CN114043514B - Surrounding type clamp for power-assisted manipulator - Google Patents
Surrounding type clamp for power-assisted manipulator Download PDFInfo
- Publication number
- CN114043514B CN114043514B CN202111505207.0A CN202111505207A CN114043514B CN 114043514 B CN114043514 B CN 114043514B CN 202111505207 A CN202111505207 A CN 202111505207A CN 114043514 B CN114043514 B CN 114043514B
- Authority
- CN
- China
- Prior art keywords
- fixed
- plates
- plate
- power
- arc
- 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.)
- Active
Links
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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0038—Cylindrical gripping surfaces
-
- 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
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an encircling type clamp for a power-assisted manipulator, and relates to the technical field of mechanical clamps. Including mount pad and two staple bolt boards, mount pad lower surface symmetry is fixed with two curb plates, and the symmetry is fixed with two connecting rods between the both sides board side, and connecting rod week side cover is equipped with the sleeve, and sleeve week side symmetry is fixed with two jib, is fixed with splint between two jib one ends of homonymy, and splint one side is fixed with T type slider, and T type spout has been seted up to the staple bolt board outer wall, T type slider side and T type spout inner wall sliding fit. According to the invention, through the design of the hoop plates, the clamping plates, the T-shaped sliding blocks, the lifting blocks, the toothed plates, the gears and the arc-shaped pressing plates, the two hoop plates slide to the bottom of the cylindrical object, so that the two hoop plates only support the cylindrical object, the cylindrical object is prevented from being damaged by clamping, and meanwhile, the hydraulic rod is lowered to the top of the cylindrical object with the arc-shaped pressing plates, so that the balance of grabbing the cylindrical object is improved, and the inclination of the cylindrical object is prevented.
Description
Technical Field
The invention belongs to the technical field of mechanical clamps, and particularly relates to an encircling clamp for a power-assisted manipulator.
Background
The manipulator is a novel device developed in the mechanized and automatic production process. In the modern production process, the manipulator is widely applied to an automatic production line, the development and production of the manipulator become an emerging technology in the high technical field, and the development of the manipulator is promoted, so that the manipulator can be well combined with mechanization and automation. The power-assisted mechanical arm is power-assisted equipment for carrying or installing materials, skillfully uses the force balance principle, so that an object can move in a space in a balanced manner according to a set distance and a set azimuth, and a heavy object can be correctly placed at a set position in the space without laborious and skilled manual operation. The power-assisted manipulator needs a clamp when clamping an object.
The clamp of the existing manipulator is inconvenient to clamp a cylindrical object, and the clamping force of the clamp is easy to damage the surface of the cylindrical object.
Disclosure of Invention
The invention aims to provide an encircling clamp for a power-assisted manipulator, which solves the problems that the clamp of the existing manipulator is inconvenient to clamp a cylindrical object and the clamping force of the clamp is easy to damage the surface of the cylindrical object through the design of a hoop plate, a clamping plate, a T-shaped sliding block, a limiting spring, a lifting block, a toothed plate, a gear and an arc-shaped pressing plate.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to an encircling clamp for a power-assisted manipulator, which comprises a mounting seat and two hoop plates, wherein two side plates are symmetrically fixed on the lower surface of the mounting seat, two connecting rods are symmetrically fixed between the side surfaces of the two side plates, a sleeve is sleeved on the peripheral side surfaces of the connecting rods, two hanging rods are symmetrically fixed on the peripheral side surfaces of the sleeve, clamping plates are fixed between one ends of the hanging rods on the same side, a T-shaped sliding block is fixed on one side surface of the clamping plates, a T-shaped sliding groove is formed in the outer wall of the hoop plate, the side surfaces of the T-shaped sliding block are in sliding fit with the inner wall of the T-shaped sliding groove, a limit spring is fixed on the inner end surface of the T-shaped sliding groove, one end of the limit spring is fixedly connected with the top of the T-shaped sliding block, a cavity is formed in sliding fit with the inner wall of the T-shaped sliding block, lifting blocks are respectively fixed on the two opposite side surfaces of the lifting blocks, gears are fixed on the peripheral side surfaces of the sleeve, a hydraulic column penetrates through the inside of the cavity and is fixedly connected with the top of the lifting blocks, two side surfaces of the lifting blocks are respectively provided with the groove, and an arc-shaped groove is formed in the groove, and one side surface of the groove is fixedly connected with the two side surfaces of the clamping plates.
The invention has the following beneficial effects:
1. according to the invention, through the design of the anchor ear plates, the clamping plates, the T-shaped sliding blocks, the limiting springs, the lifting blocks, the toothed plates, the gears and the arc-shaped pressing plates, the hydraulic column drives the lifting blocks to ascend, the lifting blocks drive the gears to rotate through the toothed plates, the gears drive the hanging rods to rotate through the sleeves, the hanging rods slightly clamp cylindrical objects through the clamping plates, then the clamping plates clamp the cylindrical objects through the anchor ear plates in the ascending process, the T-shaped sliding blocks of the clamping plates relatively slide along the T-shaped sliding grooves of the anchor ear plates, so that the two anchor ear plates slide to the bottom of the cylindrical objects, the two anchor ear plates only support the cylindrical objects, the cylindrical objects are prevented from being clamped, meanwhile, the hydraulic column drives the arc-shaped pressing plates to descend to the top of the cylindrical objects, the balance of grabbing the cylindrical objects is improved, the inclination of the cylindrical objects is prevented, and the problems that the existing mechanical hand clamps are inconvenient to clamp the cylindrical objects and the clamping force of the clamps easily damages the surfaces of the cylindrical objects are avoided.
2. According to the invention, through the design of the anchor ear plates, the limiting springs and the guide sliding strips, the guide sliding strips facilitate the two anchor ear plates to slide to the bottom of the cylindrical object, and after the cylindrical object is put down, the anchor ear plates can return to the original positions under the elasticity of the limiting springs, so that the anchor ear plates are convenient to use next time.
Of course, it is not necessary for any one product to practice the invention to achieve all of the advantages set forth above at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic structural view of an encircling clamp for a power-assisted manipulator;
FIG. 2 is a schematic view of the structure of the invention in elevation;
FIG. 3 is a front elevational view of the structure of the present invention;
FIG. 4 is a side view of the structure of the present invention;
FIG. 5 is a schematic cross-sectional view of a hoop plate;
FIG. 6 is a schematic view of the structure of the inside of the mounting base and lifting block;
fig. 7 is a schematic structural view of the hoop plate.
In the drawings, the list of components represented by the various numbers is as follows:
1-mount pad, 2-staple bolt board, 101-curb plate, 102-connecting rod, 103-sleeve, 104-jib, 105-splint, 106-T slider, 107-cavity, 108-elevating block, 109-pinion rack, 110-gear, 111-hydraulic stem, 112-spacing ring, 113-recess, 114-hydraulic stem, 115-arc clamp plate, 116-otic placode, 201-T spout, 202-spacing spring.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-7, the invention relates to a surrounding type clamp for a power-assisted mechanical arm, which comprises a mounting seat 1 and two anchor ear plates 2, wherein two side plates 101 are symmetrically fixed on the lower surface of the mounting seat 1, two connecting rods 102 are symmetrically fixed between the side surfaces of the two side plates 101, a sleeve 103 is sleeved on the peripheral side surface of each connecting rod 102, two hanging rods 104 are symmetrically fixed on the peripheral side surface of each sleeve 103, a clamping plate 105 is fixed between one ends of the two hanging rods 104 on the same side, a T-shaped sliding block 106 is fixed on one side surface of each clamping plate 105, a T-shaped sliding groove 201 is arranged on the outer wall of the anchor