CN205734987U - Jaw and mechanical hand thereof - Google Patents
Jaw and mechanical hand thereof Download PDFInfo
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- CN205734987U CN205734987U CN201620282138.XU CN201620282138U CN205734987U CN 205734987 U CN205734987 U CN 205734987U CN 201620282138 U CN201620282138 U CN 201620282138U CN 205734987 U CN205734987 U CN 205734987U
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- jaw
- clamping
- bar
- clamping limb
- fixed arm
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Abstract
This utility model is applicable to robot manipulator structure technical field, it is provided that a kind of jaw and mechanical hand thereof.Above-mentioned jaw includes the first gripper jaw and the second gripper jaw, described first gripper jaw and described second gripper jaw all include the clamping limb that can conduct electricity and the fixed arm that can insulate, the clamping head for clamping described bar it is provided with on one end that clamping limb described in two is identical, it is provided with the fixed structure for fixing described bar on two clamping heads, described clamping limb is additionally provided with the bar detection structure whether being clamped with bar for clamping head described in detection two.Above-mentioned mechanical hand includes above-mentioned jaw.The jaw of this utility model offer and mechanical hand thereof, this jaw has material detection function, improves convenience and the accuracy of bar clamping detection, and then improves efficiency and the reliability of use that mechanical hand runs.
Description
Technical field
This utility model belongs to robot manipulator structure technical field, particularly relates to a kind of jaw with bar clamping detection function and mechanical hand thereof.
Background technology
At present, in circuit board automated production equipment, typically all utilize mechanical hand to clamp carrying bar such that it is able to improve convenience and the efficiency of clamping bar.
And existing mechanical hand does not the most possess the function of bar detection, mechanical hand is during clamping bar automatically, it is impossible to detect whether really to be clamped with bar, thus has that operational efficiency is low, the use defect of poor reliability.
Utility model content
The purpose of this utility model is to provide a kind of jaw and mechanical hand thereof, it is intended to solve to detect whether to be clamped with bar due to existing jaw, and it is low to there is operational efficiency, the problem of dependability difference.
On the one hand, this utility model provides a kind of jaw, clamping for metal bar material, including the first gripper jaw and the second gripper jaw, described first gripper jaw and described second gripper jaw all include the clamping limb that can conduct electricity and the fixed arm that can insulate, the clamping head for clamping described bar it is provided with on one end that clamping limb described in two is identical, it is provided with the fixed structure for fixing described bar on two clamping heads, described clamping limb is additionally provided with the bar detection structure whether being clamped with bar for clamping head described in detection two.
Specifically, the length direction of the vertical described clamping limb of described clamping head is arranged, and described fixed structure is the fixing groove being separately positioned on two clamping heads.
Preferably, the level cross-sectionn of described fixing groove is V-shaped.
Specifically, described bar detection structure includes the installing hole being arranged on described clamping limb and the binding post being arranged in described installing hole, and binding post described in two electrically connects with detection equipment respectively.
Specifically, described clamping limb and described fixed arm are removably connected by attachment structure.
Specifically, described attachment structure includes the link slot being arranged on described fixed arm or described clamping limb and the connection sheet being correspondingly arranged on described clamping limb or described fixed arm, in described connection sheet is plugged in described link slot and is fixed by securing member.
Specifically, described attachment structure includes the connecting hole being arranged on described fixed arm or described clamping limb and the connection post being correspondingly arranged on described clamping limb or described fixed arm, and described connection post is plugged in described connecting hole.
Specifically, the back side of described clamping limb is provided with guiding surface.
Specifically, described fixed arm is relatively set with the location side plate for connecting location.
On the other hand, this utility model additionally provides a kind of mechanical hand, including above-mentioned jaw.
A kind of jaw of this utility model offer and mechanical hand thereof, this jaw is provided by the fixed arm of clamping limb and the insulation that can conduct electricity, and on clamping limb, it is provided with clamping the clamping head of bar, and by being provided with bar detection structure on clamping limb, in use, by judging whether just can realize judging whether to be clamped with bar by bar connection conduction between two clamping limbs, improve convenience and the accuracy of bar clamping detection, and then improve efficiency and the reliability of use that mechanical hand runs.
Accompanying drawing explanation
Fig. 1 is the decomposing schematic representation of the jaw that this utility model embodiment provides；
Fig. 2 is the schematic diagram after the jaw clamping material that this utility model embodiment provides.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, this utility model is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain this utility model, is not used to limit this utility model.
Below in conjunction with specific embodiment, of the present utility model implementing is described in detail:
As depicted in figs. 1 and 2, a kind of jaw 1, clamping for metal bar material 2, including the first gripper jaw 11 and the second gripper jaw 12, the first gripper jaw 11 and the second gripper jaw 12 all include clamping limb 13 and fixed arm 14, and clamping limb 13 is made up of tin-phosphor bronze material, can conduct electricity, and fixed arm 14 is made up of insulant, good insulation preformance, clamping limb 13 is connected with fixed arm 14.So, first gripper jaw 11 and the second gripper jaw 12 realize be connected fixing with drive mechanism (not shown) respectively by fixed arm 14 thereon, then under the driving driving structure, and make two clamping limbs 13 can relative motion and realize the clamping of bar 2, then further according to the control of system, bar 2 is carried to the position specified.And in order to realize reliably clamping the function of bar 2, one end that two clamping limbs 13 are identical is provided with the clamping head 15 for clamping bar 2, and on two clamping heads 15, it is provided with the fixed structure 16 for fixing bar 2, thus when clamping bar 2, positioning clamping by this fixed structure 16, can carry out spacing to bar 2, effectively prevent bar 2 and roll, bar 2 clamping stability is good.
And when actually used, sometimes it is not clamped with bar 2 between two clamping heads 15, but existing jaw can not check, in the case of not being clamped with bar 2 whether being clamped with bar 2, still can carry out next step carrying action, lessen the efficiency of bar 2 carrying.And in order to overcome this kind to use defect, jaw 1 provided in the present embodiment, as depicted in figs. 1 and 2, being additionally provided with bar detection structure (not indicating in figure) whether being clamped with bar 2 for detecting two clamping heads 15 on its clamping limb 13, this bar detection structure is for being connected with host computer 21.When actually detected use, when being clamped with bar 2, owing to this bar 2 is metal, it is possible to conduction, and two clamping limbs 13 can conduct electricity, thus by this object, make two clamping limbs 13 define a galvanic circle, and produce the signal of correspondence on host computer 21.Thus, by identifying the signal on host computer 21, just can accurately obtain whether be clamped with bar 2, it is to avoid carry out useless carrying, improve the efficiency of operation.
The jaw 1 that this utility model embodiment is provided, it is provided by clamping limb 13 and the fixed arm 14 of insulation that can conduct electricity, and on clamping limb 13, it is provided with clamping the clamping head 15 of bar 2, and on clamping limb 13, it is provided with bar detection structure, thus in use, by bar 2, two clamping limbs 13 are connected, the signal of telecommunication can be transmitted, and then judge whether to be clamped with bar 2 by judging whether to transmit the signal of telecommunication between two clamping limbs 13, detection is accurately, avoid invalid carrying, improve the efficiency that bar 2 clamping runs.
Specifically, as depicted in figs. 1 and 2, for convenience of arranging, in the present embodiment, the length direction of this clamping head 15 vertical folder gripping arm 13 is arranged, and, fixed structure 16 is the fixing groove being separately positioned on two clamping heads 15.During clamping bar 2, this bar 2 is folded in fixing groove, just can realize the use needs of stable holding bar 2.It will of course be understood that ground, in other embodiments, also can use and one end of clamping limb 13 is bent curved shape, now fixed structure 16 is set directly on termination, disclosure satisfy that the use demand of clamping equally.
Preferably, in the present embodiment, the level cross-sectionn of this fixing groove is V-shaped.Certainly, also can arrange in other shapes that can fix such as " circular arc " shapes.
Specifically, as it is shown in figure 1, this bar detection structure includes the installing hole being arranged on clamping limb 13 and the binding post being arranged in installing hole, two binding posts electrically connect with detection equipment respectively.So arrange, easy to connect permissible, and electrically connect reliable and stable.
Specifically, in the present embodiment, for convenience of manufacturing and installing, clamping limb 13 and fixed arm 14 are removably connected by attachment structure 18.Thus, it is possible to select to change the type of clamping limb 13 according to different service conditions, meet different use requirements.And so arrange, additionally it is possible in the case of clamping limb 13 is impaired, it is individually replaced, thus without changing whole jaw 1, has saved cost.
Specifically, as shown in Figure 1, attachment structure 18 includes the link slot 181 being arranged on fixed arm 14 or clamping limb 13 and the connection sheet 182 being correspondingly arranged on clamping limb 13 or fixed arm 14, when connection is installed, connection sheet 182 is plugged in link slot 181, and is fixed by securing member, just both fixed arm 14 and clamping limb 13 firmly can be connected, it is integrally forming, it is achieved the use function of bar 2 can be clamped.This securing member can be the Fast detachable units such as bolt.
Specifically, in other embodiments, attachment structure 18 also can be included the connecting hole being arranged on fixed arm 14 or clamping limb 13 and the connection post being correspondingly arranged on clamping limb 13 or fixed arm 14, connect post and be plugged in connecting hole.For realizing the stability connected, coordinating between connection post and connecting hole can be interference fit, it is also possible to, after connection post is plugged in connecting hole, fixed by glue.
Specifically, as depicted in figs. 1 and 2, time actually used, for convenience of gripping bar 2, the back side of clamping limb 13 is provided with guiding surface 131, so that the first gripper jaw 11 and the second gripper jaw 12 have a less tip of horizontal cross-sectional area, it is simple to carry out the gripping of bar 2, and also mitigate the first gripper jaw 11 and weight of the second gripper jaw 12, improve the motility of gripping action.It addition, be further opened with groove at the back side of the first gripper jaw 11 and the clamping limb 13 of the second gripper jaw 12, total quality can not only be alleviated, also be able to play the function increasing clamping limb 13 structural strength simultaneously.
Specifically, it is connected with drive mechanism for convenience of the first gripper jaw 11 and the second gripper jaw 12, helicitic texture that can be with bolts between fixed arm 14 and drive mechanism, it is also possible to being buckle structure etc., connective stability is good, and convenient disassembly is easy.And in the present embodiment, by being provided with through hole on the connecting arm, then use bolt class securing member the first gripper jaw 11 and the second gripper jaw 12 to be arranged in drive mechanism, and simple in construction, easy for installation, good stability, meet use requirement.
Specifically, as it is shown in figure 1, connection location during for ease of installing between fixed arm 14 and drive mechanism, fixed arm 14 is relatively set with the location side plate 141 for connecting location.Thus when installing connection, carry out guide-localization by location side plate 141, it is simple to the para-position of threaded connection hole, improve the convenience of installation.The position that location side plate 141 is arranged requires to select according to actual design, and in this utility model embodiment, with the one side of involutory clamping bar 2 as front, location side plate 141 is then arranged on the back side of fixed arm 14.
This utility model embodiment additionally provides a kind of mechanical hand, including above-mentioned jaw 1.Owing to jaw 1 has material detection function, it is possible to avoid invalid carrying, thus improve the reliability of mechanical hand material handling, operational efficiency during mechanical hand material handling is high, makes production efficiency be improved.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all any amendment, equivalent and improvement etc. made within spirit of the present utility model and principle, within should be included in protection domain of the present utility model.
Claims (10)
1. a jaw, clamping for metal bar material, including the first gripper jaw and the second gripper jaw, it is characterized in that, described first gripper jaw and described second gripper jaw all include the clamping limb that can conduct electricity and the fixed arm that can insulate, the clamping head for clamping described bar it is provided with on one end that clamping limb described in two is identical, it is provided with the fixed structure for fixing described bar on two clamping heads, described clamping limb is additionally provided with the bar detection structure whether being clamped with bar for clamping head described in detection two.
2. jaw as claimed in claim 1, it is characterised in that the length direction of the vertical described clamping limb of described clamping head is arranged, and described fixed structure is the fixing groove being separately positioned on two clamping heads.
3. jaw as claimed in claim 2, it is characterised in that the level cross-sectionn of described fixing groove is V-shaped.
4. jaw as claimed in claim 1, it is characterised in that described bar detection structure includes the installing hole being arranged on described clamping limb and the binding post being arranged in described installing hole, binding post described in two electrically connects with detection equipment respectively.
5. jaw as claimed in claim 1, it is characterised in that described clamping limb and described fixed arm are removably connected by attachment structure.
6. jaw as claimed in claim 5, it is characterized in that, described attachment structure includes the link slot being arranged on described fixed arm or described clamping limb and the connection sheet being correspondingly arranged on described clamping limb or described fixed arm, in described connection sheet is plugged in described link slot and is fixed by securing member.
7. jaw as claimed in claim 5, it is characterized in that, described attachment structure includes the connecting hole being arranged on described fixed arm or described clamping limb and the connection post being correspondingly arranged on described clamping limb or described fixed arm, and described connection post is plugged in described connecting hole.
8. jaw as claimed in any of claims 1 to 7 in one of claims, it is characterised in that the back side of described clamping limb is provided with guiding surface.
9. jaw as claimed in any of claims 1 to 7 in one of claims, it is characterised in that be relatively set with the location side plate for connecting location on described fixed arm.
10. a mechanical hand, it is characterised in that include jaw as in one of claimed in any of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620282138.XU CN205734987U (en) | 2016-04-07 | 2016-04-07 | Jaw and mechanical hand thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620282138.XU CN205734987U (en) | 2016-04-07 | 2016-04-07 | Jaw and mechanical hand thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205734987U true CN205734987U (en) | 2016-11-30 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620282138.XU Active CN205734987U (en) | 2016-04-07 | 2016-04-07 | Jaw and mechanical hand thereof |
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| Country | Link |
|---|---|
| CN (1) | CN205734987U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108792082A (en) * | 2018-07-31 | 2018-11-13 | 哈尔滨联科自动化技术开发有限公司 | Spring detection switch and detection method |
| CN110182429A (en) * | 2019-06-24 | 2019-08-30 | 业成科技（成都）有限公司 | Press from both sides film unit and dyestripping mechanism |
| CN110405089A (en) * | 2019-08-13 | 2019-11-05 | 珠海格力智能装备有限公司 | Driving device and electric tube expander with it |
-
2016
- 2016-04-07 CN CN201620282138.XU patent/CN205734987U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108792082A (en) * | 2018-07-31 | 2018-11-13 | 哈尔滨联科自动化技术开发有限公司 | Spring detection switch and detection method |
| CN110182429A (en) * | 2019-06-24 | 2019-08-30 | 业成科技（成都）有限公司 | Press from both sides film unit and dyestripping mechanism |
| CN110405089A (en) * | 2019-08-13 | 2019-11-05 | 珠海格力智能装备有限公司 | Driving device and electric tube expander with it |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |