CN206154332U - Anchor clamps and have its arm - Google Patents

Abstract

The utility model provides an anchor clamps and have its arm, wherein, anchor clamps include: the mount, first clamping jaw and second clamping jaw, but first clamping jaw pivot ground set up on the mount, but the setting of second clamping jaw pivot ground at the mount, first clamping jaw and second clamping jaw set up relatively, first driving piece sets up on the mount and drives first clamping jaw and rotates, the linkage piece sets up between first clamping jaw and second clamping jaw, and during the rotation of the first clamping jaw of first driving piece drive, the linkage piece makes a second clamping jaw and first clamping jaw rotate in step to the rotation in the opposite direction of second clamping jaw and first clamping jaw. The technical scheme of the utility model the grasping force who has solved the anchor clamps among the prior art is unstable, appears injuring by a crashing object the problem of accident easily.

Description

Fixture and the mechanical arm with which

Technical field

This utility model is related to robotics, in particular to a kind of fixture and the mechanical arm with which.

Background technology

Fixture is conventional crawl machine tool.Wherein, the structure of fixture of the prior art as depicted in figs. 1 and 2, is pressed from both sides Tool includes the left jaw 1 ' and right jaw 2 ' of split.Wherein, suspension cord is provided with above left jaw 1 ' and right jaw 2 '.Together When, guiding bar is provided between left jaw 1 ' and right jaw 2 '.Can see from Fig. 1 and Fig. 2, when fixture rises, left jaw 1 ' will be extracted article card master by gravity with right jaw 2 ', meanwhile, the upper end of left jaw 1 ' and right jaw 2 ' is by guiding bar Generation relative displacement.Folder of the prior art has the following problems：

Above-mentioned fixture is during rise, if fixture shakes or collides with, left jaw 1 ' and right jaw 2 ' are used It is easy to lose grasp force in the presence of property or external force, and then makes crawled thing drop, is susceptible to injure accident by a crashing object.

Utility model content

Main purpose of the present utility model is to provide a kind of fixture and the mechanical arm with which, to solve in prior art Fixture grasp force it is unstable, the problem for easily occurring injuring accident by a crashing object.

To achieve these goals, according to one side of the present utility model, there is provided a kind of fixture, including：Fixed mount； First jaw and the second jaw, the first jaw are pivotally disposed on fixed mount, and the second jaw is pivotally disposed at fixation Frame, the first jaw and the second jaw are oppositely arranged；First actuator, is arranged on fixed mount and drives the first jaw to rotate；Connection Moving part, is arranged between the first jaw and the second jaw, and when the first actuator drives the first jaw to rotate, STATEMENT OF FEDERALLY SPONSORED makes the second folder Pawl and the first jaw synchronous axial system, and the second jaw is contrary with the rotation direction of the first jaw.

Further, STATEMENT OF FEDERALLY SPONSORED includes：Bull stick, bull stick are pivotally disposed on fixed mount, first connecting rod, first connecting rod First end be pivotally disposed on the first jaw, the second end of first connecting rod is pivotally disposed at the first end of bull stick； Second connecting rod, the first end of second connecting rod are pivotally disposed on the second jaw, and the second end of second connecting rod pivotly sets Put at the second end of bull stick.

Further, bull stick is arranged on the middle part of fixed mount.

Further, length adjustment part is provided with first connecting rod and second connecting rod.

Further, the first actuator is electric putter.

Further, the first actuator and STATEMENT OF FEDERALLY SPONSORED are separately positioned on the contrary both sides of fixed mount.

According to another aspect of the present utility model, there is provided a kind of mechanical arm, including：Base；Column, is arranged on base On, guide rail is provided with column；Cantilever design, the first end of cantilever design are arranged on column and are coordinated with guide rail；Fixture, if Put at the second end of cantilever design；Second actuator, is arranged on column and drives cantilever design to slide on column, wherein, Fixture is above-mentioned fixture.

Further, the first end of cantilever design is provided with roller, and roller is engaged with guide rail.

Further, turntable is provided between column and base.

Further, cantilever design includes first level section, vertical section and the second horizontal segment for interconnecting, wherein, The end of first level section is connected on column, and fixture is connected on the end of the second horizontal segment, the vertical height of the second horizontal segment Level height of the degree less than first level section.

Using the technical solution of the utility model, crawl is provided to the first jaw and the second jaw by the first actuator Power, and then so that the crawl of the first jaw and the second jaw is more stable.Meanwhile, one can be only suitable for by arranging STATEMENT OF FEDERALLY SPONSORED Actuator can control the motion of the first jaw and the second jaw simultaneously, and then cause that the structure of fixture is compacter, and cost is more It is low.Therefore the technical solution of the utility model solve fixture of the prior art grasp force it is unstable, easily occur injuring by a crashing object The problem of accident.

Description of the drawings

The Figure of description for constituting the part of the application is used for providing further understanding to of the present utility model, this practicality New schematic description and description is used to explain this utility model, does not constitute to improper restriction of the present utility model. In the accompanying drawings：

Fig. 1 shows the structural representation of fixture of the prior art；

Fig. 2 shows structure motion schematic diagram of the fixture when rising in Fig. 1；

Fig. 3 shows the schematic front view of the embodiment according to fixture of the present utility model；

Fig. 4 shows the schematic rear view of fixture in Fig. 3；

Fig. 5 shows the schematic side view of fixture in Fig. 3；

Fig. 6 shows the schematic top plan view of fixture in Fig. 3；

Fig. 7 shows the schematic front view of the embodiment according to mechanical arm of the present utility model；

Fig. 8 shows the schematic side view of mechanical arm in Fig. 7；

Fig. 9 shows the schematic front view of the column of mechanical arm in Fig. 7；

Figure 10 shows the test schematic diagram of Fig. 9 central posts；

Figure 11 shows the schematic front view of the cantilever design of mechanical arm in Fig. 7；

Figure 12 shows the schematic side view of cantilever design in Figure 11；

Figure 13 shows the cross-sectional schematic of the turntable of cantilever design in Fig. 7；And

Figure 14 shows the schematic top plan view of Figure 13 intermediate stations.

Wherein, above-mentioned accompanying drawing includes the following drawings labelling：

1 ', left jaw；2 ', right jaw；10th, fixed mount；20th, the first jaw；30th, the second jaw；40th, the first actuator； 50th, STATEMENT OF FEDERALLY SPONSORED；51st, bull stick；52nd, first connecting rod；53rd, second connecting rod；100th, base；200th, column；210th, guide rail；300th, cantilever Structure；310th, roller；320th, first level section；330th, vertical section；340th, the second horizontal segment；400th, fixture；500th, second drive Part；600th, turntable.

Specific embodiment

It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase Mutually combine.Below with reference to the accompanying drawings and in conjunction with the embodiments describing this utility model in detail.

Below in conjunction with the accompanying drawing in the embodiment of the present application, the technical scheme in the embodiment of the present application is carried out clear, complete Site preparation is described, it is clear that described embodiment is only some embodiments of the present application, rather than the embodiment of whole.Below It is illustrative to the description only actually of at least one exemplary embodiment, never conduct is to the application and its application or makes Any restriction.Based on the embodiment in the application, those of ordinary skill in the art are not making creative work premise Lower obtained every other embodiment, belongs to the scope of the application protection.

It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag Include " when, which indicates existing characteristics, step, operation, device, component and/or combinations thereof.

Unless specifically stated otherwise, the part for otherwise illustrating in these embodiments and the table positioned opposite, digital of step Scope of the present application is not limited up to formula and numerical value.Simultaneously, it should be appreciated that for the ease of description, each portion shown in accompanying drawing The size divided not is to draw according to actual proportionate relationship.For technology, side known to person of ordinary skill in the relevant Method and equipment may be not discussed in detail, but in the appropriate case, the technology, method and apparatus should be considered to authorize explanation A part for book.In all examples of shown here and discussion, any occurrence should be construed as merely exemplary, and Not by way of limitation.Therefore, the other examples of exemplary embodiment can have different values.It should be noted that：Similar label Similar terms is represented in following accompanying drawing with letter, therefore, once be defined in a certain Xiang Yi accompanying drawing, then subsequent attached Which need not be further discussed in figure.

In the description of the present application, it is to be understood that the noun of locality as " forward and backward, upper and lower, left and right ", " it is laterally, vertical, Vertically, the orientation or position relationship indicated by level " and " top, bottom " etc. is normally based on orientation shown in the drawings or position and closes System, is for only for ease of description the application and simplifies description, and in the case where contrary explanation is not made, these nouns of locality are not indicated that There must be specific orientation or with specific azimuth configuration and operation with the device or element of hint indication, therefore can not manage Solution is the restriction to the application protection domain；The noun of locality " inside and outside " is referred to relative to inside and outside each part profile of itself.