ear plate 2, the side surface of each T-shaped sliding block 106 is in sliding fit with the inner wall of the corresponding T-shaped sliding groove 201, a limit spring 202 is fixed on the inner end surface of the corresponding T-shaped sliding groove 201, one end of the limit spring 202 is fixedly connected with the top of the corresponding T-shaped sliding block 106, a cavity 107 is arranged on the lower surface of the mounting seat 1, lifting blocks 108 are in sliding fit with lifting blocks 108, toothed plates 109 are fixed on the opposite sides of the lifting blocks 108, the gear 110 is fixed on the peripheral side surface of the sleeve 103, the peripheral side surface of the gear 110 is meshed with the side surface of the toothed plate 109, a hydraulic column 111 is arranged on the upper surface of the mounting seat 1, one end of an output rod of the hydraulic column 111 penetrates into the cavity 107 and is fixedly connected with the top of the lifting block 108, a groove 113 is formed on the lower surface of the lifting block 108, a hydraulic rod 114 is arranged on the inner top of the groove 113, one end of the hydraulic rod 114 extends to the outside of the groove 113 and is fixedly provided with an arc-shaped pressing plate 115, the hydraulic column 111 drives the lifting block 108 to ascend, the lifting block 108 rotates through the toothed plate 109 and the gear 110, the gear 110 rotates through the sleeve 103 and drives the suspender 104, the suspender 104 slightly clamps a cylindrical object through the two anchor ear plates 2 by the clamping plates 105, then the T-shaped sliding blocks 106 of the clamping plates 105 slide relatively along the T-shaped sliding grooves 201 of the anchor ear plates 2 in the process that the cylindrical object is grabbed by the clamping plates 105 under the action of external force, make two staple bolt boards 2 slide to the cylindricality object bottom, make two staple bolt boards 2 play the supporting role to the cylindricality object only, prevent that the cylindricality object from being injured by the clamp, hydraulic stem 114 brings arc clamp plate 115 simultaneously and descends to the cylindricality object top, has improved the equilibrium of snatching the cylindricality object, prevents the slope of cylindricality object.
As shown in fig. 1 and fig. 4, two limiting rings 112 are symmetrically fixed on the peripheral side surface of the connecting rod 102, and two end surfaces of the sleeve 103 are respectively in running fit with the side surfaces of the limiting rings 112, so that the sleeve 103 is prevented from sliding on the connecting rod 102, and the meshing stability of the toothed plate 109 and the gear 110 is ensured.
As shown in fig. 2-3, the arc-shaped pressing plate 115 is located above the hoop plate 2, and rubber anti-slip strips are uniformly fixed on the lower surface of the arc-shaped pressing plate 115, so that the arc-shaped pressing plate 115 and a cylindrical object are prevented from sliding, and the stability of grabbing the cylindrical object is improved.
As shown in fig. 2-3, the hoop plates 2 are arc-shaped plate structures, and the inner walls of the hoop plates 2 are uniformly and fixedly connected with guide sliding strips, so that the guide sliding strips facilitate the two hoop plates 2 to slide to the bottom of the cylindrical object.
As shown in fig. 1-2, an ear plate 116 is fixed to one side of the mounting base 1, a mounting hole is formed in one surface of the ear plate 116, and the fixture is mounted on an existing manipulator through the mounting hole of the ear plate 116 and an existing fastening bolt.
The hydraulic column 111 and the hydraulic rod 114 are electrically connected with the existing PLC controller through wires, and all power is supplied by an external power supply.
The working principle of the embodiment is as follows: during the use, install anchor clamps on current manipulator through the mounting hole and the current fastening bolt of otic placode 116, hydraulic stem 111 drives lifting block 108 and rises, lifting block 108 passes through pinion rack 109 and drives gear 110 rotation, gear 110 passes through sleeve 103 and drives jib 104 rotation, jib 104 passes through splint 105 and carries two staple bolt boards 2 to grasp the cylindricality object gently, then splint 105 snatch the in-process that the cylindricality object risen through staple bolt board 2 under the effect of manipulator, T type slider 106 of splint 105 takes place to slide relatively along the T type spout 201 of staple bolt board 2, make two staple bolt boards 2 slide to cylindricality object bottom, make two staple bolt boards 2 play the supporting role to the cylindricality object, prevent that the cylindricality object from being scratched by the clamp, simultaneously hydraulic stem 114 is carried arc clamp 115 and is descended to the cylindricality object top, the equilibrium of snatching the cylindricality object has been improved, the slope of preventing the cylindricality object, the anchor clamps of current manipulator inconvenient clamp of clamp to grasp the cylindricality object, and the problem that the clamping force of anchor clamps easily damages cylindricality object surface.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (6)
1. The encircling clamp for the power-assisted manipulator comprises a mounting seat (1) and two hoop plates (2); the method is characterized in that:
two side plates (101) are symmetrically fixed on the lower surface of the mounting seat (1), two connecting rods (102) are symmetrically fixed between the side surfaces of the side plates (101), a sleeve (103) is sleeved on the peripheral side surface of each connecting rod (102), two hanging rods (104) are symmetrically fixed on the peripheral side surface of each sleeve (103), a clamping plate (105) is fixed between one ends of the two hanging rods (104) on the same side, a T-shaped sliding block (106) is fixed on one side surface of each clamping plate (105), a T-shaped sliding groove (201) is formed in the outer wall of the hoop plate (2), and the side surfaces of the T-shaped sliding blocks (106) are in sliding fit with the inner wall of the T-shaped sliding groove (201);
a cavity (107) is formed in the lower surface of the mounting seat (1), lifting blocks (108) are slidably matched with the inner wall of the cavity (107), toothed plates (109) are fixed on two opposite side surfaces of the lifting blocks (108), gears (110) are fixed on the peripheral side surfaces of the sleeve (103), and the peripheral side surfaces of the gears (110) are meshed with the side surfaces of the toothed plates (109);
a limiting spring (202) is fixed at the inner end surface of the T-shaped chute (201), and one end of the limiting spring (202) is fixedly connected with the top of the T-shaped sliding block (106); the anchor ear plate (2) is of an arc-shaped plate structure, and the inner wall of the anchor ear plate (2) is uniformly and fixedly connected with a guide slide bar.
2. The encircling clamp for the power-assisted mechanical arm according to claim 1, wherein a hydraulic column (111) is mounted on the upper surface of the mounting seat (1), and one end of an output rod of the hydraulic column (111) penetrates into the cavity (107) and is fixedly connected with the top of the lifting block (108).
3. The encircling clamp for the power-assisted mechanical arm according to claim 1, wherein two limiting rings (112) are symmetrically fixed on the peripheral side surface of the connecting rod (102), and two end surfaces of the sleeve (103) are respectively in rotary fit with the side surfaces of the limiting rings (112).
4. The encircling clamp for the power-assisted mechanical arm according to claim 1, wherein the lower surface of the lifting block (108) is provided with a groove (113), a hydraulic rod (114) is mounted at the inner top of the groove (113), and one end of the hydraulic rod (114) extends to the outside of the groove (113) and is fixedly provided with an arc-shaped pressing plate (115).
5. The encircling clamp for the power-assisted mechanical arm, as set forth in claim 4, wherein the arc-shaped pressing plate (115) is located above the hoop plate (2), and rubber anti-slip strips are uniformly fixed on the lower surface of the arc-shaped pressing plate (115).
