CN109702226B - Paw device - Google Patents
Paw device Download PDFInfo
- Publication number
- CN109702226B CN109702226B CN201711008922.7A CN201711008922A CN109702226B CN 109702226 B CN109702226 B CN 109702226B CN 201711008922 A CN201711008922 A CN 201711008922A CN 109702226 B CN109702226 B CN 109702226B
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- cylinder
- finger
- base
- adjusting
- rotating
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- 239000000463 material Substances 0.000 claims abstract description 44
- 230000006698 induction Effects 0.000 claims abstract description 11
- 210000000078 claw Anatomy 0.000 claims description 26
- 238000003825 pressing Methods 0.000 claims description 15
- 238000007664 blowing Methods 0.000 claims description 14
- 238000007599 discharging Methods 0.000 claims description 9
- 230000000149 penetrating effect Effects 0.000 claims 2
- 238000001514 detection method Methods 0.000 abstract description 10
- 238000009434 installation Methods 0.000 abstract description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000009471 action Effects 0.000 description 4
- 238000013459 approach Methods 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 2
- 239000002173 cutting fluid Substances 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 229910001369 Brass Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 239000010951 brass Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012840 feeding operation Methods 0.000 description 1
- 230000009975 flexible effect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Images
Abstract
The invention relates to a gripper device which is used for clamping a middle-short rod workpiece of a truss manipulator and comprises a base, an adjusting component connected with the base, a rotating component connected with the adjusting component, a clamping component connected with the rotating component and a detecting component connected with the clamping component, wherein the clamping component comprises a rotating seat and a material taking piece connected with the rotating seat, the detecting component comprises a proximity switch connected with the rotating seat and an induction sheet connected with the material taking piece, and the proximity switch corresponds to the induction sheet. According to the gripper device, the detection assembly is arranged, so that the material taking state of the gripper device can be detected, and the empty material clamping condition is ensured not to occur; meanwhile, the gripper device is also provided with an adjusting component, and the position of the feeding gripper station is aligned with the machine tool spindle by moving a sliding part on the adjusting component, so that the later installation and debugging work is ensured to be simpler and more convenient.
Description
Technical Field
The invention relates to the technical field of automation equipment, in particular to a paw device.
Background
With the rapid development of modern industry, production automation has become a prominent subject, and in industrial production such as processing, handling and assembling, a plurality of stations are workpiece picking and placing operations, which generally require the following characteristics: flexible action, simplicity, reliability and high repeatability.
Aiming at the requirements, a large number of mechanical hands appear in the market, but most of the mechanical hands do not have a material taking detection structure, so that empty materials are clamped by a feeding clamping claw easily, and empty feeding is caused to a lathe spindle; the action of the manipulator clamping empty materials not only reduces the production efficiency, but also easily causes program disorder or accidents.
Disclosure of Invention
Therefore, it is necessary to provide a gripper device having a material taking detection function to solve the technical problem that the existing manipulator is likely to clamp empty material.
In order to realize the purpose of the invention, the invention adopts the following technical scheme:
the gripper device comprises a base, an adjusting component, a rotating component, a material clamping component and a detecting component, wherein the adjusting component is connected with the base, the rotating component is connected with the adjusting component, the material clamping component is connected with the rotating component, the detecting component is connected with the material clamping component, the material clamping component comprises a rotating seat and a material taking piece connected with the rotating seat, the detecting component comprises a proximity switch and an induction piece, the proximity switch is connected with the proximity switch of the rotating seat, the induction piece is connected with the induction piece, and the proximity switch corresponds to the induction piece.
According to the gripper device, the detection assembly is arranged, so that the material taking state of the gripper device can be detected, and the empty material clamping condition is ensured not to occur; simultaneously, this hand claw device still is equipped with adjusting part, thereby makes hand claw device's station position and lathe main shaft centering through removing adjusting part, ensures that later stage installation debugging work is more simple and easy convenient.
In one embodiment, the adjusting assembly comprises a mounting plate and a sliding part, the mounting plate is connected with the base, the sliding part is connected with the rotating assembly, a sliding groove is formed in one side, opposite to the base, of the mounting plate, and the sliding part is mounted in the sliding groove of the mounting plate.
In one embodiment, the adjusting assembly further includes a blowing plate and an adjusting plate, the blowing plate is mounted on one side of the mounting plate and is provided with a second threaded hole for the first adjusting screw to penetrate through and connect with the sliding member, and the adjusting plate is mounted on the other side of the mounting plate and is provided with a third threaded hole for the second adjusting screw to penetrate through and connect with the sliding member.
In one embodiment, the blowing plate is provided with through holes communicated with each other, and the through holes are penetrated by the air supply pipe.
In one embodiment, the rotating assembly includes a fixing seat and a rotating cylinder connected to the fixing seat, the fixing seat is connected to the sliding member, and the rotating cylinder is connected to the rotating seat of the clamping assembly.
In one embodiment, the rotary base is provided with two protrusions which are perpendicular to each other, the material taking part comprises a feeding claw and a discharging claw, the feeding claw is connected with one protrusion of the rotary base, and the discharging claw is connected with the other protrusion of the rotary base.
In one embodiment, the feeding paw comprises a first air cylinder and a pressing plate, three guide blocks with through holes are arranged on one outward side of the first air cylinder, guide rods are arranged at three end corners of the pressing plate, the guide blocks correspond to the guide rods, and springs are connected between the pressing plate and the guide blocks.
In one embodiment, the proximity switch is connected with the rotating seat, the sensing piece is arranged in a sheet shape, and the sensing piece is connected to one end of the guide rod close to the rotating seat.
In one embodiment, the feeding paw further comprises a first finger base and a first finger section connected with the first finger base, the first finger base is provided with first saw teeth, and the first finger section is provided with second saw teeth corresponding to the first saw teeth of the first finger base.
In one embodiment, the blanking paw comprises a second finger base and a second finger segment connected with the second finger base, the second finger base is provided with third saw teeth, and the second finger segment is provided with fourth saw teeth corresponding to the third saw teeth of the second finger base.
Drawings
FIG. 1 is a schematic view of a gripper apparatus according to a preferred embodiment of the present invention;
FIG. 2 is another perspective view of the gripper apparatus of FIG. 1;
FIG. 3 is an exploded view of the gripper unit of FIG. 2;
the reference numbers illustrate:
100. a gripper device;
10. a base 11, a bottom plate 12 and an extension plate;
20. the adjusting assembly 21, the mounting plate 22, the sliding piece 221, the first threaded hole 23, the air blowing plate 231, the first fixing through hole 232, the second threaded hole 233, the through hole 24, the adjusting plate 241, the second fixing through hole 242 and the third threaded hole;
30. the rotary component 31, the fixed seat 32, the rotary cylinder 321 and the boss;
40. the material clamping assembly comprises a material taking component 50, a rotating seat 60, a material taking component 61, a material feeding claw 611, a first air cylinder 611a, a guide block 612, a first finger base 612a, a first saw tooth 613, a pressing plate 613a, a guide rod 614, a first finger section 614a, a first adjusting hole 62, a material feeding claw 621, a second air cylinder 622, a second finger base 623, a second finger section 623a, a fourth saw tooth 623b and a second adjusting hole;
70. the detection assembly comprises a detection assembly 71, a proximity switch 72, a sensing piece 80, a blank workpiece 90 and a finished workpiece.
Detailed Description
In order that the invention may be more fully understood, reference will now be made to the following description. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Referring to fig. 1 to 3, a gripper device 100 according to a preferred embodiment of the present invention is used for holding a workpiece such as a middle-short bar of a truss robot. The gripper device 100 of the present invention comprises a base 10, an adjusting component 20 connected to the base 10, a rotating component 30 connected to the adjusting component 20, a clamping component 40 connected to the rotating component 30, and a detecting component 70 connected to the clamping component 40; the material clamping assembly 40 comprises a rotary seat 50 and a material taking piece 60 connected with the rotary seat 50, wherein the material taking piece 60 comprises a feeding claw 61 and a discharging claw 62; the detection assembly 70 comprises a proximity switch 71 connected with the rotary base 50 and a sensing piece 72 connected with the feeding paw 61, wherein the proximity switch 71 corresponds to the sensing piece 72. When the gripper device 100 performs material taking operation, the material clamping assembly 40 approaches to a station, when the sensing sheet 72 approaches to the proximity switch 71, the proximity switch 71 generates a signal and the system judges that the station has material, and the material clamping assembly 40 clamps the blank workpiece 80; when the sensing piece 72 is not close to the proximity switch 71, the proximity switch 71 does not generate a signal and the system determines that the station is empty, and the material clamping assembly 40 jumps to the next station.
The base 10 is arranged in a U shape and comprises a bottom plate 11 and extension plates 12 extending outwards from two opposite sides of the bottom plate 11, a mounting groove is defined between the extension plates 12 and the bottom plate 11 and used for connecting a Z-axis arm of a manipulator, and one side of the bottom plate 11, which is back to the extension plates 12, is connected with an adjusting assembly 20; the size of the mounting groove can be correspondingly designed and processed according to aluminum profiles with different specifications in various truss manipulators, the connection between the base 10 and the adjusting component 20 does not need to be changed, the gripper device 100 can be suitable for truss mechanical arms with more models and workpieces with more sizes and different types under the condition of minimum structural change, and the universality and the compatibility are higher.
Referring to fig. 1 and 2 again, the adjusting assembly 20 is connected to the base 10, and the adjusting assembly 20 includes a mounting plate 21, a sliding member 22, an air blowing plate 23 and an adjusting plate 24; the slider 22 is mounted in the mounting plate 21, and the blowing plate 23 and the adjusting plate 24 are respectively mounted on opposite sides of the mounting plate 21. In the embodiment, the mounting plate 21 is connected to the bottom plate 11 of the base 10 by screws, and a sliding groove is formed on a side of the mounting plate 21 opposite to the base 10; the chute of the mounting plate 21 is arranged in a T shape; the sliding member 22 is mounted in the sliding groove of the mounting plate 21 and can slide back and forth, one side of the sliding member 22 is connected to the rotating assembly 30, and the sliding member 22 has first threaded holes 221 on opposite sides in the sliding direction.
The air blowing plate 23 is arranged at one side of the mounting plate 21, and the air blowing plate 23 is provided with a first fixing through hole 231 and two second threaded holes 232; the first fixing through hole 231 corresponds to the first threaded hole 221 on one side of the sliding member 22, and the first fixing through hole 231 is used for a first fixing screw to penetrate through and connect with the sliding member 22, so as to fix the sliding member 22; the second threaded hole 232 is used for connecting the first adjusting screw with the sliding part 22, and the sliding part 22 is moved by pushing the first adjusting screw; the air blowing plate 23 is further provided with two groups of mutually communicated through holes 233, the through holes 233 are used for being connected with air pipes, air flow can be controlled by the electromagnetic valves through the air pipes, air blowing processing is conducted on the blank workpiece 80 and the lathe spindle when the feeding claw 61 feeds the lathe spindle and when the discharging claw 62 captures the finished workpiece 90, scrap iron and cutting fluid are blown away, and therefore the influence of the scrap iron and the cutting fluid on the feeding precision of the feeding claw 61 and the precision of the finished workpiece 90 captured by the discharging claw 62 is reduced.
The adjusting plate 24 is mounted on one side of the mounting plate 21 far away from the blowing plate 23, and the adjusting plate 24 is provided with a second fixing through hole 241 and two third threaded holes 242; the second fixing through hole 241 corresponds to the first threaded hole 221 on the other side of the sliding member 22, and the second fixing through hole 241 is used for a second fixing screw to penetrate through and connect with the sliding member 22, so as to fix the sliding member 22; the third threaded hole 242 is used for a second adjusting screw to connect to the sliding member 22, and the sliding member 22 is moved by pushing the second adjusting screw. When the material loading hand claw 61 station center of pressing from both sides material subassembly 40 and the lathe main shaft skew, under the circumstances through removing the lathe, through the action of pulling or pushing the first adjusting screw and the second adjusting screw to connecting slider 22, thereby remove slider 22's position, make material loading hand claw 61 station position and lathe main shaft aim at, rethread first set screw and second set screw wear to establish slider 22 after the regulation finishes, play the effect of fixed slider 22, prevent slider 22 skew, can make later stage installation debugging work simple and easy convenient more.
The rotating assembly 30 is connected with the adjusting assembly 20, and the rotating assembly 30 comprises a fixed seat 31 and a rotating cylinder 32 connected with the fixed seat 31; the fixed seat 31 is connected with the sliding part 22 of the adjusting assembly 20 and can move synchronously with the sliding part 22, so that the clamping assembly 40 is driven to move; one side of the rotary cylinder 32 is connected with the fixed seat 31, and one side of the rotary cylinder 32, which is far away from the fixed seat 31, is provided with a boss 321, and the boss 321 corresponds to the clamping assembly 40; in the present embodiment, the rotary cylinder 32 can perform a 180 ° rotary motion, thereby switching the positions of the feeding gripper 61 and the discharging gripper 62.
The clamping assembly 40 is connected with the rotating assembly 30, the clamping assembly 40 comprises a rotating base 50 and a material taking piece 60 connected with the rotating base 50, and the material taking piece 60 comprises a feeding paw 61 and a discharging paw 62; the rotary seat 50 is provided with a first groove, the size of the first groove corresponds to the boss 321 of the rotary cylinder 32, and the rotary seat 50 is further provided with two protrusions which are perpendicular to each other.
The feeding paw 61 comprises a first cylinder 611, a first finger base 612 connected with the first cylinder 611, a pressing plate 613 connected with the first cylinder 611, and a first finger section 614 connected with the first finger base 612; the feeding gripper 61 is used for feeding and clamping the blank workpiece 80.
The first cylinder 611 is a three-jaw cylinder and is provided with a second groove, the size of the second groove corresponds to a protrusion of the rotary base 50, and the first cylinder 611 is connected with a protrusion of the rotary base 50 in a screw connection manner in this embodiment; meanwhile, the outward side of the first cylinder 611 is further provided with three guide blocks 611a with through holes, the guide blocks 611a correspond to the pressure plate 613, and the guide blocks 611a are machined by brass, so that the cylinder has the advantages of being small in size, wear-resistant and the like.
The number of the first finger bases 612 is three in this embodiment, the first finger bases 612 are connected to the first cylinder 611 by screws, and the first finger bases 612 are provided with a first screw hole (not shown), and a side of the first finger bases 612 facing away from the first cylinder 611 is provided with a plurality of first saw teeth 612 a.
The number of the first finger segments 614 is three in this embodiment, the first finger segments 614 are provided with a plurality of second saw teeth (not shown) and first adjusting holes 614a corresponding to the first finger bases 612, and the first finger segments 614 are connected to the first finger bases 612 by screws passing through the first adjusting holes 614 a; meanwhile, the first finger section 614 is externally provided with a reinforcing rib processed by heat treatment, so that the first finger section 614 is ensured to be less prone to deformation and abrasion. In this embodiment, the clamping range of the feeding claw 61 can be adjusted within a certain range by moving the position where the first saw tooth 612a of the first finger base 612 and the second saw tooth of the first finger section 614 are engaged, so as to achieve feeding operation on short rod-like workpieces with a certain diameter range to a certain extent; meanwhile, the clamping surface of the first finger section 614 can be processed into a V-shaped groove, so that the feeding paw 61 can clamp a short round bar workpiece more tightly and firmly.
The blanking paw 62 comprises a second cylinder 621, a second finger base 622 connected with the second cylinder 621 and a second finger section 623 connected with the second finger base 622; the blanking gripper 62 is used for clamping and blanking the finished workpiece 90.
The second cylinder 621 is a three-jaw cylinder and is provided with a third groove, and the size of the third groove corresponds to the other protrusion of the rotating base 50; further, the second cylinder 621 is connected to another protrusion of the rotating base 50 in a manner of screw connection in this embodiment, so as to enable the feeding claw 62 and the feeding claw 61 to be perpendicular to each other, thereby enabling switching between two stations.
The number of the second finger bases 622 is three in this embodiment, the second finger bases 622 are connected to the second cylinder 621 by screws, the second finger bases 622 are provided with second screw holes (not shown), and a plurality of third saw teeth (not shown) are provided on a side of the second finger bases 622 facing away from the second cylinder 621.
The number of the second finger segments 623 in this embodiment is three, the second finger segments 623 are provided with a plurality of fourth saw teeth 623a and second adjusting holes 623b corresponding to the second finger base 622, and the second finger segments 623 are connected to the second finger base 622 by passing through the second adjusting holes 623b through screws; meanwhile, the second finger section 623 is externally provided with a heat treatment processed reinforcing rib, so that the second finger section 623 is ensured to be less prone to deformation and abrasion. In this embodiment, the clamping range of the blanking paw 62 can be adjusted within a certain range by moving the position where the third sawtooth of the second finger base 622 is engaged with the fourth sawtooth 623a of the second finger segment 623, so as to achieve blanking operation of short rod type workpieces with a certain diameter range to a certain extent; meanwhile, the clamping surface of the second finger segment 623 can be processed into a V-shaped groove, so that the blanking paw 62 can clamp a short round bar workpiece more tightly and firmly.
The detection assembly 70 is connected with the clamping assembly 40, and the detection assembly 70 comprises a proximity switch 71 and an induction sheet 72; wherein, the proximity switch 71 is connected to the outward side of the rotating seat 50 of the clamping assembly 40, and the proximity switch 71 is arranged close to the feeding paw 61; the sensing piece 72 is disposed in a sheet shape in this embodiment, the sensing piece 72 is connected to the feeding claw 61 of the clamping assembly 40, further, the sensing piece 72 is connected to one end of a guiding rod 613a of the pressing plate 613 near the rotating base 50, and the sensing piece 72 corresponds to the proximity switch 71.
The centers of all the connecting parts of the gripper device 100 and the rotary cylinder 32 are through holes, so that the air pipe and the signal line of the proximity switch can pass through the centers, the interference of the signal line and the air pipe with other mechanisms caused by the arrangement of the signal line and the air pipe outside the gripper device is avoided, the twisting of a pipeline line can be effectively prevented, and the service life and the reliability of the pipeline are improved.
When the feeding device works, the mechanical hand drives the Z shaft to move the paw device 100 to the position above a material tray station, and the rotary cylinder 32 rotates the feeding paw 61 to a vertical downward station through ventilation processing of the electromagnetic valve; the electromagnetic valve is again ventilated, the feeding paw 61 is opened through the first cylinder 611, the feeding paw 61 of the paw device 100 enters a workpiece clamping range by slowly moving downwards, the blank workpiece 80 presses against the pressure plate 613 so as to drive the sensing piece 72 on the guide rod 613a to approach the proximity switch 71; when the proximity switch 71 generates a signal, the feeding gripper 61 clamps the blank workpiece 80 through the electromagnetic valve, and the gripper device 100 completes the clamping of the blank workpiece 80. When the feeding gripper 61 enters the workpiece clamping range, the pressing block 613 does not drive the sensing piece 72 on the guide rod 613a to approach the proximity switch 71, and the proximity switch 71 does not generate a signal, that is, the system determines that the station is empty, and the gripper device 100 jumps to the next station.
