External embracing type manipulator clamp

Abstract

An air cylinder is fixedly installed in the center of the upper portion of a clamp main body base, four sliding rails are installed on the lower surface of the clamp main body base in a radial mode outwards from the center of the clamp main body base, sliding blocks move back and forth on the sliding rails, the top ends of clamping arms are fixedly connected with the sliding blocks, and the four clamping arms are opened and closed in a cross shape. The clamping arms are arranged in a cross shape, the upper portions of the clamping arms are hinged to one ends of the sliding blocks, the other ends of the hinged arms are hinged to the telescopic ends of the air cylinders, and springs are arranged between the clamping arms arranged in an object mode. A workpiece can be stably and uniformly clamped with extremely high precision, the specification of the workpiece can be automatically detected, the clamping force and the opening and closing angle can be self-adapted, meanwhile, by means of tightening force provided by a spring, equipment can still keep a clamping state when power is suddenly cut off, and the safety of the workpiece is ensured.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of industrial automation, in particular to an outer embracing type mechanical hand clamp. BACKGROUND

[0002] In the industrial automation production line, the outer embracing type mechanical hand clamp is widely used in the grabbing and carrying of cylindrical workpieces. However, the traditional clamp often has problems such as low clamping precision, poor adaptability to workpieces of different diameters, uneven clamping force distribution leading to workpiece damage, etc. In addition, with the improvement of industrial automation, the requirements for the intelligence, self-adaptability and precision of the clamp are also increasing.

[0003] At present, the utility model discloses a kind of mechanical hand device for robot grabbing, including U-shaped plate, servo motor, worm, worm wheel, first connecting rod, clamping arm, second connecting rod, rotating block and clamping plate, U-shaped plate one side is fixed with servo motor, the output end of servo motor is fixed with worm through U-shaped plate, and worm is rotatably connected with U-shaped plate, U-shaped plate inner wall one side is rotatably connected with worm wheel by bearing, and the two worm wheels of U-shaped plate inner wall are all meshed with worm, first connecting rod is fixed on the surface of worm wheel, first connecting rod one end is rotatably connected with clamping arm by hinge, U-shaped plate one end is rotatably connected with second connecting rod by bearing, and the end, far from U-shaped plate, of second connecting rod is rotatably connected with the middle part of clamping arm by hinge, this mechanical hand device for robot grabbing is convenient for people to control the clamping force of clamping plate, and the angle of clamping plate can be adjusted, improve adaptability, and it is convenient for people to use.

[0004] From the above disclosed technical content, as prior art, the utility model with announcement number CN210061172U can accurately control clamping force, but it cannot automatically adapt to workpieces of multiple different sizes, and a lot of pre-adaptation work is needed when adjusting production line, which is not convenient to use. UTILITY MODEL CONTENTS

[0005] In view of the problems existing in the above-mentioned prior art, the utility model provides an outer embracing type mechanical hand clamp, which can stably and uniformly clamp workpieces with very high precision, can automatically detect workpiece specifications, and self-adapt clamping force and opening and closing angle.

[0006] In order to achieve the above object, the utility model discloses an outer embrace type mechanical hand clamp, including mechanical hand connecting base, cylinder, clamp main base, slide rail, sliding block, clamping arm, spring, detection photoelectricity, articulated arm, soft pad, clamping arm hook, the cylinder is fixedly installed at the upper center of clamp main base, four slide rails are installed radially on the lower surface of clamp main base with the center of clamp main base outward, the sliding block moves back and forth on the slide rail, the sliding block is fixedly connected to the top of clamping arm, four clamping arms are opened and closed in cross shape, one end of articulated sliding block is arranged on the upper portion of clamping arm, the other end of articulated arm is articulated with the telescopic end of cylinder, the spring is arranged between the clamping arm of object arrangement, and detection photoelectricity is fixedly installed on the lower surface of clamp main base close to the center.

[0007] In addition, the outer embrace type mechanical hand clamp according to the above embodiment of the utility model can also have the following additional technical features.

[0008] As a further improved scheme of the utility model, the mechanical hand connecting base is fixedly installed on the upper portion of the clamp main base.

[0009] As a further improved scheme of the utility model, the surface of the mechanical hand connecting base and the clamp main base is hollowed out.

[0010] As a further improved scheme of the utility model, the clamping arm hook is fixedly installed on the lower end of the clamping arm.

[0011] As a further improved scheme of the utility model, the plurality of soft pads are fixedly installed on the inner surface of the clamping arm.

[0012] Through the above scheme, the utility model has at least the following advantages: compared with the conventional clamp, the workpiece specification is sensed through detection photoelectricity, the clamping arm is driven by the cylinder through the articulated arm, then the workpiece is clamped by the cross-shaped clamping arm, the workpiece can be clamped stably and uniformly with very high precision, the workpiece specification can be automatically detected, and the clamping force and the opening and closing angle are self-adaptive, and the tightening force provided by the spring is used to make the equipment still maintain the clamping state when suddenly powered off, and the safety of the workpiece is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 It is the three-dimensional schematic view of the outer embrace type mechanical hand clamp;

[0014] Figure 2 It is the side view of the outer embrace type mechanical hand clamp;

[0015] Figure 3 It is the three-dimensional view of the outer embrace type mechanical hand clamp that removes the mechanical hand connecting base;

[0016] Figure 4 It is the plan view of the outer embrace type mechanical hand clamp that removes the mechanical hand connecting base;

[0017] Figure 5 is the schematic diagram of the use state of the outer embracing mechanical hand clamp;

[0018] In the figure: 1, mechanical hand connecting base, 2, cylinder, 3, clamp main base, 4, slide rail, 5, sliding block, 6, clamping arm, 7, spring. 8, detection photoelectricity, 9, articulated arm, 10, soft pad, 11, clamping arm hook, 12, workpiece. DETAILED DESCRIPTION

[0019] The outer embracing mechanical hand clamp of the utility model is described below in combination with the drawings.

[0020] In the embodiment one of the application, as Figures 1 to 4 shown, the outer embracing mechanical hand clamp (hereinafter referred to as "the application") comprises a mechanical hand connecting base 1, a cylinder 2, a clamp main base 3, a slide rail 4, a sliding block 5, a clamping arm 6, a spring 7, a detection photoelectricity 8, an articulated arm 9, a soft pad 10 and a clamping arm hook 11, the cylinder 2 is fixedly installed at the upper center of the clamp main base 3, four slide rails 4 are installed in a radial manner outward from the center of the lower surface of the clamp main base 3, the sliding block 5 moves back and forth on the slide rail 4, the clamping arm 6 is fixedly connected to the top end of the sliding block 5, the four clamping arms 6 are opened and closed in a cross shape, one end of the clamping arm 6 is articulated to the sliding block 5, the other end of the articulated arm 9 is articulated to the telescopic end of the cylinder 2, the spring 7 is arranged between the clamping arms 6, and the detection photoelectricity 8 is fixedly installed on the lower surface of the clamp main base 3 close to the center.

[0021] The utility model for robot grabbing mechanical hand device (hereinafter referred to as "the patent") of CN210061172U, the patent although can accurate control clamping force, but itself can not automatically adapt to a variety of different size workpieces, need when adjusting production line to carry out a lot of front matching work, it is not convenient to use, and the application can accurately perceive workpiece specification through detection photoelectricity 8, then clamping arm 6 is driven by cylinder 2 through articulated arm 9, then cross-shaped clamping arm 6 clamps workpiece 12, can with very high precision steady uniform clamping workpiece 12, can automatically detect workpiece 12 specification, and self-adapting clamping force and opening and closing angle, simultaneously, with the tightening force provided by spring 7, so that the equipment can still maintain the clamping state when suddenly powered off, ensure the safety of workpiece.

[0022] In order to further optimize the work efficiency of the application, facilitate the compatibility of the device with various mechanical arms, the mechanical hand connecting base 1 is fixedly installed on the upper part of the clamp main base 3. In order to reduce the weight of the device, the surface of the mechanical hand connecting base 1 and the clamp main base 3 is hollowed out. In order to reduce the bumping and prevent the workpiece 12 from slipping, the clamping arm hook 11 is fixedly installed on the lower end of the clamping arm 6, and a plurality of soft pads 10 are fixedly installed on the inner surface of the clamping arm 6.

[0023] When using, the outer embracing mechanical hand clamp is installed and connected with corresponding equipment components, and the equipment can be put into use.

[0024] In use, the specific work is as follows:

[0025] In use, as shown in the figure, Figure 5 The detection photoelectricity 8 improves the recognition ability of the clamp to the type of the workpiece 12 through image recognition and machine learning, automatically adjusts the clamping strategy, and improves the operation efficiency and flexibility. After determining the specification of the workpiece 12, the telescopic end of the air cylinder 2 drives the articulated arm 9 to push and pull the clamping arm 6, so that the clamping arm 6 drives the sliding block 5 to move to the appropriate position along the sliding rail 4. When the air cylinder 2 is extended, the articulated arm 9 pushes the four clamping arms 6 arranged in a cross shape to expand, and then the workpiece 12 is brought into the working range of the clamping arm 6. The air cylinder 2 is retracted, and the articulated arm 9 pulls the four clamping arms 6 arranged in a cross shape to clamp the workpiece 12.

[0026] In summary, the outer embracing mechanical hand clamp of the embodiment of the utility model, through the detection photoelectricity 8 sensing workpiece specification, the air cylinder 2 drives the clamping arm 6 through the articulated arm 9, and then the clamping arm 6 arranged in a cross shape clamps the workpiece 12, which can stably and uniformly clamp the workpiece 12 with very high precision, can automatically detect the specification of the workpiece 12, and adaptively clamp the force and opening and closing angle. At the same time, with the help of the tightening force provided by the spring 7, the equipment can still maintain the clamping state when suddenly powered off, ensuring the safety of the workpiece.

[0027] Those skilled in the art should understand that the above discussion of any embodiment is only exemplary and is not intended to suggest that the scope of the present application is limited to these examples; under the idea of the present application, the above embodiments or technical features in different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the present application as described above. In order to be brief, they are not provided in details. Any omission, modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An external gripping robot gripper comprising a robot connection base (1), characterized in that, A cylinder (2) is fixedly installed at the upper center of a clamp main base (3), four slide rails (4) are installed outwardly and radially from the center of the lower surface of the clamp main base (3), a sliding block (5) moves back and forth on the slide rail (4), a clamping arm (6) is fixedly connected to the top end of the sliding block (5), one end of the clamping arm (6) is hingedly connected to the sliding block (5), the other end of a hinged arm (9) is hingedly connected to the telescopic end of the cylinder (2), springs (7) are arranged between the clamping arms (6) arranged opposite to each other, and a detection photoelectricity (8) is fixedly installed at the lower surface of the clamp main base (3) close to the center.

2. The outside gripping mechanical hand gripper according to claim 1, wherein The mechanical hand connecting base (1) is fixedly installed on the upper part of the clamp main base (3).

3. The outside gripping mechanical hand gripper according to claim 2, wherein The surface of the mechanical hand connecting base (1) and the clamp main base (3) is hollowed out.

4. The outside gripping mechanical hand gripper according to claim 1, wherein The clamping arm (6) is fixedly installed with a clamping arm supporting hook (11) at the lower end.

5. The wraparound robotic hand gripper of claim 4, wherein, The inner surface of the clamping arm (6) is fixedly installed with a plurality of soft pads (10).

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