For the ease of description, space relative terms can be used here, such as " ... on ", " ... top ", " in ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy The spatial relation levied.It should be appreciated that space relative terms are intended to comprising the orientation except device described in figure Outside different azimuth in use or operation.For example, if the device in accompanying drawing is squeezed, it is described as " in other devices To be positioned as " under other devices or construction after the device of part or construction top " or " on other devices or construction " Side " or " under other devices or construction ".Thus, exemplary term " ... top " can include " ... top " and " in ... lower section " two kinds of orientation.The device can also other different modes positioning (being rotated by 90 ° or in other orientation), and And respective explanations are made to the relative description in space used herein above.

Furthermore, it is necessary to explanation, limits parts using the word such as " first ", " second ", it is only for be easy to Corresponding parts are distinguished, such as no Stated otherwise, above-mentioned word does not have particular meaning, therefore it is not intended that to this The restriction of application protection domain.

In the accompanying drawings：Fig. 1 shows the structural representation of fixture of the prior art；Fig. 2 show Fig. 1 in fixture upper Structure motion schematic diagram when rising；Fig. 3 shows the schematic front view of the embodiment according to fixture of the present utility model；Fig. 4 Show the schematic rear view of fixture in Fig. 3；Fig. 5 shows the schematic side view of fixture in Fig. 3；Fig. 6 shows fixture in Fig. 3 Schematic top plan view；Fig. 7 shows the schematic front view of the embodiment according to mechanical arm of the present utility model；Fig. 8 shows Fig. 7 The schematic side view of middle mechanical arm；Fig. 9 shows the schematic front view of the column of mechanical arm in Fig. 7；Figure 10 shows that Fig. 9 is neutral The test schematic diagram of post；Figure 11 shows the schematic front view of the cantilever design of mechanical arm in Fig. 7；Figure 12 is hanged in showing Figure 11 The schematic side view of arm configuration；Figure 13 shows the cross-sectional schematic of the turntable of cantilever design in Fig. 7；During Figure 14 shows Figure 13 The schematic top plan view of turntable.

As shown in Figure 3 to Figure 4, the fixture of the present embodiment includes fixed mount 10, the first jaw 20 and the second jaw 30, first Actuator 40 and STATEMENT OF FEDERALLY SPONSORED 50.Wherein, the first jaw 20 is pivotally disposed on fixed mount 10, and the second jaw 30 is pivotly Fixed mount 10 is arranged on, the first jaw 20 and the second jaw 30 are oppositely arranged.First actuator 40 is arranged on fixed mount 10 simultaneously The first jaw 20 is driven to rotate.STATEMENT OF FEDERALLY SPONSORED 50 is arranged between the first jaw 20 and the second jaw 30, and the first actuator 40 drives When first jaw 20 is rotated, STATEMENT OF FEDERALLY SPONSORED 50 makes 20 synchronous axial system of the second jaw 30 and the first jaw, and the second jaw 30 and the The rotation direction of one jaw 20 is contrary.

Using the technical scheme of the present embodiment, first jaw 20 and the second jaw 30 are provided by the first actuator 40 Grasp force, and then so that the crawl of the first jaw 20 and the second jaw 30 is more stable.Meanwhile, can by arranging STATEMENT OF FEDERALLY SPONSORED 50 While controlling the motion of the first jaw 20 and the second jaw 30 actuator is suitable for only by, and then cause the structure of fixture more Step up to gather, cost is lower.Therefore the technical scheme of embodiment solve fixture of the prior art grasp force it is unstable, easily Appearance injures the problem of accident by a crashing object

As shown in Figure 5 and Figure 6, in this technical scheme implemented, fixed mount 10 be in frame-like structure, 20 He of the first jaw Second jaw 30 is separately positioned on the both sides of fixed mount 10.Wherein, the first jaw 20 and the second jaw 30 are tied by rotating shaft Structure is connected on fixed mount 10.

As shown in figure 3, in the technical scheme of the present embodiment, STATEMENT OF FEDERALLY SPONSORED 50 includes bull stick 51, first connecting rod 52 and second Connecting rod 53.Wherein, bull stick 51 is pivotally disposed on fixed mount 10.First connecting rod 52, the first end of first connecting rod 52 can pivot It is arranged on the first jaw 20 with turning, the second end of first connecting rod 52 is pivotally disposed at the first end of bull stick 51.Second connects Bar 53, the first end of second connecting rod 53 are pivotally disposed on the second jaw 30, and the second end of second connecting rod 53 is pivotly It is arranged on the second end of bull stick 51.Specifically, bull stick 51 is in block structure, and the middle part of bull stick 51 is connected to fixed mount by rotating shaft On 10.The two ends of first connecting rod 52 are connected on bull stick 51 and the first jaw 20 by rotating shaft respectively, the two ends of second connecting rod 53 It is connected on bull stick 51 and the second jaw 30 by rotating shaft respectively.According to said structure, the first jaw 20 and is described below The motor process of two jaws 30：

When the first actuator 40 drives the first jaw 20 along counterclockwise movement, 52 to the first jaw 20 of first connecting rod is affected Move towards left side.Simultaneously direction is rotated counterclockwise for the now traction of first connecting rod 52 of bull stick 51.The outside pushing tow of right-hand member of bull stick 51 Second connecting rod 53, while second connecting rod 53 drives the second jaw 30 along clockwise movement.Said process realizes the clamping of fixture Operation, and whole process only needs to a drive mechanism.Accordingly, when the first actuator 40 drives the first jaw 20 along up time When pin is rotated, fixture is capable of achieving to unclamp operation.The motion engagement process and above-mentioned clamp operation of each mechanism conversely, here not Repeating.

As shown in figure 3, in the technical scheme of the present embodiment, bull stick 51 is arranged on the middle part of fixed mount 10.Said structure So that the position of first connecting rod 52 and second connecting rod 53 arranges symmetrical, and cause mechanism's operation more stable.

Preferably, in the technical scheme of the present embodiment, on first connecting rod 52 and second connecting rod 53, it is provided with length adjustment Part.Specifically, length adjustment part is nut adjustment part.Can be adjusted by the length for adjusting first connecting rod 52 and second connecting rod 53 The initial position of the first jaw 20 and the second jaw 30, and it is easy to operator according to the size of the object for being accommodated to first Gap between jaw 20 and the second jaw 30 is adjusted.In a not shown embodiment, first connecting rod 52 and second connects Bar 53 can also be the telescopic body of rod.

As shown in Figure 4 and Figure 6, in the technical scheme of the present embodiment, the first actuator 40 is electric putter.Electric putter is consolidated Fixed end is arranged near the second jaw 30, and the promote-side of electric putter is connected with the end of the first jaw 20, and electric putter is stretched out or contracted The first jaw 20 is driven to swing when returning.Certainly, the first actuator 40 can also adopt other driving structure, such as oil cylinder, cylinder Deng.

As shown in fig. 6, in the technical scheme of the present embodiment, the first actuator 40 and STATEMENT OF FEDERALLY SPONSORED 50 are separately positioned on fixation The contrary both sides of frame 10.Specifically, fixed mount 10 includes front mounting plate and rear installing plate, and be connected to front mounting plate and after Connecting plate between installing plate.STATEMENT OF FEDERALLY SPONSORED 50 is arranged on a mounting board, and the first actuator 40 is arranged on rear installing plate.Meanwhile, First jaw 20 includes two first intermediate plates for rotating coaxially, and a first intermediate plate is arranged on front mounting plate, another setting On rear installing plate.Wherein, electric putter and the first intermediate plate that is arranged on rear installing plate coordinate, first connecting rod 52 and before being arranged on First intermediate plate on dressing up coordinates.Likewise, the second jaw 30 includes two second intermediate plates for rotating coaxially, a second intermediate plate It is arranged on front mounting plate, another is arranged on rear installing plate.Wherein, electric putter and the second folder being arranged on rear installing plate Piece coordinates, and second connecting rod 53 and the second intermediate plate on dressing up before being arranged on coordinate.

Present invention also provides a kind of mechanical arm, as shown in Figure 7 and Figure 8, the mechanical arm of the present embodiment include base 100, Column 200, cantilever design 300, fixture 400 and the second actuator 500.Wherein, column 200 is arranged on base 100.Column Guide rail 210 is provided with 200.The first end of cantilever design 300 is arranged on column 200 and is coordinated with guide rail 210.Fixture 400, It is arranged on the second end of cantilever design 300；Second actuator 500, is arranged on column 200 and drives cantilever design 300 vertical Slide on post 200.Fixture 400 is above-mentioned fixture.

As shown in Fig. 9 to Figure 12, in the technical scheme of the present embodiment, the first end of cantilever design 300 is provided with roller 310, roller 310 is engaged with guide rail 210.Specifically, guide rail extends along the direction of column 200.The first paragraph of cantilever design 300 Tube-in-tube structure is provided with, tube-in-tube structure is set in outside column 200.Accordingly, roller 310 is arranged in tube-in-tube structure.Second drives 500 drive sleeve structure of moving part is slided on column 200.Second actuator 500 is preferably motor, motor and tube-in-tube structure it Between can be driven by belt.

As shown in Figure 13 and Figure 14, in the technical scheme of the present embodiment, it is provided between column 200 and base 100 and turns Platform 600.Turntable is rotated can column 200, driving column 200 can be rotated using motor in the present embodiment, And then fixture 400 is gripped from multi-faceted to workpiece.

As shown in figure 11, in the technical scheme of the present embodiment, cantilever design 300 includes the first level section for interconnecting 320th, vertical section 330 and the second horizontal segment 340, wherein, the end of first level section 320 is connected on column 200, fixture 400 are connected on the end of the second horizontal segment 340, and the vertical height of the second horizontal segment 340 is less than the level of first level section 320 Highly.Said structure is easy to be coordinated with feeding structure.

Preferred embodiment of the present utility model is the foregoing is only, this utility model is not limited to, for this For the technical staff in field, this utility model can have various modifications and variations.It is all it is of the present utility model spirit and principle Within, any modification, equivalent substitution and improvements made etc. are should be included within protection domain of the present utility model.

Claims (10)

1. a kind of fixture, it is characterised in that include：

Fixed mount (10)；

First jaw (20) and the second jaw (30), first jaw (20) are pivotally disposed at the fixed mount (10) On, second jaw (30) is pivotally disposed at the fixed mount (10), first jaw (20) and second folder Pawl (30) is oppositely arranged；

First actuator (40), is arranged on the fixed mount (10) and drives first jaw (20) to rotate；

STATEMENT OF FEDERALLY SPONSORED (50), is arranged between first jaw (20) and second jaw (30), first actuator (40), when driving first jaw (20) to rotate, first jaw (20) makes second folder by the STATEMENT OF FEDERALLY SPONSORED (50) Pawl (30) synchronous axial system, and second jaw (30) is contrary with the rotation direction of first jaw (20).

2. fixture according to claim 1, it is characterised in that the STATEMENT OF FEDERALLY SPONSORED (50) includes：

Bull stick (51), the bull stick (51) are pivotally disposed on the fixed mount (10),

First connecting rod (52), the first end of the first connecting rod (52) are pivotally disposed on first jaw (20), institute The second end for stating first connecting rod (52) is pivotally disposed at the first end of the bull stick (51)；

Second connecting rod (53), the first end of the second connecting rod (53) are pivotally disposed on second jaw (30), institute The second end for stating second connecting rod (53) is pivotally disposed at the second end of the bull stick (51).

3. fixture according to claim 2, it is characterised in that the bull stick (51) is arranged in the fixed mount (10) Portion.

4. fixture according to claim 2, it is characterised in that on the first connecting rod (52) and the second connecting rod (53) It is provided with length adjustment part.

5. fixture according to claim 1, it is characterised in that first actuator (40) is electric putter.

6. fixture according to claim 1, it is characterised in that first actuator (40) and the STATEMENT OF FEDERALLY SPONSORED (50) point The contrary both sides of the fixed mount (10) are not arranged on.

7. a kind of mechanical arm, it is characterised in that include：

Base (100)；

Column (200), is arranged on the base (100), is provided with guide rail (210) on the column (200)；

Cantilever design (300), the first end of the cantilever design (300) be arranged on the column (200) and with the guide rail (210) coordinate；

Fixture (400), is arranged on the second end of the cantilever design (300)；

Second actuator (500), is arranged on the column (200) and drives the cantilever design (300) in the column (200) slide on,

Wherein, fixture of the fixture (400) any one of claim 1 to 6.

8. mechanical arm according to claim 7, it is characterised in that the first end of the cantilever design (300) is provided with rolling Wheel (310), the roller (310) are engaged with the guide rail (210).

9. mechanical arm according to claim 7, it is characterised in that set between the column (200) and the base (100) It is equipped with turntable (600).

10. mechanical arm according to claim 7, it is characterised in that the cantilever design (300) includes for interconnecting One horizontal segment (320), vertical section (330) and the second horizontal segment (340), wherein, the end of the first level section (320) connects It is connected on the column (200), the fixture (400) is connected on the end of second horizontal segment (340), second water Level height of the vertical height of flat section (340) less than the first level section (320).