CN210732495U - Clamping jaw suitable for manual intervention robot - Google Patents
Clamping jaw suitable for manual intervention robot Download PDFInfo
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- CN210732495U CN210732495U CN201921247819.2U CN201921247819U CN210732495U CN 210732495 U CN210732495 U CN 210732495U CN 201921247819 U CN201921247819 U CN 201921247819U CN 210732495 U CN210732495 U CN 210732495U
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Abstract
The utility model provides a be suitable for clamping jaw of manual intervention robot relates to industrial robot technical field, this clamping jaw sets up and the left clamping jaw and the right clamping jaw that pair each other, the side that left clamping jaw and right clamping jaw pair do not to right is inwards sunken to form left recess and right recess respectively, left recess and right recess constitute the closed draw-in groove that is used for the card to get the article when left clamping jaw and right clamping jaw pair, the upper surface of left clamping jaw and right clamping jaw is used for the bearing article, left recess and right recess correspond and link up from top to bottom on left clamping jaw and right clamping jaw all. The characteristics of this clamping jaw are through "card", rather than "pressing from both sides", through the closed draw-in groove that forms behind left clamping jaw and the right clamping jaw lock, will treat that the neck of centre gripping thing blocks and get, in case block, just can not drop by the centre gripping thing, then treat the top of centre gripping thing through the upper surface bearing of clamping jaw, shift the article, because the contact pressure who treats the centre gripping thing is little, can not cause the condition of pressing from both sides the bits of broken glass or warp, the material selection scope is big, simple structure.
Description
Technical Field
The utility model belongs to the technical field of industrial robot technique and specifically relates to a be suitable for clamping jaw of manual intervention robot.
Background
The clamping jaw of the existing robot mainly depends on clamping when grabbing articles, but when clamping fragile and thin articles, the phenomenon that the clamped articles are crushed is easy to occur, and when the clamping force is too small, the phenomenon that the clamped articles drop can occur, so that some flexible clamping jaws are developed, firstly, in order to increase the clamping surface, and secondly, the clamped articles are prevented from being crushed or deformed. At present, all the adopted flexible materials are organic matters, and the durability and the organic solvent corrosion resistance of the flexible materials are poor. There is therefore currently no well-established method for holding fragile articles.
If the clamped object is a glass or plastic container filled with solution and the container cover is opened, the clamped object is clamped and moved to a preset position by a robot, and no reliable clamping jaw exists at present.
Disclosure of Invention
The utility model aims to provide a clamping jaw suitable for a manual intervention robot, which solves the technical problem that in the prior art, under the condition that a glass or plastic container filled with solution is clamped and a container cover is opened, the clamping jaw needs to be clamped and moved to a preset position by a robot, and a reliable clamping jaw does not exist at present; the utility model provides a plurality of technical effects that preferred technical scheme among a great deal of technical scheme can produce see the explanation below in detail.
In order to achieve the above purpose, the utility model provides a following technical scheme:
the utility model provides a pair of be suitable for clamping jaw of manual intervention robot for install the centre gripping removal article on industrial robot's arm, set up and the left clamping jaw and the right clamping jaw that pair mutually, the side that left side clamping jaw and right clamping jaw pair mutually right is inwards sunken respectively and is formed left recess and right recess, left side recess and right recess constitute the closed draw-in groove that is used for the card to get the article when left clamping jaw and right clamping jaw pair, and the upper surface of left clamping jaw and right clamping jaw is used for the bearing article, left side recess and right recess correspond and link up from top to bottom all on left clamping jaw and right clamping jaw.
The technology is developed for a remote operation robot, each action of the robot is interfered by a human, and the technology is suitable for automatically clamping an object with a determined shape and a fixed position by the robot. For a remotely operated robot, the gripping of the object from that direction is performed under manual intervention by a control system; for a specific robot, the shapes of the objects to be clamped are known, the clamping jaw comprises a left clamping jaw and a right clamping jaw, the left clamping jaw and the right clamping jaw can be opened and closed through a mechanical arm of the robot, when the robot is used, the left clamping jaw and the right clamping jaw are opened, the left clamping jaw and the right clamping jaw are controlled to move to specified positions through a control system and the mechanical arm, a left groove and a right groove are aligned with the objects to be clamped, the left clamping jaw and the right clamping jaw are controlled to be buckled through the control system and the mechanical arm, the neck of the objects to be clamped is clamped, the width of the top of the objects to be clamped is larger than the inner diameter of a closed clamping groove, and therefore the objects to be clamped can be clamped on the clamping jaws, and the objects can; it is worth to be noted that the shape of the closed clamping groove formed by the left groove and the right groove on the clamping jaw is the same as the shape of the neck of the object to be clamped, and the closed clamping groove is larger than the neck of the object to be clamped, so that the neck is slightly larger than the neck of the object to be clamped, and the closed clamping groove is suitable for articles, such as jars and the like, of which the top width of the object to be clamped is larger than the width of the neck.
The clamping jaw is characterized in that the neck of an object to be clamped is clamped through a closed clamping groove formed by buckling the left clamping jaw and the right clamping jaw instead of a clamp, then the top of the object to be clamped is supported by the upper surface of the clamping jaw to transfer the object, the contact pressure of the object to be clamped is small in the process, so that the situation of crushing or deformation is avoided, especially glass or plastic containers, reduces the situation that the solution is cracked and scattered during the moving process of the containers, can more surely clamp and move the containers to a preset position, the clamping tool is particularly suitable for clamping fragile articles, the clamped articles are very stable, the clamped articles cannot fall off once being clamped, the hard materials can be selected from various materials such as metal, ceramic and the like with strong corrosion resistance and good durability as raw materials, the material selection range is large, and the clamping tool is simple in structure and convenient to install.
Optionally, at least two groups of left grooves and right grooves are correspondingly arranged on the left clamping jaw and the right clamping jaw, and each group of left grooves and right grooves form a closed clamping groove. If the robot clamps two objects, two clamping grooves are designed on the clamping jaw, the shapes of the clamping grooves are consistent with those of the clamped objects, the neck of the object is manually controlled and clamped during clamping, and the object is firmly clamped on the clamping jaw although the object is not clamped. If a specific remote control robot needs to clamp four objects, two clamping jaws can be hung on the mechanical arm, each clamping jaw is designed to be two closed clamping grooves, or the clamping parts of the clamped objects are designed to be in one shape or two shapes, and only one clamping jaw is hung on the mechanical arm.
Optionally, the side edges of the left clamping jaw and the right clamping jaw which are not combined are both arc-shaped, and the left clamping jaw and the right clamping jaw form a wedge-shaped clamping jaw which is narrow in front and wide in back after being combined. The whole front part of the clamping jaw is narrow and the back part of the clamping jaw is wide, so that the clamping jaw can be convenient for clamping articles, and particularly when the articles are placed in an array mode, the front end of the clamping jaw can stretch into the gap of the articles to clamp the articles.
Optionally, the cross section of the closed clamping groove formed by the left groove and the right groove is any one of a circle, an ellipse, a rectangle or a rhombus. The cross-sectional shape of the closed clamping groove can be designed according to the shape of the neck of an object to be clamped, and the neck of a common bottle body is basically in the range of a circle, an ellipse, a rectangle, a rhombus or the approximate shape of the circle, the ellipse, the rectangle and the rhombus, so that the bottle body is more suitable for actual use.
Optionally, a plurality of closed clamping grooves formed in the clamping jaw formed by the left clamping jaw and the right clamping jaw are mutually butted to form a closed clamping groove with a wavy edge. When carrying out single clamping jaw and getting a plurality of clamping things of treating simultaneously, can design into a whole with a plurality of closed slot, though holistic closed slot can have certain clearance in the lock back between every solitary closed slot, nevertheless can not influence the effect of getting of real clamp, simultaneously can save material.
Optionally, the tail ends of the left clamping jaw and the right clamping jaw are provided with mounting holes for connecting with a mechanical arm moving unit. The mounting hole is used for being connected to the mobile unit, the concrete connection can adopt a bolt or clamping fixing mode, and the mounting is convenient; it should be noted that, the moving unit of the mechanical arm may refer to a conventional mechanical arm, and the clamping jaw is driven to open and close by the slide rail, the motor mechanism and the control system of the robot, and a connecting block may be installed on the slide rail, and the clamping jaw is installed on the connecting block of the slide rail.
Optionally, the surfaces of the left groove and the right groove are provided with non-slip mats. The rubber pad can be selected to the slipmat, and the purpose reduces the slip or the rocking of getting the in-process article, keeps the stability of article.
Optionally, the inner diameter of the closed clamping groove formed by the left groove and the right groove is 10mm-50 mm.
Optionally, the left clamping jaw and the right clamping jaw are made of any one or a combination of metal, ceramic, plastic and wood materials.
Optionally, a pressure sensor is disposed in each of the left and right grooves. The pressure sensor can be connected with a control system of the robot, so that the clamping pressure in the clamping process is monitored, and the occurrence of the situation of clamping breakage is reduced.
The utility model provides a pair of be suitable for clamping jaw of manual intervention robot, its beneficial effect is:
the clamping jaw is characterized in that the neck of an object to be clamped is clamped through a closed clamping groove formed by buckling the left clamping jaw and the right clamping jaw instead of a clamp, then the top of the object to be clamped is supported by the upper surface of the clamping jaw to transfer the object, the contact pressure of the object to be clamped is small in the process, so that the situation of crushing or deformation is avoided, especially glass or plastic containers, reduces the situation that the solution is cracked and scattered during the moving process of the containers, can more surely clamp and move the containers to a preset position, the clamping tool is particularly suitable for clamping fragile articles, the clamped articles are very stable, the clamped articles cannot fall off once being clamped, the hard materials can be selected from various materials such as metal, ceramic and the like with strong corrosion resistance and good durability as raw materials, the material selection range is large, and the clamping tool is simple in structure and convenient to install.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of the present invention;
fig. 2 is another schematic structural diagram of the present invention;
fig. 3 is another schematic structural diagram of the present invention;
fig. 4 is a schematic structural view of the present invention installed behind the robot arm.
In the figure, 1-left clamping jaw, 2-right clamping jaw, 3-left groove, 4-right groove, 5-closed clamping groove, 6-mounting hole and 7-anti-skid pad.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
As an alternative to the above-described embodiment,
example 1:
as shown in fig. 1-4, a clamping jaw suitable for manual intervention robot for install the centre gripping removal article on industrial robot's arm, including symmetry setting and left clamping jaw 1 and the right clamping jaw 2 that closes each other, the side that left clamping jaw 1 and right clamping jaw 2 are closed mutually inwards respectively forms left recess 3 and right recess 4, left recess 3 and right recess 4 constitute the closed draw-in groove 5 that is used for the card to get the article when left clamping jaw 1 and right clamping jaw 2 are closed, and the upper surface of left clamping jaw 1 and right clamping jaw 2 is used for bearing the article, left recess 3 and right recess 4 are corresponding and are link up from top to bottom on left clamping jaw 1 and right clamping jaw 2.
The technology is developed for a remote operation robot, each action of the robot is interfered by a human, and the technology is suitable for automatically clamping an object with a determined shape and a fixed position by the robot. For a remotely operated robot, the gripping of the object from that direction is performed under manual intervention by a control system; for a specific robot, what kind of objects are to be clamped and what shape of the objects is known, the left clamping jaw 1 and the right clamping jaw 2 which are included by the clamping jaw can be opened and closed through a mechanical arm of the robot, when the robot is used, the left clamping jaw 1 and the right clamping jaw 2 are opened, the left clamping jaw 1 and the right clamping jaw 2 are controlled to move to a specified position through a control system and the mechanical arm, the left groove 3 and the right groove 4 are aligned with the objects to be clamped, the left clamping jaw 1 and the right clamping jaw 2 are controlled to be buckled through the control system and the mechanical arm, the neck of the objects to be clamped is clamped, the width of the top of the objects to be clamped is larger than the inner diameter of the closed clamping groove 5, and therefore the objects to be clamped can be clamped on the clamping jaws, and the objects can; it is worth to say that the shape of the closed clamping groove 5 formed by the left groove 3 and the right groove 4 on the clamping jaw is the same as the shape of the neck of the object to be clamped, and the closed clamping groove is larger than the neck of the object to be clamped, so that the closed clamping groove is slightly larger than the neck of the object to be clamped, and the closed clamping groove is suitable for articles, such as jars and the like, of which the top width of the object to be clamped is larger than the width of the.
The clamping jaw is characterized in that the neck of an object to be clamped is clamped through a closed clamping groove 5 formed by buckling the left clamping jaw 1 and the right clamping jaw 2 instead of a clamp, then the top of the object to be clamped is supported by the upper surface of the clamping jaw to transfer the object, the contact pressure of the object to be clamped is small in the process, so that the situation of crushing or deformation is avoided, especially glass or plastic containers, reduces the situation that the solution is cracked and scattered during the moving process of the containers, can more surely clamp and move the containers to a preset position, the clamping tool is particularly suitable for clamping fragile articles, the clamped articles are very stable, the phenomenon of falling can not occur, the hard materials can also be selected from materials such as metal, ceramic and the like which have strong corrosion resistance and good durability as raw materials, the material selection range is large, and the clamping tool is simple in structure and convenient to install.
Example 2:
on the basis of the above-mentioned embodiments, as a further preferable solution: as shown in fig. 1-3, at least two groups of left grooves 3 and right grooves 4 are correspondingly arranged on the left clamping jaw 1 and the right clamping jaw 2, and each group of left grooves 3 and right grooves 4 forms a closed clamping groove 5. If the robot clamps two objects, two clamping grooves are designed on the clamping jaw, the shapes of the clamping grooves are consistent with those of the clamped objects, the neck of the object is manually controlled and clamped during clamping, and the object is firmly clamped on the clamping jaw although the object is not clamped. If a specific remote control robot needs to clamp four objects, two clamping jaws can be hung on the mechanical arm, each clamping jaw is designed to be provided with two closed clamping grooves 5, or the clamping parts of the clamped objects are designed to be in one shape or two shapes, and only one clamping jaw is hung on the mechanical arm.
Example 3:
on the basis of the above-mentioned embodiments, as a further preferable solution: as shown in fig. 1-4, the non-involutive sides of the left clamping jaw 1 and the right clamping jaw 2 are both arc-shaped, and the left clamping jaw 1 and the right clamping jaw 2 form a wedge-shaped clamping jaw with a narrow front part and a wide back part after involution. The whole front part of the clamping jaw is narrow and the back part of the clamping jaw is wide, so that the clamping jaw can be convenient for clamping articles, and particularly when the articles are placed in an array mode, the front end of the clamping jaw can stretch into the gap of the articles to clamp the articles.
Example 4:
on the basis of the above-mentioned embodiments, as a further preferable solution: as shown in fig. 1 to 4, the cross section of the closed slot 5 formed by the left groove 3 and the right groove 4 is any one of circular, oval, rectangular or diamond. The cross-sectional shape of the closed clamping groove 5 can be designed according to the shape of the neck of an object to be clamped, and the shape of the neck of a common bottle body is basically in the range of a circle, an ellipse, a rectangle, a rhombus or the approximate shape thereof, so that the bottle is more suitable for the actual use condition.
Example 5:
on the basis of the above-mentioned embodiments, as a further preferable solution: as shown in fig. 1 and 3, a plurality of closed slots 5 arranged on the clamping jaw formed by the left clamping jaw 1 and the right clamping jaw 2 are mutually butted to form the closed slots 5 with waved edges. When carrying out single clamping jaw and getting a plurality of clamping things of treating simultaneously, can design into a whole with a plurality of closed slot 5, though holistic closed slot 5 can have certain clearance after the lock between every solitary closed slot 5, nevertheless can not influence the effect of getting of actual clamp, simultaneously can save material.
Example 6:
on the basis of the above-mentioned embodiments, as a further preferable solution: as shown in fig. 1 and 4, the tail ends of the left clamping jaw 1 and the right clamping jaw 2 are provided with mounting holes 6 for connecting with a mechanical arm moving unit. The mounting hole 6 is used for connecting to the mobile unit, and the concrete connection can adopt a bolt or clamping fixing mode, so that the mounting is convenient; it should be noted that, the moving unit of the mechanical arm may refer to a conventional mechanical arm, and the clamping jaw is driven to open and close by the slide rail, the motor mechanism and the control system of the robot, and a connecting block may be installed on the slide rail, and the clamping jaw is installed on the connecting block of the slide rail.
Example 7:
on the basis of the above-mentioned embodiments, as a further preferable solution: as shown in fig. 4, the surfaces of the left and right grooves 3 and 4 are provided with anti-slip pads 7. The non-slip mat 7 can be a rubber mat, and aims to reduce the sliding or shaking of the object in the clamping process and keep the stability of the object.
Example 8:
on the basis of the above-mentioned embodiments, as a further preferable solution: as shown in fig. 1-4, the inner diameter of the closed clamping groove 5 formed by the left groove 3 and the right groove 4 is 10mm-50mm, and the left clamping jaw 1 and the right clamping jaw 2 are made of any one or a combination of metal, ceramic, plastic and wood materials.
Example 9:
on the basis of the above-mentioned embodiments, as a further preferable solution: and pressure sensors are arranged in the left groove 3 and the right groove 4. The pressure sensor can be connected with a control system of the robot, so that the clamping pressure in the clamping process is monitored, and the occurrence of the situation of clamping breakage is reduced.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a clamping jaw that is suitable for manual intervention robot for install the centre gripping removal article on industrial robot's arm, including symmetry setting and left clamping jaw (1) and right clamping jaw (2) that mutually involutory, its characterized in that, left side clamping jaw (1) and right clamping jaw (2) side that involutory inwards sunken left recess (3) and right recess (4) respectively mutually, left side recess (3) and right recess (4) constitute closed draw-in groove (5) that are used for the card to get the article when left clamping jaw (1) and right clamping jaw (2) are involutory, and the upper surface of left clamping jaw (1) and right clamping jaw (2) is used for bearing article, left side recess (3) and right recess (4) correspond and link up from top to bottom on left clamping jaw (1) and right clamping jaw (2) all.
2. A jaw adapted for a manual intervention robot according to claim 1, wherein said left jaw (1) and said right jaw (2) are provided with at least two sets of left (3) and right (4) grooves, each set of left (3) and right (4) grooves forming a closed slot (5).
3. A clamping jaw suitable for a manual intervention robot according to claim 2, wherein the sides of the left clamping jaw (1) and the right clamping jaw (2) which are not combined are arc-shaped, and the left clamping jaw (1) and the right clamping jaw (2) form a wedge-shaped clamping jaw with a narrow front part and a wide back part after being combined.
4. A jaw adapted for a manual intervention robot according to claim 3, wherein the cross-section of the closed clamping groove (5) formed by the left and right grooves (3, 4) is any one of circular, oval, rectangular or diamond-shaped.
5. A jaw adapted for a manual intervention robot according to claim 4, wherein said left jaw (1) and said right jaw (2) are formed with a plurality of closed slots (5) which are in mutual abutment and form closed slots (5) having a wave-shaped edge.
6. A jaw adapted for a manual intervention robot according to claim 5, wherein the tail ends of the left jaw (1) and the right jaw (2) are provided with mounting holes (6) for connection to a robot arm moving unit.
7. A jaw adapted for a manual intervention robot according to any of claims 1-6, wherein the surface of the left and right grooves (3, 4) are provided with non-slip pads (7).
8. A jaw adapted for a manual intervention robot according to claim 7, wherein the inner diameter of the closed clamping groove (5) formed by the left and right grooves (3, 4) is 10mm-50 mm.
9. A jaw adapted for a manual intervention robot according to claim 8, wherein the left jaw (1) and the right jaw (2) are made of any one or a combination of metal, ceramic, plastic, wood material.
10. A jaw adapted for a manual intervention robot according to claim 9, wherein a pressure sensor is provided in each of the left (3) and right (4) recesses.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921247819.2U CN210732495U (en) | 2019-08-02 | 2019-08-02 | Clamping jaw suitable for manual intervention robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921247819.2U CN210732495U (en) | 2019-08-02 | 2019-08-02 | Clamping jaw suitable for manual intervention robot |
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| CN210732495U true CN210732495U (en) | 2020-06-12 |
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| CN201921247819.2U Active CN210732495U (en) | 2019-08-02 | 2019-08-02 | Clamping jaw suitable for manual intervention robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112978352A (en) * | 2021-02-05 | 2021-06-18 | 济南奥图自动化股份有限公司 | Feeding system is retrieved to full-automatic tableware |
| CN113732120A (en) * | 2021-08-01 | 2021-12-03 | 扬州市凯耀机械有限公司 | Sheet metal part bending and pressing device and application method thereof |
-
2019
- 2019-08-02 CN CN201921247819.2U patent/CN210732495U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112978352A (en) * | 2021-02-05 | 2021-06-18 | 济南奥图自动化股份有限公司 | Feeding system is retrieved to full-automatic tableware |
| CN113732120A (en) * | 2021-08-01 | 2021-12-03 | 扬州市凯耀机械有限公司 | Sheet metal part bending and pressing device and application method thereof |
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