CN209273465U - Handgrip and manipulator - Google Patents
Handgrip and manipulator Download PDFInfo
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- CN209273465U CN209273465U CN201822182979.5U CN201822182979U CN209273465U CN 209273465 U CN209273465 U CN 209273465U CN 201822182979 U CN201822182979 U CN 201822182979U CN 209273465 U CN209273465 U CN 209273465U
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- clamping jaw
- handgrip
- layer
- setting
- overlapping portion
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Abstract
The utility model discloses a kind of handgrip and manipulator, and the handgrip includes the first clamping jaw and the second clamping jaw, and first clamping jaw and the second clamping jaw form the opening of side setting facing forward, mutually to draw close to clamp the cargo being located in opening；First clamping jaw includes rigid layer, and is connect with the rigid layer, and is in the deformation layer of flexible setting, and the deformation layer is in the front end setting for protruding the rigid layer forward.The utility model can also grab the effect of very thin cargo with that can grab soft cargo.
Description
Technical field
The utility model relates to logistics Sorting Technique field, in particular to a kind of handgrip and manipulator.
Background technique
Cargo can be picked up by manipulator at present.Usual manipulator picks up different objects by the handgrip of end
Body.When picking up, main handgrip to be used includes sucker and parallel clamping jaw.
But sucker is difficult to the plastics package material for handling softness or the serious material of gas leakage, parallel clamping jaw and cannot grab
Take very thin article, such as envelope.So that there are certain difficulties for full-automatic article crawl.
Utility model content
The main purpose of the utility model is to provide a kind of handgrip and manipulator, it is intended to and realization can grab soft cargo,
Also very thin cargo can be grabbed.
To achieve the above object, the utility model proposes a kind of handgrip, be used for manipulator, the handgrip include first folder
Pawl and the second clamping jaw, first clamping jaw and the second clamping jaw form the opening of side setting facing forward, mutually to draw close to clamp position
Cargo in opening；
First clamping jaw includes rigid layer, and is connect with the rigid layer, and is in the deformation layer of flexible setting, institute
Stating deformation layer is in the front end setting for protruding the rigid layer forward.
Optionally, the deformation layer is equipped with smooth layer towards the surface of second clamping jaw.
Optionally, the deformation layer includes extension, overlapping portion and interconnecting piece；
The interconnecting piece is connect with the surface of the rigid layer towards second clamping jaw；The overlapping portion and the connection
Portion connects and extends forward；The extension is connect with the overlapping portion, and extends forwardly into the prominent rigid layer
Front end.
Optionally, the rigid layer is convexly equipped with protruding portion in the position of the correspondence overlapping portion；
The protruding portion prominent overlapping portion when the overlapping portion is bonded with the rigid layer, to foreign objects
Contact.
Optionally, the surface of the protruding portion is equipped with friction enhancement layer.
Optionally, the overlapping portion is equipped with hollow hole；The protruding portion corresponds to the hollow hole setting.
Optionally, the deformation layer is made of flexible material.
Optionally, the handgrip includes track, and first clamping jaw and the second clamping jaw are set on the track；
First clamping jaw and the second clamping jaw are in towards and away from translation shape setting, to clamp and unclamp cargo.
Optionally, the relatively described track of first clamping jaw is in fixed setting, the relatively described track of the second clamping jaw
Activity setting.
The utility model provides a kind of manipulator, and the manipulator includes such as above-mentioned handgrip.
Handgrip provided by the utility model, at work, control handgrip are tilted a certain angle, so that the opening of handgrip is inclined
Tiltedly downward, also, make the first clamping jaw close to the supporting surface of cargo.Then control handgrip drop to the deformation layer of the first clamping jaw with
Face contact is supported, and deformation layer is pressurized and forms certain radian.Then control handgrip moves forward, so that cargo is by deformation
Layer, subsequently into the opening to handgrip.It finally controls two clamping jaws mutually to draw close, so that cargo be picked up.It follows that this
Handgrip provided by utility model is shoveled between cargo and supporting surface by a handgrip, then can either grabbed as envelope
Thin cargo can also be grabbed such as surface irregularity, and soft cargo.
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 one embodiment of the utility model handgrip；
Fig. 2 is the schematic cross-sectional view in the direction A-A in Fig. 1.
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.
Embodiment one
A kind of handgrip is present embodiments provided, manipulator is used for.
Fig. 1 and Fig. 2 are please referred to,
In the present embodiment, the handgrip includes the first clamping jaw 100 and the second clamping jaw 200, first clamping jaw 100 and the
Two clamping jaws 200 form the opening being arranged towards front side, mutually to draw close to clamp the cargo being located in opening.Wherein, described
One clamping jaw 100 and the second clamping jaw 200 can be the clip like of the swing folding for the opening that is in the shape of the letter V, and be also possible to be open in C font
Translational opening-closing clip like.In order to which cargo stable holding, the first clamping jaw 100 and the second clamping jaw 200 are generallyd use just
Property material production.For example, ferroaluminium, ABS engineering plastics etc..Certainly, in order to avoid grab folder during make
The surface of cargo generates abrasion, and the accessories such as rubber sheet gasket can also be installed on the first clamping jaw 100 and the second clamping jaw 200.
In the present embodiment, first clamping jaw 100 includes rigid layer 110, and is connect with the rigid layer 110, and
And be in the deformation layer 120 of flexible setting, the deformation layer 120 is in the front end setting for protruding the rigid layer 110 forward.Wherein,
Rigid layer 110 is i.e. for tightly clamping object.Deformation layer 120 is in prominent 110 shape of rigid layer setting, and use is so that deformation layer
120 can be prior to rigid layer 110 and cargo, and the external support face contact with supporting goods.It shovels to play into external goods
Effect between object and external support plane.Specifically, deformation layer 120 can be this as flexibility, can play and external support
Face contact, and deformation is generated due to the characteristic of own material.Such as sheet metal or rubber slab etc..Certainly, it deforms
Layer 120 is also possible to be made of multiple hard materials being mutually flexibly connected, such as mutually pivot joint and angle rotatable only has
1 °~5 ° of multiple metal plates.
Handgrip provided by the present embodiment, at work, control handgrip are tilted a certain angle, so that the opening of handgrip tilts
Downward, also, make the first clamping jaw 100 close to the supporting surface of cargo.Then control handgrip drops to the deformation of the first clamping jaw 100
Layer 120 and support face contact, and deformation layer 120 is pressurized and forms certain radian.Then control handgrip moves forward, so that goods
Object passes through deformation layer 120, subsequently into the opening to handgrip.It finally controls two clamping jaws mutually to draw close, so that cargo be picked up
It takes.It follows that handgrip provided by the present embodiment, is shoveled between cargo and supporting surface by a handgrip, then can either grabbed
Thin cargo as envelope is taken, can also be grabbed such as surface irregularity, and soft cargo.
Further, in the present embodiment, the deformation layer 120 is equipped with smooth towards the surface of second clamping jaw 200
Layer.Wherein, the smooth layer can be it is additional spray and formed, be also possible to be formed by deformation layer 120 material characteristic itself
, such as mirror surface polishing is carried out to the surface of deformation layer 120 and the smooth surface that is formed.
Handgrip provided by the present embodiment, the surface by the way that deformation layer 120 is arranged includes smooth layer, so as to reduce goods
Frictional force of the object when being slided on deformation layer 120.Improve efficiency handgrip shoveled between cargo and supporting surface.
Further, in the present embodiment, the deformation layer 120 includes extension 123, overlapping portion 122 and interconnecting piece
121.Wherein, it can be equal thickness setting for above-mentioned three layers, be also possible to Varying-thickness setting.
In the present embodiment, the interconnecting piece 121 connects with the rigid layer 110 towards the surface of second clamping jaw 200
It connects；The overlapping portion 122 connect with the interconnecting piece 121 and extends forward；The extension 123 and the overlapping portion 122
Connection, and extend forwardly into the front end of the prominent rigid layer 110.
Handgrip provided by the present embodiment extends to the rear end of rigid layer 110 by the way that deformation layer 120 is arranged, thus
It enables to cargo that can be moved to the rear end of rigid layer 110 in the case where relatively smooth, is slided backward to improve cargo
Efficiency.
Certainly, in other embodiments, it is also possible to the front end that deformation layer 120 is only set to rigid layer 110.
Further, in the present embodiment, the rigid layer 110 is convexly equipped with prominent in the position of the correspondence overlapping portion 122
Portion 111 out.Wherein, protruding portion 111 can be point shape and protrude, and be also possible in blocky prominent.
In the present embodiment, the protruding portion 111 prominent institute when the overlapping portion 122 is bonded with the rigid layer 110
Overlapping portion 122 is stated, to contact with foreign objects.
Handgrip provided by the present embodiment, when cargo needs to be clamped, since the variation of stress will be so that overlapping portion 122
It is bonded with rigid layer 110, so that the bottom surface of cargo will be contacted with protruding portion 111.And since protruding portion 111 is not set smooth
Layer, thus when clamping cargo, can compare that deformation layer can consolidate more by goods clamping.
Further, in the present embodiment, the surface of the protruding portion 111 is equipped with friction enhancement layer.The friction enhancement layer,
Can be it is additional spray and formed, be also possible to be formed by protruding portion 111 material characteristic itself, such as to protruding portion
111 surface carries out the rough surface of coarse processing and formation.
Handgrip provided by the present embodiment, by carrying out friction enhancing to protruding portion 111, so as to further increase pair
The clamping stability of cargo.
Further, in the present embodiment, the overlapping portion 122 is equipped with hollow hole 1221；The corresponding institute of the protruding portion 111
State the setting of hollow hole 1221.
Certainly, in other embodiments, protruding portion 111 can also be set to the edge of overlapping portion 122, thus from overlapping portion
122 two sides are stretched out.
Further, in the present embodiment, the deformation layer 120 is made of flexible material.Such as rubber slab, acrylic
Plate etc..
Further, in the present embodiment, the handgrip includes track 300, first clamping jaw 100 and the second clamping jaw
200 are set on the track 300.
First clamping jaw 100 and the second clamping jaw 200 are in towards and away from translation shape setting, to clamp and unclamp cargo.
Further, in the present embodiment, the relatively described track 300 of first clamping jaw 100 is in fixed setting, and described the
The relatively described track 300 of two clamping jaws 200 is in activity setting.
The utility model also proposes a kind of manipulator, which includes handgrip, and the specific structure of the handgrip is referring to above-mentioned
Embodiment at least has above-described embodiment due to this machinery hand getting whole technical solutions of above-mentioned all embodiments
Technical solution brought by all beneficial effects, 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 inventive concept of the utility model, equivalent structure made based on the specification and figures of the utility model becomes
It changes, 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 handgrip, it to be used for manipulator, which is characterized in that the handgrip includes the first clamping jaw and the second clamping jaw, and described first
Clamping jaw and the second clamping jaw form the opening of side setting facing forward, mutually to draw close to clamp the cargo being located in opening；
First clamping jaw includes rigid layer, and is connect with the rigid layer, and is in the deformation layer of flexible setting, the change
Shape layer is in the front end setting for protruding the rigid layer forward.
2. handgrip as described in claim 1, which is characterized in that the deformation layer is equipped with light towards the surface of second clamping jaw
Slip layer.
3. handgrip as claimed in claim 2, which is characterized in that the deformation layer includes extension, overlapping portion and interconnecting piece；
The interconnecting piece is connect with the surface of the rigid layer towards second clamping jaw；The overlapping portion and the interconnecting piece connect
It connects and extends forward；The extension is connect with the overlapping portion, and extends forwardly into the front end of the prominent rigid layer.
4. handgrip as claimed in claim 3, which is characterized in that the rigid layer is convexly equipped in the position of the correspondence overlapping portion
Protruding portion；
The protruding portion prominent overlapping portion when the overlapping portion is bonded with the rigid layer, to be connect with foreign objects
Touching.
5. handgrip as claimed in claim 4, which is characterized in that the surface of the protruding portion is equipped with friction enhancement layer.
6. handgrip as claimed in claim 4, which is characterized in that the overlapping portion is equipped with hollow hole；The protruding portion corresponds to institute
State hollow hole setting.
7. such as handgrip as claimed in any one of claims 1 to 6, which is characterized in that the deformation layer is made of flexible material.
8. such as handgrip as claimed in any one of claims 1 to 6, which is characterized in that the handgrip includes track, first clamping jaw
It is set on the track with the second clamping jaw；
First clamping jaw and the second clamping jaw are in towards and away from translation shape setting, to clamp and unclamp cargo.
9. handgrip as claimed in claim 8, which is characterized in that the relatively described track of the first clamping jaw is in fixed setting, institute
The relatively described track of the second clamping jaw is stated in activity setting.
10. a kind of manipulator, which is characterized in that the manipulator includes handgrip as described in any one of claim 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822182979.5U CN209273465U (en) | 2018-12-24 | 2018-12-24 | Handgrip and manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822182979.5U CN209273465U (en) | 2018-12-24 | 2018-12-24 | Handgrip and manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209273465U true CN209273465U (en) | 2019-08-20 |
Family
ID=67607000
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822182979.5U Active CN209273465U (en) | 2018-12-24 | 2018-12-24 | Handgrip and manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209273465U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110640772A (en) * | 2019-10-16 | 2020-01-03 | 珠海格力智能装备有限公司 | Gripping device |
-
2018
- 2018-12-24 CN CN201822182979.5U patent/CN209273465U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110640772A (en) * | 2019-10-16 | 2020-01-03 | 珠海格力智能装备有限公司 | Gripping device |
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| CP01 | Change in the name or title of a patent holder |
Address after: B701-702, industrialization building, Shenzhen Virtual University Park, No.2, Yuexing Third Road, Nanshan District, Shenzhen, Guangdong Province Patentee after: Shenzhen Lan pangzi machine intelligence Co., Ltd Address before: B701-702, industrialization building, Shenzhen Virtual University Park, No.2, Yuexing Third Road, Nanshan District, Shenzhen, Guangdong Province Patentee before: SHENZHEN DORABOT ROBOTICS Co.,Ltd. |