CN206998951U - A kind of robot jaw arrangement for being used to grip special-shaped workpiece - Google Patents
A kind of robot jaw arrangement for being used to grip special-shaped workpiece Download PDFInfo
- Publication number
- CN206998951U CN206998951U CN201720957775.7U CN201720957775U CN206998951U CN 206998951 U CN206998951 U CN 206998951U CN 201720957775 U CN201720957775 U CN 201720957775U CN 206998951 U CN206998951 U CN 206998951U
- Authority
- CN
- China
- Prior art keywords
- connecting tube
- support
- fixedly connected
- grip
- annular
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
- 229920000297 Rayon Polymers 0.000 claims abstract description 23
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 13
- 238000009434 installation Methods 0.000 claims abstract description 11
- 230000000694 effects Effects 0.000 claims description 11
- 230000007812 deficiency Effects 0.000 abstract description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 18
- 229910052742 iron Inorganic materials 0.000 description 9
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of robot jaw arrangement for being used to grip special-shaped workpiece,Including installation pedestal,First support,Second support,3rd support,Motor,Connecting rope and fixed seat,Cylindrical cavity is offered in fixed seat,The second connecting tube is inserted with inside cylindrical cavity,Lower section is connected with the first connecting tube,There are two inserted links above first connecting tube,Second spring is connected between inserted link,The lower inside through connection of first connecting tube has first annular pipe,The bottom of first annular pipe is fixedly connected with the second spacing ring,First annular bar is inserted with inside first annular pipe,First annular bar is fixedly connected with first piston,The lower section of first connecting tube is hinged with grip block by hinge,The first blob of viscose is connected with the inside of grip block,The second blob of viscose is fixedly connected with the inside of the lower section of first blob of viscose,The 3rd spring is connected between grip block and the first connecting tube.The utility model can improve the deficiencies in the prior art, being capable of stronger crawl workpiece of different shapes.
Description
Technical field
It the utility model is related to a kind of robot and grab device, especially a kind of robot for being used to grip special-shaped workpiece
Jaw arrangement.
Background technology
With the continuous development of science and technology, and the decline of demographic dividend, cost of labor more and more higher, in order to cost-effective and
Production efficiency is improved, increasing enterprise carries out production transition, starts automation equipment to replace existing manual operation；From
Dynamicization operates the expenditure that can not only reduce cost of labor, improves the efficiency of production, improves the quality of product, also help production
Management.In automated production, robot and manipulator use frequently.Chinese utility model patent CN 203380896U
Disclose a kind of pneumatic series connection flexible hinge multifinger hand pawl of compliant mechanism.The robot gripper of this structure has to external applied load
The good flexible free degree and shock-absorbing capacity, flexible adaptivity is good, but this device is poor to the workpiece adaptability of abnormity,
Workpiece of different shapes can not firmly be captured, so as to limit its scope of application.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of robot jaw arrangement for being used to grip special-shaped workpiece,
The deficiencies in the prior art are can solve the problem that, being capable of stronger crawl workpiece of different shapes.
In order to solve the above technical problems, technical solution adopted in the utility model is as follows.
