CN206465106U - Mechanical arm, load plate and the equipment for possessing automatic clamping part function to be held - Google Patents
Mechanical arm, load plate and the equipment for possessing automatic clamping part function to be held Download PDFInfo
- Publication number
- CN206465106U CN206465106U CN201720012141.4U CN201720012141U CN206465106U CN 206465106 U CN206465106 U CN 206465106U CN 201720012141 U CN201720012141 U CN 201720012141U CN 206465106 U CN206465106 U CN 206465106U
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- China
- Prior art keywords
- held
- gripper jaw
- recess
- mechanical arm
- load plate
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Abstract
The utility model is related to a kind of mechanical arm, load plate and possesses the equipment of automatic clamping part function to be held, wherein mechanical arm, to clamp a part to be held, part to be held has one first recess and one second recess, and mechanical arm includes one first gripper jaw, one second gripper jaw and a drive device.There is first gripper jaw one first clamping face to correspond to the inner surface of the first recess to abut the first recess of part to be held when the mechanical arm clamps part to be held；Second gripper jaw is relative with the first gripper jaw；There is second gripper jaw one second clamping face to correspond to the inner surface of the second recess to abut the second recess of part to be held when the mechanical arm clamps part to be held；Drive device is to drive the first gripper jaw close to each other or remote with the second gripper jaw, to be clamped or decontroled the action of part to be held.Mechanical arm of the present utility model is for model difference but the close part to be held of outward appearance has high sharing, it is possible to during gripping, and synchronous guiding part to be held returns to correct position.The serious forgiveness of part putting position to be held can additionally be improved.
Description
Technical field
The utility model is related to a kind of mechanical arm, particularly relates to a kind of mechanical arm to grip part to be held, matches somebody with somebody
Close the equipment for stating the load plate of mechanical arm to carry the part to be held and possess automatic clamping part function to be held.
Background technology
In the flow that automated production is designed, automatic optics inspection (Automatic Optical are had been widely used
Inspection, AOI), coordinate vision sensor device as detection technique, again with computer vision, to clamp component to be detected
To subsequent work station, to be checked or be carried out next step.
The clamping jaw technology of the mechanical arm of previous automatic optics inspection, it is necessary to control many conditions, such as mechanical arm
Position is accurate, and the size of clamping jaw and the folder hole size of part to be held are accurate.In addition, part to be held needs first to place exactly
It is put on charging tray, the board of automatic optics inspection can be inserted.Then, charging tray also needs to be placed on board correct position
Put.As long as above-mentioned control condition have one it is not accurate enough, part to be held just has by the risk of mechanical arm accidental injury.It is existing
Mechanical arm is with upper, it is necessary to spend very big resource to go the problem of control is positioned.
Utility model content
The utility model embodiment is to provide a kind of mechanical arm, and it is to reduce resource to control positioning, and then subtracts
The risk of few mechanical arm accidental injury part to be held, to reduce production cost, and improves the appropriate rate of product, and shared
Property.
The utility model embodiment also resides in the load plate for providing a kind of above-mentioned mechanical arm of cooperation, and load plate is several to carry
Part to be held, it is to reduce resource to control positioning, and then reduces the risk of mechanical arm accidental injury part to be held, to drop
Low production cost, and improve the appropriate rate of generation, and sharing.
For up to a kind of described above, mechanical arm that the utility model wherein embodiment is provided, to clamp
One part to be held, part to be held has one first recess and one second recess, and mechanical arm includes one first gripper jaw, one second
Gripper jaw and a drive device.There is first gripper jaw one first clamping face to correspond to the inner surface of the first recess with clamping
The first recess of the part to be held of part to be held is connected to during the part to be held.Second gripper jaw is relative with the first gripper jaw.The
Two gripper jaws correspond to the inner surface of the second recess with one second clamping face and treated with being connected to when the part to be held is clamped
Second recess of holder.Drive device is to drive the first gripper jaw close to each other or remote with the second gripper jaw, to carry out
Clamp or decontrol the action of part to be held.
According to a kind of embodiment of the utility model, the wherein part to be held is the carbon brush holder of an automobile current generator voltage regulation adjustor
Body, the first recess and the second recess are located at the both sides of the carbon brush fixed part of carbon brush holder body.
According to a kind of embodiment of the utility model, drive device includes vertical escapement cylinder or a stepper motor always.
According to a kind of embodiment of the utility model, mechanical arm also includes a clamping fixture seat, and drive device is connected to clamping fixture seat
Bottom surface, drive device also connects the first gripper jaw and the second gripper jaw respectively including a pair of adaptors.
According to a kind of embodiment of the utility model, the first clamping face of the first gripper jaw has an arcwall face, wherein the second folder
Holding the second clamping face of pawl has multiple planes.
According to a kind of embodiment of the utility model, the material hardness of the first gripper jaw and the second gripper jaw is less than above-mentioned to be held
The material hardness of part.
According to a kind of embodiment of the utility model, a kind of load plate of the above-mentioned mechanical arm of cooperation is also provided, to carry at least one
Individual part to be held, the load plate has a hollow out holding part.The profile of hollow out holding part corresponds roughly to part to be held；The hollow out is held
Putting in portion has the first avoidance area and one second avoidance area relative with the first avoidance area；When part to be held is placed in the load plate
When upper, first avoids the first recess that area faces part to be held, and second avoids the second recess that area faces part to be held；In machinery
When arm grips part to be held in the load plate, the accommodation space in the first avoidance area is placed into volume more than the first gripper jaw,
The accommodation space in the second avoidance area is placed into volume more than the second gripper jaw.
According to a kind of embodiment of the utility model, part to be held is the carbon brush holder body of an automobile current generator voltage regulation adjustor,
First recess and the second recess are located at the both sides of the carbon brush fixed part of carbon brush holder body.
According to a kind of embodiment of the utility model, load plate further comprises one first location division, and the first location division is held by hollow out
The edge for putting portion extends internally, and one setting circle ring of upward formation.
According to a kind of embodiment of the utility model, positioning annulus includes a lead angle inclined-plane.
According to a kind of embodiment of the utility model, load plate further comprises one second location division, and the second location division is held including one
Recess and a positioning hypotenuse are carried, carrying recess is less than the top surface of load plate, and positioning hypotenuse is located at the outside of carrying recess.
According to a kind of embodiment of the utility model, the second location division also includes an at least support fingers, and support fingers are by carrying
Recess extends internally.
The utility model also provides a kind of equipment for possessing automatic clamping part function to be held, includes machinery as described above
Arm.
The utility model also provides a kind of equipment for possessing automatic clamping part function to be held, includes load as described above
Disk.
According to a kind of embodiment of the utility model, possess the equipment of automatic clamping part function to be held, be automated optical inspection
Look into equipment.
The beneficial effects of the utility model can be that the first of the mechanical arm that the utility model embodiment is provided presss from both sides
The outward appearance of pawl and the second gripper jaw is held, especially coordinates the shape of part to be held to design.First gripper jaw has one first clamping face
Correspond to the inner surface of the first recess；Second gripper jaw corresponds to the inner surface of the second recess with one second clamping face.
Mechanical arm of the present utility model whereby is for model difference but the close part to be held of outward appearance has high sharing, and can
So that during gripping, synchronous guiding part to be held returns to correct position.Load plate is designed with the space of appropriateness resigning, and hollow out is held
Putting in portion has first to avoid area and one second avoidance area, and such a design also has high sharing for part to be held, can
Suitable for the carbon brush holder body of different model, the serious forgiveness of part putting position to be held can be additionally improved.
Feature of the present utility model and technology contents are further understood that to enable, are referred to below in connection with the utility model
Detailed description and accompanying drawing, but institute's accompanying drawings only provide with reference to and explanation use, not for being any limitation as to the utility model
Person.
Brief description of the drawings
Fig. 1 is a kind of part top view to be held for coordinating mechanical arm of the present utility model.
Fig. 2 is the top view of the load plate of cooperative mechanical arm in the utility model.
Fig. 2A is the sectional view of the IIA-IIA lines along along Fig. 2.
Fig. 3 grips the top view of part to be held for the preparation of mechanical arm of the present utility model.
Fig. 4 grips the front view of part to be held for the preparation of mechanical arm of the present utility model.
Fig. 5 is the front view of the first gripper jaw of mechanical arm of the present utility model.
Fig. 6 is the top view of the first gripper jaw of mechanical arm of the present utility model.
Fig. 7 is the upward view of the first gripper jaw of mechanical arm of the present utility model.
Fig. 8 is the front view of the second gripper jaw of mechanical arm of the present utility model.
Fig. 9 is the top view of the second gripper jaw of mechanical arm of the present utility model.
Figure 10 is the upward view of the second gripper jaw of mechanical arm of the present utility model.
Figure 11 is the front view for having gripped part to be held of mechanical arm of the present utility model.
Figure 12 is the side view for having gripped part to be held of mechanical arm of the present utility model.
Figure 13 is the top view for having gripped part to be held of mechanical arm of the present utility model.
