CN209125855U - A kind of robotic gripping device and robot - Google Patents
A kind of robotic gripping device and robot Download PDFInfo
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- CN209125855U CN209125855U CN201821695156.6U CN201821695156U CN209125855U CN 209125855 U CN209125855 U CN 209125855U CN 201821695156 U CN201821695156 U CN 201821695156U CN 209125855 U CN209125855 U CN 209125855U
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- locating piece
- cylinder
- gripping device
- robotic gripping
- gripper
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Abstract
The utility model proposes a kind of robotic gripping device and with the robot of the robotic gripping device, robotic gripping device is connected on robot arm, robotic gripping device includes: grippers and cylinder, cylinder at least has two movable fingers, the plunger motion of cylinder drives finger to change spacing, and grippers include gripper, and gripper is fixedly connected on the finger, and gripper and finger correspond, gripper the drive of finger lower internode away from；Locating piece, locating piece are fixed on cylinder, and locating piece is between gripper, and the opposite with cylinder of locating piece is provided with adsorbent equipment on one side, and adsorbent equipment is embedded in locating piece and there are gaps with the surface of locating piece.The utility model allows guide rail bar that position deviation is located before crawl, and grippers are jointly adjusted guide rail bar with locating piece when grabbing guide rail bar, and guide rail bar can be recalled to preset mounting position, realizes accurate installation, guarantees the installation quality of electric cabinet.
Description
Technical field
The utility model relates to machinery equipment field, in particular to a kind of robotic gripping device and robot.
Background technique
In the installation of electric cabinet, electric elements need to be stuck in guide rail bar, to avoid making to be screwed electric appliance member
Part, therefore, guide rail bar play important fixed function to the electric elements of electric cabinet.In the prior art, the shaping of guide rail bar
Be located in the crawl of guide rail bar before complete, or before crawl first by workpiece be transformed into another location positioning shaping, then again
Crawl installment work is carried out, and guide rail bar mounting robot is all point-to-point operation, when position of the guide rail bar before crawl occurs
When variation, both modes can not be all adjusted workpiece, directly influence the installation of guide rail bar, it is necessary to improve.
Utility model content
The main purpose of the utility model is to provide a kind of robotic gripping device, it is intended to solve guide rail in the prior art
Grabbing device, which can not align, is equipped with the problem of guide rail bar of variation is adjusted.
To achieve the above object, the utility model proposes a kind of robotic gripping device, the robotic gripping device connects
It is connected on robot arm, the robotic gripping device includes: grippers and cylinder, and the cylinder at least has movable
The plunger motion of two fingers, the cylinder drives the finger to change spacing, and the grippers include gripper, and the gripper is fixed
It is connected on the finger, and the gripper and the finger correspond, the gripper is adjusted under the drive of the finger
Spacing；Locating piece, the locating piece are fixed on the cylinder, and the locating piece is between the gripper, the positioning
The opposite with the cylinder of part is provided with adsorbent equipment on one side, the adsorbent equipment be embedded in the locating piece and with it is described fixed
There are gaps on the surface of position part.
Preferably, offer locating slot on the gripper, the locating slot be located at the gripper towards the locating piece
Side, and the locating slot be located at the gripper far from the cylinder one end.
Preferably, the opposite with the cylinder of the locating piece offers mounting hole on one side, and the adsorbent equipment is placed in
In the mounting hole, and the adsorbent equipment is completely embedded into and is grabbed in the mounting hole and with the robotic gripping device
There are gaps for workpiece.
Preferably, the locating piece includes multiple mounting holes, and the multiple mounting hole is alternatively arranged in the positioning
The one side opposite with the cylinder of part.
Preferably, the robotic gripping device further includes support bar, and the support bar is fixed on the cylinder, and institute
The support bar one side opposite with the cylinder is stated to be fixedly connected with the locating piece.
Preferably, the robotic gripping device further includes fixed block, and the fixed block is fixed on the cylinder；It is described
Support bar includes the parallel portion parallel with the locating piece and the vertical component effect vertical with the locating piece；The parallel portion is located at institute
It states between cylinder and the locating piece, the vertical component effect is parallel with the cylinder, one end of the vertical component effect and the parallel portion
It is fixedly connected, the other end is fixedly connected with the fixed block.
Preferably, the robotic gripping device further includes pedestal, the pedestal be fixed on the cylinder and with it is described
Vertical component effect is vertical.
Preferably, the position that the pedestal corresponds to the vertical component effect offers through-hole.
The utility model also proposes that a kind of robot, the robot include the crawl of robot described in above-mentioned any one
Device.
Technical solutions of the utility model by installing cylinder on the arm of robot, and on cylinder install grippers and
Locating piece drives grippers to change spacing to grab guide rail bar, due to being provided in locating piece to adjust guide rail by cylinder
The adsorbent equipment of item, grippers are jointly adjusted guide rail bar with locating piece when grabbing guide rail bar, guide rail bar are adjusted to
Therefore preset mounting position even if certain position deviation is located before crawl in guide rail bar, still can be realized accurate
Installation, ensure that the installation quality of electric cabinet.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, the structure that can also be shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the structural schematic diagram of an embodiment of the utility model robotic gripping device；
Fig. 2 is the positive structure schematic of the utility model robotic gripping device；
Fig. 3 is the overlooking structure diagram of the utility model robotic gripping device；
Fig. 4 is the left view structural representation of the utility model robotic gripping device.
Drawing reference numeral explanation:
| Label | Title | Label | Title |
| 10 | Grippers | 31 | Finger |
| 11 | Gripper | 40 | Support bar |
| 12 | Locating slot | 41 | Parallel portion |
| 20 | Locating piece | 42 | Vertical component effect |
| 21 | Mounting hole | 50 | Fixed block |
| 30 | Cylinder | 60 | Pedestal |
The embodiments will be further described with reference to the accompanying drawings for the realization, functional characteristics and advantage of the utility model aim.
Specific embodiment
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
Clearly and completely describing, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than all
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, fall within the protection scope of the utility model.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute in the utility model embodiment
It is only used for explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, such as
When the fruit particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In addition, the description for being related to " first ", " second " etc. in the present invention is used for description purposes only, and cannot understand
For its relative importance of indication or suggestion or implicitly indicate the quantity of indicated technical characteristic.Define as a result, " first ",
The feature of " second " can explicitly or implicitly include at least one of the features.In addition, the technical side between each embodiment
Case can be combined with each other, but must be based on can be realized by those of ordinary skill in the art, when the combination of technical solution
Conflicting or cannot achieve when occur will be understood that the combination of this technical solution is not present, also not in the requires of the utility model
Protection scope within.
Please with reference to Fig. 1-4, the utility model proposes a kind of robotic gripping device, the robotic gripping device
It is connected on robot arm, the robotic gripping device includes: grippers 10 and cylinder 30, and the cylinder 30 at least has
Plunger (not indicating in the figure) movement of two movable fingers 31, the cylinder 30 drives the finger 31 to change spacing, described
Grippers 10 include gripper 11, and the gripper 11 is fixedly connected on the finger 31, and the gripper 11 and the finger 31
Correspond, the gripper 11 the finger 31 drive lower internode away from；Locating piece 20, the locating piece 20 are fixed on institute
State on cylinder 30, and the locating piece 20 is between the gripper 11, the locating piece 20 it is opposite with the cylinder 30
Be provided on one side adsorbent equipment (not indicated in figure), the adsorbent equipment be embedded in the locating piece 20 and with the locating piece 20
There are gaps on surface.
As shown in Figure 1, in the present embodiment, the robotic gripping device is when grabbing guide rail bar, in locating piece 20
Guide rail bar is firmly adsorbed on locating piece 20 by adsorbent equipment, and grippers 10 are closed up in the two sides of guide rail bar, is realized guide rail bar
It is adjusted to preset mounting position.Therefore, even if position or posture of the guide rail bar before crawl are inaccurate, the present embodiment provides
Robotic gripping device guide rail bar can also be adjusted, guide rail bar is adjusted to preset mounting position, to adapt to robot
Point-to-point operation, guarantee the installation accuracy of guide rail bar.Wherein the adsorbent equipment in locating piece 20 can be for magnetic object
Matter, e.g., magnet；Since the installation of guide rail bar needs the welding that is powered, adsorbent equipment is contacted with guide rail bar in order to prevent, and electric current is passed
Being directed at robot (heavy current when the unbearable guide rail bar that works of robot is welded) influences the working performance of robot, absorption
Device is embedded in the inside of locating piece 20, when robotic gripping device grabs guide rail bar, there are gap between adsorbent equipment and workpiece,
To guarantee that adsorbent equipment and guide rail bar are not turned on electric current.
In the preferred embodiment, the quantity of the gripper 11 is two, and locating piece 20 is between two grippers 11, described two
Gripper 11 is arranged in parallel, and the cylinder 30 is 31 type cylinder 30 of finger, can with plunger with two in 31 type cylinder 30 of finger
The free end of the connecting rod of rotation connection, two connecting rod is respectively fixed with finger 31, when plunger is movable under the variation of air pressure,
Plunger pushes two connecting rod foldings, and the angle that two connecting rods are formed changes, so that the spacing variation of two fingers 31 is driven, with reality
Existing two grippers 11 grab guide rail bar.
Therefore, it even if certain position deviation is located before crawl in guide rail bar, still can be realized accurate installation, protect
The installation quality of electric cabinet is demonstrate,proved.
Further, offer locating slot 12 on the gripper 11, the locating slot 12 be located at the gripper 11 towards
The side of the locating piece 20, and the locating slot 12 is located at one end far from the cylinder 30 of the gripper 11.
In the present embodiment, locating slot 12 is parallel to each other, and is arranged in mirror symmetry, and robotic gripping device grabs guide rail bar
When, the side of guide rail bar is embedded in the locating slot 12, and after grippers 10 hold guide rail bar, guide rail bar and locating slot 12 are mutually pasted
It closes, so that the stance adjustment to guide rail bar is realized, to guarantee the installation accuracy of guide rail bar.
Specifically, the opposite with the cylinder 30 of the locating piece 20 offers mounting hole 21, the absorption dress on one side
It is placed in the mounting hole 21, and the adsorbent equipment is completely embedded into the mounting hole 21 and grabs with the robot and fills
Setting grabbed workpiece, there are gaps.
Adsorbent equipment is contacted with guide rail bar in order to prevent, and conducting electrical currents to robot, (work of robot is unbearable
Guide rail bar weld when heavy current) influence robot working performance, adsorbent equipment be embedded in mounting hole 21 inside, and with positioning
The surface of part 20 is there are a certain distance, when robotic gripping device grabs guide rail bar, between adsorbent equipment and workpiece there are
Gap, to guarantee that adsorbent equipment and guide rail bar are not turned on electric current.
It should be understood that installation of the adsorbent equipment in locating piece 20 is not limited in opening up the form of mounting hole 21, such as
In the form of fluting, then adsorbent equipment is installed in slot, and retains certain spacing with the surface of locating piece 20, alternatively,
Adsorbent equipment is set to the surface of locating piece 20, then insulator is arranged on adsorbent equipment, to prevent adsorbent equipment and guide rail bar
It is powered.
Further, the locating piece 20 include multiple mounting holes 21, the multiple mounting hole 21 be alternatively arranged in
The one side opposite with the cylinder 30 of the locating piece 20.
In order to reinforce adsorption effect, multiple mounting holes 21 are opened up on locating piece 20, mounting hole 21 is uniform, is spaced apart in fixed
On the part 20 of position, allows locating piece 20 securely to adsorb guide rail bar and be attached at the surface of locating piece 20, so that two grippers 11
Always guide rail bar can be grabbed, adjustment of the robotic gripping device to guide rail bar is conducive to.
Further, the robotic gripping device further includes support bar 40, and the support bar 40 is fixed on the cylinder
On 30, and the one side opposite with the cylinder 30 of the support bar 40 is fixedly connected with the locating piece 20.
In the present embodiment, it is connected between locating piece 20 and cylinder 30 by support bar 40, bears to fix by support bar 40
The overall weight of part, and keep locating piece 20 firm enough, so that locating piece 20 can be realized the adjustment of the positioning to guide rail bar.
Specifically, the robotic gripping device further includes fixed block 50, the fixed block 50 is fixed on the cylinder 30
On；The support bar 40 includes the parallel portion 41 parallel with the locating piece 20 and the vertical component effect vertical with the locating piece 20
42；For the parallel portion 41 between the cylinder 30 and the locating piece 20, the vertical component effect 42 is parallel with the cylinder 30,
One end of the vertical component effect 42 is fixedly connected with the parallel portion 41, and the other end is fixedly connected with the fixed block 50.
In order to further strengthen the stability of locating piece 20, support bar 40 is arranged in T-shape, as shown in figure 4, having and determining
The position parallel parallel portion 41 of part 20 and the vertical component effect 42 vertical with locating piece 20, wherein parallel portion 41 is located at cylinder 30 and locating piece
Between 20, and it is fixed on cylinder 30, and vertical component effect 42 is connect with the fixed block 50 being fixed on 30 side wall of cylinder, so that positioning
Part 20 is not supported by the part that cylinder 30 is accepted, and guarantees the overall stability of locating piece 20.Wherein, corresponding on vertical component effect 42
Through-hole (not indicating in figure) is offered in the position of fixed block 50, adjustment when in order to robotic gripping device installation.
Further, the robotic gripping device further includes pedestal 60, and the pedestal 60 is fixed on the cylinder 30
And it is vertical with the vertical component effect 42；The position that the pedestal 60 corresponds to the vertical component effect 42 offers through-hole.
The guide rail bar of different size needs the locating piece 20 of different size, and pedestal 60 is fixed on cylinder 30 and cannot move
Dynamic, therefore, in order to adapt to the installation of locating piece 20, there are through-holes on pedestal 60, and vertical component effect 42 can penetrate in through-hole；Example
Such as, compared with the guide rail bar of crawl small size, when robotic gripping device grabs large-sized guide rail bar, locating slot 12 and fixed
Position part 20 the surface vertical range with mounting hole 21 it is bigger, if there is no through-hole on pedestal 60, will lead to vertical component effect 42 and
Pedestal 60 contradicts, and is unable to satisfy the vertical range.Wherein, entirety when pedestal 60 is installed for robotic gripping device is fixed
Position.
The utility model also proposes a kind of robot (not indicating in figure), which includes aforementioned machines people's grabbing device
And mechanical arm, robotic gripping device are fixedly connected or are removably connected on mechanical arm, since robot is using above-mentioned
Whole technical solutions of all embodiments, thus it is at least all beneficial to effect brought by the technical solution with above-described embodiment
Fruit, this is no longer going to repeat them.
The above is only the preferred embodiment of the present invention, and therefore it does not limit the scope of the patent of the utility model,
It is all under the design of the utility model, equivalent structure transformation made based on the specification and figures of the utility model, or
Directly/be used in other related technical areas indirectly and be included in the scope of patent protection of the utility model.
Claims (10)
1. a kind of robotic gripping device, which is characterized in that the robotic gripping device is connected on robot arm, described
Robotic gripping device includes:
Grippers and cylinder, the cylinder at least have two movable fingers, and the plunger motion of the cylinder drives the hand
Refer to and change spacing, the grippers include gripper, and the gripper is fixedly connected on the finger, and the gripper and the hand
Refer to correspond, the gripper the finger drive lower internode away from；
Locating piece, the locating piece are fixed on the cylinder, and the locating piece is between the gripper, the locating piece
It is opposite with the cylinder be provided with adsorbent equipment on one side, the adsorbent equipment be embedded in the locating piece and with the positioning
There are gaps on the surface of part.
2. robotic gripping device according to claim 1, which is characterized in that offer locating slot, institute on the gripper
The side towards the locating piece that locating slot is located at the gripper is stated, and the locating slot is located at the separate described of the gripper
One end of cylinder.
3. robotic gripping device according to claim 1, which is characterized in that the locating piece it is opposite with the cylinder
Offer mounting hole on one side, the adsorbent equipment is placed in the mounting hole, and the adsorbent equipment is completely embedded into the peace
There are gaps for the workpiece grabbed in dress hole and with the robotic gripping device.
4. robotic gripping device according to claim 3, which is characterized in that the locating piece includes multiple installations
Hole, the multiple mounting hole are alternatively arranged the one side opposite with the cylinder in the locating piece.
5. robotic gripping device according to claim 1, which is characterized in that the length of the locating piece is greater than described grab
The length of pawl.
6. robotic gripping device according to claim 1, which is characterized in that the robotic gripping device further includes branch
Stay, the support bar are fixed on the cylinder, and the support bar one side opposite with the cylinder and the locating piece
It is fixedly connected.
7. robotic gripping device according to claim 6, which is characterized in that the robotic gripping device further includes solid
Determine block, the fixed block is fixed on the cylinder；The support bar include the parallel portion parallel with the locating piece and with institute
State the vertical vertical component effect of locating piece；The parallel portion between the cylinder and the locating piece, the vertical component effect with it is described
Cylinder is parallel, and one end of the vertical component effect is fixedly connected with the parallel portion, and the other end is fixedly connected with the fixed block.
8. robotic gripping device according to claim 7, which is characterized in that the robotic gripping device further includes base
Seat, the pedestal is fixed on the cylinder and vertical with the vertical component effect.
9. robotic gripping device according to claim 8, which is characterized in that the pedestal corresponds to the vertical component effect
Position offers through-hole.
10. a kind of robot, which is characterized in that the robot includes robot as described in any one of claims 1-9
Grabbing device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821695156.6U CN209125855U (en) | 2018-10-18 | 2018-10-18 | A kind of robotic gripping device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821695156.6U CN209125855U (en) | 2018-10-18 | 2018-10-18 | A kind of robotic gripping device and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209125855U true CN209125855U (en) | 2019-07-19 |
Family
ID=67232235
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821695156.6U Active CN209125855U (en) | 2018-10-18 | 2018-10-18 | A kind of robotic gripping device and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209125855U (en) |
-
2018
- 2018-10-18 CN CN201821695156.6U patent/CN209125855U/en active Active
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