A kind of robot jaw arrangement for being used to grip special-shaped workpiece, including installation pedestal, the both ends of the installation pedestal
Second support is connected with by two first supports, the 3rd support, second support have been respectively articulated with below the both ends of second support
And the 3rd be connected with the first spring between support, motor is also fixedly connected with second support, motor shaft passes through two connecting ropes
It is connected respectively with two the 3rd supports, is fixedly connected with fixed seat on the inside of the lower section of the 3rd support, is offered in fixed seat some
Individual cylindrical cavity parallel to each other, is fixedly connected with several the second evenly distributed spacing rings on cylindrical cavity inwall, and second
Spacing ring and cylindrical cavity coaxial line, gap is provided between the second spacing ring, the first limit is fixedly connected with the top of cylindrical cavity
Position ring, is inserted with the second connecting tube inside cylindrical cavity, the second connecting tube passes through the first spacing ring, connected at the top of the second connecting tube
Top plate, top plate and the first spacing ring selective exposure are connected to, is inserted with tracheae on top plate, tracheae passes through mutually with the second connecting tube
Logical, the lower section through connection of the second connecting tube has the first connecting tube, and the upper vertical activity of the first connecting tube is inserted with two and inserted
Bar, wedge-shaped part is fixedly connected with the outside of inserted link, second spring is connected between two inserted links, second spring is positioned at the first connection
The inside of pipe, wedge-shaped part select one in the gap, the lower inside through connection of the first connecting tube has a first annular pipe, first
The bottom of ring pipe is fixedly connected with the second spacing ring, and first annular bar is inserted with inside first annular pipe, and first annular bar leads to
Cross the second spacing ring and stretch out the first connecting tube, first piston, first piston and first are fixedly connected with the inside of first annular bar
The inwall of ring pipe is contacted with each other, and also grip block is hinged with by hinge on the inside of the lower section of the first connecting tube, and grip block inner side is solid
Surely be connected with the first blob of viscose, be fixedly connected with the second blob of viscose on the inside of the lower section of the first blob of viscose, first annular bar and grip block it is outer
Side selective exposure, the 3rd spring is connected between grip block and the first connecting tube.
Preferably, fixed block is fixedly connected with the inside of the inserted link, the tube wall selection of fixed block and the first connecting tube
Property contact.
Preferably, the lower outer of the grip block is also connected with the first roller by the 4th support.
Preferably, the underside of the grip block is connected with ball.
Preferably, the outside of the first annular bar is also connected with the second roller, the second roller and grip block
Outside selective exposure.
Preferably, the first piston on the inside of first annular pipe with being connected with the 4th spring.
It is using beneficial effect caused by above-mentioned technical proposal：Installation pedestal of the present utility model is used for this paw
Structure is fixed in robot, and first support is used to connect installation pedestal and second support, second support be used to fixing motor and
The articulated structure of 3rd support, second support and the 3rd support, the elastic force remained out by the first spring, and can pass through
The rotation of motor drives two connecting ropes to be wrapped on motor shaft, and then tightens up connecting rope, has two the 3rd supports inside
The action effect that side clamps, the cylindrical cavity in fixed seat, fixes the second connecting tube, the second connecting tube passes through first for plugging
Spacing ring is oriented to, and stops relation by the interference of top plate and the first spacing ring, ensures that the second connecting tube does not drop at the beginning of with it
Beginning position, the operation principle of the utility model paw device is：When not gripping workpiece, in the first connecting tube and the second connecting tube
Action of Gravity Field under, each first spacing ring contacts with each other with top plate, and the first connecting tube is located at bottom, the first connecting tube and
Unaerated inside two connecting tubes, inserted link and first annular bar are respectively positioned on the inside of the first connecting tube, when robot drives from top
When paw carries out gripping workpiece, below each first connecting tube be hinged grip block bottom can first with tool contact, with machine
Device people drives paw to continue to decline, and the first connecting tube of multiple grip blocks meeting top connections stretches into cylindrical cavity so that grip block
Also rise and retract, so as to match the shape of special-shaped workpiece, such as larger workpiece, have multiple grip blocks and rise,
And less workpiece is directed to, having less grip block rises, so that the grip block on the outside of workpiece can have more with workpiece
Suitable distance, after robot declines in place, compressed air is filled with into the second connecting tube by tracheae, gas enters the
It after one connecting tube, can act on inserted link, inserted link is stretched into the first connecting tube so that enter the first connecting tube of cylindrical cavity
On wedge-shaped part, extend into the gap in cylindrical cavity between the second spacing ring, purpose can not be declined by reaching position restriction,
Two springs provide the power that wedge-shaped part and inserted link are retracted after deflation, the compressed air being filled with while act in first annular pipe
First piston on, first piston is pressurized and drive first annular bar to move laterally, first annular bar passes through first annular pipe
The second spacing ring progress of bottom is spacing, and first annular bar moves the outside that can act on grip block laterally, and drive passes through
The grip block that hinge is hinged in the first connecting tube turns to the inside, so as to reach the effect being fixedly clamped to workpiece bottom
Fruit, the first blob of viscose on the inside of grip block, the frictional force between grip block and workpiece, lifting crawl effect, the first glue can be lifted
Second blob of viscose of inner side below block, there is provided an interior bulge, can prevent workpiece from dropping, start motor afterwards, pass through electricity
Machine drives connecting rope to tighten up, and drives the 3rd support to turn to the inside, so as to drive fixed seat and the first connecting tube to be clamped to inner side,
So as to reach the crawl to workpiece, the utility model can pass through the flexible workpiece to different shape and size of each grip block
Form fit is carried out, the position restriction of the first connecting tube is reached by tracheae inflation, and by making the grip block of lower section to inner side
Tighten up, so as to reach stronger crawl workpiece of different shapes.Fixed block can prevent inserted link to be moved out to the first connection
The outside of pipe, the first roller connected by the 4th support, it may be possible to a support is carried out to each first connecting tube, and
The frictional force between each first connecting tube is reduced, the ball of grip block underside connection, the grip block retracted can be avoided
The excessive cut for causing workpiece surface of frictional force between workpiece, the second roller on the outside of first annular bar, it is ensured that first
Annular bar can smoothly act on the outside of grip block, prevent the abrasion in the outside of grip block, first piston with it is first annular
The 4th spring between pipe, it can further lift the power of first annular bar return.
Brief description of the drawings
Fig. 1 is the structure chart of one embodiment of the utility model.
Fig. 2 is the structure chart of fixed seat in one embodiment of the utility model.
Fig. 3 is the partial enlarged drawing at Fig. 2 a positions in one embodiment of the utility model.
Fig. 4 is the partial enlarged drawing at Fig. 2 b positions in one embodiment of the utility model.
Fig. 5 is the structure chart of soft iron piece in one embodiment of the utility model.
In figure：1st, installation pedestal；2nd, first support；3rd, second support；4th, the 3rd support；5th, motor；6th, connecting rope；7th, it is solid
Reservation；8th, the first connecting tube；9th, cylindrical cavity；10th, the first spacing ring；11st, top plate；12nd, the second connecting tube；13rd, soft iron piece；
14th, it is hinged wheel；15th, the second spacing ring；16th, gap；17th, inserted link；18th, fixed block；19th, the first spring；20th, wedge-shaped part；21st,
Two springs；22nd, tracheae；23rd, hinge；24th, grip block；25th, the first blob of viscose；26th, the second blob of viscose；27th, ball；28th, the 4th support；
29th, the first roller；30th, first annular pipe；31st, first annular bar；32nd, the second spacing ring；33rd, the 3rd spring；34th, the second rolling
Wheel；35th, first piston；36th, the 4th spring；37th, the 3rd blob of viscose；38th, magnet；39th, the second ring pipe；40th, the second annular bar；
41st, the 5th spring；42nd, second piston.
Embodiment
The standardized element used in the utility model can commercially, and shaped piece is according to specification and attached
The record of figure can carry out it is customized, the specific connected mode of each part using bolt ripe in the prior art, rivet,
The conventional meanses such as welding, stickup, will not be described in detail herein.
Reference picture 1-5, one embodiment of the utility model include installation pedestal 1, the both ends of the installation pedestal 1
Second support 3 is connected with by two first supports 2, has been respectively articulated with the 3rd support 4 below the both ends of second support 3, second
The first spring 19 is connected between the support 4 of support 3 and the 3rd, motor 5 is also fixedly connected with second support 3, the axle of motor 5 passes through
Two connecting ropes 6 are connected with two the 3rd supports 4 respectively, and fixed seat 7 is fixedly connected with the inside of the lower section of the 3rd support 4, fixed
Several cylindrical cavities 9 parallel to each other are offered on seat 7, it is evenly distributed to be fixedly connected with several on the inwall of cylindrical cavity 9
The second spacing ring 15, the second spacing ring 15 and the coaxial line of cylindrical cavity 9, be provided with gap 16, cylindricality between the second spacing ring 15
The top of cavity 9 is fixedly connected with the first spacing ring 10, and the second connecting tube 12, the second connecting tube are inserted with inside cylindrical cavity 9
12 pass through the first spacing ring 10, and the top of the second connecting tube 12 is connected with top plate 11, the selectivity of 11 and first spacing ring of top plate 10
Contact, tracheae 22 is inserted with top plate 11, tracheae 22 interpenetrates with the second connecting tube 12, the lower section insertion of the second connecting tube 12
The first connecting tube 8 is connected with, the upper vertical activity of the first connecting tube 8 is inserted with two inserted links 17, and the outside of inserted link 17 is fixed
Wedge-shaped part 20 is connected with, second spring 21 is connected between two inserted links 17, second spring 21 is located at the interior of the first connecting tube 8
Portion, wedge-shaped part 20 select one in the gap 16, the lower inside through connection of the first connecting tube 8 has first annular pipe 30, the
The bottom of one ring pipe 30 is fixedly connected with the second spacing ring 32, and first annular bar 31 is inserted with inside first annular pipe 30, the
One annular bar 31 stretches out the first connecting tube 8 by the second spacing ring 32, and the inner side of first annular bar 31 is fixedly connected with the first work
Plug 35, the inwall of first piston 35 and first annular pipe 30 contacts with each other, and also passes through hinge 23 on the inside of the lower section of the first connecting tube 8
Grip block 24 is hinged with, the inner side of grip block 24 is fixedly connected with the first blob of viscose 25, is fixedly connected on the inside of the lower section of the first blob of viscose 25
There is the second blob of viscose 26, the outside selective exposure of first annular bar 31 and grip block 24, between the connecting tube 8 of grip block 24 and first
It is connected with the 3rd spring 33.Installation pedestal 1 of the present utility model is used to this paw structure being fixed on robot, first support
2 are used to connect installation pedestal 1 and second support 3, and second support 3 is used to fixing the support 4 of motor 5 and the 3rd, second support 3 and the
The articulated structure of three supports 4, the elastic force remained out by the first spring 19, and two can be driven by the rotation of motor 5
Root connecting rope 6 is wrapped on the axle of motor 5, and then tightens up connecting rope 6, makes two the 3rd supports 4 have the function that to clamp to inner side
Effect, the cylindrical cavity 9 in fixed seat 7, fixes the second connecting tube 12, the second connecting tube 12 passes through the first spacing ring for plugging
10 are oriented to, and stop relation by the interference of the spacing ring 10 of top plate 11 and first, and the second connecting tube 12 of guarantee does not drop and it
Initial position, the operation principle of the utility model paw device are：When not gripping workpiece, connect in the first connecting tube 8 and second
Under the Action of Gravity Field of adapter 12, each first spacing ring 10 contacts with each other with top plate 11, and the first connecting tube 8 is located at bottom, the
One connecting tube 8 and the inside unaerated of the second connecting tube 12, inserted link 17 and first annular bar 31 are respectively positioned on the interior of the first connecting tube 8
Portion, when robot from upper belt start pawl carry out gripping workpiece when, the be hinged bottom of grip block 24 in the lower section of each first connecting tube 8
Meeting is first with tool contact, and as robot drives paw to continue to decline, the first of the multiple meeting of grip blocks 24 top connections connect
Pipe 8 stretches into cylindrical cavity 9 so that grip block 24 also rises retraction, so as to match the shape of special-shaped workpiece, for example, for compared with
Big workpiece, have multiple grip blocks 24 and rise, and be directed to less workpiece, having less grip block 24 rises, so that
Grip block 24 on the outside of workpiece can have more suitably distance with workpiece, after robot declines in place, by tracheae 22 to
Compressed air is filled with second connecting tube 12, after gas enters the first connecting tube 8, can act on inserted link 17, make inserted link 17
Stretch into the first connecting tube 8 so that the wedge-shaped part 20 entered in the first connecting tube 8 of cylindrical cavity 9, extend into cylindrical cavity 9
In gap 16 between interior second spacing ring 15, purpose can not be declined by reaching position restriction, and second spring 21 provides wedge-shaped part 20
The power retracted with inserted link 17 after deflation, the compressed air being filled with while the first piston 35 acted in first annular pipe 30
On, first piston 35 is pressurized and drive first annular bar 31 to move laterally, first annular bar 31 passes through the first annular bottom of pipe 30
Second spacing ring 32 in portion carries out spacing, and first annular bar 31 moves the outside that can act on grip block 24 laterally, drives
The grip block 24 being hinged on by hinge 23 in the first connecting tube 8 is turned to the inside, and workpiece bottom is clamped so as to reach
Fixed effect, the first blob of viscose 25 of the inner side of grip block 24, can lift the frictional force between grip block 24 and workpiece, lifting is grabbed
Take effect, the second blob of viscose 26 of the lower section of the first blob of viscose 25 inner side, there is provided an interior bulge, it can prevent workpiece from dropping, it
Start motor 5 afterwards, drive connecting rope 6 to tighten up by motor 5, drive the 3rd support 4 to turn to the inside, so as to drive fixed seat 7
Clamped with the first connecting tube 8 to inner side, so as to reach the crawl to workpiece, the utility model can pass through each grip block 24
It is flexible that form fit is carried out to the workpiece of different shape and size, the position limit for reaching the first connecting tube 8 is inflated by tracheae 22
It is fixed, and by making the grip block 24 of lower section be tightened up to inner side, so as to reach stronger crawl workpiece of different shapes.
The inner side of the inserted link 17 is fixedly connected with fixed block 18, the tube wall selectivity of the connecting tube 8 of fixed block 18 and first
Contact.Fixed block 18 can prevent inserted link 17 to be moved out to the outside of the first connecting tube 8, and the lower outer of the grip block 24 is also logical
Cross the 4th support 28 and be connected with the first roller 29.Pass through the first roller 29 that the 4th support 28 connects, it may be possible to each the
One connecting tube 8 carries out a support, and reduces the frictional force between each first connecting tube 8, the lower section of the grip block 24
It is connected with ball 27.The ball 27 of the underside of grip block 24 connection, can avoid grip block 24 and the workpiece retracted it
Between the excessive cut for causing workpiece surface of frictional force, the outside of the first annular bar 31 is also connected with the second roller 34,
The outside selective exposure of second roller 34 and grip block 24.Second roller 34 in the first annular outside of bar 31, it is ensured that the
One annular bar 31 can smoothly act on the outside of grip block 24, prevent the abrasion in the outside of grip block 24, and described first lives
The inner side of plug 35 and first annular pipe 30 is connected with the 4th spring 36.The 4th spring between first piston and first annular pipe 30
36, it can further lift the power of the first annular return of bar 31
In addition, the inner side of first connecting tube 8 is also hinged with soft iron piece 13, the inner side of soft iron piece 13 by be hinged wheel 14
Be fixedly connected with several hemispheric 3rd blob of viscoses 37, be also fixedly connected with magnet 38 in the first connecting tube 8, magnet 38 with it is soft
The selective exposure of iron plate 13, the inside also through connection of first connecting tube 8 have the second ring pipe 39, in the second ring pipe 39
Portion is connected with second piston 42, and the 5th spring 41 is connected between the inner side of the ring pipe 39 of second piston 42 and second, and second lives
The outside of plug 42 is fixedly connected with the second annular bar 40, and the second annular bar 40 stretches out the first connecting tube 8, the second annular bar 40 it is outer
Side contacts with soft iron piece 13, by said structure, in the case of the unaerated of the first connecting tube 8, and under the effect of magnet 38, soft iron piece
13 contact with each other with the first connecting tube 8, and when the first connecting tube 8 starts inflation after matching clamping workpiece, compressed air is made simultaneously
With in second piston 42, making second piston 42 drive the second annular bar 40 to move laterally, so as to drive soft iron piece 13 outside
It is mobile, the blob of viscose 37 of soft iron piece 13 and the 3rd is contacted with workpiece, and active force of the workpiece to inside front is supplied to, the 3rd
Blob of viscose 37 provides sufficiently large frictional force, prevents workpiece from dropping, and so as to further clamping workpiece, makes the crawl effect of workpiece
It is more firm.
In description of the present utility model, it is to be understood that term " longitudinal direction ", " transverse direction ", " on ", " under ", " preceding ",
The orientation or position relationship of the instruction such as " rear ", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " be based on
Orientation shown in the drawings or position relationship, it is for only for ease of description the utility model, rather than instruction or the dress for implying meaning
Put or element there must be specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to the utility model
Limitation.
The advantages of general principle and principal character of the present utility model and the utility model has been shown and described above.One's own profession
The technical staff of industry is it should be appreciated that the utility model is not restricted to the described embodiments, described in above-described embodiment and specification
Simply illustrate principle of the present utility model, on the premise of the spirit and scope of the utility model is not departed from, the utility model is also
Various changes and modifications are had, these changes and improvements are both fallen within claimed the scope of the utility model.The utility model
Claimed scope is by appended claims and its equivalent thereof.
Claims (6)
1. a kind of robot jaw arrangement for being used to grip special-shaped workpiece, including installation pedestal (1), it is characterised in that：The peace
The both ends of dress pedestal (1) are connected with second support (3) by two first supports (2), and the both ends lower section of second support (3) is respectively
The 3rd support (4) is hinged with, the first spring (19), second support (3) are connected between second support (3) and the 3rd support (4)
On be also fixedly connected with motor (5), motor (5) axle is mutually connected with two the 3rd supports (4) respectively by two connecting ropes (6)
Connect, be fixedly connected with fixed seat (7) on the inside of the lower section of the 3rd support (4), it is parallel to each other to offer several in fixed seat (7)
Cylindrical cavity (9), several evenly distributed the second spacing rings (15), the second limit are fixedly connected with cylindrical cavity (9) inwall
Position ring (15) and cylindrical cavity (9) coaxial line, are provided with gap (16) between the second spacing ring (15), the top of cylindrical cavity (9)
The first spacing ring (10) is fixedly connected with, is inserted with the second connecting tube (12) inside cylindrical cavity (9), the second connecting tube (12) is worn
The first spacing ring (10) is crossed, top plate (11), top plate (11) and the first spacing ring (10) are connected with the top of the second connecting tube (12)
Selective exposure, tracheae (22) is inserted with top plate (11), tracheae (22) interpenetrates with the second connecting tube (12), the second connection
The lower section through connection of pipe (12) has the first connecting tube (8), and the upper vertical activity of the first connecting tube (8) is inserted with two inserted links
(17) wedge-shaped part (20), is fixedly connected with the outside of inserted link (17), second spring (21) is connected between two inserted links (17), the
Two springs (21) are located at the inside of the first connecting tube (8), and wedge-shaped part (20) selects one, first connecting tube interior positioned at gap (16)
(8) lower inside through connection has a first annular pipe (30), and it is spacing that the bottom of first annular pipe (30) is fixedly connected with second
Ring (32), first annular pipe (30) is internal to be inserted with first annular bar (31), and first annular bar (31) passes through the second spacing ring
(32) the first connecting tube (8) is stretched out, first piston (35), first piston (35) are fixedly connected with the inside of first annular bar (31)
Contacted with each other with the inwall of first annular pipe (30), folder is also hinged with by hinge (23) on the inside of the lower section of the first connecting tube (8)
Block (24) is held, the first blob of viscose (25) is fixedly connected with the inside of grip block (24), is fixedly connected on the inside of the lower section of the first blob of viscose (25)
There are the second blob of viscose (26), first annular bar (31) and the outside selective exposure of grip block (24), grip block (24) connects with first
The 3rd spring (33) is connected between adapter (8).
2. the robot jaw arrangement according to claim 1 for being used to grip special-shaped workpiece, it is characterised in that：The inserted link
(17) fixed block (18), fixed block (18) and the tube wall selective exposure of the first connecting tube (8) are fixedly connected with the inside of.
3. the robot jaw arrangement according to claim 1 for being used to grip special-shaped workpiece, it is characterised in that：The clamping
The lower outer of block (24) is also connected with the first roller (29) by the 4th support (28).
4. the robot jaw arrangement according to claim 1 for being used to grip special-shaped workpiece, it is characterised in that：The clamping
The underside of block (24) is connected with ball (27).
5. the robot jaw arrangement according to claim 1 for being used to grip special-shaped workpiece, it is characterised in that：Described first
The outside of annular bar (31) is also connected with the second roller (34), the outside selectivity of the second roller (34) and grip block (24)
Contact.
6. the robot jaw arrangement according to claim 1 for being used to grip special-shaped workpiece, it is characterised in that：Described first
Piston (35) on the inside of first annular pipe (30) with being connected with the 4th spring (36).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720957775.7U CN206998951U (en) | 2017-08-02 | 2017-08-02 | A kind of robot jaw arrangement for being used to grip special-shaped workpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720957775.7U CN206998951U (en) | 2017-08-02 | 2017-08-02 | A kind of robot jaw arrangement for being used to grip special-shaped workpiece |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206998951U true CN206998951U (en) | 2018-02-13 |
Family
ID=61458188
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720957775.7U Withdrawn - After Issue CN206998951U (en) | 2017-08-02 | 2017-08-02 | A kind of robot jaw arrangement for being used to grip special-shaped workpiece |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206998951U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107471231A (en) * | 2017-08-02 | 2017-12-15 | 宁夏巨能机器人股份有限公司 | A kind of robot jaw arrangement for being used to grip special-shaped workpiece |
-
2017
- 2017-08-02 CN CN201720957775.7U patent/CN206998951U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107471231A (en) * | 2017-08-02 | 2017-12-15 | 宁夏巨能机器人股份有限公司 | A kind of robot jaw arrangement for being used to grip special-shaped workpiece |
| CN107471231B (en) * | 2017-08-02 | 2024-02-13 | 宁夏巨能机器人股份有限公司 | Robot paw device for clamping special-shaped workpiece |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209289319U (en) | A kind of Pneumatic clamping jaw | |
| CN209905878U (en) | Positioning and overturning device | |
| CN209551752U (en) | A kind of robot gripper | |
| CN205033207U (en) | Grabbing device's top manipulator | |
| CN206998951U (en) | A kind of robot jaw arrangement for being used to grip special-shaped workpiece | |
| CN106315400A (en) | Internal expanding type three-claw lifting tool | |
| CN107471231A (en) | A kind of robot jaw arrangement for being used to grip special-shaped workpiece | |
| CN205237032U (en) | Automatic upset gripping apparatus goes up and down | |
| CN107902583B (en) | A kind of road and bridge construction tool fast lifting equipment | |
| CN106006371A (en) | Hoisting device for products with smooth inner holes | |
| CN212769421U (en) | Lifting appliance for carrying steel pipes | |
| CN207104949U (en) | A kind of robot jaw arrangement for being used to grip steel workpiece | |
| CN112573184A (en) | Inflatable intelligent grabbing mechanism | |
| CN218984793U (en) | Industrial robot transport centre gripping arm | |
| CN209601582U (en) | A kind of distribution box clamping handling device | |
| CN206998158U (en) | Girder steel is molded solid point machine | |
| CN207738084U (en) | A kind of Multifunctional pneumatic power clamping jaw of Automatic Control | |
| CN215036863U (en) | Frock clamp of on-vehicle braking wheel cylinder of pneumatic type | |
| CN210525126U (en) | Connecting rod manipulator | |
| CN211388848U (en) | Inverter clamp | |
| CN112917265A (en) | Pipeline inspection robot | |
| CN206998092U (en) | Solid point ventral board clamping hold-down devices | |
| CN205466296U (en) | Steel pipe snatchs mechanical gripper | |
| CN205363545U (en) | Cylinder cap special purpose machinery people tongs of polishing | |
| CN220118522U (en) | Locking device for inner ring of pulley bearing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180213 Effective date of abandoning: 20240213 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20180213 Effective date of abandoning: 20240213 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |