Gripper positioning and locking device

Abstract

The utility model relates to the technical field of manipulators, in particular to a gripper positioning and locking device which comprises a base and further comprises a clamping mechanism, the clamping mechanism is located on the front side of the base and comprises a positioning structure and a clamping structure, the clamping structure comprises a fixing seat movably arranged below the base, and a sliding plate is installed at the lower end of the fixing seat in a sliding mode. Clamping blocks are fixed to the ends, close to each other, of the two clamping plates, and a fine adjustment structure used for conducting fine adjustment on the position of the sliding plate is arranged between the sliding plate and the fixed base. The clamping device has the beneficial effects that when the clamped position of a workpiece deviates, the fine adjustment structure can drive the sliding plate to be separated from the limiting between the sliding plate and the fixing base, the positions of the sliding plate and the two clamping blocks are finely adjusted, the workpiece is located in the center of the two clamping blocks, and the situation that the clamping blocks firstly make contact with one end of the workpiece and apply too large force to the surface of the workpiece to cause abrasion is avoided; and the clamping structure is used for clamping and fixing the workpiece, so that the clamping stability is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to manipulator technical field, in particular to a kind of gripper positioning locking device. BACKGROUND

[0002] Mechanical gripper realizes work task by mechanical device, sensor and control system, is widely used in mechanical manufacturing, electronics and light industry and multiple industries, and mechanical gripper is first perceived by sensor surrounding environment and the state of work object, obtains the data about position, shape, power etc., according to the action mode and path speed of set work task to determine mechanical gripper, realizes gripping, placement, assembly and handling etc.

[0003] By comparing the patent announcement No.CN214213859U mechanical hand tool clamping mechanism, in this scheme, although mechanical hand grabs tool with high fault tolerance, while clamping tool position is accurate, and cylinder loses during work process will not cause tool to drop, but, when mechanical hand clamps workpiece, the position of workpiece clamped can appear small deviation, cannot be in the position of two mechanical hands middle, mechanical hand when clamping workpiece, one of the mechanical hands will first abut to workpiece surface, then realizes clamping workpiece, this can cause workpiece first abutted end to be stressed first, can cause workpiece first stressed end to appear wear and tear etc. Phenomenon, the production quality of workpiece can be reduced. UTILITY MODEL CONTENTS

[0004] The utility model aims at solving above -mentioned problem and provides a kind of gripper positioning locking device.

[0005] The utility model realizes the above-mentioned purpose by the following technical scheme:

[0006] A kind of gripper positioning locking device, including base, further include the clamping mechanism for the positioning clamping of gripper, clamping mechanism is located at the front side of base;

[0007] Clamping mechanism includes the positioning structure for the clamping position of gripper positioning, the clamping structure for the clamping fixed workpiece;

[0008] Clamping structure includes fixed seat that moves and sets in the below of base, fixed seat lower end slidingly installed with sliding plate, two slide grooves about front and back direction are set in the lower end of sliding plate, clamping plate is slidably installed in slide groove, cylinder is arranged between the sliding plate and clamping plate, two clamping plates are fixed with clamping block in the end of mutual approach, clamping block is shuttle-shaped, micro-adjusting structure for the position of sliding plate is arranged between sliding plate and fixed seat.

[0009] Preferably, the fine adjustment structure comprises a fixed frame fixed to the upper end of the sliding plate, two movable plates symmetrically arranged in the front-rear direction are slidingly arranged in the fixed frame, a compression spring is connected between the movable plates and the fixed frame near the end of the movable plates close to the sliding plate, a moving plate is fixed between the two movable plates, a lower rack is fixed to the end of the moving plate close to the fixed seat, an upper rack is fixed to the end of the fixed seat close to the lower rack, the upper rack is engaged with the lower rack, and a driving structure for driving the lower rack to move and limit the position of the sliding plate is arranged between the clamping block and the fixed frame.

[0010] Preferably, the driving structure comprises a plurality of oil outlet cavities formed on the surface of the clamping block, the oil outlet cavities are circumferentially distributed around the center of the clamping block, a pressing pad is slidingly arranged in the oil outlet cavities, the surface of the pressing pad is parallel to the inclined surface of the clamping block, a pre-tightening spring is connected between the pressing pad and the oil outlet cavities, an oil inlet pipe groove is arranged in the clamping plate, an oil delivery pipe groove is arranged between the oil outlet cavities and the oil inlet pipe groove, an upper oil outlet cavity is formed between the end of the movable plate close to the fixed seat and the fixed frame, and an oil delivery pipe is connected between the upper oil outlet cavity and the oil inlet pipe groove.

[0011] Preferably, the positioning structure comprises an upper rotating arm rotatably arranged on the front side of the base, a rotating motor is arranged at the rotating end of the upper rotating arm, a lower rotating arm is rotatably arranged at the front end of the upper rotating arm, an adjusting motor is arranged at the rotating end of the lower rotating arm, the clamping structure is arranged below the lower rotating arm, and the fixed seat is fixedly connected with the lower rotating arm.

[0012] Preferably, two groups of guide balls are rotatably arranged on the surface of the pressing pad, and each group comprises a plurality of guide balls.

[0013] Preferably, anti-skid pads are fixed to the ends of the two clamping blocks close to each other.

[0014] Compared with the prior art, the beneficial effects are as follows:

[0015] When the workpiece is clamped and fixed by the mechanical hand, if the clamped position of the workpiece deviates, the fine adjustment structure drives the sliding plate to be disengaged from the position limiting structure between the sliding plate and the fixed seat, the positions of the sliding plate and the two clamping blocks are finely adjusted, the position of the workpiece is located at the center of the two clamping blocks, the force applied by the end of the clamping block first contacting the workpiece to the surface of the workpiece is prevented from being too large to cause abrasion, and then the workpiece is clamped and fixed by the clamping structure, so that the positioning and clamping precision of the workpiece is improved, and the stability of clamping is improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0017] Figure 1 is a space perspective view of the gripper positioning and locking device;

[0018] Figure 2 is a structural sectional view of the inside of the base of the gripper positioning and locking device;

[0019] Figure 3 is a structural schematic view of the clamping mechanism of the gripper positioning and locking device;

[0020] Figure 4 is Figure 3 a partial enlarged view of A in the figure;

[0021] Figure 5 is a structural sectional view of the inside of the clamping structure of the gripper positioning and locking device;

[0022] Figure 6 is Figure 5 a partial enlarged view of B in the figure;

[0023] Figure 7 is Figure 5 a partial enlarged view of C in the figure.

[0024] The reference signs are explained as follows:

[0025] 100, base; 201, upper rotating arm; 202, rotating motor; 203, lower rotating arm; 204, adjusting motor; 205, fixed seat; 206, sliding plate; 207, clamping plate; 208, air cylinder; 209, clamping block; 210, pressing pad; 211, guide ball; 212, lower oil cavity; 213, oil inlet pipe groove; 214, sliding groove; 215, fixed frame; 216, upper oil cavity; 217, oil passage; 218, movable plate; 219, lower rack; 220, upper rack; 221, moving plate; 222, oil delivery pipe groove. DETAILED DESCRIPTION

[0026] In the description of the present application, it should be explained that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or the communication inside two elements. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0027] The present application will be further described below in conjunction with the drawings:

[0028] AsFigures 1-7 As shown in the figure, a gripper positioning and locking device comprises a base 100, and further comprises a clamping mechanism for clamping the gripper, which is located at the front side of the base 100.

[0029] In this embodiment: the clamping mechanism comprises a positioning structure for positioning the clamping position of the gripper, and a clamping structure for clamping and fixing the workpiece.

[0030] The positioning structure comprises an upper rotating arm 201 rotatably arranged at the front side of the base 100, the rotating end of the upper rotating arm 201 is provided with a rotating motor 202, the front end of the upper rotating arm 201 is rotatably provided with a lower rotating arm 203, the rotating end of the lower rotating arm 203 is provided with an adjusting motor 204, and the clamping structure is located below the lower rotating arm 203.

[0031] The clamping structure comprises a fixed seat 205 fixedly arranged at the lower end of the lower rotating arm 203, the lower end of the fixed seat 205 is slidably provided with a sliding plate 206, the lower end of the sliding plate 206 is provided with two slide grooves 214 symmetrical about the front and rear directions, the slide grooves 214 are slidably provided with clamping plates 207, a pneumatic cylinder 208 is arranged between the clamping plates 207 and the sliding plate 206, the mutually close one end of the two clamping plates 207 is fixedly provided with a clamping block 209, the clamping block 209 is in the shape of a shuttle, the mutually close one end of the two clamping blocks 209 is fixedly provided with an anti-skid pad, and a fine adjustment structure for fine adjusting the position of the sliding plate 206 is arranged between the sliding plate 206 and the fixed seat 205.

[0032] The fine adjustment structure comprises a fixed frame 215 fixedly arranged at the upper end of the sliding plate 206, the fixed frame 215 is slidably provided with two movable plates 218 arranged symmetrically about the front and rear directions, a compression spring is connected between the movable plate 218 close to the sliding plate 206 and the fixed frame 215, a moving plate 221 is fixedly arranged between the two movable plates 218, the moving plate 221 is fixedly provided with a lower rack 219 at the end close to the fixed seat 205, the fixed seat 205 is fixedly provided with an upper rack 220 at the end close to the lower rack 219, the upper rack 220 is engaged with the lower rack 219, and a driving structure for driving the lower rack 219 to move to limit the position of the sliding plate 206 is arranged between the clamping block 209 and the fixed frame 215.

[0033] The driving structure comprises a plurality of oil outlet cavities 212 formed on the surface of the clamping blocks 209, which are distributed around the center of the clamping blocks 209, a pressing pad 210 is slidingly installed in each of the oil outlet cavities 212, the surface of the pressing pad 210 is parallel to the inclined surface of the clamping blocks 209, a pre-tightening spring is connected between the pressing pad 210 and the oil outlet cavity 212, two groups of guide balls 211 are rotatably installed on the surface of the pressing pad 210, each group comprises a plurality of guide balls 211, the two groups of guide balls 211 are symmetrically distributed above and below the center of the pressing pad 210, the inner part of the clamping plate 207 is provided with an oil inlet groove 213, an oil conveying groove 222 is arranged between the oil outlet cavity 212 and the oil inlet groove 213, and an upper oil cavity 216 is formed between the movable plate 218 close to one end of the fixed seat 205 and the fixed frame 215, the upper oil cavity 216 is connected with the oil inlet groove 213 through an oil pipe 217, when the clamped position of the workpiece deviates, the fine adjustment structure drives the sliding plate 206 to disengage from the limiting position between the fixed seat 205, the position of the sliding plate 206 and the two clamping blocks 209 is fine adjusted, so that the position of the workpiece is at the center of the two clamping blocks 209, the end of the clamping block 209 that first contacts the workpiece is prevented from exerting too much force on the surface of the workpiece to cause wear, and then the workpiece is clamped and fixed by the clamping structure, thereby improving the positioning and clamping precision of the workpiece and the stability of clamping.

[0034] Working principle: first, the workpiece is moved to the vicinity of the clamping plate 207, and then moved between the two clamping blocks 209, when the clamped position of the workpiece deviates slightly, the workpiece exerts force on the clamping block 209 on the corresponding side when the workpiece is moved horizontally backward in front of the fixed seat 205, and the pressing pad 210 on the front and back directions of the surface of the clamping block 209 is compressed, when the workpiece is moved vertically upward below the fixed seat 205, the pressing pad 210 on the upper and lower directions of the surface of the clamping block 209 is compressed, when the pressing pad 210 moves, the hydraulic oil in the oil outlet cavity 212 is discharged into the upper oil cavity 216 in the fixed frame 215 through the oil inlet groove 213, which drives the movable plate 218 to move away from the upper rack 220, and then drives the lower rack 219 to move away from the upper rack 220 to disengage from the upper rack 220, so that the sliding plate 206 is in a freely movable state.

[0035] Since the pressing pad 210 is inclined, when the workpiece presses the pressing pad 210, the clamping block 209 will drive the sliding plate 206 to slightly move on the fixed seat 205 until the end of the workpiece is out of pressing the pressing pad 210, the pressing pad 210 resets and no longer extrudes the hydraulic oil in the lower oil cavity 212, so that the hydraulic oil in the upper oil cavity 216 returns to the lower oil cavity 212, and then the movable plate 221 is reset by the movable plate 218, and the lower rack 219 moves to the direction of the upper rack 220, so that the lower rack 219 and the upper rack 220 are re-engaged, and the position of the sliding plate 206 is limited and fixed, at this time, the workpiece is in the center position between the two clamping blocks 209.

[0036] Then drive the two cylinders 208 to drive the clamping plate 207 to move, so that the clamping blocks 209 on the two clamping plates 207 clamp and fix the two ends of the workpiece, then adjust the motor 204 and the rotating motor 202 to drive the lower rotating arm 203 and the upper rotating arm 201 to rotate respectively, and transport the workpiece, avoid the clamping block 209 first contacts one end of the workpiece to cause the surface of the workpiece to be abraded due to excessive force, improve the precision of the workpiece positioning and clamping, and improve the stability of the clamping.

[0037] The basic principle, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only to illustrate the principle of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the present application.

Claims

1. A gripper positioning and locking device, comprising a base (100), characterized in that: It also includes a clamping mechanism for positioning and holding the gripper, the clamping mechanism being located on the front side of the base (100); The clamping mechanism includes a positioning structure for positioning the clamping position of the gripper and a clamping structure for clamping and fixing the workpiece. The clamping structure includes a fixed seat (205) movably disposed below the base (100). A sliding plate (206) is slidably mounted on the lower end of the fixed seat (205). Two sliding grooves (214) symmetrical about the front-back direction are opened on the lower end of the sliding plate (206). A clamping plate (207) is slidably mounted in the sliding groove (214). A cylinder (208) is provided between the clamping plate (207) and the sliding plate (206). A clamping block (209) is fixed at one end of each of the two clamping plates (207) close to each other. The clamping block (209) is spindle-shaped. A fine-tuning structure for fine-tuning the position of the sliding plate (206) is provided between the sliding plate (206) and the fixed seat (205).

2. The gripper positioning and locking device according to claim 1, characterized in that: The fine-tuning structure includes a fixed frame (215) fixed to the upper end of the sliding plate (206). Two movable plates (218) symmetrically arranged in the front-back direction are slidably installed inside the fixed frame (215). A compression spring is connected between the movable plate (218) near the sliding plate (206) and the fixed frame (215). A movable plate (221) is fixed between the two movable plates (218). A lower rack (219) is fixed to the movable plate (221) near the fixed seat (205). An upper rack (220) is fixed to the fixed seat (205) near the lower rack (219). The upper rack (220) meshes with the lower rack (219). A drive structure is provided between the clamping block (209) and the fixed frame (215) for driving the lower rack (219) to move and limiting the position of the sliding plate (206).

3. The gripper positioning and locking device according to claim 2, characterized in that: The driving structure includes a plurality of lower oil cavities (212) formed on the surface of the clamping block (209). The plurality of lower oil cavities (212) are distributed around the center of the clamping block (209). A pressing pad (210) is slidably installed in each lower oil cavity (212). The surface of the pressing pad (210) is parallel to the inclined surface of the clamping block (209). The pressing pad (210) and the lower oil cavity (212) are connected by a [missing information]. The clamping plate (207) has an oil inlet groove (213) inside, and an oil delivery groove (222) is provided between the lower oil cavity (212) and the oil inlet groove (213). The movable plate (218) near the fixed seat (205) and the fixed frame (215) form an upper oil cavity (216). An oil passage pipe (217) is connected between the upper oil cavity (216) and the oil inlet groove (213).

4. The gripper positioning and locking device according to claim 3, characterized in that: The positioning structure includes an upper rotating arm (201) rotatably disposed on the front side of the base (100), a rotary motor (202) is installed at the rotating end of the upper rotating arm (201), a lower rotating arm (203) is rotatably mounted at the front end of the upper rotating arm (201), an adjusting motor (204) is installed at the rotating end of the lower rotating arm (203), the clamping structure is located below the lower rotating arm (203), and the fixed seat (205) is fixedly connected to the lower rotating arm (203).

5. A gripper positioning and locking device according to claim 4, characterized in that: Two sets of guide balls (211) are rotatably mounted on the surface of the pressing pad (210), and each set has multiple balls. The two sets of guide balls (211) are symmetrically distributed about the center of the pressing pad (210).

6. A gripper positioning and locking device according to claim 5, characterized in that: Both clamping blocks (209) are fixed with anti-slip pads at one end close to each other.

Images