CN207953909U - A kind of mechanical gripper - Google Patents
A kind of mechanical gripper Download PDFInfo
- Publication number
- CN207953909U CN207953909U CN201820365422.2U CN201820365422U CN207953909U CN 207953909 U CN207953909 U CN 207953909U CN 201820365422 U CN201820365422 U CN 201820365422U CN 207953909 U CN207953909 U CN 207953909U
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- China
- Prior art keywords
- clamping jaw
- mechanical gripper
- jaw
- stationary jaw
- connector
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Abstract
The utility model provides a kind of mechanical gripper, including：Stationary jaw shears clamping jaw, mechanical arm；Mutually hinged by the first connector in the middle part of the stationary jaw, shearing clamping jaw, stationary jaw is rotatablely connected to the mechanical arm；Lateral driver device is arranged in the shearing clamping jaw upper end, for driving shearing clamping jaw to form shear action around the first connector and stationary jaw.The utility model lateral driver device is set to the top of mechanical gripper, reduce the machine volume of mechanical gripper to a certain extent, and larger operable space is vacateed for the grasping end of mechanical gripper, facilitate the crawl of workpiece, and more existing grabbing device, this mechanical gripper can be more convenient, fast and accurately capture on the central point of workpiece, so that crawl is more reliable.
Description
Technical field
The utility model is related to industrial automation workpiece grabbing fields, and in particular to a kind of mechanical gripper.
Background technology
From First robot in 1962 since the U.S. comes into operation, each neck of manufacturing has been had been widely used for
Domain, with the development of science and technology and the raising of automated production level, the application of industrial robot is more and more extensive, especially
When carrying out the grasp handling of workpiece, often captured using manipulator.At present in most of factories of China, height weight is carried
The carrying work of renaturation is still leaned on and is largely manually completed, and brings huge cost of labor and management cost to factory, and be difficult to
Ensure the high speed and zero-fault of production line.The application of transfer robot frees people from onerous toil.Handgrip
It is important component part in forging machine people application.Robot gripper has the final execution unit to work as robot, machine
Device people's handgrip is both an actuator and a perceptron, is related to materialogy, engineering mechanics, sensor technology, communication skill
The science of the multiple fields such as art.To adapt to workpiece of different shapes, the especially crawl of cylindrical work is generally required quick
Workpiece centre point is found, so that handgrip can be captured in the center position of workpiece so that grasping movement is more stablized, and prevents
Workpiece is fallen in the process of grasping.
Application No. is 201320607609.6 Chinese patents, disclose a kind of simple and mechanical handgrip, including fixed seat, gas
Cylinder, further includes connecting rod, fixed seat be equipped with it is fixed refer to, rotate and refer to, fixed refer to is fixed with fixed seat, and the fixed upper end inside that refers to being equipped with
Anti-skidding fixture block, anti-skidding fixture block are equipped with v-depression, and cylinder, which is fixed on to fix, refers to lower end, and rotation, which refers to, to be hinged in fixed seat, is rotated
Refer to and be equipped with auxiliary fixture block on the inside of upper end, auxiliary fixture block is equipped with anti-skid chequer, and connecting rod two end refers to rotation respectively, cylinder piston rod end
It is hinged.Existing mechanical gripper, basic similar with this simple and mechanical handgrip, cylinder is fixed on fixed refer to, and is then pushed
Rotation refers to, and since cylinder location setting is unreasonable, many inconvenience are brought for operation.
Utility model content
To solve the above problems, the utility model provides a kind of mechanical gripper.First, the laterally driven dress of the utility model
The top for being placed in mechanical gripper is installed, reduces the machine volume of mechanical gripper to a certain extent, and is the crawl of mechanical gripper
Larger operable space has been vacateed at end, facilitates the crawl of workpiece.Secondly, in the process of grasping, vision positioning dress can be selected
The central point for calculating workpiece is set, and makes fixed gripper close to workpiece centre point, work is clamped by the rotation of shearing clamping jaw
Part, more existing grabbing device can be more convenient, fast and accurately capture on the central point of workpiece, so that crawl is more
Reliably.
For the realization technical purpose, the technical solution of the utility model is：A kind of mechanical gripper, including：Stationary jaw,
Shear clamping jaw, mechanical arm；
Mutually hinged by the first connector in the middle part of the stationary jaw, shearing clamping jaw, stationary jaw is rotatablely connected to institute
State mechanical arm；
Lateral driver device is arranged in the shearing clamping jaw upper end, shears clamping jaw around the first connector for driving, and fix
Clamping jaw forms shear action.
Further, the stationary jaw is vertically arranged, and rack is fixedly installed in the upper end, and gantry rotation is connected to the machinery
Arm；The driving device is placed in rack.
Further, the rack includes side plate and top plate；Side plate is fixed on top plate and stationary jaw both sides；It is solid on the upside of top plate
Turntable is set surely, and turntable is fixed on the mechanical arm.
Further, groove is arranged in the side plate, and the top plate is set to the protrusion of groove cooperation, and side plate and top plate mutually interlock
It closes.
As a kind of preferred embodiment of the utility model, it is based on the above, unlike, it is described laterally driven
Device is to attack cylinder, attacks cylinder connection setting air cylinder connecting rod, attacks cylinder driving air cylinder connecting rod and moves left and right, setting second
Connector, second connector one end are rotatably connected on the shearing clamping jaw upper end, and the other end connects air cylinder connecting rod；
Or, the lateral driver device is motor, lead screw is arranged in motor output shaft, and lead screw sliding sleeve is socketed on lead screw, if
The second connector is set, second connector one end is rotatably connected on the shearing clamping jaw upper end, other end connection wire rod sliding sleeve.
Further, the stationary jaw, shearing clamping jaw middle part separately design the opposite curved portion protruded, the first connector two
End is rotatably connected on stationary jaw and shears the curved portion of clamping jaw respectively.
As a kind of preferred embodiment of the utility model, it is based on the above, unlike, the geometrical clamp
Cushion block is arranged in pawl, shearing clamping jaw terminus inner.
Further, the fixed gripper end is arranged square cushion block, the shearing clamping jaw end be arranged inner arc cushion block or
One kind of Triangle ID cushion block.
The beneficial effects of the utility model are：
First, the utility model lateral driver device is set to the top of mechanical gripper, reduces machinery to a certain extent
The machine volume of handgrip, and larger operable space has been vacateed for the grasping end of mechanical gripper, facilitate the crawl of workpiece.Its
Secondary, in the process of grasping, optional vision positioning device calculates the central point of workpiece, and makes fixed gripper in workpiece
Heart point clamps workpiece by the rotation of shearing clamping jaw, and more existing grabbing device can be more convenient, fast and accurately capture
On the central point of workpiece, so that crawl is more reliable.
Description of the drawings
Fig. 1 is the utility model mechanical gripper overall structure diagram；
Fig. 2 is that the mechanical gripper in the utility model Fig. 1 corresponds to main structure diagram；
Fig. 3 is that the mechanical gripper in the utility model Fig. 1 corresponds to side structure schematic view；
Fig. 4 is the structural schematic diagram of the utility model top plate；
Fig. 5 is a kind of combining structure schematic diagram of the utility model cushion block；
Fig. 6 is another combining structure schematic diagram of the utility model cushion block.
Specific implementation mode
The technical solution of the utility model will be clearly and completely described below.
A kind of mechanical gripper, as shown in Figs. 1-3, including：Stationary jaw 2 shears clamping jaw 1, mechanical arm；
The stationary jaw 2,1 middle part of shearing clamping jaw are mutually hinged by the first connector 5, and stationary jaw 2 is rotatablely connected
To the mechanical arm；
Lateral driver device is arranged in 1 upper end of shearing clamping jaw, shears clamping jaw 1 around the first connector 5 for driving, and solid
Clamp pawl 2 forms shear action.That is, two clamping jaws of the gripper of the utility model, a fixation, another use
Lateral driver device laterally urges clamping jaw, so that two clamping jaws form shear action, is captured to workpiece.It was capturing
Cheng Zhong, optional vision positioning device calculate the central point of workpiece, and make fixed gripper 2 close to workpiece centre point, rely on
The rotation of clamping jaw 1 is sheared to clamp workpiece；The mechanical gripper of the utility model, more existing grabbing device can be more convenient, soon
Speed, accurately crawl are on the central point of workpiece, so that crawl is more reliable.
Further, the stationary jaw 2 is vertically arranged, and rack is fixedly installed in the upper end, and gantry rotation is connected to the machine
Tool arm；The driving device is placed in rack.
Further, the rack includes side plate 11 and top plate 10；Side plate 11 is fixed on 2 both sides of top plate 10 and stationary jaw；
As shown in figure 4, top plate 10 is fixedly arranged at the upper side turntable 9, turntable 9 is fixed on the mechanical arm.Side plate 11 and top plate 10
In conjunction with not only facilitating the rotation connection of this handgrip and mechanical arm, while accommodating space is provided for lateral driver device.
Further, groove is arranged in the side plate 11, and the top plate is set to the protrusion of groove cooperation, side plate 11 and top plate 10
Mutually it is interlocked；Facilitate the installation of rack.
As a kind of preferred embodiment of the utility model, it is based on the above, unlike, it is described laterally driven
Device is to attack cylinder 8, attacks the connection setting air cylinder connecting rod 7 of cylinder 8, attacks cylinder driving air cylinder connecting rod 7 and moves left and right, is arranged
Second connector 6,6 one end of the second connector are rotatably connected on 1 upper end of shearing clamping jaw, and the other end connects air cylinder connecting rod 7；
Or, the lateral driver device is motor, lead screw is arranged in motor output shaft, and lead screw sliding sleeve is socketed on lead screw, if
The second connector is set, second connector one end is rotatably connected on the shearing clamping jaw upper end, other end connection wire rod sliding sleeve.It is horizontal
To setting motor or attack cylinder, directly act on the end of shearing clamping jaw 1, and the other end for shearing clamping jaw 1 is then used for
Crawl to workpiece.The position of lateral driver device is arranged, and reduces the machine volume of mechanical gripper to a certain extent, and is machine
The grasping end of tool handgrip has vacateed larger operable space, facilitates the crawl of workpiece.
Further, the stationary jaw 2,1 middle part of shearing clamping jaw separately design the opposite curved portion protruded, the first connector
5 both ends are rotatably connected on stationary jaw and shear the curved portion of clamping jaw respectively.The curved portion of two opposite protrusions, facilitates shearing
Clamping jaw 1 is relatively fixed clamping jaw 2 and more smoothly completes shear action.
As a kind of preferred embodiment of the utility model, it is based on the above, unlike, the stationary jaw
2, cushion block is arranged in shearing 1 terminus inner of clamping jaw, and cushion block is fixed on stationary jaw or shearing jaw end by bolt 12.
Further, as it can be seen in figures 5 and 6, square cushion block 4 is arranged in the fixed gripper end, the shearing clamping jaw end is set
Set one kind of inner arc cushion block 13 or Triangle ID cushion block 3.When carrying out the crawl of curve surface work pieces, preferable inner arc cushion block 13；
It, can preferred Triangle ID cushion block when carrying out the crawl of prism workpiece.Using advantage of this embodiment is that, can be according to required
The shape of grabbing workpiece is wanted, cushion block is replaced so that crawl is more secured.
For those of ordinary skill in the art, without departing from the concept of the present invention, may be used also
To make several modifications and improvements, these belong to the scope of protection of the utility model.
Claims (8)
1. a kind of mechanical gripper, which is characterized in that including：Stationary jaw shears clamping jaw, mechanical arm；
Mutually hinged by the first connector in the middle part of the stationary jaw, shearing clamping jaw, stationary jaw is rotatablely connected to the machine
Tool arm；
Lateral driver device is arranged in the shearing clamping jaw upper end, for driving shearing clamping jaw around the first connector and stationary jaw
Form shear action.
2. a kind of mechanical gripper according to claim 1, which is characterized in that the stationary jaw is vertically arranged, the upper end
Rack is fixedly installed, gantry rotation is connected to the mechanical arm；The driving device is placed in rack.
3. a kind of mechanical gripper according to claim 2, which is characterized in that the rack includes side plate and top plate；Side plate
It is fixed on top plate and stationary jaw both sides；Top plate is fixedly arranged at the upper side turntable, and turntable is fixed on the mechanical arm.
4. a kind of mechanical gripper according to claim 3, which is characterized in that groove is arranged in the side plate, and the top plate is set
It is placed in the protrusion of groove cooperation, side plate and top plate are mutually interlocked.
5. a kind of mechanical gripper according to claim 1, which is characterized in that
The lateral driver device is to attack cylinder, attacks cylinder connection setting air cylinder connecting rod, attacks cylinder driving air cylinder connecting rod
It moves left and right, the second connector is set, second connector one end is rotatably connected on the shearing clamping jaw upper end, and the other end connects gas
Cylinder rod；
Or, the lateral driver device is motor, lead screw is arranged in motor output shaft, is socketed lead screw sliding sleeve on lead screw, setting the
Two connectors, second connector one end are rotatably connected on the shearing clamping jaw upper end, other end connection wire rod sliding sleeve.
6. a kind of mechanical gripper according to claim 1, which is characterized in that part in the stationary jaw, shearing clamping jaw
Not She Ji opposite protrusion curved portion, the first connector both ends are rotatably connected on stationary jaw and shear the arc of clamping jaw respectively
Portion.
7. a kind of mechanical gripper according to claim 1, which is characterized in that in the stationary jaw, shearing clamping jaw end
Cushion block is arranged in portion.
8. a kind of mechanical gripper according to claim 7, which is characterized in that rectangular pad is arranged in the stationary jaw end
One kind of block, shearing clamping jaw end setting inner arc cushion block or Triangle ID cushion block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820365422.2U CN207953909U (en) | 2018-03-16 | 2018-03-16 | A kind of mechanical gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820365422.2U CN207953909U (en) | 2018-03-16 | 2018-03-16 | A kind of mechanical gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207953909U true CN207953909U (en) | 2018-10-12 |
Family
ID=63743950
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820365422.2U Expired - Fee Related CN207953909U (en) | 2018-03-16 | 2018-03-16 | A kind of mechanical gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207953909U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109332521A (en) * | 2018-10-30 | 2019-02-15 | 广东旭日电器设备有限公司 | A kind of plastic cement handle mounting device |
| CN110369175A (en) * | 2019-08-07 | 2019-10-25 | 北京赛育达科教有限责任公司 | A kind of robot simulation's spray equipment for real training |
| CN110919605A (en) * | 2019-11-27 | 2020-03-27 | 浙江虹腾新材料有限公司 | Clamping mechanism for carbon fiber plate |
| CN111844116A (en) * | 2020-09-24 | 2020-10-30 | 苏州嘉诺环境工程有限公司 | Sorting robot |
| CN112008754A (en) * | 2020-09-24 | 2020-12-01 | 苏州嘉诺智能装备有限公司 | Sorting robot and control method thereof |
-
2018
- 2018-03-16 CN CN201820365422.2U patent/CN207953909U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109332521A (en) * | 2018-10-30 | 2019-02-15 | 广东旭日电器设备有限公司 | A kind of plastic cement handle mounting device |
| CN109332521B (en) * | 2018-10-30 | 2024-04-02 | 广东旭日电器设备有限公司 | Plastic handle installation device |
| CN110369175A (en) * | 2019-08-07 | 2019-10-25 | 北京赛育达科教有限责任公司 | A kind of robot simulation's spray equipment for real training |
| CN110919605A (en) * | 2019-11-27 | 2020-03-27 | 浙江虹腾新材料有限公司 | Clamping mechanism for carbon fiber plate |
| CN111844116A (en) * | 2020-09-24 | 2020-10-30 | 苏州嘉诺环境工程有限公司 | Sorting robot |
| CN112008754A (en) * | 2020-09-24 | 2020-12-01 | 苏州嘉诺智能装备有限公司 | Sorting robot and control method thereof |
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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 |
Granted publication date: 20181012 Termination date: 20210316 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |