CN110228080A - A kind of intelligent linkage clamping device - Google Patents
A kind of intelligent linkage clamping device Download PDFInfo
- Publication number
- CN110228080A CN110228080A CN201910377264.1A CN201910377264A CN110228080A CN 110228080 A CN110228080 A CN 110228080A CN 201910377264 A CN201910377264 A CN 201910377264A CN 110228080 A CN110228080 A CN 110228080A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- drive rod
- rod
- intelligent linkage
- gripper jaw
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
Abstract
The invention discloses a kind of intelligent linkage clamping devices; including control terminal, first connecting rod, connecting shaft, the second connecting rod, clamping limb, adjusting block, gripper jaw, driving device, drive rod A, protection spring, limited block, identification end A, identification end B, drive rod B, pressure inductor, protective layer and position-limited rack; control terminal bottom is equipped with first connecting rod; first connecting rod lower end is connected with the second connecting rod; second connecting rod bottom end is equipped with clamping limb; drive rod A is welded in clamping limb; drive rod A right end is equipped with adjusting block, and adjusting block bottom is equipped with gripper jaw；This intelligent linkage accommodates mechanism; it can be realized and be moved up and down by driving device equipped with connecting rod; gripper jaw has identification function; it can be according to position automatic telescopic to clamp object; gripper jaw clamps whether object is correct, and clamping limb is equipped with position-limited rack can carry out position limitation protection to gripper jaw by clamping price section intelligent recognition, and the present apparatus is whole; structure is simple, accurate intelligent, low-power consumption.
Description
Technical field
The present invention relates to cooling technology field, specially a kind of intelligent linkage clamping device.
Background technique
In industrial production, should guarantee that quality improves efficiency again, rely on it is artificial that not only time-consuming is at high cost, and be not easy
Supervision, especially to movement, processing of some workpiece etc., existing clamping device unicity is excessively high, needs human assistance, and not enough
Accurately, in some particular surroundings, because external environment factor temperature is too low or excessively high, electric power environmental etc. or positional relationship not person who happens to be on hand for an errand
Work operation, and existing aid mechanism is not smart enough is unable to complete its work.
Summary of the invention
The purpose of the present invention is to provide a kind of intelligent linkage clamping devices, have intelligent recognition, positioning to carry out essence
The advantages of quasi- clamping, territorial environment influences, solves the problems of the prior art.
To achieve the above object, the invention provides the following technical scheme: a kind of intelligent linkage clamping device, including control
End, first connecting rod, connecting shaft, the second connecting rod, clamping limb, adjusting block, gripper jaw, driving device, drive rod A, protection bullet
Spring, limited block, identification end A, identification end B, drive rod B, pressure inductor, protective layer and position-limited rack, the control terminal bottom are set
There is first connecting rod, the first connecting rod is welded in control terminal, and the first connecting rod lower end is connected with the second connecting rod,
The first connecting rod bottom is fixed with suit at the top of the second connecting rod by connecting shaft, and second connecting rod bottom end is equipped with folder
Gripping arm, the clamping limb are fixedly connected by screw with the second connecting rod, and the clamping limb is internally provided with drive rod A, described
Drive rod A is welded in clamping limb, and right end is equipped with limited block inside the clamping limb, and the drive rod A right end, which is equipped with, to be adjusted
Block, the adjusting block are welded on drive rod A, and the adjusting block bottom is equipped with gripper jaw.
Preferably, the second connecting rod headstage ground is equipped with driving device.
Preferably, protection spring is wound on the clamping limb internal drive bar A.
Preferably, position-limited rack upper end left end is equipped with identification end A, described to identify optoelectronic induction common built in the A of end
Device.
Preferably, position-limited rack lower end right end, which is equipped with, identifies end B, laser positioning inductor built in the identification end B,
The positioning inductor model are as follows: LDM42.
Preferably, it is dynamic using electric expansion that drive rod B, the drive rod A and drive rod B are equipped with inside the adjusting block
Bar, the electric telescopic rod model are as follows: KM01.
Preferably, protective layer is equipped on the outside of the gripper jaw, the protective layer uses tartan, avoids object table
Surface damage.
Preferably, it is inlaid with pressure inductor among lower arm on the gripper jaw, it is described to be identified to article quality
Pressure inductor model are as follows: CYYZ13.
Preferably, it is used between the control terminal, driving device, drive rod A, drive rod B, identification end A and identification end B
It is electrically connected.
Compared with prior art, beneficial effects of the present invention are as follows: this intelligent linkage accommodates mechanism, can pass through equipped with connecting rod
Driving device realization moves up and down, and gripper jaw has identification function, and object can be clamped according to position automatic telescopic, and gripper jaw is logical
Whether correct cross clamping price section's intelligent recognition clamping object, clamping limb, which is equipped with position-limited rack, to carry out position limitation protection to gripper jaw, this
Device is whole, and structure is simple, accurate intelligent, low-power consumption.
Detailed description of the invention
Fig. 1 is a kind of present invention: intelligent linkage clamping device overall structure diagram；
Fig. 2 is a kind of present invention: intelligent linkage clamping device schematic diagram of driving device；
Fig. 3 is a kind of present invention: intelligent linkage gripper mechanism grips mechanism structure schematic diagram；
Fig. 4 is a kind of present invention: intelligent linkage gripper mechanism grips pawl structural schematic diagram.
In figure mark explanation: 1 control terminal, 2 first connecting rods, 3 connecting shafts, 4 second connecting rods, 5 clamping limbs, 6 adjusting blocks,
7 gripper jaws, 8 driving devices, 9 drive rod A, 10 protection springs, 11 limited blocks, 12 identification end A, 13 identification end B, 14 drive rod B,
15 pressure inductors, 16 protective layers, 17 position-limited racks.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments, is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", "top",
The orientation or positional relationship of the instructions such as "bottom", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, merely to just
In description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with
Specific orientation construction and operation, therefore be not considered as limiting the invention.
Please refer to Fig. 1-4, a kind of intelligent linkage clamping device, including control terminal 1, first connecting rod 2, connecting shaft 3, second
Connecting rod 4, clamping limb 5, adjusting block 6, gripper jaw 7, driving device 8, drive rod A9, protection spring 10, limited block 11, identification end
A12, identification end B13, drive rod B14, pressure inductor 15, protective layer 16 and position-limited rack 17,1 bottom of control terminal are equipped with first and connect
Extension bar 2, first connecting rod 2 are welded in control terminal 1, and 2 lower end of first connecting rod is connected with the second connecting rod 4, first connecting rod 2
Suit is fixed by connecting shaft 3 at the top of bottom and the second connecting rod 4, and 4 bottom end of the second connecting rod is equipped with clamping limb 5, and clamping limb 5 is logical
It crosses screw to be fixedly connected with the second connecting rod 4, clamping limb 5 is internally provided with drive rod A9, and drive rod A9 is welded on clamping limb 5
Interior, 5 inside right end of clamping limb is equipped with limited block 11, and drive rod A9 right end is equipped with adjusting block 6, and adjusting block 6 is welded on drive rod
On A9,6 bottom of adjusting block is equipped with gripper jaw 7, and 4 headstage ground of the second connecting rod is equipped with driving device 8, inside clamping limb 5
Protection spring 10 is wound on drive rod A9,17 upper end left end of position-limited rack is equipped with identification end A12, identifies common built in the A12 of end
Photoelectric sensor, 17 lower end right end of position-limited rack be equipped with identification end B13, identify end B13 built in laser positioning inductor, positioning
Inductor model are as follows: LDM42 is equipped with that drive rod B14, drive rod A9 and drive rod B14 are dynamic to use electric expansion inside adjusting block 6
Bar, electric telescopic rod model are as follows: KM01 is equipped with protective layer 16 on the outside of gripper jaw 7, and protective layer 16 uses tartan, keeps away
Exempt from object surface damage, is inlaid with pressure inductor 15 among lower arm on gripper jaw 7, to be identified to article quality, pressure
15 model of inductor are as follows: CYYZ13, control terminal 1, driving device 8, drive rod A9, drive rod B14, identification end A12 and identification end
Using electric connection between B13.
