CN112297050A - Clamping range increases large-scale clamping jaw structure and mechanical tongs - Google Patents
Clamping range increases large-scale clamping jaw structure and mechanical tongs Download PDFInfo
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- CN112297050A CN112297050A CN202011604934.8A CN202011604934A CN112297050A CN 112297050 A CN112297050 A CN 112297050A CN 202011604934 A CN202011604934 A CN 202011604934A CN 112297050 A CN112297050 A CN 112297050A
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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
- B25J15/08—Gripping heads and other end effectors having finger members
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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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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Abstract
The invention discloses a clamping range enlarging type clamping jaw structure and a mechanical gripper, wherein the clamping jaw structure comprises: a pneumatic jaw assembly having two relatively linearly moving jaws; the clamping units are provided with at least two groups, each group of the clamping units respectively comprises two oppositely arranged clamping pieces, and the two oppositely arranged clamping pieces are respectively and fixedly arranged relative to the two clamping jaws so as to be driven by the pneumatic clamping jaw assembly to move relatively to clamp the workpieces; the maximum clamping distances between at least two groups of the clamping units are different and are both larger than or equal to the stroke of the pneumatic clamping jaw assembly. The mechanical gripper includes at least one jaw structure. According to the clamping jaw structure and the mechanical gripper, the size specification of the clamping jaw structure can be more diversified than that of a pneumatic clamping jaw assembly, and the clamping jaw structure can clamp materials with larger sizes.
Description
Technical Field
The invention belongs to the technical field of automatic production, and particularly relates to a clamping jaw structure with an enlarged clamping range and a mechanical gripper.
Background
In the field of automation, a technology of taking materials, moving materials, installing materials and the like by an automatic structure instead of a manual operation gradually becomes a breakthrough point of the automatic technology, and a conventional method is to use a pneumatic clamping jaw assembly and install a simple clamp (i.e. a clamping structure) on a clamping jaw of the pneumatic clamping jaw assembly, for example, a finger sleeve is sleeved on the clamping jaw or a structure matched with the outline of the material structure is installed, so as to realize the actions of clamping, moving, installing and the like of the materials.
The pneumatic clamping jaw assembly in the prior art is simple in clamping structure, is beneficial to clamping materials only in order to match materials with different structural shapes, and the clamping range and the size of the clamping range are completely determined by the stroke of the pneumatic clamping jaw assembly. In concrete application, when the material type is more, the specification of size of material is different and size range is great, owing to receive the restriction of stroke, pneumatic clamping jaw subassembly can only press from both sides the material that the specification of size is less than the stroke, when pressing from both sides the great a plurality of materials of size range, need select big stroke cylinder according to the biggest material size for pneumatic clamping jaw subassembly's structure volume increase, weight increase are unfavorable for using in accurate place, perhaps have the place of weight requirement.
Accordingly, the prior art is in need of improvement and development.
Disclosure of Invention
The invention provides a clamping range enlarged clamping jaw structure and a mechanical gripper, so that the clamping range of the clamping jaw structure and the size of a material which can be clamped are not limited by the stroke of a pneumatic clamping jaw assembly, the clamping jaw structure can clamp the material in a more diversified size specification than the pneumatic clamping jaw assembly, the material in a larger size can be clamped, and the structure volume and the weight are not obviously changed.
In order to solve the technical problem, on one hand, the invention provides a clamping jaw structure with an enlarged clamping range, which comprises:
a pneumatic jaw assembly having two relatively linearly moving jaws;
the clamping units are provided with at least two groups, each group of the clamping units respectively comprises two oppositely arranged clamping pieces, and the two oppositely arranged clamping pieces are respectively and fixedly arranged relative to the two clamping jaws so as to be driven by the pneumatic clamping jaw assembly to move relatively to clamp the workpieces;
the maximum clamping distances between the at least two groups of clamping units are different, and the maximum clamping distance of each group of clamping units is larger than or equal to the stroke of the pneumatic clamping jaw assembly.
Further, the total thickness of the gripping members between the at least two sets of gripping units is different to form a difference in maximum gripping distance between the at least two sets of gripping units.
Furthermore, the clamping jaw is provided with an installation base body, the clamping piece is provided with a connecting hole, the connecting hole is provided with a connecting bolt, and the connecting bolt is connected with the corresponding installation base body.
Further, the clamping part is provided with an installation part and a clamping part used for clamping, the connecting hole is formed in the installation part, the thickness of the installation part is larger than that of the clamping part, and the maximum clamping distance is the maximum clamping distance between the clamping part and the clamping part opposite to the clamping part.
Furthermore, the two clamping pieces of the same group of the clamping units have the same thickness.
Furthermore, the at least two groups of clamping units are arranged in sequence according to the size change rule of the maximum clamping distance.
Further, in the at least two groups of clamping units, the difference between the maximum clamping distances between two adjacent groups of clamping units is smaller than or equal to the stroke of the pneumatic clamping jaw assembly.
Furthermore, a spacing groove is formed between any two adjacent clamping pieces, between any clamping jaw and any clamping piece adjacent to the clamping jaw at intervals.
In another aspect, the invention provides a mechanical gripper comprising at least one grip range increasing jaw arrangement as described in any one of the above.
Further, the mechanical gripper comprises two or more clamping range enlarging type clamping jaw structures and a rack, wherein the clamping range enlarging type clamping jaw structures are connected with the rack and are arranged obliquely outwards relative to the rack.
According to the clamping range enlarging type clamping jaw structure and the mechanical gripper, the clamping jaw structure is provided with a plurality of groups of clamping units with different maximum clamping distances and larger than or equal to the stroke of the pneumatic clamping jaw assembly, the clamping jaw structure is provided with a plurality of different clamping ranges, the union of the plurality of clamping ranges of the plurality of groups of clamping units forms the total clamping range of the clamping jaw structure, the total clamping range of the clamping jaw structure is adjusted by replacing the clamping units with different maximum clamping distances, the clamping range of the clamping jaw structure is larger than the clamping range (namely the stroke) of the pneumatic clamping jaw assembly under the condition that the weight and the volume of the pneumatic clamping jaw assembly are not obviously changed, and the size of a material which can be clamped is larger than the size of the material which can be clamped by the pneumatic clamping jaw assembly.
Drawings
Fig. 1 is a schematic structural view of an embodiment of a clamping jaw structure with an enlarged clamping range according to the present invention.
Fig. 2 is a schematic structural diagram of another embodiment of a clamping jaw structure with an enlarged clamping range.
Figure 3 is a top view of the grip range increasing jaw configuration shown in figure 1.
Fig. 4 is a schematic structural view of a mechanical gripper of the present invention.
Fig. 5 is a schematic structural view of a third embodiment of a clamping range-enlarging type clamping jaw structure of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.
As shown in fig. 1 and 3, the present invention provides a clamping jaw structure with an enlarged clamping range, which comprises:
a pneumatic jaw assembly 100, the pneumatic jaw assembly 100 having two relatively straight moving jaws 110;
the clamping units 201 are provided with at least two groups, each group of clamping units 201 respectively comprises two oppositely arranged clamping pieces 210, and the two oppositely arranged clamping pieces 210 are respectively and fixedly arranged relative to the two clamping jaws 110 so as to be driven by the pneumatic clamping jaw assembly 100 to move relatively to clamp;
the maximum gripping distances between the at least two sets of gripping units 201 are different, and the maximum gripping distance of each set of gripping units 201 is greater than or equal to the stroke of the pneumatic gripper assembly 100.
Specifically, two sets of clamping jaws of the pneumatic clamping jaw assembly in the prior art drive corresponding clamping pieces to move in opposite directions for clamping, the size range of the material which can be clamped by the pneumatic clamping jaw assembly is the clamping range, the stroke of the pneumatic clamping jaw assembly determines, the difference between the maximum value and the minimum value of the clamping size represents the span of the clamping range of the pneumatic clamping jaw assembly, and the larger the difference is, the larger the clamping range of the pneumatic clamping jaw assembly is.
The clamping range of the clamping jaw structure is enlarged, two groups of clamping jaws 110 of the pneumatic clamping jaw assembly 100 drive two clamping pieces 210 of the same group of clamping units 201 to move oppositely to clamp materials, and the distance between the two clamping pieces 210 is a clamping distance and corresponds to the size of the clamped materials. When the pneumatic gripper assembly 100 is fully opened and the two grippers 110 are at the maximum stroke, the distance between the two grippers 210 is the maximum gripping distance, and the gripping range of the gripping unit 201 is determined by the maximum gripping distance, which is the maximum gripping distance to the maximum gripping distance minus the stroke of the pneumatic gripper assembly 100. The clamping distance is different through setting up the biggest clamp of multiunit, and all be more than or equal to the unit 201 is got to the clamp of getting of this pneumatic clamping jaw subassembly 100 stroke, make the clamping jaw structure have a plurality of different centre gripping scopes, the multiunit is got the union of a plurality of centre gripping scopes of unit 201 and is formed the total centre gripping scope of clamping jaw structure, get the unit 201 through the clamp of changing different specifications (being the biggest clamp of getting) and adjust the total centre gripping scope of clamping jaw structure, and then under the condition of the weight and the volume of pneumatic clamping jaw subassembly 100 of not obviously changing, the centre gripping scope that realizes the clamping jaw structure is greater than the centre gripping scope (being the stroke) of pneumatic clamping jaw subassembly 100 self, the size of the material that can the centre gripping is greater than the size of the.
As shown in fig. 3, the pneumatic jaw assembly 100 may be, in particular, a prior art flat finger cylinder. Specifically, for example, the stroke of the pneumatic gripper assembly 100 is C, the gripping units 201 are provided in two sets, the maximum gripping distance of any one set of the gripping units F1 is B, the maximum gripping distance of the other set of the gripping units F2 is a, where B > a > C, the gripping range of the gripping unit F1 is B-C to B, the gripping range of the gripping unit F2 is a-C to a, and the total gripping range of the gripper structure is (B-C, B)' u (a-C, a); when B-C is less than or equal to A, the total clamping range of the clamping jaw structure is from A-C to B, the span of the clamping range is B- (A-C), namely the span is C + (B-A), and the total clamping range is larger than the self clamping range (namely the stroke C) of the pneumatic clamping jaw assembly 100; when B-C > A, the total grip range of the jaw structure is B-C to B and A-C to A, the span of the grip range is [ B- (B-C) ] + [ A- (A-C) ], i.e., the span is 2C, which is much greater than the grip range (i.e., stroke C) of the pneumatic jaw assembly 100 itself. From this, through the value of rational design B and A, can realize that the centre gripping scope of clamping jaw structure is greater than the centre gripping scope (being the stroke) of pneumatic clamping jaw subassembly 100 self, can the bigger material of centre gripping size.
In some preferred embodiments, the total thickness of the grippers 210 between the at least two sets of gripping units 201 is different to form a difference in maximum gripping distance between the at least two sets of gripping units 201. The maximum clamping distance of the corresponding clamping unit 201 is adjusted by changing the thickness of the clamping piece 210, so that the adjustment technology of the maximum clamping distance of the clamping unit 201 is simple, and the clamping jaw structure can be widely used in precise places. Specifically, the thicknesses of the two grippers 210 of the same gripping unit 201 may be the same; or the thicknesses of the two grippers 210 of the same gripping unit 201 may be different; the thickness of the gripping member 210 on any one of the jaws 110 may be the same, and the thickness of the gripping member 210 on the other jaw 110 may be different, so as to form a plurality of sets of gripping units 201 with different maximum gripping distances. In particular, in the present embodiment, as a preferred embodiment, the two grippers 210 of the same group of gripping units 201 have the same thickness. Therefore, the central line of the relative movement of the two corresponding clamping pieces 210 is coincident with the central line of the opening and closing movement of the pneumatic clamping jaw assembly 100, and the positioning work of the robot is facilitated.
Specifically, the clamping jaw 110 is provided with a mounting base 220, and the clamping member 210 is connected with the corresponding mounting base 220. In some embodiments, the adjustment of the maximum gripping distance of the gripping unit 201 may also be achieved by a differential arrangement of the specific shape of the mounting base 220. For example, the two mounting bases 220 are arranged in corresponding steps, and the gripping units 201 are distributed at different levels of steps, so as to form a difference in maximum gripping distance between the at least two sets of gripping units 201; or the mounting base 220 is provided with a plurality of mounting arms, the distances between the corresponding mounting arms of the plurality of sets of mounting arms are different, and the gripping units 201 are distributed on the plurality of sets of mounting arms with different distances, so as to form the difference of the maximum gripping distance between the at least two sets of gripping units 201.
In some preferred embodiments, the mounting base 220 is a plate-like structure, and the mounting base 220 is disposed on the opposite outer side of the clamping jaw 110. Therefore, the overall structure is kept simple, and the clamping pieces 210 with different thicknesses are conveniently arranged on the opposite inner side surfaces of the mounting base body 220. Specifically, the side (face) of the jaw 110/mounting base 220 opposite is the inner side (face). Specifically, as shown in fig. 5, the mounting base 220 may also be configured in a Z-like structure, one end of the mounting base 220 is connected to the clamping jaw 110 at the inner side surface of the clamping jaw 110, the other end is bent along a Z-shape toward the outer side of the clamping jaw 110, and the clamping member 210 is disposed at the opposite inner side of the free end.
In some preferred embodiments, the above-mentioned clip 210 is provided with a connection hole, and the connection hole is provided with a connection bolt 230, and the connection bolt 230 is connected with the corresponding mounting base 220. Therefore, the clamping piece 210 is detachably connected with the mounting base body 220, the clamping piece 210 is convenient to replace, when the clamping piece 210 is damaged and needs to be maintained, or when the clamping piece 210 with different specifications is replaced to adjust the maximum clamping distance of the clamping unit 201, the whole clamping jaw structure does not need to be replaced, and consumption is reduced.
As shown in fig. 2, in some preferred embodiments, the gripper 210 has a mounting portion 211 and a gripping portion 212 for gripping, the connecting hole is formed in the mounting portion 211, the thickness of the mounting portion 211 is greater than that of the gripping portion 212, and the maximum gripping distance is the maximum gripping distance between the gripping portion 212 and the gripper 210 opposite to the gripping portion 211. In the concrete application, when the required maximum clamping distance of the clamping unit 201 is large, the thickness of the corresponding clamping piece 210 is small, the clamping piece 210 is thin, the connection and the fixation of the connecting bolt 230 are not facilitated, the mounting part 211 is arranged through the clamping piece 210, the thickness of the mounting part 211 is increased, and the connection and the fixation of the connecting bolt 230 are facilitated. Specifically, the gripping member 210 may be integrally formed in a stepped structure, and the mounting portion 211 and the gripping portion 212 are respectively disposed at different levels of stepped portions.
When the material is clamped, the robot can clamp the material in a test process, and the clamping units 201 clamp the material once in the order of the maximum clamping distance from large to small until the proper clamping unit 201 is selected for clamping. Since the maximum gripping distances of each group of gripping units 201 are different, the setting rules among the groups of gripping units 201 may affect the movement track of the robot in the test process. For example, when the gripping units 201 are arranged in three groups and the gripping unit 201 with the smallest maximum gripping distance is located in the middle of the three groups of gripping units 201, if the size of the material is larger than the maximum gripping distance of the gripping unit 201 with the smallest maximum gripping distance, and the material is blocked by the gripping member 210 of the group of gripping unit 201 during the test, and cannot pass through the gripping unit 201 on one side to move to the gripping unit 201 on the other side to perform the test after the test is completed, the robot needs to control the gripping jaw structure to move to the side of the gripping unit 201 with the largest maximum gripping distance to perform the test first and then to move to the gripping unit 201 on the other side to perform the test, and the motion design of the robot becomes complicated, which increases the technical difficulty.
In some preferred embodiments, the at least two groups of gripping units 201 are arranged in sequence according to the size change rule of the maximum gripping distance. Specifically, the change rule of the sizes is in order from large to small, so that when the robot performs a clamping test from the clamping unit with the largest clamping distance in the test process, all the clamping units 201 of the clamping jaw structure, the robot only needs to perform linear movement, and the motion design of the robot is greatly simplified.
