CN105171768A - Gripping device - Google Patents
Gripping device Download PDFInfo
- Publication number
- CN105171768A CN105171768A CN201510590710.9A CN201510590710A CN105171768A CN 105171768 A CN105171768 A CN 105171768A CN 201510590710 A CN201510590710 A CN 201510590710A CN 105171768 A CN105171768 A CN 105171768A
- Authority
- CN
- China
- Prior art keywords
- arm
- grabbing device
- elastic component
- fulcrum
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
Abstract
The invention provides a gripping device which is provided with a clamping jaw assembly used for gripping a product. The clamping jaw assembly comprises a fixing board, a drive device installed on the fixing board, a push piece connected with the drive device, a base fixed to the fixing board and a clamping jaw installed on the base. The clamping jaw is provided with multiple clamping arms. Each clamping arm comprises a fulcrum, a first arm extending to the push piece from the corresponding fulcrum and a second arm extending opposite to the push piece from the corresponding fulcrum. The fulcrums are fixed to the base. The first arms are pushed by the push piece. The clamping arms rotate around the fulcrums to clamp the product. Compared with the prior art, the gripping device has the following technical beneficial effect that the clamping jaws are pushed in a lever manner through the push piece, so that the operation stability of the gripping device is high.
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 is to provide a kind of stable grabbing device.
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 fixed head, be installed on the driving arrangement of described fixed head, the impeller be connected with described driving arrangement, be fixed on the pedestal of described fixed head and be installed on the jaw of described pedestal, described jaw has some jig arm, described jig arm comprises fulcrum, the first arm extended to described impeller direction from described fulcrum and from described fulcrum the second arm of extending of described impeller direction dorsad, described fulcrum is fixed on described pedestal, described impeller promotes described first arm, jig arm clamps described product around fulcrum.
Described driving arrangement comprises the output shaft of the driving force of cylinder described in cylinder and transmission, and described impeller comprises the large end connecting described output shaft, the small end relative with described large end and connects the side of described large end and described small end.
The end of described first arm is prong like, and a roller bearing is installed at described prong like place, and described roller bearing is installed on roller, and described roller keeps in touch described side.
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 first arm is the warp architecture away from described pedestal.
Described second arm has first surface, the second surface relative with first surface and connect a pair side of described first surface and described second surface, second arm is provided with the putting hole running through described side surface, the accepting groove caved inward from described first surface and from described accepting groove extend forward and run through at least one accepting hole of described second surface, described jaw also comprises the second elastic component of being contained in described accepting hole respectively and is installed on described second arm and supports the baffle plate of described second elastic component, be contained in 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, the described second spring part other end supports described fixture block.
Described fixture block comprises the movable block be connected with described rotating shaft and the buffer stopper being fixed on described movable block, and described buffer stopper is soft materials, and described movable block is hard material.
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.
Described floatation element also comprises through the guide pillar in described first elastic component, has gap between described first elastic component and described guide pillar, and the axial line of described elastic component and the axial line shape of described guide pillar are at angle.
Described floatation element also comprises the wear-resistant block being sheathed on guide pillar end respectively and the axle head plate washer being installed on wear-resistant block outer end, and described wearing plate, axle head plate washer and guide pillar are locked together by described locking part.
Compared with prior art, grabbing device of the present invention has following technology effect: by impeller, promote jaw in the form of a lever, and its stability run is strong.Impeller has large end and the structure of small end, well makes the cooperate degree of jig arm and impeller; Roller is installed in first arm end, the wearing and tearing of impeller and jaw can be made to reduce, stable transmission.
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 (10)
1. a grabbing device, it has the clip claw assembly for capturing product, it is characterized in that: described clip claw assembly comprises fixed head, be installed on the driving arrangement of described fixed head, the impeller be connected with described driving arrangement, be fixed on the pedestal of described fixed head and be installed on the jaw of described pedestal, described jaw has some jig arm, described jig arm comprises fulcrum, the first arm extended to described impeller direction from described fulcrum and from described fulcrum the second arm of extending of described impeller direction dorsad, described fulcrum is fixed on described pedestal, described impeller promotes described first arm, jig arm clamps described product around fulcrum.
2. grabbing device as claimed in claim 1, it is characterized in that: described driving arrangement comprises the output shaft of the driving force of cylinder described in cylinder and transmission, described impeller comprises the large end connecting described output shaft, the small end relative with described large end and connects the side of described large end and described small end.
3. grabbing device as claimed in claim 2, is characterized in that: the end of described first arm is prong like, and a roller bearing is installed at described prong like place, and described roller bearing is installed on roller, and described roller keeps in touch described side.
4. grabbing device as claimed in claim 3, 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.
5. grabbing device as claimed in claim 4, is characterized in that: described first arm is the warp architecture away from described pedestal.
6. grabbing device as claimed in claim 4, it is characterized in that: described second arm has first surface, the second surface relative with first surface and connect a pair side of described first surface and described second surface, second arm is provided with the putting hole running through described side surface, the accepting groove caved inward from described first surface and from described accepting groove extend forward and run through at least one accepting hole of described second surface, described jaw also comprises the second elastic component of being contained in described accepting hole respectively and is installed on described second arm and supports the baffle plate of described second elastic component, be contained in 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, the described second spring part other end supports described fixture block.
7. grabbing device as claimed in claim 6, 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, and described buffer stopper is soft materials, and described movable block is hard material.
8. 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.
9. grabbing device as claimed in claim 8, it is characterized in that: described floatation element also comprises through the guide pillar in described first elastic component, have gap between described first elastic component and described guide pillar, the axial line of described elastic component and the axial line shape of described guide pillar are at angle.
10. grabbing device as claimed in claim 9, it is characterized in that: described floatation element also comprises the wear-resistant block being sheathed on guide pillar end respectively and the axle head plate washer being installed on wear-resistant block outer end, and described wearing plate, axle head plate washer and guide pillar are locked together by described locking part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510590710.9A CN105171768A (en) | 2015-09-17 | 2015-09-17 | Gripping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510590710.9A CN105171768A (en) | 2015-09-17 | 2015-09-17 | Gripping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105171768A true CN105171768A (en) | 2015-12-23 |
Family
ID=54894435
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510590710.9A Pending CN105171768A (en) | 2015-09-17 | 2015-09-17 | Gripping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105171768A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108945532A (en) * | 2018-06-04 | 2018-12-07 | 中国空间技术研究院 | A kind of arresting agency suitable for spacecraft universal architecture surface |
| CN109262649A (en) * | 2017-10-18 | 2019-01-25 | 中日龙(襄阳)机电技术开发有限公司 | A kind of automatic cleft hand without gas supply |
| CN111015709A (en) * | 2019-12-31 | 2020-04-17 | 界首市神机合自动化科技有限公司 | Snatch mechanism convenient to toper pipe fitting transport |
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| CN203665538U (en) * | 2013-12-19 | 2014-06-25 | 重庆市远翔食品有限公司 | Mechanical arm with clamping jaw replaced quickly for conveying raw materials |
| CN103978493A (en) * | 2014-05-13 | 2014-08-13 | 健雄职业技术学院 | Self-centering mechanical arm |
| CN203792350U (en) * | 2014-04-24 | 2014-08-27 | 重庆社平科技有限公司 | Connecting rod slider type mechanical gripper |
| CN104227730A (en) * | 2014-09-09 | 2014-12-24 | 青岛宝佳自动化设备有限公司 | Mechanical gripper for material feeding of material mixer |
| CN104842365A (en) * | 2015-05-22 | 2015-08-19 | 芜湖陀曼精机科技有限公司 | Manipulator used for griping high-temperature workpieces |
| CN104908053A (en) * | 2015-06-20 | 2015-09-16 | 苏州蓝王机床工具科技有限公司 | Mechanical grab |
| CN205021614U (en) * | 2015-09-17 | 2016-02-10 | 苏州博众精工科技有限公司 | Gripping device |
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2015
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| EP0886304B1 (en) * | 1997-06-18 | 2001-12-12 | SEZ Semiconductor-Equipment Zubehör für die Halbleiterfertigung AG | Gripper for disc substrates |
| JP2004160702A (en) * | 2002-11-11 | 2004-06-10 | Toyo Tire & Rubber Co Ltd | Apparatus and method for releasing elastic wheel from mold |
| CN101259619A (en) * | 2008-02-26 | 2008-09-10 | 廊坊智通机器人系统有限公司 | Automatic flexible chucking tools |
| CN203390939U (en) * | 2013-08-09 | 2014-01-15 | 上海发那科机器人有限公司 | Robot gripper for disassembling packaged stacks |
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| CN203792350U (en) * | 2014-04-24 | 2014-08-27 | 重庆社平科技有限公司 | Connecting rod slider type mechanical gripper |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109262649A (en) * | 2017-10-18 | 2019-01-25 | 中日龙(襄阳)机电技术开发有限公司 | A kind of automatic cleft hand without gas supply |
| CN108945532A (en) * | 2018-06-04 | 2018-12-07 | 中国空间技术研究院 | A kind of arresting agency suitable for spacecraft universal architecture surface |
| CN111015709A (en) * | 2019-12-31 | 2020-04-17 | 界首市神机合自动化科技有限公司 | Snatch mechanism convenient to toper pipe fitting transport |
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Application publication date: 20151223 |