CN106514683B - Clamping device for robot - Google Patents
Clamping device for robot Download PDFInfo
- Publication number
- CN106514683B CN106514683B CN201710024702.7A CN201710024702A CN106514683B CN 106514683 B CN106514683 B CN 106514683B CN 201710024702 A CN201710024702 A CN 201710024702A CN 106514683 B CN106514683 B CN 106514683B
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- China
- Prior art keywords
- hole
- pedestal
- bayonet lock
- cramping body
- elastomer
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Classifications
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- 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 kind of clamping device for mechanical arm, comprising: bayonet lock；First pedestal is fixedly connected to mechanical arm and is detachably connectable to bayonet lock and is provided with the first through hole extended in the longitudinal direction；Cramping body is used to clamp object and is detachably connectable to bayonet lock, and is provided with the first magnet, and is suitable for from the longitudinal left side of the first pedestal insertion first through hole；Second pedestal, seat are detachably connectable to bayonet lock, and are provided with the second magnet, and are suitable for from the longitudinal right side of the first pedestal insertion first through hole；And elastomer, left end are connected to the first pedestal, right end is connected to the second pedestal.When cramping body and the second pedestal are inserted into first through hole, bayonet lock is connected to the first pedestal, cramping body and the second pedestal simultaneously, and elastomer is in elastic stretching state, and when bayonet lock is separated with them, cramping body and the second pedestal are combined into one by the magnetic force of the first magnet and the second magnet, are flexibly moved along longitudinal direction in first through hole.
Description
Technical field
The present invention relates to a kind of clamping devices for robot.
Background technique
With the rapid development of service class robot, manipulator is sometimes for realization multiple functions, different aid mechanisms
Different functions may be implemented, such as clamp object in a different direction, such as clamp carry out book in a different direction
The pen write.However, in the prior art, replacement clamping device is sometimes excessively cumbersome, need to carry out various mechanical connections, expends big
Measure the time.At this moment it a kind of is applicable to clamp the clamping device of object, and the clamping device in different directions with regard to needing to design
It is required to rapidly switch between different mechanisms.
In addition, in the case where object to be clamped contacts other objects, since the movement of mechanical arm cannot be by very
It accurately controls, thus the situation that the stress for held object occur is non-constant, it is excessive that held object usually will appear stress
Or too small situation, therefore exist damage held object and and contacted object the case where, such as in object to be clamped
In the case that body is pen, in the case where stress is excessive, in fact it could happen that the case where exposing paper and damage pen tip.
The discussion above merely provides general background information and is not intended to be used to help determine claimed master
The range of topic.
Summary of the invention
The purpose of the present invention aims to solve the problem that at least one aspect 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 devices for mechanical arm, wherein the clamping device packet
It includes: bayonet lock；First pedestal, first pedestal is fixedly connected to mechanical arm and is detachably connectable to bayonet lock, and is provided with
The first through hole extended in the longitudinal direction；Cramping body, the cramping body are set for clamping object and being detachably connectable to bayonet lock
It is equipped with the first magnet, and is suitable for from the longitudinal left side of the first pedestal insertion first through hole；Second pedestal, second base
Seat is detachably connectable to bayonet lock, and is provided with the second magnet, and is suitable for from the longitudinal right side of the first pedestal insertion first
In through-hole；And elastomer, the left end of the elastomer are connected to the first pedestal, right end is connected to the second pedestal, wherein works as folder
It holds body and when the second pedestal is inserted into first through hole, bayonet lock can be connected to the first pedestal, cramping body and the second base simultaneously
In seat, and elastomer is in elastic stretching state, when bayonet lock is separated with the first pedestal, cramping body and the second pedestal, cramping body
It is combined into one with the second pedestal by the magnetic force of the first magnet and the second magnet, thus the cramping body and the second pedestal energy of one
It is enough be applied on cramping body it is longitudinal towards right power and elastomer it is longitudinal towards Zola's power under the action of in first through hole along vertical
To flexibly moving.
