CN211517533U - Clamping jaw mechanism - Google Patents
Clamping jaw mechanism Download PDFInfo
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- CN211517533U CN211517533U CN201922394459.5U CN201922394459U CN211517533U CN 211517533 U CN211517533 U CN 211517533U CN 201922394459 U CN201922394459 U CN 201922394459U CN 211517533 U CN211517533 U CN 211517533U
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- 230000000712 assembly Effects 0.000 claims abstract description 49
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- 238000010586 diagram Methods 0.000 description 3
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Abstract
The utility model provides a clamping jaw mechanism, which comprises a plurality of clamping jaw mounting plates and a plurality of groups of clamping finger components; each group of clamping finger assembly comprises a plurality of clamping fingers, a clamping space is enclosed among the plurality of clamping fingers of each group of clamping finger assembly, the plurality of clamping fingers of each group of clamping finger assembly are correspondingly arranged on the plurality of clamping jaw mounting plates one by one, so that when the plurality of clamping jaw mounting plates move relatively, a workpiece or a material is clamped through the corresponding clamping finger assembly; the clamping jaw mounting plate comprises a plurality of groups of clamping finger assemblies, a plurality of clamping fingers and a clamping jaw mounting plate, wherein the plurality of groups of clamping finger assemblies are arranged at intervals along a first preset direction, the plurality of clamping fingers on the same clamping jaw mounting plate are arranged at intervals along a second preset direction, and the first preset direction and the second preset direction are perpendicular to each other. Through setting up multiunit and pressing from both sides the finger subassembly and setting the clamp finger of multiunit clamp finger subassembly to different shapes, make multiunit press from both sides the finger subassembly and can press from both sides the work piece or the material that possess different shapes and get, this just makes gripper mechanism can press from both sides multiple work piece or material and get, and then makes gripper mechanism possess higher commonality.
Description
Technical Field
The utility model relates to an automatic field particularly, relates to a clamping jaw mechanism.
Background
At present, in automatic equipment, a clamping jaw mechanism is often used for clamping workpieces or materials. In particular, as robots are more widely used in the logistics sorting industry, the demands of the market and enterprises on the function and efficiency of the gripper mechanism of the robot are higher and higher. Because the goods to be sorted in the logistics industry vary, the gripper mechanisms of a plurality of robots are only specially designed for specific and individual types of goods at present, and in addition, the gripper mechanism at the front end of the robot is replaced, which is a relatively complex and time-consuming process, and is an efficient bottleneck for the logistics sorting industry.
Therefore, the clamping jaw mechanism in the prior art can only be suitable for single workpieces or materials, and cannot clamp multiple workpieces or materials, namely, the clamping jaw mechanism in the prior art is poor in universality and cannot be suitable for multiple working scenes.
SUMMERY OF THE UTILITY MODEL
A primary object of the present invention is to provide a clamping jaw mechanism to solve the problem of relatively poor versatility of clamping jaw mechanisms in the prior art.
In order to achieve the above object, the utility model provides a clamping jaw mechanism, it includes: a plurality of jaw mounting plates; the clamping device comprises a plurality of groups of clamping finger assemblies, a plurality of clamping finger assemblies and a plurality of clamping finger clamping mechanisms, wherein each group of clamping finger assemblies comprises a plurality of clamping fingers, a clamping space is enclosed among the clamping fingers of each group of clamping finger assemblies, and the clamping fingers of each group of clamping finger assemblies are correspondingly arranged on a plurality of clamping jaw mounting plates one by one so as to clamp a workpiece or a material through the corresponding clamping finger assemblies when the clamping jaw mounting plates move relatively; the clamping jaw mounting plate comprises a plurality of groups of clamping finger assemblies, a plurality of clamping fingers and a clamping jaw mounting plate, wherein the plurality of groups of clamping finger assemblies are arranged at intervals along a first preset direction, the plurality of clamping fingers on the same clamping jaw mounting plate are arranged at intervals along a second preset direction, and the first preset direction and the second preset direction are perpendicular to each other.
Further, each clamping jaw mounting panel is the bar shaped plate, and the extending direction of a plurality of clamping jaw mounting panels is parallel to each other, and first predetermined direction is the extending direction of clamping jaw mounting panel, and second predetermined direction perpendicular to the extending direction of clamping jaw mounting panel.
Furthermore, each clamping jaw mounting plate comprises a plurality of plate sections, two adjacent plate sections are arranged in a crossed mode, and a plurality of clamping fingers on each clamping jaw mounting plate are arranged on the plate sections in a one-to-one correspondence mode.
Furthermore, each clamping jaw mounting plate comprises a first plate section and a second plate section, and the first plate section and the second plate section are vertically arranged; the first plate section is provided with a first clamping finger, and the second plate section is provided with a second clamping finger.
Further, the first clamping finger is arranged on the side wall of the first plate section, and the second clamping finger is arranged on the plate surface of the second plate section far away from the first plate section.
Furthermore, the clamping surface of the clamping fingers of at least one group of clamping finger assemblies in the multiple groups of clamping finger assemblies is an arc-shaped surface; and/or the clamping surface of the clamping finger of at least one group of clamping finger assemblies in the plurality of groups of clamping finger assemblies is a plane; and/or the clamping fingers of at least one group of clamping finger assemblies in the multiple groups of clamping finger assemblies are pins; and/or the clamping fingers of at least one clamping finger assembly in the plurality of groups of clamping finger assemblies are stepped.
Further, the clamping jaw mechanism also comprises a clamping jaw power part, and the clamping jaw power part is connected with the plurality of clamping jaw mounting plates so as to drive the plurality of clamping jaw mounting plates to approach or move away from each other.
Furthermore, the clamping jaw mechanism also comprises a suction cup, and the suction cup and the clamping jaw mounting plates are arranged at intervals so as to form a suction area for sucking the workpiece or the material; at least part of the suction cup is located within the clamping space.
Further, the gripper mechanism further comprises: a sucker mounting plate; the sucking disc connecting piece is adjustably arranged on the sucking disc mounting plate along the sucking direction of the sucking disc, and the sucking disc is mounted on the sucking disc mounting plate through the sucking disc connecting piece so as to adjust the position of the sucking disc through the sucking disc connecting piece.
Furthermore, the clamping jaw mechanism further comprises a plurality of second sensors, the second sensors are arranged in one-to-one correspondence with the clamping finger assemblies, and each second sensor is arranged in the corresponding clamping space so as to detect whether the corresponding clamping finger assembly clamps the workpiece or the material in place through each second sensor.
By applying the technical scheme of the utility model, the clamping jaw mechanism comprises a plurality of clamping jaw mounting plates and a plurality of groups of clamping finger assemblies; each group of clamping finger assembly comprises a plurality of clamping fingers, a clamping space is enclosed among the plurality of clamping fingers of each group of clamping finger assembly, the plurality of clamping fingers of each group of clamping finger assembly are correspondingly arranged on the plurality of clamping jaw mounting plates one by one, so that when the plurality of clamping jaw mounting plates move relatively, a workpiece or a material is clamped through the corresponding clamping finger assembly; the clamping jaw mounting plate comprises a plurality of groups of clamping finger assemblies, a plurality of clamping fingers and a clamping jaw mounting plate, wherein the plurality of groups of clamping finger assemblies are arranged at intervals along a first preset direction, the plurality of clamping fingers on the same clamping jaw mounting plate are arranged at intervals along a second preset direction, and the first preset direction and the second preset direction are perpendicular to each other. Through setting up the multiunit and pressing from both sides the finger subassembly and setting different shapes to through pressing from both sides the finger that indicates the subassembly with the multiunit, make the multiunit press from both sides the finger subassembly and can press from both sides the work piece or the material that possess different shapes and get, this just makes gripper mechanism can press from both sides multiple work piece or material and get, and then makes gripper mechanism possess higher commonality to the relatively poor problem of the commonality of gripper mechanism among the prior art is solved. In the specific implementation process, the plurality of clamping fingers of each group of clamping finger assembly are arranged on the plurality of clamping jaw mounting plates in a one-to-one correspondence manner, so that each clamping jaw mounting plate drives the clamping fingers mounted on the clamping jaw mounting plate to move towards the direction close to or away from the corresponding clamping space, and then the wall surfaces of the plurality of clamping fingers of each group of clamping finger assembly, which face towards the clamping space, can be in contact with the outer wall surface of the corresponding workpiece or material, and the clamping work of each group of clamping finger assembly is realized.
Drawings
The accompanying drawings, which form a part of the present application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
figure 1 shows a schematic structural view of a jaw mechanism according to a first embodiment of the jaw mechanism of the present invention;
FIG. 2 shows a top view of the jaw mechanism of FIG. 1;
fig. 3 shows a first gripping state diagram of the gripper mechanism of fig. 1;
fig. 4 shows a second gripping state diagram of the gripper mechanism of fig. 1;
figure 5 shows a schematic structural view of a gripper mechanism according to a second embodiment of the gripper mechanism according to the invention;
FIG. 6 shows a top view of the jaw mechanism of FIG. 5;
FIG. 7 shows an assembled block diagram of the jaw power section and jaw mounting plate of the jaw mechanism of FIG. 5;
FIG. 8 illustrates a rear view of the assembled structure of the jaw power components and jaw mounting plate of the jaw mechanism of FIG. 7;
FIG. 9 illustrates a first side view of an assembled arrangement of jaw power components and jaw mounting plates of the jaw mechanism of FIG. 7;
figure 10 illustrates a second side view of the assembled arrangement of the jaw power components and the jaw mounting plate of the jaw mechanism of figure 7.
Wherein the figures include the following reference numerals:
10. a jaw mechanism;
11. a clamping jaw mounting plate; 110. a first plate section; 112. a second plate section;
121. a first clamping space; 122. a second clamping space; 123. a suction area;
131. a first clamping finger; 132. a second clamping finger;
14. a jaw power component; 15. a connecting plate; 172. a second sensor;
16. a suction cup; 161. a sucker mounting plate; 1611. a third plate section; 1612. a fourth plate segment; 162. a suction cup connector.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
The utility model provides a clamping jaw mechanism 10, please refer to fig. 1 to 10, the clamping jaw mechanism 10 includes a plurality of clamping jaw mounting plates 11 and a plurality of groups of clamping finger components; each group of clamping finger assembly comprises a plurality of clamping fingers, a clamping space is enclosed among the clamping fingers of each group of clamping finger assembly, the clamping fingers of each group of clamping finger assembly are correspondingly arranged on the clamping jaw mounting plates 11 one by one, so that when the clamping jaw mounting plates 11 move relatively, a workpiece or a material is clamped through the corresponding clamping finger assembly; the plurality of groups of clamping finger assemblies are arranged at intervals along a first preset direction, the plurality of clamping fingers on the same clamping jaw mounting plate 11 are arranged at intervals along a second preset direction, and the first preset direction and the second preset direction are perpendicular to each other.
The utility model discloses an among the gripper mechanism 10, be provided with the multiunit and press from both sides and indicate the subassembly, can indicate to set different shapes through pressing from both sides the clamp that indicates the subassembly with the multiunit, make the multiunit press from both sides and indicate the subassembly can press from both sides the work piece or the material that possess different shapes and get, this just makes gripper mechanism 10 can press from both sides multiple work piece or material and get, and then makes gripper mechanism 10 possess higher commonality to solve the relatively poor problem of the commonality of the gripper mechanism among the prior art. In the specific implementation process, the plurality of clamping fingers of each group of clamping finger assembly are arranged on the plurality of clamping jaw mounting plates 11 in a one-to-one correspondence manner, so that each clamping jaw mounting plate 11 drives the clamping fingers mounted on the clamping jaw mounting plate to move towards the direction close to or away from the corresponding clamping space, and the wall surfaces, facing the clamping space, of the plurality of clamping fingers of each group of clamping finger assembly can be in contact with the outer wall surface of the corresponding workpiece or material, and the clamping work of each group of clamping finger assembly is realized.
Each clamping jaw mounting plate 11 is a strip-shaped plate, the extending directions of the clamping jaw mounting plates 11 are parallel to each other, the first predetermined direction is the extending direction of the clamping jaw mounting plates 11, and the second predetermined direction is perpendicular to the extending direction of the clamping jaw mounting plates 11.
In this embodiment, taking the example that the clamping jaw mechanism 10 includes two sets of clamping finger assemblies, the two sets of clamping finger assemblies are respectively a first clamping finger assembly and a second clamping finger assembly, the first clamping finger assembly includes a plurality of first clamping fingers 131, and the second clamping finger assembly includes a plurality of second clamping fingers 132.
Specifically, each clamping jaw mounting plate 11 is a strip-shaped plate, and each clamping jaw mounting plate 11 is provided with a fixed end and a free end which are arranged oppositely; along the direction of the fixed end to the free end of the clamping jaw mounting plate 11, a plurality of clamping spaces formed by a plurality of groups of clamping finger assemblies are gradually increased, so that the adaptability of the clamping jaw mechanism 10 to workpieces or materials with different contour sizes can be improved, and the universality of the clamping jaw mechanism 10 is further improved.
In one implementation of this embodiment, as shown in the jaw mechanism 10 of fig. 1 to 4, the jaw mechanism 10 includes two jaw mounting plates 11, a first finger assembly includes two first fingers 131, and a second finger assembly includes two second fingers 132; a first clamping space 121 is formed between the two first clamping fingers 131, and a second clamping space 122 is formed between the two second clamping fingers 132; the first clamping finger assembly and the second clamping finger assembly are arranged at intervals along a first preset direction, and the area of the second clamping space 122 is larger than that of the first clamping space 121; when the two jaw mounting plates 11 drive the two first clamping fingers 131 of the first clamping finger assembly and the two second clamping fingers 132 of the second clamping finger assembly to move towards the direction close to the clamping space thereof, the jaw mechanism 10 can be in a first clamping state, i.e. a clamping state, as shown in fig. 3; when the two jaw mounting plates 11 drive the two first clamping fingers 131 of the first clamping finger assembly and the two second clamping fingers 132 of the second clamping finger assembly to move in the direction away from the clamping space, the jaw mechanism 10 can be in the second clamping state, i.e. the open state, as shown in fig. 4.
In another implementation of this embodiment, as shown in the jaw mechanism 10 of fig. 5 and 6, the jaw mechanism 10 includes three jaw mounting plates 11, a first finger assembly includes three first fingers 131, and a second finger assembly includes three second fingers 132.
In order to realize the assembly between the corresponding clamping fingers of the clamping finger assemblies and the corresponding clamping jaw mounting plates 11, each clamping jaw mounting plate 11 comprises a plurality of plate sections, two adjacent plate sections are arranged in a crossed manner, and the clamping fingers on each clamping jaw mounting plate 11 are arranged on the plate sections in a one-to-one correspondence manner.
Specifically, each jaw mounting plate 11 includes a first plate segment 110 and a second plate segment 112, the first plate segment 110 being disposed perpendicular to the second plate segment 112; the first plate segment 110 is provided with a first clamping finger 131, and the second plate segment 112 is provided with a second clamping finger 132.
Optionally, the first clamping finger 131 is disposed on a side wall of the first plate segment 110, and the second clamping finger 132 is disposed on a plate surface of the second plate segment 112 away from the first plate segment 110.
In order to clamp various workpieces or materials with different shapes by the clamping jaw mechanism 10, the clamping surfaces of the clamping fingers of at least one group of clamping finger assemblies in the multiple groups of clamping finger assemblies are arc-shaped surfaces; and/or the clamping surface of the clamping finger of at least one group of clamping finger assemblies in the plurality of groups of clamping finger assemblies is a plane; and/or the clamping fingers of at least one group of clamping finger assemblies in the multiple groups of clamping finger assemblies are pins; and/or the clamping fingers of at least one group of clamping finger assemblies in the multiple groups of clamping finger assemblies are in a step shape; wherein the clamping surface of each clamping finger is a wall surface thereof facing the corresponding clamping space. Optionally, the clamping surfaces of the plurality of first clamping fingers 131 of the first clamping finger assembly are all arc-shaped surfaces, and the clamping surface of each first clamping finger 131 of the first clamping finger assembly is bent towards a direction away from the first clamping space; the clamping surfaces of the second plurality of clamping fingers 132 of the second clamping finger assembly are all planar.
In order to realize the clamping action of each clamping finger, the clamping jaw mechanism 10 further comprises a clamping jaw power part 14, wherein the clamping jaw power part 14 is connected with the plurality of clamping jaw mounting plates 11 so as to drive the plurality of clamping jaw mounting plates 11 to approach to or depart from each other, and further each clamping jaw mounting plate 11 drives the clamping finger mounted thereon to move towards the direction approaching to or departing from the corresponding clamping space, so that the clamping action of the clamping jaw mechanism 10 is realized. Specifically, the jaw power members 14 are each connected to a fixed end of the plurality of jaw mounting plates 11.
Specifically, the jaw power parts 14 are air jaws or electric jaws, and the respective jaw mounting plates 11 are provided on jaw bodies of the air jaws or the electric jaws. Alternatively, the jaw mechanism 10 shown in figures 7 to 10 comprises three jaw mounting plates 11 spaced circumferentially around the jaw power member 14.
In order to realize the assembly between the clamping jaw mechanism 10 and the driving arm of the robot, the clamping jaw mechanism 10 further comprises a connecting plate 15, a clamping jaw power part 14 is arranged on the connecting plate 15, and the connecting plate 15 is used for being connected with the driving arm of the robot.
In order to further increase the versatility of the gripper mechanism 10, the gripper mechanism 10 further includes a suction cup 16, and the suction cup 16 is spaced from the plurality of gripper mounting plates 11 to form a suction area for sucking a workpiece or material by the suction cup 16, which enables the suction cup 16 to suck a corresponding workpiece or material to move the position of the workpiece or material when the workpiece or material which is irregular and inconvenient to clamp is required to move the position. As shown in the jaw mechanism 10 of fig. 1 and 2, a suction area 123 is formed by the suction cup 16. Optionally, at least part of the suction cup 16 is located within the clamping space.
The gripper mechanism 10 further comprises a suction cup mounting plate 161, the suction cup 16 being mounted on the suction cup mounting plate 161; specifically, in the jaw mechanism 10 shown in fig. 1-4, the suction cup mounting plate 161 includes a third plate segment 1611 and a fourth plate segment 1612, the third plate segment 1611 for mounting on an upper portion of the jaw power member 14, and the suction cup 16 mounted on the fourth plate segment 1612.
The gripper mechanism 10 further includes a suction cup connector 162, the suction cup connector 162 is position-adjustably provided on the suction cup mounting plate 161 along the suction direction of the suction cup 16, and the suction cup 16 is mounted on the suction cup mounting plate 161 through the suction cup connector 162 to adjust the position of the suction cup 16 through the suction cup connector 162, so that the suction cup 16 can suck the corresponding workpiece or material and move it to a desired position by adjusting the position of the suction cup 16.
Alternatively, the suction cup connecting member 162 has a rod-shaped structure, i.e., the extending direction of the suction cup connecting member 162 is the sucking direction of the suction cup 16. In the jaw mechanism 10 shown in fig. 1 to 4, the extending direction of the suction cup attachment 162 is arranged perpendicular to the extending direction of the jaw mounting plate 11; in the jaw mechanism 10 shown in fig. 5 and 6, the extending direction of the suction cup attachment 162 is arranged in parallel with the extending direction of the jaw mounting plate 11. Preferably, the suction cup connector 162 is a telescoping rod.
