CN204414126U - A kind of robotic gripping apparatus - Google Patents

A kind of robotic gripping apparatus Download PDF

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Publication number
CN204414126U
CN204414126U CN201520026380.6U CN201520026380U CN204414126U CN 204414126 U CN204414126 U CN 204414126U CN 201520026380 U CN201520026380 U CN 201520026380U CN 204414126 U CN204414126 U CN 204414126U
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CN
China
Prior art keywords
clamping
body frame
gripping apparatus
bindiny mechanism
driving
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.)
Expired - Fee Related
Application number
CN201520026380.6U
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Chinese (zh)
Inventor
卢新建
陈飞龙
陈先松
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
FOSHAN BEB ROBOT TECHNOLOGY Co Ltd
Original Assignee
FOSHAN BEB ROBOT TECHNOLOGY Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by FOSHAN BEB ROBOT TECHNOLOGY Co Ltd filed Critical FOSHAN BEB ROBOT TECHNOLOGY Co Ltd
Priority to CN201520026380.6U priority Critical patent/CN204414126U/en
Application granted granted Critical
Publication of CN204414126U publication Critical patent/CN204414126U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model provides a kind of robotic gripping apparatus, and this device comprises body frame, the Connection Block for being connected with mechanical arm front end, the bindiny mechanism being arranged on body frame inside, driving mechanism, controlling organization and clamping arm for driving bindiny mechanism to move; Connection Block is arranged on body frame; Two clamping arms are arranged on body frame both sides with cross modal, and one end is all hinged with bindiny mechanism; Infall is arranged on body frame, and two clamping arms are all rotatably connected with infall; Driving mechanism is connected with controlling organization signal, realizes driving bindiny mechanism's motion with the opening and closing campaign driving clamping arm.Clamping device dexterity of action of the present utility model is high, and clamps great efforts, thus realizes picking up fast workpiece and steadily clamping reliably, increases substantially production efficiency and automaticity with robot with the use of realizing.Clamping device structure of the present utility model is simple, thus makes this device be easy to Operation and maintenance, reduces its use cost.

Description

A kind of robotic gripping apparatus
Technical field
The utility model relates to welding processing field of mechanical technique, more particularly, relates to a kind of robotic gripping apparatus.
Background technology
In machining and welding processing industry, frequent promising object carries out capturing and positioning action, and the general action of this operation is simple, and repeatability is very large.For above-mentioned situation, the robot of manpower automatic operation can be replaced to solve this problem preferably.Robot has a wide range of applications at industrial circle, with improvement of production process, shortens process time, improves the accuracy of manufacture, greatly can save human cost simultaneously.
In the concrete use procedure of robot, usually clamping device is arranged on the mechanical arm front end of robot, by air cylinder driven handgrip, object is clamped, complete crawl process, then the object of clamping is carried out on production line or processing line manufacture processing.But, along with popularizing of robot, the clamping device that robot uses is due to shortcomings such as its action and articulation underaction, complex structure, manufacturing cost are high and clamping dynamics is little, cause the use of robot to be subject to many restrictions, in welding profession, its application level is difficult to play due advantage especially.
Therefore, for realizing the automatically working of robot in every profession and trade, be necessary that proposing one not only clamps great efforts, and clamping device that is easy to operate, flexible movements, to increase substantially production efficiency and automaticity with robot with the use of realizing.
Utility model content
The purpose of this utility model is to overcome shortcoming of the prior art with not enough, a kind of robotic gripping apparatus is provided, this clamping device can be picked up workpiece and steadily clamping reliably fast, and increases substantially production efficiency and automaticity with robot with the use of realizing; Meanwhile, not only structure is simple for this clamping device, flexible movements and clamping great efforts, and it is easy to Operation and maintenance, greatly reduces use cost.
In order to achieve the above object, the utility model is achieved by following technical proposals: a kind of robotic gripping apparatus, is arranged on the mechanical arm front end of robot, for clamping workpiece; It is characterized in that: comprise body frame, the Connection Block for being connected with mechanical arm front end, the bindiny mechanism being arranged on body frame inside, driving mechanism, controlling organization and clamping arm for driving bindiny mechanism to move; Described Connection Block is arranged on body frame; Two described clamping arms are arranged on body frame both sides with cross modal, and one end is all hinged with bindiny mechanism; Described infall is arranged on body frame, and two clamping arms are all rotatably connected with infall; Described driving mechanism is connected with controlling organization signal, realizes driving bindiny mechanism's motion with the opening and closing campaign driving clamping arm.
In such scheme, to be arranged on the structure on body frame with cross modal due to two clamping arms in robotic gripping apparatus of the present utility model, and clamping arm and bindiny mechanism hinged, driving mechanism is made to drive the motion of bindiny mechanism directly can be converted to the opening and closing campaign of clamping arm, so not only can simplify the structure of clamping device, make this clamping device be easy to Operation and maintenance, greatly reduce use cost; And the dexterity of action of clamping device can be improved, and increase the clamping dynamics of this device, thus realize picking up fast workpiece and steadily clamping reliably, increase substantially production efficiency and automaticity with robot with the use of realizing.
More particularly, two described clamping arms are scissor structure.Scissor structure makes this clamping device structure simple, and easy to operate, can realize the increase of clamping dynamics with simple structure, practical.
Described infall is arranged on body frame, and two clamping arms are all rotatably connected with infall and refer to: described infall is the connecting axle being arranged on body frame front end, and two clamping arms are all rotatably connected by bearing one and connecting axle.Connecting axle of the present utility model both as the center that crosses of two clamping arms, also respectively as clamping arm rotate fulcrum.
Described driving mechanism is arranged on body frame rear end, and stretches into from body frame rear end and be connected with bindiny mechanism.Driving mechanism of the present utility model is cylinder, and the cylinder body of cylinder is arranged on body frame rear end, and its piston rod stretches into body frame rear end and is connected with bindiny mechanism.
Described bindiny mechanism comprise be arranged on body frame inside central shaft, for realizing slip accessory, the support arm equal with clamping arm quantity and connector that central shaft slides in body frame; Described support arm one end and clamping arm hinged, the other end and central shaft are rotatably connected; Described connector one end is connected with driving mechanism, and the other end is connected with central shaft.
Described slip accessory comprises straight line positioning track and bearing two; Two described straight line positioning tracks are separately positioned on the upper and lower side of body frame, and the two ends of central shaft are all arranged on straight line positioning track by bearing two, realize central shaft under the driving of driving mechanism and reciprocatingly slide.The clamping dynamics of the utility model two clamping arms sets by the sliding stroke of center-pole, and center-pole sliding stroke is larger, and the clamping dynamics of two clamping arms is larger.
The utility model also comprises the handgrip for grabbing workpiece; Described handgrip is arranged on clamping arm one end away from bindiny mechanism.When the setting of handgrip can improve clamping arm holding workpiece, it is to the locating effect of workpiece.
Described handgrip is provided with clamping plate towards the clamping direction of clamping arm.The setting of clamping plate can further improve the clamping dynamics of clamping device.
Described clamping arm is at least double-layer structure, is connected between every Rotating fields by connecting rod.Such design can increase the contact area of clamping arm and workpiece, thus improves the clamping dynamics of clamping device further.
The utility model robotic gripping apparatus structure is simple, easy to operate, its operation principle is such: promote central shaft by driving mechanism and slide on straight line positioning track, because clamping arm is arranged in a crossed manner with scissor structure, therefore, the support arm hinged with central shaft can drive the opening and closing campaign of clamping arm, the rectilinear motion of central shaft is driven directly to be converted to the opening and closing campaign of clamping arm by driving mechanism, thus realize the mechanical arm front end that clamping arm is arranged on robot, picking up of express delivery and steadily clamping are reliably carried out to workpiece, be convenient to follow-up manufacturing procedure.
Compared with prior art, the utility model tool has the following advantages and beneficial effect:
1, robotic gripping apparatus's dexterity of action of the present utility model is high, and clamps great efforts, thus realizes picking up fast workpiece and steadily clamping reliably, increases substantially production efficiency and automaticity with robot with the use of realizing.
2, robotic gripping apparatus's structure of the present utility model is simple, thus makes this this device be easy to Operation and maintenance, greatly reduces the use cost of clamping device.
Accompanying drawing explanation
Fig. 1 is the structural representation one of the utility model robotic gripping apparatus;
Fig. 2 is the structural representation two (Connection Block is not shown) of the utility model robotic gripping apparatus;
Fig. 3 is the internal structure schematic diagram (Connection Block is not shown) of the utility model robotic gripping apparatus;
Wherein, 1 be body frame, 2 be Connection Block, 3 be driving mechanism, 4 be clamping arm, 5 be support arm, 8 be connector, 9 be straight line positioning track, 10 be handgrip, 12 be clamping plate, 13 be connecting rod for bearing two, 11 for axle, 7 centered by connecting axle, 6.
Detailed description of the invention
Below in conjunction with accompanying drawing and detailed description of the invention, the utility model is described in further detail.
Embodiment one
The present embodiment is that double-layer structure is for example is to being described below with clamping arm.
As shown in Figure 1, Figure 2 and Figure 3, the utility model robotic gripping apparatus, is arranged on the mechanical arm front end of robot, for clamping workpiece; This clamping device comprises body frame 1, the Connection Block 2 for being connected with mechanical arm front end, the bindiny mechanism being arranged on body frame 1 inside, driving mechanism 3, controlling organization and clamping arm 4 for driving bindiny mechanism to move; Wherein, Connection Block 2 is arranged on body frame 1, and two clamping arms 4 are arranged on body frame 1 both sides with cross modal, and one end is all hinged with bindiny mechanism.And infall to be connecting axle 5, two clamping arms 4 being arranged on body frame 1 front end be all rotatably connected by bearing one and connecting axle 5.Driving mechanism 3 is connected with controlling organization signal, realizes driving bindiny mechanism's motion with the opening and closing campaign driving clamping arm 4.
Two clamping arms 4 of the present utility model are in scissor structure, and scissor structure makes this clamping device structure simple, and easy to operate, can realize the increase of clamping dynamics with simple structure, practical.The driving mechanism 3 of this clamping device is cylinder, and the cylinder body of cylinder is arranged on body frame 1 rear end, and its piston rod stretches into body frame 1 rear end and is connected with bindiny mechanism.
Bindiny mechanism comprise be arranged on body frame 1 inside central shaft 6, for realizing slip accessory, the support arm 7 equal with clamping arm 4 quantity and connector 8 that central shaft 6 slides in body frame 1; Wherein, support arm 7 one end and clamping arm 4 hinged, the other end and central shaft 6 are rotatably connected; Connector 8 one end is connected with the piston rod of driving mechanism 3, and the other end is connected with central shaft 6.The slip accessory of this clamping device comprises straight line positioning track 9 and bearing 2 10, two straight line positioning tracks 9 are separately positioned on the upper and lower side of body frame 1, the two ends of central shaft 6 are all arranged on straight line positioning track 9 by bearing 2 10, realize central shaft 6 under the driving of driving mechanism 3 and reciprocatingly slide.The clamping dynamics of the utility model two clamping arms 4 sets by the sliding stroke of center-pole 6, and center-pole 6 sliding stroke is larger, and the clamping dynamics of two clamping arms 4 is larger.
The utility model also comprises the handgrip 11 for grabbing workpiece, and this handgrip 11 is arranged on clamping arm 4 one end away from bindiny mechanism.When the setting of handgrip 11 can improve clamping arm holding workpiece, it is to the locating effect of workpiece.In order to improve the clamping dynamics of clamping device further, handgrip 11 is provided with clamping plate 12 towards the clamping direction of clamping arm 4.The clamping arm 4 of the present embodiment is double-layer structure, is connected between double-layer structure by connecting rod 13, and design can increase the contact area of clamping arm 4 and workpiece like this, thus improves the clamping dynamics of clamping device further.
Robotic gripping apparatus's structure of the present utility model is simple, use easy to operate and highly versatile, this clamping device is like this work: drive central shaft 6 on straight line positioning track 9 during forward slip when controlling organization controls driving mechanism 3, one end and clamping arm 4 hinged, two support arms 7 that the other end and central shaft 6 are rotatably connected drive two clamping arms 4 inwardly clamping movement respectively, now, clamping arm 4 is clamp position.When controlling organization control driving mechanism 3 drives central shaft 6 to slide backward on straight line positioning track 9, two support arms 7 drive two clamping arms 4 outwards opening movement respectively, and now, clamping arm 4 is open configuration.In clamping arm 4 clamping process, handgrip 11 can carry out effective location to workpiece when clamping arm 4 holding workpiece.
The utility model robotic gripping apparatus operation principle is such: promote central shaft 6 by driving mechanism 3 and slide on straight line positioning track 9, because clamping arm 4 is arranged in a crossed manner with scissor structure, therefore, the support arm 7 hinged with central shaft 6 can drive the opening and closing campaign of clamping arm 4, the rectilinear motion of central shaft 6 is driven directly to be converted to the opening and closing campaign of clamping arm 4 by driving mechanism 3, thus realize the mechanical arm front end that clamping arm 4 is arranged on robot, picking up of express delivery and steadily clamping are reliably carried out to workpiece, is convenient to follow-up manufacturing procedure.
Embodiment two
The present embodiment and embodiment one difference are only: two clamping arms can be set to the structure of single layer structure, three-decker or more than three layers, and in the clamping arm of three-decker or more than three layers structures, are connected between every Rotating fields by connecting rod.The design of clamping arm sandwich construction can increase the contact area of clamping arm and workpiece, thus improves the clamping dynamics of clamping device further.
Other structure of the present embodiment is consistent with embodiment one.
Above-described embodiment is the utility model preferably embodiment; but embodiment of the present utility model is not restricted to the described embodiments; change, the modification done under other any does not deviate from Spirit Essence of the present utility model and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection domain of the present utility model.

Claims (9)

1. a robotic gripping apparatus, is arranged on the mechanical arm front end of robot, for clamping workpiece; It is characterized in that: comprise body frame, the Connection Block for being connected with mechanical arm front end, the bindiny mechanism being arranged on body frame inside, driving mechanism, controlling organization and clamping arm for driving bindiny mechanism to move; Described Connection Block is arranged on body frame; Two described clamping arms are arranged on body frame both sides with cross modal, and one end is all hinged with bindiny mechanism; Described infall is arranged on body frame, and two clamping arms are all rotatably connected with infall; Described driving mechanism is connected with controlling organization signal, realizes driving bindiny mechanism's motion with the opening and closing campaign driving clamping arm.
2. robotic gripping apparatus according to claim 1, is characterized in that: two described clamping arms are scissor structure.
3. robotic gripping apparatus according to claim 1, it is characterized in that: described infall is arranged on body frame, two clamping arms are all rotatably connected with infall and refer to: described infall is the connecting axle being arranged on body frame front end, and two clamping arms are all rotatably connected by bearing one and connecting axle.
4. robotic gripping apparatus according to claim 1, is characterized in that: described driving mechanism is arranged on body frame rear end, and stretches into from body frame rear end and be connected with bindiny mechanism.
5. robotic gripping apparatus according to claim 1, is characterized in that: described bindiny mechanism comprise be arranged on body frame inside central shaft, for realizing slip accessory, the support arm equal with clamping arm quantity and connector that central shaft slides in body frame; Described support arm one end and clamping arm hinged, the other end and central shaft are rotatably connected; Described connector one end is connected with driving mechanism, and the other end is connected with central shaft.
6. robotic gripping apparatus according to claim 5, is characterized in that: described slip accessory comprises straight line positioning track and bearing two; Two described straight line positioning tracks are separately positioned on the upper and lower side of body frame, and the two ends of central shaft are all arranged on straight line positioning track by bearing two, realize central shaft under the driving of driving mechanism and reciprocatingly slide.
7. robotic gripping apparatus according to claim 1, is characterized in that: also comprise the handgrip for grabbing workpiece; Described handgrip is arranged on clamping arm one end away from bindiny mechanism.
8. robotic gripping apparatus according to claim 7, is characterized in that: described handgrip is provided with clamping plate towards the clamping direction of clamping arm.
9. robotic gripping apparatus according to claim 1, is characterized in that: described clamping arm is at least double-layer structure, is connected between every Rotating fields by connecting rod.
CN201520026380.6U 2015-01-14 2015-01-14 A kind of robotic gripping apparatus Expired - Fee Related CN204414126U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520026380.6U CN204414126U (en) 2015-01-14 2015-01-14 A kind of robotic gripping apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201520026380.6U CN204414126U (en) 2015-01-14 2015-01-14 A kind of robotic gripping apparatus

Publications (1)

Publication Number Publication Date
CN204414126U true CN204414126U (en) 2015-06-24

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Application Number Title Priority Date Filing Date
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Country Status (1)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104589364A (en) * 2015-01-14 2015-05-06 佛山市诺尔贝机器人技术有限公司 Robot clamping device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104589364A (en) * 2015-01-14 2015-05-06 佛山市诺尔贝机器人技术有限公司 Robot clamping device

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C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20150624

CF01 Termination of patent right due to non-payment of annual fee