CN208051954U - Paw and manipulator with the paw - Google Patents
Paw and manipulator with the paw Download PDFInfo
- Publication number
- CN208051954U CN208051954U CN201820088411.4U CN201820088411U CN208051954U CN 208051954 U CN208051954 U CN 208051954U CN 201820088411 U CN201820088411 U CN 201820088411U CN 208051954 U CN208051954 U CN 208051954U
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- CN
- China
- Prior art keywords
- pressure holding
- actuator
- holding piece
- paw
- shaped shrapnel
- 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.)
- Expired - Fee Related
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- 238000012544 monitoring process Methods 0.000 claims description 12
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model proposes a kind of paws, at least two tucks for workpiece to be hung on to U-shaped shrapnel, paw includes holder, press mechanism and transfer mechanism, holder is for being installed in a mechanical arm, holder includes the fixed plate being connected and mounting plate, it includes connecting plate to press mechanism, first pressure holding piece, first actuator and the second pressure holding piece, connecting plate is set on mounting plate, first pressure holding piece is set on connecting plate, first actuator is set on the first pressure holding piece, first actuator drives the second pressure holding piece to be moved to the first pressure holding piece to compress U-shaped shrapnel, transfer mechanism is set in fixed plate, transfer mechanism grabbing workpiece and can be placed on compressed U-shaped shrapnel.Above-mentioned paw compresses U-shaped shrapnel by pressing mechanism, and then transfer mechanism carries out upper extension to workpiece, to will be fast and accurately hung in hanging branch on workpiece, improves work efficiency.The utility model also proposes a kind of manipulator with above-mentioned paw.
Description
Technical field
The utility model is related to a kind of feeding device more particularly to a kind of paw and with the manipulator of the paw.
Background technology
In industrial production, it is often necessary to carry out hanging branch operation up and down to workpiece, be provided with shrapnel in some hanging branches, need elder generation
Compression shrapnel could carry out hanging branch, and producing line is artificial hanging branch up and down at present, and operating personnel need the operation simultaneously of two hands, single to grasp
It is complicated to make personnel's operational motion, labor intensity is big, and workpiece easily occurs touching scratch during upper hanging branch.
Utility model content
In view of above-mentioned condition, it is necessary to provide a kind of convenient for workpiece is hung on paw on hanging branch shrapnel and there is the paw
Manipulator.
A kind of paw, at least two tucks for workpiece to be hung on to U-shaped shrapnel, the paw include holder, pressure holding
Mechanism and transfer mechanism, for the holder for being installed in a mechanical arm, the holder includes the fixed plate being connected and installation
Plate, the pressure holding mechanism include connecting plate, the first pressure holding piece, the first actuator and the second pressure holding piece, and the connecting plate is set to institute
It states on mounting plate, first pressure holding piece is set on the connecting plate and it extends to the fixed plate direction, and described first
Actuator is set on first pressure holding piece and it drives end to be connected with second pressure holding piece, the first actuator driving
Second pressure holding piece moves to first pressure holding piece and is positioned over first pressure holding piece and second pressure holding piece to compress
Between the U-shaped shrapnel, the transfer mechanism is set in the fixed plate, and the transfer mechanism can capture the workpiece
And it is placed on the compressed U-shaped shrapnel.
Further, sliding rail is additionally provided on the mounting plate, the pressure holding mechanism further includes being set to the mounting plate
On the second actuator, the connecting plate is set on the driving end of second actuator and slides on the sliding rail,
Second actuator can drive the connecting plate to be slided along the sliding rail to make coupled first pressure holding piece
And second pressure holding piece is closer or far from the fixed plate.
Further, the transfer mechanism includes third actuator, fourth drive member and grippers, the third actuator
It is set in the fixed plate and it drives end to be connected with the fourth drive member, the third actuator driving direction is parallel to
The driving end of the driving direction of first actuator, the fourth drive member is connected with the grippers, the 4th driving
The driving direction of part is parallel to the driving direction of second actuator to drive the grippers closer or far from the U-shaped bullet
Piece, the grippers are towards the U-shaped shrapnel to capture or discharge the workpiece.
Further, the grippers are sucker.
Further, the pressure holding mechanism further includes multiple power control sensors, and multiple power control sensors are respectively set
In first pressure holding piece and second pressure holding piece towards on the side wall of the U-shaped shrapnel.
Further, the paw further includes mechanism for monitoring, the mechanism for monitoring be set in the fixed plate for pair
The position of the workpiece, the U-shaped shrapnel and the tuck is measured.
Further, the mechanism for monitoring is laser triangulation micrometer.
A kind of manipulator, at least two tucks for workpiece to be hung on to U-shaped shrapnel, including mechanical arm and set on described
Paw on mechanical arm, the paw include that holder, pressure holding mechanism and transfer mechanism, the holder include the fixed plate being connected
And mounting plate, the fixed plate are installed on the mechanical arm, the pressure holding mechanism includes connecting plate, the first pressure holding piece, first
Actuator and the second pressure holding piece, the connecting plate are set on the mounting plate, and first pressure holding piece is set to the connecting plate
Above and it extends to the fixed plate direction, and first actuator is set on first pressure holding piece and it drives end and institute
It states the second pressure holding piece to be connected, first actuator drives second pressure holding piece to move to first pressure holding piece and puts to compress
The U-shaped shrapnel being placed between first pressure holding piece and second pressure holding piece, the transfer mechanism is set to described solid
On fixed board, the transfer mechanism can capture the workpiece and be placed on the compressed U-shaped shrapnel.
Further, sliding rail is additionally provided on the mounting plate, the pressure holding mechanism further includes being set to the mounting plate
On the second actuator, the connecting plate is set on the driving end of second actuator and slides on the sliding rail,
Second actuator can drive the connecting plate to be slided along the sliding rail to make coupled first pressure holding piece
And second pressure holding piece is closer or far from the fixed plate.
Further, the transfer mechanism includes third actuator, fourth drive member and grippers, the third actuator
It is set in the fixed plate and it drives end to be connected with the fourth drive member, the third actuator driving direction is parallel to
The driving end of the driving direction of first actuator, the fourth drive member is connected with the grippers, the 4th driving
The driving direction of part is parallel to the driving direction of second actuator to drive the grippers closer or far from the U-shaped bullet
Piece, the grippers are towards the U-shaped shrapnel to capture or discharge the workpiece.
Transfer is arranged in the fixed plate of paw by the way that pressure holding mechanism is arranged on the mounting plate of paw in above-mentioned manipulator
Mechanism compresses U-shaped shrapnel by pressing mechanism, and then transfer mechanism carries out upper extension to workpiece, to fast and accurately
It will be hung in hanging branch, improve work efficiency on workpiece.
Description of the drawings
Fig. 1 is the stereoscopic schematic diagram of manipulator in one embodiment of the utility model.
Fig. 2 is the stereoscopic schematic diagram of paw shown in Fig. 1.
Fig. 3 is the decomposed stereoscopic schematic diagram of paw shown in Fig. 2.
Main element symbol description
| Paw | 100 |
| Holder | 10 |
| Fixed plate | 11 |
| Mounting plate | 12 |
| Sliding rail | 121 |
| Press mechanism | 20 |
| Connecting plate | 21 |
| First pressure holding piece | 22 |
| First actuator | 23 |
| Second pressure holding piece | 24 |
| Second actuator | 25 |
| Power control sensor | 26 |
| Transfer mechanism | 30 |
| Third actuator | 31 |
| Fourth drive member | 32 |
| Grippers | 33 |
| Workpiece | 200 |
| U-shaped shrapnel | 300 |
| Tuck | 301 |
| Mechanical arm | 400 |
Following specific implementation mode will further illustrate the utility model in conjunction with above-mentioned attached drawing.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
It clearly and completely describes, it is clear that described embodiment is only the utility model a part of the embodiment, rather than whole realities
Apply example.Based on the embodiments of the present invention, those of ordinary skill in the art institute without making creative work
The all other embodiment obtained, shall fall within the protection scope of the present invention.
It should be noted that when an element is considered as " connection " another element, it can make to be directly connected to another
One element may be simultaneously present the element being centrally located.When an element is considered as " setting exists " another element,
It can make to be set up directly on another element or may be simultaneously present the element being centrally located.
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with the technology for belonging to the utility model
The normally understood meaning of technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term " and or " used herein includes
Any and all combinations of one or more relevant Listed Items.
Please refer to Fig. 1 to Fig. 3, the utility model provides a kind of paw 100 and the manipulator with the paw 100.
The manipulator includes mechanical arm 400 and the paw 100 on mechanical arm 400.Paw 100 can be in the driving of mechanical arm 400
It is lower that workpiece 200 is hung on the U-shaped shrapnel 300 on hanging branch (not shown).As shown in figure 3, being provided at least on U-shaped shrapnel 300
Two tucks 301.At least two tucks 301 can support two opposite inner walls of workpiece 200 so that workpiece 200 is fixed on U-shaped bullet
On piece 300.Paw 100 includes holder 10, pressure holding mechanism 20 and transfer mechanism 30.Holder 10 is set on mechanical arm 400.Pressure holding
Mechanism 20 is set on holder 10.Pressure holding mechanism 20 is for compressing U-shaped shrapnel 300.Transfer mechanism 30 is set on holder 10.It moves
Mounted mechanism 30 is for grabbing workpiece 200 and is placed on U-shaped shrapnel 300.
Holder 10 includes the fixed plate 11 being connected and mounting plate 12.Fixed plate 11 is a U-board.Transfer mechanism 30 is arranged
In the U-shaped groove of fixed plate 11.Mounting plate 12 is a L shaped plate.12 one end of mounting plate is connected in fixed plate 11, the other end to
Direction far from fixed plate 11 extends.Pressure holding mechanism 20 is set on mounting plate 12.
It includes connecting plate 21, the first pressure holding piece 22, the first actuator 23 and the second pressure holding piece 24 to press mechanism 20.Connecting plate
21 are set on the one end of mounting plate 12 far from fixed plate 11.First pressure holding piece 22 is set on connecting plate 21 and it is to fixed plate 11
Direction extends.First actuator 23 is set on the first pressure holding piece 22 and it drives end to be connected with the second pressure holding piece 24.First drives
Moving part 23 can drive the second pressure holding piece 24 closer or far from the second actuator 25.First pressure holding piece 22 and 24 phase of the second pressure holding piece
Mutually cooperation is to compress the U-shaped shrapnel 300 being positioned between the first pressure holding piece 22 and the second pressure holding piece 24.It is described in the present embodiment
First actuator 23 is electric cylinders, it will be understood that in other embodiments, first actuator 23 can be other actuators,
Such as motor, cylinder, oil cylinder etc. is without being limited thereto.
In the present embodiment, pressure holding mechanism 20 further includes the second actuator 25.Sliding rail 121 is additionally provided on mounting plate 12.Even
The sliding of fishplate bar 21 is set on sliding rail 121.Second actuator 25 is set on mounting plate 12 and it drives end to connect the connecting plate 21.
Second actuator 25 can be drivingly connected plate 21 and move that the first coupled pressure holding piece 22 and second is made to press along sliding rail 121
Gripping member 24 is closer or far from fixed plate 11.In the present embodiment, second actuator 25 is electric cylinders, it will be understood that in other realities
It applies in example, second actuator 25 can be other actuators, and such as motor, cylinder, oil cylinder etc. is without being limited thereto.
As shown in figure 3, in the present embodiment, pressure holding mechanism 20 further includes power control sensor 26.Power control sensor 26 is set to
First pressure holding piece 22 and the second pressure holding piece 24 are towards on the side wall of U-shaped shrapnel 300.First actuator 23 drives the second pressure holding piece 24
When being moved to the first pressure holding piece 22, the U-shaped shrapnel 300 among the first pressure holding piece 22 and the second pressure holding piece 24 is compressed, power
Control sensor 26 can sense the power being applied on U-shaped shrapnel 300, when power control sensor 26 senses that force value reaches preset power
When value, 23 stopping of the first actuator action, workpiece 200 can be put on U-shaped shrapnel 300 by transfer mechanism 30 at this time.It is appreciated that
In other embodiments, the power control sensor 26 can be omitted, if first actuator 23 set driving distance with
Corresponding compression U-shaped shrapnel 300.
Transfer mechanism 30 includes third actuator 31, fourth drive member 32 and grippers 33.Third actuator 31 is set to
In fixed plate 11 and it drives end to be connected with fourth drive member 32.The driving direction of third actuator 31 is parallel to the first actuator
23 driving direction.The driving end of fourth drive member 32 is connected across fixed plate 11 with grippers 33.The drive of fourth drive member 32
The dynamic driving direction for being oriented parallel to the second actuator 25.Grippers 33 are used for grabbing workpiece 200.When U-shaped shrapnel 300 is compressed
When, third actuator 31 drives fourth drive member 32 to 300 top of U-shaped shrapnel, and the driving of fourth drive member 32 is crawled part 33 and grabs
The workpiece 200 taken is close to U-shaped shrapnel 300.In the present embodiment, the third actuator 31 and fourth drive member 32 are cylinder, can
To understand, in other embodiments, the third actuator 31 and fourth drive member 32 can be other actuators, such as motor,
Electric cylinders, oil cylinder etc. are without being limited thereto.
In the present embodiment, the grippers 33 are 3 suckers.It is appreciated that in other embodiments, the grippers 33
Can be other elements, such as clamping jaw is without being limited thereto.
In the present embodiment, paw 100 further includes mechanism for monitoring 40.Mechanism for monitoring 40 is set on holder 10 and end of probe court
U-shaped shrapnel 300 in hanging branch.In the present embodiment, the mechanism for monitoring 40 is laser triangulation micrometer, is surveyed by laser triangulation
The laser of micro- instrument transmitting, which is realized, carries out the three-dimensional space position of tuck 301 on workpiece 200, U-shaped shrapnel 300 and U-shaped shrapnel 300
It is accurate to measure.It is appreciated that in other embodiments, the mechanism for monitoring 40 can be other mechanism for monitoring, such as CCD camera lenses
Deng as long as the measurement to 301 position of tuck on workpiece 200, U-shaped shrapnel 300 and U-shaped shrapnel 300 can be realized.
When upper hanging branch, first passes through grippers 33 and capture a workpiece 200, under the positioning of mechanism for monitoring 40, mechanical arm 400
Paw 100 is moved to by U-shaped shrapnel 300.Second actuator 25 drives the first pressure holding piece 22 and the movement of the first actuator 23 to make U
Shape shrapnel 300 is located among the first pressure holding piece 22 and the second pressure holding piece 24.First actuator 23 drives the second pressure holding piece 24 to the
One pressure holding piece 22 is moved to compress U-shaped shrapnel 300.Third actuator 31 drives fourth drive member 32 to compressed U-shaped shrapnel
300 tops, fourth drive member 32 drive the workpiece 200 for being crawled the crawl of part 33 close to U-shaped shrapnel 300.First actuator 23 is put
For pine so that workpiece 200 is fixed in the rebound of U-shaped shrapnel 300, driving fourth drive member 32 makes grippers 33 will far from U-shaped shrapnel 300
Workpiece 200 is detached with grippers 33, is hung in completion.
Pressure holding mechanism 20 and transfer mechanism 30 is arranged in above-mentioned paw 100 over the mount 10, by pressing mechanism 20 to U-shaped bullet
Piece 300 is compressed, and then transfer mechanism 30 carries out upper extension to workpiece 200, to will be fast and accurately hung on workpiece 200
On branch, improve work efficiency.
In addition, those skilled in the art can also do other variations within the spirit of the present invention, certainly, these are according to this reality
The variation made of novel spirit should all be included in the utility model range claimed.
Claims (10)
1. a kind of paw, at least two tucks for workpiece to be hung on to U-shaped shrapnel, it is characterised in that：The paw includes
Holder, pressure holding mechanism and transfer mechanism, for the holder for being installed in a mechanical arm, the holder includes the fixation being connected
Plate and mounting plate, the pressure holding mechanism include connecting plate, the first pressure holding piece, the first actuator and the second pressure holding piece, the connection
Plate is set on the mounting plate, and first pressure holding piece is set on the connecting plate and it extends to the fixed plate direction,
First actuator is set on first pressure holding piece and it drives end to be connected with second pressure holding piece, and described first drives
Moving part drives second pressure holding piece to be moved to first pressure holding piece and is positioned over first pressure holding piece and described the to compress
The U-shaped shrapnel between two pressure holding pieces, the transfer mechanism are set in the fixed plate, and the transfer mechanism can capture
The workpiece is simultaneously placed on the compressed U-shaped shrapnel.
2. paw as described in claim 1, it is characterised in that：Sliding rail, the pressure holding mechanism are additionally provided on the mounting plate
Further include the second actuator being set on the mounting plate, the connecting plate is set on the driving end of second actuator
And sliding be set to the sliding rail on, second actuator can drive the connecting plate along the sliding rail slide to make and its
Connected first pressure holding piece and second pressure holding piece are closer or far from the fixed plate.
3. paw as claimed in claim 2, it is characterised in that：The transfer mechanism includes third actuator, fourth drive member
And grippers, the third actuator is set in the fixed plate and it drives end to be connected with the fourth drive member, described
Third actuator driving direction is parallel to the driving direction of first actuator, the driving end of the fourth drive member with it is described
Grippers are connected, and the driving direction of the fourth drive member is parallel to the driving direction of second actuator to drive described grab
Pickup is closer or far from the U-shaped shrapnel, and the grippers are towards the U-shaped shrapnel to capture or discharge the workpiece.
4. paw as claimed in claim 3, it is characterised in that：The grippers are sucker.
5. paw as described in claim 1, it is characterised in that：The pressure holding mechanism further includes multiple power control sensors, multiple
The power control sensor is respectively arranged at the side wall of first pressure holding piece and second pressure holding piece towards the U-shaped shrapnel
On.
6. paw as described in claim 1, it is characterised in that：The paw further includes mechanism for monitoring, and the mechanism for monitoring is set
It is placed in the fixed plate for being measured to the position of the workpiece, the U-shaped shrapnel and the tuck.
7. paw as claimed in claim 6, it is characterised in that：The mechanism for monitoring is laser triangulation micrometer.
8. a kind of manipulator, at least two tucks for workpiece to be hung on to U-shaped shrapnel, the manipulator include mechanical arm and
Paw on the mechanical arm, it is characterised in that：The paw includes holder, pressure holding mechanism and transfer mechanism, the branch
Frame includes the fixed plate being connected and mounting plate, and the fixed plate is installed on the mechanical arm, and the pressure holding mechanism includes connecting
Fishplate bar, the first pressure holding piece, the first actuator and the second pressure holding piece, the connecting plate are set on the mounting plate, first pressure
Gripping member is set on the connecting plate and it extends to the fixed plate direction, and first actuator is set to first pressure
In gripping member and it drives end to be connected with second pressure holding piece, and first actuator driving, second pressure holding piece is to described the
One pressure holding piece is moved to compress the U-shaped shrapnel being positioned between first pressure holding piece and second pressure holding piece, described
Transfer mechanism is set in the fixed plate, and the transfer mechanism can capture the workpiece and be placed on compressed institute
It states on U-shaped shrapnel.
9. manipulator as claimed in claim 8, it is characterised in that：Sliding rail, the pressure holding machine are additionally provided on the mounting plate
Structure further includes the second actuator being set on the mounting plate, and the connecting plate is set to the driving end of second actuator
Upper and sliding is set on the sliding rail, second actuator can drive the connecting plate along the sliding rail slide to make with
Its connected first pressure holding piece and second pressure holding piece are closer or far from the fixed plate.
10. manipulator as claimed in claim 9, it is characterised in that：The transfer mechanism includes third actuator, the 4th driving
Part and grippers, the third actuator is set in the fixed plate and it drives end to be connected with the fourth drive member, institute
State the driving direction that third actuator driving direction is parallel to first actuator, the driving end of the fourth drive member and institute
It states grippers to be connected, it is described to drive that the driving direction of the fourth drive member is parallel to the driving direction of second actuator
Grippers are closer or far from the U-shaped shrapnel, and the grippers are towards the U-shaped shrapnel to capture or discharge the workpiece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820088411.4U CN208051954U (en) | 2018-01-18 | 2018-01-18 | Paw and manipulator with the paw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820088411.4U CN208051954U (en) | 2018-01-18 | 2018-01-18 | Paw and manipulator with the paw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208051954U true CN208051954U (en) | 2018-11-06 |
Family
ID=63996017
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820088411.4U Expired - Fee Related CN208051954U (en) | 2018-01-18 | 2018-01-18 | Paw and manipulator with the paw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208051954U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531401A (en) * | 2019-01-21 | 2019-03-29 | 北京奇步自动化控制设备有限公司 | A kind of robot grinding mechanism |
-
2018
- 2018-01-18 CN CN201820088411.4U patent/CN208051954U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531401A (en) * | 2019-01-21 | 2019-03-29 | 北京奇步自动化控制设备有限公司 | A kind of robot grinding mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 450016 standard workshop No.7, Henan Zhengzhou export processing zone, 9th Street, Zhengzhou Economic Development Zone, Henan Province Patentee after: Fulian Precision Electronics (Zhengzhou) Co.,Ltd. Address before: 450016 standard workshop No.7, Henan Zhengzhou export processing zone, 9th Street, Zhengzhou Economic Development Zone, Henan Province Patentee before: Futaihua precision electronics (Zhengzhou) Co.,Ltd. |
|
| 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: 20181106 |