Preferably, first pedestal can have extending along the vertical direction and being mechanically secured to mechanical arm first
Bottom plate, and first ennation in the left side of the first bottom plate is extended longitudinally and is located at, first pedestal is medially provided with
The first through hole of the first bottom plate and the first ennation is extended through, first through hole has the first length；The cramping body can have
There are first part and second part and is medially provided with the second through-hole for extending at least through first part, second through-hole
For being accommodated in the longitudinal direction to held object；Second pedestal has the second bottom plate extended along the vertical direction, Yi Jiyan
Longitudinal the second ennation extended and be located on the left of the second bottom plate, second ennation are medially provided with longitudinal direction therethrough
Third through-hole and be suitable for be inserted into first through hole on the right side of the first pedestal, the third through-hole have less than the first length
The second length；Wherein, the first hole for accommodating bayonet lock can be set on the side wall of first ennation；Described second
The second hole for accommodating bayonet lock can be set in part, and the second part has more than or equal to the second length and is less than
The third length of first length；The third hole for accommodating bayonet lock can be set in the side wall of second ennation.Second
When pedestal and cramping body are inserted into first through hole, the second bottom plate is parallel and against the first bottom plate, and the second ennation is received
In first through hole, second part is at least partially accommodated in third through-hole and abuts the second bottom plate, and first part is at least
It is partly housed in first through hole, and the first hole, the second hole, the alignment of third hole.
Preferably, the inner wall of the first through hole can be respectively arranged with extension at two positions relatively diametrically
The first longitudinal direction slot and second longitudinal direction slot of one length, first longitudinal direction slot and second longitudinal direction slot respectively with 90 ° of the first hole interval；And
The first part can have first longitudinal direction spine and second longitudinal direction spine along the extension of the outer surface of first part, clamp
When body is inserted into first through hole, first longitudinal direction spine and second longitudinal direction spine are aligned with first longitudinal direction slot and second longitudinal direction slot
And it slides wherein.
Preferably, first ennation can be provided on the side wall being transversely to the machine direction in the transverse direction 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 third holes；And the second part can have receiving bayonet lock on being transversely to the machine direction the transverse direction with vertical direction
One perforative third hole.
Preferably, the elastomer may include the first elastomer and the second elastomer, the upper table of first ennation
First connecting portion and second connecting portion are respectively arranged on face and lower surface；First bottom plate it is upper close to the first ennation
The first opening and the second opening are respectively arranged at the position of surface and lower surface；The upper and lower surfaces of second bottom plate
On be respectively arranged with third protrusion and the 4th protrusion；Wherein, one end of first elastomer is connected to first connecting portion,
Middle part passes through the first opening and the other end is connected to third protrusion；And one end of second elastomer is connected to second and dashes forward
The portion of rising, middle part passes through the second opening and the other end is connected to the 4th protrusion.
Preferably, the first magnet can be set on longitudinal right end of the cramping body, and the second magnet can be set in institute
It states on the right surface of the second bottom plate.When the bayonet lock is extracted from the first hole, the second hole and third hole, by the first magnet and
The attraction of second magnet, cramping body and the second pedestal link together, and in the case where stress, the first elastomer and
It is further stretched to two elastomeric resilients, combined cramping body and the second pedestal are integrally moved to right relative to the first pedestal court
Dynamic, in the case where not stressing, combined cramping body and the second pedestal are drawn by the elasticity of 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 in first part with the
The opposite one end in two parts, and there is octahedral shape corresponding with the shape of the first ennation, the second through-hole extends logical
Part III is crossed, the upper and lower part of the Part III is respectively arranged with third magnet.
Preferably, at least one fastener hole has can be set in the Part III.
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 third magnet cooperate so that vertical fixture is 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 are respectively provided with to be penetrated through in the vertical direction
First folder hole and the second folder hole, first folder hole and the second folder hole for clamping object to be clamped in the vertical direction.
Preferably, the bayonet lock can have L-shape, and the bayonet lock is short with orthogonal first long side and second
Side, the first long side are inserted into the first hole, the second hole and third hole and are rigid, and the second short side is flexible.
In the clamping device of each embodiment according to the present invention, which can be quickly with longitudinal
Switch between elastic displacement and two states without longitudinal elastic displacement.Bayonet lock and the first pedestal, cramping body and
When second pedestal cooperates, which can be used in clamping itself in the longitudinal direction with the object of elastic displacement.Bayonet lock with
When first pedestal, cramping body and the second pedestal separate, cramping body and the second pedestal by magnetic attraction attract together to
It is rapidly combined into one, and in the case where cramping body is by dextrad power, integrally towards moving right, in cramping body not by dextrad
In the case where power, by the pulling force effect of elastomer, cramping body and the second pedestal are reset to initial position, therefore the clamping device
Itself has longitudinal elastic displacement.
By the description made for the present invention of below with reference to attached 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.
Detailed description of the invention
Fig. 1 shows the exploded view of the clamping device of an exemplary embodiment of the present invention；
Fig. 2 shows the perspective views of first pedestal of an exemplary embodiment of the present invention；
Fig. 3 shows the perspective view of the cramping body of an exemplary embodiment of the present invention；
Fig. 4 shows the perspective view of second pedestal of an exemplary embodiment of the present invention；And
Fig. 5 shows first pedestal of an exemplary embodiment of the present invention and the exploded perspective view of the second pedestal；With
And
Fig. 6 shows the perspective view of the vertical fixture of an exemplary embodiment of the present invention.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.Illustrating
In book, the same or similar drawing reference numeral indicates the same or similar component.Following reference attached drawings are to embodiment of the present invention
Illustrate to be intended to explain present general inventive concept of the invention, and is not construed as to a kind of limitation of the invention.
In addition, in the following detailed description, to elaborate many concrete details to provide to present disclosure convenient for explaining
The comprehensive understanding of embodiment.It should be apparent, however, that one or more embodiments without these specific details can also be with
It is carried out.In other cases, well known construction and device is diagrammatically embodied to simplify attached drawing.
In following discussion book, the example side of longitudinal, vertical direction and lateral only orthogonal three directions
To.Correspondingly the upper and lower sides on longitudinal left and right sides and vertical direction are also only exemplary two opposite sides.Hereafter
The structure of explanation is not limited to direction described above.
A general plotting according to the present invention, provides a kind of 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 (being shown in FIG. 2).First pedestal 2
It is fixedly connected to mechanical arm (not shown) and is detachably connectable to bayonet lock 1 and is provided with the first through hole extended in the longitudinal direction
Th1.The cramping body 3 is provided with the first magnet m1 for clamping object and be detachably connectable to bayonet lock 1, and be suitable for from
In the longitudinal left side insertion first through hole Th1 of first pedestal 2.Second pedestal 4 is detachably connectable to bayonet lock 1, and
It is provided with the second magnet m2, and is suitable for the left end from the longitudinal right side of the first pedestal 2 insertion first through hole Th1 elastomer
It is connected to the first pedestal 2, right end is connected to the second pedestal 4.When cramping body 3 and the second pedestal 4 are inserted into first through hole Th1
When, bayonet lock 1 can be connected to simultaneously in the first pedestal 2, cramping body 3 and the second pedestal 4, and elastomer 5 is in elastic stretching shape
State.When bayonet lock 1 is separated with the first pedestal 2, cramping body 3 and the second pedestal 4, cramping body 3 and the second pedestal 4 pass through the first magnet
The magnetic force of m1 and the second magnet m2 are combined into one, so that the cramping body 3 and the second pedestal 4 of one can be applied to cramping body
On it is longitudinal towards the longitudinal towards flexibly being moved along longitudinal direction in first through hole Th1 under the action of Zola's power of right power and elastomer.
Therefore, in the clamping device of embodiment according to the present invention, which can be quickly with longitudinal elastic position
It moves between the two states without longitudinal elastic displacement and switches, wherein in bayonet lock and the first pedestal, cramping body and the
When two pedestals cooperate, which can be used in clamping itself in the longitudinal direction with the object of elastic displacement, in bayonet lock and the
When one pedestal, cramping body and the second pedestal separate, the clamping device itself has longitudinal elastic displacement.
According to one embodiment of present invention, as illustrated in fig. 1 and 2, first pedestal 2 has to be prolonged along the vertical direction
The first bottom plate 21 that is stretching and being mechanically secured to mechanical arm (not shown), and extend longitudinally and be located at the first bottom plate 21
First ennation 22 in left side, first pedestal 2, which is medially provided with, extends through the first bottom 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 clamping piece 3 is suitable for from first
The left side of pedestal 2 is inserted into first through hole Th1, and has first part 31 and second part 32, and be medially provided with
The second through-hole Th2, the second through-hole Th2 of first part 31 is extended at least through for being accommodated in the longitudinal direction to quilt wherein
Clamp object (not shown).Second through-hole Th2 can have various shapes to have object of different shapes for accommodating.?
In one exemplary embodiment of the present invention, being somebody's turn to do object to be clamped 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 has the second bottom plate 41 extended along the vertical direction, and along longitudinal direction
Extend and be located at second ennation 42 in 41 left side of the second bottom plate, second ennation 42 is medially provided with longitudinal through it
In third through-hole Th3 and be suitable for be inserted into first through hole Th1 from the right side of the first pedestal 2, the third through-hole Th3 has
The second length L2 less than the first length L1.
It can be seen from fig. 1 and fig. 2 that being provided with for accommodating bayonet lock 1 on the side wall 221 of first ennation 22
One hole h1.As shown in figs. 1 and 3, the second part 32 is provided with the second hole h2 for accommodating bayonet lock 1, and have be greater than or
Third length L3 equal to the second length L2 and less than the first length L1, the third length can guarantee that second part 32 is being inserted into
It to after first through hole Th1, can be at least partially accommodated in third through-hole Th3, and first part 31 may not extend to
Except first through hole Th1, and it cannot get the support and receiving of first through hole Th1.As shown in figure 4, second ennation 42
Side wall is provided with the third hole h3 for accommodating bayonet lock 1.It is inserted into first through hole Th1 in the second pedestal 4 and cramping body 3
When, the second bottom plate 41 is parallel and against the first bottom plate 21, and the second ennation 42 is accommodated in first through hole Th1, second part
32 are at least partially accommodated in third through-hole Th3 and abut the second bottom plate 41, and first part 31 is at least partially accommodated in
In first through hole Th1, and the first hole h1, the second hole h2, third hole h3 alignment are to accommodate bayonet lock 1.
Therefore, in an exemplary embodiment according to the present invention, the second of the right end of cramping body 3 and the second pedestal 4
The abutting of bottom plate 41 can determine longitudinal register and first hole of the cramping body 3 in first through hole Th1 and third through-hole Th3
The alignment of h1 and the second hole h2.Furthermore by making the first bottom plate 21 parallel with the second bottom plate 41 and abutting each other, can guarantee
The alignment of first hole h1 and third hole h3.Therefore, the first pedestal 2, cramping body 3 and the second pedestal 4 can be fixed on one by bayonet lock 1
It rises, in such structure, cramping body 3 and the second pedestal 4 do not have relative displacement relative to the first pedestal 2, therefore have elasticity
Be suitable for being clamped in the second through-hole Th2 to held object, such as itself is clamped in the writing brush of longitudinal displacement
In second through-hole Th2.
In order to be aligned the first hole h1 and the second hole h2, in an example according to the present invention
In property embodiment, as shown in Figure 1, the inner wall of the first through hole Th1 is respectively arranged at two positions relatively diametrically
Extend the first longitudinal direction slot g1 and second longitudinal direction slot g2 of the first length L1, first longitudinal direction slot and second longitudinal direction slot respectively with the first hole
90 ° of the interval h1.In addition, as shown in figure 3, the first part 31 of cramping body 3 has along the extension of the outer surface of first part 31
First longitudinal direction spine r1 and second longitudinal direction spine r2, when cramping body 3 is inserted into first through hole Th1, first longitudinal direction ridge
Portion r1 and second longitudinal direction spine r2 is aligned with first longitudinal direction slot g1 and second longitudinal direction slot g2 and slides wherein.Pass through longitudinal ridges
Cooperation between longitudinal slot, so that cramping body 3 is not able to rotate in a circumferential direction relative to the first pedestal 2, thus in circumference
It is aligned the first hole h1 and the second hole h2.
In an exemplary embodiment according to the present invention, as the number of the first hole h1, the second hole h2 and third hole h3
Amount can be 2,1 and 2 respectively.Specifically, the first ennation 22 is on being transversely to the machine direction the transverse direction with vertical direction
Two the first hole h1 for accommodating bayonet lock 1 are provided in two side walls.Second ennation 42 is transversely radially
It is provided with two third hole h3 for accommodating bayonet lock.The second part 32 is on being transversely to the machine direction the transverse direction with vertical direction
With a perforative second hole h2 for accommodating bayonet lock 1.However, alternatively, the number of the first hole h1, the second hole h2 and third hole h3
Amount can be 1,1 and 1 respectively.In the case, it is provided on the side of the first ennation 22 only horizontally
First hole h1, the second ennation 42 are provided with third hole h3 on a side only horizontally.However, those skilled in the art
Member it should be appreciated that above-mentioned quantity is only exemplary, can according to need any number of first hole of setting, the second hole and
Third hole.
Clamping device according to the present invention can be also used for the object that clamping does not have elasticity, such as pen and pencil, this
A little pens do not have elasticity in a longitudinal direction thereof, if the power suffered by it is excessive, may make pen tip 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 5 includes the first elastomer
5a and the second elastomer 5b.First connecting portion is respectively arranged on the upper surface 211 and lower surface 212 of first ennation 22
6a and second connecting portion 6b.At the upper surface 211 of close first ennation and the position of lower surface 212 of first bottom plate 21
It is respectively arranged with the opening of the first opening 21a and second 21b.On the upper surface 411 and lower surface 412 of second bottom plate 41 respectively
It is provided with third protrusion 7a and the 4th protrusion 7b.One end (left end) of the first elastomer 5a is connected to first connecting portion
6a, middle part passes through the first opening 21a and the other end (right end) is connected to third protrusion 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 end) it is connected to the 4th protrusion 7b.
As shown in Figure 1, the first magnet m1 setting is on the longitudinal right end 32e of the cramping body 3.As shown in figure 4, the second magnet
M2 is arranged on second bottom plate 41, such as on the right surface of the second bottom plate 41.When not extracting bayonet lock 1, the first elastomer
5a and the second elastomer 5b is in the state of elastic stretching.When the bayonet lock 1 is from the first hole h1, the second hole h2 and third hole h3
When extraction, by the attraction of the first magnet m1 and the second magnet m2, cramping body 3 and the second pedestal 4 link together, and
In the case where stress, the first elastomer 5a and the second elastomer 5b are flexibly further stretched, combined cramping body 3 and second
Pedestal 4 is integrally relative to the first pedestal 2 towards moving right, in the case where not stressing, combined cramping body 3 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 and the second pedestal 4 being bonded together by magnetic force are under the action of stress, so that the further elastic shape of elastomer
Become, so as to which court moves right simultaneously in the longitudinal direction.In the case where cancelling the power on cramping body 3, because elastomer itself
Pulling force effect and returned towards Zola and be bonded on integrated cramping body 3 and the second pedestal 4, therefore manpower can be imitated according to the feelings of stress
Condition and flexibly moved on Impact direction.
In an exemplary embodiment according to the present 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 further includes Part III 33, the Part III 33 is arranged in first part
31 one end opposite with second part 32, and there is 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 part of the Part III 33 is respectively set that there are two thirds
Magnet m3.
In addition, in an exemplary embodiment according to the present invention, as shown in figure 3, Part III 33 can be set by
At least one fastener hole 33h, the fastener hole can be used for fastening any kind of clamping device, and user can according to need logical
It crosses the fastener hole 33h others clamping device is mounted on Part III 33, to be suitable for a variety of different applications.
Specifically, the quantity of the fastener hole can be 4, and surround the second through-hole Th2 central symmetry.
In order to clamp object in the vertical direction, the clamping device there is a need for being able to clamp object in the vertical direction
The mechanism of body.Therefore, the clamping device further 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 third magnet m3 cooperation vertical fixture 8 is connected to cramping body 3.Such as Fig. 6 institute
Show, the vertical fixture 8 has U-shape, and has upper side wall 81 and lower wall 82, and the upper side wall and lower wall have respectively
There are the first folder hole 81a penetrated through in the vertical direction and the second folder hole 82a, the first folder hole 81a and the second folder hole 82a to be used for
Object to be clamped is clamped in the vertical direction.By the magneticaction of vertical fixture 8 and the Part III 33 of cramping body 3,
Can rapidly replace with installs fixture 8, without cumbersome mechanical connection.
In an exemplary embodiment according to the present invention, as shown in Figure 1, the bayonet lock 1 has L-shape, the card
Pin 1 has orthogonal first long side 11 and the second short side 1s, and the first long side 11 is inserted into the first hole h1, the second hole h2 and the
It in three hole h3 and is rigid, the second short side 1s is flexible.In addition, as shown in Figure 1, first bottom plate 21 and first
Fluted 21g is set at the corresponding position hole h1, which is used to accommodate the second short side 1s of bayonet lock, and from when extracting bayonet lock 1,
Second short side 1s is moved in groove 21g and when being abutted the side wall of groove, and bayonet lock is fully extracted.By making second
Short side 1s has elasticity, can be in order to which the first long side to be inserted into bayonet lock receiving hole, and is arranged on the first bottom plate 21
Groove 21g plays position-limiting action to bayonet lock, so that first is long in the right side wall in the transverse direction that the second short side 1s abuts groove
Side 11 can be extracted from bayonet lock receiving hole completely, therefore facilitate operation.
In an exemplary embodiment according to the present invention, in order to preferably clamp object, as shown in figure 3, surrounding
Multiple threaded hole 3s are provided on the wall of second through-hole, so as to be screwed into screw preferably to clamp object.Similarly, such as
Shown in Fig. 6, multiple threaded hole 8s are also equipped on the first folder hole of vertical fixture 8 and the outer wall of the second folder hole, so as to
Screw is screwed into preferably to clamp object.
It will be understood to those skilled in the art that embodiment described above is all exemplary, and this field
Technical staff can make improvements, the rushing in terms of not recurring structure or principle of structure described in various embodiments
It can be freely combined in the case where prominent.
Although in conjunction with attached drawing, the present invention is described, and embodiment disclosed in attached drawing is intended to preferred to the present invention
Embodiment illustrates, and should not be understood as to a kind of limitation of the invention.
Although some embodiments of this present general inventive concept have been shown and have illustrated, those of ordinary skill in the art will be managed
Solution can make a change these embodiments in the case where the principle and spirit without departing substantially from this present general inventive concept, of the invention
Range is limited with claim and their equivalent.
It should be noted that word " comprising " is not excluded for other element or steps, word "a" or "an" is not excluded for multiple.Separately
Outside, the range 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 vertical
The first through hole upwardly extended；
Cramping body, the cramping body are provided with the first magnet, and be suitable for for clamping object and being detachably connectable to bayonet lock
From the longitudinal left side of the first pedestal insertion first through hole；
Second pedestal, second pedestal is detachably connectable to bayonet lock, and is provided with the second magnet, and is suitable for from the first pedestal
Longitudinal right side insertion first through hole in；And
Elastomer, the left end of the elastomer are connected to the first pedestal, and right end is connected to the second pedestal,
Wherein, when cramping body and the second pedestal are inserted into 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 that the cramping body and the second pedestal of one reciprocal along longitudinal direction in first through hole can move
It is dynamic.
2. clamping device according to claim 1, wherein
First pedestal has the first bottom plate that is extending along the vertical direction and being mechanically secured to mechanical arm, and along longitudinal direction
Extend and be located at first ennation in the left side of the first bottom plate, first pedestal, which is medially provided with, extends through the first bottom plate
With the first through hole of the first ennation, first through hole has the first length；
The cramping body, which has first part and second part and is medially provided with, extends at least through the second of first part
Through-hole, second through-hole is for accommodating in the longitudinal direction to held object；And
Second pedestal has the second bottom plate extended along the vertical direction, and extends longitudinally and be located on the left of the second bottom plate
The second ennation, second ennation is medially provided with longitudinal third through-hole therethrough and is suitable for from the first pedestal
Right side be inserted into first through hole, the third through-hole have less than the first length the second length；
Wherein, the first hole for accommodating bayonet lock is provided on the side wall of first ennation；
The second part is provided with the second hole for accommodating bayonet lock, and the second part, which has, is greater than or equal to the second length
And less than the third length of the first length；And
The side wall of second ennation is provided with the third hole for accommodating bayonet lock,
Wherein, when the second pedestal and cramping body are inserted into first through hole, the second bottom plate is parallel and against the first bottom plate, the
Two ennations are accommodated in first through hole, and second part is at least partially accommodated in third through-hole and abuts the second bottom
Plate, first part are at least partially accommodated in first through hole, and the first hole, the second hole, the alignment of third hole.
3. clamping device according to claim 2, wherein
The inner wall of the first through hole is respectively arranged at two positions relatively diametrically extends the first vertical of the first length
To slot and second longitudinal direction slot, first longitudinal direction slot and second longitudinal direction slot respectively with 90 ° of the first hole interval；And
The first part has the first longitudinal direction spine and second longitudinal direction spine extended along the outer surface of first part, is clamping
When body is inserted into first through hole, first longitudinal direction spine and second longitudinal direction spine are aligned with first longitudinal direction slot and second longitudinal direction slot
And it slides wherein.
4. clamping device according to claim 2, wherein
First ennation is provided on the side wall being transversely to the machine direction in the transverse direction with vertical direction for accommodating bayonet lock
Two the first holes；
Second ennation is in two third holes being radially provided with for accommodating bayonet lock transversely；And
The second part has a perforative third hole for accommodating bayonet lock on being transversely to the machine direction the transverse direction 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 in the upper and lower surfaces of first ennation；
First bottom plate close to the first ennation upper and lower surfaces position at be respectively arranged with the first opening and
Second opening；And
It is respectively arranged with third protrusion and the 4th protrusion in the upper and lower surfaces of second bottom plate,
Wherein, one end of first elastomer is connected to first connecting portion, and middle part passes through the first opening and the other end is connected to
Third protrusion；And
One end of second elastomer is connected to second connecting portion, and middle part passes 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 end of the cramping body,
Second magnet is arranged on the right surface of second bottom plate,
Wherein, when the bayonet lock is extracted from the first hole, the second hole and third hole, pass through the suction of the first magnet and the second magnet
Gravitation, cramping body and the second pedestal link together, and in the case where stress, the first elastomer and the second elastomeric resilient
Ground is further stretched, and combined cramping body and the second pedestal are integrally relative to the first pedestal towards moving right, what is do not stressed
In the case of, combined cramping body and the second pedestal are integrally opposite by the elastic pulling force of the first elastomer and the second elastomer
In the first pedestal, court is moved left.