6. The encircling clamp for the power-assisted manipulator according to claim 1, wherein an ear plate (116) is fixed on one side surface of the mounting seat (1), and a mounting hole is formed in one surface of the ear plate (116).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111505207.0A CN114043514B (en) | 2021-12-10 | 2021-12-10 | Surrounding type clamp for power-assisted manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111505207.0A CN114043514B (en) | 2021-12-10 | 2021-12-10 | Surrounding type clamp for power-assisted manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114043514A CN114043514A (en) | 2022-02-15 |
| CN114043514B true CN114043514B (en) | 2023-07-18 |
Family
ID=80212851
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111505207.0A Active CN114043514B (en) | 2021-12-10 | 2021-12-10 | Surrounding type clamp for power-assisted manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114043514B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115214951B (en) * | 2022-07-13 | 2024-04-23 | 中华全国供销合作总社郑州棉麻工程技术设计研究所 | Cotton round mould transport die sinking device |
| CN115026854A (en) * | 2022-08-10 | 2022-09-09 | 邳州市欢乐木业有限公司 | Material conveying manipulator for plate production |
| CN115489987A (en) * | 2022-10-24 | 2022-12-20 | 江苏福吉特管业有限公司 | Pipe fitting snatchs damage prevention manipulator with anti falling structure |
| CN115871011A (en) * | 2022-12-22 | 2023-03-31 | 天津龙创恒盛实业有限公司 | Terminal clamping tool of manipulator |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6634630B2 (en) * | 1999-06-01 | 2003-10-21 | Aladdin Engineering & Manufacturing | Clamping and lifting mechanism |
| CN110216699A (en) * | 2018-03-01 | 2019-09-10 | 安徽凌坤智能科技有限公司 | A kind of arc mechanical paw |
| CN211440015U (en) * | 2019-09-04 | 2020-09-08 | 朱婷婷 | Manipulator for fruit sorting |
| CN211491580U (en) * | 2019-12-27 | 2020-09-15 | 晋江市阳田金属制品有限公司 | Material grabbing manipulator |
| CN211842064U (en) * | 2020-04-14 | 2020-11-03 | 刘洋 | Multifunctional clamping mechanical claw |
| CN111890406B (en) * | 2020-08-07 | 2021-09-24 | 江苏昱博自动化设备有限公司 | Clamping type clamp for power-assisted manipulator |
-
2021
- 2021-12-10 CN CN202111505207.0A patent/CN114043514B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN114043514A (en) | 2022-02-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114043514B (en) | Surrounding type clamp for power-assisted manipulator | |
| CN109704055A (en) | A kind of Multi-station synchronous transport robot | |
| CN211206713U (en) | Multifunctional PCB test jig | |
| CN109250628A (en) | Stone tongs is used in a kind of production of aluminium alloy | |
| CN210550676U (en) | Water pump shell checking fixture | |
| CN102969534A (en) | Device used for pressing and fixing battery by using locking clamp | |
| CN115824493A (en) | Clamp for metering test of pressure sensor | |
| CN210132428U (en) | Detection apparatus for electrical automation equipment | |
| CN211331188U (en) | Full-automatic feeding device for cold header | |
| CN219117606U (en) | Surface electroplating equipment of pipe sleeve | |
| CN209682209U (en) | A kind of robot row frame manipulator | |
| CN219060938U (en) | Hoisting and supporting device for large-span steel concrete superposed beam | |
| CN217667470U (en) | Automatic clamping device for electric welding | |
| CN111703830B (en) | Clamping and overturning assembly of cable reel transporting and loading device | |
| CN202977626U (en) | Equipment for pressurizing and fixing battery through locking clamp | |
| CN219932631U (en) | Oil level gauge convenient to install for hydraulic station | |
| CN117532245B (en) | Assembly auxiliary mechanism for processing base for efficient rocker arm | |
| CN211338627U (en) | Combined installation constant-force support and hanger | |
| CN216177991U (en) | Gap control mechanism for steel-aluminum composite tailor-welding | |
| CN217413272U (en) | Positioning device for machining iron tower structure support | |
| CN218396684U (en) | Fixture tool for welding base station shell accessories | |
| CN217264325U (en) | Supporting and hoisting tool for excavator rotary gear ring | |
| CN219546491U (en) | Hanging fixture for mounting glass curtain wall | |
| CN214547693U (en) | Single-column type high-precision oil press | |
| CN209062932U (en) | Clamping device is used in a kind of processing of carburetor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |