CN115570590B - Clamping mechanism and manipulator - Google Patents
Clamping mechanism and manipulator Download PDFInfo
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- CN115570590B CN115570590B CN202211561065.4A CN202211561065A CN115570590B CN 115570590 B CN115570590 B CN 115570590B CN 202211561065 A CN202211561065 A CN 202211561065A CN 115570590 B CN115570590 B CN 115570590B
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- wedge
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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
- B25J15/08—Gripping heads and other end effectors having finger members
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Abstract
The invention relates to the technical field of automatic clamping and grabbing, in particular to a clamping mechanism and a manipulator. The clamping mechanism provided by the invention is relatively simple in structure, has a self-locking characteristic and is reliable in clamping. The manipulator comprising the clamping mechanism provided by the invention can complete axial lifting and reliable clamping of a workpiece by only one power through the ingenious combination of the clamping mechanism and the jacking mechanism, can perform sequential control on lifting and clamping actions, and can be effectively used for occasions where the workpiece needs to be lifted by a certain height and then clamped and taken out or put down after being loaded on a support; compared with the existing structure, the manipulator provided by the invention has the advantages of simple structure, strong practicability, high reliability and less required power elements.
Description
Technical Field
The invention relates to the technical field of automatic clamping and grabbing, in particular to a clamping mechanism and a manipulator.
Background
In some automated gripping applications, the actions of the robot include the movement of gripping the workpiece and the movement of driving the workpiece to move axially. A common solution to achieve both types of motion is to have one power plant for each motion, requiring multiple power plants to meet the specified functional requirements. And wherein the fixture general structure of manipulator is comparatively complicated, the reliability is poor, and manipulator overall structure is also more complicated thereupon.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a gripping mechanism and a robot.
The purpose of the invention is realized by the following technical scheme:
a clamping mechanism comprises a base plate, a wedge-shaped cam, a wedge-shaped push rod, a connecting rod A, a roller A, a connecting pin shaft and clamping jaws, wherein the back side face of the base plate faces a workpiece, the front side face of the base plate faces away from the workpiece, the left side and the right side of the base plate are respectively hinged with a plurality of clamping jaws, one end of each clamping jaw is located on the back side of the base plate and is provided with a clamping part, the other end of each clamping jaw is located on the front side of the base plate and is provided with a waist-shaped groove, and one connecting pin shaft penetrates through each waist-shaped groove;
the wedge-shaped cam is divided into a driving piece connecting part and a wedge-shaped push rod driving part which are connected together, the driving piece connecting part is used for connecting a driving piece, the driving piece drives the wedge-shaped cam to integrally move up and down, the wedge-shaped push rod driving part is provided with roller guide grooves A which are symmetrically arranged left and right, and the left side surface and the right side surface of the wedge-shaped push rod driving part are respectively provided with a wedge surface for pushing the wedge-shaped push rod;
the left side and the right side of the wedge-shaped cam are respectively provided with one wedge-shaped push rod, the wedge-shaped push rod on each side is respectively connected with the connecting pin shafts positioned on the same side, one end of one connecting rod A is fixedly connected to the wedge-shaped push rod on each side, the other end of each connecting rod A is respectively provided with the roller A, and the roller A on each side is positioned in one roller guide groove A on the same side;
when the wedge-shaped cam moves downwards, the wedge-shaped push rod is pushed to transversely slide outwards through wedge-shaped surfaces on the left side and the right side of the wedge-shaped push rod driving part, and the roller A rolls in the roller guide groove A; when the wedge cam 202 moves upwards, the wedge push rod is pulled inwards through the connecting rod A and the roller A; when the wedge-shaped push rod slides transversely to drive the connecting pin shaft to move transversely, the clamping jaw rotates around the hinge point to clamp or release a workpiece.
And a transverse guide rail is arranged on the front side surface of the base plate, and a sliding groove in sliding connection with the transverse guide rail is respectively arranged on each wedge-shaped push rod.
The wedge cam is provided with a longitudinal guide rail, and the base plate is provided with a guide groove block which is connected with the longitudinal guide rail in a sliding manner.
