CN109333569A - Gripper device and industrial robot comprising same - Google Patents
Gripper device and industrial robot comprising same Download PDFInfo
- Publication number
- CN109333569A CN109333569A CN201811381228.4A CN201811381228A CN109333569A CN 109333569 A CN109333569 A CN 109333569A CN 201811381228 A CN201811381228 A CN 201811381228A CN 109333569 A CN109333569 A CN 109333569A
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- Prior art keywords
- plate
- push
- pull rod
- gripper equipment
- weight
- Prior art date
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- 210000000078 claw Anatomy 0.000 claims description 37
- 230000007246 mechanism Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 239000004677 Nylon Substances 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000000872 buffer Substances 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 239000005060 rubber Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
- B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
Abstract
The invention relates to a gripper device and an industrial robot comprising the gripper device, wherein the gripper device comprises: the main body frame comprises a first plate and a second plate which are intersected, and the first plate is used for bearing a heavy object; the push-pull assembly comprises a push-pull rod and more than two clamping jaws positioned on two sides of the push-pull rod, each clamping jaw is rotatably connected with the push-pull rod, and the push-pull rod reciprocates between a first position and a second position of the first plate along a first direction to drive the more than two clamping jaws to clamp or release a heavy object. The gripper device can stably bear and carry heavy objects through the main body frame and the push-pull assembly with the clamping jaws, and is simple in structure and small in occupied space.
Description
Technical field
The present invention relates to technical field of the electromechanical equipment, more particularly to a kind of gripper equipment and including the work of the gripper equipment
Industry robot.
Background technique
In existing workshop, the carrying of weight is operated, main to be carried out by two ways, one is straight by operating personnel
It taps into the unarmed lift to move of row and is placed in cabinet body, operation intensity is larger, and there is the safety for injuring operating personnel, damage product etc. by a crashing object
Hidden danger.Another kind is hung or electric hoist directly hangs weight using row, since some weights are without Hoisting Position or hoisting point position
Uncertain, it is difficult to ensure that there is not tilt phenomenon after lifting, position inaccuracy, it is unstable to put process when causing to put.
Summary of the invention
The object of the present invention is to provide a kind of gripper equipment and including the industrial robot of the gripper equipment, the gripper equipment
It can smoothly carry and place weight.
On the one hand, the embodiment of the invention provides a kind of gripper equipments comprising: main frame, the first plate including intersection
Part and the second plate, the first plate is for carrying weight；Push and pull component, including push-pull rod and positioned at two of push-pull rod two sides with
On claw, each claw is rotatablely connected with push-pull rod, and push-pull rod is along first direction in the first position of the first plate
It is moved back and forth between the second position, to drive more than two claw clampings or release weight.
According to an aspect of an embodiment of the present invention, it is provided with the guide groove extended in a first direction on the first plate, pushed away
Pull rod is located in guide groove, and the driving mechanism connecting with push-pull rod, drive of the push-pull rod in driving mechanism are provided on the second plate
It is moved back and forth under dynamic along guide groove.
According to an aspect of an embodiment of the present invention, claw includes connecting rod and swing rod, one end and the push-pull rod pivot of connecting rod
Connection, the other end and swing rod of connecting rod are pivotally connected, and one end of swing rod is provided with fixed block, and the other end is provided with and the first plate
The support shaft of rotation connection, more than two claws, which are translated by each connecting rod and rotated relative to the first plate, drives each swing rod around each
From support shaft rotation so that each fixed block jointly close to and clamping weight or separate and discharge weight.
According to an aspect of an embodiment of the present invention, one end of connecting rod is connected by first rotating shaft and the push-pull rod pivot
It connects, the other end of connecting rod is pivotally connected by the second shaft and swing rod, and the second shaft is set between fixed block and support shaft；
The first sliding groove corresponding to first rotating shaft and the second sliding slot corresponding to the second shaft, connecting rod are further provided on first plate
It is flat relative to the first plate by movement and second shaft movement second sliding slot in of the first rotating shaft in first sliding groove
It moves and rotates.
According to an aspect of an embodiment of the present invention, first sliding groove is the strip slot extended in a first direction, the first plate
The fixation hole with support shaft rotation connection is further provided on part, second sliding slot is arc groove, the center of circle of arc groove and fixation
The central axis in hole is overlapped.
According to an aspect of an embodiment of the present invention, swing rod is provided with support shaft along thickness direction, and the one of support shaft
End is contacted with the first plate to support swing rod.
According to an aspect of an embodiment of the present invention, the first locating part and the second limit are further provided on the first plate
Part, the first locating part are overlapped on push-pull rod along the thickness direction of push-pull rod, and the second locating part is along first direction and first
The first position of plate is spaced a predetermined distance setting.
According to an aspect of an embodiment of the present invention, be further provided with cushion block on the first plate, push-pull rod itself
On thickness direction, the height dimension of cushion block is greater than the height dimension of the first locating part and the second locating part, and the first plate passes through pad
Block supports weight.
According to an aspect of an embodiment of the present invention, the second plate is set along the two sides of the second direction perpendicular to first direction
It is equipped with a pair of of side plate, is provided with elastic component on side plate, so that weight is placed between the elastic component of a pair of of side plate.
According to an aspect of an embodiment of the present invention, gripper equipment further comprises detection components, and detection components are set to
On second plate, for determining the spatial position of weight.
According to an aspect of an embodiment of the present invention, gripper equipment further comprises vacuum suction component, vacuum suction group
Part is set to the bottom of the first plate.
On the other hand, the embodiment of the invention also provides a kind of industrial robots comprising any as previously described to grab
Arm device.
Gripper equipment provided in an embodiment of the present invention can be smoothly by main frame and the push-and-pull component with claw
Simultaneously carrying heavy goods are carried, and structure is simple, occupies little space.In addition, industrial robot provided in an embodiment of the present invention, using such as
Weight can be accurately placed in any narrow space by the preceding gripper equipment, and safe operation is reliable.
Detailed description of the invention
The feature, advantage and technical effect of exemplary embodiment of the present described below with reference to the accompanying drawings.
Fig. 1 is a kind of structural schematic diagram of gripper equipment provided in an embodiment of the present invention；
Fig. 2 is the effect diagram of gripper equipment carrying weight shown in FIG. 1；
Fig. 3 is the decomposition texture schematic diagram of gripper equipment shown in FIG. 1；
When Fig. 4 is that the push-pull rod in gripper equipment shown in FIG. 1 is in the first position and the second position on the first plate
The movement locus schematic diagram of claw；
Fig. 5 is the structural schematic diagram of the vacuum suction component in gripper equipment shown in FIG. 1.
10- main frame；The first plate of 11-；111- first sliding groove；112- second sliding slot；113- fixation hole；114- first is limited
Position part；The second locating part of 115-；116- cushion block；The second plate of 12-；121- side plate；122- elastic component；123- flange；H- weight
Object；S- supporting element；X- first direction；Y- second direction；L- displacement；
20- pushes and pulls component；21- push-pull rod；22- claw；221- connecting rod；222- swing rod；222a- fixed block；222b- support
Axis；223- first rotating shaft；The second shaft of 224-；23- driving device；
30- detection components；40- vacuum suction component；41- sucker；42- fixed plate；43- sealing ring；44- connector；100-
Gripper equipment.
In the accompanying drawings, identical component uses identical appended drawing reference.The attached drawing is not drawn according to the actual ratio.
Specific embodiment
The feature and exemplary embodiment of various aspects of the invention is described more fully below.In following detailed description
In, many details are proposed, in order to provide complete understanding of the present invention.But to those skilled in the art
It will be apparent that the present invention can be implemented in the case where not needing some details in these details.Below to implementation
The description of example is used for the purpose of providing by showing example of the invention and better understanding of the invention.In attached drawing and following
Description in, at least part of known features and technology are not shown, unnecessary fuzzy to avoid causing the present invention；
Also, for clarity, may be exaggerated the size of part-structure.In addition, feature described below, structure or characteristic can be with
It is incorporated in one or more embodiments in any suitable manner.
The noun of locality of middle appearance described below is direction shown in figure, is not to carry out to specific structure of the invention
It limits.In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " installation ", " even
Connect " it shall be understood in a broad sense, for example, it may be being fixedly connected, it is also possible to detachable connection, or be integrally connected；It can be
It is connected directly, can also be indirectly connected.For the ordinary skill in the art, visual concrete condition understands above-mentioned term
Concrete meaning in the present invention.
For a better understanding of the present invention, below with reference to Fig. 1 to Fig. 5 to gripper equipment provided in an embodiment of the present invention and packet
The industrial robot for including the gripper equipment is described in detail.
Also referring to Fig. 1 and Fig. 2, the embodiment of the invention provides a kind of gripper equipments 100, are installed on industrial robot
Operational tip.Gripper equipment 100 includes main frame 10 and push-and-pull component 20.
Main frame 10 includes the first plate 11 and the second plate 12 of intersection, and the first plate 11 is for carrying weight H.First
Plate 11 and the second plate 12 can be intersected with any predetermined angle to be arranged, such as 90 °, in order to design, manufacture.
Push-and-pull component 20 includes push-pull rod 21 and the more than two claws 22 for being distributed in 21 two sides of push-pull rod, each claw 22
It is rotatablely connected with push-pull rod 21, push-pull rod 21 is along first direction X between the first position and the second position of the first plate 11
It moves back and forth, to drive more than two 22 clampings of claw or release weight H.
As shown in phantom in Figure 2, weight H is provided with support S along the two sides of local width, and push-and-pull component 20 is located at weight
Between H and the first plate 11, when push-pull rod 21 is moved to the first position of the first plate 11 along first direction X stretching, drive
More than two claws 22 are close to the inside of the support S of the two sides weight H, thus clamping weight H；When push-pull rod 21 is along first direction
When X retraction is moved to the second position of the first plate 11, more than two support Ss of the claw 22 far from the two sides weight H are driven
Inside, to discharge weight H.Preferably, claw 22 can be arranged in the two sides of push-pull rod 21 in pairs, be applied to weight with balance
The clamping force of the support S of the two sides H.
For example, industrial robot control gripper equipment 100 reaches the initial placement position of weight H, pass through the first plate 11
Receive weight, then by push-and-pull component 20 more than two claws 22 weight H is fixedly clamped after, control gripper equipment 100 general
Weight H is smoothly carried to predetermined placement location, then discharges weight H by more than two claws 22 of push-and-pull component 20, thus
Realize the carrying of weight H.Under normal circumstances, width dimensions of first plate 11 along the second direction Y perpendicular to first direction X
Support weight H is provided with less than the width dimensions of weight H, and at the initial placement position of weight H and predetermined placement location
Support S fixed frame, in order to which gripper equipment 100 protrudes at fixed frame reception weight H, structure is simple, saves space.
Gripper equipment 100 provided in an embodiment of the present invention, by setting main frame 10 and with the push-and-pull component of claw 22
20, simultaneously carrying heavy goods can be smoothly carried, and structure is simple, occupies little space.
The specific structure of gripper equipment 100 provided in an embodiment of the present invention is described in further detail with reference to the accompanying drawing.
Refering to Fig. 3, the guide groove 110 extended along first direction X, push-pull rod are provided on the first plate 11 of main frame 10
21 are located in guide groove 110, the driving mechanism 23 connecting with push-pull rod 21 are provided on the second plate 12, push-pull rod 21 is driving
It is moved back and forth under the driving of mechanism 23 along guide groove 110.Driving mechanism 23 can be pneumatic device, hydraulic device and linear motor
Any one of.Driving mechanism 23 is connect by the adapter with pin shaft with push-pull rod 21, so that push-pull rod 21 is in the first plate
It moves flexibly, prevents stuck in moving process on part 11.
As an alternative embodiment, slide assemblies are arranged (in figure not between push-pull rod 21 and the first plate 11
Show), such as guide rail and the sliding block being slidably connected with guide rail, guide rail be fixed to the first plate 11, is arranged when on the first plate 11
When having guide groove 110, guide rail can be fixed in guide groove 110, and sliding block is connect with push-pull rod 21, be existed to reduce push-pull rod 21
The frictional resistance being subject to when being moved back and forth on the first plate 11 along first direction X.
Further, claw 22 includes connecting rod 221 and swing rod 222, and one end of connecting rod 221 and push-pull rod 21 are pivotally connected,
The other end of connecting rod 221 and swing rod 222 are pivotally connected, and one end of swing rod 222 is provided with fixed block 222a, the other end be provided with
The support shaft 222b of first plate 11 rotation connection.More than two claws 22 are flat relative to the first plate 11 by each connecting rod 221
It moves and rotation drives each swing rod 222 to rotate around respective support shaft 222b, so that the common close and clamping weight of each fixed block 222a
Object H is separate and discharge weight H.
Specifically, one end of connecting rod 221 is pivotally connected by first rotating shaft 223 and push-pull rod 21, the other end of connecting rod 221
Be pivotally connected by the second shaft 224 and swing rod 222, and the second shaft 224 be set to fixed block 222a and support shaft 222b it
Between；It is further provided with the first sliding groove 111 corresponding to first rotating shaft 223 on first plate 11 and corresponds to the second shaft 224
Second sliding slot 112, connecting rod 221 by movement and second shaft 224 of the first rotating shaft 223 in first sliding groove 111 second
Movement in sliding slot 112 and translate and rotate relative to the first plate 11.
In addition, first sliding groove 111 is the strip slot extended along first direction X, it is further provided on the first plate 11
With the fixation hole 113 of support shaft 222b rotation connection, second sliding slot 112 is arc groove, the center of circle and the fixation hole 113 of arc groove
Central axis is overlapped.Specifically, one end of support shaft 222b is fixed to swing rod 222 by oil-free bushing and circlip for shaft
On, guarantee that its rotation is flexible；The other end of support shaft 222b is rotatably connected to fixation hole 113 by bearing.Swing rod as a result,
222 by the second shaft 224 second sliding slot 112 reciprocating rounding-out motion around support shaft 222b come back rotation so that fixed
The support S of the close or separate weight H of block 222a.
Since the claw 22 of the two sides of push-pull rod 21 is arranged in pairs, therefore claw arranged in pairs 22 corresponding a pair of second is slided
Slot 112 is arranged symmetrically relative to push-pull rod 21.In addition, in order to reduce the first plate 11 along the length dimension of first direction X, every phase
Two pairs of adjacent claws 22 are arranged along the interval first direction X, and two pairs of claws, 22 corresponding two pairs of second sliding slots 112 are oppositely arranged,
So that the rotation direction of two pairs of swing rods 222 is different, thus while avoiding each swing rod 222 from interfering during the motion
The overall dimensions of gripper equipment 100 are minimized, weight is mitigated.
Refering to Fig. 4, shows the push-pull rod 21 in gripper equipment 100 and be in the first position and second on the first plate 11
The movement locus schematic diagram of claw 22 when position.Push-and-pull component 20 is provided with two pairs of claws 22, between the two sides of push-pull rod 21 respectively have
Every two claws 22 of setting.It is every a pair of claw 22 according to the difference of its position and motion profile on push-pull rod 21 and
Structure is slightly different.
Wherein, when the solid line in Fig. 4 represents push-pull rod 21 and extend out to first position relative to the first plate 11, two pairs of claws
Fixed block 222a on 22 swing rod 222 clamps the status diagram when support S of weight H jointly.Push-pull rod 21 is along first
When direction X stretches out, one end of the connecting rod 221 of each claw 22 passes through linear motion of the first rotating shaft 223 in first sliding groove 111
It is translated along first direction X, while the other end of connecting rod 221 makees movement in a curve in second sliding slot 112 by the second shaft 224,
So that connecting rod 221 had not only been translated but also had been rotated relative to the first plate 11, to drive swing rod 222 sliding second by the second shaft 224
Rotation in slot 112 and rotated around support shaft 222b so that four fixed block 222a on each swing rod 222 are respectively close to branch
Support member S simultaneously gradually applies clamping force, limits movement of the weight H in X/Y plane.
Frictional force of the size of clamping force only between fixed block 222a and the support S of weight H is related, solid in order to prevent
Determine block 222a to be worn due to the contact friction with the support S of weight H, fixed block 222a can be made by wear-resistant material, example
Such as, but not limited to, copper, nylon, rubber etc..
The push-pull rod 21 that dotted line in Fig. 4 represents in push-and-pull component 20 is retracted to the second position relative to the first plate 11
When, the fixed block 222a on the swing rod 222 of two pairs of claws 22 discharges the status diagram when support S of weight H respectively.Push-and-pull
When bar 21 is reversely retracted along first direction X, one end of the connecting rod 221 of each claw 22 is by first rotating shaft 223 in first sliding groove
Linear motion in 111 is reversely translated along first direction X, while the other end of connecting rod 221 is sliding second by the second shaft 224
Make reversed movement in a curve in slot 112, so that connecting rod 221 had not only reversely been translated along first direction X but also reversed relative to the first plate 11
Rotation, to drive swing rod 222 reversed around support shaft 222b by the second shaft 224 rotating backward in second sliding slot 112
Rotation, so that four fixed block 222a are respectively further from support S and gradually discharge clamping force, in order to place weight H
Gripper equipment 100 is recalled behind predetermined position.Displacement L between the first position and the second position of first plate 11 is to push and pull
The displacement that bar 21 is moved along first direction X.
Hook portion can be set in addition, being located on the swing rod 221 of a pair of of claw 22 of 21 front end of push-pull rod, thus each
The fixed block 222a of swing rod 222 in a second direction Y common clamping weight H when, by further being blocked in hook portion in a first direction X
Weight H, prevents it from shaking in the handling process, further improves the reliability of gripper equipment 100.
Referring again to Fig. 3, it is further provided with the first locating part 114 and the second locating part 115 on the first plate 11, first
Locating part 114 is overlapped on push-pull rod 21 along the thickness direction of push-pull rod 21, prevents push-pull rod 21 in thickness direction
Play, the second locating part 115 are spaced a predetermined distance setting along the first position of first direction X and the first plate 11, prevent from driving
Push-pull rod 21 is driven to go beyond the limit of position along the moving displacement of first direction X when mechanism 23 breaks down.
Preferably, the second locating part 115 is fixed to the first plate 11 by strip hole, in order to according to different weight H's
The extreme position of size adjustment push-pull rod 21.When carrying various sizes of weight H using gripper equipment 100, Ke Yitong
It crosses replacement swing rod 222 or only adjusts position of the fixed block 222a on swing rod 222 to clamp various sizes of weight H, to mention
The versatility of high gripper equipment 100.
In addition, it is additionally provided with cushion block 116 on the first plate 11, on the thickness direction of push-pull rod 21, cushion block 116
Height dimension is greater than the first locating part 114, the second locating part 115 and the height dimension for pushing and pulling component 20, and the first plate 11 passes through
Cushion block 116 supports weight H, to allow to push and pull component 20 in the movement of the bottom of weight H, and executes and clamps or release accordingly
Put movement.
Since weight H has certain altitude, in order to further increase gripper equipment 100 the carrying heavy goods H during
Stability, the second plate 12 are provided with a pair of of side plate 121, an opposite side along the two sides of the second direction Y perpendicular to first direction X
121 the first plate of distance 11 of pressing plate is spaced a predetermined distance, and elastic component 122, setting in elastic component 122 are provided on side plate 121
There is spring, so that weight H is placed between the elastic component 122 of a pair of of side plate 121, buffers weight H in the handling process because touching
The driving mechanism 23 that is damaged, while being also prevented from gripper equipment 10 is because collision etc. is outer to the vibratory impulse that barrier etc. is subject to
Boundary impacts and generates biggish opposing torque failure.
In addition, being further provided with flange 123 on the second plate 12, gripper equipment 100 passes through flange 123 and external equipment
Connection.Such as the operational tip of industrial robot is connected to by flange 123.
Gripper equipment 100 further comprises detection components 30, and detection components 30 include but is not limited to infrared detector and sweep
Instrument is retouched, detection components 30 are set on the second plate 12, are fed back for determining the spatial position of weight H, and by the spatial position
To industrial robot, accurately grabs weight H in order to control gripper equipment 100 and pile up weight H.
Gripper equipment 100 further comprises vacuum suction component 40, and vacuum suction component 40 is set to the first plate 11
Bottom, the object more smooth for absorption surface.Due in the assembling process of weight H, needing zero of online weight H
Part, such as the shell that outer surface is more smooth need after group installs weight H if using other fixtures that the shell is online
Fixture is changed to gripper equipment 100 again, operation is comparatively laborious, and working efficiency is low, therefore addition of vacuum is inhaled on gripper equipment 100
Attached component 40 can be compatible with online components and carry two kinds of functions, and overall structure more optimizes, and lighter in weight.
Refering to Fig. 5, vacuum suction component 40 includes sucker 41 interconnected and fixed plate 42, and fixed plate 42 is with recessed
It is provided with sealing ring 43 between the steel plate of slot, and the bottom of the first plate 11, to guarantee the airtightness of vacuum, avoids gas leakage.
Connector 44 is provided in fixed plate 42, one end of connector 44 connects tracheae, and vacuum suction component 40 passes through the pneumatic elements such as air pump
Realize the vacuum suction of body surface.The biggish vacuum absorption device of middle volume compared with the existing technology, improves space utilization
Rate.
In addition, the embodiment of the invention also provides a kind of industrial robots comprising foregoing any handgrip dress
Set 100.Weight can be accurately placed in any narrow space by the industrial robot, and safe operation is reliable.
Although by reference to preferred embodiment, invention has been described, the case where not departing from the scope of the present invention
Under, various improvement can be carried out to it and can replace component therein with equivalent.Especially, as long as there is no structures to rush
Prominent, items technical characteristic mentioned in the various embodiments can be combined in any way.The invention is not limited to texts
Disclosed in specific embodiment, but include all technical solutions falling within the scope of the claims.
Claims (11)
1. a kind of gripper equipment (100) characterized by comprising
Main frame (10), the first plate (11) and the second plate (12) including intersection, first plate (11) is for carrying
Weight (H)；
It pushes and pulls component (20), including push-pull rod (21) and is distributed in more than two claws (22) of the push-pull rod (21) two sides,
Each claw (22) is rotatablely connected with the push-pull rod (21), and the push-pull rod (21) is along first direction (X) described
Moved back and forth between the first position and the second position of first plate (11), with drive it is described two with upper clipping claw (22) clamping or
Person discharges the weight (H).
2. gripper equipment (100) according to claim 1, which is characterized in that be provided with edge on first plate (11)
The guide groove (110) that the first direction (X) extends, the push-pull rod (21) are located in the guide groove (110), and described second
The driving mechanism (23) connecting with the push-pull rod (21) is provided on plate (12), the push-pull rod (21) is in the driving machine
Guide groove (110) described in the driving lower edge of structure (23) moves back and forth.
3. gripper equipment (100) according to claim 2, which is characterized in that the claw (22) include connecting rod (221) and
Swing rod (222), one end of the connecting rod (221) and the push-pull rod (21) are pivotally connected, the other end of the connecting rod (221) with
The swing rod (222) is pivotally connected, and one end of the swing rod (222) is provided with fixed block (222a), and the other end is provided with and institute
State the support shaft (222b) of the first plate (11) rotation connection；
It is described two to be translated by each connecting rod (221) relative to first plate (11) with upper clipping claw (22) and rotate band
It moves each swing rod (222) to rotate around the respective support shaft (222b), so that each fixed block (222a) is common close
And weight described in clamping (H) or separate and discharge the weight (H).
