CN220516834U - Manipulator clamping device - Google Patents

Abstract

The application belongs to the technical field of manipulators, and particularly relates to a manipulator clamping device. The application. The manipulator clamping device comprises a shell, two clamping pieces and a supporting component, wherein the shell is provided with two opposite ends, the two clamping pieces are respectively arranged at one end of the shell and jointly define a clamping space, the supporting component is arranged at the other end of the shell and at least partially exposed at one end of the shell, the supporting component is exposed at least partially positioned in the clamping space of the shell, and the supporting component can move relative to the shell. The problem that current manipulator clamping device is easy with coil extrusion deformation when the centre gripping coil has been solved to this application.

Description

Manipulator clamping device

Technical Field

The application belongs to the technical field of manipulators, and particularly relates to a manipulator clamping device.

Background

The manipulator is an automatic operation device which imitates some action functions of a human hand and an arm and is used for grabbing, carrying objects and the like according to a fixed program, but the existing manipulator clamping device usually clamps the surface of a coil directly through two clamping hands when clamping the coil, and the coil is easy to squeeze and deform by clamping in the mode, so that the follow-up operation is influenced.

Disclosure of Invention

The problem to be solved by the application is: the existing manipulator clamping device is easy to squeeze and deform the coil when clamping the coil.

The technical scheme adopted in the application for solving the problems is as follows:

the utility model provides a manipulator clamping device, includes casing, two holders and supporting component, the casing has opposite ends, two the holder divide to locate the one end of casing and jointly define the centre gripping space, the supporting component is located the other end of casing and at least part expose in the one end of casing, the supporting component expose in at least part of casing is located in the centre gripping space, the supporting component can be relative the casing motion.

Preferably, the support assembly at least comprises a first telescopic rod and a second telescopic rod, the second telescopic rod is coaxially sleeved on the first telescopic rod, and the pipe diameter of the first telescopic rod is different from that of the second telescopic rod.

Preferably, the support assembly further comprises a third telescopic rod, the third telescopic rod is coaxially sleeved on the second telescopic rod, the pipe diameter of the first telescopic rod is smaller than that of the second telescopic rod, and the pipe diameter of the second telescopic rod is smaller than that of the third telescopic rod.

Preferably, the clamping device further comprises a sliding rail arranged at one end of the shell, the sliding rail is fixedly connected with the shell, and the two clamping pieces can be mutually close or mutually deviate through the sliding rail.

Preferably, the clamping device further comprises a driving module, and the driving module is used for driving the two clamping pieces to move relative to the sliding rail.

Preferably, the two clamping pieces are provided with meshing teeth at positions corresponding to the sliding rails, the driving module comprises a motor and a screw rod connected with the output end of the motor, and the screw rod is matched with the meshing teeth to realize the movement of the two clamping pieces relative to the sliding rails.

Preferably, the clamping device further comprises a first driving piece, a second driving piece and a third driving piece, and the first telescopic rod, the second telescopic rod and the third telescopic rod are respectively connected with the first driving piece, the second driving piece and the third driving piece in a driving mode and are driven.

Preferably, the clamping device further comprises a pneumatic pump, a switching valve and at least three air pipes, wherein the pneumatic pump is connected with the air pipes through the switching valve, and the first driving piece, the second driving piece and the third driving piece are respectively connected with the switching valve through the air pipes.

Preferably, soft materials are arranged on the inner sides of the two clamping pieces.

Compared with the prior art, the manipulator clamping device provided by the application has the following advantages:

1. the utility model provides a but through supporting component relative casing motion and at least part expose in the casing, expose the design that part in the casing is located the centre gripping space, can make two clamping pieces of clamping device when the centre gripping coil, supporting component can play the effect of supporting the coil, and then can prevent to a certain extent that the coil from being pressed when being held by the clamping piece and warp.

2. This application is with first telescopic link that shaft sleeve was established and the pipe diameter of second telescopic link and two telescopic links are different, can make clamping device when the coil of the not equidimension of centre gripping, can adjust the telescopic link relative motion of different pipe diameters sizes according to the size of coil to the coil of the not equidimension size of adaptation, and the third telescopic link can make clamping device adaptation coil of more unidimensional sizes, and then improves the practicality of this device.

Drawings

Fig. 1 is a schematic structural diagram of a manipulator clamping device according to an embodiment of the present disclosure;

FIG. 2 is a cross-sectional view of a manipulator clamping apparatus provided in an embodiment of the present application;

fig. 3 is a schematic structural diagram of a manipulator clamping device according to an embodiment of the present disclosure;

fig. 4 is a schematic view of a part of a structure of a manipulator clamping device according to an embodiment of the present disclosure;

fig. 5 is a schematic diagram of a part of a manipulator clamping device according to an embodiment of the present disclosure.

The attached drawings are used for identifying and describing:

1. a clamping device;

10. a housing; 11. a clamping member; 12. a support assembly; 13. a slide rail; 14. a driving module; 15. a first driving member; 16. a second driving member; 17. a third driving member; 18. a pneumatic pump; 19. a switching valve; 1a, trachea;

111. a soft material; 112. tooth engagement; 121. a first telescopic rod; 122. a second telescopic rod; 123. a third telescopic rod; 141. a motor; 142. and a screw rod.

Detailed Description

Referring to fig. 1, an embodiment of the disclosure provides a manipulator clamping device 1, which includes a housing 10, two clamping members 11 and a supporting component 12, wherein the housing 10 has opposite ends, the two clamping members 11 are respectively disposed at one end of the housing 10 and together define a clamping space, the supporting component 12 is disposed at the other end of the housing 10 and at least partially exposed at one end of the housing 10, at least part of the supporting component 12 exposed at the housing 10 is disposed in the clamping space, and the supporting component 12 can move relative to the housing 10.

It should be noted that the support assembly 12 is disposed through the housing 10 and at least partially exposed from the housing 10.

It can be appreciated that, by virtue of the design that the supporting component 12 can move relative to the housing 10 and at least partially expose to the housing 10, and the portion exposed to the housing 10 is located in the clamping space, the supporting component 12 can play a role of supporting the coil when the two clamping members 11 of the clamping device 1 clamp the coil, so that the coil can be prevented from being extruded and deformed when being clamped by the clamping members 11 to a certain extent.

Further, referring to fig. 1 to 2, the support assembly 12 at least includes a first telescopic rod 121 and a second telescopic rod 122, the second telescopic rod 122 is coaxially sleeved on the first telescopic rod 121, and the pipe diameter of the first telescopic rod 121 is different from the pipe diameter of the second telescopic rod 122.

It can be appreciated that the first telescopic rod 121 and the second telescopic rod 122 which are coaxially sleeved and have different pipe diameters can enable the clamping device 1 to move relative to the housing 10 according to the sizes of the coils when clamping the coils with different sizes, so as to adapt to the coils with different sizes.

Further, please continue to combine fig. 1 to 2, the supporting assembly 12 further includes a third telescopic rod 123, the third telescopic rod 123 is coaxially sleeved on the second telescopic rod 122, the pipe diameter of the first telescopic rod 121 is smaller than the pipe diameter of the second telescopic rod 122, and the pipe diameter of the second telescopic rod 122 is smaller than the pipe diameter of the third telescopic rod 123.

It can be appreciated that the third telescopic rod 123 can enable the clamping device 1 to adapt to coils with different sizes, so as to improve the practicability of the device.

Further, referring to fig. 2 and 3, the clamping device 1 further includes a first driving member 15, a second driving member 16, and a third driving member 17, and the first telescopic rod 121, the second telescopic rod 122, and the third telescopic rod 123 are respectively connected to and driven by the first driving member 15, the second driving member 16, and the third driving member 17.

Alternatively, the first, second and third driving members 15, 16 and 17 may be, but are not limited to, cylinders.

Further, as shown in fig. 2 and 3, the clamping device 1 further includes a pneumatic pump 18, a switching valve 19, and at least three air pipes 1a, wherein the pneumatic pump 18 is connected to the air pipe 1a through the switching valve 19, and the first driving member 15, the second driving member 16, and the third driving member 17 are respectively connected to the switching valve 19 through the air pipe 1 a.

