CN211806219U - Light clamping jaw for grabbing articles and robot - Google Patents

Abstract

The utility model discloses a light-duty clamping jaw for snatching article, this light-duty clamping jaw include the mount pad, set up guide arm, two settings on the mount pad are in centre gripping arm on the guide arm is in with the setting actuating mechanism on the mount pad, the centre gripping arm including be used for with connecting portion that actuating mechanism's output is connected and the clamping part that is used for holding workpiece, actuating mechanism is used for driving two at least one among the centre gripping arm removes. The utility model discloses light-duty clamping jaw can snatch to the work piece that has greasy dirt or burr to overcome the unable clamp of current flexible clamping jaw and get the defect of the work piece that has greasy dirt or burr, thereby widen the application of robot. Furthermore, the utility model discloses still disclose a robot.

Description

Light clamping jaw for grabbing articles and robot

Technical Field

The utility model relates to a robot field, in particular to a light-duty clamping jaw and robot for snatching article.

Background

The small robot means a robot having a small load, such as a desktop robot, an educational robot, etc., which is rapidly developed and widely used in various fields.

As is well known, a small robot includes a robot arm for grasping a workpiece, and a flexible clamping jaw is disposed at an end of the robot arm and is driven by the robot arm to move so as to grasp the corresponding workpiece. The flexible clamping jaw is different from the traditional mechanical clamping jaw, is integrally made of flexible materials, can self-adaptively coat a workpiece, cannot cause any damage to the workpiece through the clamping action, and is particularly suitable for fragile and easily scratched workpieces.

However, since the flexible jaw is made of a flexible material and is formed by gas blowing, it cannot grip a workpiece having oil stains or burrs on the surface thereof. In addition, since the gripping jaw used in the conventional large robot has a large volume and a heavy weight, the gripping jaw of the conventional large robot cannot be directly applied to the robot. Therefore, it is highly desirable to provide a lightweight jaw suitable for use in a robot.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a main aim at provides a light-duty clamping jaw for snatching article, aims at solving the current flexible clamping jaw and can't snatch the technical problem that the surface has the work piece of greasy dirt or burr.

In order to solve the technical problem, the utility model provides a light-duty clamping jaw for snatching article, this light-duty clamping jaw include the mount pad, set up guide arm, two settings on the mount pad are in centre gripping arm on the guide arm is in with the setting on the mount pad, be used for driving two actuating mechanism that at least one in the centre gripping arm removed, the centre gripping arm including be used for with connecting portion that actuating mechanism's output is connected and the clamping part that is used for the centre gripping work piece.

Preferably, the driving mechanism is a bidirectional cylinder arranged on the mounting seat, and two output ends of the bidirectional cylinder are respectively connected with the two connecting parts.

Preferably, the driving mechanism is two one-way cylinders arranged on the mounting seat, and output ends of the two one-way cylinders are respectively connected with the two connecting parts.

Preferably, the one-way cylinder is a thread cylinder, the mounting base comprises a first mounting plate and a second mounting plate vertically arranged on the first mounting plate, and two first through holes for mounting the thread cylinder are formed in the first mounting plate.

Preferably, the second mounting plate is provided with a second through hole for mounting the guide rod, and the guide rod is arranged in the second through hole in a penetrating manner.

Preferably, the two clamping portions are located on two opposite sides of the second mounting plate, third through holes are formed in the positions, corresponding to the second through holes, of the clamping portions, and linear bearings are arranged in the third through holes.

Preferably, the lightweight gripper for gripping an article further comprises at least one tab located above the mounting.

Preferably, the joint is a three-way joint arranged above the mounting seat, the three-way joint is provided with a shared air inlet and two air outlets, the air inlet of the three-way joint is connected with an external air source, and the two air outlets of the three-way joint are respectively connected with the air inlets of the two one-way cylinders.

Preferably, the clamping portion is provided with a weight reduction groove.

