CN205614696U - Manipulator anchor clamps and intelligent anchor clamps system - Google Patents
Manipulator anchor clamps and intelligent anchor clamps system Download PDFInfo
- Publication number
- CN205614696U CN205614696U CN201620447348.XU CN201620447348U CN205614696U CN 205614696 U CN205614696 U CN 205614696U CN 201620447348 U CN201620447348 U CN 201620447348U CN 205614696 U CN205614696 U CN 205614696U
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- CN
- China
- Prior art keywords
- clamp
- pair
- piston
- manipulator fixture
- round pin
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- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
Abstract
The utility model provides a manipulator anchor clamps and intelligent anchor clamps system, includes base, a pair of clamp, piston, piston axle, alloy bush, the one end of base has set up a pair of lateral wall, and the other end has set up the inner chamber, intracavity including the piston sets up, piston axle one end with hinge joint, the other end is connected with the round pin, a pair of clamp sets up relatively to connect through the pivot, be equipped with the arc wall on the clamp, the round pin cross -under the arc wall. When the piston is under the pneumatic circuit drive, and when carrying out the up -and -down motion, the piston axle drives the round pin slides under the arc wall is middle and upper, realizes opening and being closed of clamp. Be equipped with the air flue in the clamp, when picking up product or product and drop, the air current induction system who links to each other with the air flue can feed back corresponding information at any time and give the staff to confirm whether to snatch the product.
Description
Technical field
The present invention relates to Articles transfer technical field, particularly relate to a kind of manipulator fixture and intelligence chucking appliance system.
Background technology
Mechanical hand is a kind of new device grown up during mechanization, automated production.In modern production mistake
Cheng Zhong, mechanical hand is applied in automatic assembly line widely, and the development of mechanical hand and production have become Precision Manufacturing Technology neck
The emerging technology developed rapidly in territory, it more promotes the development of mechanical hand so that mechanical hand can be preferably
Realize and mechanization and the combination of automatization.Although mechanical hand might as well staff the most flexible, but it has and can constantly weigh
Multiple work or physical labor, does not knows fatigue, is fearless of danger, the feature that the strength of snatch weight is bigger than people hand-power, therefore, and answering of mechanical hand
More and more extensive with field.
At present, relatively common manipulator fixture does not the most possess inducing function, is grabbing at crawl product or product
Time de-, detection information feedback the most accordingly, staff can only rely on perusal, careless omission easily occurs.
Being not difficult to find out, existing technology there is also certain defect.
Summary of the invention
In view of this, the present invention provides a kind of manipulator fixture, the problem solving cannot automatically detect in clamping process.
To achieve these goals, technical scheme is as follows:
A kind of manipulator fixture, including pedestal, a pair clamp, piston mechanism, pivot pin, round pin；One end phase of described pedestal
Being provided with pair of sidewalls over the ground, the other end is provided with inner chamber, on internal chamber wall arrange can supplied gas flowing gas circuit；The pair of folder
Pincers are oppositely arranged, and are rotationally connected by pivot pin, and the two ends of described pivot pin connect inside described pair of sidewalls respectively；Described
A pair clamp on be respectively equipped with arcuate groove；Be provided with in any one described clamp can supplied gas flowing air flue.Described
Piston mechanism includes being arranged on the piston of described pedestal inner chamber, piston shaft；Described piston shaft is vertical with base bottom, its one end with
Described piston connects, and the other end is provided with the round pin of perpendicular connection, and the cross-under respectively of the two ends of described round pin is described one
To in the arcuate groove of clamp.
Further, the chuck that the pair of clamp is respectively arranged with, it is provided with in described chuck and communicates with described clamp
Air flue, described chuck is rotationally connected with described clamp.
Further, the pair of sidewall is respectively equipped with bar hole, is provided with detachable in described bar hole
Alloy bushing.
Further, described arcuate groove has one section for deceleration skewed slot.
Further, described pedestal inner chamber upper wall is provided with sealing ring.
Further, the lateral surface of the pair of sidewall is respectively equipped with dust-proof baffle plate, block.
Further, it is seamless connectivity between described pivot pin and the pair of clamp, described pivot pin is cased with spring, bullet
Spring, between described clamp and described sidewall, is in compressive state.
Further, described clamp includes clamp upper arm and clamp underarm, and clamp upper arm and clamp underarm are for detachably to connect
Connect.
Further, described round pin is internally provided with magnetic core.
A kind of intelligence chucking appliance system, including manipulator fixture and airflow sensor device, the air flue in clamp and described air-flow
Induction installation connects, and described airflow sensor device enters the air-flow size of air flue for sensing.
Compared with prior art, the invention has the beneficial effects as follows: in clamp, be provided with air flue, picking up product or product comes off
Time, the airflow sensor device being connected with air flue can feed back corresponding information at any time to staff, determine whether to grab
Product.
Because the present invention uses air-flow detection mode, airflow sensor device possesses adverse circumstances work accommodation ability,
It is-40 DEG C to 200 DEG C in ambient temperature, intense radiation, high-intensity magnetic field, all can normally work under the environment such as non-transformer.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below by embodiment required use attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, and it is right to be therefore not construed as
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to this
A little accompanying drawings obtain other relevant accompanying drawing.
Fig. 1 is the explosive view of the present invention；
Fig. 2 is clamp schematic diagram when opening；
Fig. 3 is schematic diagram during jaws close.
In figure: 1, pedestal；2, piston；3, piston shaft；4, clamp；5, pivot pin；6, round pin；7, chuck；8, sealing ring；9, bar
Shape hole；10, baffle plate；11, block；12, screw；13, arcuate groove；14, air flue；15, sidewall；16, alloy bushing；401, on clamp
Arm；402, clamp underarm.
Detailed description of the invention
With example, the present invention is further illustrated below in conjunction with the accompanying drawings.
As shown in Figures 1 to 3, a kind of manipulator fixture, including pedestal 1, a pair clamp 4, piston mechanism, pivot pin 5, round pin 6；
Described piston mechanism includes piston 2, piston shaft 3.
One end of described pedestal 1 has been oppositely disposed pair of sidewalls 15, and the other end is provided with inner chamber.Bottom described pedestal 1
For circular configuration, taking up room little, during installation, angle can adjust, easy for installation.
Described piston 2 is arranged in the inner chamber of pedestal 1, seals with internal chamber wall and connects.The connection external world is set on described internal chamber wall
Gas circuit with inner chamber.Described gas circuit includes the first gas circuit and the second gas circuit.Described first gas circuit is positioned at above piston 2, and described
Two gas circuits are positioned at below piston 2.The valve that first gas circuit, the second gas circuit are connected is elbow valve, and described elbow valve is installed
On pneumatic panel, save the space that fixture is installed.
Described piston shaft 3 is vertical with bottom pedestal 1, and its one end is connected with described piston 2 by screw 12；The other end passes through
Through hole on pedestal 1 inner chamber cross wall, extends between two side 15, and is provided with the through hole of horizontal direction in end.Round pin 6 leads to
Crossing described through hole, intermediate portion is connected with piston shaft 3.
Described clamp 4 includes clamp upper arm 401, clamp underarm 402, and clamp upper arm 401 is removable with clamp underarm 402
Unloading connection, in the present embodiment, clamp upper arm 401 is real with clamp underarm 402 is joined with bolts.
Can freely dismantle between clamp upper arm 401 and clamp underarm 402.Clamp upper arm 401 has multiple moulding or specification,
Can be by clamp upper arm 401 modularity.According to being actually subjected to the specification of product of clamping, material etc., select suitable clamp upper arm
401.The convertibility of clamp upper arm 401 and modularity, clamping thickness scope becomes the broadest, be suitable for various work spaces and
All kinds of abnormal workpieces, are suitable for the application of every profession and trade.
In the present invention, a pair clamp 4 is oppositely arranged, and described clamp 4 is provided with through hole, and pivot pin 5 passes through described through hole,
Being connected with a pair clamp 4, the two ends of described pivot pin 5 connect with inside described pair of sidewalls 15 respectively；Clamp 4 can be with pivot pin
5 rotate as rotary shaft.Described clamp 4 is provided with one section of continuous print arcuate groove 13, and arcuate groove 13 has guide effect, draws
Lead the folding of clamp 4.Described arcuate groove 13 has one section for deceleration skewed slot, it is achieved the many multiples of chucking power are incremented by.
Be provided with in any one described clamp 4 can supplied gas flowing air flue 14.Described air flue 14 external gas influenza
Answer device, described airflow sensor device can sense the air-flow size entering air flue 14, and can feed back corresponding information.Air-flow
Induction installation possesses adverse circumstances work accommodation ability, ambient temperature be-40 DEG C to 200 DEG C, intense radiation, high-intensity magnetic field, without electricity
All can normally work under the environment such as source.
Being provided with chuck 7 on described clamp 4 end, chuck 7 is connected by rotating shaft with clamp 4.Be provided with in chuck 7 air flue with
The air flue 14 of clamp 4 connects.
The cross-under respectively of the two ends of described round pin 6 in the arcuate groove 13 of the pair of clamp 4, the size of round pin 6 diameter with
The width of arcuate groove 13 coincide.
When the present invention works, along with mechanical hand runs the place placed to product, two clamps 4 are in the state opened, this
Time under the control of baric systerm, ambient atmos is entered into inner chamber by the first air flue, and the air of inner chamber is exported by the second air flue
The external world, the pressure of the top of piston 3 is more than lower section pressure, and piston 3 drives piston shaft 4 down to move.Round pin 6 on piston shaft 3
Along arcuate groove 13 glide downwards, drive two clamps rotating closed, thus clamp product.After chuck 7 clamps product, product blocks
The air flue of chuck 7, the gas entering into air flue 14 will reduce, and at this moment may determine that product from airflow sensor device feedack
Product have been clamped.Mechanical hand runs to destination, and when product placed by needs, gas enters inner chamber from first from the second gas circuit
Gas circuit exports the external world, and piston 3 drives piston shaft 4 to move upward.Round pin 6 on piston shaft 3 upwards slides along arcuate groove 13,
Drive two clamps 4 to rotate to open, thus unclamp product.After chuck 7 unclamps product, lack product obstruction, enter into air flue 14
Gas will increase, and at this moment just can determine that product is the most released, plays immediately monitoring from airflow sensor device feedack
Effect.
Also learning according to above-mentioned operation principle, for same material, this device can detect the degree of clamping, is part
Clamping or complete clamping.The gas flow of entrance air flue 14 is also correlated with the density of material, such as when clamping material and being steel disc,
The air inflow of air flue 14 is few when can be sponge than clamping thing, therefore substantially judges the material of material from airflow sensor device
Density.In order to annotate the relation of air inlet percentage ratio and material further, following table gives the experimental data of several frequently seen material.
During round pin 6 moves up and down, the two ends of round pin 6 easily and the collision friction of two side, cause pedestal to damage,
Cause scrapping of whole fixture.For overcoming disadvantages mentioned above, the present invention program improves further, and described sidewall 15 arranges bar hole
9, bar hole 9 is provided with detachable alloy bushing 16, described alloy bushing 16 is again provided with bar hole.Described round pin 6
Two ends are placed in the bar hole of alloy bushing 16, thus avoid and contact with the direct of pedestal 1, alloy bushing 16 friction damage
After can be replaced, make tong keep precision, service life extend.
As the further improvement of such scheme, baffle plate 10 and block 11 are set in two side 15, prevent dust from entering
Internal to pedestal 1, the parts of the inside are corroded.
As the further improvement of such scheme, chuck 7 can make low-angle rotation with described rotating shaft as rotary shaft.
Rotation angle range is 0-3 degree.
When the dynamics of the clamping product of clamp 4 is not enough, or when product may be dropped by External Force Acting product to folder
7 produce and pull power, after two chuck 7 stress in rotate, form angle, clamping product possesses auto-lock function again.Chuck 7
Auto-lock function, in the case of dead electricity decompression, remains to the safety maintaining material during clamped condition fortune merit.
As the further improvement of such scheme, at the surface configuration anti-slip tank of pedestal 1, prevent from sending out when taking pedestal 1
Life comes off.
As the further improvement of such scheme, the upper wall at pedestal 1 inner chamber is provided with sealing ring 8, prevents outside gas
Let out.
As the further improvement of such scheme, in order to prevent motor process occurring rock, pivot pin 5 is cased with bullet
Spring, spring, between clamp and sidewall 15, is in compressive state.Thus realize the blind-mate of a pair clamp 4, it is ensured that fortune
Being accurately positioned of article is clamped during Dong.
In process of production, the folding to clamp 4 is monitored being necessary, and the folding of clamp 4 is by piston
The up and down motion of mechanism realizes, as long as the kinestate of piston mechanism therefore being detected, just can learn the folding of clamp 4.
In order to realize this purpose, the present invention program improves further: arrange a magnetic-inductive device on described block；Corresponding
Ground, arranges a magnetic core in the inside of round pin 6.Described magnetic-inductive device includes the first induction window and the second induction window, the first sense
Window and the second induction window is answered to be separately positioned on head end and the end of described magnetic-inductive device.Move upward along with piston shaft when magnetic core
During to peak, clamp 4 is opened, and the first induction window makes corresponding display；Minimum point is moved upward to along with piston shaft when magnetic core
Time, clamp 4 closes, and the second induction window makes corresponding display.Thus achieve the monitoring of folding to clamp 4.Pay special attention to
It is that, in order to make described magnetic-inductive device interference-free, described pedestal 1, the material of block 11 are set to aluminium alloy.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (10)
1. a manipulator fixture, it is characterised in that: include pedestal, a pair clamp, piston mechanism, pivot pin, round pin；
One end of described pedestal has been oppositely disposed pair of sidewalls, and the other end is provided with inner chamber, and internal chamber wall is arranged can supplied gas
The gas circuit of flowing；
The pair of clamp is oppositely arranged, and is rotationally connected by pivot pin, in the two ends of described pivot pin and described pair of sidewalls
Side connects respectively；It is respectively equipped with arcuate groove on a pair described clamp；Be provided with in one of them clamp can supplied gas flowing
Air flue；
Described piston mechanism includes being arranged on the piston of described pedestal inner chamber, piston shaft；Described piston shaft is vertical with base bottom,
Its one end is connected with described piston, and the other end is provided with the round pin of perpendicular connection, and the cross-under respectively of the two ends of described round pin exists
In the arcuate groove of a pair described clamp.
Manipulator fixture the most according to claim 1, it is characterised in that: it is respectively arranged with chuck on the pair of clamp,
Being provided with the air flue communicated with described clamp in described chuck, described chuck is rotationally connected with described clamp.
Manipulator fixture the most according to claim 1, it is characterised in that: it is respectively equipped with bar hole on the pair of sidewall,
Detachable alloy bushing it is provided with in described bar hole.
Manipulator fixture the most according to claim 1, it is characterised in that: described arcuate groove has one section for deceleration skewed slot.
Manipulator fixture the most according to claim 1, it is characterised in that: pedestal inner chamber upper wall is provided with sealing ring.
Manipulator fixture the most according to claim 1, it is characterised in that: it is respectively equipped with on the lateral surface of the pair of sidewall
Dust-proof baffle plate and block.
Manipulator fixture the most according to claim 1, it is characterised in that: being cased with spring on described pivot pin, spring is positioned at institute
State between clamp and described sidewall, be in compressive state.
Manipulator fixture the most according to claim 1, it is characterised in that: described clamp includes under clamp upper arm and clamp
Arm, clamp upper arm and clamp underarm are for removably connecting.
Manipulator fixture the most according to claim 1, it is characterised in that: described round pin is internally provided with magnetic core.
10. an intelligent chucking appliance system, it is characterised in that: include the manipulator fixture described in claim 1 and airflow sensor dress
Putting, the air flue in clamp is connected with described airflow sensor device, and described airflow sensor device enters the air-flow of air flue for sensing
Size.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620447348.XU CN205614696U (en) | 2016-05-17 | 2016-05-17 | Manipulator anchor clamps and intelligent anchor clamps system |
| PCT/CN2016/085182 WO2017197674A1 (en) | 2016-05-17 | 2016-06-08 | Mechanical arm clamp and smart clamp system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620447348.XU CN205614696U (en) | 2016-05-17 | 2016-05-17 | Manipulator anchor clamps and intelligent anchor clamps system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205614696U true CN205614696U (en) | 2016-10-05 |
Family
ID=57024113
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620447348.XU Active CN205614696U (en) | 2016-05-17 | 2016-05-17 | Manipulator anchor clamps and intelligent anchor clamps system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN205614696U (en) |
| WO (1) | WO2017197674A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105751235A (en) * | 2016-05-17 | 2016-07-13 | 陈旭芳 | Mechanical hand clamp and intelligent clamp system |
| WO2017197674A1 (en) * | 2016-05-17 | 2017-11-23 | 陈旭芳 | Mechanical arm clamp and smart clamp system |
| CN111298987A (en) * | 2020-02-24 | 2020-06-19 | 安徽环球基因科技有限公司 | Biological cell separation device |
| CN112393004A (en) * | 2020-11-17 | 2021-02-23 | 扬州市美华电气有限公司 | Spliced low valve for high-voltage electric appliance shielding case |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112318486A (en) * | 2020-10-10 | 2021-02-05 | 安徽省巢湖市宏顺机械铸造有限公司 | Manipulator equipment for casting |
| CN112621152A (en) * | 2020-12-16 | 2021-04-09 | 新沂市承翔电子有限公司 | Clamping device for assembling electronic components |
| CN115339543B (en) * | 2022-09-21 | 2023-06-20 | 吉林大学 | Bionic mechanical leg applicable to slope ground and having buffering, energy saving and stabilizing functions |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2927703A (en) * | 1956-10-09 | 1960-03-08 | Seneca Falls Machine Co | Work-handling mechanism for machine tool |
| JPH08323676A (en) * | 1995-05-30 | 1996-12-10 | Kubota Corp | Robot hand |
| CN201399788Y (en) * | 2009-05-15 | 2010-02-10 | 竺开明 | Pneumatic control mechanical gripper |
| CN203077293U (en) * | 2012-12-14 | 2013-07-24 | 辽宁东泰自动化设备制造有限公司 | Pneumatic clamp |
| CN204772580U (en) * | 2015-06-30 | 2015-11-18 | 深圳市金洲精工科技股份有限公司 | Gas claw with material detects function |
| CN205614696U (en) * | 2016-05-17 | 2016-10-05 | 陈旭芳 | Manipulator anchor clamps and intelligent anchor clamps system |
| CN105751235A (en) * | 2016-05-17 | 2016-07-13 | 陈旭芳 | Mechanical hand clamp and intelligent clamp system |
-
2016
- 2016-05-17 CN CN201620447348.XU patent/CN205614696U/en active Active
- 2016-06-08 WO PCT/CN2016/085182 patent/WO2017197674A1/en active Application Filing
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105751235A (en) * | 2016-05-17 | 2016-07-13 | 陈旭芳 | Mechanical hand clamp and intelligent clamp system |
| WO2017197674A1 (en) * | 2016-05-17 | 2017-11-23 | 陈旭芳 | Mechanical arm clamp and smart clamp system |
| CN111298987A (en) * | 2020-02-24 | 2020-06-19 | 安徽环球基因科技有限公司 | Biological cell separation device |
| CN112393004A (en) * | 2020-11-17 | 2021-02-23 | 扬州市美华电气有限公司 | Spliced low valve for high-voltage electric appliance shielding case |
| CN112393004B (en) * | 2020-11-17 | 2022-06-21 | 扬州市美华电气有限公司 | Spliced low valve for high-voltage electric appliance shielding case |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2017197674A1 (en) | 2017-11-23 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190108 Address after: 511450 No. 13 Dongxing South Road, Dalong Street, Panyu District, Guangzhou City, Guangdong Province Patentee after: Guangzhou Qilishi Technology Co., Ltd. Address before: 511450 East Hanyuan 1-2-404, Dalong Street, Panyu District, Guangzhou, Guangdong Province Patentee before: Chen Xufang |
|
| TR01 | Transfer of patent right |