities, the assembling mode of the clamping plates is simple and convenient, and the assembling efficiency is improved. And a user can conveniently replace the abraded clamping plate in the later period.

Description

TECHNICAL FIELD

[0001] The utility model relates to clamping manipulator technical field especially relates to a clamping manipulator of automatic feeding. BACKGROUND

[0002] The clamping manipulator of automatic feeding is a kind of mechanical equipment that can automatically complete the action such as grabbing, carrying and placing workpiece or material, realizes the automation of feeding in production process. It controls the driving system to drive manipulator arm movement according to the information of preset program and sensor feedback, so that the grabbing device reaches the designated position to grab workpiece or material, and then carries it to target position for placement. In the working process, manipulator needs to communicate and coordinate with production equipment, conveying line and the like, to ensure the accuracy and timeliness of feeding.

[0003] The clamping part of manipulator often needs to clamp and release articles, which can easily cause part wear, thereby reducing clamping force and affecting the working efficiency of robot. In order to ensure the normal working performance during long-term work, a clamping manipulator with replaceable clamping surface is needed. UTILITY MODEL CONTENT

[0004] The utility model aims at solving the shortcomings in prior art, and provides a clamping manipulator of automatic feeding.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme:

[0006] A clamping manipulator of automatic feeding, comprising a clamping manipulator body and a clamping jaw driving mechanism, the clamping jaw driving mechanism is movably arranged on the clamping manipulator body, both ends of the clamping jaw driving mechanism are movably provided with movable clamping jaws, and the movable clamping jaws are both provided with detachable clamping plates; the movable clamping jaws are both provided with mounting cavities, the clamping plates are both provided with mounting columns corresponding to the mounting cavities, and the inside of the movable clamping jaws is provided with clamping columns for clamping the mounting columns.

[0007] In addition, preferably, the top of the movable clamping jaw is provided with a clamping cavity downward, the clamping cavity passes through the mounting cavity, and the clamping column is matched with the clamping cavity.

[0008] In addition, preferably, the top of the clamping column is fixedly provided with a top cover, and the mounting column is provided with a through hole corresponding to the clamping column.

[0009] In addition, preferably, the top of the movable clamping jaw is provided with a clamping cavity downward, the clamping cavity passes through the mounting cavity, and the clamping column is matched with the clamping cavity.

[0010] In addition, preferably, the top of the clamping column is fixedly provided with a top cover, and the mounting column is provided with a through hole corresponding to the clamping column.

[0011] In addition, preferably, the side edges of the top cover are provided with anti-skid protrusions, and the outer side of the clamping plate is fixedly provided with anti-skid pads.

[0012] The utility model discloses the beneficial effect is: through clamping mechanical hand body, clamping jaw drive mechanism and movable clamping jaw can realize automatic feeding to workpiece, through the mutual card of the hole between the card post and the hole, and cooperate the fixing of limit cavity to top cover, can realize the fixed mounting of clamping plate, and this kind of assembly mode of clamping plate is simple and convenient, and it is convenient for user to replace the clamping plate of wear in later period. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 It is a structure schematic diagram of the clamping mechanical hand of automatic feeding that the utility model proposes;

[0014] Figure 2 It is the enlarged detailed view of the clamping jaw drive mechanism in Figure 1 ;

[0015] Figure 3 It is the enlarged detailed view of movable clamping jaw in Figure 2 ;

[0016] Figure 4 It is the structure schematic diagram of clamping plate and card post in Figure 3 Hidden after;

[0017] Figure 5 It is the internal structure schematic diagram in Figure 4 ;

[0018] Figure 6 It is the structure schematic diagram of the card post of the clamping mechanical hand of automatic feeding that the utility model proposes;

[0019] Figure 7 It is the structure schematic diagram of the clamping plate of the clamping mechanical hand of automatic feeding that the utility model proposes.

[0020] In the drawing: 1 clamping mechanical hand body, 11 clamping jaw drive mechanism, 12 movable clamping jaw, 121 installation cavity, 122 card cavity, 2 clamping plate, 21 anti-skid pad, 22 installation column, 23 through -hole, 3 card post, 31 top cover, 32 plane, 4 fixed seat, 41 limit cavity. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments.

[0022] Refer to Figures 1-7The utility model provides a kind of automatic feeding's clamping manipulator, including clamping manipulator body 1 and clamping jaw driving mechanism 11, clamping jaw driving mechanism 11 is movably arranged on clamping manipulator body 1, both ends of clamping jaw driving mechanism 11 are movably provided with movable clamping jaw 12, and detachable clamping plate 2 is mounted on movable clamping jaw 12.

[0023] Wherein, clamping manipulator body 1 is the link type clamping jaw, it is analyzed and handled to various input signals by industrial controller as control core, and makes logical judgment, and issues execution command to output element, drives each part of manipulator to carry out joint motion on rectangular coordinate system. And drive movable clamping jaw 12 is realized to clamping jaw driving mechanism 11, to control movable clamping jaw 12 and carry out clamping operation to workpiece, to realize the automatic feeding of workpiece. It is worth noting that the specific driving structure and control signal of clamping manipulator body 1, clamping jaw driving mechanism 11 and movable clamping jaw 12 are prior art, thus not much more in the utility model.

[0024] Wherein, the top of movable clamping jaw 12 is downwardly provided with the cavity 122, the cavity 122 is passed from the installation cavity 121, and the cavity 122 is matched with the column 3.The top of the column 3 is fixedly provided with the top cover 31, and the through hole 23 is matched in the installation column 22 corresponding to the column 3.By inserting the column 3 into the through hole 23, the installation of the clamping plate 2 can be fixed, so that the clamping plate 2 can be fixed.

[0025] Wherein, the top of movable clamping jaw 12 is fixedly provided with the fixed seat 4 on the side of the top cover 31, and the fixed seat 4 is provided with the limiting cavity 41 for clamping the top cover 31.The side of the top cover 31 is provided with the plane 32, and the plane 32 is not in contact with the limiting cavity 41.By clamping between the limiting cavity 41 and the top cover 31, the column 3 can be fixed.And because the plane 32 on the top cover 31 is not in contact with the limiting cavity 41, when the plane 32 rotates to the limiting cavity 41, the user can remove the column 3.

[0026] Wherein, the side of the top cover 31 is provided with the anti-skid boss, and the outer side of the clamping plate 2 is fixedly provided with the anti-skid pad 21.The setting of anti-skid boss can facilitate the rotation of the top cover 31, and can improve the stability of the top cover 31 when clamping in the limiting cavity 41.The setting of anti-skid pad 21 on the clamping plate 2 can improve the clamping effect of the clamping plate 2 on the workpiece.

[0027] In the embodiment, the clamping jaw driving mechanism 11 is axially moved on the coordinate system of the clamping manipulator body 1, and the clamping jaw driving mechanism 11 drives the movable clamping jaws 12 on both sides to clamp the workpiece, so that the automatic feeding of the workpiece is realized.

[0028] Further, when the clamping plate 2 on the movable clamping jaw 12 is worn, the user only needs to rotate the top cover 31. When the plane 32 on the top cover 31 is rotated towards the fixed seat 4, the top cover 31 is no longer clamped between the limiting cavity 41, and at this time the user can pull out the clamping column 3 through the top cover 31. In this way, the clamping of the clamping column 3 and the through hole 23 is released, and at this time the user can directly take out the clamping plate 2.

[0029] Further, when the user needs to install a new clamping plate 2 on the movable clamping jaw 12, only needs to insert the mounting column 22 on the clamping plate 2 into the mounting cavity 121, at this time the through hole 23 on the mounting column 22 is matched and aligned with the clamping cavity 122 in the movable clamping jaw 12.

[0030] Then the user only needs to insert the clamping column 3 into the clamping cavity 122, at this time the clamping column 3 is matched and clamped into the through hole 23, and through the mutual clamping between the clamping column 3 and the through hole 23, the mounting column 22 is fixed, so as to realize the fixed installation of the clamping plate 2.

[0031] Further, when the user completes the installation of the clamping column 3, only needs to rotate the top cover 31, in this way the arc surface of the top cover 31 is rotated into the limiting cavity 41 in the fixed seat 4, so that the fixed installation of the clamping column 3 is realized through the mutual clamping between the top cover 31 and the limiting cavity 41, to prevent the clamping column 3 from falling off from the clamping cavity 122, so as to improve the installation stability of the clamping plate 2.

[0032] In the embodiment, the clamping manipulator body 1, the clamping jaw driving mechanism 11 and the movable clamping jaw 12 can realize the automatic feeding of the workpiece, the mutual clamping between the clamping column 3 and the through hole 23, and the fixed installation of the clamping plate 2 through the cooperation of the limiting cavity 41 and the top cover 31, which is simple and convenient for the user to replace the worn clamping plate 2 in the later period.

[0033] The above is only a preferred specific embodiment of the utility model, but the protection scope of the utility model is not limited to this, any skilled person in the art can make equivalent replacement or change according to the technical scheme and the utility model concept of the utility model within the technical range disclosed by the utility model, which should be covered in the protection scope of the utility model.

Claims

1. An automatic feeding clamping manipulator, comprising a clamping manipulator body (1) and a clamping jaw driving mechanism (11), characterized in that, The clamping mechanical hand body (1) is movably provided with a clamping jaw driving mechanism (11), both ends of the clamping jaw driving mechanism (11) are movably provided with movable clamping jaws (12), and the movable clamping jaws (12) are both provided with detachable clamping plates (2); The movable clamping jaws (12) are both provided with mounting cavities (121), the clamping plates (2) are both provided with mounting columns (22) corresponding to the mounting cavities (121), and the movable clamping jaws (12) are both provided with clamping columns (3) for clamping the mounting columns (22).

2. The automatic feeding gripper robot according to claim 1, wherein The top of the movable clamping jaw (12) is provided with a clamping cavity (122), the clamping cavity (122) passes through the mounting cavity (121), and the clamping column (3) is matched with the clamping cavity (122).

3. The automatic feeding gripper robot according to claim 2, wherein The top of the clamping column (3) is fixedly provided with a top cover (31), and the mounting column (22) is provided with a through hole (23) corresponding to the clamping column (3).

4. The automatic feeding gripper robot according to claim 3, wherein The top of the movable clamping jaw (12) is provided with a clamping cavity (122), the clamping cavity (122) passes through the mounting cavity (121), and the clamping column (3) is matched with the clamping cavity (122).

5. The automatic feeding gripper robot according to claim 4, wherein One side of the top cover (31) is provided with a plane (32), and the plane (32) is not in contact with the limiting cavity (41).

6. The automatic feeding gripper robot according to claim 5, wherein The side of the top cover (31) is provided with an anti-skid bump, and the outer side of the clamping plate (2) is fixedly provided with an anti-skid pad (21).

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