Special clamp for machining manipulator

Abstract

The utility model relates to the field of machining clamps, and discloses a special clamp for machining a mechanical arm, which comprises the mechanical arm, a mounting plate is fixedly connected onto the mechanical arm, a fixing component is mounted on the outer wall of the mounting plate, a clamping component is mounted on the front side of the mounting plate, and the clamping component comprises a fixing plate. The fixing plate is mounted on the mounting plate through a positioning plate, a fixing frame is fixedly connected to the outer wall of the fixing plate, four first rotating plates and four second rotating plates are rotatably connected to the outer wall of the fixing frame, and a clamping jaw is rotatably connected between the ends, away from the fixing frame, of the first rotating plate and the second rotating plate which are close to each other. According to the utility model, the protection assembly and the damping assembly are arranged, so that the damage to a workpiece caused by instant impact force in the clamping process of the clamping jaw is reduced, the safety of the workpiece in the clamping and machining processes is protected in an all-around manner, and the risk that the workpiece is scrapped due to improper operation of the clamp is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to processing fixture field especially relates to a special fixture of processing manipulator. BACKGROUND

[0002] In modern manufacturing industry, the design and application of clamps not only play a crucial role in the processing efficiency and precision of workpieces, but also directly affect the overall stability and economic benefits of production processes. As a key component connecting workpieces and machine tools, the function of the clamp is mainly to ensure the fixation and positioning of the workpiece during the machining process. Efficient clamp design can significantly improve production efficiency, reduce the complexity of manual operation, reduce errors in workpiece machining, and thus improve product quality.

[0003] Traditional processing clamps lack effective buffer protection mechanisms when clamping workpieces. The clamping jaw usually adopts a rigid clamping method. When facing complex-shaped and uneven-surfaced workpieces, the impact force generated by the instantaneous closure of the clamping jaw is extremely easy to cause damage to the workpiece, resulting in scratches, depressions or even deformation on the surface of the workpiece. This not only greatly reduces the quality of finished workpieces, but also makes the scrap rate high, greatly increasing production costs. Therefore, a special fixture for processing manipulator is proposed. SUMMARY

[0004] To make up for the above shortcomings, the utility model provides a special fixture for processing manipulator, aiming at improving the problem that the impact force generated by the instantaneous closure of the clamping jaw is extremely easy to cause damage to the workpiece in the prior art.

[0005] In order to achieve the above purpose, the utility model adopts the following technical scheme: a special fixture for processing manipulator, comprising a manipulator, a mounting plate fixedly connected to the manipulator, a fixed component installed on the outer wall of the mounting plate, and a clamping component installed on the front side of the mounting plate.

[0006] The clamping component comprises a fixed plate installed on the mounting plate through a positioning plate, a fixed frame fixedly connected to the outer wall of the fixed plate, four first rotating plates and four second rotating plates rotatably connected to the outer wall of the fixed frame, a clamping jaw rotatably connected between the ends of the two first rotating plates and the two second rotating plates away from the fixed frame, a protection component arranged in the clamping jaw, and a driving component arranged in the middle of the fixed plate.

[0007] Further description of the above technical scheme:

[0008] The protection assembly comprises a sliding rod, the sliding rod is fixedly connected inside the clamping jaw, two sliding blocks are slidably connected to the outer wall of the sliding rod, connecting rods are rotatably connected to the outer wall of the sliding blocks, a protection plate is rotatably connected between the distal ends of the two connecting rods away from the sliding blocks, two first springs are sleeved on the outer wall of the sliding rod, and a damping assembly is arranged in the middle portion of the sliding rod.

[0009] As a further description of the above technical solution:

[0010] The damping assembly comprises a fixed block, the fixed block is fixedly connected to the middle portion of the outer wall of the sliding rod, a damper is fixedly connected to the outer wall of the fixed block, and the distal end of the damper away from the fixed block is fixedly connected to the outer wall of the protection plate.

[0011] As a further description of the above technical solution:

[0012] The driving assembly comprises a motor, the motor is fixedly connected to the middle portion of the fixed plate, a lead screw is fixedly connected to the output end of the motor, an installation block is threadedly connected to the outer wall of the lead screw, four connecting rods are rotatably connected to the outer wall of the installation block, and the distal ends of the connecting rods away from the installation block are rotatably connected inside the second rotating plate.

[0013] As a further description of the above technical solution:

[0014] The fixing assembly comprises four installation frames, the installation frames are installed on the outer wall of the mounting plate, two limiting plates are slidably connected inside the installation frames, a baffle is fixedly connected to one side of the limiting plate, a second spring is fixedly connected to the other side of the limiting plate, a rope is fixedly connected to the middle portion of the side of the limiting plate away from the baffle, and a pull handle is fixedly connected between the distal ends of the two ropes away from the limiting plate.

[0015] As a further description of the above technical solution:

[0016] The surface of the clamping jaw is provided with corrugations, one end of the first spring is fixedly connected to the outer wall of the sliding block, and the other end of the first spring is fixedly connected to the inner wall of the clamping jaw.

[0017] As a further description of the above technical solution:

[0018] The positioning plate is clamped between the inner walls of the installation frames, and the positioning plate is attached to the baffle.

[0019] As a further description of the above technical solution:

[0020] One end of the second spring is fixedly connected to the inner wall of the installation frame, and the other end of the second spring is fixedly connected to the limiting plate.

[0021] The utility model has the advantages that:

[0022] 1、The utility model discloses a protective component and damping component are set up, reduce the damage of instantaneous impact force to workpiece in the clamping process of clamping jaw, all -round protection workpiece is safe in clamping and processing process, reduced the risk of workpiece scrap because of improper clamp operation.

[0023] 2、The utility model discloses a fixing component is set up, when needing to replace different size, shape workpiece or to the maintenance of clamp, operating personnel only need to pull the rope, and the rope pulls the limiting board and overcomes the second spring elasticity and slides in the mounting frame, makes the baffle and the blocking, positioning cooperation of positioning plate are cancelled, and further quick disassembly or adjustment clamping assembly is realized quick positioning installation. The whole process is simple, fast, reduces the equipment downtime, lets the processing process be able to flow smoothly and promote, further improves the overall processing efficiency. DRAWINGS

[0024] Figure 1 It is a special fixture of machining manipulator that the utility model proposes;

[0025] Figure 2 It is a fixing frame schematic view of special fixture of machining manipulator that the utility model proposes;

[0026] Figure 3 It is a jaw sectional view of special fixture of machining manipulator that the utility model proposes;

[0027] Figure 4 It is Figure 1 It is the enlarged view of A in the utility model;

[0028] Figure 5 It is the mounting frame sectional view of special fixture of machining manipulator that the utility model proposes.

[0029] Legend:

[0030] 1, manipulator;2, fixed plate;3, motor;4, fixed frame;5, first rotating plate;6, second rotating plate;7, clamping jaw;8, screw;9, mounting block;10, connecting rod;11, positioning plate;12, sliding rod;13, sliding block;14, connecting rod;15, protection plate;16, first spring;17, fixed block;18, damper;19, mounting plate;20, mounting frame;21, limiting plate;22, baffle;23, second spring;24, rope;25, pull handle. DETAILED DESCRIPTION

[0031] 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. Based on the embodiments of the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the utility model.

[0032] With reference to Figures 1-3 The utility model provides an embodiment: a special fixture of processing manipulator, including manipulator 1, manipulator 1 is as the load main body of whole fixture system with mobile drive part, can be according to preset program instruction, accurately moves in three -dimensional space, drives the fixture assembly of subsequent installation to reach the designated processing position, thereby realizes the efficient processing operation to various workpieces, manipulator 1 is fixedly connected with mounting plate 19, and mounting plate 19 plays the role of firm connection and bearing other components, and mounting plate 19 outer wall is installed with fixed assembly, and fixed assembly is mainly used to firmly fix the clamping assembly on manipulator 1, prevents the overall displacement of fixture due to factors such as vibration, external force impact when processing, and then influence processing accuracy, and mounting plate 19 front side is installed with clamping assembly, and clamping assembly is the key part that directly acts on workpiece, is responsible for accurate, stablely grabbing workpiece;