Then, the gripper device 100 is driven to reach the interior of the lathe through the movement of the X axis and the Z axis, the blanking gripper 62 is in an open state, the X axis is moved to enable the blanking gripper 62 to reach a distance suitable for clamping, and the second cylinder 621 is controlled through the electromagnetic valve to enable the blanking gripper 62 to clamp the finished workpiece 90 on the lathe spindle; then the lathe spindle loosens the clamping jaws, the blanking gripper 62 moves backwards towards the X axis, the finished workpiece 90 is successfully clamped from the lathe spindle, and at the moment, the blanking gripper 62 finishes the blanking work of the finished workpiece 90.
The rotary cylinder 32 is controlled by an electromagnetic valve to rotate 180 degrees, the feeding paw 61 is switched to be horizontally arranged, the paw device 100 moves to a position suitable for feeding on the X axis, the first cylinder 611 is controlled by the electromagnetic valve to enable the feeding paw 61 to release the first finger section 614, the pressing block 613 ejects the blank workpiece 80 under the action of spring force and pushes the blank workpiece to the end face of the lathe spindle, then the lathe spindle clamping jaw is closed to clamp the blank workpiece 80, and at the moment, the paw device 100 finishes feeding and clamping work of the blank workpiece 80; finally, the gripper device 100 is moved in the X-axis and Z-axis to withdraw from the interior of the lathe and place the finished workpiece 90 of the blanking gripper 62 on the empty station on the tray.
According to the gripper device, the detection assembly is arranged, so that the material taking state of the gripper device can be detected, and the empty material condition of the feeding gripper can be avoided; meanwhile, the gripper device is also provided with an adjusting component, and the position of a feeding gripper station is aligned with a machine tool spindle by moving a sliding part on the adjusting component, so that the later installation and debugging work is easier and more convenient; the work of unloading on the work piece can be accomplished in the single operation of hand claw device, saves time and high-efficient stable.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The utility model provides a hand claw device for the well short stick class work piece of centre gripping truss manipulator which characterized in that: the gripper device comprises a base, an adjusting assembly connected with the base, a rotating assembly connected with the adjusting assembly, a clamping assembly connected with the rotating assembly, and a detecting assembly connected with the clamping assembly, wherein the clamping assembly comprises a rotating seat and a material taking piece connected with the rotating seat, the detecting assembly comprises a proximity switch connected with the rotating seat and an induction sheet connected with the material taking piece, and the proximity switch corresponds to the induction sheet; the material taking part comprises a material taking paw, the material taking paw comprises a first air cylinder, a first finger base connected with the first air cylinder and a first finger section connected with the first finger base, first sawteeth are arranged on the first finger base, second sawteeth corresponding to the first sawteeth of the first finger base are arranged on the first finger section, a first adjusting hole is formed in the first finger section, and the first finger section is connected with the first finger base in a penetrating mode through the first adjusting hole through a screw; the feeding paw comprises a first cylinder and a second cylinder, wherein the first cylinder is provided with a guide block with a through hole, the second cylinder is provided with a guide block with a through hole, the first cylinder is provided with a pressing plate, three end angles of the pressing plate are provided with three guide rods, the guide rods penetrate through the guide block, a spring is arranged between the pressing plate and the guide block, and the induction piece is arranged on one end of the rotary seat close to the guide rod.
2. The gripper apparatus of claim 1, wherein: the adjusting component comprises a mounting plate and a sliding part, the mounting plate is connected with the base, the sliding part is connected with the rotating component, a sliding groove is formed in one side, opposite to the base, of the mounting plate, and the sliding part is installed in the sliding groove of the mounting plate.
3. The gripper apparatus of claim 2, wherein: the adjusting assembly further comprises a blowing plate and an adjusting plate, the blowing plate is installed on one side of the mounting plate and provided with a second threaded hole so that a first adjusting screw can penetrate through the sliding piece, the adjusting plate is installed on the other side of the mounting plate and provided with a third threaded hole so that a second adjusting screw can penetrate through the sliding piece.
4. The gripper apparatus of claim 3, wherein: the air blowing plate is provided with through holes which are communicated with each other, and the through holes are arranged in a penetrating way through the air supply pipe.
5. The gripper apparatus of claim 2, wherein: the rotating assembly comprises a fixing seat and a rotating cylinder connected with the fixing seat, the fixing seat is connected with the sliding part, and the rotating cylinder is connected with the rotating seat of the clamping assembly.
6. The gripper apparatus of claim 1, wherein: the rotary seat is provided with two bulges which are perpendicular to each other, the material taking piece comprises a discharging claw, the feeding claw is connected with one bulge of the rotary seat, and the discharging claw is connected with the other bulge of the rotary seat.
7. The gripper apparatus of claim 6, wherein: the first cylinder is a three-jaw cylinder and is provided with a second groove, and the size of the second groove corresponds to a bulge of the rotary seat; the blanking paw comprises a second cylinder, a second finger base connected with the second cylinder and a second finger section connected with the second finger base, the second cylinder is a three-paw cylinder and is provided with a third groove, and the size of the third groove corresponds to the other bulge of the rotary seat.
8. The gripper apparatus of claim 7, wherein: the proximity switch is connected with the rotating seat, and the induction sheet is arranged in a sheet shape.
9. The gripper apparatus of claim 6, wherein: the number of the first finger bases is three, and the number of the first finger sections is three.
10. The gripper apparatus of claim 6, wherein: the blanking paw comprises a second finger base and a second finger section connected with the second finger base, the second finger base is provided with third saw teeth, and the second finger section is provided with fourth saw teeth corresponding to the third saw teeth of the second finger base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711008922.7A CN109702226B (en) | 2017-10-25 | 2017-10-25 | Paw device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711008922.7A CN109702226B (en) | 2017-10-25 | 2017-10-25 | Paw device |
Publications (2)
| Publication Number | Publication Date |
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| CN109702226A CN109702226A (en) | 2019-05-03 |
| CN109702226B true CN109702226B (en) | 2020-10-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711008922.7A Expired - Fee Related CN109702226B (en) | 2017-10-25 | 2017-10-25 | Paw device |
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| CN (1) | CN109702226B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112792830A (en) * | 2020-09-10 | 2021-05-14 | 宁波新尚智能装备有限公司 | Manipulator grasping system module capable of detecting any position of product |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6016342A (en) * | 1983-07-05 | 1985-01-28 | Toyoda Mach Works Ltd | Device for checking or calibrating load sensor in operational apparatus |
| CN201586972U (en) * | 2009-11-20 | 2010-09-22 | 格兰达技术（深圳）有限公司 | Grabbing and emptying device of compact-type full-automatic IC material strip laser marking machine |
| CN203557190U (en) * | 2013-09-29 | 2014-04-23 | 北京奇步自动化控制设备有限公司 | Gripping device for feeding and discharging |
| CN103801976A (en) * | 2014-02-11 | 2014-05-21 | 喻铁军 | Automatic carrying clamp hand assembly |
| JP6411852B2 (en) * | 2014-10-07 | 2018-10-24 | 平田機工株式会社 | Conveying device, conveying system, and conveying method |
| CN104440360A (en) * | 2014-11-14 | 2015-03-25 | 零八一电子集团四川天源机械有限公司 | Clamping and translation device used for hollow air valve processing |
| CN204686536U (en) * | 2015-04-30 | 2015-10-07 | 常州市巨人机器人科技有限公司 | The vertical paw device of truss manipulator double |
| CN204893991U (en) * | 2015-07-31 | 2015-12-23 | 陕西诺贝特自动化科技有限公司 | Manipulator |
| CN107263487A (en) * | 2016-04-08 | 2017-10-20 | 广州协鸿工业机器人技术有限公司 | A kind of robot applied to engine assembly production line is grabbed |
| CN206474961U (en) * | 2016-10-21 | 2017-09-08 | 苏州蓝帆精密部件有限公司 | A kind of automatic rotation jaw |
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2017
- 2017-10-25 CN CN201711008922.7A patent/CN109702226B/en not_active Expired - Fee Related
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