CN211916864U

CN211916864U - Double-station clamping hand grab

Info

Publication number: CN211916864U
Application number: CN201922304027.0U
Authority: CN
Inventors: 王思佳; 李玉新
Original assignee: Kunshan Able Robotics Co ltd
Current assignee: Kunshan Able Robotics Co ltd
Priority date: 2019-12-20
Filing date: 2019-12-20
Publication date: 2020-11-13
Anticipated expiration: 2029-12-20

Abstract

The utility model discloses a double-station clamping hand grab, which comprises a hand grab device, wherein the hand grab device comprises a mounting plate, a cylinder device, a first hand grab device and a second hand grab device, the cylinder device is connected with the mounting plate, the cylinder device comprises a jacking cylinder, a push rod and a push block, the bottom end of the push rod is connected with the jacking cylinder, and the top end of the jacking cylinder is connected with the push block; the first hand-grasping device is connected with the push rod, the second hand-grasping device is connected with the push rod, the jacking cylinder contracts to drive the first hand-grasping device and the second hand-grasping device to clamp a workpiece, and the jacking cylinder jacks to drive the first hand-grasping device and the second hand-grasping device to release the workpiece; the first hand gripping device is used for clamping the outer circular surface of the workpiece, the second clamping device is used for clamping the extending part of the bottom end of the workpiece, and the first hand gripping device and the second clamping device jointly act to guarantee effective clamping of the workpiece.

Description

Double-station clamping hand grab

Technical Field

The utility model relates to an anchor clamps technical field, concretely relates to duplex position centre gripping is held in hand.

Background

The workpiece shown in fig. 1 has a large diameter sleeve and a small volume of protruding rod-like structure connected inside the sleeve. When clamping the workpiece, the clamping jaw is usually used for clamping the outer sleeve of the workpiece, and the clamping jaw cannot clamp the small-volume rod-shaped structure extending out of the workpiece, so that the clamping effect on the workpiece is poor. How to design a device which can simultaneously clamp an outer sleeve and a rod-shaped structure and ensure the clamping effect of workpieces with the structure is a problem which needs to be considered.

Disclosure of Invention

An object of the utility model is to provide a duplex position centre gripping is held in hand to solve one of the above-mentioned multinomial defect or defect that leads to among the prior art.

In order to achieve the purpose, the utility model is realized by adopting the following technical scheme:

a double-station clamping hand grab comprises a hand grab device, wherein the hand grab device comprises a mounting plate, an air cylinder device, a first hand grab device and a second hand grab device, the air cylinder device is connected with the mounting plate, the air cylinder device comprises a jacking air cylinder, a push rod and a push block, the bottom end of the push rod is connected with the jacking air cylinder, and the top end of the jacking air cylinder is connected with the push block;

the first hand grab device with the push rod is connected, the second hand grab device with the push rod is connected, the jacking cylinder contracts and drives the first hand grab device and the second hand grab device to clamp the workpiece, and the jacking cylinder jacks and drives the first hand grab device and the second hand grab device to loosen the workpiece.

Further, the clamping parts of the first hand gripping device and the second hand gripping device are on the same straight line. The clamping parts of the two clamping devices are designed on the same straight line, so that the two clamping devices can simultaneously clamp the same workpiece and keep effective clamping on the same workpiece.

Further, the first hand-grasping device comprises first clamping hand-grasps which are symmetrically arranged, and the first clamping hand-grasps comprise a connecting rod, a first hand-grasping rod and a hand-grasp;

the end of first grab bar with the one end of connecting rod is connected, the top of first grab bar with it is connected to grab, first grab bar is fixed connect the hinge point on the mounting panel and articulate mutually, connect the hinge point and be located between the top and the end of first grab bar, the other end of connecting rod with the push rod is articulated mutually.

Furthermore, the clamping surface of the hand grab is V-shaped. The clamping surface of the hand grab is designed into a V shape, so that the effect of clamping the workpiece can be ensured, and the clamped workpiece is prevented from falling off.

Furthermore, the second hand-grasping device comprises second clamping hand-grasps symmetrically connected to the mounting plate, and the two second clamping hand-grasps are connected through springs. The clamping hand grips on the two sides are connected through the springs, so that the clamping hand grips on the two sides have better clamping force, an additional power device is not needed, the structure is simple, and the clamping effect is good.

Furthermore, the second gripper comprises a second gripper rod, a connecting block and a gripper seat, the tail end of the second gripper rod is hinged with the mounting plate, the gripper seat is connected to the top end of the second gripper rod, and the middle of the second gripper rod is connected with the connecting block;

the push rod is pushed, and a push block at the top end of the push rod is connected with the connecting block.

Further, the symmetry axes of the clamping seats on the two sides and the symmetry axes of the hand grips on the two sides are overlapped.

Further, still include jacking pneumatic cylinder link and fixed slide, it connects to hold the device in hand the top of link, the jacking pneumatic cylinder drives the link slides on the fixed slide.

According to the above technical scheme, the embodiment of the utility model has following effect at least:

1. the utility model discloses a hand grabbing device has first hand grabbing device and second hand grabbing device, and during operation, the cylinder device works and drives first hand grabbing device and second hand grabbing device to work simultaneously, and both clamp the work piece simultaneously, have guaranteed the centre gripping effect of work piece;

2. the first hand gripping device is used for clamping the outer circular surface of the workpiece, the second clamping device is used for clamping the extending part of the bottom end of the workpiece, and the first hand gripping device and the second clamping device jointly act to guarantee effective clamping of the workpiece.

Drawings

FIG. 1 is a schematic diagram of a workpiece in the background art;

FIG. 2 is a schematic view of the overall structure of an embodiment of the present invention;

FIG. 3 is a schematic structural view of a connecting frame and a hand grasping device according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a grasping apparatus according to an embodiment of the present invention;

FIG. 5 is a schematic structural view of the grasping apparatus according to the embodiment of the present invention;

FIG. 6 is a schematic view of FIG. 3 from a different perspective;

fig. 7 is a schematic structural view of a first hand-grasping device according to an embodiment of the present invention;

fig. 8 is a schematic structural view of a second grasping apparatus according to an embodiment of the present invention.

Wherein: 1. a jacking hydraulic cylinder; 2. a connecting frame; 3. fixing the sliding seat; 4. a hand grasping device; 21. jacking a connecting rod; 22. a slide bar; 23. a limiting seat; 41. mounting a plate; 42. a cylinder device; 43. a first hand gripping device; 44. a second grasping device; 421. jacking a cylinder; 422. a push rod; 423. fixing the sliding block; 424. a push block; 431. a connecting rod; 432. a first grab bar; 433. connecting hinge points; 434. grasping by hand; 441. a second hand grab bar; 442. connecting blocks; 443. a clamping seat; 444. a spring.

Detailed Description

In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention is further described below with reference to the following embodiments.

It should be noted that, in the description of the present invention, the terms "front", "rear", "left", "right", "upper", "lower", "inner", "outer", etc. indicate the directions or positional relationships based on the directions or positional relationships shown in the drawings, and are only for convenience of description of the present invention but do not require the present invention to be constructed and operated in a specific direction, and thus, should not be construed as limiting the present invention. As used in the description of the present invention, the terms "front," "back," "left," "right," "up," "down" and "in" refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.

As shown in fig. 2 to 8, the double-station clamping gripper comprises a gripping device 4, wherein the gripping device 4 is used for clamping a workpiece, the gripping device 4 comprises a mounting plate 41, a cylinder device 42, a first gripping device 43 and a second gripping device 44, the cylinder device 42 is connected with the mounting plate 41, the cylinder device 42 comprises a jacking cylinder 421, a push rod 422 and a push block 424, the bottom end of the push rod 422 is connected with the jacking cylinder 421, and the top end of the jacking cylinder 421 is connected with the push block 424; the first hand-holding device 43 is connected with the push rod 422, the second hand-holding device 44 is connected with the push rod 422, the jacking cylinder 421 contracts to drive the first hand-holding device 43 and the second hand-holding device 44 to clamp the workpiece, and the jacking cylinder 421 jacks to drive the first hand-holding device 43 and the second hand-holding device 44 to release the workpiece.

The utility model discloses a hand grabbing device 4 has first hand grabbing device 43 and the second hand grabbing device 44, and during operation, cylinder device 42 work drives first hand grabbing device 43 and the second hand grabbing device 44 simultaneous workings, presss from both sides tightly the work piece simultaneously, has guaranteed the centre gripping effect of work piece.

Specifically, as shown in fig. 4 to 7, the jacking cylinder 421 is fixedly connected to the bottom end of the mounting plate 41, and the output end of the jacking cylinder 421 is connected to the push rod 422 through a connector. The mounting plate 41 is further fixed with a fixed slider 423, and the push rod 422 is slidably connected with the fixed slider 423. The top end of the push rod 422 is integrally formed with a push block 424, and the width of the push block 424 is larger than that of the push rod 422. When the lifting device works, the lifting cylinder 421 extends to drive the push rod 422 to slide and rise in the fixed sliding block 423, and the push block 424 at the top of the push rod 422 rises; the jacking cylinder 421 contracts to drive the push rod 422 to descend, and the push block 424 at the top of the push rod 422 descends.

The first hand-grasping device 43 comprises first clamping hand grips symmetrically arranged at two sides of the push rod 422, and the first clamping hand grips comprise a connecting rod 431, a first hand-grasping rod 432 and a hand grip 434; the distal end (bottom end in fig. 6 and 7) of the first handgrip rod 432 is connected to one end of the link 431, the distal end (top end in fig. 6 and 7) of the first handgrip rod 432 is connected to the handgrip 434, the first handgrip rod 432 is fixed to the mounting plate 41 at a connecting hinge point 433, the connecting hinge point 433 is located between the distal end and the distal end of the first handgrip rod 432, and the other end of the link 431 is hinged to the push rod 422. During operation, the push rod 422 ascends to drive the connecting rods 431 on the left side and the right side of the push rod 422 to move, the connecting rods 431 drive the first hand-holding rods 432 to rotate around the connecting hinge point 433, the first hand-holding rods 432 on the two sides are simultaneously opened, and the hand grips 434 at the top ends of the first hand-holding rods 432 loosen clamped workpieces. Conversely, the push rod 422 descends to drive the connecting rods 431 on the left and right sides of the push rod 422 to move, the connecting rods 431 drive the first hand-holding rods 432 to rotate around the connecting hinge point 433, the first hand-holding rods 432 on the two sides are closed simultaneously, and the hand grips 434 at the top ends of the first hand-holding rods 432 clamp the workpiece.

As shown in fig. 4, 5 and 8, the second gripper assembly 44 includes second gripper fingers symmetrically attached to the mounting plate 41, and the second gripper fingers are connected to each other by a spring 444. The spring 444 is in a clamped state at its natural length with the second hand gripping means 44. The second holding hand grip comprises a second holding rod 441, a connecting block 442 and a holding seat 443, wherein the tail end of the second holding rod 441 is hinged with the mounting plate 41, the holding seat 443 is connected to the top end of the second holding rod 441, and the connecting block 442 is connected to the middle of the second holding rod 441. More specifically, two second gripping levers 441 are symmetrical with respect to the push rod 422, the two second gripping levers 441 are located above the fixed slider 423, and the two second gripping levers 441 are located inside the two first gripping levers 432. The connecting block 442 connected to the second grasping rod 441 is circular and has a diameter greater than the width of the second grasping rod 441. In operation, push rod 422 is pushed upward, push block 424 at the top end of push rod 422 contacts with connecting block 442, and second hand-grasping rod 441 rotates around the bottom end thereof to release the clamped workpiece. Pushing push rod 422 to descend, push block 424 at the top end of push rod 422 disengages from connecting block 442, and second gripping rod 441 rotates around the bottom end thereof under the pulling force of spring 444 to clamp the workpiece.