7. clamping device according to any one of claim 1 to 6, wherein
The cramping body further includes Part III, and one opposite with second part of first part is arranged in the Part III
End, and have octahedral shape corresponding with the shape of the first ennation, the second through-hole extends through Part III, and described the
The upper and lower part of three parts is respectively arranged with third magnet.
8. clamping device according to claim 7, wherein the Part III is additionally provided at least one fastener hole.
9. clamping device according to claim 7, wherein
The clamping device further includes vertical fixture, and the right surface of the vertical fixture is provided with the 4th magnet, the 4th magnetic
Body and third magnet cooperate so that vertical fixture is connected to cramping body；And
The vertical fixture has U-shape, and has upper side wall and lower wall, and the upper side wall and lower wall are respectively provided with
The first folder hole and the second folder hole penetrated through on vertical direction, first folder hole and the second folder hole for clamping in the vertical direction
Object to be clamped.
10. clamping device according to any one of claim 1 to 6, wherein
The bayonet lock has L-shape, which has orthogonal first long side and the second short side, and the first long side is inserted into
It in first hole, the second hole and third hole and is rigid, the second short side is flexible.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710024702.7A CN106514683B (en) | 2017-01-13 | 2017-01-13 | Clamping device for robot |
Applications Claiming Priority (1)
| 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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| Publication Number | Publication Date |
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| CN106514683A CN106514683A (en) | 2017-03-22 |
| CN106514683B true CN106514683B (en) | 2018-12-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710024702.7A Active CN106514683B (en) | 2017-01-13 | 2017-01-13 | Clamping device for robot |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018188056A1 (en) * | 2017-04-14 | 2018-10-18 | 深圳市方鹏科技有限公司 | Intelligent robotic arm |
| WO2019090709A1 (en) * | 2017-11-10 | 2019-05-16 | 唐佩福 | Locking device for bone fixation pin |
| WO2019090707A1 (en) * | 2017-11-10 | 2019-05-16 | 唐佩福 | Locking device for bone fixation pin |
| CN110857154B (en) * | 2019-03-01 | 2022-07-19 | 湖南隋侯珠科技有限公司 | Liquid-transfering sucker arranges robot |
| CN110861117B (en) * | 2019-10-24 | 2024-01-19 | 石泉县博达盛昌新型材料制造有限公司 | Industrial mechanical arm for production line |
| CN112476399B (en) * | 2020-11-12 | 2022-02-08 | 哈尔滨工业大学 | Mechanical arm modular joint rapid electromechanical butt joint device |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4854793B2 (en) * | 2010-03-08 | 2012-01-18 | Ｔｈｋ株式会社 | Electric gripper |
| CN102238861B (en) * | 2010-04-28 | 2015-04-08 | 中山市云创知识产权服务有限公司 | Clamping device |
| CN203600248U (en) * | 2013-11-08 | 2014-05-21 | 重庆风过旗扬科技发展有限公司 | Elastic mechanical arm |
| CN204069510U (en) * | 2014-08-19 | 2014-12-31 | 丽清汽车科技(上海)有限公司 | A kind of device for dotting for printed circuit board (PCB) |
| CN205254831U (en) * | 2015-11-17 | 2016-05-25 | 深圳市德沃先进自动化有限公司 | Mechanical claw |
| CN106166741A (en) * | 2016-05-27 | 2016-11-30 | 宁波创控智能科技有限公司 | High-precision intelligent writing robot |
| CN105922248B (en) * | 2016-06-14 | 2017-12-12 | 徐州优力同创科技股份有限公司 | A kind of mechanical arm clamping jaw for being applied to clamping rod member |
| CN206605510U (en) * | 2017-01-13 | 2017-11-03 | 北京一维弦科技有限责任公司 | Clamping device for mechanical arm |
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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. |
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