It is to be understood that by designing the switching valve 19, the pneumatic pump 18 can be connected to the corresponding driving element via the air pipe 1a according to actual requirements.

Further, referring to fig. 4, the clamping device 1 further includes a sliding rail 13 disposed at one end of the housing 10, the sliding rail 13 is fixedly connected to the housing 10, and the two clamping members 11 can be close to each other or deviate from each other through the sliding rail 13.

It can be appreciated that the design of the sliding rail 13 can control the two clamping members 11 to slide along the axial direction of the sliding rail 13, so as to conveniently adjust the distance between the two clamping members 11.

Further, referring to fig. 4, the clamping device 1 further includes a driving module 14, and the driving module 14 is configured to drive the two clamping members 11 to move relative to the sliding rail 13.

Further, referring to fig. 4 and 5, the two clamping members 11 are provided with engaging teeth 112 at positions corresponding to the sliding rails 13, and the driving module 14 includes a motor 141 and a screw rod 142 connected to an output end of the motor 141, and the screw rod 142 cooperates with the engaging teeth 112 to realize movement of the two clamping members 11 relative to the sliding rails 13.

It can be appreciated that the two clamping members 11 can be moved close to or away from each other by the cooperation of the screw rod 142 and the tooth 112, so that the operation is convenient.

Further, referring to fig. 1, the inner sides of the two clamping members 11 are respectively provided with a soft material 111, and optionally, the soft material 111 may be, but not limited to, silica gel or rubber.

It can be appreciated that the design of providing the soft color gift inside the clamping member 11 can ensure that the clamping member 11 can prevent the clamping member 11 from damaging the coil when clamping the coil.

Claims (9)

1. A manipulator clamping device, its characterized in that: the clamping device comprises a shell, two clamping pieces and a supporting component, wherein the shell is provided with two opposite ends, the two clamping pieces are respectively arranged at one end of the shell and jointly define a clamping space, the supporting component is arranged at the other end of the shell and at least partially exposed at one end of the shell, the supporting component is exposed at least partially positioned in the clamping space of the shell, and the supporting component can move relative to the shell.

2. The manipulator clamping apparatus of claim 1, wherein: the support assembly at least comprises a first telescopic rod and a second telescopic rod, the second telescopic rod is coaxially sleeved on the first telescopic rod, and the pipe diameter of the first telescopic rod is different from that of the second telescopic rod.

3. The manipulator clamping apparatus of claim 2, wherein: the support assembly further comprises a third telescopic rod, the third telescopic rod is coaxially sleeved on the second telescopic rod, the pipe diameter of the first telescopic rod is smaller than that of the second telescopic rod, and the pipe diameter of the second telescopic rod is smaller than that of the third telescopic rod.

4. The manipulator clamping apparatus of claim 1, wherein: the clamping device further comprises a sliding rail arranged at one end of the shell, the sliding rail is fixedly connected with the shell, and the two clamping pieces can be mutually close or mutually deviate through the sliding rail.

5. The manipulator clamping apparatus of claim 4, wherein: the clamping device further comprises a driving module, and the driving module is used for driving the two clamping pieces to move relative to the sliding rail.

6. The manipulator clamping apparatus of claim 5, wherein: the two clamping pieces are provided with meshing teeth at positions corresponding to the sliding rails, the driving module comprises a motor and a screw rod connected with the output end of the motor, and the screw rod is matched with the meshing teeth to realize the movement of the two clamping pieces relative to the sliding rails.

7. A manipulator clamping apparatus as claimed in claim 3, wherein: the clamping device further comprises a first driving piece, a second driving piece and a third driving piece, and the first telescopic rod, the second telescopic rod and the third telescopic rod are respectively in driving connection with the first driving piece, the second driving piece and the third driving piece and are driven.

8. The manipulator clamping apparatus of claim 7, wherein: the clamping device further comprises a pneumatic pump, a switching valve and at least three air pipes, wherein the pneumatic pump is connected with the air pipes through the switching valve, and the first driving piece, the second driving piece and the third driving piece are respectively connected with the switching valve through the air pipes.

9. The manipulator clamping apparatus of claim 1, wherein: soft materials are arranged on the inner sides of the two clamping pieces.