In this embodiment, the clamping surfaces of the grippers 434 are V-shaped, and the two grippers 434 can effectively clamp the workpiece with the arc-shaped surface when being closed, so that the workpiece can be effectively clamped, and the possibility that the workpiece falls off after being clamped is reduced. The clamping seat 443 is made of rubber, so that when a workpiece is clamped, the workpiece can be prevented from being damaged, and the effect of clamping the workpiece is improved.

In this embodiment, still include 1 link 2 of jacking pneumatic cylinder and fixed slide 3, link 2 includes jacking connecting rod 21, slide bar 22 and spacing

seat

23, 4 bolts of grabbing device are on jacking connecting rod 21 and slide bar 22's top, slide bar 22 sliding connection is in fixed slide 3, the output and the jacking connecting rod 21 of jacking pneumatic cylinder 1 and are connected, 1 work of jacking pneumatic cylinder drives the motion of jacking connecting rod 21, thereby it slides from top to bottom in fixed slide 3 to drive grabbing device 4, spacing seat 23 is connected at the end of slide bar 22, spacing seat 23 is used for the maximum distance that the device 4 of grabbing removed is held in the restriction. The fixed sliding seat 3 is used for installing the device, and the position of the hand gripping device 4 is adjusted through the jacking hydraulic cylinder 1 and the connecting frame 2.

It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of the invention or which are equivalent to the scope of the invention are embraced by the invention.

Claims

1. The double-station clamping hand grab is characterized by comprising a hand grab device (4), wherein the hand grab device (4) comprises a mounting plate (41), an air cylinder device (42), a first hand grab device (43) and a second hand grab device (44), the air cylinder device (42) is connected with the mounting plate (41), the air cylinder device (42) comprises a jacking air cylinder (421), a push rod (422) and a push block (424), the bottom end of the push rod (422) is connected with the jacking air cylinder (421), and the top end of the jacking air cylinder (421) is connected with the push block (424);

first hand grab device (43) with push rod (422) are connected, second hand grab device (44) with push rod (422) are connected, jacking cylinder (421) shrink and drive first hand grab device (43) and second hand grab device (44) centre gripping work piece, jacking cylinder (421) jacking drives first hand grab device (43) and second hand grab device (44) loosen the work piece.

2. The double-station gripping gripper according to claim 1, characterized in that the gripping portions of the first gripping device (43) and the second gripping device (44) are on the same line.

3. The double-station gripper hand according to claim 1, characterized in that the first gripper means (43) comprise symmetrically arranged first gripper hands comprising a connecting rod (431), a first gripper bar (432) and a gripper hand (434);

the tail end of the first hand-held rod (432) is connected with one end of the connecting rod (431), the top end of the first hand-held rod (432) is connected with the hand grip (434), the first hand-held rod (432) is hinged to a connecting hinge point (433) fixed on the mounting plate (41), the connecting hinge point (433) is located between the top end and the tail end of the first hand-held rod (432), and the other end of the connecting rod (431) is hinged to the push rod (422).

4. The dual-station gripping hand grip of claim 3, wherein the gripping surface of the hand grip (434) is V-shaped.

5. The double-station gripper hand according to claim 3, characterized in that the second gripper means (44) comprise second gripper hands symmetrically attached to the mounting plate (41), connected by a spring (444).

6. The double-station clamping hand grab according to claim 5, characterized in that the second clamping hand grab comprises a second clamping rod (441), a connecting block (442) and a clamping seat (443), wherein the tail end of the second clamping rod (441) is hinged with the mounting plate (41), the clamping seat (443) is connected to the top end of the second clamping rod (441), and the middle part of the second clamping rod (441) is connected with the connecting block (442);

pushing the push rod (422), and connecting the push block (424) at the top end of the push rod (422) with the connecting block (442).

7. The double-station gripper hand grip according to claim 6, characterized in that the symmetry axes of the gripping seats (443) on both sides and the symmetry axes of the hand grip (434) on both sides coincide.

8. The double-station clamping gripper according to claim 1, further comprising a jacking hydraulic cylinder (1), a connecting frame (2) and a fixed sliding seat (3), wherein the gripper device (4) is connected to the top end of the connecting frame (2), and the jacking hydraulic cylinder (1) drives the connecting frame (2) to slide on the fixed sliding seat (3).