In some preferred embodiments, in the at least two sets of gripping units 201, a difference between maximum gripping distances between two adjacent sets of gripping units 201 is less than or equal to a stroke of the pneumatic jaw assembly 100. Thus, in the jaw structure, the clamping ranges of all the clamping units 201 have an intersection, and the union of the clamping ranges of all the clamping units 201 is a continuous set, that is, the total clamping range of the jaw structure is a continuous size range, and a continuous and larger clamping range can be formed between all the clamping units 201. Specifically, for example, the gripping unit 201 is provided with three groups, the maximum gripping distance of the first group of gripping units is 10mm, the maximum gripping distance of the second group of gripping units is 17mm, the maximum gripping distance of the third group of gripping units is 13mm, the three groups of gripping units are arranged in the order of the second group of gripping units, the third group of gripping units and the first group of gripping units according to the maximum gripping unit distance from large to small, and then the second group of gripping units and the third group of gripping units, the third group of gripping units and the first group of gripping units are two groups of gripping units adjacent to each other in the maximum gripping distance. Specifically, for example, the stroke of the pneumatic clamping jaw assembly 100 is C, the gripping unit 201 is provided with two sets, the maximum gripping distance of any one set of the gripping unit F1 is B, the maximum gripping distance of the other set of the gripping unit F2 is a, where B > a > C, the gripping range of the gripping unit F1 is B-C to B, the gripping range of the gripping unit F2 is a-C to a, the total gripping range of the clamping jaw structure is (B-C, B) 'u' (a-C, a), and when B-C ≦ a, the total gripping range of the clamping jaw structure is a-C to B.
In some preferred embodiments, any two adjacent gripping members 210, any clamping jaw 110 and any gripping member 210 adjacent thereto are spaced apart to form a spacing groove 240. In the concrete application, the material of getting by the clamp can set up the spacing portion of boss form and be used for the centre gripping spacing, and when the centre gripping, the major structure of piece 210 centre gripping material is got in the clamp, and the spacing portion of material cooperates with this spacing groove 240, can carry on spacingly to the material when the centre gripping from this, further improves the stability of material centre gripping.
Specifically in this embodiment, the stroke of the pneumatic jaw assembly 100 is 18 mm; the gripping units 201 are provided with two groups, namely a gripping unit F1 and a gripping unit F2, the maximum gripping distance of the two groups of gripping units 201 is adjusted by adjusting the thickness of the gripping members 210 of the two groups of gripping units 201, wherein the maximum gripping distance of the gripping unit F1 is 38.3mm, the maximum gripping distance of the gripping unit F2 is 24.3mm, the gripping range of the gripping unit F1 is 20.3 mm to 38.3mm, the gripping range of the gripping unit F2 is 6.3 mm to 24.3mm, the total gripping range of the gripper jaw structures is 6.3 mm to 38.3mm, the span of the gripping range is 32 mm, and the gripping range is greater than the stroke of the pneumatic gripper assembly 100, therefore, the gripper jaw structures are more diversified than the size specification of the material that the pneumatic gripper assembly 100 can grip by itself, the material with larger size can be gripped, specifically, the maximum size of the material that the pneumatic gripper assembly 100 can grip by itself is 18mm, the size of the material that can be held by the clamping jaw structure is 38.3mm at most.
In another aspect, as shown in fig. 4, the present invention provides a mechanical gripper comprising at least one gripping range increasing jaw structure 101 as described in any one of the above.
In particular, the mechanical gripper is connected to the robot. In some embodiments, two or more than two clamping jaw structures 101 are arranged, and the clamping ranges of the clamping jaw structures 101 can be the same, so that the robot can clamp a plurality of materials in one-time work, and the working efficiency is improved; the clamping ranges of the clamping jaw structures 101 can be different, so that the total clamping range of the mechanical gripper is further expanded, and the application range of the mechanical gripper is wider. In particular, in the present embodiment, four jaw structures 101 are provided, and the clamping ranges between the four jaw structures 101 are different.
In some embodiments, the mechanical gripper further includes a frame 102, and the gripping range increasing gripper structure is coupled to the frame 102 and is disposed at an outward inclination relative to the frame 102. Therefore, the plurality of clamping jaw structures 101 are connected with the robot through the rack 102, and each clamping jaw structure 101 is arranged in an outward inclined mode relative to the rack 102, so that interference of other clamping jaw structures 101 on the operation of the clamping jaw structure 101 can be avoided when any one clamping jaw structure 101 and the material placing table are used for clamping materials vertically; for example, the material placing table is concave-convex, when all the clamping jaw structures 101 are perpendicular to the frame 102, any one of the clamping jaw structures 101 is perpendicular to the material placing table to clamp the material, and other clamping jaw structures 101 are also perpendicular to the material placing table, and when other clamping jaw structures 101 are blocked by the protruding structure of the material placing table, the clamping jaw structure 101 cannot descend to the accurate position to clamp the material.
In the description herein, references to the description of the terms "one embodiment," "certain embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the invention.
Claims (10)
1. A grip range-enlarging jaw structure, comprising:
a pneumatic jaw assembly (100), said pneumatic jaw assembly (100) having two relatively straight moving jaws (110);
the clamping units (201) are provided with at least two groups, each group of clamping units (201) respectively comprises two oppositely arranged clamping pieces (210), and the two oppositely arranged clamping pieces (210) are respectively and fixedly arranged relative to the two clamping jaws (110) so as to be driven by the pneumatic clamping jaw assembly (100) to move relatively to clamp;
the maximum clamping distances between the at least two groups of clamping units (201) are different, and the maximum clamping distance of each group of clamping units (201) is larger than or equal to the stroke of the pneumatic clamping jaw assembly (100).
2. Gripping range enlargement jaw structure according to claim 1, characterized in that the total thickness of the gripping members (210) between the at least two sets of gripping units (201) is different to create a difference in the maximum gripping distance between the at least two sets of gripping units (201).
3. Clamping range increased jaw structure according to claim 2, characterized in that the jaw (110) is provided with a mounting base (220), the clamping member (210) is provided with a connection hole, the connection hole is provided with a connection bolt (230), and the connection bolt (230) is connected with the corresponding mounting base (220).
4. The clamping range enlarging type clamping jaw structure according to claim 3, wherein the clamping member (210) is provided with a mounting portion (211) and a clamping portion (212) for clamping, the connecting hole is formed in the mounting portion (211), the thickness of the mounting portion (211) is larger than that of the clamping portion (212), and the maximum clamping distance is the maximum clamping distance between the clamping portion (212) and the clamping member (210) opposite to the clamping portion.
5. Gripping range increased jaw structure according to claim 2, characterized in that the thickness of both grippers (210) of the same group of gripping units (201) is the same.
6. Clamping range increased type clamping jaw structure according to claim 5, characterized in that the at least two groups of clamping units (201) are arranged in sequence according to the size change rule of the maximum clamping distance.
7. The grip range enlargement jaw structure according to claim 1, characterized in that a difference between maximum gripping distances between two adjacent sets of the gripping units (201) of the at least two sets of gripping units (201) is smaller than or equal to a stroke of the pneumatic jaw assembly (100).
8. Clamping range enlargement jaw structure according to claim 1, characterized in that between any two adjacent gripping members (210), between any one of the clamping jaws (110) and any one of the gripping members (210) adjacent thereto, a spacing is provided to form a spacing groove (240).
9. A mechanical gripper, characterized by comprising at least one gripping range enlarging gripper jaw structure (101) according to any one of claims 1-8.
10. The mechanical gripper of claim 9, comprising two or more grip range enlarging jaw structures (101), further comprising a frame (102), wherein the grip range enlarging jaw structures (101) are connected to the frame (102) and are disposed obliquely outwardly with respect to the frame (102).
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| CN202011604934.8A CN112297050A (en) | 2020-12-30 | 2020-12-30 | Clamping range increases large-scale clamping jaw structure and mechanical tongs |
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| CN202011604934.8A CN112297050A (en) | 2020-12-30 | 2020-12-30 | Clamping range increases large-scale clamping jaw structure and mechanical tongs |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113334402A (en) * | 2021-05-31 | 2021-09-03 | 博锲思智能装备(青岛)有限公司 | Automatic reloading robot |
| CN115231287A (en) * | 2022-06-23 | 2022-10-25 | 深圳蓝胖子机器智能有限公司 | End effector |
| CN117761338A (en) * | 2023-12-26 | 2024-03-26 | 创材深造(苏州)科技有限公司 | High-flux mechanical testing system, method, storage medium and electronic equipment |
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Application publication date: 20210202 |