Embodiment
Fig. 1 and Fig. 2 is refer to, to coordinate a kind of part top view to be held, the Yi Jiben of mechanical arm of the present utility model
The top view of the load plate of utility model cooperative mechanical arm.The applicable part 10 to be held of the utility model, with an automobile generating
Exemplified by the carbon brush holder body of machine.But not limited to this.The carbon brush holder body of automobile current generator has a housing 11, a carbon brush fixed part
12 to fixed carbon brush, the chip accommodating area 13 to place vehicle generator regulator chip and several fixing hole 14a,
14b、14c.The both sides of carbon brush fixed part 12 respectively have one first recess 121 and one second recess 122.Compared to prior art with
Mechanical arm inserts above-mentioned fixing hole 14a, 14b, 14c, and the utility model changes to clamp carbon brush fixed part 12, to avoid manipulator
Arm damages carbon brush holder body accidentally during above-mentioned fixing hole 14a, 14b, 14c is inserted.
Part 10 to be held is placed on a load plate 20 in advance.Load plate 20 can carry several parts to be held 10, the present embodiment
It is described with the region for carrying a part 10 to be held.Load plate 20 has outside a hollow out holding part 21, hollow out holding part 21
Shape corresponds roughly to part 10 to be held, whereby to hold part 10 to be held.The edge of hollow out holding part 21 is slightly larger than part to be held
10 outer rim so that after part 10 to be held is placed on load plate 20 and in the process of gripping part 10 to be held, be able to slow
Space is rushed, part 10 to be held can be directed to positioning.
Referring to Fig. 2, having first to avoid area 211 and 1 second in the hollow out holding part 21 of the load plate 20 avoids area 212,
It is relative that second avoidance area 212 avoids area 211 with first.When part 10 to be held is placed on load plate 20, the of the load plate 20
One avoids the first recess 121 that area 211 faces part 10 to be held, and second avoids the second recess that area 212 faces part 10 to be held
122.The load plate 20 of the present embodiment further comprises one first location division 23, and the first location division 23 is by the edge of hollow out holding part 21
Extend internally, and one setting circle ring 231 of upward formation.Wherein positioning annulus 231 includes a lead angle inclined-plane, and ginseng Fig. 2A is edge
The sectional view of IIA-IIA lines in Fig. 2.First location division 23 can be used to coordinate the fixing hole 14c of positioning part 10 to be held.
Load plate 20 in the present embodiment further comprises one second location division, the second location division include a carrying recess 26 and
One positioning hypotenuse 25, carrying recess 26 is less than the top surface of load plate 20, and positioning hypotenuse 25 is located at the outside of carrying recess 26.Locating latch
Side 25 can be used to coordinate the fixing hole 14b of positioning part 10 to be held.As shown in Fig. 2 the second location division also includes two support fingers
27th, 29, support fingers 27,29 are extended internally by carrying recess 26.
Fig. 3 and Fig. 4 is referred to, is schematic top plan view and forward sight before mechanical arm clamps of the present utility model part to be held
Figure.The mechanical arm 30 of this implementation can be used to clamp part 10 to be held.Mechanical arm 30 includes one first gripper jaw 31, one second
The drive device 33 of gripper jaw 32 and one.Second gripper jaw 32 is relative with the first gripper jaw 31.Drive device 33 can drive first
Gripper jaw 31 and the second gripper jaw 32 are close to each other or remote, to be clamped or decontroled the action of part 10 to be held.This implementation
The drive device 33 of example includes a upright cylinder, the advantage is that and relatively saves space, but the utility model is not limited, its
The cylinder or stepper motor of his pattern can also be used as drive device of the present invention to drive gripper jaw 31,32.Mechanical arm 30
Also include a clamping fixture seat 34, drive device 33 is connected to the bottom surface of clamping fixture seat 34, and drive device 33 also includes a pair of adaptors
331st, 321 the first gripper jaw 31 and the second gripper jaw 32 are connected respectively.
It is front view, the top view of the first gripper jaw of mechanical arm of the present utility model please refer to Fig. 5 to Fig. 7
And upward view.There is first gripper jaw 31 one first clamping face 3120 to correspond to the inner surface of the first recess 121 with machinery
Arm 30 conformal can be connected to the first recess 121 of part 10 to be held when clamping part 10 to be held.First gripper jaw 31 includes one
First claw 312 and first connecting portion 314, the first claw 312 are vertically connected at first connecting portion 314.First clamping face 3120
It is formed at the first claw 312.
It is front view, the top view of the first gripper jaw of mechanical arm of the present utility model please refer to Fig. 8 to Figure 10
And upward view.There is second gripper jaw 32 one second clamping face 3220 to correspond to the inner surface of the second recess 122 with machinery
Arm 30 conformal can be connected to the second recess 122 of part 10 to be held when clamping part 10 to be held.Second gripper jaw 32 includes one
Second claw 322 and second connecting portion 324, the second claw 322 are vertically connected at second connecting portion 324.Second clamping face 3220
It is formed at the second claw 322.
Supplementary notes, the mechanical arm 30 of the present embodiment, wherein the material of the first gripper jaw 31 and the second gripper jaw 32 is hard
Degree is preferably less than the material hardness of above-mentioned part 10 to be held.Touching and damaging during gripping can be avoided whereby.The
The material of one gripper jaw 31 and the second gripper jaw 32 for example can be plastic-steel.
Referring again to Fig. 3 and Fig. 4, Fig. 4 for the present embodiment mechanical arm 30 the state opened front view.This implementation
The mechanical arm 30 of example is during part 10 to be held is gripped, because load plate 20 is subject to the design of cooperative mechanical arm 30, the
The accommodation space in one avoidance area 211 is more than the volume that is placed into of the first gripper jaw 31, and the accommodation space in the second avoidance area 212 is more than
Second gripper jaw 32 is placed into volume.Whereby the first gripper jaw 31 and the second gripper jaw 32 can first in the state of opening,
Easily enter load plate 20.
Please refer to Figure 11 to Figure 13, Figure 11 and Figure 12 for the present embodiment mechanical arm clamping state forward sight
Figure and side view, Figure 13 is top view.First clamping face 3120 of first gripper jaw 31 of the present embodiment has an arcwall face, its
In the second gripper jaw 32 the second clamping face 3220 have multiple planes.The advantage of such a design is, above-mentioned arcwall face can be with
During the conformal clamping part 10 to be held of the first gripper jaw 31, coordinate the inner surface of the first recess 121 of part 10 to be held,
Make part 10 to be held by correcting.Second clamping face 3220 is in multiple planes, can coordinate the interior table for being connected to the second recess 122
Face, it is conformal to prop up to avoid sliding.Therefore, according to design of the present utility model, even if part to be held 10 fails entirely accurate
The hollow out holding part 21 of load plate 20 is placed in, can also be treated during clamping by the correcting of mechanical arm 30 being accurately positioned
The position of holder 10.Join Fig. 3, part 10 to be held can be led to by the above-mentioned location division of first location division 23 and second
In hollow out holding part 21.
In summary, the beneficial effects of the utility model can be, the manipulator that the utility model embodiment is provided
First gripper jaw 31 of arm 30 and the outward appearance of the second gripper jaw 32, especially coordinate the shape of part to be held to design, this embodiment is
The carbon brush holder body of automobile current generator.That is, there is the first gripper jaw 31 one first clamping face 3120 to correspond to the first recess 121
Inner surface；Second gripper jaw 32 corresponds to the inner surface of the second recess 122 with one second clamping face 3220.Particularly
The curved face of one clamping face 3120, even if mechanical arm 30 of the present utility model whereby is different but outward appearance is close treats for model
Holder 10 has high sharing, it is possible to during gripping, and synchronous guiding part 10 to be held returns to correct position
(ginseng Fig. 3 and Figure 13).Furthermore, load plate 20 of the present utility model, which is designed with the space of appropriateness resigning, hollow out holding part 21, to be had
First, which avoids area 211 and 1 second, avoids area 212, and such a design has high sharing also for part 10 to be held, especially
The carbon brush holder body of different model is can be applied to, the serious forgiveness of the putting position of part 10 to be held can be additionally improved.
The mechanical arm 30 and/or load plate 20 that the utility model embodiment is provided can be applied to any possess automatic clamping
The equipment of part function to be held, such as automatic optical checking equipment, but be not limited to this, any required clamp assemblies are to be taken
Put, shift, overturning, detecting or the machinery equipment of other processes can all apply the utility model, being led automatically with possessing part to be held
The damage wind of orthofunction, raising component versatility to be held, lifting process efficiency and reduction component to be held during gripping
Danger.
It the foregoing is only preferable possible embodiments of the present utility model, non-therefore limitation patent model of the present utility model
Enclose, therefore the equivalence techniques change done such as with the utility model specification and schema content, it is both contained in the utility model
Protection domain in.
Claims (15)
1. a kind of mechanical arm, to clamp a part to be held, the part to be held has one first recess and one second recess,
Characterized in that, the mechanical arm includes：
One first gripper jaw, first gripper jaw corresponds to the inner surface of first recess with one first clamping face,
To abut first recess of the part to be held when the part to be held is clamped；
One second gripper jaw is relative with first gripper jaw；There is second gripper jaw one second clamping face to correspond to
The inner surface of second recess when part to be held is clamped to abut second recess of the part to be held；And
One drive device, drives first gripper jaw and second gripper jaw close to each other or remote.
2. mechanical arm as claimed in claim 1, it is characterised in that the part to be held is adjusted for an automobile current generator voltage stabilizing
The carbon brush holder body of device, first recess is located at the two of the carbon brush fixed part of the carbon brush holder body with second recess
Side.
3. mechanical arm as claimed in claim 1, it is characterised in that the drive device includes a upright cylinder or a step
Enter motor.
4. mechanical arm as claimed in claim 3, it is characterised in that also including a clamping fixture seat, the drive device is connected to
The bottom surface of the clamping fixture seat, the drive device also connects first gripper jaw and described second respectively including a pair of adaptors
Gripper jaw.
5. mechanical arm as claimed in claim 1, it is characterised in that first clamping face of first gripper jaw has
One arcwall face, wherein second clamping face of second gripper jaw has multiple planes.
6. mechanical arm as claimed in claim 1, it is characterised in that the material of first gripper jaw and second gripper jaw
Expect that hardness is less than the material hardness of above-mentioned part to be held.
7. a kind of load plate, coordinates the mechanical arm described in claim 1, to carry at least one described part to be held, its feature
It is, the load plate has：
One hollow out holding part, the profile of the hollow out holding part corresponds to the part to be held；Have the in the hollow out holding part
It is relative that one avoidance area and one second avoidance area avoid area with described first；When the part to be held is placed on the load plate,
Described first avoids the first recess that area faces the part to be held, and described second avoids second that area faces the part to be held
Recess；When the mechanical arm grips the part to be held in the load plate, the accommodation space in the first avoidance area is more than
First gripper jaw is placed into volume, and the accommodation space in the second avoidance area is more than being placed into for second gripper jaw
Volume.
8. load plate as claimed in claim 7, it is characterised in that the part to be held is an automobile current generator voltage regulation adjustor
Carbon brush holder body, first recess is located at the both sides of the carbon brush fixed part of the carbon brush holder body with second recess.
9. load plate as claimed in claim 8, it is characterised in that the load plate further comprises one first location division, described
One location division is extended internally by the edge of the hollow out holding part, and one setting circle ring of upward formation.
10. load plate as claimed in claim 9, it is characterised in that the positioning annulus includes a lead angle inclined-plane.
11. load plate as claimed in claim 9, it is characterised in that the load plate further comprises one second location division, described
Two location divisions include a carrying recess and a positioning hypotenuse, and the carrying recess is less than the top surface of the load plate, the locating latch
Side is located at the outside of the carrying recess.
12. load plate as claimed in claim 11, it is characterised in that second location division also includes an at least support fingers,
The support fingers are extended internally by the carrying recess.
13. a kind of equipment for possessing automatic clamping part function to be held, it is characterised in that include the machinery described in claim 1
Arm.
14. a kind of equipment for possessing automatic clamping part function to be held, it is characterised in that include the load plate described in claim 7.
15. the equipment for possessing automatic clamping part function to be held as described in claim 13 or 14, it is characterised in that the tool
The equipment of standby automatic clamping part function to be held is an automatic optical checking equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720012141.4U CN206465106U (en) | 2017-01-05 | 2017-01-05 | Mechanical arm, load plate and the equipment for possessing automatic clamping part function to be held |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720012141.4U CN206465106U (en) | 2017-01-05 | 2017-01-05 | Mechanical arm, load plate and the equipment for possessing automatic clamping part function to be held |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206465106U true CN206465106U (en) | 2017-09-05 |
Family
ID=59706190
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720012141.4U Expired - Fee Related CN206465106U (en) | 2017-01-05 | 2017-01-05 | Mechanical arm, load plate and the equipment for possessing automatic clamping part function to be held |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206465106U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108380696A (en) * | 2018-01-23 | 2018-08-10 | 深圳市炫硕智造技术有限公司 | shaping detection device |
-
2017
- 2017-01-05 CN CN201720012141.4U patent/CN206465106U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108380696A (en) * | 2018-01-23 | 2018-08-10 | 深圳市炫硕智造技术有限公司 | shaping detection device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170905 Termination date: 20210105 |