CN209158421U - Clamp structure and manipulator - Google Patents
Clamp structure and manipulator Download PDFInfo
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- CN209158421U CN209158421U CN201821566937.5U CN201821566937U CN209158421U CN 209158421 U CN209158421 U CN 209158421U CN 201821566937 U CN201821566937 U CN 201821566937U CN 209158421 U CN209158421 U CN 209158421U
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- gripper body
- clamping part
- clamp structure
- clamped
- component
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Abstract
The utility model discloses a kind of clamp structure and manipulator, clamp structure includes that the first Gripper body and the second Gripper body are slidably arranged relatively, it is respectively equipped with the first clamping part on first Gripper body and the opposed facing side wall surface of the second Gripper body, is respectively equipped with the second clamping part on the lateral wall of the first clamping part side；All first clamping parts are suitable for clamping that this is component to be clamped from periphery component to be clamped, and all second clamping parts are adapted to extend into inner cavity component to be clamped, and to clamp this component to be clamped.Manipulator includes above-mentioned mechanical arm and the above-mentioned clamp structure being fixed on mechanical arm.Since the first clamping part and the second clamping part do not influence between each other, so that the clamp structure can clamp the component to be clamped of different contour structures, the clamp structure need to be only mounted on a mechanical arm.
Description
Technical field
The utility model relates to robotic asssembly technical fields, and in particular to a kind of clamp structure and manipulator.
Background technique
In the prior art when the forearm casting wheel assembly synchronous with wrist, retarder to robot is installed, due to wrist
The contour structures of wheel assembly synchronous from retarder are different, need using the clamp structure of different manipulators come respectively to wrist with
The synchronous wheel assembly of retarder grabs respectively, to shift wrist wheel assembly synchronous with retarder, to realize subsequent by wrist, deceleration
The installation of device synchronous wheel assembly and forearm casting.
However, clamping wrist wheel assembly synchronous with retarder respectively using two individual clamp structures, need to be arranged
Two mechanical arms fix a clamp structure respectively, so that when the synchronous wheel assembly transfer of wrist, retarder, manipulator
The space occupied is big, is not easy to operate.
Utility model content
Therefore, the technical problem to be solved by the utility model is to the clamp structures on existing machinery arm can only be to one
The defect that the component of kind contour structures is clamped.
For this purpose, the utility model provides a kind of clamp structure, including
First Gripper body and the second Gripper body at least one set of opposite and being slidably arranged, first Gripper body
At least one first clamping part is respectively equipped with on the opposed facing inner sidewall of the second Gripper body；
On the lateral wall of first clamping part side backwards of first Gripper body and second Gripper body
It is respectively equipped at least one second clamping part；
At least two first clamping parts are suitable for clamping that this is component to be clamped from periphery component to be clamped, and at least two
It is component to be clamped to clamp this that second clamping part is adapted to extend into inner cavity component to be clamped.
Optionally, above-mentioned clamp structure, first clamping part are molded over first Gripper body to be inwardly projecting
Or second Gripper body inner sidewall on first protrusion.
Still optionally further, above-mentioned clamp structure, it is described first protrusion interior sidewall surface be in and outside component to be clamped
The adaptable arcwall face of wall radian.
Optionally, the lateral wall of above-mentioned clamp structure, first Gripper body and/or the second Gripper body is as institute
State the second clamping part.
Still optionally further, above-mentioned clamp structure, further include outwardly protrude setting in first Gripper body and/or
The second protrusion on the lateral wall of second Gripper body, second protrusion are suitable for being overlapped on member lumens wall in portion's to be held
On first step on face.
Optionally, also divide on the lateral wall of above-mentioned clamp structure, first Gripper body and/or the second Gripper body
It She You not at least one third clamping part；At least two third clamping parts are adapted to extend into inner cavity component to be clamped to clamp
This is component to be clamped.
Optionally, above-mentioned clamp structure, the third clamping part are to be located at first Gripper body or the second collet
On the lateral wall of ontology and ecto-entad recess the first groove；The notch of first groove backwards to first clamping part simultaneously
It is protruded into for flange component to be clamped.
Optionally, the lateral wall of above-mentioned clamp structure, first Gripper body and/or the second Gripper body is equipped with
Second groove of ecto-entad recess；Further include
It is inlaid in the grip block in second groove and being connected in the one side wall of second groove, the grip block
The first groove is surrounded between another side wall of second groove
Still optionally further, above-mentioned clamp structure further includes at least one the elasticity branch being mounted on the grip block
Support member, at least part of the elastic supporting member for supporting optical member are stretched out the grip block and are protruded into first groove.
Optionally, above-mentioned clamp structure, the lateral wall of the grip block is as second clamping part.
Optionally, above-mentioned clamp structure, the clamp structure further include driving first Gripper body and the second folder
The driving mechanism of head ontology sliding；The driving mechanism includes
The first driving plate and the second driving plate that one end is hingedly arranged, first driving plate and second drive the another of axillare
One end is connected to first Gripper body and the second Gripper body；
At least one first guide rail, first Gripper body and second Gripper body are slidably disposed on described
On first guide rail；
Driver, telescopic shaft are connect with the hinged place of first driving plate and the second driving plate, driving described first
Gripper body and the second Gripper body slide on first guide rail.
Optionally, above-mentioned clamp structure further includes the support relative to pedestal fixed setting；And
At least one limited post being fixed on the support, the limited post are suitable for being plugged on opening on component to be clamped
In hole.
The utility model provides a kind of manipulator, including
Mechanical arm；
Clamp structure described in any of the above embodiments is mounted on the mechanical arm.
Technical solution provided by the utility model, has the advantages that
1. being set respectively on the inner sidewall of clamp structure provided by the utility model, the first Gripper body and the second Gripper body
There is the first clamping part, two the first clamping parts surround clamping zone, and one will be clamped wait press from both sides by realizing from periphery component to be clamped
Hold component；Meanwhile first Gripper body and the second Gripper body lateral wall on be respectively equipped with second clamping part so that
Two clamping parts protrude into inner cavity component to be clamped, to be clamped to component to be clamped, the first clamping part and the second clamping part
It does not influence, so that the clamp structure can clamp the component to be clamped of different contour structures, only needs between each other
The clamp structure is mounted on a mechanical arm.
2. arcwall face is arranged, it is ensured that first is convex in the interior sidewall surface of the first protrusion by clamp structure provided by the utility model
The interior sidewall surface risen can be closely pressed in outside wall surface component to be clamped, form more impetus, and it is convex to reinforce first
The clamping effect risen.
3. clamp structure provided by the utility model is equipped on the lateral wall of the first Gripper body and the second Gripper body
Second protrusion is overlapped on component to be clamped when the second clamping part protrudes into inner cavity component to be clamped by the second protrusion
Inner cavity wall surface on first step on, further assure that the second clamping part will not slide from inner cavity wall surface component to be clamped
Out, the second clamping part of enhancing is to clamping function component to be clamped.
4. clamp structure provided by the utility model is respectively provided in the lateral wall of the first Gripper body and the second Gripper body
Have third clamping part, third clamping part similar to the second clamping part, protrude on inner cavity component to be clamped clamp it is component to be clamped,
The clamp structure grabs three kinds of different the component to be clamped of contour structures, further increases the clamping knot
The use scope of structure.
5. clamp structure provided by the utility model, by surrounding the first groove between the second groove and grip block, with shape
At third clamping part, elastic supporting member for supporting optical member is set on grip block, one end of elastic supporting member for supporting optical member is protruded into the first groove, when first recessed
Slot is covered in the flange in inner cavity surface component to be clamped, and flange protrudes into the first groove and is connected on elastic supporting member for supporting optical member, elasticity
Supporting element is compressed and apply reversed support force to flange prevents flange from first so that flange is limited in the first groove
It is slid out in groove, further reinforces third clamping part to the clamping function of flange component to be clamped.
6. clamp structure provided by the utility model, the lateral wall of the grip block is as second clamping part.So that
Second clamping part and third clamping part occupied space on the lateral wall of the first Gripper body or the second Gripper body are small, knot
Structure is compact, convenient for the processing and assembly of the second clamping part and third clamping part.
7. the utility model provides a kind of manipulator, including mechanical arm and described in any item clamp structures among the above,
It is mounted on the mechanical arm.This manipulator enables the manipulator right due to the clamp structure using any of the above-described
Different shapes and the component to be clamped of size are clamped, to increase the use scope of the manipulator.
Detailed description of the invention
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the schematic diagram of the clamp structure provided in the utility model embodiment 1；
Fig. 2 is the perspective view of the explosion of the synchronous wheel assembly of forearm casting, wrist and retarder in the utility model embodiment 1；
Fig. 3 is the assembling schematic diagram of two group of first Gripper body and the second Gripper body of clamp structure in Fig. 1；
Fig. 4 is the first Gripper body of clamp structure or the structural schematic diagram of the second Gripper body in Fig. 1；
Fig. 5 is the leftschematic diagram of Gripper body in Fig. 4；
Fig. 6 is the longitudinal profile schematic diagram of wrist in Fig. 2；
Fig. 7 is the longitudinal profile schematic diagram of forearm casting in Fig. 2；
Fig. 8 is the schematic diagram of the driving mechanism of clamp structure in Fig. 1；
Description of symbols:
The first Gripper body of a1-；The second Gripper body of a2-；The first clamping part of a11-；The second clamping part of a12-；A13-
Three clamping parts；The second groove of a14-；A15- grip block；A16- elastic supporting member for supporting optical member；The second protrusion of a17-；
A21- synchronizing wheel；A22- wrist；A221- first step；A23- forearm casting；A231- flange；
A3- driving mechanism；A31- pedestal；The first driving plate of a321-；The second driving plate of a322-；A323- first axle；
The second axis of a324-；A325- third axis；A326- pilot hole；A33- guide rail；A34- sliding block；The first mounting plate of a351-；A352-
Two mounting plates；A36- cylinder；
A37- support；A38- limited post.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work belongs to practical
Novel protected range.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.In addition, following institute
Technical characteristic involved in the utility model different embodiments of description as long as they do not conflict with each other can phase
Mutually combine.
Embodiment 1
The present embodiment provides a kind of clamp structures, and as shown in Figures 1 to 8, clamp structure includes two groups opposite and slidably
The the first Gripper body a1 and the second Gripper body a2 and driving mechanism a3 being arranged.Wherein, as shown in Figure 3 and Figure 4, every group
In the first Gripper body a1 and the second opposed facing interior sidewall surface of Gripper body a2 on be respectively equipped with first clamping part
a11；A second clamping part a12 and a third clamping part a13 are respectively equipped on the lateral wall of the first clamping part a11.
Wherein, the first clamping zone is surrounded between four the first clamping part a11 in two groups, the first clamping part a11 is suitable for
The periphery component to be clamped from first is component to be clamped to clamp first；Four the second clamping part a12 in two groups are adapted to extend into
Second inner cavity component to be clamped is component to be clamped to clamp second；Four third clamping part a13 in two groups are adapted to extend into
Three inner cavities component to be clamped are component to be clamped to clamp third.
For example, as shown in Fig. 2, synchronizing wheel a21 in the synchronous wheel assembly of the first retarder component to be clamped for robot,
The second wrist a22 component to be clamped for robot, the third forearm casting a23 component to be clamped for robot, with this three
For component to be clamped, to illustrate the specific structure of three clamping parts in the present embodiment.
The first clamping part a11, the second clamping part a12 and third folder on first Gripper body a1 and the second Gripper body a2
Hold that portion a13 is all the same, now by the first Gripper body a1 the first clamping part, the second clamping part, come for third clamping part
Explanation.
As shown in Fig. 3, Fig. 4 and Fig. 5, the first clamping part a11 is the inner sidewall that protrusion is molded over the first Gripper body a1
On first protrusion, by first protrusion inner sidewall be closely connected in the peripheral surface of synchronizing wheel a21, multiple first is convex
It rises from the peripheral surface different location of synchronizing wheel a21, synchronizing wheel a21 is clamped, realize the clamping to synchronizing wheel a21 and grab
Take function.
For example, the interior sidewall surface of the first protrusion is in the arcwall face adaptable with the radian of the periphery wall surface of synchronizing wheel a21, from
And the arcwall face of the first protrusion is connected to more in large area in the peripheral surface of synchronizing wheel a21, it is right to increase the first protrusion
The impetus of synchronizing wheel a21 further ensures that multiple first protrusions to the function of the firm grip of synchronizing wheel a21.
As shown in figure 4, the lateral wall of the first Gripper body a1 is equipped with the second groove a14 of ecto-entad recess, second
The notch of groove a14 is backwards to the first clamping part a11, and optionally, the second groove a14 is through slot；It is inlaid in the second groove a14 simultaneously
It is enclosed between the grip block a15 being fixed in the one side wall of the second groove a14, grip block a15 and another side wall of the second groove a14
At the first groove.Wherein, the first groove is as third clamping part a13, and the lateral wall of grip block a15 is as the second clamping part a12.
When four the second clamping part a12 clamp wrist a22, the first Gripper body a1 and the second Gripper body a2
It protrudes into the inner cavity of wrist a22, the lateral wall of grip block a15 is closely connected on the inner cavity wall surface of wrist a22, in wrist
Impetus is formed on the surface of internal cavity of a22, clamping action is carried out to wrist a22 to realize.
As shown in Figure 4 and Figure 5, the lateral wall of the first Gripper body a1 is protruded above equipped with the second protrusion a17, the second protrusion
Just on the contrary, the first protrusion is inwardly projecting, the second protrusion a17 is outwardly protruded the protrusion direction of the protrusion of portion a17 and first.Such as figure
It is accordingly inwardly projecting on the inner cavity wall surface of wrist a22 to be equipped with first step a221 shown in 6；Second protrusion a17 is towards first
The end end face of the side step a221 is overlapped on the step surface of first step a221.
It is overlapped on first step a221 by the second protrusion a17, first step a221 plays the second protrusion a17
Position-limiting action prevents the first Gripper body and the second Gripper body from sliding out in the inner cavity wrist a22, thus the second protrusion with
The position-limiting action of first step a221, the second clamping part a12 still are able to carry out clamping function to the inner cavity of wrist a22.
As shown in figs. 4 and 7, the third clamping part a13 that the first groove is formed, the accordingly internal chamber wall of forearm casting a23
Face is equipped with inwardly projecting flange a231, and flange a231 is plugged in the first groove, to realize third clamping part a13 to small
The clamping function of arm casting a23.
As shown in figure 4, each grip block a15 and the close end of the first groove are equipped with gap, the lateral wall of gap with
External world's connection.Clamp structure further includes an elastic supporting member for supporting optical member a16 being inlaid in gap, a part of elastic supporting member for supporting optical member a16
It stretches out grip block a15 and protrudes into the second groove a14.
For example, elastic supporting member for supporting optical member a16 is spring-loaded plunger, it is recessed that the chock plug of spring-loaded plunger gos deep into first under the bias of the spring
In slot, when the flange a231 of the inner cavity forearm casting a23 is plugged in the first groove, flange applies extruding force, flange to chock plug
After a231 is protruded into the first groove, extruded chock plug reversely plays support force to flange a231, so that flange a231 is close
Ground is stuck in the first groove, it is ensured that clamping action of the third clamping part a13 to the inner cavity of forearm casting a23.
First Gripper body a1 also has pedestal, which is used to the first Gripper body a1 being mounted on driving mechanism a3
On.
As shown in figure 3, two the first Gripper body a1 in two groups are fixed on a first mounting plate a351, two
Two Gripper body a2 are fixed on a second mounting plate a352；First mounting plate a351 and the second mounting plate a352 is in " several "
Font.First mounting plate a351 and the second mounting plate a352 is arranged in parallel and the first Gripper body a1 and the second Gripper body a2 divides
It is not mounted on the side wall of the first mounting plate a351 and the second mounting plate a352, and is located at the installation of the first mounting plate a351 and second
In space between plate a352.
As illustrated in figures 1 and 8, driving mechanism a3 is mounted on pedestal a31, and driving mechanism a3 includes two guide rail a33, four
A sliding block a34, the first driving plate a321, the second driving plate a322 and cylinder a36.
Wherein, one end of the first driving plate a321 and the second driving plate a322 is hingedly arranged by first axle a323, cylinder
The telescopic shaft of a36 is set on first axle a323, and the other end of the first driving plate a321 and the second driving plate a322 are separately connected
In the first mounting plate a351 and the second mounting plate a352.The telescopic direction that the telescopic shaft along cylinder is additionally provided on pedestal a31 extends
Pilot hole a326, one end of first axle a323 protrudes into pilot hole a326, plays the role of straight-line guidance to the sliding of first axle.
For example, the first driving plate a321 is connect with the top of the first mounting plate a351 by the second axis a324, the second driving
Plate a322 is connect with the top of the second mounting plate a352 by third axis 325.
Optionally, the longitudinal cross-section of first axle a323 and the second axis a324 are formed as T shape, and the horizontal part of T shape is overlapped on
On the top of " several " font, the vertical portion of T shape passes through and is connected to corresponding driving plate at the top of " several " font.
Two guide rail a33 are arranged in parallel on pedestal a31, the first mounting plate a351 of " several " font and the second mounting plate
A sliding block a34 is fixed at the both ends of a352 respectively, and is slidably disposed on two guide rail a33；The telescopic shaft of cylinder a36
Telescopic direction is vertical with the extending direction of guide rail a33.
When cylinder a36 driving the first driving plate a321 and the second driving plate a322 does stretching motion, the first installation of driving
Plate a351 and the second mounting plate a352 are slided on guide rail a33, with change the first Gripper body a1 and the second Gripper body a2 it
Between distance so that the first Gripper body a1 and the second Gripper body a2 protrude into inner cavity or the forearm casting of wrist a22
The inner cavity of a23, or positioned at the periphery of synchronizing wheel a21, so that the first clamping part a11 clamps synchronizing wheel a21, the second clamping part
A12 clamps wrist a22, and third clamping part a13 can clamp forearm casting a23.It can certainly make the first clamping part
A11 clamps various sizes of synchronizing wheel a21, and the second clamping part a12 clamps various sizes of wrist a22, third clamping part a13 folder
Hold various sizes of forearm casting a23.
The clamp structure of this embodiment, due to the first Gripper body a1 and the second Gripper body a2 opposite in any group
Inner sidewall be equipped with the first clamping part a11, lateral wall be equipped with the second clamping part a12 and third clamping part a13, the first clamping part with
Second clamping part, third clamping part are mutually indepedent so that the clamp structure can be realized to synchronizing wheel a21, wrist a22 with
And the clamping function of forearm casting a23, so that the clamp structure can be to the progress component to be clamped of different contour structures
Clamping.
As shown in Figure 1, being additionally provided with the support a37 in " several " font on pedestal a31, clamp structure further includes being fixed on branch
Two limited posts 38 on seat a37, support a37 is located just between the first Gripper body a1 and the second Gripper body a2, when the
When one clamping part a11 de-clamping retarder synchronizes the synchronizing wheel a21 in wheel assembly, two limited post a38 are inserted respectively into deceleration
For fixing the other parts of synchronizing wheel a21 on the synchronous wheel assembly of device, to integrally play limit and branch to reducer assemblies
Support effect.
As first interchangeable embodiment of embodiment 1, in above-mentioned clamp structure, it can also only be arranged one group
First Gripper body a1 and the second Gripper body a2；Or three groups, four groups, five groups etc., the first folder of how many group is specifically set
Head ontology a1 and the second Gripper body a2, depending on actual use situation.Most preferably, all first clamping part a11 are distributed in
On one circumference, all second clamping part a12 are distributed on a circumference, and all third clamping part a13 are distributed in a circumference.
Certainly, all first clamping part a11, the second clamping part a12, third clamping part a13 can not also be distributed in a circumference, only need
The clip position of itself and component to be transferred is adapted.
As second interchangeable embodiment of embodiment 1, support and limit can also be not provided on pedestal a31
Column only relies on the first clamping part a11 to press from both sides to (such as synchronizing wheel a21 of the synchronous wheel assembly of retarder) component to be clamped
It holds.
As the interchangeable embodiment of third of embodiment 1, the interior sidewall surface of the first protrusion can also be in other shapes
The surface of shape under the interior sidewall surface cooperation for only needing two the first opposite clamping part a11, can be connected to component to be clamped outer
On wall surface, clamping function is realized.For example, tapered surface or lozenge etc..As further deformation, the first clamping part
A11 can also be other structures, such as the groove being molded on the first Gripper body a1 inner sidewall in addition to outer for the first protrusion,
Accordingly, lateral wall component to be clamped is equipped with the convex edge outwardly protruded, is plugged in groove by convex edge, also be may be implemented
Clamping function.
Alternatively, the inner wall of the inner wall of the first Gripper body a1 and the second Gripper body a2 are pressed from both sides respectively as one first
Portion a11 is held, also can be realized above-mentioned clamping function.In addition, being set respectively on the first Gripper body a1 and the second Gripper body a2
The quantity of the first clamping part a11 set is at least one, for example, can also be two, three, four etc., number be specifically arranged
Amount can be depending on actual use situation.
As the 4th interchangeable embodiment of embodiment 1, the second clamping part a12 can also be clamped independently of third
The lateral wall of portion a13 setting, the lateral wall of the first Gripper body a1 or the second Gripper body a2 are directly as the second clamping part
a12.As deformation, the second clamping part a12 can also be arranged like the groove of third clamping part a13, or protrusion, to protrude into
In inner cavity component to be clamped, chucking power is applied to internal chamber wall component to be clamped, is realized to clamping function component to be clamped.
The number that second clamping part a12 is arranged on the first Gripper body a1 or the second Gripper body a2 is at least one, for example, setting
Two, three, four etc., depending on quantity is specifically set according to actual needs.
Embodiment 2
The present embodiment provides a kind of clamp structures, compared with the clamp structure provided in embodiment 1, the difference is that:
In clamp structure in the present embodiment, spring-loaded plunger may alternatively be spring or other existing elasticity branch
The number of support member a16, elastic supporting member for supporting optical member a16 can be one, two, three, four etc., and the specific quantity that is arranged is according to reality
Depending on demand.Or it can also be not provided with elastic supporting member for supporting optical member a16, it is component to be clamped to clamp to only rely on the first groove.
As deformation, third clamping part a13 can also be independently of the second clamping part a12, in the first Gripper body a1, second
The lateral wall of Gripper body a2 is equipped with the first groove of ecto-entad recess.First groove also may alternatively be other knots
Structure, such as protrusion, accordingly inner cavity wall surface component to be clamped is equipped with groove, is inserted into groove by protrusion, realization is treated
The clamping of hold assembly.
Third clamping part can also be not provided on the first Gripper body a1 and the second Gripper body a2 in clamp structure
The first clamping part a11 and the second clamping part a12 is only arranged in a13, component to be clamped to clamp to two kinds respectively.
Embodiment 3
The present embodiment provides a kind of clamp structures, different compared with the clamp structure provided in embodiment 1 or embodiment 2
Place is:
Driving mechanism a3 may alternatively be other driving mechanisms, such as gripper cylinder is separately provided, by the first mounting plate
A351 and the second mounting plate a352 are separately fixed on two sliding parts of gripper cylinder, thus to change the first Gripper body a1
With the spacing between the second Gripper body a2.
As deformation, one group of first Gripper body a1 and the second Gripper body can also be only set, and accordingly, no setting is required
Above-mentioned the first mounting plate a351 and the second mounting plate a352 directly distinguishes the first Gripper body a1 and the second Gripper body a2
It is fixed on a sliding block a34.Alternatively, setting multiple groups the first Gripper body a1 and the second Gripper body a2, each group includes phase
To the first Gripper body a1 of setting and the second Gripper body, for example, three groups, four groups, five groups of setting etc., is specifically arranged quantity
Depending on according to actual needs, when needing grip strength big, several groups can be set, on the contrary, several groups are then arranged less more.
Embodiment 4
The present embodiment provides a kind of manipulators, including mechanical arm and embodiment 1 to any one of embodiment 3 clamping to tie
Structure, clamp structure are mounted on mechanical arm.The manipulator of this embodiment, due to using the clamping knot in above-described embodiment
Structure enables the manipulator to clamp different shapes and the component to be clamped of size, to increase the use of the manipulator
Range.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes among the protection scope created still in the utility model.
Claims (13)
1. a kind of clamp structure characterized by comprising
First Gripper body (a1) and the second Gripper body (a2) at least one set of opposite and being slidably arranged, first collet
At least one first clamping part is respectively equipped on ontology (a1) and second Gripper body (a2) opposed facing inner sidewall
(a11)；
The first clamping part (a11) side backwards of first Gripper body (a1) and second Gripper body (a2)
At least one second clamping part (a12) is respectively equipped on lateral wall；
At least two first clamping parts (a11) are suitable for clamping that this is component to be clamped from periphery component to be clamped, and at least two
It is component to be clamped to clamp this that a second clamping part (a12) is adapted to extend into inner cavity component to be clamped.
2. clamp structure according to claim 1, which is characterized in that first clamping part (a11) be it is inwardly projecting at
First protrusion of the type on the inner sidewall of first Gripper body (a1) or the second Gripper body (a2).
3. clamp structure according to claim 2, which is characterized in that it is described first protrusion interior sidewall surface be in it is to be held
The adaptable arcwall face of member outside wall radian.
4. clamp structure according to any one of claim 1-3, which is characterized in that first Gripper body (a1)
And/or second Gripper body (a2) lateral wall as second clamping part (a12).
5. clamp structure according to claim 4, which is characterized in that further include outwardly protruding to be arranged in first collet
The second protrusion (a17) on the lateral wall of ontology (a1) and/or the second Gripper body (a2), second protrusion (a17)
Suitable on the first step that is overlapped on member lumens wall surface in portion's to be held.
6. clamp structure according to any one of claim 1-3, which is characterized in that first Gripper body (a1)
And/or second Gripper body (a2) lateral wall on further respectively have at least one third clamping part (a13)；Described at least two
It is component to be clamped to clamp this that third clamping part (a13) is adapted to extend into inner cavity component to be clamped.
7. clamp structure according to claim 6, which is characterized in that the third clamping part (a13) is to be located at described the
On the lateral wall of one Gripper body (a1) or the second Gripper body (a2) and ecto-entad recess the first groove；Described first is recessed
The notch of slot is protruded into backwards to first clamping part (a11) and for flange component to be clamped.
8. clamp structure according to claim 7, which is characterized in that first Gripper body (a1) and/or the second folder
The lateral wall of head ontology (a2) is equipped with the second groove (a14) of ecto-entad recess；Further include
It is inlaid in the grip block in second groove (a14) and being connected in the one side wall of second groove (a14)
(a15), first groove is surrounded between the grip block (a15) and another side wall of second groove (a14).
9. clamp structure according to claim 8, which is characterized in that further include being mounted on the grip block (a15)
At least part of at least one elastic supporting member for supporting optical member (a16), the elastic supporting member for supporting optical member (a16) stretches out the grip block (a15) simultaneously
It protrudes into first groove.
10. clamp structure according to claim 8, which is characterized in that described in the lateral wall of the grip block (a15) is used as
Second clamping part (a12).
11. clamp structure according to any one of claim 1-3, which is characterized in that the clamp structure further includes driving
Move the driving mechanism (a3) of first Gripper body (a1) and the second Gripper body (a2) sliding；Driving mechanism (a3) packet
It includes
The first driving plate (a321) and the second driving plate (a322) that one end is hingedly arranged, first driving plate (a321) and
The other end of two driving axillares is connected to first Gripper body (a1) and the second Gripper body (a2)；
At least one first guide rail (a33), first Gripper body (a1) and second Gripper body (a2) are slideably
It is arranged on first guide rail (a33)；
Driver, telescopic shaft are connect with the hinged place of first driving plate (a321) and the second driving plate (a322), driving
First Gripper body (a1) and the second Gripper body (a2) slide on first guide rail (a33).
12. clamp structure according to any one of claim 1-3, which is characterized in that further include relative to pedestal (a31)
The support (a37) of fixed setting；And
At least one limited post (a38) being fixed on the support (a37), the limited post (a38) are suitable for being plugged on wait press from both sides
It holds in the aperture on component.
13. a kind of manipulator, which is characterized in that including
Mechanical arm；
Clamp structure of any of claims 1-12 is mounted on the mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821566937.5U CN209158421U (en) | 2018-09-25 | 2018-09-25 | Clamp structure and manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821566937.5U CN209158421U (en) | 2018-09-25 | 2018-09-25 | Clamp structure and manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209158421U true CN209158421U (en) | 2019-07-26 |
Family
ID=67332030
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821566937.5U Expired - Fee Related CN209158421U (en) | 2018-09-25 | 2018-09-25 | Clamp structure and manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209158421U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048962A (en) * | 2018-09-25 | 2018-12-21 | 苏州富强科技有限公司 | Clamp structure and manipulator |
| CN111114200A (en) * | 2019-12-31 | 2020-05-08 | 重庆朗维机电技术有限公司 | Tire assembling device |
-
2018
- 2018-09-25 CN CN201821566937.5U patent/CN209158421U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048962A (en) * | 2018-09-25 | 2018-12-21 | 苏州富强科技有限公司 | Clamp structure and manipulator |
| CN111114200A (en) * | 2019-12-31 | 2020-05-08 | 重庆朗维机电技术有限公司 | Tire assembling device |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190726 |