CN210545845U

CN210545845U - Mechanical claw, clamp and mechanical arm

Info

Publication number: CN210545845U
Application number: CN201920548895.0U
Authority: CN
Inventors: 舒淦; 陈文彬; 林国正
Original assignee: Guangdong Zeheng Intelligent Technology Co ltd
Current assignee: Guangdong Zeheng Intelligent Technology Co ltd
Priority date: 2019-04-22
Filing date: 2019-04-22
Publication date: 2020-05-19
Anticipated expiration: 2029-04-22

Abstract

The utility model provides a gripper, which is characterized in that the gripper comprises a fixed frame, a plurality of clamping pieces and a first telescopic module, wherein the plurality of clamping pieces are connected with the fixed frame in a sliding manner; the first telescopic module comprises a telescopic power device and a telescopic connecting rod, the telescopic connecting rod comprises a first connecting rod, a second connecting rod and a third connecting rod, the first connecting rod, the second connecting rod and the third connecting rod are hinged end to end, two ends of the telescopic power device are respectively connected with the first connecting rod and the third connecting rod, the middle part of the second connecting rod is rotatably connected with the fixed frame, and the plurality of clamping pieces are respectively connected to two ends of the first telescopic module; the utility model also provides an anchor clamps and the manipulator of using this gripper, this anchor clamps are installed and can be realized accurate clamp and get the work piece on the manipulator, can be to the accurate unloading of going up of work piece.

Description

Mechanical claw, clamp and mechanical arm

Technical Field

The utility model relates to a spraying equipment field, in particular to gripper, anchor clamps and manipulator.

Background

In the electrostatic spraying process, an automatic assembly line mode is generally adopted, workpieces are hung on a transmission chain, then are conveyed into a powder spraying room, are dried after powder spraying in the powder spraying room, and finally are unloaded, so that a spraying process is completed. In the prior art, a lot of feeding and discharging of workpieces are still manually completed, so that a clamp capable of being matched with a manipulator to realize automatic feeding and discharging is urgently needed.

SUMMERY OF THE UTILITY MODEL

Therefore, it is necessary to provide a gripper and a jig that can perform automatic loading and unloading in cooperation with a robot.

The embodiment of the utility model provides a mechanical claw, which comprises a fixed frame, a plurality of clamping pieces and a first telescopic module, wherein the plurality of clamping pieces are connected with the fixed frame in a sliding manner; first flexible module is including flexible power device and flexible connecting rod, flexible connecting rod includes first connecting rod, second connecting rod and third connecting rod, first connecting rod, second connecting rod and third connecting rod end to end are articulated each other, flexible power device's both ends respectively with first connecting rod and third connecting rod are connected, the middle part of second connecting rod with fixed frame rotatable coupling, a plurality of holders connect respectively in the both ends of first flexible module.

Preferably, still be provided with fixed connecting rod on the fixed frame, fixed connecting rod with fixed frame fixed connection, fixed connecting rod with the middle part of second connecting rod is articulated mutually.

Preferably, the clamping device further comprises a guide block and a guide rod, wherein the guide rod is connected to the guide block in a sliding manner, one end of the guide rod is located inside the fixed frame, and the other end of the guide rod is fixedly connected with the clamping piece; alternatively, the first and second electrodes may be,

the clamping piece is fixedly connected with the fixing frame, and the clamping piece is fixedly connected with the telescopic end of the guide rod; alternatively, the first and second electrodes may be,

the clamping piece is fixedly connected to the connecting plate.

Preferably, the clamping device further comprises two sliding plates, the two sliding plates are arranged oppositely, the sliding plates are connected to the fixed frame in a sliding mode, and the outer side faces of the sliding plates are fixedly connected with the clamping pieces.

The utility model also provides an anchor clamps, gripper including mount, sucking disc module and above-mentioned arbitrary item, the sucking disc module with gripper all fixed connection in the mount.

Preferably, the hook clamping device further comprises a hook clamping module, and the hook clamping module is fixedly connected to the upper end of the fixed frame; alternatively, the first and second electrodes may be,

the hook clamping device comprises a fixed frame, and is characterized by further comprising a hook clamping module, wherein the hook clamping module is fixedly connected to the upper end of the fixed frame and comprises an installation part, a clamping power device and two clamping jaws, the clamping power device and the clamping jaws are fixedly connected to the installation part, and the two clamping jaws are arranged oppositely; alternatively, the first and second electrodes may be,

still press from both sides including the couple and get the module, the couple press from both sides get module fixed connection in the upper end of mount, the couple is got the module and is included the installed part, is got power device and clamping jaw, press from both sides get power device with clamping jaw fixed connection in on the installed part, the clamping jaw is provided with two, just two clamping jaws set up relatively, the one end of clamping jaw with installed part fixed connection, the other end are provided with the centre gripping groove, the centre gripping groove reduces from its opening to its bottom gradually.

Preferably, the sucker module comprises a sucker, the sucker and the clamping piece face the same surface of the fixing frame, and the sucker module is telescopic; under a state, the sucking disc is than the holder leaves the distance of fixed frame is nearer, the sucking disc does not influence the use of holder, under another state, the sucking disc is than the holder leaves the distance of fixed frame is farther, the holder does not influence the use of sucking disc.

Preferably, the sucking disc module is including installation mounting, sucking disc power device, guider, sucking disc support and a plurality of sucking disc, guider fixed connection in the installation mounting, the other end stretches out the installation mounting and with sucking disc support fixed connection, sucking disc power device fixed connection in the installation mounting, the other end also stretches out the installation mounting and connect in the sucking disc support, a plurality of sucking disc fixed connection in on the sucking disc support.

Preferably, the lifting device further comprises a lifting module, wherein one end of the lifting module is fixedly connected to the fixed frame, and the other end of the lifting module can freely stretch and retract; alternatively, the first and second electrodes may be,

still include the jacking module, the jacking module includes casing, jacking power device, jacking axle and direction bearing, jacking power device is fixed in the casing, jacking power device's output shaft with jacking axle fixed connection, direction bearing fixed connection in on the casing, just the jacking axle runs through stretch out behind the direction bearing the outside of casing.

The utility model also provides a manipulator, including manipulator body and the anchor clamps of above-mentioned arbitrary item, anchor clamps fixed connection is on the arm of manipulator.

The clamping pieces at the two ends of the first telescopic module can synchronously extend and retract relative to the center line of the first telescopic module, and no matter what type of workpiece is clamped, the workpiece can be positioned in the middle of the mechanical claw, so that the positioning is more accurate; the clamp using the mechanical claw is more accurate in positioning, the clamp is connected to a manipulator, the workpiece is more accurate in clamping, and automatic feeding and discharging can be achieved instead of manual operation.

Drawings

The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular description of preferred embodiments of the invention, as illustrated in the accompanying drawings. Like reference numerals refer to like parts throughout the drawings, and the drawings are not intended to be drawn to scale in actual dimensions, emphasis instead being placed upon illustrating the principles of the invention.

Fig. 1 is an overall structure view of a gripper according to a preferred embodiment of the present invention;

FIG. 2 is an exploded view of a preferred embodiment of the gripper of the present invention;

FIG. 3 is an overall view of the clamp according to the preferred embodiment of the present invention;

FIG. 4 is an exploded view of the clamp of the preferred embodiment of the present invention;

FIG. 5 is an overall block diagram of the suction cup module of the preferred embodiment of the present invention;

FIG. 6 is an internal structural view of a suction cup module according to a preferred embodiment of the present invention;

FIG. 7 is an overall view of the hook clamp module according to the preferred embodiment of the present invention;

FIG. 8 is an exploded view of the hook clamp module according to the preferred embodiment of the present invention;

fig. 9 is an overall structure view of the jacking module according to the preferred embodiment of the present invention;

fig. 10 is an exploded view of the jacking module according to the preferred embodiment of the present invention.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element and be integral therewith, or intervening elements may also be present. The terms "mounted," "one end," "the other end," and the like are used herein for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

As shown in fig. 1-2, the embodiment of the utility model provides a gripper 10, including fixed frame 1, holder 2 and first flexible module 3, holder 2 is provided with a plurality ofly, and a plurality of holders 2 sliding connection in fixed frame 1, and holder 2 makes a round trip to slide and is used for pressing from both sides tightly or unclamp the work piece. The first telescopic module 3 includes a telescopic power device 31 and a telescopic link 32, and the telescopic power device 31 is a cylinder, an electric cylinder, or the like. The telescopic connecting rod 32 comprises a first connecting rod 311, a second connecting rod 312 and a third connecting rod 313, the first connecting rod 311 and the third connecting rod 313 are the same in length, the first connecting rod 311, the second connecting rod 312 and the third connecting rod 313 are hinged end to end, two ends of the telescopic power device 31 are respectively connected with the first connecting rod 311 and the third connecting rod 313, and the telescopic power device 31 stretches and retracts to drive the telescopic connecting rod 32 to stretch and retract. The middle part of the second connecting rod 312 is rotatably connected with the fixed frame 1, and the position of the second connecting rod 312 and the fixed frame 1 is fixed, so that the same expansion amount of the two sides of the connecting point of the expansion connecting rod 32 and the fixed frame 1 can be ensured. The plurality of clamping pieces 2 are respectively connected to two ends of the first telescopic module 3, and the clamping pieces 2 move towards the direction close to the center line or away from the center line along with the telescopic connection rod 32, so that the workpiece is clamped or loosened.

In the preferred embodiment, the fixed frame 1 is further provided with a fixed link 6, the fixed link 6 is fixedly connected with the fixed frame 1, the fixed link 6 is hinged with the middle part of the second link 312, and the telescopic link 32 is fixedly connected with the fixed frame 1 through the fixed link 6.

In the preferred embodiment, the gripper 10 further comprises a guide block 42 and a guide rod 41, wherein the guide block 42 is a block with a guide hole or a guide groove, or the guide block 42 is a linear bearing. The guide rod 41 is slidably connected to the guide block 42, one end of the guide rod 41 is located inside the fixing frame 1, the other end of the guide rod 41 is fixedly connected with the clamping member 2, and when the clamping member 2 clamps or releases a workpiece, the state of the guide rod 41 along with the clamping member 2 is also changed. In another preferred embodiment, the gripper 10 further comprises a guide rod 41, the guide rod 41 is fixedly connected with the fixed frame 1, the guide rod 41 comprises a telescopic end, and the telescopic end of the guide rod 41 is fixedly connected with the clamping member 2; further, the guide bar 41 includes a fixed portion fixed to the fixed frame 1 and a telescopic portion extending out of the fixed frame 1 and telescopic as the clamping member 2 clamps or unclamps the workpiece.

In a preferred embodiment, the gripper 10 further comprises two sliding plates 5, two sliding plates 5 are disposed opposite to each other, the sliding plates 5 are slidably connected to the fixed frame 1, and the outer side of the sliding plates 5 is fixedly connected to the clamping member 2 (the outer side of the sliding plates 5 is a direction away from the center line L of the gripper). The sliding plate 5 serves both for guiding and also for further increasing the stability between the clamping element and the fixed frame 1 by providing a plurality of one connection point for the clamping element 2 to the fixed frame 1.

In a preferred embodiment, the gripper 10 further comprises a guide block 42, a guide rod 41 and a sliding plate 5, wherein the guide block 42 is fixedly connected with the fixed frame 1, and the guide block 42 is fixedly connected with the fixed frame 1 through bolts. The inner side of the guide block 42 is fixedly connected with a connecting plate 11, the connecting plate 11 is provided with a bolt hole, and the sliding plate 5 is connected to the connecting plate 11 in a sliding mode. The connecting plate 11 is provided with two, and two connecting plates 11 set up relatively, and fixedly connected with backup pad 12 between two connecting plates 11, and backup pad 12 makes the position and the structure of connecting plate 11 all more stable. The both ends of first flexible module 3 respectively with rather than the sliding plate 5 fixed connection that corresponds, holder 2 fixed connection on connecting plate 11, sliding plate 5 both plays the effect of direction, still makes 2 a plurality of tie points with fixed frame 1 of holder, has further strengthened the stability between holder 2 and the fixed frame 1.

Referring to fig. 3-4, the present invention further provides a clamp, which comprises a fixing frame 50, a suction cup module 20 and any one of the gripper 10, wherein the suction cup module 20 and the gripper 10 are both fixedly connected to the fixing frame 50, the suction cup module 20 can pick up a workpiece through vacuum suction, the gripper 10 can pick up the workpiece, and the clamp combines the two together to make the application of the clamp wider.

Referring to fig. 7 and 8, in a preferred embodiment, the jig further includes a hook clamping module 30, the hook clamping module 30 is fixedly connected to an upper end of the fixed frame 50 (the upper end of the fixed frame 50 refers to the upper end of the fixed frame 50 in a use state), the hook clamping module 30 can clamp the hook, and the hook clamping module 30 cooperates with the gripper 10 to simultaneously clamp the hook and the workpiece hung on the hook together and then place the hook on the conveying chain. Because the holes for hanging the hooks on some workpieces are small, and the hooks swing back and forth, when the manipulator wants to clamp the workpieces and hang the workpieces on the hooks, the manipulator is difficult to complete, but the hooks are easy to hang on the chains. In another preferred embodiment, the clamping apparatus further comprises a hook clamping module 30, the hook clamping module 30 is fixedly connected to the upper end of the fixed frame 50 (the upper end of the fixed frame 50 refers to the upper end of the fixed frame 50 in the use state), and since the hooks are all at the upper end of the workpiece, the hook clamping module 30 is also located at the upper ends of the gripper 10 and the suction cup module 20; the hook clamping module 30 comprises a mounting member 303, a clamping power device 301 and a clamping jaw 302, wherein the clamping power device 301 is an electric cylinder or an air cylinder. The two clamping power devices 301 are arranged, the two clamping power devices 301 are arranged oppositely, each clamping power device 301 is connected with one clamping jaw 302, and the two clamping jaws 302 are matched to clamp the hook. The clamping power device 301 and the clamping jaws 302 are fixedly connected to the mounting part 303, two clamping jaws 302 are arranged, and the two clamping jaws 302 are arranged oppositely. In other preferred embodiments, the gripper 10 further includes a hook clamping module 30, the hook clamping module 30 is fixedly connected to the upper end of the fixing frame 50 (the upper end of the fixing frame 50 refers to the upper end of the fixing frame 50 in the use state), the hook clamping module 30 includes a mounting member 303, a clamping power device 301 and a clamping jaw 302, the clamping power device 301 and the clamping jaw 302 are fixedly connected to the mounting member 303, two clamping jaws 302 are provided, and the two clamping jaws 302 are disposed opposite to each other. One end of the clamping jaw 302 is fixedly connected with the mounting piece 303, the other end of the clamping jaw is provided with a clamping groove 3021, the clamping groove 3021 is gradually reduced from the opening to the bottom of the clamping groove 3021, the upper hook body of the hook is conveniently placed into the clamping groove 3021, the width of the bottom of the clamping groove 3021 is the same as that of the upper hook body of the hook, and the position accuracy of the hook is guaranteed. Further, the mounting bracket 303 includes a bottom plate 3032, two side plates 3033 and a rear side plate 3031, and the bottom plate 3032, the two side plates 3033 and the rear side plate 3031 are fixedly connected to form a dustpan-shaped mounting bracket 303.

Referring to fig. 5 and 6, in a preferred embodiment, the suction cup module 20 includes a suction cup 201, the suction cup 201 and the clamping member 2 face the same surface of the fixing frame 50, and the suction cup module 20 is retractable. In one state, the suction cup 201 is closer to the fixed frame 1 than the clamping member 2, and the suction cup 201 does not affect the use of the clamping member 2; in another state, the suction cup 201 is farther from the fixing frame 1 than the clamp 2, and the clamp 2 does not affect the use of the suction cup 201. The user may choose to use either the suction cup 201 or the clamp 2 as desired.

In the preferred embodiment, the suction cup module 20 comprises a mounting fixture 204, a suction cup power device 202, a guide device 203, a suction cup support 205, and a plurality of suction cups 201, wherein the suction cup power device 202 is an electric telescopic rod or a pneumatic telescopic rod. The fixing member 204 is a box. The guiding device 203 is fixedly connected in the mounting fixture 204, and the other end of the guiding device extends out of the mounting fixture 204 and is fixedly connected with the sucker bracket 205. The suction cup power device 202 is fixedly connected in the mounting fixture 204, the other end of the suction cup power device extends out of the mounting fixture 204 and is connected to the suction cup support 205, and the plurality of suction cups 201 are fixedly connected to the suction cup support 205. The suction cup power device 202 drives the suction cup support 205 and the suction cup 201 to do telescopic motion along the axial direction, and the guide device 203 plays a role in guiding, so that the positioning of the suction cup 201 is more accurate. Further, two guiding devices 203 are provided, which are respectively located at two sides of the suction cup power device, the guiding devices 203 include a suction cup guiding shaft 2031 and a guiding linear bearing 2032, and the guiding linear bearing 2032 is fixed on the fixing member 204.

Referring to fig. 9 and 10, in a preferred embodiment, the clamping apparatus further includes a lifting module 40, one end of the lifting module 40 is fixedly connected to the fixing frame 50, and the other end is freely retractable, so that when the workpiece is clamped by the gripper 10, the lifting module 40 extends to support the workpiece, so as to stabilize the clamped workpiece. In another preferred embodiment, the fixture further comprises a jacking module 40, the jacking module 40 comprises a housing 401, a jacking power device 402, a jacking shaft 403 and a guide bearing 404, and the jacking power device 402 is an air cylinder or an electric cylinder. Cylinder 402 is fixed in casing 401, and jacking power device 402's output shaft and jacking axle 403 fixed connection, and guide bearing 404 fixed connection is on casing 401, and stretches out the outside of casing 401 behind jacking axle 403 running through guide bearing 404, and the jacking axle 403 of jacking module 40 is used for withstanding the work piece of being got by the clamp, makes it more stable, is difficult to the landing.

Referring to fig. 3 and 4, in a preferred embodiment, the fixture further includes a connection module 60 and a junction box 70, both the connection module 60 and the junction box 70 being fixedly connected to the fixing frame 50. The connecting module is fixed on the upper portion of the fixing frame 50 (the side opposite to the clamping member is the upper portion of the fixing frame) and is used for being connected and fixed with the manipulator. The terminal box 70 is electrically connected to each power unit of the jig and connected to a control part of the robot, so that the robot can control the jig conveniently.

The utility model also provides a manipulator, including manipulator body and the anchor clamps of above-mentioned arbitrary item, anchor clamps fixed connection is on the arm of manipulator. Further, the connection module 60 is connected and fixed to the arm of the robot.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above embodiments only express the specific embodiments of the utility model, and the description thereof is more specific and detailed, but not so as to limit the scope of the patent of the utility model. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. The mechanical claw is characterized by comprising a fixed frame, a plurality of clamping pieces and a first telescopic module, wherein the plurality of clamping pieces are connected to the fixed frame in a sliding manner; first flexible module is including flexible power device and flexible connecting rod, flexible connecting rod includes first connecting rod, second connecting rod and third connecting rod, first connecting rod, second connecting rod and third connecting rod end to end are articulated each other, flexible power device's both ends respectively with first connecting rod and third connecting rod are connected, the middle part of second connecting rod with fixed frame rotatable coupling, a plurality of holders connect respectively in the both ends of first flexible module.

2. The gripper of claim 1, wherein a fixed link is further disposed on the fixed frame, the fixed link is fixedly connected to the fixed frame, and the fixed link is hinged to a middle portion of the second link.

3. The gripper of claim 1, further comprising a guide block and a guide rod, wherein the guide rod is slidably connected to the guide block, one end of the guide rod is located inside the fixed frame, and the other end of the guide rod is fixedly connected to the clamping member; alternatively, the first and second electrodes may be,

the clamping piece is fixedly connected to the connecting plate.

4. The gripper of claim 1, further comprising two sliding plates, wherein the two sliding plates are disposed opposite to each other, the sliding plates are slidably connected to the fixed frame, and the outer side surfaces of the sliding plates are fixedly connected to the clamping members.

5. A chuck comprising a holder, a chuck module, and a gripper according to any of claims 1-4, wherein the chuck module and the gripper are both fixedly attached to the holder.

6. The clamp of claim 5, further comprising a hook clamping module fixedly connected to an upper end of the fixed frame; alternatively, the first and second electrodes may be,

7. The clamp of claim 5, wherein the suction cup module comprises a suction cup, the suction cup and the clamping member face the same surface of the fixing frame, and the suction cup module is retractable; under a state, the sucking disc is than the holder leaves the distance of fixed frame is nearer, the sucking disc does not influence the use of holder, under another state, the sucking disc is than the holder leaves the distance of fixed frame is farther, the holder does not influence the use of sucking disc.

8. The fixture of claim 5, wherein said suction cup module comprises a mounting fixture, a suction cup power device, a guide device, a suction cup support, and a plurality of suction cups, wherein said guide device is fixedly connected within said mounting fixture, and wherein another end extends out of said mounting fixture and is fixedly connected with said suction cup support, said suction cup power device is fixedly connected within said mounting fixture, and wherein another end also extends out of said mounting fixture and is connected with said suction cup support, and wherein said plurality of suction cups are fixedly connected to said suction cup support.

9. The clamp of claim 5, further comprising a jacking module, wherein one end of the jacking module is fixedly connected to the fixing frame, and the other end of the jacking module can freely extend and retract; alternatively, the first and second electrodes may be,

10. A manipulator, comprising a manipulator body and a clamp according to any of claims 5-9, the clamp being fixedly attached to the arm of the manipulator.