Manipulator clamping jaw quick-change structure

Abstract

The utility model discloses a manipulator clamping jaw quick-change structure, which relates to the technical field of manipulators and comprises a fixing frame, an extrusion block is mounted in the fixing frame in an up-and-down sliding manner, opening and closing blocks are connected to two sides of the extrusion block in a sliding manner, and the opening and closing blocks are mounted in the fixing frame in a left-and-right sliding manner. A claw body is movably installed at the bottom of the opening and closing block, a protruding block is arranged at the upper end of the claw body, a rectangular groove allowing the protruding block to be inserted is formed in the opening and closing block, a dismounting and mounting mechanism used for fixing the protruding block is arranged outside the opening and closing block, and an anti-skid pad is slidably installed on the inner side of the claw body. And a limiting mechanism for fixing the non-slip mat is arranged outside the claw body. According to the clamping jaw, the two independent jaw bodies are arranged, when the jaw bodies are damaged, the damaged jaw bodies can be independently replaced in a targeted mode, the whole clamping jaw does not need to be replaced, use cost is saved, rapid replacement can be achieved in cooperation with a dismounting and mounting mechanism, operation is easy and rapid, and operation time is saved.

Description

TECHNICAL FIELD

[0001] The utility model relates to manipulator technical field especially relates to a manipulator clamping jaw quick change structure. BACKGROUND

[0002] In recent years, manipulator technology develops rapidly, and is widely used in industrial automation, logistics transportation, medical auxiliary and other fields. The manipulator clamping jaw as an important part of the manipulator directly participates in the object's grabbing, transportation and operation. However, in the process of using the manipulator, the clamping jaw may be damaged or aged, resulting in the failure of the grabbing function. The traditional manipulator clamping jaw replacement method is usually whole replacement, that is, replacing the whole set of clamping jaws. Although this method is simple and easy to implement, when a single clamping jaw is damaged, if all clamping jaws are replaced, some undamaged clamping jaws will also be replaced, which is easy to cause waste of resources and increase the use cost of the equipment. SUMMARY

[0003] In view of the defects of the prior art, the utility model provides a manipulator clamping jaw quick change structure, which solves the technical problems proposed in the background art.

[0004] To solve the above technical problems, the utility model provides the following technical scheme: a manipulator clamping jaw quick change structure, including the fixed frame, the inside of the fixed frame is slidably installed with the extrusion block, both sides of the extrusion block are slidably connected with the opening and closing block, the opening and closing block is slidably installed in the inside of the fixed frame, and the bottom of the opening and closing block is movably installed with the jaw body, the upper end of the jaw body is provided with the protruding block, the inside of the opening and closing block is provided with the rectangular slot for the protruding block to insert, and the outside of the opening and closing block is provided with the dismounting mechanism for fixing the protruding block, the inside of the jaw body is slidably installed with the antiskid pad, and the outside of the jaw body is provided with the limiting mechanism for fixing the antiskid pad.

[0005] Further, the dismounting mechanism includes a support fixedly installed on the periphery of the jaw body, both ends of the support are slidably connected with the inserting rod, the inside of the opening and closing block is provided with the strip slot for the inserting rod to slide, and the inside of the protruding block is provided with the inserting slot for the inserting rod to insert.

[0006] Further, one end of the inserting rod is provided with a slope, the other end of the inserting rod is fixedly connected with the pull rod, both ends of the pull rod are fixedly connected with the connecting spring, and the end of the connecting spring is fixedly installed on the outer wall of the opening and closing block.

[0007] Further, the limiting mechanism includes a rotating shaft rotatably installed on the outside of the jaw body, and both ends of the rotating shaft are fixedly connected with the baffle.

[0008] Further, the outside of the rotating shaft is fixedly sleeved with a worm wheel, the outside of the jaw body is also rotatably installed with a worm, and the worm is engaged with the worm wheel.

[0009] Further, the upper end of the extrusion block is fixedly connected with a connecting head.

[0010] By the above technical scheme, the utility model provides a mechanical hand clamping jaw quick change structure, at least has following beneficial effect:

[0011] 1、 the utility model discloses a two independent claw body are set up, when claw body is damaged, can individually to damaged claw body is replaced specifically, need not to replace clamping jaw whole, save use cost, cooperation dismouting mechanism can also be quickly replaced, simple and quick operation saves operation time.

[0012] 2、 the utility model discloses setting up antiskid pad can increase the friction between claw body and workpiece, guarantee the stability of claw body and snatch, when antiskid pad is worn or aged, cooperation limiting mechanism can replace antiskid pad individually, also need not to replace whole claw body, further save the use cost of equipment. DRAWINGS

[0013] The drawings described herein are used to provide further understanding of the present application, and form a part of the present application, the illustrative embodiments of the present application and the description thereof are used to explain the present application, and do not constitute improper limitation on the present application. In the drawings:

[0014] Figure 1 It is one of the overall structure schematic view of the utility model;

[0015] Figure 2 It is the second overall structure schematic view of the utility model;

[0016] Figure 3 It is Figure 2 The enlarged view of A shown in the figure;

[0017] Figure 4 It is the opening and closing block structure schematic view of the utility model;

[0018] Figure 5 It is the claw body structure schematic view of the utility model;

[0019] Figure 6 It is the dismounting mechanism structure schematic view of the utility model.

[0020] In the figure: 1, fixed frame;2, extrusion block;3, opening and closing block;31, rectangular groove;32, strip-shaped groove;4, claw body;41, protruding block;42, insertion slot;5, dismounting mechanism;51, support;52, insertion rod;53, pull rod;54, connecting spring;6, antiskid pad;7, limiting mechanism;71, rotating shaft;72, baffle;73, worm wheel;74, worm;8, connecting head. DETAILED DESCRIPTION

[0021] Clearly and completely describe the technical scheme in the embodiments of the utility model with the drawings in the embodiments of the utility model below, obviously, the described embodiments are only some embodiments of the utility model, not all embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor belong to the scope of the utility model protection.

[0022] In the use process of the manipulator, the clamping jaw may be damaged or aged, resulting in failure of the grabbing function. The traditional replacement method of the manipulator clamping jaw is usually overall replacement, that is, replacing the entire set of clamping jaws. Although this method is simple and easy to implement, when a single clamping jaw is damaged, if all clamping jaws are replaced, some undamaged clamping jaws will also be replaced, which is easy to cause waste of resources and increase the use cost of the equipment.

[0023] To solve the defects of the manipulator in the process of replacing the clamping jaw, please refer to Figures 1-6 The utility model provides a manipulator clamping jaw quick change structure, can carry out pertinence replacement to damaged claw body alone, saves use cost. The quick change structure takes a fixed frame 1 as the basis, the inside of fixed frame 1 is slidably installed with extrusion block 2, the both sides of extrusion block 2 are slidably connected with opening and closing block 3, opening and closing block 3 is slidably installed in the inside of fixed frame 1, and the bottom of opening and closing block 3 is movably installed with claw body 4, two claw bodies 4 are independently arranged, when one of claw body 4 is damaged, it can be replaced alone, saves equipment use cost, the upper end of claw body 4 is provided with lug 41, the inside of opening and closing block 3 is provided with the rectangular slot 31 for lug 41 insertion, and the outside of opening and closing block 3 is provided with the dismounting mechanism 5 for fixing lug 41, when replacing claw body 4, can carry out the work of dismounting and installing claw body 4 through dismounting mechanism 5, the inside of claw body 4 is slidably installed with antiskid pad 6, and the outside of claw body 4 is provided with limiting mechanism 7 for fixing antiskid pad 6, the setting of antiskid pad 6 can increase the skid resistance of claw body 4, increase the friction between claw body 4 and workpiece, so as to guarantee the stability of claw body 4 grabbing, and when claw body 4 grabs workpiece, antiskid pad 6 will contact workpiece first, and antiskid pad 6 is also easy to be worn, when antiskid pad 6 is worn or aged, can carry out pertinence replacement to antiskid pad 6 through limiting mechanism 7, also need not replace entire claw body 4, avoid causing waste of resources, can further save equipment use cost.

[0024] In order to realize the dismounting effect of the dismounting mechanism 5 on the claw body 4, the dismounting mechanism 5 is fixedly installed on the support 51 which is installed on the periphery of the claw body 4. The two ends of the support 51 are slidably connected with the inserting rods 52. The inside of the opening and closing block 3 is provided with a strip-shaped slot 32 for the sliding of the inserting rods 52. The inside of the protruding block 41 is provided with an inserting slot 42 for the insertion of the inserting rod 52. The inserting slot 42 is L-shaped. The inserting rod 52 passes through the strip-shaped slot 32 and enters the inserting slot 42. The protruding block 41 can be fixed in the rectangular slot 31, and the protruding block 41 is limited to move out of the rectangular slot 31. The two inserting rods 52 can double-lock the protruding block 41. When one of the inserting rods 52 is accidentally detached from the inserting slot 42, the other inserting rod 52 can still play a limiting role. Therefore, the stability of the connection between the claw body 4 and the opening and closing block 3 can be ensured. Similarly, when the claw body 4 needs to be replaced, the two inserting rods 52 can be slid out of the inserting slot 42.

[0025] In order to prevent the inserting rod 52 from being automatically detached, a slope is arranged at one end of the inserting rod 52. Therefore, the two inserting rods 52 will not collide in the inserting slot 42. The other end of the inserting rod 52 is fixedly connected with a pull rod 53. The upper and lower ends of the pull rod 53 are fixedly connected with connecting springs 54. The ends of the connecting springs 54 are fixedly installed on the outer wall of the opening and closing block 3. The inserting rod 52 can enter the inserting slot 42 through the elastic force of the connecting springs 54. Therefore, a certain external force needs to be applied to slide the inserting rod 52 out. The possibility of accidental detachment of the inserting rod 52 can be effectively reduced.