A manipulator comprises the clamping mechanism, a rack and a jacking mechanism driven by the driving piece at the same time, wherein a shell of the driving piece is installed on the rack, and a driving end of the driving piece is connected with the connecting part of the driving piece.
The lower part of the rack extends to form a connecting end of a manipulator driving device.
And a tray used for blocking the workpiece from the front side is arranged on the rack.
The jacking mechanism comprises two groups of driving cranks, idler wheels B, connecting rods B, jacking rollers and driven cranks which are arranged in a matched mode, the two groups of driving cranks, the idler wheels B, the connecting rods B, the jacking rollers and the driven cranks which are arranged in a matched mode are respectively positioned on the left side and the right side of the wedge-shaped cam, and idler wheel guide grooves B are respectively formed in the left side surface and the right side surface of a connecting part of a driving piece of the wedge-shaped cam;
the driving cranks of each group are hinged to the base plate, the driven cranks of each group are hinged to the rack, one end of each driving crank of each group is provided with the same group of idler wheels B, each idler wheel B of each group is positioned in one idler wheel guide groove B on the same side, one end of each connecting rod B of each group is hinged to the other end of each driving crank of the same group, the other end of each connecting rod B of each group is hinged to one end of each driven crank of the same group, and the other end of each driven crank of each group extends to the rear side of the base plate and is provided with the jacking rollers of the same group;
the wedge cam integrally moves up and down, the roller B is driven to roll along the inner side face of the roller guide groove B through the roller guide groove B, the driving cranks on the two sides are pulled to swing, the driven cranks are driven to swing through the connecting rod B, and therefore the jacking roller moves up and down and a workpiece is put down or lifted.
The axial center line of each jacking roller is perpendicular to the length direction of the rack.
Each roller guide groove B comprises a straight line section and an arc section which are communicated, and the straight line section is located on the upper side of the arc section.
The length of the roller guide groove B is smaller than that of the roller guide groove A.
The invention has the advantages and positive effects that:
1. the clamping mechanism provided by the invention is relatively simple in structure, has a self-locking characteristic and is reliable in clamping.
2. According to the manipulator comprising the clamping mechanism, the clamping mechanism is ingeniously combined with the jacking mechanism, axial lifting and reliable clamping of a workpiece can be completed by only one power, sequential control can be performed on lifting and clamping actions, and the manipulator can be effectively used in occasions where the workpiece needs to be lifted by a certain height and then clamped and taken out, or the workpiece is placed on a support and then put down; compared with the existing structure, the manipulator provided by the invention has the advantages of simple structure, strong practicability, high reliability and less required power elements.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is an enlarged view of FIG. 1 at A;
FIG. 3 is an enlarged view of FIG. 1 at B;
FIG. 4 is an enlarged view at C of FIG. 1;
FIG. 5 is a simplified schematic diagram of one embodiment of the present invention;
FIG. 6 is a second simplified schematic diagram of the present invention;
fig. 7 is a third simplified structural diagram of the present invention.
In the figure: 1 is a frame, 101 is a connecting end of a manipulator driving device;
201 is a base plate, 202 is a wedge-shaped cam, 20201 is a driving part of a driving part, 20202 is a wedge-shaped push rod driving part, 20203 is a roller guide groove A, 20204 is a roller guide groove B, 203 is a wedge-shaped push rod, 204 is a connecting rod A, 205 is a roller A, 206 is a connecting pin shaft, 207 is a transverse guide rail, 208 is a driving part, 209 is a driving part support, 210 is a longitudinal guide rail, 211 is a clamping jaw, 21101 is a waist-shaped groove and 212 is a guide groove block;
301 is a driving crank, 302 is a roller B, 303 is a connecting rod B, 304 is a jacking roller, and 305 is a driven crank;
4 is a bracket;
001 is a workpiece.
Detailed Description
The invention is described in further detail below with reference to figures 1-7.
