CN107351110B - Full-automatic clamping manipulator - Google Patents

Full-automatic clamping manipulator Download PDF

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Publication number
CN107351110B
CN107351110B CN201710779534.2A CN201710779534A CN107351110B CN 107351110 B CN107351110 B CN 107351110B CN 201710779534 A CN201710779534 A CN 201710779534A CN 107351110 B CN107351110 B CN 107351110B
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CN
China
Prior art keywords
seat
clamping
assembly
rotating
cam
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201710779534.2A
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Chinese (zh)
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CN107351110A (en
Inventor
肖根福
刘欢
谢世坤
周燕辉
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Jinggangshan University
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Jinggangshan University
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Priority to CN201710779534.2A priority Critical patent/CN107351110B/en
Publication of CN107351110A publication Critical patent/CN107351110A/en
Application granted granted Critical
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/028—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by cams
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Jigs For Machine Tools (AREA)

Abstract

The invention discloses a full-automatic clamping manipulator, wherein the lower end of a connecting seat is fixedly arranged on a fixed seat, an air cylinder is arranged on the fixed seat, a piston rod of the air cylinder is connected with a cam assembly, the lower end of the cam assembly is connected with a rotating assembly, a clamping assembly is arranged on the rotating assembly, the clamping assembly is driven by the air cylinder to clamp a workpiece, a clamping head and a clamping hand are arranged on the clamping assembly, the clamping hand is detachably arranged on the lower side surface of a clamping head, the clamping hand extends downwards along the central axis direction of the clamping assembly, and the clamping head moves along the radial direction of the clamping assembly so as to clamp the workpiece from the circumferential direction of the workpiece. The self-centering clamping device not only can realize self-centering clamping operation on a cylindrical workpiece by adopting the clamping head, but also can utilize the detachable clamping hand to grab workpieces in other shapes, thereby improving the application effect of the self-centering clamping device.

Description

Full-automatic clamping manipulator
Technical Field
The invention relates to a full-automatic clamping manipulator, and belongs to the technical field of mechanical automation equipment.
Background
At present, in machining, generally need adopt the manipulator to come fixed clamp to the work piece or remove the work piece, present manipulator function ratio is more single when pressing from both sides tightly, only can realize pressing from both sides tightly of single work piece, and the tight scope of clamp is less, and moreover, present manipulator generally adopts the connecting rod to set up, and the manipulator of this kind of structure fixes a position inaccurately when pressing from both sides tightly, appears becoming flexible easily, can't guarantee the coaxial clamp of work piece even more.
Aiming at the problems, the invention provides a full-automatic clamping manipulator, so that the applicable clamping range of the manipulator to a workpiece is ensured, and the clamping and positioning precision of the workpiece is ensured.
Disclosure of Invention
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a full-automatic clamping manipulator, its includes connecting seat, fixing base, cylinder, cam module, runner assembly and clamping unit, its characterized in that, the lower extreme of connecting seat is fixed to be set up on the fixing base, be provided with the cylinder on the fixing base, the piston rod of cylinder is connected the cam module, the lower extreme of cam module is connected the runner assembly, the last clamping unit that is provided with of runner assembly, clamping unit is in the tight clamp to the work piece of realization under the drive of cylinder, last tight head and the tong of clamp of being provided with of clamping unit, wherein, tong detachable sets up the tight head downside of clamp, the tong along clamping unit's the central axis direction downwardly extending, press from both sides tight head along clamping unit's radial direction removes so that press from the circumferencial direction of work piece and press from both sides tight work piece.
Further, as preferred, the cam subassembly includes the cam, drives seat and spacing subassembly, the subassembly rotates the seat including the owner at least, wherein, the upper end that drives the seat is fixed on the piston rod of cylinder, the lower extreme that drives the seat is provided with a actuating lever at least, the lower extreme of actuating lever is provided with the connecting axle that sets up perpendicularly with it, be provided with the cam groove on the outer circumference of cam, the tip of connecting axle stretches into the setting and is in the cam groove, just the outer circumference of connecting axle with the upper and lower cell wall cooperation of cam groove sets up, the lower terminal surface of cam is fixed with the seat rotates the owner, the outer circumference that rotates the seat is provided with spacing subassembly in the owner, spacing subassembly restriction the seat reciprocates along its central axis direction, and allows the seat rotates along its central axis direction of rotating.
Further, as preferred, spacing subassembly includes bearing frame and bearing, wherein, the position that corresponds on the inner wall of outer seat the main seat that rotates is provided with the bearing frame, be provided with the bearing outer lane in the bearing frame, the bearing inner lane embedding sets up on the outer circumference of main seat that rotates.
Further, as a preferred option, the clamping assembly comprises a secondary rotating seat, an auxiliary seat, a limiting seat, a plurality of clamping rods and a plurality of eccentric rotating heads, wherein the upper end of the secondary rotating seat is fixed at the lower end of the primary rotating seat, the lower end face of the fixing seat is provided with an outer seat, the lower end of the outer seat is provided with a lower fixing seat, the upper end face of the lower fixing seat is fixedly provided with the auxiliary seat and the limiting seat, the outer seat, the secondary rotating seat, the auxiliary seat and the limiting seat are coaxially arranged from outside to inside in sequence, the end part of each clamping rod is provided with a strip-shaped groove, a hinge column is arranged on the secondary rotating seat, each clamping rod is hinged in the hinge column, the inner end of each clamping rod extends into the limiting seat, the inner end part of each clamping rod is provided with an eccentric rotating head, and the eccentric rotating heads are rotatably hinged in the limiting grooves of the limiting seats, the inner wall of the eccentric rotating head is provided with a chuck.
Further, as a preferred option, an auxiliary connecting shaft is further arranged in the cam groove, the auxiliary connecting shaft is located at the lower end of the auxiliary guide rod, the upper end of the auxiliary guide rod is connected and arranged at the lower end of the spring, and the lower end of the spring is fixedly arranged on the driving seat.
Further, preferably, a return spring is provided between the slave rotating base and the auxiliary base.
Further, as preferred, the upper end of tong is provided with threaded connection head, be provided with the screw hole on the clamping head, the tong adopts threaded connection head with screw hole threaded connection.
Further, preferably, the clamping hand extends out of the through hole in the lower fixing seat.
Further, preferably, a limiting groove is formed in the limiting seat, and the eccentric rotating head is limited in the limiting groove.
Further, preferably, the clamping bars are four arranged in a circumferential array.
Compared with the prior art, the invention has the beneficial effects that:
the self-centering clamping device not only can realize self-centering clamping operation on a cylindrical workpiece by adopting the clamping head, but also can utilize the detachable clamping hand to grab workpieces in other shapes, thereby improving the application effect of the self-centering clamping device, and the self-centering clamping device has high clamping and positioning precision, is quick and convenient in positioning precision, and can quickly realize self-centering operation.
Drawings
FIG. 1 is a schematic structural diagram of a fully automatic clamping robot of the present invention;
FIG. 2 is a schematic view of a gripper structure of a fully automatic clamping robot of the present invention;
FIG. 3 is a schematic cross-sectional view of a fully automatic clamping robot of the present invention
The clamping device comprises a connecting seat, a fixing seat, an outer seat, a lower fixing seat, a clamping handle, a cylinder, a driving seat, a driving rod, a connecting shaft, a cam, 11, a cam groove, 12, a main rotating seat, 13, a bearing seat, a bearing, 15, a slave rotating seat, 16, an auxiliary seat, 17, a limiting seat, 18, a clamping rod, 19, an eccentric rotating head, 20, an auxiliary guide rod, 21, a spring, 22, a through hole, 23, a threaded connector, 24, a workpiece, 25, a clamping head, 26 and a return spring.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution: a full-automatic clamping manipulator comprises a connecting seat 1, a fixed seat 2, a cylinder 6, a cam assembly, a rotating assembly and a clamping assembly, it is characterized in that the lower end of the connecting seat 1 is fixedly arranged on the fixed seat 2, the fixed seat 2 is provided with an air cylinder 6, the piston rod of the cylinder 6 is connected with the cam component, the lower end of the cam component is connected with the rotating component, the rotating assembly is provided with a clamping assembly which is driven by the cylinder to clamp a workpiece, the clamping assembly is provided with a clamping head and a clamping hand 5, wherein the clamping hand 5 is detachably arranged on the lower side surface of the clamping head, the clamping hand extends downwards along the central axis direction of the clamping assembly, the clamping head moves in a radial direction of the clamping assembly to clamp the workpiece from a circumferential direction of the workpiece.
As shown in fig. 1, the cam assembly comprises a cam 10, a driving seat 7 and a limiting assembly, the rotating assembly comprises at least a main rotating seat 12, wherein, the upper end of the driving seat 7 is fixed on the piston rod of the cylinder 6, the lower end of the driving seat 7 is at least provided with a driving rod 8, the lower end of the driving rod 8 is provided with a connecting shaft 9 which is vertically arranged with the driving rod, the outer circumference of the cam 10 is provided with a cam groove 11, the end part of the connecting shaft 9 extends into the cam groove 11, the outer circumference of the connecting shaft 9 is matched with the upper and lower groove walls of the cam groove 11, the lower end surface of the cam 10 is fixed with the main rotating seat 12, the outer circumference of the main rotating base 12 is provided with a limiting component, which limits the main rotating base to move up and down along the direction of the central axis thereof, and allows the main rotating base to rotate along the direction of the central axis thereof.
The limiting assembly comprises a bearing seat 13 and a bearing 14, wherein the bearing seat 13 is arranged on the inner wall of the outer seat 3 corresponding to the main rotating seat, a bearing outer ring is arranged in the bearing seat 13, and the bearing inner ring is embedded in the outer circumference of the main rotating seat.
In this embodiment, as shown in fig. 3, the clamping assembly includes a secondary rotating seat 15, an auxiliary seat 16, a limiting seat 17, a plurality of clamping rods 18 and a plurality of eccentric rotating heads 19, wherein the secondary rotating seat 15 is fixed at the lower end of the primary rotating seat from the upper end of the rotating seat 15, the lower end surface of the fixed seat is provided with an outer seat 3, the lower end of the outer seat 3 is provided with a lower fixed seat 4, the upper end surface of the lower fixed seat 4 is fixedly provided with the auxiliary seat 16 and the limiting seat 17, the outer seat 3, the secondary rotating seat 15, the auxiliary seat 16 and the limiting seat 17 are coaxially arranged from outside to inside in sequence, the end of the clamping rod 18 is provided with a strip-shaped groove, the secondary rotating seat is provided with a hinged column, the clamping rod 18 is hinged in the hinged column, the inner end of the clamping rod 18 extends into the limiting seat, the inner end of the clamping rod is provided with the eccentric rotating head 19, the eccentric rotating head 19 is rotatably hinged in the limiting groove of the, the inner wall of the eccentric rotary head 19 is provided with a chuck 25.
As shown in fig. 1, an auxiliary connecting shaft is further disposed in the cam groove, the auxiliary connecting shaft is located at a lower end of the auxiliary guide rod 20, an upper end of the auxiliary guide rod 20 is connected to a lower end of a spring 21, and a lower end of the spring 21 is fixedly disposed on the driving seat.
In addition, as shown in fig. 3, a return spring 26 is provided between the slave rotating holder and the auxiliary holder.
As shown in fig. 2, the upper end of the clamping hand is provided with a threaded connection 23, the clamping head is provided with a threaded hole, and the clamping hand adopts the threaded connection head to be in threaded connection with the threaded hole. The clamping hand extends out of the through hole in the lower fixing seat. The limiting seat is provided with a limiting groove, and the eccentric rotating head is limited in the limiting groove. The clamping rods are four and are arranged in a circumferential array.
The self-centering clamping device not only can realize self-centering clamping operation on a cylindrical workpiece by adopting the clamping head, but also can utilize the detachable clamping hand to grab workpieces in other shapes, thereby improving the application effect of the self-centering clamping device, and the self-centering clamping device has high clamping and positioning precision, is quick and convenient in positioning precision, and can quickly realize self-centering operation.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (9)

1. The full-automatic clamping manipulator comprises a connecting seat, a fixing seat, an air cylinder, a cam assembly, a rotating assembly and a clamping assembly, and is characterized in that the lower end of the connecting seat is fixedly arranged on the fixing seat, the air cylinder is arranged on the fixing seat, a piston rod of the air cylinder is connected with the cam assembly, the lower end of the cam assembly is connected with the rotating assembly, the rotating assembly is provided with the clamping assembly, the clamping assembly is driven by the air cylinder to clamp a workpiece, the clamping assembly is provided with a clamping head and a clamping hand, the clamping hand is detachably arranged on the lower side surface of the clamping head, the clamping hand extends downwards along the central axis direction of the clamping assembly, and the clamping head moves along the radial direction of the clamping assembly so as to clamp the workpiece from the circumferential direction of the workpiece;
the cam subassembly includes cam, drive seat and spacing subassembly, the rotation subassembly includes the main seat that rotates at least, wherein, the upper end of driving the seat is fixed on the piston rod of cylinder, the lower extreme of driving the seat is provided with an actuating lever at least, the lower extreme of actuating lever is provided with the connecting axle that sets up perpendicularly with it, be provided with the cam groove on the outer circumference of cam, the tip of connecting axle stretches into the setting and is in the cam groove, just the outer circumference of connecting axle with the cooperation of the upper and lower cell wall of cam groove sets up, the lower terminal surface of cam is fixed with the main seat that rotates, the outer circumference of main seat that rotates is provided with spacing subassembly, spacing subassembly restriction the main seat that rotates reciprocates along its central axis direction, and allows the main seat that rotates along its central axis direction.
2. The full-automatic clamping manipulator of claim 1, wherein: the limiting assembly comprises a bearing seat and a bearing, wherein the bearing seat is arranged on the inner wall of the outer seat at a position corresponding to the main rotating seat, a bearing outer ring is arranged in the bearing seat, and the bearing inner ring is embedded in the outer circumference of the main rotating seat.
3. The full-automatic clamping manipulator of claim 1, wherein: the clamping assembly comprises a rotating seat, an auxiliary seat, a limiting seat, a plurality of clamping rods and a plurality of eccentric rotating heads, wherein the upper end of the slave rotating seat is fixed at the lower end of the master rotating seat, the lower end surface of the fixed seat is provided with an outer seat, the lower end of the outer seat is provided with a lower fixed seat, the upper end surface of the lower fixed seat is fixedly provided with an auxiliary seat and a limiting seat, the outer seat, the rotating seat, the auxiliary seat and the limiting seat are coaxially arranged from outside to inside in sequence, the end part of the clamping rod is provided with a strip-shaped groove, the driven rotating seat is provided with a hinged column, the clamping rod is hinged in the hinged column, the inner end of the clamping rod extends into the limiting seat, and the inner end part of the clamping rod is provided with an eccentric rotating head, the eccentric rotating head is rotatably hinged in a limiting groove of the limiting seat, and the inner wall of the eccentric rotating head is provided with a chuck.
4. The full-automatic clamping manipulator of claim 1, wherein: still be provided with the auxiliary connecting axle in the cam groove, the auxiliary connecting axle is located the lower tip of auxiliary guide pole, the upper end of auxiliary guide pole is connected and is set up the lower extreme at the spring, the lower extreme of spring is fixed to be set up on the drive seat.
5. The full-automatic clamping manipulator of claim 3, characterized in that: and a return spring is arranged between the driven rotating seat and the auxiliary seat.
6. The full-automatic clamping manipulator of claim 3, characterized in that: the upper end of tong is provided with threaded connection head, be provided with the screw hole on the clamping head, the tong adopts threaded connection head with screw hole threaded connection.
7. The full-automatic clamping manipulator of claim 3, characterized in that: the clamping hand extends out of the through hole in the lower fixing seat.
8. The full-automatic clamping manipulator of claim 3, characterized in that: the limiting seat is provided with a limiting groove, and the eccentric rotating head is limited in the limiting groove.
9. The full-automatic clamping manipulator of claim 3, characterized in that: the clamping rods are four and are arranged in a circumferential array.
CN201710779534.2A 2017-09-01 2017-09-01 Full-automatic clamping manipulator Expired - Fee Related CN107351110B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710779534.2A CN107351110B (en) 2017-09-01 2017-09-01 Full-automatic clamping manipulator

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Application Number Priority Date Filing Date Title
CN201710779534.2A CN107351110B (en) 2017-09-01 2017-09-01 Full-automatic clamping manipulator

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CN107351110A CN107351110A (en) 2017-11-17
CN107351110B true CN107351110B (en) 2020-08-25

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112355874A (en) * 2020-11-18 2021-02-12 王刚 Polishing device for surfaces of parts of numerical control machine tool

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10120939A1 (en) * 2001-04-20 2002-10-24 Schunk Gmbh & Co Kg Gripper for manipulators has electric drive for actuator part with drive shaft coupled to actuator part via spindle drive in the form of a trapezoidal or conical threaded drive
CN101797711A (en) * 2010-03-22 2010-08-11 河北农业大学 Workpiece combined clamp of abrasive wheel cutting machine
CN103111859A (en) * 2012-12-09 2013-05-22 重庆盾铭电磁阀有限公司 Cam clamping device
CN203512869U (en) * 2013-10-16 2014-04-02 贵州平水机械有限责任公司 Automatic grabbing device for reel paper
CN204819549U (en) * 2015-07-24 2015-12-02 沈阳通用机器人技术股份有限公司 Terminal mechanical gripper of two degree of freedom robots
CN205166444U (en) * 2015-11-13 2016-04-20 浙江全顺机床有限公司 Numerical control machine tool chuck subassembly
CN107097052A (en) * 2017-07-04 2017-08-29 桐乡市大周商贸有限公司 A kind of short axle swivel feeding device

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10120939A1 (en) * 2001-04-20 2002-10-24 Schunk Gmbh & Co Kg Gripper for manipulators has electric drive for actuator part with drive shaft coupled to actuator part via spindle drive in the form of a trapezoidal or conical threaded drive
CN101797711A (en) * 2010-03-22 2010-08-11 河北农业大学 Workpiece combined clamp of abrasive wheel cutting machine
CN103111859A (en) * 2012-12-09 2013-05-22 重庆盾铭电磁阀有限公司 Cam clamping device
CN203512869U (en) * 2013-10-16 2014-04-02 贵州平水机械有限责任公司 Automatic grabbing device for reel paper
CN204819549U (en) * 2015-07-24 2015-12-02 沈阳通用机器人技术股份有限公司 Terminal mechanical gripper of two degree of freedom robots
CN205166444U (en) * 2015-11-13 2016-04-20 浙江全顺机床有限公司 Numerical control machine tool chuck subassembly
CN107097052A (en) * 2017-07-04 2017-08-29 桐乡市大周商贸有限公司 A kind of short axle swivel feeding device

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