CN110978033A - Grabbing device and assembly equipment - Google Patents
Grabbing device and assembly equipment Download PDFInfo
- Publication number
- CN110978033A CN110978033A CN201911342030.XA CN201911342030A CN110978033A CN 110978033 A CN110978033 A CN 110978033A CN 201911342030 A CN201911342030 A CN 201911342030A CN 110978033 A CN110978033 A CN 110978033A
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- CN
- China
- Prior art keywords
- clamping jaw
- clamping
- driving
- driving piece
- pull rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a gripping device and assembly equipment, relates to the technical field of assembly, and solves the technical problems that the gripping device in the prior art is complex in structure and not compact. The gripping device comprises a driving piece, a transmission mechanism and a clamping jaw assembly, wherein the driving piece is connected with the clamping jaw assembly through the transmission mechanism, the output end of the driving piece outputs rotary power, the clamping jaw assembly comprises at least two clamping jaws, and the forward rotation or reverse rotation action of the output end of the driving piece can drive the two clamping jaws to be closed or opened through the transmission mechanism.
Description
Technical Field
The invention relates to the technical field of assembly, in particular to a gripping device and assembly equipment.
Background
The existing assembly equipment is provided with a grabbing device to realize grabbing operation of parts, but the existing grabbing device mostly adopts a cylinder capable of realizing reciprocating motion as a power element, and the grabbing device needs to be assisted by external compressed air, an electromagnetic valve and other original components, has a complex and non-compact structure, and is inconvenient to operate and maintain; and when the gripping device is used for gripping objects with small mass and volume, such as parts like thin-wall copper pipes, the gripping action can be realized without large gripping force, and at the moment, resources are excessively wasted by adopting a series of elements like cylinders.
Disclosure of Invention
The invention aims to provide a grabbing device and assembling equipment, and aims to solve the technical problems that the grabbing device in the prior art is complex in structure and not compact.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides a gripping device which comprises a driving piece, a transmission mechanism and a clamping jaw assembly, wherein the driving piece is connected with the clamping jaw assembly through the transmission mechanism; wherein the content of the first and second substances,
the output end of the driving piece outputs rotary power, the clamping jaw assembly comprises at least two clamping jaws, and the forward rotation or reverse rotation of the output end of the driving piece can drive the two clamping jaws to be closed or opened through the transmission mechanism.
Optionally, the transmission mechanism includes a transmission assembly and a fixing plate, at least one of the clamping jaws is slidably connected to the fixing plate, and a first end of the clamping jaw is rotatably connected to the transmission assembly, so that the clamping jaw connected to the transmission assembly can slide on the fixing plate under the driving of the driving member.
Optionally, the jaw assembly comprises two said jaws, and the two said jaws are movable towards and away from each other.
Optionally, the transmission subassembly includes rotation portion and at least one pull rod, rotation portion with driving piece output fixed connection, the first end of pull rod with rotation portion rotates to be connected, the second end of pull rod with the clamping jaw rotates to be connected, rotation portion can be in the drive of driving piece is down rotated and is passed through the pull rod turns into torque and acts on the pulling force or the thrust of clamping jaw.
Optionally, the clamping jaw subassembly includes two the clamping jaw, drive assembly includes two the pull rod, two the first end of pull rod with the portion of rotating is rotated and is connected, two the second end of pull rod respectively with correspond the clamping jaw rotates and is connected, makes two the clamping jaw can be through corresponding the pull rod is in simultaneously be close to each other or keep away from under the drive of driving piece.
Optionally, a sliding groove is formed in the first end of the clamping jaw, the sliding groove can accommodate the fixing edge of the fixing plate, and the clamping jaw can slide along the fixing edge under the action of the sliding groove.
Optionally, a first clamping protrusion is arranged along the fixing edge, a second clamping protrusion adapted to the first clamping protrusion is arranged in the sliding groove, and the first clamping protrusion and the second clamping protrusion cooperate to limit displacement of the fixing edge away from the sliding groove.
Optionally, the first end of the pull rod is hinged with the rotating part; the second end of the pull rod is hinged with the corresponding clamping jaw.
Optionally, the second end of the clamping jaw is provided with a grabbing groove, and the inner wall of the grabbing groove is provided with a soft polyurethane material.
An assembly device comprising the above-described gripping device.
The invention provides a gripping device, which comprises a driving piece, a transmission mechanism and a clamping jaw assembly, wherein the driving piece is connected with the clamping jaw assembly through the transmission mechanism, the output end of the driving piece outputs rotary power, the clamping jaw assembly comprises at least two clamping jaws, and the positive rotation or reverse rotation action of the output end of the driving piece can drive the two clamping jaws to be closed or opened through the transmission mechanism.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is an exploded view of a grasping device according to the present invention;
FIG. 2 is a front view of the gripper assembly shown in an open position;
FIG. 3 is a reverse side view of the gripper jaws in an open position;
FIG. 4 is a front view of the gripper assembly with the jaws closed;
fig. 5 is a reverse side view of the gripper jaw closed.