4. gripper equipment (100) according to claim 3, which is characterized in that one end of the connecting rod (221) passes through first
Shaft (223) and the push-pull rod (21) are pivotally connected, and the other end of the connecting rod (221) passes through the second shaft (224) and institute
Swing rod (222) pivot connection is stated, and second shaft (224) is set to the fixed block (222a) and the support shaft
Between (222b)；
It is further provided on first plate (11) corresponding to the first sliding groove (111) of the first rotating shaft (223) and right
The second sliding slot (112) of second shaft (224) described in Ying Yu, the connecting rod (221) is by the first rotating shaft (223) described
Movement in the second sliding slot (112) of movement and second shaft (224) in first sliding groove (111) and relative to institute
It states the first plate (11) translation and rotates.
5. gripper equipment (100) according to claim 4, which is characterized in that the first sliding groove (111) is along described the
The strip slot that one direction (X) extends, is further provided on first plate (11) and the support shaft (222b) is rotated
The fixation hole (113) of connection, the second sliding slot (112) are arc groove, the center of circle of the arc groove and the fixation hole (113)
Central axis be overlapped.
6. gripper equipment (100) according to claim 1, which is characterized in that further set on first plate (11)
Be equipped with the first locating part (114) and the second locating part (115), first locating part (114) along the push-pull rod (21) from
Body thickness direction is overlapped on the push-pull rod (21), and second locating part (115) is along the first direction (X) and described the
The first position of one plate (11) is spaced a predetermined distance setting.
7. gripper equipment (100) according to claim 6, which is characterized in that further set on first plate (11)
Cushion block (116) are equipped with, on the thickness direction of the push-pull rod (21), the height dimension of the cushion block (116) is greater than institute
State the height dimension of the first locating part (114), second locating part (115) and push-and-pull component (20), first plate
Part (11) supports the weight (H) by the cushion block (115).
8. gripper equipment (100) according to claim 1, which is characterized in that second plate (12) is along perpendicular to institute
The two sides for stating the second direction (Y) of first direction (X) are provided with a pair of of side plate (121), are provided on the side plate (121)
Elastic component (122), so that the weight (H) is placed between the elastic component (122) of the pair of side plate (121).
9. gripper equipment (100) according to claim 1, which is characterized in that the gripper equipment (100) further comprises
Detection components (30), the detection components (30) are set on second plate (12), for determining the sky of the weight (H)
Between position.
10. gripper equipment (100) according to claim 1, which is characterized in that the gripper equipment (100) is further wrapped
It includes vacuum suction component (40), the vacuum suction component (40) is set to the bottom of first plate (11).
11. a kind of industrial robot, which is characterized in that the industrial robot includes as described in any one of claims 1 to 10
Gripper equipment (100).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811381228.4A CN109333569B (en) | 2018-11-20 | 2018-11-20 | Gripper device and industrial robot comprising same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811381228.4A CN109333569B (en) | 2018-11-20 | 2018-11-20 | Gripper device and industrial robot comprising same |
Publications (2)
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| CN109333569B CN109333569B (en) | 2021-02-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113618217A (en) * | 2021-09-01 | 2021-11-09 | 安徽里亚电池有限公司 | Spot welding device for manufacturing lithium battery |
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| CN106733674A (en) * | 2016-12-15 | 2017-05-31 | 广东工业大学 | A kind of express transportation system and quick despatch sorting platform |
| CN107571278A (en) * | 2017-09-11 | 2018-01-12 | 宁夏共享机床辅机有限公司 | A kind of lever type mechanical hand clamping jaw |
| CN108788291A (en) * | 2018-06-25 | 2018-11-13 | 上海杨岐视觉机器人有限公司 | A kind of chute-type robot hand of shear |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106733674A (en) * | 2016-12-15 | 2017-05-31 | 广东工业大学 | A kind of express transportation system and quick despatch sorting platform |
| CN107571278A (en) * | 2017-09-11 | 2018-01-12 | 宁夏共享机床辅机有限公司 | A kind of lever type mechanical hand clamping jaw |
| CN108788291A (en) * | 2018-06-25 | 2018-11-13 | 上海杨岐视觉机器人有限公司 | A kind of chute-type robot hand of shear |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113618217A (en) * | 2021-09-01 | 2021-11-09 | 安徽里亚电池有限公司 | Spot welding device for manufacturing lithium battery |
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| CN109333569B (en) | 2021-02-05 |
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