The utility model also provides a robot, this robot include the light-duty clamping jaw of aforementioned record, light-duty clamping jaw includes the mount pad, sets up guide arm, two settings on the mount pad are in centre gripping arm on the guide arm is in with the setting on the mount pad, be used for driving two actuating mechanism that at least one among the centre gripping arm removed, the centre gripping arm including be used for with the connecting portion that actuating mechanism's output is connected and the clamping part that is used for the centre gripping work piece.

The embodiment of the utility model provides a beneficial effect lies in: at least one of the two clamping arms is driven to move by the driving mechanism so as to expand or contract the clamping space for clamping the workpiece, thereby realizing the clamping of the workpiece. The utility model relates to a centre gripping arm is the rigidity piece, when snatching the work piece that the surface has greasy dirt or burr, can not cause any damage to the centre gripping arm, makes the utility model provides a light-duty clamping jaw can be applicable to various work pieces to the application of robot can be widened.

Drawings

FIG. 1 is a schematic view of an embodiment of a lightweight gripper for gripping an object according to the present invention;

fig. 2 is a schematic structural view of a mounting seat of a light-weight clamping jaw for grabbing articles according to the present invention;

fig. 3 is a schematic structural view of the gripping arm of the light-duty gripping jaw for gripping an article according to the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention, and all other embodiments obtained by those skilled in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.

The utility model provides a light-duty clamping jaw for snatching article, in an embodiment, see fig. 1, this light-duty clamping jaw includes mount pad 10, set up guide arm 20 on mount pad 10, two clamping arm 30 that set up on guide arm 20 and set up actuating mechanism 40 on mount pad 10, clamping arm 30 is including being used for the connecting portion 31 of being connected with actuating mechanism 40's output and the clamping part 32 that is used for the centre gripping work piece, actuating mechanism 40 is arranged in driving at least one among two clamping arm 30 and removes.

The guide rod 20 according to the present embodiment mainly functions to guide at least one of the two clamping arms 30 to move along the guide rod 20, and the guide rod 20 may be an integrally formed rod body that is inserted into the mounting base 10, that is, a through hole is provided in the mounting base 10, the guide rod 20 is inserted into the through hole, and two ends of the guide rod 20 are exposed at two sides of the mounting base 10 to respectively mount the two clamping arms 30. Alternatively, the guide rods 20 according to this embodiment may be rod bodies respectively disposed on two opposite sides of the mounting base 10, one ends of the two rod bodies are respectively connected to the surfaces of the two opposite sides of the mounting base 10, and they may be fixed by welding or other methods, or the two rod bodies and the mounting base 10 are integrally formed, and the other ends of the two rod bodies are respectively used for mounting the two clamping arms 30.

The two clamp arms 30 according to the present embodiment mainly function to clamp a workpiece, and in order to clamp a workpiece, both the two clamp arms 30 may be provided in a movable structure, or only one of the two clamp arms 30 may be provided in a movable structure. Specifically, when both the two clamping arms 30 can move, the clamping and placing of the workpiece are realized by the relative approach or relative distancing of the two clamping arms 30; when only one of the two clamping arms 30 is movable, the other clamping arm is fixedly arranged on the guide rod 20, and the workpiece is clamped and placed through the movement of the single clamping arm 30, so that the production cost of the light clamping jaw provided by the utility model can be reduced. However, considering the size of the clamping space, in an embodiment of the present invention, it is preferable that two clamping arms 30 are movably disposed on the guide rod 20, so that the light-duty clamping jaw provided by the present invention can clamp a workpiece with a large size.

The driving mechanism 40 according to the present embodiment mainly provides power for the movement of the clamping arm 30, and the driving mechanism 40 may be an air cylinder or a motor, including but not limited to this, and can be set by those skilled in the art according to actual situations. If the motor is adopted to drive the clamping arm 30 to move, the rotating motion of the motor needs to be converted into the linear motion of the clamping arm 30 on the guide rod 20 through the linear module, and if the cylinder is adopted to drive, other transmission structures do not need to be added, and the output end of the cylinder is directly connected with the clamping arm 30.

In a preferred embodiment, the driving mechanism 40 is a bidirectional air cylinder disposed on the mounting base 10, and two output ends of the bidirectional air cylinder are respectively connected to the two connecting portions 31. In this embodiment, the two-way cylinder is a cylinder with two output ends, such as a clamping jaw cylinder, and the two output ends of the two-way cylinder respectively drive the two clamping arms 30 to move in opposite directions or away from the guide rod 20, so as to realize the opening or closing actions of the two clamping arms 30, and thus realize the automatic clamping or placing of the workpiece. In the bidirectional cylinder related to the embodiment, during ventilation, the two clamping arms 30 are driven to move oppositely along the guide rod 20, and the clamping jaws clamp tightly; when suction is applied, the two gripper arms 30 are driven to move away from each other along the guide rods 20 and the jaws are opened.

In another preferred embodiment, the driving mechanism 40 is two one-way cylinders disposed on the mounting base 10, and the output ends of the two one-way cylinders are respectively connected to the two connecting portions 31. In this embodiment, a single-direction cylinder is separately configured for each clamping arm 30 to respectively drive the two clamping arms 30 to move towards or away from each other on the guide rod 20, so as to realize automatic clamping or placing of a workpiece.

In the above-mentioned another preferred embodiment, referring to fig. 2, the mounting seat 10 includes a first mounting plate 11 and a second mounting plate 12 vertically disposed on the first mounting plate 11, and two first through holes 13 for mounting the screw cylinder are disposed on the first mounting plate 11. In this embodiment, one-way cylinder is the thread cylinder, and it needs to be noted that the thread cylinder is the column, and its volume and weight are all less relatively, can be fine be applicable to the utility model provides a light-duty clamping jaw. In order to install the screw cylinder, and considering to reduce the space occupied by installing the screw cylinder as much as possible, two first through holes 13 are provided on the first installation plate 11, and the two first through holes 13 correspond to the two screw cylinders, respectively. Specifically, two screw cylinders are respectively arranged in the two first through holes 13 in a penetrating manner and fixed by a locking nut, and the output ends of the screw cylinders are connected with the connecting part 31 of the clamping arm 30 to drive the clamping arm 30 to move.

In another preferred embodiment, the second mounting plate 12 is provided with a second through hole for mounting the guide rod 20, and the guide rod 20 is inserted into the second through hole 14. In this embodiment, the guide rod 20 is integrally formed and penetrates through the second through hole 14, and two ends of the guide rod 20 are respectively exposed at two opposite sides of the second mounting plate 12 for mounting the two clamping arms 30. It should be noted that the guide rod 20 and the second through hole 14 may be fixed by interference fit, and may also be fixed by gluing, including but not limited to this, which may be set by those skilled in the art according to practical situations.

In a further preferred embodiment, the two clamping portions 32 are located on opposite sides of the second mounting plate 12, a third through hole 33 is disposed on the clamping portion 32 at a position corresponding to the second through hole 14, and a linear bearing 34 is disposed in the third through hole 33. In this embodiment, the guide rod 20 is first inserted into the second through hole 14, and then inserted into the two third through holes 33, and two ends of the guide rod 20 are respectively exposed at one side of the two clamping portions 32. Further, referring to fig. 3, a linear bearing 34 is provided in the third through-hole 33, and the guide rod 20 is inserted into the holder 32 through the linear bearing 34.