FIG. 1 shows a driving member; 2. a clamping jaw; 3. a fixing plate; 4. a rotating part; 5. a pull rod; 6. a chute; 7. fixing the edge; 8. a first snap projection; 9. a second snap projection; 10. a pin shaft; 11. and (5) grabbing the groove.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
The invention provides a gripping device, which comprises a driving part 1, a transmission mechanism and a clamping jaw 2 assembly as shown in figures 1-5, wherein the driving part 1 is connected with the clamping jaw 2 assembly through the transmission mechanism; wherein the content of the first and second substances,
the output end of the driving piece 1 outputs rotary power, the clamping jaw 2 assembly comprises at least two clamping jaws 2, and the forward rotation or reverse rotation of the output end of the driving piece 1 can drive the two clamping jaws 2 to be closed or opened through the transmission mechanism.
According to the invention, the rotating action output by the driving part 1 is converted into the closing or opening action of the clamping jaw 2 through the transmission mechanism, so that the problem that auxiliary elements such as compressed air, an electromagnetic valve and the like are additionally required to be externally connected when a cylinder is used is avoided, the structure of the conventional gripping device is simplified, and the gripping device is compact in structure;
meanwhile, the clamping device can be used fully when clamping objects with small mass, such as thin-wall copper pipes and the like, and the situation that resources are wasted due to the fact that the objects with small mass are clamped by the clamping device of parts such as an air cylinder and the like is avoided.
As an optional implementation mode, the transmission mechanism includes a transmission assembly and a fixed plate 3, at least one of the clamping jaws 2 is slidably connected to the fixed plate 3, and a first end of the clamping jaw is rotatably connected to the transmission assembly, so that the clamping jaw 2 connected to the transmission assembly can slide on the fixed plate 3 under the driving of the driving member 1, and the clamping jaws 2 are closed or opened, thereby grabbing an object, and the structure is simple, wherein the driving member 1 is fixed on the fixed plate 3, and the driving member 1 and the clamping jaw 2 fixed on the fixed plate 3 transmit motion through the transmission assembly.
As an alternative embodiment, the clamping jaw 2 assembly comprises two clamping jaws 2, and the two clamping jaws 2 can move close to or away from each other, so that the two clamping jaws 2 can move simultaneously, and the precision and the efficiency of the clamping jaws 2 are increased.
As an optional implementation manner, the transmission assembly includes a rotating portion 4 and at least one pull rod 5, the rotating portion 4 is fixedly connected with the output end of the driving member 1, a first end of the pull rod 5 is rotatably connected with the rotating portion 4, a second end of the pull rod 5 is rotatably connected with the clamping jaw 2, and the rotating portion 4 can rotate under the driving of the driving member 1 and convert the torque into the pulling force or the pushing force acting on the clamping jaw 2 through the pull rod 5.
The invention converts the angle change generated by the rotation of the rotating part 4 driven by the driving part 1 into the push-pull action of the connecting rod, thereby driving the clamping jaws 2 to slide, and in the sliding process, the distance between the left clamping jaw and the right clamping jaw 2 is increased or reduced, thereby realizing the picking and placing of parts, realizing the conversion of the simple driving rotary power into the action of grabbing the parts through an ingenious structure, and having compact structure and high operation efficiency.
As an optional implementation mode, the clamping jaw 2 assembly includes two clamping jaws 2, the transmission assembly includes two pull rods 5, two first ends of the pull rods 5 are connected with the rotation portion 4 in a rotating manner, two second ends of the pull rods 5 are respectively connected with the corresponding clamping jaws 2 in a rotating manner, so that the two clamping jaws 2 can be driven by the driving member 1 through the corresponding pull rods 5 to simultaneously approach to or be away from each other, wherein the rotation portion 4 is of a rod-shaped structure, the connecting portion between the driving member 1 and the rotation portion 4 is the central position of the rod-shaped structure, and the first ends of the pull rods 5 are symmetrically distributed on two sides of the pull rods 5.
As an optional implementation manner, the first end of the clamping jaw 2 is provided with a sliding groove 6, the sliding groove 6 can accommodate a fixing edge 7 of the fixing plate 3, and the clamping jaw 2 can slide along the fixing edge 7 under the action of the sliding groove 6, so that the fixing edge 7 can guide and limit the clamping jaw 2, and the clamping action of the clamping jaw 2 is ensured.
As an alternative embodiment, a first clamping protrusion 8 is arranged along the fixing edge 7, a second clamping protrusion 9 matched with the first clamping protrusion 8 is arranged in the sliding groove 6, and the first clamping protrusion 8 and the second clamping protrusion 9 are matched to limit the displacement of the fixing edge 7 in the direction away from the sliding groove 6, so that the clamping jaw 2 and the fixing plate 3 are ensured not to be separated.
As an alternative embodiment, a first end of the pull rod 5 is hinged with the rotating part 4; the second end of the pull rod 5 is hinged to the corresponding clamping jaw 2, further, the first end of the pull rod 5 is hinged to the rotating part 4 through a pin shaft 10, and the second end of the pull rod 5 is hinged to the corresponding clamping jaw 2 through a pin shaft 10.
As an optional implementation manner, the second end of the clamping jaw 2 is provided with a grabbing groove 11, the inner wall of the grabbing groove 11 is provided with a soft polyurethane material, when the clamping jaw 2 is closed, the grabbing groove 11 can relatively clamp an object in a limiting space formed by the two grabbing grooves 11, and the soft polyurethane material arranged on the inner wall of the grabbing groove 11 can protect the clamped object.
An assembly device comprising the above-described gripping device.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A gripping device, characterized by: the clamping jaw assembly comprises a driving piece, a transmission mechanism and a clamping jaw assembly, wherein the driving piece is connected with the clamping jaw assembly through the transmission mechanism; wherein the content of the first and second substances,
the output end of the driving piece outputs rotary power, the clamping jaw assembly comprises at least two clamping jaws, and the forward rotation or reverse rotation of the output end of the driving piece can drive the two clamping jaws to be closed or opened through the transmission mechanism.
2. The grasping apparatus according to claim 1, wherein: the transmission mechanism comprises a transmission assembly and a fixing plate, at least one clamping jaw is connected with the fixing plate in a sliding mode, and the first end of the clamping jaw is connected with the transmission assembly in a rotating mode, so that the clamping jaw connected with the transmission assembly can slide on the fixing plate under the driving of the driving piece.
3. The grasping apparatus according to any one of claims 1 to 2, wherein: the clamping jaw assembly comprises two clamping jaws, and the two clamping jaws can move close to or away from each other.
4. The grasping apparatus according to claim 2, wherein: the transmission assembly comprises a rotating part and at least one pull rod, the rotating part is fixedly connected with the output end of the driving part, the first end of the pull rod is rotatably connected with the rotating part, the second end of the pull rod is rotatably connected with the clamping jaw, and the rotating part can rotate under the driving of the driving part and convert the torque into the pulling force or the pushing force acting on the clamping jaw through the pull rod.
5. The grasping apparatus according to claim 4, wherein: the clamping jaw assembly comprises two clamping jaws, the transmission assembly comprises two pull rods, the first ends of the two pull rods are connected with the rotating portion in a rotating mode, the second ends of the two pull rods are connected with the corresponding clamping jaws in a rotating mode, and the two clamping jaws can be close to or far away from each other through the corresponding pull rods under the driving of the driving piece.
6. The grasping apparatus according to claim 5, wherein: the first end of the clamping jaw is provided with a sliding groove, the sliding groove can contain the fixed edge of the fixed plate, and the clamping jaw can slide along the fixed edge under the action of the sliding groove.
7. The grasping apparatus according to claim 6, wherein: a first clamping protruding part is arranged along the fixed edge, a second clamping protruding part matched with the first clamping protruding part is arranged in the sliding groove, and the first clamping protruding part and the second clamping protruding part are matched to limit the displacement of the fixed edge far away from the sliding groove.
8. The grasping apparatus according to claim 4, wherein: the first end of the pull rod is hinged with the rotating part; the second end of the pull rod is hinged with the corresponding clamping jaw.
9. The grasping apparatus according to claim 1, wherein: and a grabbing groove is formed in the second end of the clamping jaw, and a soft polyurethane material is arranged on the inner wall of the grabbing groove.
10. An assembly apparatus, characterized by: comprising a gripping device according to any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911342030.XA CN110978033A (en) | 2019-12-24 | 2019-12-24 | Grabbing device and assembly equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911342030.XA CN110978033A (en) | 2019-12-24 | 2019-12-24 | Grabbing device and assembly equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110978033A true CN110978033A (en) | 2020-04-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911342030.XA Pending CN110978033A (en) | 2019-12-24 | 2019-12-24 | Grabbing device and assembly equipment |
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| CN (1) | CN110978033A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113478509A (en) * | 2021-06-09 | 2021-10-08 | 西安理工大学 | Connecting rod paw clamping device |
| CN113799161A (en) * | 2021-10-14 | 2021-12-17 | 赫菲斯科技(深圳)有限公司 | Clamping jaw |
| CN114559420A (en) * | 2022-03-22 | 2022-05-31 | 中国核工业中原建设有限公司 | Knife edge adjustable mechanical arm and method for scaffold deicing |
| CN117103236A (en) * | 2023-10-19 | 2023-11-24 | 北京云圣智能科技有限责任公司 | Cylindrical coordinate robot and aircraft hangar |
-
2019
- 2019-12-24 CN CN201911342030.XA patent/CN110978033A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113478509A (en) * | 2021-06-09 | 2021-10-08 | 西安理工大学 | Connecting rod paw clamping device |
| CN113799161A (en) * | 2021-10-14 | 2021-12-17 | 赫菲斯科技(深圳)有限公司 | Clamping jaw |
| CN114559420A (en) * | 2022-03-22 | 2022-05-31 | 中国核工业中原建设有限公司 | Knife edge adjustable mechanical arm and method for scaffold deicing |
| CN117103236A (en) * | 2023-10-19 | 2023-11-24 | 北京云圣智能科技有限责任公司 | Cylindrical coordinate robot and aircraft hangar |
| CN117103236B (en) * | 2023-10-19 | 2024-01-23 | 北京云圣智能科技有限责任公司 | Cylindrical coordinate robot and aircraft hangar |
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