CN204505243U - Clip claw mechanism - Google Patents

Abstract

The utility model relates to a jaw mechanism, comprising a jaw base plate with an inner surface and an outer surface and a jaw cylinder fixed on the outer surface of the jaw base plate, the jaw cylinder is provided with at least one jaw, the A clamping cylinder is provided on the outer surface of the clamping jaw base plate on one side of the clamping jaw cylinder, and the clamping cylinder drives a clamping block, and the clamping block is located outside the clamping jaw cylinder. The utility model adopts the clamping block driven by the clamping cylinder to add a clamping force under the crankshaft clamped by the jaw cylinder, so that the crankshaft is not easy to move axially at the clamping position and the position is stable during the clamping operation process. Avoid dropping it during transportation or installation.

Description

Gripper Mechanism

technical field

The utility model relates to the technical field of robots, in particular to a claw mechanism capable of grasping more reliably.

Background technique

Grabbing is a common function of the manipulator system in industrial robots. It is generally completed by the clamping mechanism located at the end of the manipulator and the action of the manipulator. In some production lines, parts need to be picked from conveyor belts or tooling, and then assembled into mating parts. In the prior art, the gripping of parts is usually achieved by using a jaw cylinder with multiple jaws. For example, Chinese patent CN203510244U discloses a clamp of a cylinder liner processing robot hand-assisted loading and unloading mechanism, which uses a clamp of the same structure. claw cylinder. However, in a crankshaft assembly process, the jaw cylinder is required to be small in size, so the clamping force of the jaws is limited, and poor grasping may occur, so that the position of the grasped object is not accurate when placed, and it is easy to fall, resulting in assembly failure or even parts. damaged.

Therefore, it is necessary to provide a new manipulator jaw mechanism to solve the above problems.

Utility model content

The main purpose of the utility model is to provide a more reliable gripper mechanism.

The utility model achieves the above object through the following technical scheme: a jaw mechanism, including a jaw base plate with an inner surface and an outer surface and a jaw cylinder fixed on the outer surface of the jaw base plate, the jaw cylinder is provided with For at least one clamping jaw, a clamping cylinder is provided on the outer surface of the clamping jaw base plate on one side of the clamping jaw cylinder, and the clamping cylinder drives a clamping block, and the clamping block is located outside the clamping jaw cylinder.

Specifically, several jaws are evenly distributed around the output shaft of the jaw cylinder.

Specifically, the clamping cylinder and the clamping block are connected through a clamping slide block, and the clamping slide block includes a propulsion part for fixing the clamping block and a A guiding part extending from one side of the pressing cylinder, the outer surface of the pressing cylinder is provided with a guiding ridge for restricting the movement of the guiding part along the driving direction.

Further, the one clamping jaw is located on one side of the clamping cylinder, and an avoidance groove for avoiding the clamping jaw is opened inside the pushing part.

Specifically, a V-shaped groove is provided at the front of the clamping block.

Specifically, one end of the jaw base plate is provided with a protrusion having a shaft hole.

Further, there are two coaxially symmetrical protrusions.

By adopting the above-mentioned technical solution, the beneficial effect of the technical solution of the utility model is: the clamping block driven by the clamping cylinder is used to add a clamping force under the crankshaft clamped by the clamping jaw cylinder, so that the crankshaft is not easy to be axially clamped at the clamping position. The position is stable during the movement and clamping operation, preventing it from falling during transportation or placement.

Description of drawings

Fig. 1 is the three-dimensional view of jaw mechanism;

Fig. 2 is a front view of the jaw mechanism in the state of the jaw base plate turned outward;

Fig. 3 is a front view of the gripper mechanism in the retracted state of the gripper substrate;

Fig. 4 is the bottom view of the jaw mechanism of the present utility model;

Fig. 5 is the front view of cam block;

Figure 6 is a perspective view of the shaft seat;

Fig. 7 is a perspective view of the top-tightening slider.

The numbers in the figure indicate:

11-connection block, 12-base plate, 121-first installation surface, 122-second installation surface, 131-overturn cylinder, 132-main shaft, 133-push block, 134-cam, 135-guide rod, 14-rotary shaft seat , 141-shaft threading platform, 142-limiting platform, 15-guide block, 16-cylinder seat;

21-jaw base plate, 211-inner side, 212-outer side, 213-protrusion, 22-rotating shaft, 23-cam plate, 231-chute, 2311-straight line section, 2312-curve section, 24-screw trimmer ;

31-location block, 32-buffer block;

4-Jaw Mechanism, 41-Jaw Cylinder, 411-Gripper, 42-Tightening Cylinder, 421-Guide Ridge, 43-Top Tightening Block, 431-V-shaped Groove, 44-Top Tightening Slider, 441- Guide part, 442-propulsion part, 4421-avoidance groove;

5 - Crankshaft.

Detailed ways

Below in conjunction with specific embodiment the utility model is described in further detail.

As shown in Figures 1 to 3, a jaw mechanism of the present invention is used at the end of the manipulator, which includes a connecting block 11, a base plate 12, a turning cylinder 131, a rotating shaft seat 14, a jaw base plate 21, and a cam plate 23 And the jaw mechanism 4, the upper part of the connecting block 11 is fixed to the manipulator, the lower part of the connecting block 11 is fixed to the first mounting surface 121 of the substrate 12, the turning cylinder 131 is fixed to the first mounting surface 121 and is located on the side of the connecting block 11, and the rotating shaft seat 14 is fixed on the side of the second mounting surface 121 of the base plate 12 close to the turning cylinder 13, the jaw base plate 21 is pivotally connected to the shaft seat 14 through the rotating shaft 22, the cam plate 23 is fixed on the inner surface 211 of the jaw base plate 21, and the clamping mechanism 4. It is arranged on the outer surface 212 of the jaw base plate 21. The turning cylinder 131 has a main shaft 132. The end of the main shaft 132 is provided with a push block 133. One side of the push block 133 is fixed with a cam 134 for rotation. The cam plate 23 is provided with a slide for the cam 134 Chute 231. Since the cam 134 can only reciprocate in the direction of the main shaft 132 under the drive of the overturning cylinder 131, the cam plate 23 can only follow the jaw base plate 21 to perform valgus and adduction movements around the rotating shaft 22, and the cam 134 can only be limited to slide Sliding in the groove 231, so when the cam 23 reciprocates, the cam plate 23 can only cooperate with the movement of the cam 23 by adjusting its own flip angle, so this mechanism can realize the conversion of the linear drive action of the flip cylinder 13 into a flip action Purpose. The sliding resistance of the cam 134 in the chute 231 is small, and the overturning action is smooth, and the main shaft 132 will not be rigidly deflected when the jaw base 21 is turned over, so that the main shaft 132 is not easy to be damaged.

As shown in Figures 1 to 3, the overturning cylinder 131 is fixed on the base plate 12 by the cylinder base 16, the base plate 12 on one side of the cylinder base 16 is provided with a guide block 15, and the side of the guide block 15 facing the cylinder base 16 is provided with a guide. Groove (not marked), the push block 133 is connected with the I-shaped guide rod 135 parallel to the main shaft 131, and the guide groove limits the guide rod 133 to move linearly along the main shaft 131 between the cylinder block 16 and the guide block 15. Due to the limited strength of the main shaft 132 itself, a radial offset may occur when the push block 133 is driven, so that the turning cylinder 131 and the main shaft 132 are easily worn and the service life is shortened; The direction of the main shaft 131 moves, which reduces wear and improves the service life of the mechanism.

As shown in FIG. 5 , the chute 231 includes a straight line section 2311 and a curved line section 2312 with smooth transition. When the turning cylinder 13 main shaft 131 stretched out, the cam 134 moved in the straight line section 2311, and the clamping jaw base plate 21 turned outward to the vertical position for clamping the crankshaft 5. Because the straight line section 2311 is parallel to the front of the clamping jaw base plate 21, the cam 134 can ensure that the clamping jaw base plate 21 is parallel to the axis of the main shaft 132 within the stroke of the straight line segment 2311, so when the clamping jaw base plate 21 is in the vertical position, the clamping mechanism 24 can be accurately Clamp the horizontal crankshaft 5.

As shown in FIG. 2 and FIG. 3 , a positioning block 31 is provided on the second mounting surface 122 corresponding to the retracted position of the cam plate 23 , and a buffer block 32 is provided at the lower part of the positioning block 31 . When the cam plate 23 drives the jaw base plate 21 to retract, the cam plate 23 will be blocked by the positioning block 31 and reach the end of the retraction stroke, which can limit the position of the clamping mechanism 24 retracting and staying just to make the axis of the crankshaft 5 vertical position, the accuracy of the adduction angle is improved; the buffer block 32 plays the role of weakening the impact force between the cam plate 23 and the positioning block 31, and prolongs the service life of the mechanism.

As shown in Fig. 2, Fig. 3 and Fig. 6, the rotating shaft seat 14 includes a shaft threading platform 141 protruding from the middle, and concave limiting platforms 141 are provided on both sides of the shaft threading table 141, and the jaw base plate 21 is close to the rotating shaft 22. A pair of ear-shaped protrusions 213 are provided at one end of the upper end, and the protrusions 213 abut against the limiting platform 141 when the clamping jaw base plate 21 is turned outward to the limit. When the jaw base plate 21 is assembled on the rotating shaft seat 14, the shaft threading table 141 is located in the middle of the two protrusions 213 and is connected by the rotating shaft 22. The protrusion 213 limits that the shaft threading table 141 can only rotate around the rotating shaft 22, but cannot Move along the axis, so that the precision of the clamping mechanism 4 can be improved, and the crankshaft 5 cannot be clamped due to vibration due to poor connection. If there is no effect of the protrusion 213 and the stopper 141, when the cam 134 drives the cam plate 23, the jaw base plate 21 has the inertia of clockwise rotation, if the angle of rotation of the jaw base plate 21 is too large, the chute on the cam plate 23 will 231 will exert a lateral force on the main shaft 132, push block 133, and cam 134 as a whole, aggravate the wear of the main shaft 132, and cause the equipment to be stuck; Rotate clockwise, and finally the protrusion 213 near the end of the rotating shaft 22 hits the limit table 141 and reaches the extreme position of the jaw base plate 21 everted, so as to prevent the jaw base plate 21 from excessively everted and cause the cam plate 23 to have an impact on the main shaft 132. The service life of parts is guaranteed.

As shown in FIGS. 1 to 3 , the protrusion 213 is also pierced with a screw trimmer 25 . The distance between the protrusion 213 and the limit table 141 determines the angle of rotation of the jaw base plate 21. If the precision of the parts is not enough or the distance caused by wear does not meet the requirements of the angle of rotation of the jaw base plate 21, it needs to be adjusted by the screw trimmer 25, the screw The depth of the trimmer 25 penetrating into the protrusion 213 can determine the distance between the protrusion 213 and the limit platform 141, so that it can be ensured that the valgus limit position of the clamping jaw base plate 21 can satisfy the actual situation that the clamping jaw mechanism 4 clamps the crankshaft 5. location requirements.

As shown in FIG. 4 , the jaw mechanism 4 includes a jaw cylinder 41 fixed on the outer surface 212 of the jaw base plate 21 , a clamping cylinder 42 fixed on one side of the clamping jaw cylinder 41 , and a clamping cylinder 42 linearly driven by the clamping cylinder 43 . Block 43, the clamping jaw cylinder 41 has 3 clamping jaws 411 evenly distributed in the form of characters. The crankshaft 5 is clamped by three jaws 41 controlled by the jaw cylinder 41, and then the clamping cylinder 42 drives the clamping block 43 to withstand the crankshaft 5 from the bottom of the jaws 41, and cooperates with the jaws 411 to produce more crankshaft 5. Large frictional force makes it difficult for the crankshaft 5 to fall between the jaws 411, and the bottom of the clamping block 43 can determine the height of the clamping part of the crankshaft 5.

As shown in Fig. 1, Fig. 4 and Fig. 7, the tightening cylinder 42 and the tightening block 43 are connected by a tightening slider 44, which is an L-shaped structure and includes mutually perpendicular guides 441 and propulsion part 442, the outer surface of the clamping cylinder 42 is provided with a guide ridge 421, the guide ridge 421 limits the position of the guide part 441 so that the clamping slider 42 can only move along a straight line, and the thrust part 442 is provided with a claw 411 for avoiding The avoidance groove 4421 of the position, so that the action precision of the clamping cylinder 42 is relatively high, and the structure is compact, and the space occupied is small.

As shown in Figure 4, the side of the jacking block 43 contacting the crankshaft 5 is set as a V-shaped groove, and the axis of the crankshaft 5 can be kept in the correct relative position while the jacking is tight, so as to prevent the relative position of the crankshaft 5 from being out of position when the whole mechanism is running. Assembly failure due to excessive changes.

What have been described above are only some embodiments of the present utility model. For those skilled in the art, without departing from the inventive concept of the present utility model, some modifications and improvements can be made, and these all belong to the protection scope of the present utility model.

Claims (7)

1. a clip claw mechanism, comprise the jaw substrate with medial surface and lateral surface and the jaw cylinder being fixed on described jaw substrate lateral surface, described jaw cylinder is provided with at least one jaw, it is characterized in that: the jaw substrate lateral surface of described jaw cylinder side is provided with and holds out against cylinder, describedly hold out against air cylinder driven one withstanding tight block, described withstanding tight block is positioned at outside described jaw cylinder.

2. clip claw mechanism according to claim 1, is characterized in that: jaw described in several is uniformly distributed around the output shaft of described jaw cylinder.

3. clip claw mechanism according to claim 1, it is characterized in that: described in hold out against between cylinder and withstanding tight block by one hold out against slide block connect, described hold out against slide block comprise for fixing described withstanding tight block promotion part and hold out against the guide portion of extending cylinder side from described promotion part toward described in, described in hold out against cylinder outer surface and be provided with for limiting the guiding convex ridge of described guide portion along driving direction activity.

4. clip claw mechanism according to claim 3, is characterized in that: hold out against cylinder side described in a described jaw is positioned at, and offers the escape groove for dodging this jaw inside described promotion part.

5. clip claw mechanism according to claim 1, is characterized in that: described withstanding tight block front portion is provided with V-shaped groove.

6. clip claw mechanism according to claim 1, is characterized in that: described jaw substrate one end is provided with the projection with axis hole.

7. clip claw mechanism according to claim 6, is characterized in that: described in be raised with two of coaxial-symmetrical.