CN106429785A - Workpiece grabbing device - Google Patents
Workpiece grabbing device Download PDFInfo
- Publication number
- CN106429785A CN106429785A CN201610945671.4A CN201610945671A CN106429785A CN 106429785 A CN106429785 A CN 106429785A CN 201610945671 A CN201610945671 A CN 201610945671A CN 106429785 A CN106429785 A CN 106429785A
- Authority
- CN
- China
- Prior art keywords
- jaw
- limiting plate
- top board
- hole
- interior
- 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.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
Abstract
The invention relates to a workpiece grabbing device which comprises a top plate. A plurality of pairs of clamping jaws are hinged to the top plate. Each pair of clamping jaws comprises clamping jaws. The workpiece grabbing device further comprises a limit plate located below the top plate. Guiding holes are formed in the limit plate. The clamping jaws penetrate through the corresponding guiding holes. Through holes are formed in the top plate. A limit plate lifting connecting seat connected with a limit plate lifting device is arranged on the limit plate. A lifting connecting seat connected with a top plate lifting device is arranged on the top plate. Each clamping jaw comprises a clamping jaw rod hinged to the top plate, and a clamping jaw head located at the lower end of the corresponding clamping jaw rod, wherein an angular rotating device is arranged between the clamping jaw rod and the clamping jaw head. The distance between every two guiding holes corresponding to the corresponding pair of clamping jaws is D1. The distance between the two hinge points of the two clamping jaws in each pair is D2. D1 is greater than D2. Through the angular rotating device, angles between the clamping jaw heads and the corresponding clamping jaw rods can be adjusted, so that the clamping jaw heads face inwards or outwards, and through switching in this way, the clamping jaw heads can be used for clamping workpieces from inside to outside or front outside to inside.
Description
Technical field
The present invention relates to a kind of workpiece gripper device.
Background technology
Often face in production process and need just to be captured variously-shaped workpiece to be completed handling of workpiece etc.
Operation, because workpiece shapes are complex, when carrying out workpiece grabbing operation it is often necessary to use different gripping tools, one
Plant gripping tool and be often only applicable for a kind of crawl of type of workpiece, versatility is poor；And entered using existing general gripping tool
During row crawl operation, then there is the difficulty of the aspects such as workpiece positioning, clamping and support, be also very easy to lead to workpiece simultaneously
Deformation, it is very unfavorable that this makes to the subsequent installation of workpiece to be used to say that.
Content of the invention
The technical problem to be solved is to provide a kind of versatility good, can effectively improve workpiece grabbing efficiency, with
When can be prevented effectively from the workpiece gripper device that workpiece deforms.
For solving above-mentioned technical problem, the technical scheme is that：A kind of workpiece gripper device, including top board, described
Multipair jaw is hinged with top board, each pair of jaw includes the relative jaw of two articulated position on described top board；Also include position
Limiting plate under described top board, described limiting plate is provided with the one-to-one pilot hole with each jaw, and described jaw is worn
Enter described guiding in the hole, gap cooperation between described jaw and described pilot hole；Described top board is provided with through hole, described limiting plate
The upper position relative with described through hole is provided with the limiting plate lifting connecting seat connecting limiting plate lowering or hoisting gear, and described top board is provided with
Connect the lifting connecting seat of top board lowering or hoisting gear, described jaw includes the jaw bar being hinged on described top board and is located at jaw bar
The jaw head of lower end, is provided with angular turn device between described jaw bar and described jaw head, two institutes corresponding to each pair of jaw
Stating the distance between pilot hole is D1, and the distance between pin joint that two jaws of each pair of jaw are located on described top board is D2,
D1 is more than D2.
As preferred technical scheme, described limiting plate is provided with the hold-down devices being pressed downward described limiting plate.
As preferred technical scheme, described hold-down devices include the balancing weight being located on described limiting plate.
As preferred technical scheme, described limiting plate lowering or hoisting gear includes limiting plate lifting hydraulic cylinder, described limiting plate
Lifting hydraulic cylinder also serves as described hold-down devices.
As preferred technical scheme, described rotary connecting device includes being located at the screwed hole of described jaw bar lower end, institute
State jaw head and be provided with the bolt with the cooperation of described screwed hole.
As preferred technical scheme, the lower surface of described limiting plate is provided with articulated slab, and described articulated slab is hinged with
Jaw at least one pair of, described interior jaw includes inner clip claw bar, and the lower end of described inner clip claw bar is provided with interior jaw head；Also include position
Interior jaw guide plate below described articulated slab, described interior jaw guide plate is provided with interior jaw pilot hole, described interior jaw
Bar penetrates in described interior jaw pilot hole, gap cooperation, described interior jaw between described interior jaw pilot hole and described interior jaw
Guide plate is provided with the guide plate lifting connecting seat of connecting guide plate lowering or hoisting gear, on described articulated slab and described limiting plate respectively
It is provided with guide through hole, described guide through hole is interconnected, described lowering or hoisting gear is connected with described connecting seat through described guide through hole；
The distance between interior jaw pilot hole described in corresponding to each internal jaw two be D3, each internal jaw two in jaw be located at institute
Stating the distance between pin joint on articulated slab is D4, and D3 is more than D4.
As preferred technical scheme, between described articulated slab and described limiting plate, it is provided with articulated slab lowering or hoisting gear.
Due to employing technique scheme, a kind of workpiece gripper device, including top board, described top board is hinged with multipair
Jaw, each pair of jaw includes the relative jaw of two articulated position on described top board；Also include under described top board
Limiting plate, described limiting plate is provided with the one-to-one pilot hole with each jaw, and described jaw penetrates described guiding in the hole, institute
State gap cooperation between jaw and described pilot hole；Described top board is provided with through hole, relative with described through hole on described limiting plate
Position be provided with connect limiting plate lowering or hoisting gear limiting plate lifting connecting seat, described top board be provided with connection top board lowering or hoisting gear
Lifting connecting seat, described jaw include the jaw bar being hinged on described top board and be located at jaw bar lower end jaw head, institute
State and between jaw bar and described jaw head, be provided with angular turn device, corresponding to each pair of jaw described in two between pilot hole away from
From for D1, the distance between pin joint that two jaws of each pair of jaw are located on described top board is D2, and D1 is more than D2；By angle
Tumbler can be adjusted to the angle between gripper head and gripper bar, so that the gripper head being is inwardly or outwardly, passes through
The gripper head that such switching can be just is from inside to outside clamped workpiece or is clamped workpiece in outer container, by limiting plate liter
Connecting limiting plate lowering or hoisting gear on fall connecting seat just can drive limiting plate to lift, so in the guide effect lower gripper of pilot hole
Inwardly tighten up or outwardly open, gripper so just can be driven to clamp.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Have technology description in required use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, also may be used
So that other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 and Fig. 2 is the structural representation of an embodiment of the present invention；
Fig. 3 is the structural representation of present invention another kind embodiment.
Specific embodiment
As shown in figure 1, a kind of workpiece gripper device, including top board 1, described top board 1 is hinged with multipair jaw, each to folder
Pawl includes the relative jaw 2 of two articulated position on described top board 1；Also include the limiting plate 3 under described top board 1,
Described limiting plate 3 is provided with the one-to-one pilot hole 4 with each jaw, and described jaw penetrates in described pilot hole 4；Described top
Plate 1 is provided with through hole 5, and on described limiting plate 3, the position relative with described through hole 5 is provided with and connects the spacing of limiting plate lowering or hoisting gear
Plate lifts connecting seat 6, and described top board 1 is provided with the lifting connecting seat 7 connecting top board lowering or hoisting gear, and described jaw includes being hinged on
Jaw bar 20 on described top board 1 and the jaw head 8 being located at jaw bar 20 lower end, described jaw bar 20 and described jaw head 8 it
Between be provided with angular turn device, the distance between the pilot hole 4 described in two corresponding to each pair of jaw be D1, two folders of each pair of jaw
The distance between pin joint that pawl is located on described top board 1 is D2, and D1 is more than D2.Can be to gripper head by angular turn device
Angle and gripper bar between is adjusted so that the gripper head being is inwardly or outwardly, through such switching as shown in figure 1,
So that gripper head is from inside to outside clamped cylindrical work pieces 10 or clamped workpiece 13 from outside to inside as shown in Figure 2, by limit
Connecting limiting plate lowering or hoisting gear on the plate lifting connecting seat of position just can drive limiting plate to lift, so in the guide effect of pilot hole
Lower gripper is inwardly tightened up or is outwardly opened, and gripper so just can be driven to clamp.Described limiting plate 2 is provided with and is pressed downward described limit
The hold-down devices of position plate 3.So when not installing described limiting plate lowering or hoisting gear, by hold-down devices it is also possible that under gripper
Receive in end, thus clamping workpiece from the outside of workpiece, during clamping, the gripper head of two grippers relatively, catches on workpiece from the bottom of workpiece
Side wall.
Described hold-down devices include the balancing weight being located on described limiting plate.Balancing weight increases the weight of limiting plate,
When limiting plate lowering or hoisting gear is not installed, enable to receive in jaw lower end by pushing of balancing weight, thus pressing from both sides outside workpiece
Clamping of workpieces.
Described limiting plate lowering or hoisting gear includes limiting plate lifting hydraulic cylinder 9, and described limiting plate raise-lower hydraulic 9 cylinder also serves as described
Hold-down devices.Under the drive of limiting plate lowering or hoisting gear, limiting plate can move up and down with respect to jaw, so that folder
The lower end of pawl is opened or interior receipts, such that it is able to outwards or from the outside of workpiece inwardly clamp grabbing workpiece from the inside of workpiece.
Described rotary connecting device includes being located at the screwed hole of described jaw bar 7 lower end, and described jaw head is provided with and institute
State the bolt of screwed hole cooperation.Gripper head and gripper bar, by the way of screw thread cooperation, can realize folder by rotating thread head
The adjustment of angle between grappling fixture and gripper bar so that gripper head towards or outwardly.Gripper head inwardly when, can be from outside to inside
Catch on the side wall of workpiece, gripper head outwardly when, can from inside to outside catch on the side wall of workpiece.
Shown in accompanying drawing 3, the lower surface of described limiting plate 3 is provided with articulated slab 14, and described articulated slab 14 is hinged with least
Jaw in a pair, described interior jaw includes inner clip claw bar 16, and the lower end of described inner clip claw bar 16 is provided with interior jaw head 17；Also include
Positioned at the interior jaw guide plate 18 of described articulated slab 14 lower section, described interior jaw guide plate 18 is provided with interior jaw pilot hole, institute
State gap cooperation between interior jaw pilot hole and described interior jaw, described inner clip claw bar 16 penetrates described interior jaw pilot hole 19
Interior, described interior jaw guide plate 18 is provided with the guide plate lifting connecting seat 11 of connecting guide plate lowering or hoisting gear, described articulated slab
14 and described limiting plate on be respectively equipped with guide through hole, described guide through hole is interconnected, and described guide plate lowering or hoisting gear is through institute
State guide through hole to be connected with described connecting seat；Described in corresponding to each internal jaw two, the distance between interior jaw pilot hole is
D3, each internal jaw two in the distance between the pin joint that is located on described articulated slab of jaw be D4, D3 is more than D4.Articulated slab
It is provided with interior gripper, interior gripper guide plate 18 can move up and down so that interior in the presence of guide plate lowering or hoisting gear
Receive in jaw or outwardly open, such that it is able to hook from outside to inside tightly in the lower end of workpiece, or go deep into, in workpiece, from inside to outside hooking
Tightly in the lower end of workpiece.
It is provided with articulated slab lowering or hoisting gear between described articulated slab and described limiting plate.Described articulated slab lowering or hoisting gear can be adopted
With hydraulic cylinder etc..So the distance between articulated slab and limiting plate can be changed by articulated slab lowering or hoisting gear, such that it is able to make
In obtaining, gripper gos deep into inside workpiece, thus being applied to the crawl of the workpiece larger to bore depth, now articulated slab lowering or hoisting gear
In drive, gripper moves downward, and gos deep in inner hole of workpiece, and rear deflector lowering or hoisting gear drives guide plate to move upwards, so that
In obtaining, the lower end of jaw outwardly opens, and so interior gripper just can from inside to outside catch on the lower end of workpiece side wall, thus realizing work
The clamping of part and crawl.And coordinate hinged jaw on top board, go for the crawl of the increasingly complex workpiece of shape, such as
Shown in Fig. 3, jaw clamps complex part 12 from outside to inside, and interior jaw from inside to outside clamps complex part 12, substantially increases work
The stability of part gripping, can be prevented effectively from the deformation of workpiece it is ensured that the quality of workpiece simultaneously.
General principle, principal character and the advantages of the present invention of the present invention have been shown and described above.The technology of the industry
, it should be appreciated that the present invention is not restricted to the described embodiments, the simply explanation described in above-described embodiment and specification is originally for personnel
The principle of invention, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, these changes
Change and improvement both falls within scope of the claimed invention.Claimed scope by appending claims and its
Equivalent thereof.
Claims (7)
1. a kind of workpiece gripper device, it is characterised in that including top board, described top board is hinged with multipair jaw, each pair of jaw
Including the relative jaw of two articulated position on described top board；Also include the limiting plate under described top board, described limit
Position plate is provided with the one-to-one pilot hole with each jaw, and described jaw penetrates described guiding in the hole, described jaw and described
Gap cooperation between pilot hole；Described top board is provided with through hole, and on described limiting plate, the position relative with described through hole is provided with even
Connect the limiting plate lifting connecting seat of limiting plate lowering or hoisting gear, described top board is provided with the lifting connection connecting top board lowering or hoisting gear
Seat, described jaw include the jaw bar being hinged on described top board and be located at jaw bar lower end jaw head, described jaw bar and
It is provided with angular turn device, the distance between the pilot hole described in two corresponding to each pair of jaw is D1, respectively between described jaw head
It is D2 to the distance between pin joint that two jaws of jaw are located on described top board, D1 is more than D2.
2. as claimed in claim 1 a kind of workpiece gripper device it is characterised in that：Described limiting plate be provided be pressed downward described
The hold-down devices of limiting plate.
3. as claimed in claim 2 a kind of workpiece gripper device it is characterised in that：Described hold-down devices include being located at described limit
Balancing weight on the plate of position.
4. as claimed in claim 2 a kind of workpiece gripper device it is characterised in that：Described limiting plate lowering or hoisting gear includes spacing
Plate lifting hydraulic cylinder, described limiting plate lifting hydraulic cylinder also serves as described hold-down devices.
5. as claimed in claim 1 a kind of workpiece gripper device it is characterised in that：Described rotary connecting device includes being located at institute
State the screwed hole of jaw bar lower end, described jaw head is provided with the bolt with the cooperation of described screwed hole.
6. as claimed in claim 1 a kind of workpiece gripper device it is characterised in that：The lower surface of described limiting plate is installed hinged
Fishplate bar, described articulated slab is hinged with jaw at least one pair of, and described interior jaw includes inner clip claw bar, under described inner clip claw bar
End is provided with interior jaw head；Also include the interior jaw guide plate below described articulated slab, described interior jaw guide plate is provided with
Interior jaw pilot hole, described inner clip claw bar penetrates in described interior jaw pilot hole, described interior jaw pilot hole and described interior jaw
Between gap cooperation, described interior jaw guide plate be provided with connecting guide plate lowering or hoisting gear guide plate lifting connecting seat, described
It is respectively equipped with guide through hole, described guide through hole is interconnected, described lowering or hoisting gear is through described on articulated slab and described limiting plate
Guide through hole is connected with described connecting seat；The distance between interior jaw pilot hole described in corresponding to each internal jaw two is D3,
The distance between pin joint that in the two of each internal jaw, jaw is located on described articulated slab is D4, and D3 is more than D4.
7. as claimed in claim 1 a kind of workpiece gripper device it is characterised in that：Between described articulated slab and described limiting plate
It is provided with articulated slab lowering or hoisting gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610945671.4A CN106429785B (en) | 2016-11-02 | 2016-11-02 | A kind of workpiece gripper device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610945671.4A CN106429785B (en) | 2016-11-02 | 2016-11-02 | A kind of workpiece gripper device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106429785A true CN106429785A (en) | 2017-02-22 |
| CN106429785B CN106429785B (en) | 2018-04-13 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610945671.4A Active CN106429785B (en) | 2016-11-02 | 2016-11-02 | A kind of workpiece gripper device |
Country Status (1)
| Country | Link |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107285013A (en) * | 2017-07-13 | 2017-10-24 | 柳州福能机器人开发有限公司 | Transport the gripper of workpiece |
| CN107352382A (en) * | 2017-09-18 | 2017-11-17 | 中车唐山机车车辆有限公司 | Suspender |
| CN107381020A (en) * | 2017-07-13 | 2017-11-24 | 柳州福能机器人开发有限公司 | Carry the gripper of part |
| CN107414872A (en) * | 2017-05-12 | 2017-12-01 | 河南森源电气股份有限公司 | Case clamp and the robot device using the fixture |
| CN107472891A (en) * | 2017-07-13 | 2017-12-15 | 柳州福能机器人开发有限公司 | Transport part gripper |
| CN107487624A (en) * | 2017-07-13 | 2017-12-19 | 柳州福能机器人开发有限公司 | Workpiece handling gripper |
| CN108437948A (en) * | 2018-05-11 | 2018-08-24 | 宁波利维能储能系统有限公司 | Battery packages unloading system |
| CN108582046A (en) * | 2018-06-21 | 2018-09-28 | 安徽环美刷业有限公司 | A kind of bristle conveying robot |
| CN109607171A (en) * | 2018-12-13 | 2019-04-12 | 苏州市精创测控技术有限公司 | A kind of inner bearing type material fetching mechanism |
| CN110155705A (en) * | 2019-05-20 | 2019-08-23 | 无锡科技职业学院 | Manipulator is used in a kind of carrying of mold |
| CN110526110A (en) * | 2019-09-20 | 2019-12-03 | 山东国恒重工机械有限公司 | A kind of hoisting fixture convenient for stable holding |
| CN115055438A (en) * | 2022-07-28 | 2022-09-16 | 山东街景智能制造科技股份有限公司 | Plate cleaning device |
| GB2611587A (en) * | 2021-08-10 | 2023-04-12 | Ocado Innovation Ltd | Gripping device |
| CN110155705B (en) * | 2019-05-20 | 2024-04-12 | 无锡科技职业学院 | Manipulator for carrying mold |
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| WO2023017047A1 (en) * | 2021-08-10 | 2023-02-16 | Ocado Innovation Limited | Gripping device |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414872B (en) * | 2017-05-12 | 2024-03-26 | 河南森源电气股份有限公司 | Box clamp and manipulator device using same |
| CN107414872A (en) * | 2017-05-12 | 2017-12-01 | 河南森源电气股份有限公司 | Case clamp and the robot device using the fixture |
| CN107285013A (en) * | 2017-07-13 | 2017-10-24 | 柳州福能机器人开发有限公司 | Transport the gripper of workpiece |
| CN107381020A (en) * | 2017-07-13 | 2017-11-24 | 柳州福能机器人开发有限公司 | Carry the gripper of part |
| CN107472891A (en) * | 2017-07-13 | 2017-12-15 | 柳州福能机器人开发有限公司 | Transport part gripper |
| CN107487624A (en) * | 2017-07-13 | 2017-12-19 | 柳州福能机器人开发有限公司 | Workpiece handling gripper |
| CN107285013B (en) * | 2017-07-13 | 2019-01-15 | 柳州福能机器人开发有限公司 | Transport the gripper of workpiece |
| CN107352382B (en) * | 2017-09-18 | 2018-10-09 | 中车唐山机车车辆有限公司 | Suspender |
| CN107352382A (en) * | 2017-09-18 | 2017-11-17 | 中车唐山机车车辆有限公司 | Suspender |
| CN108437948A (en) * | 2018-05-11 | 2018-08-24 | 宁波利维能储能系统有限公司 | Battery packages unloading system |
| CN108582046A (en) * | 2018-06-21 | 2018-09-28 | 安徽环美刷业有限公司 | A kind of bristle conveying robot |
| CN108582046B (en) * | 2018-06-21 | 2023-06-16 | 安徽环美刷业股份有限公司 | Brush hair carrying manipulator |
| CN109607171A (en) * | 2018-12-13 | 2019-04-12 | 苏州市精创测控技术有限公司 | A kind of inner bearing type material fetching mechanism |
| CN110155705A (en) * | 2019-05-20 | 2019-08-23 | 无锡科技职业学院 | Manipulator is used in a kind of carrying of mold |
| CN110155705B (en) * | 2019-05-20 | 2024-04-12 | 无锡科技职业学院 | Manipulator for carrying mold |
| CN110526110A (en) * | 2019-09-20 | 2019-12-03 | 山东国恒重工机械有限公司 | A kind of hoisting fixture convenient for stable holding |
| GB2611587A (en) * | 2021-08-10 | 2023-04-12 | Ocado Innovation Ltd | Gripping device |
| CN115055438A (en) * | 2022-07-28 | 2022-09-16 | 山东街景智能制造科技股份有限公司 | Plate cleaning device |
| CN115055438B (en) * | 2022-07-28 | 2022-11-08 | 山东街景智能制造科技股份有限公司 | Plate cleaning device |
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|---|---|
| CN106429785B (en) | 2018-04-13 |
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Effective date of registration: 20220818 Address after: 261000 north of Xishou Road, Qinglonghu Road, Anqiu Economic Development Zone, Weifang City, Shandong Province Patentee after: Shandong Shengxiang Power Co.,Ltd. Address before: 261205 518 Shengrui Street, Weifang High-tech Industrial Development Zone, Shandong Province Patentee before: SHENGRUI TRANSMISSION Corp.,Ltd. |