A clamping mechanism, as shown in fig. 1-7, in this embodiment, comprises a substrate 201, a wedge cam 202, a wedge push rod 203, a connecting rod A204, a roller A205, a connecting pin shaft 206 and clamping jaws 211, wherein a rear side surface of the substrate 201 faces a workpiece 001, a front side surface faces away from the workpiece 001, the left side and the right side of the substrate 201 are respectively hinged with a plurality of clamping jaws 211, one end of each clamping jaw 211 is located at the rear side of the substrate 201 and is provided with a clamping portion for clamping the workpiece 001, the other end of each clamping jaw 211 is located at the front side of the substrate 201 and is provided with a waist-shaped groove 21101, a connecting pin shaft 206 passes through each waist-shaped groove 21101, and the connecting pin shaft 206 can slide in the waist-shaped groove 21101. In this embodiment, the positions of the left and right jaws 211 are symmetrical to each other.
The wedge cam 202 is divided into a driving piece connecting portion 20201 and a wedge push rod driving portion 20202 which are connected together, the driving piece connecting portion 20201 is used for connecting a driving piece 208, the driving piece 208 drives the wedge cam 202 to integrally move up and down, the wedge push rod driving portion 20202 is provided with roller guide grooves A20203 which are symmetrically arranged left and right, and the left side and the right side of the wedge push rod driving portion 20202 are respectively provided with a wedge surface for pushing the wedge push rod 203.
The left side and the right side of the wedge-shaped cam 202 are respectively provided with a wedge-shaped push rod 203, the wedge-shaped push rod 203 on each side is respectively connected with each connecting pin shaft 206 on the same side, one end of a connecting rod A204 is respectively fixedly connected to the wedge-shaped push rod 203 on each side, the other end of each connecting rod A204 is respectively provided with a roller A205, and the roller A205 on each side is respectively positioned in a roller guide groove A20203 on the same side.
In this embodiment, when the wedge cam 202 moves downward, the wedge surfaces on the left and right sides of the wedge push rod driving portion 20202 push the wedge push rod 203 to slide outward and laterally, and the roller a 205 rolls in the roller guide groove a 20203; when the wedge cam 202 moves upwards, the wedge push rod 203 is pulled inwards through the connecting rod A204 and the roller A205; when the wedge-shaped push rod 203 slides transversely to drive the connecting pin shaft 206 to move transversely, the clamping jaw 211 rotates around the hinge point to clamp or release the workpiece 001. In this embodiment, when the wedge cam 202 moves to the lowest position, that is, the clamping mechanism is in the clamping state, the contact surface between the wedge cam 202 and the wedge push rod 203 becomes a plane surface and a plane surface, and at this time, the clamping mechanism can be in the self-locking state, that is, the outward force of the clamping side of the clamping jaw 211 cannot open the clamping mechanism, and the clamping mechanism can only be opened by moving the driving member 208 upward.
Specifically, in the present embodiment, the front side of the base plate 201 is provided with a transverse guide rail 207, and each wedge-shaped push rod 203 is provided with a sliding groove slidably connected to the transverse guide rail 207, so that the wedge-shaped push rods 203 can stably move transversely. The wedge cam 202 is provided with a longitudinal guide rail 210, and the base plate 201 is provided with a guide groove block 212 which is in sliding connection with the longitudinal guide rail 210, so that the wedge cam 202 can stably move up and down.
A manipulator, as shown in fig. 1-7, in this embodiment, includes the aforementioned clamping mechanism, and further includes a frame 1 and a jacking mechanism driven by a driving member 208. In the embodiment, the upper part of the frame 1 is a frame structure, and a mounting and supporting structure is provided for each mechanism and component. In this embodiment, the driving member 208 is a commercially available electric push rod, and is controlled by an external controller. The shell of the driving piece 208 is mounted on the frame 1 through a driving piece support 209, and the driving end of the driving piece 208 is connected with a driving piece connecting part 20201 through a pin shaft. The rack 1 is provided with a tray 4 for blocking the workpiece 001 from the front side, and the workpiece 001 can be fixed by matching with the clamping jaw 211. The lower part of the rack 1 extends with a mechanical arm driving device connecting end 101, the mechanical arm driving device connecting end 101 is used for being connected with an external mechanical arm driving device, and the arrangement and the connecting structure of the mechanical arm driving device adopt the prior art. In the embodiment, the manipulator driving device drives the manipulator 90 of the present invention to rotate, and the manipulator can be rotated to a vertical state and a horizontal state by the manipulator driving device, respectively. The manipulator can be used for taking out or putting in a workpiece 001 stored in a certain station, the bottom of the workpiece 001 in the station is provided with the support, and in order to avoid interference, the workpiece 001 needs to be lifted to a certain height and then clamped and taken out, or the workpiece 001 is put on the support and then put down.
Specifically, the jacking mechanism in this embodiment includes two sets of driving cranks 301, rollers B302, a connecting rod B303, a jacking roller 304, and driven cranks 305 that are disposed in a matching manner, the two sets of driving cranks 301, the rollers B302, the connecting rod B303, the jacking roller 304, and the driven cranks 305 that are disposed in a matching manner are respectively located on the left and right sides of the wedge cam 202, and roller guide grooves B20204 are respectively formed on the left and right sides of the driving member connecting portion 20201 of the wedge cam 202.
The driving crank 301 of each group is hinged to the base plate 201, the driven crank 305 of each group is hinged to the rack 1, one end of the driving crank 301 of each group is provided with a roller B302 of the same group, the roller B302 of each group is respectively positioned in a roller guide groove B20204 on the same side, one end of the connecting rod B303 of each group is hinged to the other end of the driving crank 301 of the same group, the other end of the connecting rod B303 of each group is hinged to one end of the driven crank 305 of the same group, and the other end of the driven crank 305 of each group extends to the rear side of the base plate 201 and is provided with a jacking roller 304 of the same group.
The wedge cam 202 moves up and down integrally, the roller B302 is driven to roll along the inner side surface of the roller guide groove B20204 through the roller guide groove B20204, the driving cranks 301 on the two sides are pulled to swing, the driven cranks 305 are driven to swing through the connecting rods B303, and then the jacking roller 304 moves up and down and the workpiece 001 is put down or lifted up. The axial center line of each jacking roller 304 is perpendicular to the length direction of the frame 1, so that the workpiece 001 can be stably put down or lifted. In the present embodiment, the driving crank 301, the connecting rod B303, the driven crank 305, and the frame 1 constitute a double crank mechanism. When the wedge cam 202 moves downwards, the driving crank 301 is driven to rotate clockwise, the double-crank mechanism acts, the jacking roller 304 lifts upwards to generate a workpiece 001 lifting action, and the workpiece 001 is put down when sliding downwards. The power of the jacking mechanism and the power of the clamping mechanism are both provided by the driving part 208, namely, the clamping and lifting of the workpiece 001 are realized by one power device.
Specifically, in this embodiment, each roller guide groove B20204 includes a straight line segment and a circular arc segment that are communicated with each other, and the straight line segment is located on the upper side of the circular arc segment; the length of the roller guide groove B20204 is smaller than the length of the roller guide groove a 20203. Through the arrangement of the roller guide groove B20204 divided into a straight line segment and an arc segment, the time sequence control of lifting and clamping actions can be realized, namely the lifting action is finished before the clamping action is finished, and the workpiece 001 and the clamping jaw 211 are prevented from sliding relatively to damage the surface of the workpiece 001 in the clamping process.
The working principle is as follows:
before the workpiece 001 is taken out, the clamping mechanism is in an open state, the whole manipulator is in a horizontal state, after the manipulator is turned to a vertical state, the driving piece 208 acts to complete the actions of lifting the workpiece 001 and clamping the workpiece 001 in sequence, the manipulator is turned to the horizontal state, the clamping mechanism is opened, and the workpiece 001 is taken out; the loading and unloading of the workpiece 001 are in a reciprocal process.
