CN211388851U - Mechanical fixture and grabbing robot suitable for grabbing vertebral body and table body parts - Google Patents

Abstract

The utility model provides a mechanical fixture and snatch robot suitable for snatch centrum, stage body part, mechanical fixture includes control part and two snatchs portions. The two grabbing parts are arranged at intervals and oppositely arranged on the control part, each grabbing part is provided with a first positioning groove in a half-cone shape or a half-platform shape and an arc-shaped second positioning groove, and the two first positioning grooves are respectively positioned on the inner side walls of the two grabbing parts which are opposite to each other so as to enable the two first positioning grooves to be opposite to each other. The two second positioning grooves are respectively positioned at the tail ends of the two grabbing parts and are opposite to each other. When in use, the control part controls the two grabbing parts to grab the tip of the part in the shape of the cone or the table body through the two first positioning grooves or grab the side face of the part in the shape of the cone or the table body through the two second positioning grooves. The utility model discloses a constant head tank of two kinds of shapes makes mechanical fixture can snatch the centrum, the stage body part of form are put to the difference.

Description

Mechanical fixture and grabbing robot suitable for grabbing vertebral body and table body parts

Technical Field

The utility model relates to a frock clamp technical field especially relates to a mechanical fixture suitable for snatch centrum, stage body part. Furthermore, the utility model discloses still provide and include mechanical fixture's the robot that snatchs.

Background

The current common robot clamp comprises three types, namely an electric claw type clamp, a sucker type clamp and an electric permanent magnet lifting appliance. Parts which are not placed in order need to be grabbed in the machining industry, and the current mechanical manufacturing industry only has a robot clamp for grabbing parts with regular adsorption or grabbing surfaces, such as round pipes, cylinders, cubes and the like, but does not have a robot clamp for grabbing parts with cone and table structures. Because parts of the cone body and the table body structure do not have regular adsorption grabbing surfaces, the exposed contact surface of the parts of the cone body or the table body structure which are stacked in a mess can be the top tip or the side face, and the requirements of accurately grabbing and accurately placing the parts cannot be met by any clamp in the prior art.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a mechanical fixture suitable for snatch centrum, stage body part solves the problem that current anchor clamps can't snatch the part of centrum, stage body shape.

In order to solve the problem, the utility model provides a mechanical fixture suitable for snatch centrum, stage body part, mechanical fixture includes control part and two snatchs portions. Two snatch the portion interval and set up in control portion relatively, each snatch the portion and have half centrum or half stage body hole shape's first constant head tank and curved second constant head tank, two first constant head tanks are located two relative respective inside walls of portion of snatching respectively to make two first constant head tanks relative. The two second positioning grooves are respectively positioned at the tail ends of the two grabbing parts and are opposite to each other. When in use, the control part controls the two grabbing parts to grab the tip of the part in the shape of the cone or the table body through the two first positioning grooves or grab the side face of the part in the shape of the cone or the table body through the two second positioning grooves.

According to an embodiment of the present invention, the first positioning groove and the second positioning groove of each grasping portion are adjacent to and communicate with each other.

According to the utility model discloses an embodiment, each portion of snatching is triangle-shaped, and the second constant head tank of each portion of snatching is located the most advanced position of the portion of snatching.

According to the utility model discloses an embodiment, mechanical fixture still includes damper, and damper includes spring and bracing piece, and the bracing piece is connected perpendicularly in the control part, and the bracing piece is located the relative both sides of control part respectively with the portion of snatching, and the spring housing is in the periphery of bracing piece to the impact when the part contact part is snatched in the buffering.

According to an embodiment of the present invention, the control part comprises a controller and an electric permanent magnet mechanism, the electric permanent magnet mechanism comprises a permanent magnet steel and an exciting coil which are matched with each other, the controller is connected with the computer and controls the electric permanent magnet mechanism to be magnetized or demagnetized through a command signal when in use, and a magnetic field is generated when the electric permanent magnet mechanism is magnetized, so that the two grabbing parts grab parts; when the electromagnetic mechanism is demagnetized, the two grabbing parts release the parts.

Compared with the prior art, the technical scheme has the following advantages:

the utility model discloses a set up the first constant head tank and the curved second constant head tank of half centrum or half stage body shape respectively in two portions of snatching, two portions of snatching both can snatch the part most advanced of centrum or stage body shape through two first constant head tanks like this, also snatch the part side of centrum or stage body shape through two second constant head tanks. Through the constant head tank of two kinds of shapes, make mechanical fixture can snatch the centrum, the stage body part of form are put to the difference, no matter how the part is put and all can snatch.

The utility model discloses a border on first constant head tank and second constant head tank and set up and communicate each other, first constant head tank and second constant head tank are located the most advanced same position of portion of snatching like this, adopt different constant head tanks to the difference when putting the part of form and snatch, need not to switch over the operation.

The utility model discloses a set up damper, can cushion because positioning error and lead to snatching the impact when portion and part bump, damper's spring can crumple this moment, plays the cushioning effect, thereby the protection mechanical fixture avoids damaging.

Drawings

Fig. 1 is a schematic perspective view of a mechanical clamp according to an embodiment of the present invention at a first viewing angle;

fig. 2 is a schematic perspective view of a mechanical clamp according to an embodiment of the present invention at a second viewing angle;

fig. 3 is a schematic perspective view of a mechanical clamp according to an embodiment of the present invention at a third viewing angle;

fig. 4 is a first working state diagram of the mechanical fixture provided by the present invention, at this time, the mechanical fixture grabs the tip of the part;

fig. 5 is a second operating state diagram of the mechanical fixture, at this time, the mechanical clamp is clamped to the side of the grabbing part.

Detailed Description

The following description is only intended to disclose the invention so as to enable any person skilled in the art to practice the invention. The embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other arrangements without departing from the spirit and scope of the invention.

The utility model provides a mechanical fixture suitable for snatch centrum, stage body part, mechanical fixture includes control part 10 and two snatchs portion 20.

The control part 10 includes a controller and an electric permanent magnet mechanism, wherein the electric permanent magnet mechanism includes a permanent magnet steel and an excitation coil which are matched with each other. When the exciting coil is electrified, the permanent magnet steel can be magnetized, and when the exciting coil is not electrified, the permanent magnet steel can be demagnetized. When in use, the controller is connected with a computer through a serial port and controls the electric permanent magnet mechanism to be magnetized or demagnetized through an instruction signal, and when the electric permanent magnet mechanism is magnetized, a magnetic field is generated so that the two grabbing parts 20 grab parts; when the electro-permanent magnet mechanism is demagnetized, the two gripping portions 20 release the parts.

The two grabbing parts 20 are arranged at intervals and oppositely on the control part 10, each grabbing part 20 is provided with a first positioning groove 201 in the shape of a semi-cone or a semi-frustum hole and an arc-shaped second positioning groove 202, and the two first positioning grooves 201 are respectively positioned on the corresponding inner side walls of the two grabbing parts 20, so that the two first positioning grooves 201 are opposite. The two second positioning grooves 202 are located at respective distal ends of the two grasping portions 20 and are also opposed to each other.

In the present embodiment, each of the grasping portions 20 has a triangular shape. The second positioning groove 202 of each grasping portion 20 is located at the tip end position of the grasping portion 20.

When in use, the control part 10 controls the two grabbing parts 20 to grab the tip of the part in the shape of a cone or a frustum through the two first positioning grooves 201, as shown in fig. 4; or the control part 10 controls the two grasping parts 20 to grasp the side of the cone or the frustum-shaped part through the two second positioning grooves 202, as shown in fig. 5.

Specifically, the first positioning groove 201 and the second positioning groove 202 of each grasping portion 20 are adjacent to and communicate with each other. Therefore, the first positioning groove 201 and the second positioning groove 202 of the same grabbing part 20 are located at substantially the same position of the grabbing part 20, so that the mechanical clamp does not need to be switched when grabbing parts of different placing forms by the first positioning groove 201 or the second positioning groove 202 regardless of grabbing the tip of the part.

The mechanical clamp further comprises a damping mechanism 30, the damping mechanism 30 comprises a spring 31 and a support rod 32, one end of the support rod 32 is vertically connected to the control part 10, and the other end of the support rod 32 is connected with a flange when in use. The support bar 32 and the grasping portion 10 are respectively located at two opposite sides of the control portion 10, and the spring 31 is sleeved on the periphery of the support bar 32 to buffer the impact force when the grasping portion 20 contacts the part. Thus, when the grabbing part 20 collides with a part due to a positioning error, the spring 31 of the damping mechanism 30 is compressed under the impact force, thereby performing a buffering function, and protecting the mechanical clamp from damage.

The utility model provides a mechanical fixture adopts the electric permanent magnetism as snatching the mode, has designed the first constant head tank 201 of half centrum or half stage body hole shape and is used for the curved second constant head tank 202 that the side direction snatched the part at the most advanced contact surface of portion of snatching 20, can snatch the vertical part of putting and putting upside down simultaneously through these two kinds of constant head tanks. When the part is placed vertically, the mechanical clamp grabs the tip of the part, as shown in fig. 4; when the part is armed, the mechanical clamp grips the side of the part, as shown in FIG. 5. And the damping device 30 is designed at the flange at the tail end of the mechanical clamp, so that the collision caused by the positioning precision can be effectively eliminated, and the grabbing robot is prevented from being damaged.

The utility model discloses still provide one kind and include mechanical fixture's the robot that snatchs can perfectly snatch the eccentric shaft part that has partly centrum or stage body structure, generally is applicable to conventional centrum, stage body part through the experiment.

It is to be understood by persons skilled in the art that the embodiments of the present invention described above and shown in the drawings are given by way of example only and are not limiting of the present invention. The objects of the present invention have been fully and effectively accomplished. The functional and structural principles of the invention have been shown and described in the embodiments without departing from the principles of the invention, embodiments of the invention may be subject to any deformation and modification.

Claims (6)

1. The utility model provides a mechanical fixture suitable for snatch centrum, stage body part which characterized in that includes:

a control unit;

the two grabbing parts are arranged at intervals and oppositely arranged on the control part, each grabbing part is provided with a first positioning groove in a shape of a semi-cone or a semi-frustum hole and an arc-shaped second positioning groove, the two first positioning grooves are respectively positioned on the inner side walls of the two grabbing parts which are opposite, so that the two first positioning grooves are opposite, and the two second positioning grooves are respectively positioned at the tail ends of the two grabbing parts and are also opposite; when the clamping device is used, the control part controls the two grabbing parts to grab the tip of a part in a shape of a cone or a table body through the two first positioning grooves, or grab the side face of the part in the shape of the cone or the table body through the two second positioning grooves.

2. A mechanical clamp adapted to grasp vertebral bodies, frustum-shaped parts, according to claim 1, wherein the first and second positioning grooves of each grasping portion are adjacent and in communication.

3. The mechanical clamp adapted to grasp vertebral bodies and frustum of bodies as claimed in claim 2, wherein each of said grasping portions is triangular in shape, and said second positioning slot of each grasping portion is located at a tip of said grasping portion.

4. The mechanical fixture suitable for grabbing vertebral bodies and table body parts as claimed in any one of claims 1-3, wherein the mechanical fixture further comprises a damping mechanism, the damping mechanism comprises a spring and a support rod, the support rod is vertically connected to the control part, the support rod and the grabbing part are respectively located at two opposite sides of the control part, and the spring is sleeved on the periphery of the support rod to buffer the impact force when the grabbing part contacts the part.

5. The mechanical fixture for grabbing vertebral bodies and table body parts according to any one of claims 1-3, wherein said control part comprises a controller and an electro-permanent magnetic mechanism, said electro-permanent magnetic mechanism comprises permanent magnetic steel and an exciting coil which are matched with each other, when in use, said controller is connected to a computer and controls said electro-permanent magnetic mechanism to be magnetized or demagnetized by a command signal, when said electro-permanent magnetic mechanism is magnetized, a magnetic field is generated, so that two grabbing parts grab parts; when the electromagnetic mechanism is demagnetized, the two grabbing parts release parts.

6. A gripping robot, characterized in that it comprises a mechanical gripper according to any of claims 1-5 adapted to grip vertebral bodies, or table parts.

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