Working principle: the present apparatus is fixed on the suitable position that need to be used, used by a kind of intelligent linkage clamping device of the present invention
Power supply line connects to power supply control terminal, and the present apparatus is powered, when object flows to corresponding position, identification end A12 photoelectric sensor
Sense that object, identification end A12 feed back information to control terminal 1 by signal wire, control terminal 1 controls drive rod A9 driving clamping
Pawl 7 feeds back to control terminal 1, control terminal 1 controls drive rod B14, drives when identification end B13 positioning inductor is sensed close to object
Lever B14 clamps object by extension and contraction control gripper jaw 7, according to pressure inductor 15 built in gripper jaw 7 to object matter
Amount is analyzed, if clamping object is not up to preset value and is considered as clamping mistake, driving device 8 controls first connecting rod 2 and second
Connecting rod 4 drive 5 transferring position of clamping limb, when identification end B13 sense arrival garbage area, feed back information to control terminal 1, control
End 1 processed controls gripper jaw 7 and is put into material, if material be correct material by the above process, control terminal 1 controls gripper jaw 7 will
Material is put into machine table or storage tank, this aid device also can gripping objects processed, need to only be processed from control terminal pre-input
Data, as procedure described above, automatic identification, which completes the process, automatically playbacks material.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, for this field skill
For art personnel, it is clear that invention is not limited to the details of the above exemplary embodiments, and without departing substantially from spirit of the invention or
In the case where essential characteristic, the present invention can be realized in other specific forms；Therefore, in all respects, should all incite somebody to action
Embodiment regards exemplary as, and is non-limiting, the scope of the present invention by appended claims rather than on state
Bright restriction, it is intended that including all changes that fall within the meaning and scope of the equivalent elements of the claims in the present invention
Interior, any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (9)
1. a kind of intelligent linkage clamping device, it is characterised in that: including control terminal (1), first connecting rod (2), connecting shaft (3),
Second connecting rod (4), clamping limb (5), adjusting block (6), gripper jaw (7), driving device (8), drive rod A(9), protection spring
(10), limited block (11), identification end A(12), identification end B(13), drive rod B(14), pressure inductor (15), protective layer (16)
With position-limited rack (17), control terminal (1) bottom is equipped with first connecting rod (2), and the first connecting rod (2) is welded on control terminal
(1) on, first connecting rod (2) lower end is connected with the second connecting rod (4), and first connecting rod (2) bottom connects with second
Suit is fixed by connecting shaft (3) at the top of extension bar (4), and the second connecting rod (4) bottom end is equipped with clamping limb (5), the clamping
Arm (5) is fixedly connected by screw with the second connecting rod (4), and the clamping limb (5) is internally provided with drive rod A(9), the drive
Lever A(9) it is welded in clamping limb (5), the internal right end of the clamping limb (5) is equipped with limited block (11), the drive rod A
(9) right end is equipped with adjusting block (6), and the adjusting block (6) is welded on drive rod A(9) on, adjusting block (6) bottom is equipped with
Gripper jaw (7).
2. a kind of intelligent linkage clamping device according to claim 1, it is characterised in that: the second connecting rod (4) top
End bottom is equipped with driving device (8).
3. a kind of intelligent linkage clamping device according to claim 1, it is characterised in that: driven inside the clamping limb (5)
Lever A(9) on be wound with protection spring (10).
4. a kind of intelligent linkage clamping device according to claim 1, it is characterised in that: position-limited rack (17) upper end is left
End is equipped with identification end A(12), the identification end A(12) built in common photoelectric sensor.
5. a kind of intelligent linkage clamping device according to claim 1, it is characterised in that: position-limited rack (17) lower end is right
End be equipped with identification end B(13), the identification end B(13) built in laser positioning inductor, the positioning inductor model are as follows:
LDM42。
6. a kind of intelligent linkage clamping device according to claim 1, it is characterised in that: set inside the adjusting block (6)
Have drive rod B(14), the drive rod A(9) and drive rod B(14) dynamic using electric telescopic rod, the electric telescopic rod model
Are as follows: KM01.
7. a kind of intelligent linkage clamping device according to claim 1, it is characterised in that: set on the outside of the gripper jaw (7)
Matcoveredn (16), the protective layer (16) use tartan, object surface are avoided to damage.
8. a kind of intelligent linkage clamping device according to claim 1, it is characterised in that: lower arm on the gripper jaw (7)
Centre is inlaid with pressure inductor (15), to be identified to article quality, pressure inductor (15) model are as follows:
CYYZ13。
9. a kind of intelligent linkage clamping device according to claim 1, it is characterised in that: the control terminal (1), driving dress
Set (8), drive rod A(9), drive rod B(14), identification end A(12) and identification end B(13) between using be electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910377264.1A CN110228080A (en) | 2019-05-07 | 2019-05-07 | A kind of intelligent linkage clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910377264.1A CN110228080A (en) | 2019-05-07 | 2019-05-07 | A kind of intelligent linkage clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110228080A true CN110228080A (en) | 2019-09-13 |
Family
ID=67861140
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910377264.1A Pending CN110228080A (en) | 2019-05-07 | 2019-05-07 | A kind of intelligent linkage clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110228080A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111787426A (en) * | 2020-06-30 | 2020-10-16 | 韩映莲 | Repairing equipment for communication |
| CN114643447A (en) * | 2022-05-10 | 2022-06-21 | 安徽理工大学 | Robot fixed point welding auxiliary device |
-
2019
- 2019-05-07 CN CN201910377264.1A patent/CN110228080A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111787426A (en) * | 2020-06-30 | 2020-10-16 | 韩映莲 | Repairing equipment for communication |
| CN111787426B (en) * | 2020-06-30 | 2023-08-11 | 深圳附近联盟科技有限公司 | Repair equipment for communication |
| CN114643447A (en) * | 2022-05-10 | 2022-06-21 | 安徽理工大学 | Robot fixed point welding auxiliary device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110228080A (en) | A kind of intelligent linkage clamping device | |
| CN107009358B (en) | Single-camera-based robot disordered grabbing device and method | |
| CN107571246B (en) | Part assembling system and method based on double-arm robot | |
| CN206088332U (en) | Mechanism is got to multi -functional clamp of six axis robot multistation | |
| CN104924288A (en) | Full-automatic picking car for warehouse and control method of full-automatic picking car | |
| CN108501009B (en) | Egg picking robot | |
| CN106223439B (en) | A kind of auxiliary urine detection intelligent closestool | |
| CN104443994A (en) | Medicine basket distribution device and basket distribution method thereof | |
| CN204867425U (en) | Inertia ring production line | |
| CN205600722U (en) | Small -size formula manipulator device that snatchs | |
| CN112706147A (en) | High-load file robot based on flexible manipulator | |
| CN113141871A (en) | Daylily picking robot system based on Beidou navigation | |
| CN111201895A (en) | Picking robot | |
| CN205521354U (en) | Get thing robot | |
| CN206645534U (en) | A kind of unordered grabbing device of robot based on double camera | |
| CN207480599U (en) | A kind of motion control device for industrial robot based on machine vision | |
| CN211163936U (en) | Robot | |
| CN205889189U (en) | Auxiliary is got and is glued way mechanical hand tool | |
| CN107378985A (en) | A kind of Intelligent management device | |
| CN103624406A (en) | Automatic feeding laser welding machine | |
| CN206720315U (en) | Eyeglass automatic clamping and placing edging processing unit (plant) | |
| CN213796545U (en) | Clamping jaw with vision and force feedback control function | |
| CN108214478A (en) | Robot and its force aid system with the variable spring boost system of multistation | |
| CN210230488U (en) | Photographing positioning and dispensing separating device | |
| CN102962662A (en) | Automatic assembly machine for tail sleeve and check ring |
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 |