CN114311000A - A robotic gripping device with automatic adjustment of gripping force - Google Patents

Abstract

The invention discloses a gripping device of a manipulator capable of automatically adjusting gripping force, belonging to the technical field of mechanical equipment. A manipulator clamping device for automatically adjusting clamping force, comprising a fixed frame, a cylinder, a connecting rod assembly and a splint; the cylinder is fixedly installed on the inner end face of the fixed frame, and the connecting rod assembly includes a first connecting rod, a second connecting rod and a connecting rod The shaft and the splint include a left splint and a right splint, and a distance sensor is fixedly installed on the inner end face of the left splint and the inner end surface of the right splint; the present invention installs a distance sensor on the left splint and the right splint, and the distance sensor can sense the left splint and the right splint The distance from the clamped material, when the left and right splints are in contact with the material to achieve clamping, the distance sensor sends a signal to the cylinder, the cylinder stops working, and no longer drives the left and right splints to move inward, thus avoiding the need for The clamping force of the left splint and the right splint is too large, and the material is damaged, so as to achieve the purpose of automatically adjusting the clamping force.

Description

A manipulator clamping device with automatic adjustment of clamping force

technical field

The invention belongs to the technical field of mechanical equipment, and more particularly relates to a gripping device of a manipulator capable of automatically adjusting gripping force.

Background technique

A manipulator is an automatic operation device that can imitate certain action functions of human hands and arms to grab, carry objects or operate tools according to a fixed program. The feature is that it can be programmed to complete a variety of expected operations, and the structure and performance have the advantages of both human and robotic machines.

The manipulator is the earliest industrial robot and the earliest modern robot. It can replace the heavy labor of humans to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, Electronics, light industry and atomic energy sectors.

The manipulator is generally composed of a rotating arm and a clamping device located at the front end of the rotating arm. The material is clamped by the clamping device, and then the rotating arm drives the clamping device to rotate and transport, so as to realize the material handling action.

However, when the traditional manipulator clamping device clamps the material, the clamping force output by the clamping device is fixed and cannot be adjusted. If the clamping force of the clamping device is too large, the material will be crushed and damaged, which will increase the production cost.

Contents of the manual

The technical problem to be solved by the present invention is to provide a manipulator clamping device that automatically adjusts the clamping force, which can realize the detection of the position of the material by the clamping device. When it is detected that the fixed plate of the clamping device contacts the material for clamping , can control the cylinder to stop working, so as to avoid excessive clamping force, resulting in material damage, and achieve the purpose of adjusting the clamping force of the clamping device.

The invention relates to a manipulator clamping device for automatically adjusting clamping force, comprising a fixed frame, a cylinder, a connecting rod assembly and a splint; the cylinder is fixedly installed on the inner end face of the fixed frame, and the connecting rod assembly includes a first connecting rod, a second connecting rod The rod and the connecting shaft, the upper end of the first connecting rod and the upper end of the second connecting rod are connected in rotation through the connecting shaft, and the connecting shaft is connected with the output end of the cylinder in rotation; , the lower end of the second connecting rod is hinged with the upper end surface of the right splint; the inner end surface of the left splint and the inner end surface of the right splint are fixedly installed with a distance sensor.

As a further improvement of the present invention, the lower end of the fixing frame is provided with a limit transverse groove, the inner side of the left clamp plate and the inner side of the right clamp plate are provided with limit guide rods, and the limit guide rods on the left clamp plate and the limit guide rods on the right clamp plate pass through the limit Bit horizontal slot.

As a further improvement of the present invention, the fixing frame is further provided with a limit vertical slot, and one end of the connecting shaft penetrates the limit vertical slot.

As a further improvement of the present invention, both the left clamp plate and the right clamp plate are provided with a claw structure; the clamp claw structure includes a fixed plate, a clamp claw assembly and a limit assembly; both the left clamp plate and the right clamp plate are provided with installation through holes; the fixed plate and The jaw assemblies are all installed in the installation through holes; the fixing plate includes a left fixing plate and a right fixing plate, a rotating shaft is arranged outside the left fixing plate, and one end of the rotating shaft is rotatably connected with the inner end face of the installation through hole. The limit component is arranged on the outside of the right fixing plate.

As a further improvement of the present invention, the clamping claw assembly is a clamping plate, one side of the clamping plate is fixedly connected with the inner end face of the left fixing plate, the other side of the clamping plate is fixedly connected with the inner end surface of the right fixing plate, the number of clamping plates is at least one, and Evenly distributed between the left fixing plate and the right fixing plate.

As a further improvement of the present invention, the claw structure further includes a paddle, one end of the paddle is fixedly connected to the left fixing plate, and the other end is fixedly connected to the right fixing plate.

As a further improvement of the present invention, the limit assembly includes a connecting rod and a limit rod; one end of the connecting rod is fixedly installed on the outer side of the right fixing plate, and the other end is rotatably connected with the limit rod; one side of the left clamp plate and one side of the right clamp plate are provided with A limit through hole, one end of the connecting rod penetrates the limit through hole; a screw column is installed on the outside of the left splint and the outside of the right splint; Fastening screws.

As a further improvement of the present invention, the claw assembly includes a claw plate and a slide rail; the slide rail is fixedly installed on the inner end face of the left fixed plate and the inner end face of the right fixed plate, and a chute is provided on the inner side of the slide rail, and one side of the claw plate slides It is installed in the chute on the slide rail on the left fixing plate, and the other side is slidably installed in the chute on the slide rail on the right fixing plate.

As a further improvement of the present invention, the slide rail is provided with screw mounting holes, and both ends of the jaw plate are provided with at least one positioning through hole.

Compared with the prior art, the beneficial effects of the present invention are:

1. The present invention uses the cylinder to drive the connecting rod to move up and down, thereby driving the splint to move left and right to achieve the function of clamping, and at the same time, a distance sensor is installed on the left splint and the right splint, and the distance sensor can sense the left splint and the right splint and clamping. The distance between the materials, when the left splint and the right splint are in contact with the material to achieve clamping, the distance sensor sends a signal to the cylinder, the cylinder stops working, and does not drive the left splint and the right splint to move inward, thus avoiding the left splint and the right splint. The clamping force of the splint is too large, and the material is damaged, so as to achieve the purpose of automatically adjusting the clamping force.

2. In the present invention, a limit transverse groove is set on the fixing frame, and a guide rod is set on the left and right plywood, and the guide rod penetrates the limit transverse groove. The cooperation of the rod and the limit transverse groove can play the role of limit and guide for the movement of the left and right clamps, thereby increasing the stability of the movement of the left clamp and the right clamp, thereby increasing the clamping stability of the clamping device.

3. In the present invention, a limit vertical slot is set on the fixing frame, the connecting shaft runs through the limit vertical slot, and the limit vertical slot plays a limit and guide role for the connecting shaft in the process that the cylinder drives the connecting shaft to move up and down, and the connecting shaft is increased. The stability of the movement, thereby increasing the clamping stability of the clamping device.

4. The present invention is provided with a clamping claw structure, and the angle of the clamping plate is adjusted by making the fixing plate and the right fixing plate. When the clamping device clamps the material with uneven surface, the clamping plate can better fit the material. clamped.

5. In the present invention, a paddle is installed on the left fixing plate and the right fixing plate, and the setting of the paddle can more conveniently drive the left fixing plate and the right fixing plate to rotate, thereby facilitating the angle adjustment of the card plate.

6. The present invention is provided with a limit component, and the connecting rod cooperates with the limit through hole, which can play the role of limit and guide for the rotation of the right fixing plate, and then the limit rod is matched with the screw column and the fastening screw to realize the limit rod. , so as to limit the connecting rod and the right fixing plate to achieve the purpose of fixing the claw structure.

7. The present invention is provided with a claw plate and a slide rail, slide the claw plate on the slide rail, and then install the positioning screw in the screw installation hole and the positioning through hole to fix the clamping plate on the slide rail, so as to prevent the clamping The length of the claw plate protruding from the slide rail can be adjusted, so that the clamping device can better adapt to the material with uneven surface and increase the clamping stability of the clamping device.

Description of drawings

Fig. 1 is the structural representation of the present invention;

Fig. 2 is the three-dimensional structure schematic diagram of the present invention;

3 is a schematic structural diagram of Embodiment 2 of the present invention;

FIG. 4 is a schematic structural diagram of a jaw in Embodiment 2 of the present invention;

FIG. 5 is a schematic structural diagram of the limiting assembly in the second embodiment of the present invention;

FIG. 6 is a schematic structural diagram of Embodiment 3 of the present invention.

Description of the labels in the figure:

1. Fixing frame; 101, Limit horizontal slot; 102, Limit vertical slot; 2, Air cylinder; 3, Connecting rod assembly; 301, First connecting rod; 302, Second connecting rod; 303, Connecting shaft; 4, splint; 401, left splint; 402, right splint; 404, limit guide rod; 405, mounting through hole; 406, limit through hole; 407, screw post; 408, fastening screw; 5, distance sensor; 6, Claw structure; 601, fixing plate; 602, claw assembly; 6021, claw plate; 6022, claw plate; 6023, slide rail; 6024, chute; 6025, screw mounting hole; 6026, positioning through hole; 603, Limit component; 6031, connecting rod; 6032, limit rod; 6033, threaded hole; 604, shaft; 605, paddle.

Detailed ways

Specific embodiment 1: Please refer to FIG. 1-2 of a manipulator clamping device that automatically adjusts the clamping force, including a fixing frame 1, a cylinder 2, a connecting rod assembly 3 and a clamping plate 4; the cylinder 2 is fixedly installed in the fixing frame 1 On the end surface, the connecting rod assembly 3 includes a first connecting rod 301, a second connecting rod 302 and a connecting shaft 303. The upper end of the first connecting rod 301 and the upper end of the second connecting rod 302 are rotatably connected by a connecting shaft 303, and the connecting shaft 303 is connected to the cylinder 2 The output end is connected; the splint 4 includes a left splint 401 and a right splint 402, the lower end of the first connecting rod 301 is hinged with the upper end of the left splint 401, the lower end of the second connecting rod 302 is hinged with the upper end of the right splint 402; the inner end of the left splint 401 is hinged with the right splint 402. The distance sensor 5 is fixedly installed on the inner end surface of the splint 402 . The distance sensor 5 can sense the distance between the left splint 401 and the right splint 402 and the clamped material. When the left splint 401 and the right splint 402 are in contact with the material to achieve clamping, the distance sensor 5 sends a signal to the air cylinder 2, the air cylinder 2 Stop working, not drive the left splint 401 and the right splint 402 to move inward, thus avoiding the excessive clamping force of the left splint 401 and the right splint 402 and the occurrence of material damage, thus achieving the purpose of automatically adjusting the clamping force .

The lower end of the fixing frame 1 is provided with a limit transverse groove 101, the inner side of the left plywood 401 and the inner side of the right plywood 402 are provided with limit guide rods 404, the limit guide rods 404 on the left plywood 401 and the limit guide rods 404 on the right plywood 402 are both Pass through the limiting transverse groove 101 . The limiting transverse groove 101 can play the role of limiting and guiding the movement of the guide rod, thereby increasing the movement stability of the guide rod and the left clamp plate 401 and the right clamp plate 402 . The fixing frame 1 is also provided with a limit vertical slot 102 , and one end of the connecting shaft 303 penetrates through the limit vertical slot 102 . The limiting vertical slot 102 acts as a limiting guide for the connecting shaft 303 when the cylinder 2 drives the connecting shaft 303 to move up and down, thereby increasing the movement stability of the connecting shaft 303 and thus increasing the clamping stability of the clamping device.

In the present invention, the fixing frame 1 is first connected with the manipulator, the left clamp plate 401 and the right clamp plate 402 are driven by the manipulator to the material to be clamped, and the cylinder 2 is activated to drive the connecting shaft 303 to move up, thereby driving the first connecting rod 301 and the The second connecting rod 302 moves up, thereby driving the left and right splints 401 and 402 connected to the lower ends of the first connecting rod 301 and the second connecting rod 302 to move inward, until the distance sensor 5 detects that the left splint 401 and the right splint 402 are in contact with each other. When the material is contacted and clamped, the control cylinder 2 stops driving the connecting shaft 303 to move up, so as to prevent the left plywood 401 and the right plywood 402 from being too close together, resulting in excessive clamping of the material by the plywood 4, resulting in material damage, and further To achieve the purpose of automatically adjusting the clamping force.

The second embodiment, referring to FIGS. 3-5 , the difference between this embodiment and the first embodiment is that the structures of the left splint 401 and the right splint 402 are different, and the specific difference is that the left splint 401 and the right splint 402 are both provided with a claw structure 6 . ; Claw structure 6 includes a fixed plate 601, a claw assembly 602 and a limit assembly 603; the left splint 401 and the right splint 402 are provided with installation through holes 405; the fixed plate 601 and the claw assembly 602 are installed in the installation through holes 405 Inside; the fixing plate 601 includes a left fixing plate 601 and a right fixing plate 601 , a rotating shaft 604 is provided outside the left fixing plate 601 , and one end of the rotating shaft 604 is rotatably connected to the inner end face of the installation through hole 405 . The limiting assembly 603 is disposed outside the right fixing plate 601 . The clamping claw assembly 602 is a clamping plate 6021, one side of the clamping plate 6021 is fixedly connected with the inner end surface of the left fixing plate 601, the other side of the clamping plate 6021 is fixedly connected with the inner end surface of the right fixing plate 601, and the number of the clamping plates 6021 is 5, and It is evenly distributed between the left fixing plate 601 and the right fixing plate 601. The left fixing plate 601 and the right fixing plate 601 can drive the clamping plate 6021 to rotate and adjust the angle of the clamping plate 6021. When the material is clamped, the left clamping plate 401 and the right clamping plate 402 can better fit the material, thereby increasing the clamping stability of the clamping device. The claw structure 6 further includes a paddle 605 , one end of the paddle 605 is fixedly connected to the left fixing plate 601 , and the other end is fixedly connected to the right fixing plate 601 . The paddle 605 can better drive the left fixing plate 601 and the right fixing plate 601 to rotate and adjust. The limit assembly 603 includes a connecting rod 6031 and a limit rod 6032; one end of the connecting rod 6031 is fixedly installed on the outer side of the right fixing plate 601, and the other end is rotatably connected with the limit rod 6032; one side of the left splint 401 and one side of the right splint 402 are both A limit through hole 406 is provided, and one end of the connecting rod 6031 penetrates through the limit through hole 406; through the limit through hole 406 and the connecting rod 6031, the displacement of the connecting rod 6031 can be limited and guided, so as to guide the right splint 402 and the card board The movement of 6021 acts as a limit guide; screw posts 407 are installed on the outer side of the left splint 401 and the outside of the right splint 402, and the end of the limit rod 6032 away from the connecting rod 6031 is provided with a threaded hole 6033, the threaded hole 6033 and the screw post Fastening screws 408 are installed in 407 . When the tightening screw 408 is loosened, it is convenient to limit the rotation, so as to facilitate the angle adjustment of the card plate 6021. After the angle adjustment is completed, the tightening screw 408 is tightened to fix the limit rod 6032, and then the The clamping plate 6021 is fixed to facilitate the clamping of the material by the left clamping plate 401 and the right clamping plate 402 .

Embodiment 3, referring to FIG. 6 , the difference between this embodiment and Embodiment 1 and Embodiment 2 is that the structure of the jaw assembly 602 is different, and the specific difference is: the jaw assembly 602 includes a jaw plate 6022 and a slide rail 6023; 6023 is fixedly installed on the inner end face of the left fixing plate 601 and the inner end face of the right fixing plate 601, the inner side of the slide rail 6023 is provided with a chute 6024, and one side of the claw plate 6022 is slidably installed on the slide rail 6023 on the left fixing plate 601. In the groove 6024, the other side is slidably installed in the sliding groove 6024 on the sliding rail 6023 on the right fixing plate 601. The claw plate 6022 can slide in the chute 6024, so that the length of the claw plate 6022 extending out of the sliding rail 6023 can be adjusted, so that when the clamping device clamps the material with uneven surface, the left side can be adjusted. The splint 401 and the right splint 402 better fit the material, increasing the clamping stability of the clamping device. The slide rail 6023 is provided with screw mounting holes 6025, and both ends of the claw plate 6022 are provided with 10 positioning through holes 6026 which are matched with the screw through holes. The claw plate 6022 is fixed with the slide rail 6023. When the claw plate 6022 needs to be adjusted, it is only necessary to loosen the positioning screw, which is convenient to operate.

Claims (9)

1. A manipulator clamping device for automatically adjusting clamping force, characterized in that it comprises a fixing frame (1), a cylinder (2), a connecting rod assembly (3) and a splint (4); The cylinder (2) is fixedly installed on the inner end face of the fixing frame (1), The connecting rod assembly (3) includes a first connecting rod (301), a second connecting rod (302) and a connecting shaft (303), and the upper end of the first connecting rod (301) and the upper end of the second connecting rod (302) pass through the connecting shaft ( 303) is connected in rotation, and the connecting shaft (303) is connected with the output end of the cylinder (2); The splint (4) includes a left splint (401) and a right splint (402), the lower end of the first connecting rod (301) is hinged with the upper end surface of the left splint (401), and the lower end of the second connecting rod (302) is connected to the upper end of the right splint (402). End hinged; A distance sensor (5) is fixedly installed on the inner end surface of the left splint (401) and the inner end surface of the right splint (402). 2. The manipulator clamping device for automatically adjusting clamping force according to claim 1, characterized in that: the lower end of the fixing frame (1) is provided with a limit transverse groove (101), the inner side of the left splint (401) and the right splint (402) Limiting guide rods (404) are arranged on the inner side, and the limiting guide rods (404) on the left splint (401) and the limiting guide rods (404) on the right splint (402) pass through the limiting transverse grooves (402). 101). 3. A manipulator clamping device for automatically adjusting clamping force according to claim 1, characterized in that: the fixing frame (1) is further provided with a limit vertical slot (102), and one end of the connecting shaft (303) penetrates the limit Position vertical slot (102). 4. The manipulator clamping device for automatically adjusting clamping force according to claim 1, characterized in that: the left clamping plate (401) and the right clamping plate (402) are provided with a claw structure (6); The structure (6) includes a fixing plate (601), a claw assembly (602) and a limit assembly (603); The left clamping plate (401) and the right clamping plate (402) are both provided with installation through holes (405); the fixing plate (601) and the clamping claw assembly (602) are both installed in the installation through holes (405); The fixing plate (601) includes a left fixing plate (601) and a right fixing plate (601), a rotating shaft (604) is provided on the outer side of the left fixing plate (601) and the outer side of the right fixing plate (602), and the rotating shaft (604) communicates with the installation. The inner end face of the hole (405) is rotatably connected; The limiting assembly (603) is arranged outside the right fixing plate (601). 5. The manipulator clamping device for automatically adjusting clamping force according to claim 4, characterized in that: the jaw assembly (602) is a clamping plate (6021), and one side of the clamping plate (6021) is connected to the left fixing plate (601) The inner end face is fixedly connected, and the other side of the clamping plate (6021) is fixedly connected with the inner end face of the right fixing plate (601). and the right fixing plate (601). 6. The manipulator clamping device for automatically adjusting clamping force according to claim 4, characterized in that: the claw structure (6) further comprises a paddle (605), one end of the paddle (605) is connected to the left fixing plate (601) is fixedly connected, and the other end is fixedly connected with the right fixing plate (601). 7. The manipulator clamping device for automatically adjusting clamping force according to claim 4, characterized in that: the limit component (603) comprises a connecting rod (6031) and a limit rod (6032); the connecting rod (6031) ) one end is fixedly installed on the outer side of the right fixing plate (601), and the other end is rotatably connected with the limit rod (6032); One side of the left splint (401) and one side of the right splint (402) are provided with limit through holes (406), and one end of the connecting rod (6031) penetrates through the limit through holes (406); A screw column (407) is installed on the outside of the left splint (401) and the outside of the right splint (402), and the end of the limit rod (6032) away from the connecting rod (6031) is provided with a threaded hole (6033), and the threaded hole (6033) A fastening screw (408) is installed in the screw column (407). 8. The manipulator clamping device for automatically adjusting clamping force according to claim 4, characterized in that: the jaw assembly (602) comprises a jaw plate (6022) and a slide rail (6023); the slide rail (6023) ) is fixedly installed on the inner end face of the left fixing plate (601) and the inner end face of the right fixing plate (601), the slide rail (6023) is provided with a chute (6024) on the inner side, and one side of the claw plate (6022) is slidably installed on the left fixing plate (6022). The other side is slidably installed in the sliding groove (6024) on the sliding rail (6023) on the plate (601), and the other side is slidably installed in the sliding groove (6024) on the sliding rail (6023) on the right fixing plate (601). 9. The manipulator clamping device for automatically adjusting clamping force according to claim 8, wherein the slide rail (6023) is provided with screw mounting holes (6025), and both ends of the claw plate (6022) are provided with screw mounting holes (6025). At least one positioning through hole (6026) is provided.

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