Claims (10)
1. A fixture, its characterized in that: the clamping device comprises a base plate (201), a wedge-shaped cam (202), a wedge-shaped push rod (203), a connecting rod A (204), a roller A (205), connecting pin shafts (206) and clamping jaws (211), wherein the rear side face of the base plate (201) faces towards a workpiece (001), the front side face of the base plate faces away from the workpiece (001), the left side and the right side of the base plate (201) are respectively hinged with a plurality of clamping jaws (211), one end of each clamping jaw (211) is located on the rear side of the base plate (201) and is provided with a clamping part, the other end of each clamping jaw (211) is located on the front side of the base plate (201) and is provided with a waist-shaped groove (21101), and one connecting pin shaft (206) penetrates through each waist-shaped groove (21101);
the wedge-shaped cam (202) is divided into a driving piece connecting part (20201) and a wedge-shaped push rod driving part (20202) which are connected together, the driving piece connecting part (20201) is used for connecting a driving piece (208), the driving piece (208) drives the wedge-shaped cam (202) to integrally move up and down, the wedge-shaped push rod driving part (20202) is provided with roller guide grooves A (20203) which are symmetrically arranged left and right, and the left side surface and the right side surface of the wedge-shaped push rod driving part (20202) are respectively provided with a wedge surface for pushing the wedge-shaped push rod (203);
the left side and the right side of the wedge-shaped cam (202) are respectively provided with one wedge-shaped push rod (203), the wedge-shaped push rod (203) on each side is respectively connected with the connecting pin shafts (206) which are positioned on the same side, the wedge-shaped push rod (203) on each side is respectively fixedly connected with one end of one connecting rod A (204), the other end of each connecting rod A (204) is respectively provided with the roller A (205), and the roller A (205) on each side is respectively positioned in one roller guide groove A (20203) on the same side;
when the wedge-shaped cam (202) moves downwards, the wedge-shaped push rod (203) is pushed to slide outwards and transversely through wedge-shaped surfaces on the left side and the right side of the wedge-shaped push rod driving part (20202), and the roller A (205) rolls in the roller guide groove A (20203); when the wedge-shaped cam 202 moves upwards, the wedge-shaped push rod (203) is pulled inwards through the connecting rod A (204) and the roller A (205); when the wedge-shaped push rod (203) slides transversely to drive the connecting pin shaft (206) to move transversely, the clamping jaw (211) rotates around the hinge point to clamp or release the workpiece (001).
2. A clamping mechanism according to claim 1, wherein: the front side surface of the base plate (201) is provided with a transverse guide rail (207), and each wedge-shaped push rod (203) is provided with a sliding groove which is in sliding connection with the transverse guide rail (207).
3. A clamping mechanism according to claim 1, wherein: the wedge cam (202) is provided with a longitudinal guide rail (210), and the base plate (201) is provided with a guide groove block (212) which is in sliding connection with the longitudinal guide rail (210).
4. A manipulator comprising a gripping mechanism according to any of claims 1 to 3, characterized in that: the lifting mechanism is characterized by further comprising a rack (1) and a lifting mechanism driven by the driving piece (208) at the same time, the shell of the driving piece (208) is installed on the rack (1), and the driving end of the driving piece (208) is connected with the driving piece connecting portion (20201).
5. A manipulator according to claim 4, wherein: and a connecting end (101) of a manipulator driving device extends from the lower part of the rack (1).
6. A manipulator according to claim 4, wherein: the rack (1) is provided with a tray (4) used for blocking the workpiece (001) from the front side.
7. A manipulator according to claim 4, wherein: the jacking mechanism comprises two groups of driving cranks (301), rollers B (302), connecting rods B (303), jacking rollers (304) and driven cranks (305) which are arranged in a matched mode, the two groups of driving cranks (301), the rollers B (302), the connecting rods B (303), the jacking rollers (304) and the driven cranks (305) which are arranged in a matched mode are respectively positioned on the left side and the right side of the wedge-shaped cam (202), and roller guide grooves B (20204) are respectively formed in the left side and the right side of a driving piece connecting portion (20201) of the wedge-shaped cam (202);
the driving cranks (301) of each group are hinged to the base plate (201), the driven cranks (305) of each group are hinged to the rack (1), the rollers B (302) of the same group are arranged at one end of each group of driving cranks (301), the rollers B (302) of each group are respectively positioned in one roller guide groove B (20204) on the same side, one end of the connecting rod B (303) of each group is hinged to the other end of the driving cranks (301) of the same group, the other end of the connecting rod B (303) of each group is hinged to one end of the driven cranks (305) of the same group, and the other end of the driven cranks (305) of each group extends to the rear side of the base plate (201) and is provided with the jacking rollers (304) of the same group;
the wedge-shaped cam (202) integrally moves up and down, the roller B (302) is driven to roll along the inner side face of the roller guide groove B (20204) through the roller guide groove B (20204), the driving cranks (301) on two sides are pulled to swing, the driven cranks (305) are driven to swing through the connecting rod B (303), and then the jacking roller (304) moves up and down and a workpiece (001) is put down or lifted up.
8. A manipulator according to claim 7, wherein: the axial center line of each jacking roller (304) is perpendicular to the length direction of the frame (1).
9. A manipulator according to claim 7, wherein: each roller guide groove B (20204) comprises a straight line section and an arc section which are communicated, and the straight line section is located on the upper side of the arc section.
10. A manipulator according to claim 7, wherein: the length of the roller guide groove B (20204) is smaller than the length of the roller guide groove a (20203).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211561065.4A CN115570590B (en) | 2022-12-07 | 2022-12-07 | Clamping mechanism and manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211561065.4A CN115570590B (en) | 2022-12-07 | 2022-12-07 | Clamping mechanism and manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115570590A CN115570590A (en) | 2023-01-06 |
| CN115570590B true CN115570590B (en) | 2023-02-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211561065.4A Active CN115570590B (en) | 2022-12-07 | 2022-12-07 | Clamping mechanism and manipulator |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08174463A (en) * | 1994-12-28 | 1996-07-09 | Sankyo Seisakusho:Kk | Mechanical hand |
| EP1415773A1 (en) * | 1996-10-07 | 2004-05-06 | PHD, Inc. | Gripper |
| JP2005153123A (en) * | 2003-11-28 | 2005-06-16 | Kinugawa Rubber Ind Co Ltd | Gripper and work carrying device using the gripper |
| JP2009215014A (en) * | 2008-03-11 | 2009-09-24 | Ishikame Kogyo:Kk | Lifting tool pressed to inner circumference surface of annular member |
| CN104002308A (en) * | 2014-05-14 | 2014-08-27 | 上海优爱宝机器人技术有限公司 | Clamping device |
| CN104669240A (en) * | 2013-11-30 | 2015-06-03 | 深圳富泰宏精密工业有限公司 | Clamping mechanism |
| CN109333572A (en) * | 2018-10-25 | 2019-02-15 | 台州市良曜成套设备有限公司 | A kind of manipulator |
| CN112847419A (en) * | 2021-01-08 | 2021-05-28 | 苏州瑞丰达工业科技有限公司 | Clamping jaw opening and loading device |
-
2022
- 2022-12-07 CN CN202211561065.4A patent/CN115570590B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08174463A (en) * | 1994-12-28 | 1996-07-09 | Sankyo Seisakusho:Kk | Mechanical hand |
| EP1415773A1 (en) * | 1996-10-07 | 2004-05-06 | PHD, Inc. | Gripper |
| JP2005153123A (en) * | 2003-11-28 | 2005-06-16 | Kinugawa Rubber Ind Co Ltd | Gripper and work carrying device using the gripper |
| JP2009215014A (en) * | 2008-03-11 | 2009-09-24 | Ishikame Kogyo:Kk | Lifting tool pressed to inner circumference surface of annular member |
| CN104669240A (en) * | 2013-11-30 | 2015-06-03 | 深圳富泰宏精密工业有限公司 | Clamping mechanism |
| CN104002308A (en) * | 2014-05-14 | 2014-08-27 | 上海优爱宝机器人技术有限公司 | Clamping device |
| CN109333572A (en) * | 2018-10-25 | 2019-02-15 | 台州市良曜成套设备有限公司 | A kind of manipulator |
| CN112847419A (en) * | 2021-01-08 | 2021-05-28 | 苏州瑞丰达工业科技有限公司 | Clamping jaw opening and loading device |
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| Publication number | Publication date |
|---|---|
| CN115570590A (en) | 2023-01-06 |
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