CN107972062A - A kind of automatic flexible clamping device - Google Patents
A kind of automatic flexible clamping device Download PDFInfo
- Publication number
- CN107972062A CN107972062A CN201711051734.2A CN201711051734A CN107972062A CN 107972062 A CN107972062 A CN 107972062A CN 201711051734 A CN201711051734 A CN 201711051734A CN 107972062 A CN107972062 A CN 107972062A
- Authority
- CN
- China
- Prior art keywords
- broadwise
- guide rail
- clamping jaw
- sliding block
- automatic flexible
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of automatic flexible clamping device, including clamping jaw (10), the clamping jaw (10) includes gripping finger and the folder palm (1004), gripping finger includes clamping plate (1002), the outside of clamping plate (1002) is equipped with fold (1001), air bag (1006) is formed between the fold (1001) and clamping plate (1002), folder palm is equipped with air inlet/outlet (1003), the air inlet/outlet (1003) is connected with the air bag (1006), the hyperbar source outside air inlet/outlet (1003) connection.The present invention can be converted as a result of above technical scheme, the position of clamping jaw, all flexible workpieces in working range can be clamped, be effectively increased production efficiency.
Description
Technical field
The present invention relates to clamping jaw field, more particularly to a kind of position adjustable clamping jaw.
Background technology
For clamping jaw of the prior art as shown in patent CN101203347, it can carry out the flexible of single dimension, carry out pair
The clamping of workpiece, but the position of clamping jaw in itself can not convert.If the installation of mechanical arm is carried out to clamping jaw, although it can
Generation position changes, but of high cost, and general medium-sized and small enterprises are difficult to receive.
At the same time in specific operating mode, many workpiece be fragile article or can be deformed upon under the clamping of rigid manipulator and
Damage, so cause to move by hand by worker, and in the prior art still without a kind of flexible manipulator, it can clamp
Flexible articles.Which increase production cost to reduce production efficiency.
The content of the invention
The present invention provides a kind of disposable electromechanical integration clamping jaw in position, while the clamping jaw can clamp soft and fine object.
In order to solve the above-mentioned technical problem, the present invention is addressed by following technical proposals：
A kind of automatic flexible clamping device, including clamping jaw, the clamping jaw includes gripping finger and folder is slapped, and gripping finger includes clamping plate,
The outside of clamping plate is equipped with fold, and air bag is formed between the fold and clamping plate, and folder palm is equipped with air inlet/outlet, the air inlet/outlet
It is connected with the air bag, the hyperbar source outside the air inlet/outlet connection.
Preferably, the clamping plate is rubber clamping plate, clamping plate is equipped with anti-skid bulge close to clamping jaw center side.
Preferably, the quantity of the gripping finger is 3,3 gripping fingers are angularly distributed on folder palm lower section, and folder palm centre is also
Camera is fixed with, the center of finding a view of camera is passed through from 3 gripping finger centers.
Preferably, further including band, the band is strapped on the fold on the outside of clamping plate.
Preferably, further include clamping jaw moving structure, the clamping jaw includes broadwise guide rail and two through direction guiding rail, through guide
Rail is equipped with warp-wise rack, and broadwise guide rail is equipped with broadwise rack, warp-wise driving device, the radial direction are additionally provided with broadwise guide rail
Driving device is engaged with radial direction rack, and radial drive drives broadwise guide rail at two through being run on direction guiding rail, broadwise guide rail
On be additionally provided with broadwise sliding block, the broadwise sliding block is equipped with broadwise driving device, broadwise driving device and the latitude on broadwise guide rail
Engaged to rack, broadwise sliding block is run on broadwise guide rail.
Preferably, broadwise slider bottom is fixedly connected with upright guide rail, the upright guide rail is equipped with vertical rack, erects
Straight guide is equipped with vertical sliding block, and vertical sliding block is equipped with vertical drive, and the vertical drive is engaged with vertical rack
And vertical sliding block is driven to run.
Preferably, the warp-wise driving device, broadwise driving device, vertical drive include stepper motor and tooth
Wheel.
Preferably, being also fixedly connected with clamping jaw fixed block on the vertical sliding block, clamping jaw is fixedly connected on clamping jaw and fixes
Below block.
Preferably, broadwise guide rail, through having portrayed scale on direction guiding rail.
During logical high pressure gas, air bag is heaved, and gripping finger curves inwardly, and jaws close can capture object, when leading to negative pressure, gripping finger to
Outside sweep, clamping jaw are decontroled.Band can limit the turned-out angle of clamping jaw.
The present invention can be converted as a result of above technical scheme, the position of clamping jaw, can be to owning in working range
Flexible workpiece is clamped, and effectively increases production efficiency.
Brief description of the drawings
Fig. 1 is the structure diagram of clamping jaw.
Fig. 2 is the schematic diagram after the interior gas of clamping jaw is taken out.
Fig. 3 is the structure diagram of gripping finger.
The top view of Fig. 4 present invention.
Fig. 5 is clamping jaw and the schematic diagram of vertical drive.
Fig. 6 is the left view of Fig. 5.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.
Embodiment 1
A kind of automatic flexible clamping device, including clamping jaw 10, the clamping jaw 10 include gripping finger and the folder palm 1004, gripping finger bag
Clamping plate 1002 is included, the outside of clamping plate 1002 is equipped with fold 1001, and air bag 1006 is formed between the fold 1001 and clamping plate 1002,
Folder palm is equipped with air inlet/outlet 1003, and the air inlet/outlet 1003 is connected with the air bag 1006, and the air inlet/outlet 1003 connects
Connect the hyperbar source of outside.
The clamping plate 1002 is rubber clamping plate, and clamping plate 1002 is equipped with anti-skid bulge close to clamping jaw center side.
The quantity of the gripping finger is 3, and 3 gripping fingers are angularly distributed on 1004 lower section of the folder palm, and 1004 centres of the folder palm are also
Camera 1005 is fixed with, the center of finding a view of camera 1005 is passed through from 3 gripping finger centers.
Band 1007 is further included, the band 1007 is strapped on the fold in the outside of clamping plate 1002.
Further include clamping jaw moving structure, the clamping jaw includes broadwise guide rail 2 and two through direction guiding rail 1, through being set on direction guiding rail 1
There is warp-wise rack 101, broadwise guide rail 2 is equipped with broadwise rack 201, warp-wise driving device 3 is additionally provided with broadwise guide rail 2, described
Radial drive 3 is engaged with radial direction rack 101, and radial drive 3 drives broadwise guide rail 2 at two through being transported on direction guiding rail 1
OK, broadwise sliding block 6 is additionally provided with broadwise guide rail 2, the broadwise sliding block 6 is equipped with broadwise driving device 4, broadwise driving device 4
Engaged with the broadwise rack 201 on broadwise guide rail 2, broadwise sliding block 6 is run on broadwise guide rail 2.
6 bottom of broadwise sliding block is fixedly connected with upright guide rail 5, and the upright guide rail 5 is equipped with vertical rack 501, vertically
Guide rail 5 is equipped with vertical sliding block 7, and vertical sliding block 7 is equipped with vertical drive 12, the vertical drive 12 and vertical rack
501 engage and drive vertical sliding block 7 to run.
The warp-wise driving device 3, broadwise driving device 6, vertical drive 12 include stepper motor and gear.
Clamping jaw fixed block 8 is also fixedly connected with the vertical sliding block 7, clamping jaw is fixedly connected on the lower section of clamping jaw fixed block 8.
Broadwise guide rail 2, through having portrayed scale on direction guiding rail 1.
In short, the foregoing is merely presently preferred embodiments of the present invention, all equalizations made according to scope of the present invention patent
Change and modification, should all belong to the covering scope of patent of the present invention.
Claims (9)
- A kind of 1. automatic flexible clamping device, it is characterised in that：Including clamping jaw (10), the clamping jaw (10) includes gripping finger and folder Slap (1004), gripping finger includes clamping plate (1002), and the outside of clamping plate (1002) is equipped with fold (1001), the fold (1001) and folder Air bag (1006) is formed between plate (1002), folder palm is equipped with air inlet/outlet (1003), the air inlet/outlet (1003) with it is described Air bag (1006) is connected, the hyperbar source outside air inlet/outlet (1003) connection.
- A kind of 2. automatic flexible clamping device according to claim 1, it is characterised in that：The clamping plate (1002) is rubber Plastic clip plate, clamping plate (1002) are equipped with anti-skid bulge close to clamping jaw center side.
- A kind of 3. automatic flexible clamping device according to claim 2, it is characterised in that：The quantity of the gripping finger is 3 A, 3 gripping fingers are angularly distributed on below the folder palm (1004), and the folder palm (1004) centre is also fixed with camera (1005), The center of finding a view of camera (1005) is passed through from 3 gripping finger centers.
- A kind of 4. automatic flexible clamping device according to claim 1, it is characterised in that：Band (1007) is further included, The band (1007) is strapped on the fold on the outside of clamping plate (1002).
- A kind of 5. automatic flexible clamping device according to claim 1, it is characterised in that：Further include clamping jaw movement knot Structure, the clamping jaw, through direction guiding rail (1), warp-wise rack (101), latitude are equipped with through direction guiding rail (1) including broadwise guide rail (2) and two Direction guiding rail (2) is equipped with broadwise rack (201), and warp-wise driving device (3), the radial drive are additionally provided with broadwise guide rail (2) Device (3) is engaged with radial direction rack (101), and radial drive (3) driving broadwise guide rail (2) is at two through on direction guiding rail (1) Run, be additionally provided with broadwise sliding block (6) on broadwise guide rail (2), the broadwise sliding block (6) is equipped with broadwise driving device (4), broadwise Driving device (4) is engaged with the broadwise rack (201) on broadwise guide rail (2), and broadwise sliding block (6) is run on broadwise guide rail (2).
- A kind of 6. automatic flexible clamping device according to claim 5, it is characterised in that：Broadwise sliding block (6) bottom is solid Surely upright guide rail (5) is connected with, the upright guide rail (5) is equipped with vertical rack (501), and upright guide rail (5) is equipped with vertical Sliding block (7), vertical sliding block (7) are equipped with vertical drive (12), and the vertical drive (12) is nibbled with vertical rack (501) Merge and drive vertical sliding block (7) operation.
- A kind of 7. automatic flexible clamping device according to claim 6, it is characterised in that：The warp-wise driving device (3), broadwise driving device (6), vertical drive (12) include stepper motor and gear.
- A kind of 8. automatic flexible clamping device according to claim 7, it is characterised in that：On the vertical sliding block (7) Clamping jaw fixed block (8) is also fixedly connected with, clamping jaw is fixedly connected on below clamping jaw fixed block (8).
- A kind of 9. automatic flexible clamping device according to claim 5, it is characterised in that：Broadwise guide rail (2), through guide Rail has portrayed scale on (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711051734.2A CN107972062A (en) | 2017-10-30 | 2017-10-30 | A kind of automatic flexible clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711051734.2A CN107972062A (en) | 2017-10-30 | 2017-10-30 | A kind of automatic flexible clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107972062A true CN107972062A (en) | 2018-05-01 |
Family
ID=62012830
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711051734.2A Pending CN107972062A (en) | 2017-10-30 | 2017-10-30 | A kind of automatic flexible clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107972062A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109108957A (en) * | 2018-08-02 | 2019-01-01 | 浙江大学 | A kind of rotatable Grazing condition handgrip |
| CN109607197A (en) * | 2018-12-21 | 2019-04-12 | 武汉安比克科技有限公司 | A kind of high-precision intelligent feeding tooling |
| CN110328679A (en) * | 2019-04-09 | 2019-10-15 | 清华大学 | A kind of gas drive software finger of embedded vision |
| CN113104576A (en) * | 2021-04-15 | 2021-07-13 | 浙江科技学院 | Soft pneumatic claw |
| CN114378800A (en) * | 2021-12-30 | 2022-04-22 | 大连海事大学 | Intelligent flexible mechanical gripper applied to underwater operation |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104643266A (en) * | 2015-02-05 | 2015-05-27 | 山东孙杨机械设备有限公司 | Flexible material clamping device |
| CN205703386U (en) * | 2016-03-31 | 2016-11-23 | 苏州市合叶精密机械有限公司 | It is applicable to the flexible fixture of workpiece in irregular shape |
| CN107555164A (en) * | 2017-10-10 | 2018-01-09 | 单春艳 | A kind of flexible electromechanical comprehensive clamping jaw |
-
2017
- 2017-10-30 CN CN201711051734.2A patent/CN107972062A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104643266A (en) * | 2015-02-05 | 2015-05-27 | 山东孙杨机械设备有限公司 | Flexible material clamping device |
| CN205703386U (en) * | 2016-03-31 | 2016-11-23 | 苏州市合叶精密机械有限公司 | It is applicable to the flexible fixture of workpiece in irregular shape |
| CN107555164A (en) * | 2017-10-10 | 2018-01-09 | 单春艳 | A kind of flexible electromechanical comprehensive clamping jaw |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109108957A (en) * | 2018-08-02 | 2019-01-01 | 浙江大学 | A kind of rotatable Grazing condition handgrip |
| CN109607197A (en) * | 2018-12-21 | 2019-04-12 | 武汉安比克科技有限公司 | A kind of high-precision intelligent feeding tooling |
| CN110328679A (en) * | 2019-04-09 | 2019-10-15 | 清华大学 | A kind of gas drive software finger of embedded vision |
| CN113104576A (en) * | 2021-04-15 | 2021-07-13 | 浙江科技学院 | Soft pneumatic claw |
| CN114378800A (en) * | 2021-12-30 | 2022-04-22 | 大连海事大学 | Intelligent flexible mechanical gripper applied to underwater operation |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180501 |