[0033] With reference to Figure 2 Clamping assembly includes fixed plate 2, and fixed plate 2 is installed on mounting plate 19 by positioning plate 11, and fixed plate 2 is as the basic support structure of clamping assembly, provides installation site for other components, and fixed plate 2 outer wall is fixedly connected with fixed frame 4, and fixed frame 4 is used to bear and support the component of subsequent rotary connection, ensures that they have stable fulcrum in the rotating process, and four first rotary plates 5 and four second rotary plates 6 are rotatably connected to the outer wall of fixed frame 4, and the first rotary plate 5 and the second rotary plate 6 cooperate with each other, change the opening and closing state of the clamping jaw 7 through the rotary action of each other, to adapt to the clamping demand of workpieces of different sizes and shapes, and the clamping jaw 7 is rotatably connected between the ends of the two first rotary plates 5 and the second rotary plates 6 away from the fixed frame 4, and the clamping jaw 7 is used to grab workpieces, and the clamping jaw 7 is provided with a protection assembly inside, which can avoid damage to the workpiece due to excessive force of the clamping jaw 7 or uneven surface of the workpiece when clamping the workpiece, and the fixed plate 2 is provided with a drive assembly in the middle, which is as the power source of the clamping assembly, provides accurate and stable power for the rotation of the first rotary plate 5 and the second rotary plate 6, and realizes the quick opening and closing action of the clamping jaw 7.

[0034] With reference to Figure 3The protection assembly comprises a sliding rod 12 fixedly connected inside the clamping jaw 7, the sliding rod 12 is fixed inside the clamping jaw 7, and provides stable sliding guide for the sliding block 13, the connecting rod 14 and the like, ensures the linearity and accuracy of the protection action, the outer wall of the sliding rod 12 is slidably connected with two sliding blocks 13, the sliding blocks 13 can freely slide on the sliding rod 12, and adjust the positions thereof according to the stress conditions of the clamping jaw 7, the outer wall of the sliding block 13 is rotatably connected with the connecting rod 14, the connecting rod 14 serves to connect the sliding block 13 and the protection plate 15, converts the sliding of the sliding block 13 into the movement of the protection plate 15, the protection plate 15 is rotatably connected between the ends, away from the sliding block 13, of the two connecting rods 14, when the clamping jaw 7 clamps the workpiece, the protection plate 15 first contacts the surface of the workpiece, serves to buffer and disperse stress, and avoids that the local stress of the workpiece is too large, the outer wall of the sliding rod 12 is sleeved with two first springs 16, the first springs 16 utilize the elasticity thereof, after the clamping jaw 7 releases the workpiece, push the sliding block 13 back to the initial position, and prepare for the next clamping protection, a damping assembly is arranged at the middle portion of the sliding rod 12, the damping assembly can control the movement speed of the protection plate 15, prevents the protection plate 15 from rapidly impacting the workpiece due to inertia and the like, and further optimizes the protection effect.

[0035] With reference to Figure 3 The damping assembly comprises a fixed block 17 fixedly connected to the middle portion of the outer wall of the sliding rod 12, the fixed block 17 provides a stable mounting point for the damper 18, the outer wall of the fixed block 17 is fixedly connected with the damper 18, one end, away from the fixed block 17, of the damper 18 is fixedly connected to the outer wall of the protection plate 15, the damper 18 consumes the kinetic energy generated by the movement of the protection plate 15 through the principle of friction damping, makes the protection plate 15 stably and slowly approach the workpiece, and avoids that the workpiece is damaged by instantaneous impact force.

[0036] With reference to Figure 2 The driving assembly comprises a motor 3 fixedly connected to the middle portion of the fixed plate 2, the motor 3 can accurately output torque according to the instruction of the control system, drives the subsequent lead screw 8 to rotate, one end of the lead screw 8 is fixedly connected to the output end of the motor 3, the lead screw 8 rotates under the drive of the motor 3, converts the rotary motion of the motor 3 into linear motion, and provides a stable linear driving force for the mounting block 9, the outer wall of the lead screw 8 is threadedly connected with the mounting block 9, the mounting block 9 moves along the axial direction of the lead screw 8 along with the rotation of the lead screw 8, the outer wall of the mounting block 9 is rotatably connected with four connecting rods 10, one end, away from the mounting block 9, of the connecting rod 10 is rotatably connected inside the second rotating plate 6, the connecting rod 10 serves to connect the mounting block 9 and the second rotating plate 6, converts the linear motion of the mounting block 9 into the rotation of the second rotating plate 6, and further drives the whole clamping assembly to open and close.

[0037] With reference to Figure 5The fixing assembly comprises four mounting racks 20 mounted on the outer wall of the mounting plate 19, which are uniformly distributed on the outer wall of the mounting plate 19 to provide mounting space for the limiting plate 21 and the baffle 22. The mounting rack 20 is slidably connected with two limiting plates 21 inside, which are used to limit the baffle 22 and prevent the baffle 22 from being separated from the inside of the mounting rack 20. The limiting plate 21 is fixedly connected with the baffle 22 on one side, which cooperates with the positioning plate 11 to block and position. The other side of the limiting plate 21 is fixedly connected with the second spring 23, which provides a reset power for the limiting plate 21 by using elasticity during installation or disassembly. The middle of the side of the limiting plate 21 away from the baffle 22 is fixedly connected with the rope 24, and the two ropes 24 are fixedly connected with the pull handle 25 between the ends away from the limiting plate 21. The rope 24 is a manual control component. The operator can conveniently control the sliding of the limiting plate 21 by pulling the rope 24, so as to realize the quick fixing and disassembly of the clamping assembly.

[0038] With reference to Figure 3 The surface of the clamping jaw 7 is provided with corrugations, which can increase the friction between the clamping jaw 7 and the workpiece and further improve the clamping stability. One end of the first spring 16 is fixedly connected to the outer wall of the sliding block 13, and the other end of the first spring 16 is fixedly connected to the inner wall of the clamping jaw 7. The first spring 16 provides elastic support for the sliding block 13 to ensure smooth sliding of the sliding block 13 on the slide rod 12 and timely reset.

[0039] With reference to Figure 4 and Figure 5 The positioning plate 11 and the mounting rack 20 are clamped between the inner walls of the mounting rack 20, which can realize quick positioning and installation and improve the assembly efficiency of the clamp. The positioning plate 11 and the baffle 22 are attached to each other, which ensures that the mounting plate 19 is tightly connected with the fixed plate 2 and that the clamping assembly does not move during work.

[0040] With reference to Figures 1-5 One end of the second spring 23 is fixedly connected to the inner wall of the mounting rack 20, and the other end of the second spring 23 is fixedly connected to the limiting plate 21, which ensures that the second spring 23 can effectively act on the limiting plate 21 and provide reliable power for resetting.

[0041] Working principle: When the workpiece needs to be processed, the robot hand 1 moves accurately in the three-dimensional space according to the preset program instructions, driving the mounting plate 19 and the clamping assembly thereon to reach the designated position near the workpiece.

[0042] Then, the driving assembly is started, the motor 3 receives the control system instruction accurate output torque, the driving screw rod 8 rotates, the rotary motion of the screw rod 8 is converted into the linear motion of the mounting block 9, the mounting block 9 moves along the screw rod 8 axially, the linear motion is transmitted to the second rotary plate 6 through the connecting rod 10, so that the second rotary plate 6 rotates around the connecting point with the fixed frame 4, since the first rotary plate 5 and the second rotary plate 6 are matched and linked, the clamping jaw 7 is gradually closed, ready to grab the workpiece.

[0043] In the process of approaching the workpiece by the clamping jaw 7, the protective plate 15 first contacts the workpiece, when the protective plate 15 contacts the workpiece, sliding is generated, when the protective plate 15 slides, the connecting rod 14 is driven to slide, further driving the sliding block 13 to slide, and extruding the first spring 16, and through the elastic action of the first spring 16 and the transmission of the sliding block 13 and the connecting rod 14, the protective plate 15 is attached to the surface of the workpiece.

[0044] If it is necessary to replace workpieces of different sizes and shapes or to maintain the clamp, the operator can pull the rope 24, the rope 24 pulls the limiting plate 21 to slide in the mounting frame 20 against the elastic force of the second spring 23, so that the baffle 22 is released from the blocking and positioning cooperation with the positioning plate 11, and then the clamping assembly is quickly disassembled or adjusted; when installing or resetting, the rope 24 is loosened, the second spring 23 pushes the limiting plate 21 back to the original position, the baffle 22 cooperates with the positioning plate 11 again, and quick positioning and installation are realized.

[0045] Finally, it should be noted that: the above only for preferred embodiments of the present application, and not for limiting the present application, although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, it still can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application, should be included in the protection scope of the present application.

Claims

1. A special fixture for machining a robotic arm, comprising a robotic arm (1), characterized in that: The robotic arm (1) is fixedly connected to a mounting plate (19), a fixing component is installed on the outer wall of the mounting plate (19), and a clamping component is installed on the front side of the mounting plate (19); The clamping assembly includes a fixing plate (2), which is mounted on the mounting plate (19) via a positioning plate (11). A fixing frame (4) is fixedly connected to the outer wall of the fixing plate (2). Four first rotating plates (5) and four second rotating plates (6) are rotatably connected to the outer wall of the fixing frame (4). A gripper (7) is rotatably connected between the ends of two adjacent first rotating plates (5) and second rotating plates (6) away from the fixing frame (4). A protective component is provided inside the gripper (7). A driving component is provided in the middle of the fixing plate (2).

2. The special fixture for a machining robot according to claim 1, characterized in that: The protective assembly includes a slide rod (12), which is fixedly connected inside the gripper (7). Two sliders (13) are slidably connected to the outer wall of the slide rod (12). A connecting rod (14) is rotatably connected to the outer wall of the slider (13). A protective plate (15) is rotatably connected between the ends of the two connecting rods (14) away from the sliders (13). Two first springs (16) are fitted on the outer wall of the slide rod (12). A damping assembly is provided in the middle of the slide rod (12).

3. The special fixture for a machining robot according to claim 2, characterized in that: The damping assembly includes a fixing block (17), which is fixedly connected to the middle of the outer wall of the slide bar (12). A damper (18) is fixedly connected to the outer wall of the fixing block (17), and one end of the damper (18) away from the fixing block (17) is fixedly connected to the outer wall of the protective plate (15).

4. The special fixture for a machining robot according to claim 3, characterized in that: The drive assembly includes a motor (3), which is fixedly connected to the middle of the fixed plate (2). A lead screw (8) is fixedly connected to the output end of the motor (3). A mounting block (9) is threadedly connected to the outer wall of the lead screw (8). Four connecting rods (10) are rotatably connected to the outer wall of the mounting block (9). The end of the connecting rod (10) away from the mounting block (9) is rotatably connected to the inside of the second rotating plate (6).

5. A special fixture for a machining robot according to claim 4, characterized in that: The fixing assembly includes four mounting brackets (20), which are mounted on the outer wall of the mounting plate (19). Two limiting plates (21) are slidably connected inside the mounting brackets (20). A baffle (22) is fixedly connected to one side of the limiting plate (21), and a second spring (23) is fixedly connected to the other side of the limiting plate (21). A rope (24) is fixedly connected to the middle of the side of the limiting plate (21) away from the baffle (22), and a handle (25) is fixedly connected between the ends of the two ropes (24) away from the limiting plate (21).

6. A special fixture for a machining robot according to claim 2, characterized in that: The gripper (7) has a corrugated surface. One end of the first spring (16) is fixedly connected to the outer wall of the slider (13), and the other end of the first spring (16) is fixedly connected to the inner wall of the gripper (7).

7. A special fixture for a machining robot according to claim 5, characterized in that: The positioning plate (11) and the inner wall of the mounting bracket (20) are engaged, and the positioning plate (11) and the baffle (22) are attached to each other.

8. A special fixture for a machining robot according to claim 5, characterized in that: One end of the second spring (23) is fixedly connected to the inner wall of the mounting bracket (20), and the other end of the second spring (23) is fixedly connected to the limiting plate (21).

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