CN113211478A - Clamping device and clamping sleeve for mechanical arm - Google Patents
Clamping device and clamping sleeve for mechanical arm Download PDFInfo
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- CN113211478A CN113211478A CN202011574789.3A CN202011574789A CN113211478A CN 113211478 A CN113211478 A CN 113211478A CN 202011574789 A CN202011574789 A CN 202011574789A CN 113211478 A CN113211478 A CN 113211478A
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- 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
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Abstract
The invention belongs to the field of clamps, and particularly relates to a clamping device and a clamping sleeve for a mechanical arm. The device comprises a rotating assembly, a fixing frame, a pushing assembly, a driving assembly, a transmission assembly and a clamping assembly; the two side ends of the fixing frame are symmetrically provided with a plurality of groups of first mounting holes and two groups of symmetrically arranged clamping holes at equal intervals along the vertical direction, the two groups of clamping holes are positioned right below the first mounting holes, two side ends of each group of first mounting holes are symmetrically provided with a group of first through holes, and the central axes of the two groups of first through holes at the two ends of the same group of first mounting holes are superposed; one end of the rotating assembly is fixedly connected with the upper end of the fixing frame; according to the invention, the two groups of mutually symmetrical pushing assemblies are arranged in the fixed frame and are used for pushing the object to be moved into the fixed frame to be clamped, so that the object to be moved can be clamped by the clamping device without opening the fixed frame when the object is clamped, the occupied space is small, and the use is more convenient.
Description
Technical Field
The invention belongs to the field of clamps, and particularly relates to a clamping device and a clamping sleeve for a mechanical arm.
Background
A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program.
The existing conventional clamping manipulator clamps an object through two groups of clamping plates, and the open type clamping device occupies a large space when clamping the object.
Moreover, the clamping device is only suitable for clamping small objects, has poor effect when clamping large heavy objects, and can damage the surfaces of the objects.
Disclosure of Invention
Aiming at the problems, the invention provides a clamping device for a mechanical arm, which comprises a rotating assembly, a fixed frame, a pushing assembly, a driving assembly, a transmission assembly and a clamping assembly, wherein the rotating assembly is arranged on the fixed frame;
the two side ends of the fixing frame are symmetrically provided with a plurality of groups of first mounting holes and two groups of symmetrically arranged clamping holes at equal intervals along the vertical direction, the two groups of clamping holes are positioned right below the first mounting holes, two side ends of each group of first mounting holes are symmetrically provided with a group of first through holes, and the central axes of the two groups of first through holes at the two ends of the same group of first mounting holes are superposed;
one end of the rotating assembly is fixedly connected with the upper end of the fixing frame; the two groups of pushing assemblies are symmetrically arranged in the corresponding groups of first mounting holes, and the two groups of clamping assemblies are symmetrically arranged in the two groups of clamping holes;
the pushing assembly comprises a plurality of groups of rotating shafts and second fixed pipes;
two ends of each group of rotating shafts respectively movably penetrate through one group of first through holes; the second fixing pipes are positioned in the first mounting holes, each group of the second fixing pipes are respectively sleeved on one group of the rotating shafts, and the connected rotating shafts are superposed with the central axes of the second fixing pipes;
the same end of each of the plurality of groups of rotating shafts is sleeved with a group of first driving wheels, the plurality of groups of first driving wheels are in transmission connection through first driving belts, and the rotating directions of the plurality of groups of first driving wheels are the same;
the driving assembly is arranged on the fixing frame and is in transmission connection with a group of rotating shafts in the two groups of pushing assemblies through the transmission assembly, and the rotating directions of the rotating shafts in the two groups of pushing assemblies are opposite.
Further, the fixing frame comprises a group of first fixing blocks and two groups of second fixing blocks;
the two groups of second fixing blocks are symmetrically and parallelly arranged at two ends of the first fixing block, a limiting hole is formed in the center of the surface of the first fixing block, and the plurality of groups of first mounting holes and the clamping holes are formed in the two groups of second fixing blocks;
the distance between the two opposite groups of second fixing pipes is smaller than the distance between the two groups of second fixing blocks;
the limiting hole is of a rectangular structure.
Furthermore, the clamping hole comprises a second through hole and a first groove;
two ends of the second through hole penetrate through two end faces of the second fixing block respectively, and two groups of first grooves are formed in two side ends of the second through hole respectively.
Furthermore, the rotating assembly comprises a first fixing plate, a first fixing pipe, a first motor, a first clamping block and a turntable bearing;
a plurality of groups of second mounting holes are formed in the first fixing plate in an annular array, the central axis of the first fixing pipe is superposed with the central axis of the first fixing plate, one end of the first fixing pipe is fixedly connected with the first fixing plate, and a plurality of groups of third mounting holes are formed in the other end of the first fixing pipe in an annular array; the inner wall of the outer ring of the turntable bearing can be attached to the outer wall of the first fixed pipe, a plurality of groups of third through holes are formed in one end of the outer ring of the turntable bearing in an annular array, and the central axis of each group of third through holes is respectively superposed with the central axis of one group of third mounting holes;
one end of the outer ring of the turntable bearing can be fixedly arranged on the first fixing pipe through a bolt, and one end of the inner ring of the turntable bearing is fixedly connected with one end of the first fixing block, which is far away from the second fixing block;
the first motor is arranged in the first fixing pipe, the central axis of the output shaft of the first motor coincides with the central axis of the turntable bearing, the first clamping block is arranged at one end of the output shaft of the first motor, and the first clamping block can be clamped and fixed in the limiting hole.
Further, still the cover is equipped with the contact layer on the fixed pipe of second, it is provided with a plurality of groups of lugs to be annular array on the contact layer, the lug sets up to the arc piece.
Further, the driving assembly comprises a second motor and a third transmission wheel;
the second motor is arranged on the first fixing block, the central axis of the output shaft of the second motor is parallel to the central axis of the rotating shaft, and the third driving wheel is sleeved at one end of the output shaft of the second motor.
Furthermore, a group of rotating shafts are respectively arranged in the two groups of pushing assemblies, and a second driving wheel is sleeved at one end of each rotating shaft;
the transmission assembly comprises a fixed rod, a fourth transmission wheel, a second transmission belt and a third transmission belt;
the fixed rod is arranged at one side end of the first fixed block, the central axis of the fixed rod is superposed with the central axis of the output shaft of the second motor, and the fourth driving wheel is rotatably sleeved on the fixed rod;
the third driving wheel is in transmission connection with a second driving wheel in one group of pushing assemblies through a second driving belt, and the fourth driving wheel is in transmission connection with a second driving wheel in the other group of pushing assemblies through a third driving belt.
Furthermore, racks are arranged at two ends of the side wall of each of the third driving wheel and the fourth driving wheel, and the racks on the third driving wheel and the fourth driving wheel are meshed with each other and are in transmission connection.
Furthermore, the clamping assembly comprises a second clamping block, a third clamping block and a spring;
the two groups of third clamping blocks are symmetrically arranged at two ends of the second clamping block, the second clamping block is movably clamped in the second through hole, the two groups of third clamping blocks are movably clamped in the group of first grooves respectively, and the two groups of third clamping blocks are elastically connected with the side wall of the first groove through the group of springs respectively;
the second joint piece is towards the one end of first fixed block axis, and its lower surface is seted up there is the inclined plane.
Further, be provided with the iron sheet on the third joint piece, the one side relative with the iron sheet in the first recess is provided with the electro-magnet, the distance between electro-magnet and the iron sheet is greater than the distance that second joint piece joint end reaches adjacent second fixed block surface.
A clamping sleeve is suitable for the clamping device for the mechanical arm, and comprises two groups of symmetrically arranged clamping plates, wherein each clamping plate comprises a second fixing plate, a third fixing plate and a fourth clamping block;
the two groups of third fixing plates are symmetrically and parallelly arranged at the upper end and the lower end of the second fixing plate, the fourth clamping blocks are arranged on one surface, far away from the third fixing plates, of the second fixing plate, and the plurality of groups of fourth clamping blocks are arranged on the second fixing plate at equal intervals in the vertical direction; the fourth clamping block is an arc-shaped block;
the fourth clamping block can be clamped between two adjacent groups of convex blocks on the clamping device.
The invention has the beneficial effects that:
1. according to the invention, two groups of mutually symmetrical pushing assemblies are arranged in the fixed frame and are used for pushing the object to be moved into the fixed frame for clamping, so that the clamping device can clamp the object to be moved without opening the fixed frame when clamping the object, the occupied space is small, and the use is more convenient;
2. the outer ring of the turntable bearing is detachably arranged on the first fixing pipe, and the first clamping block at the output end of the first motor can be clamped and fixed in the limiting hole, so that the rotating assembly is convenient to disassemble and assemble, and is more convenient to replace or maintain the rotating assembly or a device arranged below the rotating assembly;
3. the plurality of groups of the convex blocks are arranged on the contact layers in an annular array, the distance between the two groups of the contact layers which are opposite in position is smaller than the distance between the two groups of the second fixing blocks, and the convex blocks are arranged to be arc-shaped blocks, so that the convex blocks can effectively clamp the object, the effect is better when the object is pushed, and the object is more convenient to move;
4. set up the centre gripping cover through the side at the goods, and the propelling movement subassembly can cooperate with the mutual joint of centre gripping cover for this clamping device is safer, stable when carrying out the centre gripping to the goods, can not cause the damage to the goods surface.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic view showing a structure of a clamping device according to an embodiment of the present invention;
FIG. 2 is a schematic view of a holder according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a snap hole according to an embodiment of the present invention;
FIG. 4 shows a schematic structural diagram of a rotating assembly of an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a pushing assembly according to an embodiment of the present invention;
FIG. 6 is a schematic structural view of a rubber layer according to an embodiment of the present invention;
FIG. 7 shows a schematic structural diagram of a transmission assembly in accordance with an embodiment of the present invention;
FIG. 8 shows a schematic structural view of a rack in accordance with an embodiment of the present invention;
FIG. 9 is a schematic diagram of a latch assembly according to an embodiment of the present invention;
FIG. 10 is a schematic diagram showing the structure of an electromagnet according to an embodiment of the present invention;
fig. 11 shows a schematic structural diagram of a clamping sleeve according to an embodiment of the invention.
In the figure: 1. a rotating assembly; 2. a fixed mount; 3. a push assembly; 4. a drive assembly; 5. a transmission assembly; 6. a clamping assembly; 7. a first fixed block; 701. a limiting hole; 8. a second fixed block; 801. a first mounting hole; 802. a first through hole; 803. a clamping hole; 8031. a second through hole; 8032. a first groove; 9. a first fixing plate; 901. a second mounting hole; 10. a first stationary tube; 1001. a third mounting hole; 11. a first motor; 12. a first clamping block; 13. a turntable bearing; 1301. a third through hole; 14. a bolt; 15. a rotating shaft; 16. a second stationary tube; 17. a contact layer; 18. a first drive pulley; 19. a first drive belt; 20. a second transmission wheel; 21. a bump; 23. a third transmission wheel; 24. fixing the rod; 25. a fourth transmission wheel; 26. a second belt; 27. a third belt; 29. A rack; 30. a second clamping block; 3001. a bevel; 31. a third clamping block; 32. a spring; 33. an electromagnet; 34. iron sheets; 35. a second motor; 36. a second fixing plate; 37. a third fixing plate; 38. and a fourth clamping block.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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.
The embodiment of the invention provides a clamping device for a mechanical arm, which comprises a rotating assembly 1, a fixed frame 2, a pushing assembly 3, a driving assembly 4, a transmission assembly 5 and a clamping assembly 6, and is shown in figure 1.
One end of the rotating assembly 1 is fixedly connected to the fixing frame 2, and the other end of the rotating assembly 1 can be fixedly arranged on the mechanical arm; the rotating assembly 1 is used for controlling the fixed frame 2 to rotate.
The two groups of pushing assemblies 3 and the two groups of clamping assemblies 6 are symmetrically arranged in the fixed frame 2, and the pushing assemblies 3 are positioned right above the clamping assemblies 6; the propelling movement subassembly 3 is used for carrying out the propelling movement to the object of mount 2 centre gripping, makes it to the inside or outside removal of mount 2, joint subassembly 6 is used for carrying out joint, spacing to the object in the mount 2, makes its complete fixing in mount 2.
The driving assembly 4 is arranged on the fixed frame 2, the driving assembly 4 is in transmission connection with the two groups of pushing assemblies 3 through the transmission assembly 5, and the rotation directions of the two groups of pushing assemblies 3 are opposite; the driving assembly 4 is used for providing power for the pushing assembly 3.
Illustratively, when the device is used, one end of the rotating assembly 1, which is far away from the fixed frame 2, is mounted on a mechanical arm, when the fixed frame 2 moves to an object to be clamped and two groups of pushing assemblies 3 are attached to the object, the driving assembly 4 operates to drive the two groups of pushing assemblies 3 to rotate in opposite directions, so that the two groups of pushing assemblies 3 push the object clamped between the two groups of pushing assemblies into the fixed frame 2, and the effects of carrying and clamping the object are achieved; when propelling movement subassembly 3 has not pushed the object to preset position in the mount 2, the joint end of two sets of joint subassemblies 6 contradicts with the both sides of object respectively, and when propelling movement subassembly 3 was with preset position in the mount 2, the lower extreme of object broke away from between two sets of joint subassemblies 6, and the joint end of two sets of joint subassemblies 6 can remove the object lower extreme for it is spacing to carry out the object.
Through set up two sets of propelling movement subassemblies 3 of mutual symmetry in mount 2 for to treat that moving object propelling movement carries out the centre gripping in mount 2, make this clamping device when carrying out the centre gripping to the object, need not to open mount 2 and can treat moving object and carry out the centre gripping, occupation space is little, and it is more convenient to use.
Illustratively, as shown in fig. 2, the fixing frame 2 includes a set of first fixing blocks 7 and two sets of second fixing blocks 8; the two groups of second fixing blocks 8 are symmetrically and parallelly arranged at two ends of the first fixing block 7, a limiting hole 701 is formed in the center of the surface of the first fixing block 7, a plurality of groups of first mounting holes 801 are symmetrically formed in the two groups of second fixing blocks 8 along the vertical direction, the first mounting holes 801 in the two groups of second fixing blocks 8 are symmetrically arranged, and the central axes of the two groups of first mounting holes 801 which are symmetrical to each other are overlapped; two side ends of the first mounting hole 801 are symmetrically provided with a group of first through holes 802 respectively, and the axle wires of the two groups of first through holes 802 at the two ends of the same group of first mounting holes 801 are overlapped; clamping holes 803 are further symmetrically formed in the second fixing blocks 8, the clamping holes 803 are located right below the first mounting hole 801, and the central axes of the two clamping holes 803 coincide.
The limiting hole 701 is of a rectangular structure, is simple in structure and is convenient to process.
In practical use, the position limiting hole 701 may be configured in other non-circular and spherical structures, and the embodiment of the present invention is only exemplary.
Specifically, as shown in fig. 3, the clamping hole 803 includes a second through hole 8031 and a first groove 8032; two ends of the second through hole 8031 respectively penetrate through two end faces of the second fixing block 8, and two groups of the first grooves 8032 are respectively formed at two side ends of the second through hole 8031.
The fixing frame 2 is formed by splicing three groups of plates and block structures, and the frame of the clamping device is simple to process and produce and low in manufacturing cost.
In the in-service use, can set up the guide slot at the lower extreme of first fixed block 7, with the activity joint of the one end of two sets of second fixed blocks 8 in the guide slot to set up drive arrangement at the lower extreme of first fixed block 7, with drive arrangement's output and 8 fixed connection of second fixed block, make drive arrangement can push two sets of second fixed blocks 8 and move mutually or carry on the back mutually, thereby change the size of the centre gripping object that this mount 2 can, it is more convenient to use, application scope is wider.
The rotating assembly 1 includes a first fixing plate 9, a first fixing tube 10, a first motor 11, a first clamping block 12 and a turntable bearing 13, as shown in fig. 4.
A plurality of groups of second mounting holes 901 are formed in the first fixing plate 9 in an annular array, the central axis of the first fixing pipe 10 is overlapped with the central axis of the first fixing plate 9, one end of the first fixing pipe 10 is fixedly connected with the first fixing plate 9, and a plurality of groups of third mounting holes 1001 are formed in the other end of the first fixing pipe 10 in an annular array; the inner wall of the outer ring of the turntable bearing 13 can be attached to the outer wall of the first fixed pipe 10, a plurality of groups of third through holes 1301 are formed in one end of the outer ring of the turntable bearing 13 in an annular array, and the central axis of each group of third through holes 1301 is respectively superposed with the central axis of one group of third mounting holes 1001; one end of the outer ring of the turntable bearing 13 can be fixedly mounted on the first fixing pipe 10 through a bolt 14, and one end of the inner ring of the turntable bearing 13 is fixedly connected with one end, far away from the second fixing block 8, of the first fixing block 7.
Illustratively, the turntable bearing 13 in the embodiment of the present invention further includes components, such as the structure of the turntable bearing 13, for example, two sets of tubular parts with different diameters are rotatably connected by a plurality of sets of balls.
Through with the outer lane detachable installation of swivel bearing 13 on first fixed pipe 10, but and the first joint piece 12 joint of first motor 11 output end department is fixed in spacing hole 701 for this rotating assembly 1 easy dismounting is more convenient when changing or maintaining its own or the device of installation under it.
The outer ring of the turntable bearing 13 is sleeved on the first fixing pipe 10, so that the installation position of the fixing frame 2 is more clear and visual when the fixing frame is installed, and the installation is more convenient.
The pushing assembly 3 comprises a plurality of groups of rotating shafts 15 and second fixed pipes 16, as shown in fig. 5; two ends of each group of the rotating shaft 15 respectively movably penetrate through one group of the first through holes 802; the second fixing pipes 16 are located in the first mounting holes 801, the second fixing pipes 16 of each group are respectively sleeved on a group of rotating shafts 15, and the central axes of the rotating shafts 15 connected with each other and the central axes of the second fixing pipes 16 are overlapped.
The first driving wheel 18 of a set of all overlapping of same one end of pivot 15 is equipped with a plurality of groups, a plurality of groups first driving wheel 18 is connected through the transmission of first driving belt 19, and the direction of rotation of a plurality of groups first driving wheel 18 is the same.
The other end of the group of rotating shafts 15 is sleeved with a second driving wheel 20.
The distance between two sets of the second fixed pipes 16 opposite in the two sets of the pushing assemblies 3 is smaller than the distance between two sets of the second fixed blocks 8, and the rotating directions of the first driving wheels 18 in the two sets of the pushing assemblies 3 are opposite.
Further, a contact layer 17 is further sleeved on the second fixing tube 16, as shown in fig. 6, a plurality of groups of protruding blocks 21 are arranged on the contact layer 17 in an annular array, and the protruding blocks 21 are arc-shaped blocks.
Illustratively, when an object is clamped, the mechanical arm can control the fixed frame 2 to move towards the object until the upper end of the object is positioned between the two opposite contact layers 17, at this time, the driving assembly 4 operates to drive the two pushing assemblies 3 to rotate, the multiple groups of rotating shafts 15 which are opposite in position rotate in opposite directions, in the rotating process, the multiple groups of bumps 21 arranged on the contact layers 17 can continuously stir the object and push the object into the fixed frame 2, and in the pushing process, the mechanical arm can also control the fixed frame 2 to move towards the object, so that the object is rapidly clamped in the fixed frame 2; along with the degree of depth that the object removed in to mount 2, more and more lug 21 can laminate with the object to reach the effect to object direction, spacing, when the object removed preset position in mount 2, the joint end meeting joint of two sets of joint subassemblies 6 was spacing at the lower extreme of object, the upper and lower position to the object.
Through be the annular array on contact layer 17 and set up a plurality of groups of lug 21, the distance between two sets of contact layers 17 that the position is relative is less than the distance between two sets of second fixed blocks 8, and lug 21 sets up to the arc piece for lug 21 can be effectual carries out the centre gripping to the object, and the effect is better when carrying out the propelling movement to the object, and the object removes more conveniently.
The drive assembly 4 comprises a second motor 35 and a third transmission wheel 23, as shown in fig. 7; the second motor 35 is arranged on the first fixing block 7, a central axis of an output shaft of the second motor 35 is parallel to a central axis of the rotating shaft 15, and the third transmission wheel 23 is sleeved at one end of an output shaft of the second motor 35.
The transmission assembly 5 comprises a fixing rod 24, a fourth transmission wheel 25, a second transmission belt 26 and a third transmission belt 27; the fixing rod 24 is arranged at one side end of the first fixing block 7, the central axis of the fixing rod 24 is overlapped with the central axis of the output shaft of the second motor 35, and the fourth driving wheel 25 is rotatably sleeved on the fixing rod 24; the third driving wheel 23 is in driving connection with the second driving wheel 20 in one group of pushing assemblies 3 through a second driving belt 26, and the fourth driving wheel 25 is in driving connection with the second driving wheel 20 in the other group of pushing assemblies 3 through a third driving belt 27.
For example, the transmission belt may be a transmission chain.
Specifically, as shown in fig. 8, racks 29 are respectively disposed at two ends of the side walls of the third transmission wheel 23 and the fourth transmission wheel 25, and the racks 29 on the third transmission wheel 23 and the fourth transmission wheel 25 are engaged and connected in a transmission manner.
Through meshing and driving the third driving wheel 23 and the fourth driving wheel 25, the driving assembly 5 can drive the two groups of pushing assemblies 3 to rotate in opposite directions, and the structure is simple and convenient to use.
The clamping assembly 6 comprises a second clamping block 30, a third clamping block 31 and a spring 32, as shown in fig. 9; two sets of third joint piece 31 symmetry sets up the both ends at second joint piece 30, the activity joint of second joint piece 30 is in second through-hole 8031, and is two sets of third joint piece 31 is respectively the activity joint in a set of first recess 8032, and is two sets of third joint piece 31 is respectively through a set of spring 32 and first recess 8032's lateral wall elastic connection.
The second clamping block 30 faces one end of the central axis of the first fixing block 7, and the lower surface of the second clamping block is provided with an inclined surface 3001.
For example, when the clamping device is used, the mechanical arm controls the fixed frame 2 to move towards an object to be clamped, the upper end of the object is respectively attached to the inclined surfaces 3001 of the two groups of second clamping blocks 30, the two groups of second clamping blocks 30 are pushed and move back to back with the object entering, and the clamping ends of the two groups of second clamping blocks 30 are movably attached to the object all the time; when the object is moved to the fixing frame 2 by the pushing component 3, the two sets of second clamping blocks 30 can cross over the side end of the object and be attached to the lower end of the object, so that the object is limited.
Through set up joint subassembly 6 on mount 2 for the device is more stable when removing the object, uses safelyr.
Illustratively, as shown in fig. 10, an iron sheet 34 is disposed on the third clamping block 31, an electromagnet 33 is disposed on a surface of the first groove 8032 opposite to the iron sheet 34, and a distance between the electromagnet 33 and the iron sheet 34 is greater than a distance from the clamping end of the second clamping block 30 to a surface of the adjacent second fixing block 8.
For example, when the object clamped in the fixing frame 2 needs to be put down, the switch of the electromagnet 33 is turned on, and the electromagnet 33 is electrified, so that the third clamping block 31 provided with the iron sheet 34 moves towards the electromagnet 33, and the clamping end of the second clamping block 30 moves into the second through hole 8031; at the moment, the pushing component 3 rotates in the direction to push the object to the fixing frame 2.
The position of the second clamping block 30 is controlled by using the electromagnet 33, so that the clamping component 6 can limit the object when in use, and can be moved away from the object below when not in use.
On the basis of the clamping device for the mechanical arm, the embodiment of the invention further provides a clamping sleeve which can be used in cooperation with the clamping device, wherein the clamping sleeve comprises two groups of clamping plates which are symmetrically arranged, and the clamping plates comprise a second fixing plate 36, a third fixing plate 37 and a fourth clamping block 38, as shown in fig. 11; the two groups of third fixing plates 37 are symmetrically and parallelly arranged at the upper end and the lower end of the second fixing plate 36, the fourth clamping blocks 38 are arranged on one surface, far away from the third fixing plates 37, of the second fixing plate 36, and the plurality of groups of fourth clamping blocks 38 are arranged on the second fixing plate 36 at equal intervals in the vertical direction; the fourth clamping block 38 is an arc-shaped block.
The fourth clamping blocks 38 can be clamped between two adjacent groups of the convex blocks 21, and the convex blocks 21 can be clamped between two adjacent groups of the fourth clamping blocks 38.
Illustratively, when in use, two groups of clamping sleeves are respectively clamped at two side ends of an object, and two groups of third fixing plates 37 of the clamping sleeves are respectively attached to the upper end and the lower end of the object to be clamped; arm control mount 2 removes to the goods afterwards, until the goods joint between two sets of propelling movement subassemblies 3, later propelling movement subassembly 3 operation, a plurality of groups lug 21 in the propelling movement subassembly 3 can respectively with the centre gripping cover on a plurality of groups fourth joint piece 38 mutual joint to with the centre gripping cover propelling movement that makes progress, thereby remove the goods.
Set up the centre gripping cover through the side at the goods, and propelling movement subassembly 3 can cooperate with the mutual joint of centre gripping cover for this clamping device is safer, stable when carrying out the centre gripping to the goods, can not cause the damage to the goods surface.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (11)
1. The utility model provides a clamping device for arm which characterized in that: comprises a rotating component (1), a fixed frame (2), a pushing component (3), a driving component (4), a transmission component (5) and a clamping component (6);
the two side ends of the fixing frame (2) are symmetrically provided with a plurality of groups of first mounting holes (801) and two groups of symmetrically arranged clamping holes (803) at equal intervals along the vertical direction, the two groups of clamping holes (803) are positioned under the first mounting holes (801), two side ends of each group of first mounting holes (801) are symmetrically provided with a group of first through holes (802), and the axle lines of the two groups of first through holes (802) at the two ends of the same group of first mounting holes (801) are overlapped;
one end of the rotating component (1) is fixedly connected with the upper end of the fixed frame (2); the two groups of pushing assemblies (3) are symmetrically arranged in the corresponding groups of first mounting holes (801), and the two groups of clamping assemblies (6) are symmetrically arranged in the two groups of clamping holes (803);
the pushing assembly (3) comprises a plurality of groups of rotating shafts (15) and second fixed pipes (16);
two ends of each group of rotating shafts (15) respectively movably penetrate through one group of first through holes (802); the second fixed pipes (16) are positioned in the first mounting holes (801), each group of second fixed pipes (16) are respectively sleeved on one group of rotating shafts (15), and the central axes of the connected rotating shafts (15) and the second fixed pipes (16) are superposed;
the same end of each of the plurality of groups of rotating shafts (15) is sleeved with a group of first driving wheels (18), the plurality of groups of first driving wheels (18) are in transmission connection through first driving belts (19), and the rotating directions of the plurality of groups of first driving wheels (18) are the same;
the driving assembly (4) is arranged on the fixing frame (2), the driving assembly (4) is in transmission connection with a set of rotating shafts (15) in the two sets of pushing assemblies (3) through the transmission assembly (5), and the rotating directions of the rotating shafts (15) in the two sets of pushing assemblies (3) are opposite.
2. The robot arm gripper apparatus according to claim 1, wherein: the fixing frame (2) comprises a group of first fixing blocks (7) and two groups of second fixing blocks (8);
the two groups of second fixing blocks (8) are symmetrically and parallelly arranged at two ends of the first fixing block (7), a limiting hole (701) is formed in the center of the surface of the first fixing block (7), and the plurality of groups of first mounting holes and the clamping holes (803) are formed in the two groups of second fixing blocks (8);
the distance between two opposite groups of second fixing pipes (16) is smaller than the distance between two groups of second fixing blocks (8);
the limiting hole (701) is of a rectangular structure.
3. The robot arm gripper apparatus according to claim 2, wherein: the clamping hole (803) comprises a second through hole (8031) and a first groove (8032);
two ends of the second through hole (8031) penetrate through two end faces of the second fixing block (8) respectively, and two groups of first grooves (8032) are arranged at two side ends of the second through hole (8031) respectively.
4. The robot arm gripper apparatus according to claim 2, wherein: the rotating assembly (1) comprises a first fixing plate (9), a first fixing pipe (10), a first motor (11), a first clamping block (12) and a turntable bearing (13);
a plurality of groups of second mounting holes (901) are formed in the first fixing plate (9) in an annular array, the central axis of the first fixing pipe (10) is overlapped with the central axis of the first fixing plate (9), one end of the first fixing pipe (10) is fixedly connected with the first fixing plate (9), and a plurality of groups of third mounting holes (1001) are formed in the other end of the first fixing pipe (10) in an annular array; the inner wall of the outer ring of the turntable bearing (13) can be attached to the outer wall of the first fixed pipe (10), one end of the outer ring of the turntable bearing (13) is provided with a plurality of groups of third through holes (1301) in an annular array, and the central axis of each group of third through holes (1301) is superposed with the central axis of one group of third mounting holes (1001) respectively;
one end of the outer ring of the turntable bearing (13) can be fixedly arranged on the first fixing pipe (10) through a bolt (14), and one end of the inner ring of the turntable bearing (13) is fixedly connected with one end, far away from the second fixing block (8), of the first fixing block (7);
first motor (11) set up in first fixed pipe (10), the output shaft axis of first motor (11) coincides with the axis of slewing bearing (13), first joint piece (12) set up the one end at first motor (11) output shaft, and first joint piece (12) can the joint fix in spacing hole (701).
5. The robot arm gripper apparatus according to claim 1, wherein: still the cover is equipped with contact layer (17) on the fixed pipe of second (16), it is provided with a plurality of groups lug (21) to be annular array on contact layer (17), lug (21) set up to the arc piece.
6. The robot arm gripper apparatus according to claim 1, wherein: the driving assembly (4) comprises a second motor (35) and a third transmission wheel (23);
the second motor (35) is arranged on the first fixing block (7), the central axis of the output shaft of the second motor (35) is parallel to the central axis of the rotating shaft (15), and the third transmission wheel (23) is sleeved at one end of the output shaft of the second motor (35).
7. The robot arm gripper apparatus according to claim 6, wherein: a group of rotating shafts (15) are respectively arranged in the two groups of pushing assemblies (3), and a second driving wheel (20) is sleeved at one end of each rotating shaft;
the transmission assembly (5) comprises a fixing rod (24), a fourth transmission wheel (25), a second transmission belt (26) and a third transmission belt (27);
the fixing rod (24) is arranged at one side end of the first fixing block (7), the central axis of the fixing rod (24) is overlapped with the central axis of the output shaft of the second motor (35), and the fourth driving wheel (25) is rotatably sleeved on the fixing rod (24);
the third driving wheel (23) is in transmission connection with the second driving wheels (20) in one group of pushing assemblies (3) through a second driving belt (26), and the fourth driving wheel (25) is in transmission connection with the second driving wheels (20) in the other group of pushing assemblies (3) through a third driving belt (27).
8. The robot arm gripper apparatus according to claim 7, wherein: racks (29) are arranged at two ends of the side walls of the third transmission wheel (23) and the fourth transmission wheel (25), and the racks (29) on the third transmission wheel (23) and the fourth transmission wheel (25) are meshed with each other and are in transmission connection.
9. The robot arm gripper apparatus according to claim 1, wherein: the clamping assembly (6) comprises a second clamping block (30), a third clamping block (31) and a spring (32);
the two groups of third clamping blocks (31) are symmetrically arranged at two ends of the second clamping block (30), the second clamping block (30) is movably clamped in the second through hole (8031), the two groups of third clamping blocks (31) are respectively movably clamped in a group of first grooves (8032), and the two groups of third clamping blocks (31) are respectively and elastically connected with the side wall of the first groove (8032) through a group of springs (32);
the second clamping block (30) faces one end of the central axis of the first fixing block (7), and an inclined plane (3001) is formed in the lower surface of the second clamping block.
10. The robot arm gripper apparatus according to claim 9, wherein: be provided with iron sheet (34) on third joint piece (31), the one side relative with iron sheet (34) is provided with electro-magnet (33) in first recess (8032), distance between electro-magnet (33) and iron sheet (34) is greater than the distance on second joint piece (30) joint end to adjacent second fixed block (8) surface.
11. A clamping sleeve adapted to the clamping device for a robot arm according to any one of claims 1 to 10, wherein: the clamping sleeve comprises two groups of symmetrically arranged clamping plates, and the clamping plates comprise a second fixing plate (36), a third fixing plate (37) and a fourth clamping block (38);
the two groups of third fixing plates (37) are symmetrically and parallelly arranged at the upper end and the lower end of the second fixing plate (36), the fourth clamping blocks (38) are arranged on one surface, far away from the third fixing plates (37), of the second fixing plate (36), and the plurality of groups of fourth clamping blocks (38) are arranged on the second fixing plate (36) at equal intervals in the vertical direction; the fourth clamping block (38) is an arc-shaped block;
the fourth clamping blocks (38) can be clamped between two adjacent groups of convex blocks (21) on the clamping device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011574789.3A CN113211478A (en) | 2020-12-28 | 2020-12-28 | Clamping device and clamping sleeve for mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011574789.3A CN113211478A (en) | 2020-12-28 | 2020-12-28 | Clamping device and clamping sleeve for mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113211478A true CN113211478A (en) | 2021-08-06 |
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ID=77085914
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011574789.3A Pending CN113211478A (en) | 2020-12-28 | 2020-12-28 | Clamping device and clamping sleeve for mechanical arm |
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| Country | Link |
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| CN (1) | CN113211478A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114572707A (en) * | 2022-04-26 | 2022-06-03 | 邵鹏 | Stacking robot based on artificial intelligence and working method thereof |
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| JP2016030316A (en) * | 2014-07-29 | 2016-03-07 | 学校法人立命館 | Gripping device |
| CN207471065U (en) * | 2017-08-10 | 2018-06-08 | 凯奇集团有限公司 | A kind of support base and the amusement facility with the support base |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20100233503A1 (en) * | 2009-03-13 | 2010-09-16 | Zachman Joseph M | Panel for a storage container |
| US20140028040A1 (en) * | 2012-07-26 | 2014-01-30 | Fanuc Corporation | Taking out robot system using roller device |
| CN104097871A (en) * | 2013-04-03 | 2014-10-15 | 中国国际海运集装箱(集团)股份有限公司 | Container, arc-shaped-waved side plate therefor, side plate manufacturing equipment and side plate manufacturing method |
| JP2016030316A (en) * | 2014-07-29 | 2016-03-07 | 学校法人立命館 | Gripping device |
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| CN114572707A (en) * | 2022-04-26 | 2022-06-03 | 邵鹏 | Stacking robot based on artificial intelligence and working method thereof |
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