CN204278032U - A kind of manipulator clamping device - Google Patents
A kind of manipulator clamping device Download PDFInfo
- Publication number
- CN204278032U CN204278032U CN201420753408.1U CN201420753408U CN204278032U CN 204278032 U CN204278032 U CN 204278032U CN 201420753408 U CN201420753408 U CN 201420753408U CN 204278032 U CN204278032 U CN 204278032U
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- connecting plate
- clamping
- mechanical finger
- frame
- clamping device
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- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Abstract
The utility model discloses a kind of manipulator clamping device, described clamping device comprises floating clamping mechanism (1) and adsorbing mechanism (2), described floating clamping mechanism (1) comprises frame (3), described frame (3) is positioned at described adsorbing mechanism (1) upper surface, described frame (3) is provided with clamping group in pairs, the cylinder A(4 for driving the opening and closing of clamping group is provided with in described frame (3) upper surface), be vertically provided with the cylinder B(4 driving adsorbing mechanism to move up and down in described frame (3) upper surface).The utility model has the advantage that structure is simple, reliability is strong, adopt it freely can adjust clip position, meet the requirement of clamping, by mechanical finger mechanism A and mechanical finger mechanism B, workpiece is clamped, meet the demand of clamping, by sucker group, workpiece can be adsorbed, reach stable needs.
Description
Technical field
The utility model relates to a kind of clamping device, particularly a kind of manipulator clamping device.
Background technology
On the automatic production line in modern times, apply to the robotic device of a large amount of automatic capturing workpiece, this type of manipulator speed is fast, efficiency is high, precision is high, greatly reduces labour cost, improves production efficiency; But the error that some product blank produces due to processing and manufacturing consequently produces irregularly shaped, or the error that positioning precision produces, this is just difficult to meet handgrip carries out evenly clamping placed in the middle requirement to it, cannot ensure that handgrip fixture can carry out clamping promptly loading and unloading according to standard shape.
Utility model content
The purpose of this utility model is just to provide a kind of manipulator clamping device that freely can adjust clip position.
The purpose of this utility model is realized by such technical scheme, a kind of manipulator clamping device, described clamping device comprises floating clamping mechanism and adsorbing mechanism, described floating clamping mechanism comprises frame, described frame is positioned at described adsorbing mechanism upper surface, described frame being provided with clamping group in pairs, being provided with the cylinder A for driving the opening and closing of clamping group in described frame upper surface, be vertically provided with the cylinder B driving adsorbing mechanism to move up and down in described frame upper surface.
Wherein, clamping group comprises and connecting with frame both sides respectively and the identical at least three group mechanical finger mechanism A of structure and mechanical finger mechanism B, and described mechanical finger mechanism A is connected with cylinder A by drawing mechanism with mechanical finger mechanism B.
Further describe, described mechanical finger mechanism A comprises connecting plate A and connecting plate B, the guide post of tape guide seat is provided with between described connecting plate A and connecting plate B, described guide holder is connected with described connecting plate A, one end of described guide post is connected with connecting plate B, the outer wall of described connecting plate B is provided with connector A and connector B in pairs, is provided with the clamping plate of connection two lower end in described connector A lower end and the lower end being connected B, the inwall of described connecting plate B is provided with return spring.
Wherein, hinge ear seat B on the connecting plate B' inwall that described drawing mechanism comprises the hinge ear seat A be positioned on the connecting plate B inwall of mechanical finger mechanism A, be positioned on mechanical finger mechanism B and the earrings bearing on being positioned on manipulator mechanism B connecting plate A inwall, described hinge ear seat A and hinge ear seat B are provided with pulley, the piston rod of described cylinder A stretches out the connecting plate A of mechanical finger mechanism A, and described piston rod, hinge ear seat A top sheave, hinge ear seat B top sheave are connected by steel wire with earrings bearing.
Wherein, described adsorbing mechanism comprises support, and the lower surface of support is provided with sucker group, is respectively arranged with lead in the corner of the upper surface of described support, and described lead is through the guide holder A on the connecting plate C be arranged in frame.