It can be understood that when the driving mechanism 40 is a cylinder disposed on the mounting base 10, a gas source is required to be disposed in the cylinder, the gas source is connected to the cylinder through a joint 50, and a gas pipe is further required to input gas output by the gas source into the cylinder. More specifically, when the driving mechanism 40 is two cylinders disposed above the mounting seat 10, one joint 50 may be provided for each cylinder individually, or two cylinders may be supplied with air simultaneously using one three-way joint. It should be understood that the three-way joint has a common air inlet and two air outlets, and the air entering through the air inlet of the three-way joint is divided into two paths from left to right when flowing through the fork, and the two paths flow out to the two unidirectional cylinders from the left and right air outlets respectively, so as to drive the output ends of the two unidirectional cylinders to move, so as to drive the two clamping arms 30 to move towards each other or away from each other.

In the above embodiments, the weight reduction groove 60 is provided in the clamping portion 32 according to the present invention. In this embodiment, through setting up the heavy groove 60 that subtracts on clamping part 32, can reduce the weight of two centre gripping arms 30 under the stability of guaranteeing two arm lock and the prerequisite of rigidity, thereby reduce the utility model provides a whole weight of light-duty clamping jaw, not only, still can reduce the use cost and the manufacturing cost of light-duty clamping jaw. It will be appreciated that as the overall weight of the lightweight jaws is reduced, the power required to be output by the drive mechanism 40 is reduced, thereby reducing the cost of using the lightweight jaws.

The utility model discloses a further light-duty clamping jaw that provides of a robot includes aforementioned record, and the concrete structure of this light-duty clamping jaw refers to above-mentioned embodiment, because this robot has adopted all technical scheme of above-mentioned all embodiments, consequently has all technical effects that the technical scheme of above-mentioned embodiment brought at least, no longer gives unnecessary detail here.

What just go up be the utility model discloses a part or preferred embodiment, no matter be characters or the drawing can not consequently restrict the utility model discloses the scope of protection, all with the utility model discloses a holistic thought down, utilize the equivalent structure transform that the contents of the description and the drawing do, or direct/indirect application all includes in other relevant technical field the utility model discloses the within range of protection.

Claims (10)

1. The light-weight clamping jaw for grabbing objects is characterized by comprising a mounting seat, a guide rod arranged on the mounting seat, two clamping arms arranged on the guide rod and a driving mechanism arranged on the mounting seat, wherein the clamping arms comprise a connecting part used for being connected with the output end of the driving mechanism and a clamping part used for clamping workpieces, and the driving mechanism is used for driving at least one of the two clamping arms to move.

2. The lightweight clamping jaw according to claim 1, characterized in that said drive means is a bidirectional cylinder provided on said mounting base, two output ends of said bidirectional cylinder being connected to two of said connecting portions, respectively.

3. The lightweight clamping jaw according to claim 1, characterized in that said drive means are two unidirectional cylinders arranged on said mounting base, the output ends of said two unidirectional cylinders being connected to said two connecting portions, respectively.

4. The light-weight clamping jaw according to claim 3, wherein the one-way cylinder is a screw cylinder, the mounting base comprises a first mounting plate and a second mounting plate vertically arranged on the first mounting plate, and two first through holes for mounting the screw cylinder are arranged on the first mounting plate.

5. The lightweight clamp jaw of claim 4, wherein said second mounting plate has a second through-hole for receiving said guide bar, said guide bar being received in said second through-hole.

6. The lightweight clamp jaw according to claim 5, wherein said clamp portions are located on opposite sides of said second mounting plate, and wherein said clamp portions have third through-holes formed therein at locations corresponding to said second through-holes, said third through-holes having linear bearings disposed therein.

7. The lightweight jaw clamp of claim 3 further comprising at least one tab positioned above said mount.

8. The lightweight clamping jaw according to claim 7, wherein said fitting is a three-way fitting disposed above said mounting base, said three-way fitting having a common air inlet and two air outlets, said three-way fitting air inlet being connected to an external air source, said three-way fitting air outlets being connected to respective air inlets of said two one-way cylinders.

9. Light-duty clamping jaw according to any one of claims 1 to 8, characterized in that said clamping portion is provided with weight-reducing slots.

10. A robot comprising a lightweight jaw according to any of claims 1 to 9.

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