[0026] When the anti-skid pad 6 is worn or aged after being used for a certain period of time, the anti-skid pad 6 can be replaced alone through the limiting mechanism 7. Therefore, the limiting mechanism 7 is rotatably installed on the rotating shaft 71 which is arranged on the outer side of the claw body 4. The two ends of the rotating shaft 71 are fixedly connected with the blocking pieces 72. The outer side of the rotating shaft 71 is fixedly sleeved with a worm wheel 73. The outer side of the claw body 4 is also rotatably installed with a worm gear 74. The worm gear 74 is engaged with the worm wheel 73. As shown in Figure 5 The claw body 4 is provided with a T-shaped slot for the sliding of the anti-skid pad 6. When the anti-skid pad 6 is installed in the T-shaped slot, the anti-skid pad 6 can be limited by the blocking pieces 72 to ensure the stability of the anti-skid pad 6. When the anti-skid pad 6 needs to be replaced, the worm gear 74 can be rotated to drive the worm wheel 73 to rotate. The rotation of the worm wheel 73 can drive the rotating shaft 71 to rotate. The rotation of the rotating shaft 71 can drive the two blocking pieces 72 to rotate. The blocking pieces 72 are rotated to move away from the anti-skid pad 6. Therefore, the anti-skid pad 6 can be pulled out of the claw body 4. A new anti-skid pad 6 can be installed. The worm gear 74 can drive the blocking pieces 72 to reset. Due to the self-locking property of the worm gear 74 and the worm wheel 73, the rotating shaft 71 cannot automatically drive the blocking pieces 72 to rotate. Therefore, the stability of the anti-skid pad 6 during the gripping operation can be ensured.

[0027] In order to realize the gripping action of the claw body 4, a connecting head 8 is fixedly connected to the upper end of the extrusion block 2, the connecting head 8 is connected with an external linear driving element, the linear driving element can drive the connecting head 8 to slide up and down, the sliding of the connecting head 8 up and down can drive the two opening and closing blocks 3 to approach or move away from each other, and the opening and closing blocks 3 can drive the claw body 4 to perform the gripping action.

[0028] It should be noted that in this document, the terms "comprise", "comprising", or any other variant thereof are intended to cover non-exclusive inclusions, so that processes, methods, articles, or devices that comprise a series of elements not only include those elements, but also include other elements not explicitly listed, or inherent to such processes, methods, articles, or devices.

[0029] Although the embodiments of the present application have been shown and described, it should be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A quick-change structure of a mechanical hand gripper, comprising a fixing frame (1), characterized in that: The inside of the fixed frame (1) is slidably installed with an extrusion block (2), both sides of the extrusion block (2) are slidably connected with an opening and closing block (3), the opening and closing block (3) is slidably installed on the inside of the fixed frame (1), the bottom of the opening and closing block (3) is movably installed with a claw body (4), the upper end of the claw body (4) is provided with a protruding block (41), the inside of the opening and closing block (3) is provided with a rectangular slot (31) for inserting the protruding block (41), and the outside of the opening and closing block (3) is provided with a dismounting mechanism (5) for fixing the protruding block (41), the inside of the claw body (4) is slidably installed with an anti-skid pad (6), and the outside of the claw body (4) is provided with a limiting mechanism (7) for fixing the anti-skid pad (6).

2. The mechanical hand jaw quick change structure according to claim 1, characterized in that: The dismounting mechanism (5) comprises a support (51) fixedly installed on the periphery of the claw body (4), both ends of the support (51) are slidably connected with an insertion rod (52), the inside of the opening and closing block (3) is provided with a strip-shaped slot (32) for sliding the insertion rod (52), and the inside of the protruding block (41) is provided with an insertion slot (42) for inserting the insertion rod (52).

3. The mechanical hand jaw quick change structure according to claim 2, characterized in that: One end of the insertion rod (52) is provided with a slope, the other end of the insertion rod (52) is fixedly connected with a pull rod (53), both ends of the pull rod (53) are fixedly connected with a connecting spring (54), and the end of the connecting spring (54) is fixedly installed on the outer wall of the opening and closing block (3).

4. The mechanical hand jaw quick change structure according to claim 1, characterized in that: The limiting mechanism (7) comprises a rotating shaft (71) rotatably installed on the outside of the claw body (4), both ends of the rotating shaft (71) are fixedly connected with a baffle (72).

5. The mechanical hand jaw quick change structure according to claim 4, characterized in that: The outside of the rotating shaft (71) is fixedly sleeved with a worm wheel (73), and the outside of the claw body (4) is also rotatably installed with a worm (74), and the worm (74) is engaged with the worm wheel (73).

6. The mechanical hand jaw quick change structure according to claim 1, characterized in that: The upper end of the extrusion block (2) is fixedly connected with a connecting head (8).

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