In order to facilitate the staff to detect whether the clamping jaw mechanism 10 clamps the corresponding workpiece or material to the required position and monitor the clamping process of the clamping jaw mechanism 10, a first sensor is disposed in the suction area to detect whether the suction cup 16 clamps the workpiece or material in place through the first sensor. Alternatively, the first sensor may be an infrared sensor or a pressure sensor.
The clamping jaw mechanism 10 further comprises a plurality of second sensors 172, the plurality of second sensors 172 are arranged in one-to-one correspondence with the plurality of sets of clamping finger assemblies, and each second sensor 172 is arranged in a corresponding clamping space so as to detect whether the corresponding clamping finger assembly clamps the workpiece or the material in place through each second sensor 172. Alternatively, the second sensor 172 may be an infrared sensor or a pressure sensor.
From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects:
in the clamping jaw mechanism 10 of the present invention, the clamping jaw mechanism 10 includes a plurality of clamping jaw mounting plates 11 and a plurality of sets of clamping finger assemblies; each group of clamping finger assembly comprises a plurality of clamping fingers, a clamping space is enclosed among the clamping fingers of each group of clamping finger assembly, the clamping fingers of each group of clamping finger assembly are correspondingly arranged on the clamping jaw mounting plates 11 one by one, so that when the clamping jaw mounting plates 11 move relatively, a workpiece or a material is clamped through the corresponding clamping finger assembly; the plurality of groups of clamping finger assemblies are arranged at intervals along a first preset direction, the plurality of clamping fingers on the same clamping jaw mounting plate 11 are arranged at intervals along a second preset direction, and the first preset direction and the second preset direction are perpendicular to each other. Through setting up the multiunit and pressing from both sides the finger subassembly and setting the clamp finger of multiunit clamp finger subassembly to different shapes, make the multiunit press from both sides the finger subassembly and can press from both sides the work piece or the material that possess different shapes and get, this just makes gripper mechanism 10 can press from both sides multiple work piece or material and get, and then makes gripper mechanism 10 possess higher commonality to the relatively poor problem of the commonality of gripper mechanism among the prior art is solved. In the specific implementation process, the plurality of clamping fingers of each group of clamping finger assembly are arranged on the plurality of clamping jaw mounting plates 11 in a one-to-one correspondence manner, so that each clamping jaw mounting plate 11 drives the clamping fingers mounted on the clamping jaw mounting plate to move towards the direction close to or away from the corresponding clamping space, and the wall surfaces, facing the clamping space, of the plurality of clamping fingers of each group of clamping finger assembly can be in contact with the outer wall surface of the corresponding workpiece or material, and the clamping work of each group of clamping finger assembly is realized.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A jaw mechanism, comprising:
a plurality of jaw mounting plates (11);
the clamping device comprises a plurality of groups of clamping finger assemblies, each group of clamping finger assembly comprises a plurality of clamping fingers, a clamping space is enclosed among the clamping fingers of each group of clamping finger assemblies, and the clamping fingers of each group of clamping finger assemblies are correspondingly arranged on a plurality of clamping jaw mounting plates (11) one by one so as to clamp a workpiece or a material through the corresponding clamping finger assemblies when the clamping jaw mounting plates (11) move relatively;
the clamping finger assemblies are arranged at intervals along a first preset direction, the clamping fingers on the same clamping jaw mounting plate (11) are arranged at intervals along a second preset direction, and the first preset direction is perpendicular to the second preset direction.
2. Gripper mechanism according to claim 1, characterized in that each of the gripper mounting plates (11) is a strip, the extension directions of a plurality of the gripper mounting plates (11) being parallel to each other, the first predetermined direction being the extension direction of the gripper mounting plates (11), the second predetermined direction being perpendicular to the extension direction of the gripper mounting plates (11).
3. Gripper mechanism according to claim 1, characterized in that each of the jaw mounting plates (11) comprises a plurality of plate sections, two adjacent plate sections being arranged crosswise, a plurality of clamping fingers on each of the jaw mounting plates (11) being arranged on the plurality of plate sections in a one-to-one correspondence.
4. Gripper mechanism according to claim 1, characterized in that each of the jaw mounting plates (11) comprises a first plate section (110) and a second plate section (112), the first plate section (110) being arranged perpendicular to the second plate section (112); the first plate section (110) is provided with a first clamping finger (131), and the second plate section (112) is provided with a second clamping finger (132).
5. Gripper mechanism according to claim 4, characterized in that the first clamping finger (131) is arranged on a side wall of the first plate section (110) and the second clamping finger (132) is arranged on a plate face of the second plate section (112) remote from the first plate section (110).
6. The gripper mechanism of claim 1, wherein the gripping surfaces of the fingers of at least one of the sets of finger assemblies are arcuate; and/or the clamping surface of the clamping finger of at least one group of clamping finger assemblies in the multiple groups of clamping finger assemblies is a plane; and/or the clamping fingers of at least one group of clamping finger assemblies in the multiple groups of clamping finger assemblies are pins; and/or the clamping fingers of at least one clamping finger assembly in the multiple groups of clamping finger assemblies are in a step shape.
7. Gripper mechanism according to any one of the claims 1 to 6, characterized in that the gripper mechanism further comprises:
a jaw power component (14), said jaw power component (14) being connected to said plurality of jaw mounting plates (11) to drive said plurality of jaw mounting plates (11) toward or away from each other.
8. Gripper mechanism according to any one of the claims 1 to 6, characterized in that the gripper mechanism further comprises:
the suction disc (16) is arranged at intervals with the plurality of clamping jaw mounting plates (11) so as to form a suction area for sucking the workpiece or the material through the suction disc (16); at least part of the suction cup (16) is located within the clamping space.
9. The jaw mechanism of claim 8, further comprising:
a suction cup mounting plate (161);
sucking disc connecting piece (162), sucking disc connecting piece (162) are followed the suction direction position of sucking disc (16) sets up adjustably on sucking disc mounting panel (161), sucking disc (16) are passed through sucking disc connecting piece (162) are installed on sucking disc mounting panel (161), in order to pass through sucking disc connecting piece (162) adjustment the position of sucking disc (16).
10. Gripper mechanism according to any one of the claims 1 to 6, characterized in that the gripper mechanism further comprises:
the second sensors (172) are arranged in one-to-one correspondence with the plurality of groups of clamping finger assemblies, and each second sensor (172) is arranged in the corresponding clamping space so as to detect whether the corresponding clamping finger assembly clamps the workpiece or the material in place through each second sensor (172).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922394459.5U CN211517533U (en) | 2019-12-25 | 2019-12-25 | Clamping jaw mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922394459.5U CN211517533U (en) | 2019-12-25 | 2019-12-25 | Clamping jaw mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211517533U true CN211517533U (en) | 2020-09-18 |
Family
ID=72467119
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922394459.5U Expired - Fee Related CN211517533U (en) | 2019-12-25 | 2019-12-25 | Clamping jaw mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211517533U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112248001A (en) * | 2020-09-30 | 2021-01-22 | 湖北工程学院 | Mechanical claw, mechanical hand, replenishment robot and replenishment system |
| CN112297050A (en) * | 2020-12-30 | 2021-02-02 | 季华科技有限公司 | Clamping range increases large-scale clamping jaw structure and mechanical tongs |
-
2019
- 2019-12-25 CN CN201922394459.5U patent/CN211517533U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112248001A (en) * | 2020-09-30 | 2021-01-22 | 湖北工程学院 | Mechanical claw, mechanical hand, replenishment robot and replenishment system |
| CN112297050A (en) * | 2020-12-30 | 2021-02-02 | 季华科技有限公司 | Clamping range increases large-scale clamping jaw structure and mechanical tongs |
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