CN106514683A - Clamping mechanism for robot - Google Patents
Clamping mechanism for robot Download PDFInfo
- Publication number
- CN106514683A CN106514683A CN201710024702.7A CN201710024702A CN106514683A CN 106514683 A CN106514683 A CN 106514683A CN 201710024702 A CN201710024702 A CN 201710024702A CN 106514683 A CN106514683 A CN 106514683A
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- CN
- China
- Prior art keywords
- hole
- pedestal
- bayonet lock
- longitudinal direction
- cramping body
- 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.)
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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
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Clamps And Clips (AREA)
Abstract
A clamping mechanism for a mechanical arm comprises a bayonet pin, a first pedestal, a clamping body, a second pedestal and an elastic body, wherein the first pedestal is fixedly connected to the mechanical arm, is detachably connected to the bayonet pin and is provided with a first through hole which extends in the longitudinal direction; the clamping body is used for clamping an object, is detachably connected to the bayonet pin, is provided with a first magnet, and is suitable for being inserted into the first through hole from the left side of the first pedestal in the longitudinal direction; the second pedestal is detachably connected to the bayonet pin, is provided with a second magnet, and is suitable for being inserted in the first through hole from the right side of the first pedestal in the longitudinal direction; the left end of the elastic body is connected to the first pedestal; and the right end of the elastic body is connected to the second pedestal. When the clamping body and the second pedestal are inserted in the first through hole, the bayonet pin is simultaneously connected to the first pedestal, the clamping body and the second pedestal, and the elastic body is in an elastic stretching state; and when the bayonet pin is separated from the first pedestal, the clamping body and the second pedestal, the clamping body and the second pedestal are connected integrally through the magnetic force of the first magnet and the magnetic force of the second magnet, and elastically move in the first through hole in the longitudinal direction.
Description
Technical field
The present invention relates to a kind of clamping device for robot.
Background technology
As service class robot is developed rapidly, mechanical hand is sometimes for realizing several functions, different blessing mechanisms
Different functions can be realized, for example, is clamped object in a different direction, for example, is clamped into running hand in a different direction
The pen write.However, in the prior art, replacing clamping device is sometimes excessively loaded down with trivial details, needs to carry out various mechanical connections, expends big
The amount time.At this moment a kind of clamping device for being applicable to object is clamped in different directions of design, and the clamping device are accomplished by
It is required to rapidly switch between different mechanisms.
Additionally, in the case where treating that clamped object contacts other objects, as the motion of mechanical arm can not be by very
Accurately control, so as to the inconstant situation of the stress for held object occur, held object generally occurs that stress is excessive
Or too small situation, therefore exist damage held object and and the situation of object that contacted, for example treating clamped thing
In the case that body is pen, in the case where stress is excessive, in fact it could happen that expose paper and damage the situation of nib.
The discussion above merely provides general background information and is not intended to be used to help determine the master being claimed
The scope of topic.
The content of the invention
The purpose of the present invention is aimed to solve the problem that in terms of at least one of the above-mentioned problems in the prior art and defect.
It is an object of the present invention to provide a kind of clamping device for mechanical arm, wherein, the clamping device bag
Include：Bayonet lock；First pedestal, first pedestal are fixedly connected to mechanical arm and are detachably connectable to bayonet lock and are provided with
Longitudinally extending first through hole；Cramping body, the cramping body are used to clamp object and are detachably connectable to bayonet lock, and arrange
In having the first magnet, and the left side insertion first through hole being suitable to from the longitudinal direction of the first pedestal；Second pedestal, second pedestal
Bayonet lock is detachably connectable to, and is provided with the second magnet, and the right side insertion first being suitable to from the longitudinal direction of the first pedestal is led to
Kong Zhong；And elastomer, the left end of the elastomer is connected to the first pedestal, and right-hand member is connected to the second pedestal, wherein, work as clamping
When body and the second pedestal are inserted in first through hole, bayonet lock can be connected to the first pedestal, cramping body and the second pedestal simultaneously
In, and elastomer be in elastic stretching state, when bayonet lock separates with the first pedestal, cramping body and the second pedestal, cramping body with
Second pedestal is combined into one by the magnetic force of the first magnet and the second magnet, so as to the cramping body and the second pedestal of one can
In the longitudinal longitudinal direction towards right power and elastomer being applied on cramping body, towards in the presence of Zola's power, in first through hole, edge is longitudinal
Flexibly move.
Preferably, first pedestal can have vertically extending and being mechanically secured to mechanical arm first
Base plate, and extend longitudinally and positioned at first ennation in the left side of the first base plate, first pedestal is medially provided with
The first through hole of the first base plate and the first ennation is extended through, first through hole has the first length；The cramping body can have
There are Part I and Part II and be medially provided with the second through hole for extending at least through Part I, second through hole
Held object is treated for accommodating in the vertical；Second pedestal has the second base plate for vertically extending, Yi Jiyan
Longitudinal extension and the second ennation on the left of the second base plate, second ennation are medially provided with longitudinally through wherein
Third through-hole and be suitable to from the right side of the first pedestal be inserted in first through hole, the third through-hole has less than the first length
The second length；Wherein, can be provided with the side wall of first ennation for accommodating the first hole of bayonet lock；Described second
Part can be provided with for accommodating the second hole of bayonet lock, and with more than or equal to the second length and less than the of the first length
Three length；The side wall of second ennation can be provided with for accommodating the 3rd hole of bayonet lock.In the second pedestal and cramping body
When being inserted in first through hole, the second base plate is parallel and against the first base plate, and the second ennation is accommodated in first through hole,
During Part II is at least partially accommodated in third through-hole and the second base plate is abutted, Part I is at least partially accommodated in
In first through hole, and the first hole, the second hole, the alignment of the 3rd hole.
Preferably, the inwall of the first through hole can be respectively arranged with extension at two positions diametrically
The first longitudinal direction groove and second longitudinal direction groove of one length, first longitudinal direction groove and second longitudinal direction groove are spaced 90 ° with the first hole respectively；And
First longitudinal direction spine and second longitudinal direction spine that the Part I can extend with the outer surface along Part I, in clamping
When body is inserted in first through hole, first longitudinal direction spine and second longitudinal direction spine are alignd with first longitudinal direction groove and second longitudinal direction groove
And slide wherein.
Preferably, first ennation can be provided with being transversely to the machine direction on the side wall transversely with vertical direction
For accommodating two the first holes of bayonet lock；Second ennation can be in being radially provided with for accommodating bayonet lock transversely
Two the 3rd holes；And the Part II can accommodate bayonet lock with transversely having for vertical direction being transversely to the machine direction
One the 3rd hole run through.
Preferably, the elastomer can include the first elastomer and the second elastomer, the upper table of first ennation
First connecting portion and second connecting portion are respectively arranged with face and lower surface；First base plate it is upper near the first ennation
The first opening and the second opening are respectively arranged with the position of surface and lower surface；The upper and lower surface of second base plate
On be respectively arranged with the 3rd jut and the 4th jut；Wherein, one end of first elastomer is connected to first connecting portion,
Middle part is through the first opening and the other end is connected to the 3rd jut；And one end of second elastomer is connected to second and dashes forward
The portion of rising, middle part is through the second opening and the other end is connected to the 4th jut.
Preferably, the first magnet can be arranged on longitudinal right-hand member of the cramping body, and the second magnet can be arranged on institute
State on the right surface of the second base plate.When the bayonet lock is extracted from the first hole, the second hole and the 3rd hole, by the first magnet and
The captivation of the second magnet, cramping body and the second pedestal link together, and in the case of stress, the first elastomer and
Further it is stretched to two elastomeric resilients, the cramping body of combination and the second pedestal are integrally moved to right relative to the first pedestal court
It is dynamic, in the case where not stressing, the elasticity drawing of the cramping body of combination and the second pedestal by the first elastomer and the second elastomer
Power and integrally relative to the first pedestal towards moving left.
Preferably, the cramping body can also include Part III, the Part III be arranged on Part I with the
The contrary one end in two parts, and with the octahedral shape corresponding with the shape of the first ennation, the second through hole extends logical
Part III is crossed, the upper and lower of the Part III is respectively arranged with the 3rd magnet.
Preferably, the Part III can be provided with least one fastener hole.
Preferably, the clamping device can also include vertical fixture, and the right surface of the vertical fixture is provided with the 4th
Magnet, the 4th magnet and the 3rd magnet coordinate for vertical fixture to be connected to cramping body；And the vertical fixture can be with
With U-shape, and there is upper side wall and lower wall, the upper side wall and lower wall to have in the vertical direction insertion respectively
First folder hole and the second folder hole, first folder hole and the second folder hole are clamped in the vertical direction and treat clamped object.
Preferably, the bayonet lock can have a L-shape, and the bayonet lock has the orthogonal first long side and second short
Side, during the first long side is inserted into the first hole, the second hole and the 3rd hole and be it is rigid, the second minor face be tool it is resilient.
In the clamping device of each embodiment of the invention, the clamping device can quickly on longitudinal direction
Switch between elastic displacement and the two states with the elastic displacement on longitudinal direction.Bayonet lock and the first pedestal, cramping body and
When second pedestal coordinates, the clamping device can be used in the clamping object with elastic displacement in the vertical itself.Bayonet lock with
When first pedestal, cramping body and the second pedestal separate, cramping body and the second pedestal attracted by magnetic attraction together so as to
Rapidly be combined into one, and in the case where cramping body is by dextrad power, integratedly towards moving right, dextrad is not received in cramping body
In the case of power, initial position, therefore the clamping device are reset to by the pulling force effect of elastomer, cramping body and the second pedestal
Itself has the elastic displacement on longitudinal direction.
By the description made for the present invention of below with reference to accompanying drawing, other objects and advantages of the present invention will be aobvious and easy
See, and can help that complete understanding of the invention will be obtained.
Description of the drawings
Fig. 1 shows the exploded view of the clamping device of exemplary embodiment of the invention；
Fig. 2 shows the axonometric chart of the first pedestal of exemplary embodiment of the invention；
Fig. 3 shows the axonometric chart of the cramping body of exemplary embodiment of the invention；
Fig. 4 shows the axonometric chart of the second pedestal of exemplary embodiment of the invention；And
Fig. 5 shows the exploded perspective view of first pedestal and the second pedestal of exemplary embodiment of the invention；With
And
Fig. 6 shows the axonometric chart of the vertical fixture of exemplary embodiment of the invention.
Specific embodiment
Below by embodiment, and accompanying drawing is combined, technical scheme is described in further detail.In explanation
In book, same or analogous drawing reference numeral indicates same or analogous part.It is following referring to the drawings to embodiment of the present invention
Illustrate to be intended to explain the present general inventive concept of the present invention, and be not construed as limiting a kind of of the present invention.
In addition, in the following detailed description, for ease of explaining, elaborate many concrete details to provide to present disclosure
The comprehensive understanding of embodiment.It should be apparent, however, that one or more embodiments can also in the case where not having these details
It is carried out.In other cases, known construction and device diagrammatically embodies to simplify accompanying drawing.
In discussion below book, longitudinal direction, vertical direction and laterally be only orthogonal three directions example side
To.Two opposite sides that the correspondingly left and right sides on longitudinal direction, and the upper and lower sides on vertical direction is also merely exemplary.Hereafter
The structure of explanation is not limited to direction described above.
An a kind of general plotting of the invention, there is provided clamping device for mechanical arm, wherein, the clamping machine
Structure includes：Bayonet lock 1, the first pedestal 2, cramping body 3 and the second pedestal 4 and elastomer 5.First pedestal 2 is fixedly connected to
Mechanical arm (not shown) and it is detachably connectable to bayonet lock 1 and is provided with first through hole Th1 for extending in the vertical.The clamping
Body 3 is used to clamp object and be detachably connectable to bayonet lock 1, and is provided with the first magnet m1, and is suitable to from the vertical of the first pedestal 2
In left side insertion first through hole Th1 upwards.Second pedestal 4 is detachably connectable to bayonet lock 1, and is provided with the second magnet
M2, and the left end of the right side insertion first through hole Th1 elastomer being suitable to from the longitudinal direction of the first pedestal 2 is connected to the first pedestal
2, right-hand member is connected to the second pedestal 4.When cramping body 3 and the second pedestal 4 are inserted in first through hole Th1, bayonet lock 1 can be same
When be connected in the first pedestal 2, cramping body 3 and the second pedestal 4, and elastomer 5 be in elastic stretching state.When bayonet lock 1 and
When one pedestal 2, cramping body 3 and the second pedestal 4 separate, cramping body 3 and the second pedestal 4 pass through the first magnet m1 and the second magnet m2
Magnetic force be combined into one, so as to one cramping body 3 and the second pedestal 4 can be applied on cramping body longitudinal direction towards right power
With elastomer longitudinal direction towards in the presence of Zola's power in first through hole Th1 along longitudinal elasticity it is mobile.Therefore, according to this
In the clamping device of bright embodiment, elastic displacement and do not have on longitudinal direction that the clamping device can quickly on longitudinal direction
Elastic displacement two states between switch, wherein in bayonet lock and the first pedestal, cramping body and the cooperation of the second pedestal, the folder
Hold mechanism and can be used in the clamping object with elastic displacement in the vertical itself, in bayonet lock and the first pedestal, cramping body and the
When two pedestals separate, the clamping device itself has the elastic displacement on longitudinal direction.
According to one embodiment of present invention, as illustrated in fig. 1 and 2, first pedestal 2 has and vertically prolongs
The first base plate 21 that is stretching and being mechanically secured to mechanical arm (not shown), and extend longitudinally and positioned at the first base plate 21
First ennation 22 in left side, first pedestal 2 are medially provided with and extend through the first base plate 21 and the first ennation 22
First through hole Th1, first through hole Th1 have the first length L1.As shown in figs. 1 and 3, the holder 3 is suitable to from first
The left side of pedestal 2 is inserted in first through hole Th1, and has Part I 31 and Part II 32, and is medially provided with
Extend at least through the second through hole Th2 of Part I 31, the second through hole Th2 be used to accommodate in the vertical wherein treat by
Clamping object (not shown).Second through hole Th2 can have various shapes for accommodating with object of different shapes.
In one exemplary embodiment of the present invention, this treats that clamped object is cylindrical brush.As shown in Fig. 1,4 and 5, described second
Pedestal 4 is longitudinally arranged at the right side of the first pedestal 2, and with the second base plate 41 for vertically extending, and along longitudinal direction
Extend and the second ennation 42 on the left of the second base plate 41, second ennation 42 is medially provided with longitudinally through which
In third through-hole Th3 and be suitable to from the right side of the first pedestal 2 be inserted in first through hole Th1, the third through-hole Th3 has
Less than the second length L2 of the first length L1.
It can be seen from fig. 1 and fig. 2 that being provided with the side wall 221 of first ennation 22 for accommodating the of bayonet lock 1
One hole h1.As shown in figs. 1 and 3, the Part II 32 is provided with for accommodating the second hole h2 of bayonet lock 1, and have more than or
Equal to the second length L2 and less than the 3rd length L3 of the first length L1, the 3rd length ensure that Part II 32 in insertion
To after first through hole Th1, can be at least partially accommodated in third through-hole Th3, and Part I 31 may not extend to
Outside first through hole Th1, and cannot get the support and receiving of first through hole Th1.As shown in figure 4, second ennation 42
Side wall is provided with for accommodating the 3rd hole h3 of bayonet lock 1.It is inserted in first through hole Th1 in the second pedestal 4 and cramping body 3
When, the second base plate 41 is parallel and against the first base plate 21, and the second ennation 42 is accommodated in first through hole Th1, Part II
32 are at least partially accommodated in third through-hole Th3 and abut the second base plate 41, and Part I 31 is at least partially accommodated in
In first through hole Th1, and the first hole h1, the second hole h2, the 3rd hole h3 align to accommodate bayonet lock 1.
Therefore, in an exemplary embodiment of the invention, the second of the right-hand member of cramping body 3 and the second pedestal 4
The abutting of base plate 41, can determine longitudinal register of the cramping body 3 in first through hole Th1 and third through-hole Th3, and the first hole
The alignment of h1 and the second hole h2.In addition by causing the first base plate 21 parallel with the second base plate 41 and abutting, ensure that
The alignment of the first hole h1 and the 3rd hole h3.Therefore, the first pedestal 2, cramping body 3 and the second pedestal 4 can be fixed on one by bayonet lock 1
Rise, in this kind of structure, cramping body 3 and the second pedestal 4 do not have relative displacement relative to the first pedestal 2, therefore have elasticity
Treat that held object is suitable to be clamped in the second through hole Th2, for example itself there is the brush pen of displacement on longitudinal direction to be clamped in
In second through hole Th2.
In order to cause the first hole h1 and the second hole h2 alignment in a circumferential direction, in an example of the invention
In property embodiment, as shown in figure 1, the inwall of first through hole Th1 is respectively arranged with two positions diametrically
Extend the first longitudinal direction groove g1 and second longitudinal direction groove g2 of the first length L1, first longitudinal direction groove and second longitudinal direction groove respectively with the first hole
H1 is spaced 90 °.Additionally, as shown in figure 3, the Part I 31 of cramping body 3 extends with the outer surface along Part I 31
First longitudinal direction spine r1 and second longitudinal direction spine r2, when cramping body 3 is inserted in first through hole Th1, first longitudinal direction ridge
Portion r1 and second longitudinal direction spine r2 is alignd and is slided wherein with first longitudinal direction groove g1 and second longitudinal direction groove g2.By longitudinal ridges
Cooperation and cannelure between so that cramping body 3 can not be rotated in a circumferential direction relative to the first pedestal 2, so as in circumference
The first hole h1 and the second hole h2 alignment is caused on direction.
In an exemplary embodiment of the invention, as the first hole h1, the number of the second hole h2 and the 3rd hole h3
Amount can be 2,1 and 2 respectively.Specifically, first ennation 22 be transversely to the machine direction with vertical direction transversely
It is provided with two side walls for accommodating two the first hole h1 of bayonet lock 1.Second ennation 42 is transversely radially
It is provided with for accommodating two the 3rd hole h3 of bayonet lock.The Part II 32 is being transversely to the machine direction with vertical direction transversely
With a second hole h2 for running through for accommodating bayonet lock 1.However, alternatively, the first hole h1, the number of the second hole h2 and the 3rd hole h3
Amount can be 1,1 and 1 respectively.In the case, it is provided with the first ennation 22 side only in the horizontal
First hole h1, the second ennation 42 are provided with the 3rd hole h3 on a side only in the horizontal.However, those skilled in the art
Member it should be appreciated that above-mentioned quantity is merely exemplary, can be arranged as required to any number of first hole, the second hole and
3rd hole.
Clamping device of the invention can be also used for clamping and not have resilient object, such as pen and pencil, this
A little pens do not have elasticity in a longitudinal direction thereof, if the power suffered by which is excessive, may cause nib bending and the pencil of pen
Pen core fractures.Specifically, in an exemplary embodiment in accordance with the present invention, as shown in figure 5, elastomer includes the first elastomer 5a
With the second elastomer 5b.First connecting portion 6a is respectively arranged with the upper surface 221 and lower surface 222 of first ennation 22
With second connecting portion 6b.The position punishment of the upper surface 221 and lower surface 222 near the first ennation of first base plate 21
The opening 21b of first opening 21a and second are not provided with.Set on the upper surface 411 and lower surface 412 of second base plate 41 respectively
It is equipped with the 3rd jut 7a and the 4th jut 7b.One end (left end) of the first elastomer 5a is connected to first connecting portion
6a, middle part is through the first opening 21a and the other end (right-hand member) is connected to the 3rd jut 7a.One end of the second elastomer 5b
(left end) is connected to second connecting portion 6b, and middle part passes through the second opening 21b and other end right-hand member) it is connected to the 4th jut 7b.
As shown in figure 1, the first magnet m1 is arranged on 3 longitudinal right-hand member 32e of the cramping body.As shown in figure 4, the second magnet
M2 is arranged on second base plate 41, such as on the right surface of the second base plate 41.When bayonet lock 1 is not extracted, the first elastomer
States of the 5a and the second elastomer 5b in elastic stretching.When the bayonet lock 1 is from the first hole h1, the second hole h2 and the 3rd hole h3
When extracting, linked together by the first magnet m1 and the captivation of the second magnet m2, cramping body 3 and the second pedestal 4, and
In the case of stress, the first elastomer 5a and the second elastomer 5b are flexibly further stretched, the cramping body 3 and second of combination
Pedestal 4 integrally relative to the first pedestal 2 towards moving right, in the case where not stressing, the cramping body 3 of combination and the second pedestal 4
By the elastic pulling force of the first elastomer 5a and the second elastomer 5b integrally relative to the first pedestal 2 towards moving left.Therefore,
The cramping body 3 being bonded together by magnetic force and the second pedestal 4 are in the presence of stress so that the further elasticity shape of elastomer
Become such that it is able to which court moves right simultaneously in the vertical.In the case of the power on revocation cramping body 3, because elastomer itself
Pulling force effect and return towards Zola and be bonded on the cramping body 3 and the second pedestal 4 of one, therefore, it is possible to imitate feelings of the staff according to stress
Condition and flexibly move on Impact direction.
In an exemplary embodiment of the invention, as illustrated in fig. 1 and 2, first ennation 22 has eight
The shape of face body.As shown in figure 3, the cramping body 3 also includes Part III 33, the Part III 33 is arranged on Part I
31 one end contrary with Part II 32, and with the octahedral bodily form corresponding with the octahedral shape of the first ennation 22
Shape, the second through hole Th2 extend through Part III 33, and the upper and lower of the Part III 33 is respectively arranged with two the 3rd
Magnet m3.
Additionally, in an exemplary embodiment of the invention, as shown in figure 3, Part III 33 can arrange by
At least one fastener hole 33h, the fastener hole can be used for fastening any kind of clamping device, and user can lead to as needed
Cross fastener hole 33h other clamping devices are arranged on Part III 33, so as to be suitable to various different application scenarios.
Specifically, the quantity of the fastener hole can be 4, and surround the second through hole Th2 centrosymmetry.
Object is clamped in order in the vertical direction, the clamping device there is a need for being able in the vertical direction clamping thing
The mechanism of body.Therefore, the clamping device also includes vertical fixture 8, as shown in Figure 6.The right surface of the vertical fixture 8 is arranged
There are the 4th magnet m4, the 4th magnet m4 and the 3rd magnet m3 to coordinate so that vertical fixture 8 is connected to cramping body 3.Such as Fig. 6 institutes
Show, the vertical fixture 8 has U-shape, and there is upper side wall 81 and lower wall 82, the upper side wall and lower wall to have respectively
There are the first folder hole 81a and the second folder hole 82a of in the vertical direction insertion, the first folder hole 81a and the second folder hole 82a is used for
In the vertical direction is clamped treats clamped object.By the magneticaction of the Part III 33 of vertical fixture 8 and cramping body 3,
Rapidly can change and installs fixture 8, without loaded down with trivial details mechanical connection.
In an exemplary embodiment of the invention, as shown in figure 1, the bayonet lock 1 has L-shape, the card
There is pin 1 orthogonal first long side 1l and the second minor face 1s, the first long side 1l to be inserted into the first hole h1, the second hole h2 and the
In three hole h3 and be it is rigid, the second minor face 1s be tool it is resilient.Additionally, as shown in figure 1, first base plate 21 and first
Fluted 21g is set at the corresponding positions of hole h1, and the groove is used for the second minor face 1s for accommodating bayonet lock, and when bayonet lock 1 is extracted,
Second minor face 1s is moved in groove 21g and when the side wall of groove is abutted, bayonet lock is fully extracted.By causing second
Minor face 1s has elasticity, in order to the first long side is inserted in bayonet lock receiving hole, and can be arranged on the first base plate 21
Groove 21g serves position-limiting action to bayonet lock, so as to abut in the second minor face 1s during the right side wall transversely of groove, the first length
Side 1l can be extracted from bayonet lock receiving hole completely, therefore facilitates operation.
In an exemplary embodiment of the invention, in order to preferably clamp object, as shown in figure 3, surrounding
Multiple screwed hole 3s are provided with the wall of the second through hole, such that it is able to be screwed into screw preferably to clamp object.In the same manner, such as
Shown in Fig. 6, multiple screwed hole 8s are also equipped with the outer wall of first folder hole and the second folder hole of vertical fixture 8, such that it is able to
It is screwed into screw preferably to clamp object.
It will be understood to those skilled in the art that embodiment described above is all exemplary, and this area
Technical staff can make improvements, the rushing in terms of not recurring structure or principle of the structure described in various embodiments
Independent assortment can be carried out in the case of prominent.
Although describing the present invention with reference to accompanying drawing, the embodiment disclosed in accompanying drawing is intended to preferred to the present invention
Embodiment is illustrative, and it is not intended that limiting to a kind of of the present invention.
Although some embodiments of this present general inventive concept have been shown and have illustrated, those of ordinary skill in the art will manage
Solution, in the case of the principle without departing substantially from this present general inventive concept and spirit, can make a change to these embodiments, of the invention
Scope is limited with claim and their equivalent.
It should be noted that word " including " is not excluded for other elements or step, word "a" or "an" is not excluded for multiple.Separately
Outward, the scope that any element label of claim should not be construed as limiting the invention.
Claims (10)
1. a kind of clamping device for mechanical arm, wherein, the clamping device includes：
Bayonet lock；
First pedestal, first pedestal are fixedly connected to mechanical arm and are detachably connectable to bayonet lock and are provided with longitudinal direction
The first through hole of upper extension；
Cramping body, the cramping body are used to clamp object and be detachably connectable to bayonet lock, and are provided with the first magnet, and are suitable to
In left side insertion first through hole from the longitudinal direction of the first pedestal；
Second pedestal, second pedestal are detachably connectable to bayonet lock, and are provided with the second magnet, and are suitable to from the first pedestal
Longitudinal direction on right side insertion first through hole in；And
Elastomer, the left end of the elastomer are connected to the first pedestal, and right-hand member is connected to the second pedestal,
Wherein, when cramping body and the second pedestal are inserted in first through hole, bayonet lock can be connected to the first pedestal, folder simultaneously
Body and the second pedestal are held, and elastomer is in elastic stretching state, and
When bayonet lock is separated with the first pedestal, cramping body and the second pedestal, cramping body and the second pedestal pass through the first magnet and the
The magnetic force of two magnets is combined into one, so as to the cramping body and the second pedestal of one can be in first through hole along longitudinally reciprocal shifting
It is dynamic.
2. clamping device according to claim 1, wherein,
First pedestal has the first base plate that is vertically extending and being mechanically secured to mechanical arm, and along longitudinal direction
Extend and positioned at first ennation in the left side of the first base plate, first pedestal is medially provided with and extends through the first base plate
With the first through hole of the first ennation, first through hole is with the first length；
The cramping body has Part I and Part II and is medially provided with and extends at least through the second of Part I
Through hole, second through hole is used to accommodate in the vertical treats held object；And
Second pedestal has the second base plate for vertically extending, and extends longitudinally and be located on the left of the second base plate
The second ennation, second ennation is medially provided with longitudinally through third through-hole therein and is suitable to from the first pedestal
Right side be inserted in first through hole, the third through-hole have less than the first length the second length；
Wherein, it is provided with the side wall of first ennation for accommodating the first hole of bayonet lock；
The Part II is provided with for accommodating the second hole of bayonet lock, and is had more than or equal to the second length and be less than first
3rd length of length；And
The side wall of second ennation is provided with for accommodating the 3rd hole of bayonet lock,
Wherein, when the second pedestal and cramping body are inserted in first through hole, the second base plate is parallel and against the first base plate, and
Two ennations are accommodated in first through hole, during Part II is at least partially accommodated in third through-hole and the second bottom of abutting
Plate, Part I are at least partially accommodated in first through hole, and the first hole, the second hole, the alignment of the 3rd hole.
3. clamping device according to claim 2, wherein,
The inwall of the first through hole is respectively arranged with the first of the first length of extension at two positions diametrically and indulges
To groove and second longitudinal direction groove, first longitudinal direction groove and second longitudinal direction groove are spaced 90 ° with the first hole respectively；And
First longitudinal direction spine and second longitudinal direction spine that the Part I extends with the outer surface along Part I, in clamping
When body is inserted in first through hole, first longitudinal direction spine and second longitudinal direction spine are alignd with first longitudinal direction groove and second longitudinal direction groove
And slide wherein.
4. clamping device according to claim 2, wherein,
First ennation is provided with for accommodating bayonet lock being transversely to the machine direction on the side wall transversely with vertical direction
Two the first holes；
Second ennation is in being radially provided with for accommodating two the 3rd holes of bayonet lock transversely；And
The Part II is being transversely to the machine direction the 3rd hole run through transversely with receiving bayonet lock with vertical direction.
5. clamping device according to claim 2, wherein,
The elastomer includes the first elastomer and the second elastomer,
First connecting portion and second connecting portion are respectively arranged with the upper and lower surface of first ennation；
First base plate near the first ennation upper and lower surface position at be respectively arranged with the first opening and
Second opening；And
The 3rd jut and the 4th jut are respectively arranged with the upper and lower surface of second base plate,
Wherein, one end of first elastomer is connected to first connecting portion, and middle part is through the first opening and the other end is connected to
3rd jut；And
One end of second elastomer is connected to second connecting portion, and middle part is through the second opening and the other end is connected to the 4th and dashes forward
The portion of rising.
6. clamping device according to claim 5, wherein, the first magnet is arranged on longitudinal right-hand member of the cramping body,
Second magnet is arranged on the right surface of second base plate,
Wherein, when the bayonet lock is extracted from the first hole, the second hole and the 3rd hole, by the suction of the first magnet and the second magnet
Gravitation, cramping body and the second pedestal link together, and in the case of stress, the first elastomer and the second elastomeric resilient
Ground is further stretched, and the cramping body of combination and the second pedestal are integrally moved right relative to the first pedestal court, what is do not stressed
In the case of, the cramping body of combination and the second pedestal it is integrally relative by the elastic pulling force of the first elastomer and the second elastomer
In the first pedestal, court moves left.
7. according to the clamping device described in claim 1 to 6, wherein,
The cramping body also includes Part III, and the Part III is arranged on contrary with Part II of Part I
End, and with the octahedral shape corresponding with the shape of the first ennation, the second through hole extends through Part III, described the
The upper and lower of three parts is respectively arranged with the 3rd magnet.
8. clamping device according to claim 7, wherein, the Part III is additionally provided with least one fastener hole.
9. clamping device according to claim 7, wherein,
The clamping device also includes vertical fixture, and the right surface of the vertical fixture is provided with the 4th magnet, the 4th magnetic
Body and the 3rd magnet coordinate for vertical fixture to be connected to cramping body；And
The vertical fixture has a U-shape, and have upper side wall and lower wall, the upper side wall and lower wall respectively with
First folder hole and the second folder hole of insertion on vertical direction, first folder hole and the second folder hole are clamped in the vertical direction
Treat clamped object.
10. clamping device according to any one of claim 1 to 9, wherein,
The bayonet lock has L-shape, and the bayonet lock has the orthogonal first long side and the second minor face, and the first long side is inserted into
In first hole, the second hole and the 3rd hole and be it is rigid, the second minor face be tool it is resilient.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710024702.7A CN106514683B (en) | 2017-01-13 | 2017-01-13 | Clamping device for robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710024702.7A CN106514683B (en) | 2017-01-13 | 2017-01-13 | Clamping device for robot |
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| CN106514683B CN106514683B (en) | 2018-12-28 |
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| CN106514683B (en) | 2018-12-28 |
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Effective date of registration: 20200109 Address after: A101, building 1, No.1, hagongda Road, Tangjiawan Town, hi tech Zone, Zhuhai City, Guangdong Province Patentee after: Zhuhai one dimensional string robot Co., Ltd Address before: 100086 B, building 16L, building 1, Beijing science and Technology Exhibition Center, No. 48 West Third Ring Road, Beijing, Haidian District Patentee before: Beijing one-dimensional chord Technology Co., Ltd. |