CN105108770A - Grabbing device - Google Patents
Grabbing device Download PDFInfo
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- CN105108770A CN105108770A CN201510590880.7A CN201510590880A CN105108770A CN 105108770 A CN105108770 A CN 105108770A CN 201510590880 A CN201510590880 A CN 201510590880A CN 105108770 A CN105108770 A CN 105108770A
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- arm
- grabbing device
- product
- elastic component
- clamping
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Abstract
The invention discloses a grabbing device. The grabbing device is provided with a clamping jaw assembly used for grabbing a product. The clamping jaw assembly comprises a fixed plate, a driving device mounted on the fixed plate, and a clamping jaw used for grabbing the product. The clamping jaw is provided with a plurality of clamping arms. Each clamping arm is provided with a storing hole located at the tail end of the clamping arm, a containing groove concave inwards from one surface of the clamping arm and at least one containing hole extending forwards from the containing groove, wherein the storing hole is communicated with the containing groove. The clamping jaw further comprises second elastic pieces contained in the containing holes respectively, baffles mounted on the clamping arms and abutted against the second elastic pieces, rotary shafts penetrating through the storing holes and clamping blocks which are mounted on the rotary shafts and contained in the containing grooves. The clamping arms and the product can be adjusted through the second elastic pieces, and the situation that the clamping of the product by the clamping blocks is too stiff, the product is damaged through collision is avoided.
Description
Technical field
The present invention relates to is a kind of mechanical device field, especially relates to a kind of grabbing device.
Background technology
In prior art, automation equipment is more and more subject to the favor of every field, and for different technical fields, each product is all attempted replacing artificial effect by automated production.And to the product of some special dimensions capturing, transport, when installing, the intelligence degree required for us cannot be reached.Such as: when in the draw-in groove that the snap fit of product A needs to snap in product B, traditional method is that the mode of handwork carries out clamping, if pass through automation equipment, just be difficult to make two products carry out clamping, main cause is to make snap fit steadily snap in draw-in groove, closely, even, the dop of snap fit is slightly larger than the size of draw-in groove for the size of snap fit and the size of draw-in groove.So, when the location of snap fit, draw-in groove occurs deviation slightly, just there will be card not in place, occur snap fit phenomenon of rupture.Moreover it is very strict that some need the product appearance of taking to require, and product is when adopting the automation equipments such as manipulator to capture, and easily makes product appearance easily be scraped off.Some companies are adopted and are realized by means such as soft material product wrappings, but this kind of method cannot be basic the problem, particularly some metalwork products of solution destroy product, its size is large, weight is large, the DeGrain of coated metal part product, easily causes soft wrappage to break down.When the crawl point of mechanical arm and product wait capture a little there is deviation time, the jaw on arm can touch the place should not touched, and will bring not small loss to product.
Therefore, be necessary to provide a kind of new grabbing device to solve the problems referred to above.
Summary of the invention
The object of the invention be to provide a kind of can the grabbing device of oneself's adjustment.
The present invention is achieved through the following technical solutions above-mentioned purpose: a kind of grabbing device, it has the clip claw assembly for capturing product, described clip claw assembly comprises peace fixed head, be installed on driving arrangement on described fixed head and for capturing described product jaw, described jaw has some jig arm, described jig arm arranges the putting hole being positioned at its end, from the accepting groove of surface thereof sunken inside and at least one accepting hole of extending forward from described accepting groove, described putting hole and described accepting groove connect, described jaw also comprises the second elastic component of being contained in described accepting hole respectively and is installed on described jig arm and supports the baffle plate of described second elastic component, run through the rotating shaft in described putting hole, to be installed in described rotating shaft and to be contained in the fixture block of described accepting groove.
Described clip claw assembly also comprises the pedestal being fixed on described fixed head, the first arm that described jig arm comprises fulcrum, extend to described driving arrangement direction from described fulcrum and from described fulcrum the second arm of extending of described driving arrangement direction dorsad, described fulcrum is fixed on described pedestal, and described second elastic component, described baffle plate, described rotating shaft, described fixture block are positioned on described second arm.
Described fixture block comprises the movable block be connected with described rotating shaft and the buffer stopper being fixed on described movable block.
Described buffer stopper is soft materials, and movable block is hard material.
Described jaw also comprises the elastic supporting member for supporting optical member being installed on described pedestal, and described pedestal is fixed in described elastic supporting member for supporting optical member one end, and the other end abuts described first arm.
Described elastic supporting member for supporting optical member comprises the spring spool be installed on pedestal and the spring be installed in described resilient sleeve, and described spring abuts the first arm.
Described first arm is the warp architecture away from described pedestal.
The end of described first arm of close described driving arrangement is prong like, and a roller bearing is installed at described prong like place, and described roller bearing is installed on roller, and the driving force of described driving arrangement is passed to described first arm by described roller.
Described grabbing device also comprises coupling assembling and the floatation element between described coupling assembling and described clip claw assembly, described floatation element comprises at least one first elastic component, is sheathed on a pair mounting clamp at the first elastic component two ends respectively, and described fixture block two ends are individually fixed in described coupling assembling and described clip claw assembly.
Compared with prior art, grabbing device of the present invention has following technology effect: jig arm is arranged the second elastic component, ensure that fixture block is active state, some deviations are had during contraposition between jaw and product, also can make to fit very well between fixture block and product, moreover, adjusted by the second elastic component between jig arm and product, the clamping between fixture block and product can not be caused too stiff, and the bad product that collides with.When the buffer stopper of fixture block is soft material, buffer stopper can be made slowly to fit crawled product, realize parcel, ensure that product is not bruised.
Accompanying drawing explanation
Fig. 1 is the three-dimensional structure diagram of grabbing device of the present invention.
Fig. 2 is the front view of grabbing device shown in Fig. 1.
Fig. 3 is the exploded view of the floatation element of grabbing device shown in Fig. 1.
Fig. 4 is the sectional view of floatation element shown in Fig. 3.
Fig. 5 is the partial perspective view of the clip claw assembly of grabbing device shown in Fig. 1.
Fig. 6 is the front view of clip claw assembly shown in Fig. 5.
Fig. 7 is the exploded view of the jaw of clip claw assembly shown in Fig. 5.
Fig. 8 is the exploded view of another angle of jaw shown in Fig. 7.
The assembling front view that Fig. 9 is jaw shown in Fig. 7.
Detailed description of the invention
Refer to shown in Fig. 1 to Fig. 9, the present invention discloses a kind of grabbing device 100, and it comprises coupling assembling 20, clip claw assembly 10 and the floatation element between coupling assembling 20 and clip claw assembly 10 30.
As shown in Figure 1 and Figure 2, coupling assembling 20 comprise for the connecting plate 201 of mobile arm (not shown) and the installing plate 202 installing connecting plate 201.Connecting plate 201 and installing plate 202 are parallel to each other and are installed together, installing plate 202 is provided with the centre bore 203 for installing mobile arm with the center of connecting plate 201, the surrounding being positioned at the centre bore 203 of connecting plate 201 arranges some fixing holes 204, for auxiliary fixing mobile arm.Be positioned at installing plate 202 periphery and be provided with some installing holes 205.This installing hole 205, for floatation element 30, is positioned at least one placement hole 206 of arranged outside of installing hole 205.
As shown in Figure 3 to Figure 4, floatation element 30 comprises at least one first elastic component 31, is sheathed on a pair mounting clamp 32 at the first elastic component 31 two ends respectively.First elastic component 31 is fixed in a pair mounting clamp 32.Each mounting clamp 32 comprises the docking block 321 of some mutual docking, in present embodiment, docking block 321 quantity is two, in other is implemented, the quantity of docking block 321 can be determined according to the actual requirements, at least one docking block 321 has the through hole 3211 running through its upper and lower surface, and grabbing device 100 of the present invention runs through through hole 3211 and the placement hole 206 of docking block 321, for docking block 321 is fixed on installing plate 202 by a retaining piece (not shown).Floatation element 30 also comprises through the guide pillar 33 in the first elastic component 31, is sheathed on the wear-resistant block 34 of guide pillar 33 end respectively and is installed on the axle head plate washer 35 of wear-resistant block 34 outer end.Wearing plate 34 comprise the abutting part 341 that supports guide pillar 33 with from the outward extending outer end 342 of abutting part 341 1 sections.Outer end 342 has the through hole 3421 running through its top and bottom, wear-resistant block 34, is locked on above-mentioned installing plate 202 by the retaining piece running through through hole 3421 with mounting clamp 32.Have gap between first elastic component 32 and guide pillar 33, the axial line of elastic component 32 and the axial line deviation certain angle of guide pillar 33, make the first elastic component 32 have certain zone of action, and in present embodiment, the first elastic component 32 is hard spring.By locking part (instruction), described wearing plate 34, axle head plate washer 35 are locked together with guide pillar 33.
Clip claw assembly 10 has and is spaced a distance and fixed head 101 arranged in parallel with installing plate 202.Floatation element 30 other end is installed on fixed head 101, and the mode that the mounting clamp 32 of floatation element 30 is fixed on fixed head 101 is identical with the mode that it is fixed on installing plate 202.
Clip claw assembly 10 comprises the driving arrangement 11 be installed on fixed head 101, the impeller 12 be connected with driving arrangement 11, the pedestal 13 being fixed on fixed head 101, is installed on pedestal 13 and the jaw 14 contacted with impeller 12.
As shown in Figures 5 to 9, driving arrangement 11 comprises the output shaft 112 of the driving force of cylinder 111 and transmission cylinder 111, and impeller 12 is fixedly connected with output shaft 112.End structure sized by impeller 12, comprises large end 121, the small end 122 relative with hold greatly 121 and connect the large side 123 holding 121 and small end 122, and its shape is roughly tapered cylinder structure.Jaw 14 has jig arm 141, and it is lever construction, the first arm 1412 comprise fulcrum 1411, extending from fulcrum 1411 to impeller 12 direction and from fulcrum 1411 the second arm 1413 of extending of impeller 12 direction dorsad.First arm 1412 is the warp architecture away from pedestal 13, expands the activity space between the first arm 1412 and pedestal 13.The end of the first arm 142 of close impeller 12 is prong like, and it is installed on the first arm 1412 by roller bearing 145, roller bearing 145 is installed on roller 146.When roller 146 is subject to external force, it can roll around roller bearing 145.Fulcrum 1411 is fixed on pedestal 13, and after one end of jig arm 141 receives driving force, jig arm 141 is rotated around fulcrum 1411.In the present embodiment, roller 146 contacts with impeller 12.And in other embodiments, can be that the first arm 1412 contacts impeller 12.
As shown in Figure 7 to 9, the second arm 1413 has first surface 14131, the second surface 14132 relative with first surface and connects a pair side 14133 of first surface 14131 and second surface 14132.Second arm 1413 is provided with the putting hole 1431 running through its both side surface 14133, putting hole 1431 is positioned at second arm 1413 one end, second arm 1413 also arrange the accepting groove 1432 that caves inward from first surface 14131 and from accepting groove 1432 extend forward and run through at least one accepting hole 1433 of second surface 14132, putting hole 1431 and accepting groove 1432 connect, and both are mutually vertical.Jaw 14 also has the rotating shaft 147 run through in this putting hole 1431, be installed in rotating shaft 147 and be contained in the fixture block 148 of accepting groove 1432.Fixture block 148 comprises the movable block 1481 be connected with rotating shaft 17 and the buffer stopper 1482 be fixed on movable block 1481.Buffer stopper 1482 is soft materials, and when product clamping, it is subject to external force, and buffer stopper 1482 can according to the product design change of clamping.Jaw 14 also comprises the second elastic component 149 of the accepting hole 1433 being contained in the second arm 1413 respectively and is installed on second surface 14132 and supports the baffle plate 150 of the second elastic component 149.Under normality, second elastic component 149 one end supports baffle plate, the other end supports movable block 1481, when movable block 1481 is under pressure or extracts product, fixture block 148 147 rotates around the shaft, compress the second elastic component 149, the elastic force of the second elastic component 149 supports buffer stopper 182 product wrapping of fixture block 148 simultaneously.
Jaw 14 also comprises the elastic supporting member for supporting optical member 143 be installed on pedestal 13, and elastic supporting member for supporting optical member 143 one end is fixed on pedestal 13, and the other end of elastic supporting member for supporting optical member 143 abuts on the first arm 1412, and abutted position is between roller 146 and fulcrum 1411.Elastic supporting member for supporting optical member 143 comprises the spring spool 1431 be installed on pedestal 13 and the spring 1432 be installed in resilient sleeve 1431, and spring 1432 abuts the first arm 1412.
During work, mobile arm imitates human arm, by controlling, mobile arm is constantly vibrated, and arranges up and down, the different directions vibration such as left and right, imitates the action of human arm completed knocked down products as much as possible.The mobile arm of vibration drives coupling assembling 20 to provide the driving force of interruption to floatation element 30, and compress the first elastic component 31 of floatation element 30, discharge driving force again and cause the first elastic component 31 resilience, then floatation element 30 is compressed, constantly continue, the driving force direction be subject to due to floatation element 30 from direction or and the strength of different size is provided, therefore the size of power that is at every turn subject to of the first elastic component 31 or different with direction.So the first elastic component 31 be transferred to the power of clip claw assembly 10 size or and direction may be also different.So, clip claw assembly 10 at completed knocked down products time, product can be assembled to given position from different perspectives.Moreover the axial line of the first elastic component 31 and driving force be not or not same direction, and the first elastic component 31 is when by compression, and the first elastic component 31 and axial line thereof are bent slightly.During the first elastic component 31 bending springback, mobile arm provides different directions driving force, and clip claw assembly 10 can be driven slightly to move according to last different directions.So repeatedly, on the product position that just more convenient assembling is corresponding that clip claw assembly 10 clamps.
When clip claw assembly 10 is subject to the order needing to capture product, the output shaft 112 of driving arrangement 11 drives impeller 12 to move.Because impeller has large end 121 and small end 122, the roller 146 of jaw 14 rolls with the alternate position spike of side 123, and elastic supporting member for supporting optical member 147 promotes the first arm 1412 simultaneously, causes roller 146 can not leave side 123.And order about jig arm 141 around fulcrum 1411 by lever principle and rotate, allow multiple first arm 1412 separately, allow the second arm 1413 close up, thus gripping product.
When gripping product, soft buffer stopper 1482 contacts with product gradually, and along with closing up of the second arm 1413, buffer stopper 1482 is out of shape product wrapping surface, is subject to the second elastic component 149 simultaneously and compresses movable block 1481, make buffer stopper 1482 more wrap product.Be closed to assigned position along with, the second arm 1413, this clip claw assembly 10 can product clamping smoothly, and product of not damaging.
Above-described is only some embodiments of the present invention.For the person of ordinary skill of the art, without departing from the concept of the premise of the invention, can also make some distortion and improvement, these all belong to protection scope of the present invention.
Claims (9)
1. a grabbing device, it has the clip claw assembly for capturing product, described clip claw assembly comprises peace fixed head, be installed on driving arrangement on described fixed head and for capturing described product jaw, it is characterized in that: described jaw has some jig arm, described jig arm arranges the putting hole being positioned at its end, from the accepting groove of surface thereof sunken inside and at least one accepting hole of extending forward from described accepting groove, described putting hole and described accepting groove connect, described jaw also comprises the second elastic component of being contained in described accepting hole respectively and is installed on described jig arm and supports the baffle plate of described second elastic component, run through the rotating shaft in described putting hole, to be installed in described rotating shaft and to be contained in the fixture block of described accepting groove.
2. grabbing device as claimed in claim 1, it is characterized in that: described clip claw assembly also comprises the pedestal being fixed on described fixed head, the first arm that described jig arm comprises fulcrum, extend to described driving arrangement direction from described fulcrum and from described fulcrum the second arm of extending of described driving arrangement direction dorsad, described fulcrum is fixed on described pedestal, and described second elastic component, described baffle plate, described rotating shaft, described fixture block are positioned on described second arm.
3. grabbing device as claimed in claim 2, is characterized in that: described fixture block comprises the movable block be connected with described rotating shaft and the buffer stopper being fixed on described movable block.
4. grabbing device as claimed in claim 3, it is characterized in that: described buffer stopper is soft materials, movable block is hard material.
5. grabbing device as claimed in claim 4, it is characterized in that: described jaw also comprises the elastic supporting member for supporting optical member being installed on described pedestal, described pedestal is fixed in described elastic supporting member for supporting optical member one end, and the other end abuts described first arm.
6. grabbing device as claimed in claim 5, it is characterized in that: described elastic supporting member for supporting optical member comprises the spring spool be installed on pedestal and the spring be installed in described resilient sleeve, described spring abuts the first arm.
7. grabbing device as claimed in claim 6, is characterized in that: described first arm is the warp architecture away from described pedestal.
8. grabbing device as claimed in claim 2, it is characterized in that: the end of described first arm of close described driving arrangement is prong like, a roller bearing is installed at described prong like place, described roller bearing is installed on roller, and the driving force of described driving arrangement is passed to described first arm by described roller.
9. grabbing device as claimed in claim 1, it is characterized in that: described grabbing device also comprises coupling assembling and the floatation element between described coupling assembling and described clip claw assembly, described floatation element comprises at least one first elastic component, is sheathed on a pair mounting clamp at the first elastic component two ends respectively, and described fixture block two ends are individually fixed in described coupling assembling and described clip claw assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510590880.7A CN105108770B (en) | 2015-09-17 | 2015-09-17 | A kind of grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510590880.7A CN105108770B (en) | 2015-09-17 | 2015-09-17 | A kind of grabbing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105108770A true CN105108770A (en) | 2015-12-02 |
| CN105108770B CN105108770B (en) | 2016-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510590880.7A Active CN105108770B (en) | 2015-09-17 | 2015-09-17 | A kind of grabbing device |
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| Country | Link |
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| CN (1) | CN105108770B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106006006A (en) * | 2016-05-25 | 2016-10-12 | 美的集团武汉制冷设备有限公司 | Intelligent clamping device |
| CN114535883A (en) * | 2022-03-29 | 2022-05-27 | 浙江晶科能源有限公司 | Clamping jaw assembly and clamping method of welding strip |
| CN115674235A (en) * | 2022-06-22 | 2023-02-03 | 上海智药科技有限公司 | Clamping jaw and clamping device and mobile robot with clamping jaw |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2552649Y (en) * | 2002-06-24 | 2003-05-28 | 山东鲁能智能技术有限公司 | Adaptive high voltage insulating manipulator |
| JP2012166297A (en) * | 2011-02-14 | 2012-09-06 | Seiko Epson Corp | Robot hand and robot apparatus |
| CN204546551U (en) * | 2015-02-09 | 2015-08-12 | 杭州赫瓦机器人技术开发有限公司 | A kind of mechanical gripper |
| CN205033230U (en) * | 2015-09-17 | 2016-02-17 | 苏州博众精工科技有限公司 | Gripping device |
-
2015
- 2015-09-17 CN CN201510590880.7A patent/CN105108770B/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106006006A (en) * | 2016-05-25 | 2016-10-12 | 美的集团武汉制冷设备有限公司 | Intelligent clamping device |
| CN114535883A (en) * | 2022-03-29 | 2022-05-27 | 浙江晶科能源有限公司 | Clamping jaw assembly and clamping method of welding strip |
| CN114535883B (en) * | 2022-03-29 | 2024-05-28 | 浙江晶科能源有限公司 | Clamping jaw assembly and clamping method of welding strip |
| CN115674235A (en) * | 2022-06-22 | 2023-02-03 | 上海智药科技有限公司 | Clamping jaw and clamping device and mobile robot with clamping jaw |
| WO2023246857A1 (en) * | 2022-06-22 | 2023-12-28 | 深圳晶泰科技有限公司 | Clamping jaw, gripping device having same, and mobile robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105108770B (en) | 2016-08-24 |
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Address after: The 215200 West Jiangsu city of Suzhou province Wujiang economic and Technological Development Zone No. 666 Patentee after: Bo Seiko Polytron Technologies Inc Address before: The 215200 West Jiangsu city of Suzhou province Wujiang economic and Technological Development Zone No. 666 Patentee before: Suzhou Bozhong Precision Industry Technology Co., Ltd. |