Owing to have employed technique scheme, the utility model has the advantage that structure is simple, reliability is strong, adopt it freely can adjust clip position, meet the requirement of clamping, by mechanical finger mechanism A and mechanical finger mechanism B, workpiece is clamped, meet the demand of clamping, by sucker group, workpiece can be adsorbed, reach stable needs.
Accompanying drawing explanation
Accompanying drawing of the present utility model is described as follows:
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the front view of Fig. 1;
Fig. 3 is the top view of Fig. 1;
Fig. 4 is adsorbing mechanism structural representation of the present utility model.
Detailed description of the invention
Below in conjunction with accompanying drawing, detailed description of the invention of the present utility model is described in further detail; but the utility model is not limited to these embodiments; any improvement or alternative on the present embodiment essence spirit, still belongs to the utility model claim scope required for protection.
Embodiment 1: as shown in Figure 1, 2, 3, a kind of manipulator clamping device, described clamping device comprises floating clamping mechanism 1 and adsorbing mechanism 2, described floating clamping mechanism 1 comprises frame 3, described frame 3 is positioned at described adsorbing mechanism 1 upper surface, described frame 3 is provided with clamping group in pairs, described frame 3 upper surface is provided with the cylinder A4 for driving the opening and closing of clamping group, be vertically provided with the cylinder B5 driving adsorbing mechanism to move up and down in described frame 3 upper surface.
In the utility model, clamping group comprises and connecting with frame 3 both sides respectively and the identical at least three group mechanical finger mechanism A of structure and mechanical finger mechanism B, and described mechanical finger mechanism A is connected with cylinder A4 by drawing mechanism with mechanical finger mechanism B.
Further describe, described mechanical finger mechanism A comprises connecting plate A6 and connecting plate B7, the guide post 9 of tape guide seat 8 is provided with between described connecting plate A6 and connecting plate B7, described guide holder 8 is connected with described connecting plate A6, one end of described guide post 9 is connected with connecting plate B7, the outer wall of described connecting plate B7 is provided with connector A10 and connector B11 in pairs, be provided with the clamping plate 12 of connection two lower end in described connector A10 lower end and the lower end being connected B11, the inwall of described connecting plate B7 is provided with return spring 13.
Wherein, hinge ear seat B16 on the connecting plate B'15 inwall that described drawing mechanism comprises the hinge ear seat A14 be positioned on the connecting plate B7 inwall of mechanical finger mechanism A, be positioned on mechanical finger mechanism B and the earrings bearing 17 on being positioned on manipulator mechanism B connecting plate A10 inwall, described hinge ear seat A and hinge ear seat B are provided with pulley 25, the piston rod 18 of described cylinder A4 stretches out the connecting plate A10 of mechanical finger mechanism A, and described piston rod 18, hinge ear seat A14 top sheave 25, hinge ear seat B16 top sheave 25 are connected by steel wire 19 with earrings bearing 17.
As shown in Figure 4, described adsorbing mechanism comprises support 20, the lower surface of support 20 is provided with sucker group 21, is respectively arranged with lead 22 in the corner of the upper surface of described support 20, described lead 22 is through the guide holder A24 on the connecting plate C23 be arranged in frame 3.
The utility model floating clamping mechanism operation principle: after the sucker group 21 of adsorbing mechanism adsorbs workpiece under the control of cylinder B5, cylinder A4 control piston bar 18 in floating clamping mechanism stretches, the oscillating bearing be connected with piston rod 18 also stretches thereupon, and then pulls and move around the steel wire 19 between pulley 25 and earrings bearing 17; Piston rod 18 does retraction movement, steel wire 19 is driven to move, connecting plate B7 and connecting plate B'15 then along guide post 9 transverse shifting, compression retracteding position spring 13, so drive both sides clamping device executing agency motion, clamping plate 12 spacing diminishes, realize the clamping of workpiece, when workpiece is not placed in the middle, the power that the right and left clamping plate 12 are subject to is asymmetric, now rely on return spring 13 on one side to compress, the object of Workpiece clamping can be reached; After gripping object unclamps, piston rod 18 stretches out, and connecting plate B7 and connecting plate B'15, under the active force of return spring 13, laterally outwards moves, and clamping plate 12 spacing becomes large; Wait for clamping operation next time.
Claims (5)
1. a manipulator clamping device, it is characterized in that: described clamping device comprises floating clamping mechanism (1) and adsorbing mechanism (2), described floating clamping mechanism (1) comprises frame (3), described frame (3) is positioned at described adsorbing mechanism (1) upper surface, described frame (3) is provided with clamping group in pairs, the cylinder A(4 for driving the opening and closing of clamping group is provided with in described frame (3) upper surface), be vertically provided with the cylinder B(5 driving adsorbing mechanism to move up and down in described frame (3) upper surface).
2. manipulator clamping device as claimed in claim 1, it is characterized in that: clamping group comprises and connecting with frame (3) both sides respectively and the identical at least three group mechanical finger mechanism A of structure and mechanical finger mechanism B, and described mechanical finger mechanism A and mechanical finger mechanism B are by drawing mechanism and cylinder A(4) be connected.
3. manipulator clamping device as claimed in claim 2, it is characterized in that: described mechanical finger mechanism A comprises connecting plate A(6) and connecting plate B(7), at described connecting plate A(6) and connecting plate B(7) between be provided with the guide post (9) of tape guide seat (8), described guide holder (8) and described connecting plate A(6) be connected, one end and the connecting plate B(7 of described guide post (9)) be connected, at described connecting plate B(7) outer wall on be provided with connector A(10 in pairs) and connector B(11), at described connector A(10) lower end be connected B(11) lower end be provided with the clamping plate (12) of connection two lower end, at described connecting plate B(7) inwall be provided with return spring (13).
4. manipulator clamping device as claimed in claim 3, it is characterized in that: described drawing mechanism comprises the connecting plate B(7 being positioned at mechanical finger mechanism A) hinge ear seat A(14 on inwall), be positioned at the connecting plate B'(15 on mechanical finger mechanism B) hinge ear seat B(16 on inwall) and the connecting plate A(10 that is positioned on manipulator mechanism B) earrings bearing (17) on inwall, described hinge ear seat A and hinge ear seat B are provided with pulley (25), described cylinder A(4) piston rod (18) stretch out the connecting plate A(10 of mechanical finger mechanism A), described piston rod (18), hinge ear seat A(14) top sheave 25, hinge ear seat B(16) top sheave 25 is connected by steel wire (19) with earrings bearing (17).
5. manipulator clamping device as claimed in claim 4, it is characterized in that: described adsorbing mechanism comprises support (20), the lower surface of support (20) is provided with sucker group (21), be respectively arranged with lead (22) in the corner of the upper surface of described support (20), described lead (22) is through the connecting plate C(23 be arranged in frame (3)) on guide holder A(24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420753408.1U CN204278032U (en) | 2014-12-05 | 2014-12-05 | A kind of manipulator clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420753408.1U CN204278032U (en) | 2014-12-05 | 2014-12-05 | A kind of manipulator clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204278032U true CN204278032U (en) | 2015-04-22 |
Family
ID=52861227
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420753408.1U Withdrawn - After Issue CN204278032U (en) | 2014-12-05 | 2014-12-05 | A kind of manipulator clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204278032U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104400791A (en) * | 2014-12-05 | 2015-03-11 | 重庆朗正科技有限公司 | Clamping device of manipulator |
| CN105253615A (en) * | 2015-09-30 | 2016-01-20 | 江苏比微曼智能科技有限公司 | Integrated carrier of attaching device for soft heat-dissipating glue |
| CN105269574A (en) * | 2015-11-19 | 2016-01-27 | 天津利福特电梯部件有限公司 | Pneumatic double-orientation manipulator special for composite compaction production line |
| CN105643651A (en) * | 2016-03-07 | 2016-06-08 | 芜湖美智空调设备有限公司 | Robot tongs |
| CN105855776A (en) * | 2016-06-08 | 2016-08-17 | 佛山市联智新创科技有限公司 | Five-degree-of-freedom movable welding fixture |
| CN106113075A (en) * | 2016-08-12 | 2016-11-16 | 无锡百禾工业机器人有限公司 | A kind of industrial robot |
| CN106743503A (en) * | 2015-11-19 | 2017-05-31 | 天津利福特电梯部件有限公司 | A kind of compound rolling production line Pneumatic charging manipulator |
| CN109648587A (en) * | 2018-12-30 | 2019-04-19 | 中冶南方工程技术有限公司 | A kind of robot arm end effector followed closely for grabbing welding hanging weldering with label |
| CN109865770A (en) * | 2017-12-01 | 2019-06-11 | 中国科学院沈阳自动化研究所扬州工程技术研究中心 | A kind of mechanical press system based on tow-armed robot |
| CN109911606A (en) * | 2017-12-13 | 2019-06-21 | 日本碍子株式会社 | The method for shifting and shifting apparatus of pillar honeycomb structure |
| CN112004616A (en) * | 2019-12-12 | 2020-11-27 | 深圳市微蓝智能科技有限公司 | Mechanical device for obtaining sheet-like article |
-
2014
- 2014-12-05 CN CN201420753408.1U patent/CN204278032U/en not_active Withdrawn - After Issue
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104400791B (en) * | 2014-12-05 | 2015-11-18 | 重庆朗正科技有限公司 | A kind of manipulator clamping device |
| CN104400791A (en) * | 2014-12-05 | 2015-03-11 | 重庆朗正科技有限公司 | Clamping device of manipulator |
| CN105253615A (en) * | 2015-09-30 | 2016-01-20 | 江苏比微曼智能科技有限公司 | Integrated carrier of attaching device for soft heat-dissipating glue |
| CN106743503A (en) * | 2015-11-19 | 2017-05-31 | 天津利福特电梯部件有限公司 | A kind of compound rolling production line Pneumatic charging manipulator |
| CN105269574A (en) * | 2015-11-19 | 2016-01-27 | 天津利福特电梯部件有限公司 | Pneumatic double-orientation manipulator special for composite compaction production line |
| CN105643651A (en) * | 2016-03-07 | 2016-06-08 | 芜湖美智空调设备有限公司 | Robot tongs |
| CN105855776A (en) * | 2016-06-08 | 2016-08-17 | 佛山市联智新创科技有限公司 | Five-degree-of-freedom movable welding fixture |
| CN106113075A (en) * | 2016-08-12 | 2016-11-16 | 无锡百禾工业机器人有限公司 | A kind of industrial robot |
| CN109865770A (en) * | 2017-12-01 | 2019-06-11 | 中国科学院沈阳自动化研究所扬州工程技术研究中心 | A kind of mechanical press system based on tow-armed robot |
| CN109911606A (en) * | 2017-12-13 | 2019-06-21 | 日本碍子株式会社 | The method for shifting and shifting apparatus of pillar honeycomb structure |
| CN109648587A (en) * | 2018-12-30 | 2019-04-19 | 中冶南方工程技术有限公司 | A kind of robot arm end effector followed closely for grabbing welding hanging weldering with label |
| CN109648587B (en) * | 2018-12-30 | 2023-12-29 | 中冶南方工程技术有限公司 | Mechanical arm end effector for grabbing and welding hanging welding nails and labels |
| CN112004616A (en) * | 2019-12-12 | 2020-11-27 | 深圳市微蓝智能科技有限公司 | Mechanical device for obtaining sheet-like article |
| WO2021114190A1 (en) * | 2019-12-12 | 2021-06-17 | 深圳市微蓝智能科技有限公司 | Mechanical device for obtaining sheet-plate-shaped article |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150422 Effective date of abandoning: 20151118 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |