Double-position clamp manipulator jig

Abstract

The utility model belongs to the technical field of manipulator chuck jigs, and particularly relates to a double-position clamp manipulator jig which comprises an installation plate used for being connected with a manipulator, a first parallel finger air cylinder is installed on the surface of the installation plate, and the movable ends of the first parallel finger air cylinder are connected with first chucks which are oppositely arranged respectively. The first chuck comprises a connecting part used for being fixedly connected with the movable end of the first parallel finger air cylinder and a clamping part which is connected with the connecting part in an elastic and torsional mode in the direction perpendicular to the installation direction of the first parallel finger air cylinder. According to the utility model, the clamping part of the chuck is arranged to be of an elastic torsion structure, so that when the parallel finger cylinder drives the chuck to clamp the workpiece, the clamping part automatically twists to be parallel to the contour line of the clamping surface of the workpiece during clamping through the torsion property of the clamping part, and the clamping part is in line contact or surface contact with the workpiece during clamping; therefore, the friction force with the workpiece is improved, and the workpiece is stably clamped.

Description

Technical Field

[0001] This utility model belongs to the technical field of robotic gripper fixtures, specifically relating to a dual-position gripper robotic gripper fixture. Background Technology

[0002] The clamping robot jig is a specialized tool widely used in industrial production, automated assembly and testing, combining the clamping function of a clamp with the flexible control characteristics of a robot.

[0003] Most current gripper jigs use parallel finger cylinders for gripping. The two movable heads on the parallel finger cylinders, which can move in opposite directions or away from each other, drive the gripper mounted on them to move and grip the workpiece.

[0004] However, the inventors discovered that most existing chucks are square. When clamping workpieces with irregular or slanted edges, such as frustum-shaped workpieces, the chuck can only make point contact with the workpiece clamping surface, resulting in loose clamping and easy detachment of the workpiece.

[0005] In view of this, the present invention provides a dual-position gripper jig to solve the above problems. Utility Model Content

[0006] To achieve the above objectives, this utility model provides the following technical solution: a dual-position gripper jig, comprising a mounting plate for connecting to the gripper, wherein a parallel finger cylinder is mounted on the surface of the mounting plate, and the movable ends of the parallel finger cylinder are respectively connected to opposing grippers.

[0007] The chuck includes: a connecting part for fixedly connecting to the movable end of the parallel finger cylinder, and a clamping part that is elastically torsionally connected to the connecting part along a direction perpendicular to the installation direction of the parallel finger cylinder, so that when the chuck clamps the workpiece, the clamping part clamps the workpiece in a direction parallel to the outline of the workpiece clamping surface.

[0008] As a preferred embodiment of the dual-position clamping manipulator fixture of this utility model, the end of the connecting part near the clamping part is provided with a connecting hole, and a torsion spring is axially fixed in the connecting hole;

[0009] The clamping part is provided with a connecting post at the end near the connecting part. The connecting post extends axially into the torsion spring and is fixedly connected to one end of the torsion spring, so that the clamping part and the connecting part are elastically torsionally connected.

[0010] As a preferred embodiment of the dual-position gripper jig of this utility model, the gripper head further includes a flexible part, which is connected to the opposite surfaces between the gripping parts.

[0011] In a preferred embodiment of this utility model of a dual-position gripper jig, the parallel finger cylinders are symmetrically arranged on the surface of the mounting plate.

[0012] As a preferred embodiment of the dual-position gripper jig of this utility model, a second parallel finger cylinder is also installed on the side of the mounting plate opposite to the first parallel finger cylinder. The movable ends of the second parallel finger cylinder are respectively connected to a second gripper that is arranged opposite to it and extends in the same direction as the gripper.

[0013] As a preferred embodiment of the dual-position gripper jig of this utility model, the two parallel finger cylinders are symmetrically arranged on the mounting plate.

[0014] In a preferred embodiment of the dual-position gripper jig of this utility model, the parallel finger cylinder II is connected to the mounting plate via a connector.

[0015] Compared with the prior art, the beneficial effects of this utility model are:

[0016] This invention features a clamping part of the chuck that is elastically torsionable. When the parallel finger cylinder drives the chuck to clamp the workpiece, the torsionability of the clamping part allows it to automatically twist to be parallel to the outline of the clamping surface of the workpiece. This enables line or surface contact with the workpiece during clamping, thereby increasing the friction with the workpiece and achieving stable clamping. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0019] Figure 2 This is a three-dimensional structural diagram of the present invention from another perspective;

[0020] Figure 3 This is a schematic diagram of the main structure of this utility model;

[0021] Figure 4 This is a schematic diagram of the clamp structure of this utility model;

[0022] Figure 5 This is a comparative schematic diagram of the present invention and existing technologies when clamping workpieces.

[0023] In the diagram: 1. Mounting plate; 2. Parallel finger cylinder one; 3. Clamp one; 31. Connecting part; 311. Connecting hole; 312. Torsion spring; 32. Clamping part; 321. Connecting post; 33. Flexible part; 4. Connecting piece; 5. Parallel finger cylinder two; 6. Clamp two. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] Please see Figures 1-3 This utility model relates to a double-position clamping manipulator fixture, including a mounting plate 1 for connecting to the manipulator, and a parallel finger cylinder 2 mounted on the surface of the mounting plate 1. The movable ends of the parallel finger cylinder 2 are respectively connected to the oppositely arranged clamps 3, so that when the parallel finger cylinder 2 is running, the two clamps 3 can clamp the workpiece.

[0026] like Figure 4 The chuck 3 includes: a connecting part 31 that can be fixedly connected to the movable end of the parallel finger cylinder 2 by a fastener, and a clamping part 32 that is elastically and rotatably connected to the connecting part 31 along the installation direction perpendicular to the parallel finger cylinder 2. The connecting part 31 and the clamping part 32 form an L-shaped structure.

[0027] Specifically, a circular connecting hole 311 is provided at the end of the connecting part 31 near the clamping part 32. A columnar torsion spring 312 with one end fixed to its inner wall is axially arranged inside the connecting hole 311. The outer periphery of the torsion spring 312 is tangent to the inner wall of the connecting hole 311. A connecting post 321 adapted to the size of the torsion spring 312 is provided at the end of the clamping part 32 near the connecting part 31. The connecting post 321 extends into the hollow interior of the torsion spring 312 and fixes the other end of the torsion spring 312 to the periphery of the connecting post 321, thereby realizing an elastic and torsion-resistant connection between the clamping part 32 and the connecting part 31.

[0028] Furthermore, a block-shaped flexible part 33 made of urethane or rubber is connected to the opposite surfaces between the clamping parts 32 to fill the "L"-shaped gap formed between the connecting part 31 and the clamping part 32, so that when the clamping part 32 can use the material properties of the flexible part 33 to clamp the workpiece, the friction force on the workpiece is increased, and the workpiece is further restricted from falling off.

[0029] In use, taking the production of the lower shell of a water flosser as an example, since the lower shell of a water flosser is mostly a frustum-shaped structure, such as... Figure 5As shown, when the parallel finger cylinder 2 drives the chuck 3 to clamp the lower shell of the water flosser, the flexible part 33 of the clamping part 32 gradually approaches the sides of the lower shell. Under the action of the clamping force, the clamping part 32 will adaptively twist according to the contour lines on both sides. At this time, the torsion spring 312 stores elastic potential energy, causing the flexible part 33 to gradually conform to the sides of the lower shell, so that the clamping part 32 clamps and fixes the lower shell of the water flosser parallel to the contour lines on both sides, achieving line contact. After clamping is completed, the chucks 3 slide away from each other. At this time, the torsion spring 312 releases elastic potential energy, causing the clamping part 32 to return to its initial position.

[0030] Furthermore, in order to improve the production efficiency of the workpiece, parallel finger cylinders 2 can be symmetrically installed on the surface of the mounting plate 1 to achieve simultaneous operation of two workstations, thereby effectively improving the production efficiency of the workpiece.

[0031] Secondly, to further improve the clamping stability of the workpiece, a second parallel finger cylinder (5) identical to the first parallel finger cylinder (2) can be installed on the opposite side of the mounting plate 1 from the parallel finger cylinder (2) via a connector 4. The number of second parallel finger cylinders (5) can be adapted according to the number of parallel finger cylinders (2). For example, when the parallel finger cylinders (2) are symmetrically arranged, the second parallel finger cylinders (5) are also symmetrically arranged. Simultaneously, two opposing chucks (6) are connected to the movable ends of the second parallel finger cylinders (5). The first chuck (3) and the second chuck (6) have the same structure and are arranged in the same direction. Under the action of the connector 4, they form an upper and lower arrangement, thereby enabling multi-directional clamping of the workpiece and further preventing it from slipping out.

[0032] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A two-position gripper robot tool comprising a mounting plate (1) for connection to a robot, characterized in that: The surface of the mounting plate (1) is mounted with parallel finger air cylinder one (2), the movable end of the parallel finger air cylinder one (2) is connected with oppositely arranged chuck one (3) respectively. The chuck one (3) comprises: a connecting part (31) for fixed connection with the movable end of the parallel finger air cylinder one (2), and a clamping part (32) connected with the connecting part (31) and elastically torsionable perpendicular to the mounting direction of the parallel finger air cylinder one (2), so that when the chuck one (3) clamps the workpiece, the clamping part (32) clamps the workpiece in parallel with the contour line direction of the workpiece clamping surface.

2. The dual position tweezer robot gripper of claim 1, wherein: The end of the connecting part (31) close to the clamping part (32) is provided with a connecting hole (311), and a torsion spring (312) is axially fixed in the connecting hole (311); The end of the clamping part (32) close to the connecting part (31) is provided with a connecting column (321), the connecting column (321) axially extends into the torsion spring (312) and is fixed with one end of the torsion spring (312), so that the clamping part (32) and the connecting part (31) are elastically torsionable.

3. The dual position tweezer robot gripper of claim 1, wherein: The chuck one (3) further comprises a flexible part (33) connected between the opposite faces of the clamping part (32).

4. The dual position tweezer robot gripper of claim 1, wherein: The parallel finger air cylinder one (2) is symmetrically arranged on the surface of the mounting plate (1).

5. The dual position tweezer robot gripper of claim 1, wherein: The other side of the mounting plate (1) away from the parallel finger air cylinder one (2) is further mounted with parallel finger air cylinder two (5), the movable end of the parallel finger air cylinder two (5) is connected with oppositely arranged chuck two (6) extending in the same direction with the chuck one (3) respectively.

6. The dual position tweezer robot gripper of claim 5, wherein: The parallel finger air cylinder two (5) is symmetrically arranged on the mounting plate (1).

7. The dual position tweezer robot gripper of any of claims 5-6, wherein: The parallel finger air cylinder two (5) and the mounting plate (1) are connected through the connecting piece (4). The parallel finger air cylinder two (5) and the mounting plate (1) are connected through the connecting piece (4).

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