CN106826881B - A hand claw and tongs for centre gripping material - Google Patents
A hand claw and tongs for centre gripping material Download PDFInfo
- Publication number
- CN106826881B CN106826881B CN201710095922.9A CN201710095922A CN106826881B CN 106826881 B CN106826881 B CN 106826881B CN 201710095922 A CN201710095922 A CN 201710095922A CN 106826881 B CN106826881 B CN 106826881B
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- Prior art keywords
- arm
- gripper
- claw
- claw arm
- linkage
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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
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
Abstract
The invention belongs to the field of production line robots, in particular to a gripper for gripping materials, which comprises a gripper main body, a connecting shaft and a first elastic traction piece, wherein the gripper main body is rotatably connected with the connecting shaft; the gripper main body comprises a connecting seat, at least two gripper arms and at least two finger assemblies, wherein each gripper arm is arranged on the connecting seat, each gripper arm has a passive degree of freedom within a preset range, each finger assembly is arranged on a corresponding gripper arm, each finger assembly comprises a fixing part and a grabbing part, the gripper can grab an object with a curved surface, the self-adaption capability is high, the fitting degree with the object is high, and the grabbing is stable; the invention also provides a gripper applying the gripper, which comprises a machine base, two grippers and a negative pressure source, wherein the gripper has strong self-adaption capability and is stable to grasp.
Description
Technical Field
The invention belongs to the field of production line robots, and particularly relates to a gripper and a gripper for clamping materials.
Background
The manipulator is a novel device developed in the mechanized and automatic production process. In the modern production process, the manipulator is widely applied to an automatic production line, has the characteristics of continuous repeated work, high working efficiency, large weight grabbing force and the like, and can replace workers to operate in severe environments such as high temperature, high pressure, multiple dust, danger and the like, so that the manipulator is accepted and valued by vast enterprises, and becomes one of the fastest-developing industries in the mechanical manufacturing industry.
At present, the manipulator can be divided into four types of manipulators of fluid pressure type, start-up type, electric type and mechanical type according to the driving mode, but current manipulator has the unstable problem of clamping, especially, in rice cooker inner bag, electric pressure cooker inner bag, kitchen utensils, cooking utensil, kettle, drinking cup and other five metals stretch forming and follow-up processing production line, because the clamping face of above-mentioned work piece is the cambered surface, current manipulator can appear when the clamping cambered surface with the phenomenon of clamping face contact failure, leads to the work piece to drop easily when transporting, even clamp and get to influence the quality and the production efficiency of product, consequently research and development one kind can be used for the clamping cambered surface and the strong manipulator of self-adaptation ability is very necessary.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a paw which is used for clamping an object and can be self-adaptive to the surface of the object to be grasped.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a paw for centre gripping material, includes paw main part, connecting axle and first elasticity traction element, the paw main part includes connecting seat, first claw arm, second claw arm and two at least finger assembly, the connecting seat with connecting axle rotationally connects, the one end of first elasticity traction element with the connecting axle is connected, and the other end is connected with the paw main part, makes first claw arm and second claw arm keep at the orientation of predetermineeing, first claw arm and second claw arm are certain contained angle setting on the connecting seat, and the one end and the connecting seat of two claw arms are connected, and the other end extends to the front side of connecting seat, every claw arm has the passive degree of freedom of predetermineeing within range, install one finger assembly on first claw arm and the second claw arm at least, every finger assembly includes fixed part and grabbing part, the fixed part is connected with the claw arm that corresponds, grabbing part is located the front side of this claw arm.
Compared with the prior art, the claw provided by the invention has the passive degree of freedom within the preset range, so that when the claw body is contacted with a gripped object, the claw arm can rotate appropriately according to the shape of the surface of the gripped object, thereby adjusting an angle which is suitable for the surface of the gripped object, improving the matching degree between the finger assembly and the gripped object, enabling the finger object to be more matched with the surface of the gripped object, and clamping and stabilizing workpieces with cambered surfaces; in addition, in order to enhance the self-adaptation capability of the gripper, the gripper is further provided with the connecting shaft, and the gripper main body is connected with the connecting shaft in an axial mode, so that when the gripper grips an object, the gripper main body can rotate properly according to the shape of the surface of the gripped object, and then adjust to a proper angle, the self-adaptation capability of the gripper can be greatly improved by matching with the arrangement mode of the gripper arms, the gripper grips the object more firmly, and in order to prevent the gripper main body from turning down under the influence of gravity in a natural state, the gripper is further provided with the first elastic traction piece, and the first elastic traction piece is connected with the connecting shaft and the gripper main body, so that the gripper main body is prevented from turning down in the natural state, and the first gripper arms and the second gripper arms keep a preset orientation in the natural state.
Furthermore, the first claw arm and the second claw arm are elastic pieces, one ends of the first claw arm and the second claw arm are fixedly connected with the connecting seat, and the elastic pieces are elastically deformed when being stressed so as to enable the elastic pieces to have the passive degree of freedom. The outer sides of the first claw arm and the second claw arm are respectively provided with the first elastic traction piece, one end of the first elastic traction piece is connected with the connecting shaft, and the other end of the first elastic traction piece is connected with the corresponding first claw arm or second claw arm. The mounting surface with a certain included angle is arranged on the upper side and the lower side of the front end of the connecting seat, a threaded hole is formed in the mounting surface, a mounting hole is formed in one end, connected with the connecting seat, of the elastic piece, and the mounting hole is fixedly connected with the threaded hole of the connecting seat through a connecting screw.
Further, the fixing part comprises a fastener, the grabbing part comprises a guide pipe and a sucker connected to one end of the guide pipe, an access piece used for connecting a negative pressure source is arranged at the other end of the guide pipe, and the guide pipe is installed on a corresponding claw arm through the fastener. Preferably, an elastic buffer member is sleeved on the outer side of the catheter, the elastic buffer member connects the fastening member and the sucker, and the elastic buffer member enables the sucker and the catheter to have passive freedom degrees along the length direction of the catheter. Preferably, the elastic buffer member is a spring. Preferably, the catheter is a flexible catheter that is adapted to bend relative to the surface of the object being grasped. Preferably, the suction cup comprises suction cup corrugations which are capable of being bent adaptively relative to the surface of the object to be grasped. The finger assembly is simple in structure in the arrangement mode, the contact area between the finger assembly and the surface of the object to be grasped can be increased by the suction cup, the grasping capacity of the finger can be effectively enhanced, the impact force of the finger when the finger is initially contacted with the object to be grasped can be relieved by the elastic buffer piece, and the self-adaptive capacity of the finger assembly can be improved by the arrangement mode of the flexible guide tube and the suction cup fold.
Further, the connecting seat comprises a left side plate, a right side plate and a bearing seat arranged between the left side plate and the right side plate, shaft holes matched with the connecting shaft are formed in the left side plate and the right side plate in a penetrating mode, bearings matched with the connecting shaft are mounted on the bearing seat, the connecting shaft, the shaft holes and the bearings are coaxially arranged, and the connecting shaft is matched with the bearings through the shaft holes. The setting mode of connecting seat compact structure can make the connecting seat rotate more smoothly through setting up bearing frame and bearing.
The invention also provides a gripper applying the gripper, which comprises a machine base and two grippers, wherein the machine base comprises a machine frame, and a first linkage arm, a second linkage arm and a linkage mechanism which are arranged on the machine frame, the first linkage arm and the second linkage arm are symmetrically arranged, one ends of the first linkage arm and the second linkage arm are in transmission connection with the linkage mechanism, and the linkage mechanism drives the first linkage arm and the second linkage arm to synchronously spread or clamp relatively; the connecting shafts of the two hand claws are respectively connected to one ends of the first linkage arm and the second linkage arm relative to the linkage mechanism, and the finger assemblies of the two hand claws face to one side of the two linkage arms which are clamped relatively. Preferably, at least two finger assemblies of each finger are arranged one above the other.
Further, the linkage mechanism comprises a driving device and racks with teeth at two sides, the driving device is arranged at the lower side of the racks, driven pieces extending downwards are arranged at the end parts of the racks, and the output ends of the driving device are connected with the driven pieces so as to drive the racks to reciprocate along the length directions of the racks; the first linkage arm and the second linkage arm are provided with gears matched with racks relative to one end connected with the paw, the racks are respectively meshed with the gears of the two linkage arms so as to drive the first linkage arm and the second linkage arm to be unfolded synchronously or clamped relatively, and the linkage mechanism is simple in structure, convenient to install and manufacture and accurate in transmission.
When the object is required to be grabbed, the rack drives the gear to rotate so as to drive the first linkage arm and the second linkage arm to clamp synchronously and relatively, when the claws touch the surface of the grabbed object, the two claw bodies can rotate to a proper angle around the connecting shaft according to the shape of the surface of the grabbed object, meanwhile, as the claw arms and the finger assembly are provided with the passive degrees of freedom in a preset range, the claw arms and the finger assembly can be adjusted to a proper angle according to the shape of the surface of the grabbed object, so that the finger assembly is attached to the surface of the grabbed object more, the matching degree of the claws and the grabbed object is improved, and the grabbed object by the claws is firmer.
The gripper provided by the invention adopts the gripper, so that the self-adaptive capacity of the gripper can be improved, and the gripper can be more firmly attached to the surface of an object and can be used for gripping.
Drawings
FIG. 1 is a schematic view of a paw according to the first embodiment
FIG. 2 is a schematic view of a pawl according to a second embodiment
Fig. 3 is a schematic structural view of a gripper according to a third embodiment
FIG. 4 is a schematic view showing the angles of the claw arms and the finger assembly
Detailed Description
The following describes specific embodiments of the present invention with reference to the drawings.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the "length", "upper", "lower", "front", "rear", "left", "right", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Embodiment one:
referring to fig. 1, a gripper 100 for gripping materials, comprising a gripper body 10, a connecting shaft 20 and a first elastic traction member 30, wherein the gripper body 10 is rotatably connected to the connecting shaft 20, the gripper body 10 comprises a connecting seat 11, a first gripper arm, a second gripper arm and two finger assemblies 14, the connecting seat 11 is provided with a mounting surface 111 at the front end and base surfaces 112 at the left and right sides, the connecting shaft 20 is axially connected with the connecting seat 11 through the base surfaces 112, the connecting seat 11 is rotatably connected with the connecting shaft 20, two gripper arms are vertically symmetrical and are arranged on the mounting surface 111 of the connecting seat 11 at a certain included angle, one end of each gripper arm is connected with the connecting seat 11, the other end extends to the front side of the connecting seat 11, each gripper arm has a passive degree of freedom within a preset range, each finger assembly 14 is respectively mounted on one gripper arm, the first elastic traction member 30 is provided with two gripper arms which are symmetrically arranged on the upper and lower sides of the connecting shaft 20, each gripper arm is fixedly connected with the first gripper arm and the other gripper arm 14 at the opposite sides, and the gripper arm is fixedly connected with the gripper assembly at the other end. Preferably, the first elastic traction member 30 is a spring.
Compared with the prior art, the gripper 100 provided by the invention has the passive degree of freedom within the preset range, so that when the gripper body 10 is in contact with a gripped object, the gripper arm can rotate appropriately according to the shape of the surface of the gripped object, thereby adjusting to an angle suitable for the surface of the gripped object, improving the matching degree between the finger assembly 14 and the gripped object, enabling the finger object to be more attached to the surface of the gripped object, and clamping and stabilizing workpieces with cambered surfaces; in addition, in order to enhance the self-adapting capability of the gripper 100, the gripper 100 of the present invention is further provided with a connecting shaft 20, and the gripper main body 10 is connected with the connecting shaft 20 in an axial manner, so that when gripping an object, the gripper main body 10 can rotate appropriately according to the shape of the surface of the gripped object, and further adjust to a proper angle, the self-adapting capability of the gripper 100 can be greatly improved by matching with the arrangement mode of the gripper arms, so that the gripper 100 grips the object more firmly, and in order to prevent the gripper main body 10 from turning down due to the influence of gravity in a natural state, the gripper is further provided with a first elastic traction member 30, and the first elastic traction member 30 connects the connecting shaft 20 with the gripper arms, so that the gripper main body 10 is prevented from turning down in a natural state, and the first gripper arms and the second gripper arms maintain a preset orientation in a natural state.
The first claw arm and the second claw arm are elastic pieces 12, one end of each elastic piece 12 is a fixed end, the other end of each elastic piece is a free end, the fixed ends of the elastic pieces 12 are fixedly connected with the connecting seat 11, elastic deformation is generated when the elastic pieces 12 are stressed to enable the elastic pieces to have the passive degree of freedom, two ends of the first elastic traction piece 30 are respectively connected with the free ends of the elastic pieces 12 and the connecting shaft 20, the mounting surfaces 111 are two planes which are respectively arranged on the upper side and the lower side of the front end of the connecting seat 11 and form a certain included angle, each plane is correspondingly provided with one elastic piece 12, each plane is provided with a threaded hole (not shown in the threaded hole diagram), and one end, connected with the connecting seat 11, of each elastic piece 12 is provided with a mounting hole 122, and the threaded holes of the connecting seat 11 are fixedly connected through connecting screws.
The fixed part comprises a fastener, the grabbing part comprises a guide pipe 143 and a sucker 144 connected to one end of the guide pipe 143, an access piece used for connecting a negative pressure source is arranged at the other end of the guide pipe 143, the access piece is an access pipe 145, the access pipe 145 is communicated with the guide pipe 143, the fastener comprises a first fastener 141 and a second fastener 142, a through hole 121 is formed in the free end of the elastic piece 12, the access piece passes through the through hole 121 and is arranged on the elastic piece 12 through the fastener, the first fastener 141 is arranged on the rear side of the elastic piece 12, the second fastener 142 is arranged on the front side of the elastic piece 12, and the guide pipe 143 is arranged on a corresponding claw arm through the second fastener 142. Preferably, an elastic buffer 146 is sleeved outside the conduit 143, and the elastic buffer 146 connects the fastener and the sucker 144. Preferably, the elastic buffer 146 is a spring. Preferably, the conduit 143 is a flexible conduit 143 that is adapted to bend relative to the surface of the object being grasped. The elastic buffer 146 allows the suction cup 144 and the guide tube 143 to have a passive degree of freedom along the length direction of the guide tube 143, when the finger assembly 14 contacts a workpiece, the suction cup 144 and the guide tube 143 can move along the length direction of the guide tube 143 relative to the claw arm, so that the finger assembly 14 is more attached to the workpiece, and the self-adaption capability is improved. Preferably, the suction cup 144 includes suction cup corrugations (not shown) that are adapted to bend relative to the surface of the object being grasped. The finger assembly 14 is configured in a simple structure, the suction cup 144 can increase the contact area between the finger assembly 14 and the surface of the object to be grasped, so as to effectively enhance the grasping capability of the paw 100, the elastic buffer member 146 can slow down the impact force when the paw 100 is initially contacted with the object to be grasped, and the self-adaptive capability of the finger assembly 14 can be improved by the arrangement of the elastic buffer member 146, the flexible conduit 143 and the suction cup wrinkles.
As a modification, the through hole 121 extends along the length direction of the elastic sheet 12 to form a finger assembly mounting groove, and a user can select a specific position of the finger assembly 14 mounted in the finger assembly mounting groove according to the size of the clamped object, so as to adjust the maximum size of the object that can be clamped by the paw.
As an improved solution, the connection seat 11 includes a left side plate 113, a right side plate 114, and a bearing seat 115 disposed between the left side plate 113 and the right side plate 114, shaft holes 116 adapted to the connection shaft 20 are penetrated through the left side plate 113 and the right side plate 114, bearings (not shown in the bearing diagram) adapted to the connection shaft 20 are mounted on the bearing seat 115, the connection shaft 20, the shaft holes 116, and the bearings are coaxially disposed, and the connection shaft 20 is matched with the bearings through the shaft holes 116. The connection seat 11 is arranged in a compact structure, and the connection seat 11 can rotate more smoothly by arranging the bearing seat 115 and the bearing.
Referring to FIG. 4, as a modified solution, in a natural state, two claw arms are symmetrically distributed, and an included angle between the two claw arms is a first included angle a, and 140 degrees is less than or equal to a 180 degrees; preferably, the first included angle a is 140 degrees, 160 degrees or 180 degrees; in a natural state, an included angle between the central axis of the finger assembly 14 along the length direction and the claw arm is a second included angle b which is more than or equal to 70 degrees and less than or equal to 90 degrees, preferably, the second included angle b is 70 degrees, 80 degrees or 90 degrees, the self-adaptive capacity of the claw arm can be improved by the inclined arrangement mode of the claw arm, and the workpiece is clamped conveniently by the arrangement mode of the finger assembly 14.
As a modification, in order to prevent the connection shaft 20 from falling off, a traction member connection protrusion 21 is provided at a portion of the connection shaft 20 located outside the base surface 112, the traction member connection protrusion 21 is a latch, and the first elastic traction member 30 connects the latch with the claw arm.
The natural state is a state that is not acted by other external forces except gravity.
Embodiment two:
referring to fig. 2, the difference between the present embodiment and the first embodiment is that the connection base 11, the first arm, the second arm, and the first elastic traction member 30 are disposed differently, the gripper 100 of the present embodiment includes a gripper body 10, a connection shaft 20, and the first elastic traction member 30, the gripper body 10 is rotatably connected to the connection shaft 20, the gripper body 10 includes a connection base 11, a first gripper arm, a second gripper arm, and two finger assemblies 14, the connection base 11 is provided with a mounting surface 111 at a front end, and base surfaces 112 at left and right sides, the connection shaft 20 is pivotally connected to the connection base 11 through the base surfaces 112, the connection base 11 is rotatably connected to the connection shaft 20, and the two gripper arms are vertically symmetrical and disposed on the mounting surface 111 of the connection base 11 at a certain angle.
The first arm and the second arm are hard pieces 13, one end of each hard piece 13 is a hinged end, the other end of each hard piece 13 is a free end, the connecting seat 11 is hinged with the hinged end of each hard piece 13, a plurality of second elastic traction pieces 40 are connected between the first claw arm and the second claw arm, and the second elastic traction pieces 40 enable the first claw arm and the second claw arm to have the passive degree of freedom; the connecting shaft 20 is provided with a traction piece connecting protrusion piece 21, the traction piece connecting protrusion piece 21 is a horizontally arranged bolt, the bolt extends to the rear side of the paw body 10, the traction piece connecting protrusion piece 21 is provided with first elastic traction pieces 30 corresponding to the two sides of a first paw arm or a second paw arm, the first elastic traction pieces 30 are symmetrically arranged on the upper side and the lower side of the rear end of the bolt, one end of each first elastic traction piece is connected with the rear end of the bolt, the other end of each first elastic traction piece is connected with the connecting seat 11, and the first elastic traction pieces 30 and the second elastic traction pieces 40 are preferably springs.
The connecting seat 11 is provided with a hinge groove 117 matched with the hinge end of the hard piece 13 on the mounting surface 11, the hinge end of the hard piece 13 is hinged with the hinge groove 117, the connecting seat 11 is provided with a shaft hole 116 penetrating through the base surface 112 and matched with the connecting shaft 20, the inside of the connecting seat is provided with a bearing matched with the connecting shaft 20, the shaft hole 116, the bearing and the connecting shaft 20 are coaxially arranged, the connecting shaft 20 passes through the shaft hole 116 and is matched with the connecting shaft 20, the connecting seat 11 is provided with a simple structure, and the cooperation of the bearing and the connecting shaft 20 can enable the connecting seat 11 to rotate more smoothly.
Each finger assembly 14 is respectively mounted on a corresponding one of the claw arms, and each finger assembly 14 comprises a fixing portion and a grabbing portion connected with the fixing portion, and each fixing portion is connected with the corresponding one of the claw arms. The fixed part comprises a fastener, the grabbing part comprises a guide pipe 143 and a sucker 144 connected to one end of the guide pipe 143, an access piece used for connecting a negative pressure source is arranged at the other end of the guide pipe 143, the access piece is an access pipe 145, the access pipe 145 is communicated with the guide pipe 143, the fastener comprises a first fastener 141 and a second fastener 142, a through hole 121 is formed in the free end of the hard piece 13, the access piece passes through the through hole 121 and is arranged on the hard piece 13 through the fastener, the first fastener 141 is arranged on the rear side of the hard piece 13, the second fastener 142 is arranged on the front side of the hard piece 13, and the guide pipe 143 is arranged on a corresponding claw arm through the second fastener 142. Preferably, an elastic buffer (not shown) is sleeved on the outer side of the conduit 143, and the elastic buffer connects the fastener and the suction cup 144. Preferably, the elastic buffer member is a spring. Preferably, the conduit 143 is a flexible conduit 143 that is adapted to bend relative to the surface of the object being grasped. The elastic buffer 146 allows the suction cup 144 and the guide tube 143 to have a passive degree of freedom along the length direction of the guide tube 143, when the finger assembly 14 contacts a workpiece, the suction cup 144 and the guide tube 143 can move along the length direction of the guide tube 143 relative to the claw arm, so that the finger assembly 14 is more attached to the workpiece, and the self-adaption capability is improved. Preferably, the suction cup 144 includes suction cup corrugations that are capable of adaptively bending relative to the surface of the object being grasped. The finger assembly 14 is configured in a simple structure, the suction cup 144 can increase the contact area between the finger assembly 14 and the surface of the object to be grasped, so as to effectively enhance the grasping capability of the paw 100, the elastic buffer member can slow down the impact force when the paw 100 is initially contacted with the object to be grasped, and the elastic buffer member 146, the flexible conduit 143 and the suction cup wrinkles are configured in a manner to improve the self-adapting capability of the finger assembly 14. The claw arm is connected with the connecting seat 11 in a hinged mode, and a second elastic traction piece 40 is arranged between the first claw arm and the second claw arm, so that the hard piece 13 has a passive degree of freedom within a preset range, and the surface of the gripped object can be adapted.
As a modification, a plurality of third elastic traction members 50 are respectively connected between each hard member 13 and the connecting seat 11, and the third elastic traction members 50 connect the rear side of the hard member 13 with the rear side of the connecting seat 11; the third resilient traction member 50 is a spring. In a natural state, the third elastic traction element 50 can pull the hard element 13, so that the hard element 13 cannot turn down due to the influence of gravity, the hard element 13 has a damping effect when clamping an object, and a certain resetting effect is achieved.
The natural state is a state that is not acted by other external forces except gravity.
Other technical features of this embodiment are the same as those of the first embodiment, and will not be described in detail here.
Embodiment III:
referring to fig. 1 to 3, the present embodiment provides a gripper applying the gripper 100 according to the first embodiment or the second embodiment, including a base 60 and two grippers 100, the base 60 includes a frame, a first link arm 63, a second link arm 64, and a link mechanism, the frame includes an upper plate 61 and a lower plate 62, the first link arm 63, the second link arm 64, and the link mechanism are disposed on the lower plate 62, respectively, the upper plate 61 is disposed on the upper sides of the first link arm 63, the second link arm 64, and the link mechanism, the first link arm 63 and the second link arm 64 are preferably designed to have the same shape and size, the first link arm 63 and the second link arm 64 are symmetrically disposed on the left side and the right side of the link mechanism, one end of the first link arm 63 and one end of the second link arm 64 are in driving connection with the link mechanism, and the link mechanism drives the first link arm 63 and the second link arm 64 to be spread or clamped relatively; the connecting shafts 20 of the two hand claws 100 are respectively connected to the other ends, i.e. the free ends, of the linkage mechanisms of the first linkage arm 63 and the second linkage arm 64, preferably, the connecting shafts 20 and the first linkage arm 63 or the second linkage arm 64 are separately arranged or integrally arranged, the finger assemblies 14 of the two hand claws 100 face to the opposite clamping side of the two linkage arms, and the two finger assemblies 14 of each hand claw 100 are symmetrically arranged up and down.
The linkage mechanism comprises a driving device 66 and racks 65 with teeth on two sides, the driving device 66 is an air cylinder, the racks 65 are arranged on the upper side of the lower plate 62, the air cylinder 66 is arranged on the lower side of the lower plate 62, a driven piece 651 extending downwards is arranged at the end part of the racks 65, a driven piece mounting groove 621 matched with the driven piece 651 is formed in the lower plate 62, and a piston rod of the air cylinder 66 is connected with the driven piece 651 so as to drive the racks 65 to reciprocate along the length direction of the driven piece 651; the first linkage arm 63, the one end that second linkage arm 64 was relative to the free end are equipped with the gear 67 with rack 65 looks adaptation, the rack 65 meshes with the gear 67 of two linkage arms respectively, in order to drive first linkage arm 63 and second linkage arm 64 synchronous expansion or relative clamp, the link gear simple structure, installation, manufacturing are convenient, and the transmission is accurate.
When an object needs to be grabbed, the rack 65 drives the gear 67 to rotate so as to drive the first linkage arm 63 and the second linkage arm 64 to clamp synchronously and relatively, when the gripper 100 touches the surface of the grabbed object, the two gripper bodies 10 can rotate around the connecting shaft 20 to a proper angle according to the shape of the surface of the grabbed object, meanwhile, as the gripper arms and the finger assembly 14 both have passive degrees of freedom within a preset range, the two can be adjusted to a proper angle according to the shape of the surface of the grabbed object, so that the finger assembly 14 is attached to the surface of the grabbed object, and the matching degree of the gripper 100 and the grabbed object is improved, so that the gripper grabs the object more firmly.
The ends of the first linkage arm 63 and the second linkage arm 64, which are connected with the gripper 100, are bent in the clamping direction to form a gripper mounting portion 68, the connecting shaft 20 is mounted on the gripper mounting portion 68, the central axis of the connecting shaft 20 is parallel to the length direction of the gripper mounting portion 68, and the bending arrangement mode of the first linkage arm 63 and the second linkage arm 64 is more suitable for objects with curved clamping surfaces. Preferably, the first linkage arm 63 and the second linkage arm 64 are rigid arms or flexible arms.
The gripper 100 provided by the invention has the advantages that the self-adaptive capability can be improved, the gripper is more attached to the surface of an object and can grip the object more firmly, and the gripper is not limited to only adsorbing one surface of the gripped object or only adsorbing an object with a plane surface, namely adsorbing an object with a curved surface or adsorbing at least one surface of the gripped object, so that the universality and the practicability of the gripper are improved.
Variations and modifications to the above would be obvious to persons skilled in the art to which the invention pertains from the foregoing description and teachings. Therefore, the invention is not limited to the specific embodiments disclosed and described above, but some modifications and changes of the invention should be also included in the scope of the claims of the invention. In addition, although specific terms are used in the present specification, these terms are for convenience of description only and do not limit the present invention in any way.
Claims (10)
1. A paw for clamping materials, characterized in that: comprises a paw main body, a connecting shaft and a first elastic traction piece; the paw body includes:
a connection base rotatably connected with the connection shaft;
the first claw arm and the second claw arm form a certain included angle, one end of each claw arm is connected with the connecting seat, the other end of each claw arm extends to the front side of the connecting seat, and each claw arm has a passive degree of freedom within a preset range;
at least two finger assemblies, wherein at least one finger assembly is arranged on the first claw arm and the second claw arm, each finger assembly comprises a fixing part and a grabbing part, the fixing parts are connected with the corresponding claw arms, and the grabbing parts are positioned on the front sides of the claw arms;
one end of the first elastic traction piece is connected with the connecting shaft, and the other end of the first elastic traction piece is connected with the paw body so that the first paw arm and the second paw arm are kept in a preset orientation.
2. A gripper for gripping materials as in claim 1, wherein: the first claw arm and the second claw arm are elastic pieces, one ends of the first claw arm and the second claw arm are fixedly connected with the connecting seat, and the elastic pieces are elastically deformed when stressed so as to enable the elastic pieces to have the passive degree of freedom.
3. A gripper for gripping material according to claim 2, wherein: the outer sides of the first claw arm and the second claw arm are respectively provided with the first elastic traction piece, one end of the first elastic traction piece is connected with the connecting shaft, and the other end of the first elastic traction piece is connected with the corresponding first claw arm or second claw arm.
4. A gripper for gripping material according to claim 2, wherein: the mounting surface with a certain included angle is arranged on the upper side and the lower side of the front end of the connecting seat, a threaded hole is formed in the mounting surface, a mounting hole is formed in one end, connected with the connecting seat, of the elastic piece, and the mounting hole is fixedly connected with the threaded hole of the connecting seat through a connecting screw.
5. A gripper for gripping materials as in claim 1, wherein: the first claw arm and the second claw arm are hard pieces, one ends of the first claw arm and the second claw arm are hinged with the connecting seat, a plurality of second elastic traction pieces are connected between the first claw arm and the second claw arm, the second elastic traction pieces enable the first claw arm and the second claw arm to have the passive degree of freedom, and a plurality of third elastic traction pieces are connected between the rear side of each hard piece and the connecting seat respectively.
6. A gripper for gripping materials as recited in claim 5, wherein: the connecting shaft is provided with a traction piece connecting protruding piece, the two sides of the traction piece connecting protruding piece corresponding to the first claw arm or the second claw arm are respectively provided with a first elastic traction piece, one end of the first elastic traction piece is connected with the traction piece connecting protruding piece, the other end of the first elastic traction piece is connected with the connecting seat, the traction piece connecting protruding piece extends towards the rear side of the claw main body, and the first elastic traction piece is symmetrically arranged on the upper side and the lower side of the rear end of the traction piece connecting protruding piece.
7. A gripper for gripping materials as in claim 1, wherein: the fixed part comprises a fastener, the snatch portion include the pipe and connect in the sucking disc of pipe one end, the other end of pipe is equipped with the access piece that is used for connecting the negative pressure source, the pipe passes through the fastener is installed on corresponding claw arm, the through-hole has been seted up on first claw arm and the second claw arm, the access piece passes the through-hole passes the fastener sets up on corresponding claw arm, the outside cover of pipe is equipped with elastic buffer, elastic buffer connects the fastener with the sucking disc, elastic buffer makes sucking disc and pipe have along pipe length direction's passive degree of freedom.
8. A gripper for gripping materials as in claim 1, wherein: the connecting seat comprises a left side plate, a right side plate and a bearing seat arranged between the left side plate and the right side plate, shaft holes matched with the connecting shaft are penetrated through the left side plate and the right side plate, bearings matched with the connecting shaft are arranged on the bearing seat, the connecting shaft, the shaft holes and the bearings are coaxially arranged, and the connecting shaft is matched with the bearings through the shaft holes.
9. A gripper, comprising:
the machine base comprises a machine frame, and a first linkage arm, a second linkage arm and a linkage mechanism which are arranged on the machine frame, wherein the first linkage arm and the second linkage arm are symmetrically arranged, one ends of the first linkage arm and the second linkage arm are in transmission connection with the linkage mechanism, and the linkage mechanism drives the first linkage arm and the second linkage arm to be synchronously unfolded or clamped relatively;
the two claws according to any one of claims 1 to 8, wherein the connecting shafts of the two claws are respectively connected to one ends of the first linkage arm and the second linkage arm relative to the linkage mechanism, and the finger assemblies of the two claws face to the side where the two linkage arms are clamped relatively.
10. A hand grip according to claim 9, wherein: the linkage mechanism comprises a driving device and racks with teeth on two sides, and the driving device drives the racks to reciprocate along the length direction;
the first linkage arm and the second linkage arm are provided with gears matched with racks relative to one end connected with the paw, and the racks are respectively meshed with the gears of the two linkage arms so as to drive the first linkage arm and the second linkage arm to synchronously spread or clamp relatively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710095922.9A CN106826881B (en) | 2017-02-22 | 2017-02-22 | A hand claw and tongs for centre gripping material |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710095922.9A CN106826881B (en) | 2017-02-22 | 2017-02-22 | A hand claw and tongs for centre gripping material |
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| CN106826881A CN106826881A (en) | 2017-06-13 |
| CN106826881B true CN106826881B (en) | 2023-05-30 |
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| CN201710095922.9A Active CN106826881B (en) | 2017-02-22 | 2017-02-22 | A hand claw and tongs for centre gripping material |
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| KR101800169B1 (en) * | 2017-01-11 | 2017-12-20 | 주식회사 디이엔티 | The reversing apparatus for a panel and the method using the same |
| WO2019061415A1 (en) * | 2017-09-30 | 2019-04-04 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle frame assembly, and unmanned aerial vehicle |
| CN107825099B (en) * | 2017-12-07 | 2023-11-28 | 广东溢达纺织有限公司 | Prism block replacing device for knitting machine |
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| CN109732635A (en) * | 2019-02-19 | 2019-05-10 | 苏州优得精智装备有限公司 | A kind of adaptive materials and parts handgrip |
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| CN111453445B (en) * | 2020-04-16 | 2021-11-19 | 南京蹑波物联网科技有限公司 | Suction nozzle carrying manipulator |
| CN113211486B (en) * | 2021-05-20 | 2022-10-21 | 李文敏 | Medicine packing is with hand claw of getting it filled |
| CN113370137B (en) * | 2021-06-28 | 2023-05-02 | 东风柳州汽车有限公司 | Auxiliary device for assembling guide cover |
| CN115478369B (en) * | 2022-09-23 | 2023-10-20 | 广东金悦来自动化设备有限公司 | Double-station cap peak machine |
| CN116216316A (en) * | 2023-04-10 | 2023-06-06 | 上海君屹工业自动化股份有限公司 | Module intelligence is photographed and is prevented tongs that drop |
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| CN206643944U (en) * | 2017-02-22 | 2017-11-17 | 佛山市艾乐博机器人科技有限公司 | A kind of paw and handgrip for being used to clamp material |
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| JP2008207263A (en) * | 2007-02-23 | 2008-09-11 | Matsushita Electric Works Ltd | Robot hand |
| KR100926534B1 (en) * | 2009-07-02 | 2009-11-12 | 한국뉴매틱(주) | Vacuum-gripper device capable of angle- dispacement |
| KR100987261B1 (en) * | 2010-06-01 | 2010-10-12 | 이병기 | Pick-up tool and electrode supplying unit having the same |
| SI2476637T1 (en) * | 2011-01-18 | 2015-09-30 | Krones Ag | Device and method for placing, holding and/or handling flat objects |
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| CN206643944U (en) * | 2017-02-22 | 2017-11-17 | 佛山市艾乐博机器人科技有限公司 | A kind of paw and handgrip for being used to clamp material |
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