CN213765897U

CN213765897U - Clamping jaw mechanism

Info

Publication number: CN213765897U
Application number: CN202022772291.XU
Authority: CN
Inventors: 张传红; 周林伟; 刘甫壮
Original assignee: Guangdong Zhiyuan Robot Technology Co Ltd
Current assignee: Guangdong Zhiyuan Robot Technology Co Ltd
Priority date: 2020-11-25
Filing date: 2020-11-25
Publication date: 2021-07-23
Anticipated expiration: 2030-11-25

Abstract

The application discloses a clamping jaw mechanism, which comprises a clamping assembly, a cylinder and a motor, wherein the clamping assembly at least comprises a first clamping part and a second clamping part, the first clamping part is used for clamping a first kind of articles, and the second clamping part is used for clamping a second kind of articles; the cylinder is connected with the clamping assembly and used for driving the clamping assembly to slide; the motor is connected with the cylinder and used for driving the cylinder to rotate. This application is when carrying article, install this gripper mechanism on the arm earlier, the subassembly motion is got to rethread cylinder drive clamp, make first clamping part and second clamping part press from both sides the article of getting two kinds of different structures respectively, then remove the arm, and then drive this gripper mechanism and remove to the target location, the subassembly motion is got to rethread cylinder drive clamp, make first clamping part and second clamping part release article respectively, realize the transport of article, two kinds of different structure article can be got simultaneously to the gripper mechanism of this application once at least, and the production efficiency is improved.

Description

Clamping jaw mechanism

Technical Field

The application relates to the technical field of automatic production, concretely relates to clamping jaw mechanism.

Background

With the acceleration of people's life rhythm, in order to improve production efficiency and use manpower sparingly, more and more fields adopt automated equipment to produce to replace artifical work. The automatic article moving mechanism is a common automatic device, but the existing automatic article moving mechanism can only clamp one article at a time, that is, the existing automatic article moving mechanism can only move one article at a time, and the production efficiency is low.

SUMMERY OF THE UTILITY MODEL

In order to overcome the problems in the prior art, the main object of the present application is to provide a gripper mechanism capable of simultaneously gripping two kinds of articles at least once and having high efficiency.

In order to achieve the above purpose, the following technical solutions are specifically adopted in the present application:

the application provides a gripper mechanism, this gripper mechanism includes:

the clamping assembly at least comprises a first clamping part and a second clamping part, the first clamping part is used for clamping a first article, the second clamping part is used for clamping a second article, and the clamping space area of the first clamping part is larger than or smaller than that of the second clamping part;

the air cylinder is connected with the clamping assembly and used for driving the clamping assembly to slide so as to enable the first clamping part and the second clamping part to move in a linkage manner;

and the motor is connected with the air cylinder and is used for driving the air cylinder to rotate.

In a particular embodiment, the gripping assembly comprises two first gripping members and two second gripping members;

the two first clamping pieces are oppositely arranged along a first direction and are respectively connected with the air cylinder in a sliding manner to form a first clamping part; the two second clamping pieces are oppositely arranged along a first direction and are respectively connected with the air cylinder in a sliding manner to form a second clamping part; wherein the first direction is a sliding direction of the gripping assembly.

In a particular embodiment, the first and second clamping members are each made of a flexible material.

In a particular embodiment, the distance between two first clamping members is smaller than the distance between two second clamping members.

In a specific embodiment, the gripping assembly further comprises two fixing members, and the two fixing members are oppositely arranged along the first direction and are respectively connected to the air cylinder in a sliding manner;

one of the first clamping piece and the second clamping piece are respectively connected to one of the fixing pieces, and the other of the first clamping piece and the second clamping piece are respectively connected to the other fixing piece.

In a specific implementation manner, the fixing member is provided with an accommodating cavity, and the first clamping member and the second clamping member are respectively accommodated in the accommodating cavity.

In a particular embodiment, the jaw mechanism further comprises a reinforcement connection assembly connected to the motor.

In a particular embodiment, the reinforcing connection assembly includes a mounting plate, the motor being mounted to a side of the mounting plate.

In a specific embodiment, the reinforcing connection assembly further includes a connecting plate, a side of the connecting plate is connected to the motor, and a side of the connecting plate is connected to a side of the mounting plate.

In a specific implementation mode, the reinforced connecting assembly further comprises a reinforcing plate, one side face of the reinforcing plate is connected to the motor, and two adjacent side edges of the reinforcing plate are respectively connected with the mounting plate and the connecting plate.

Compared with the prior art, when carrying articles, the clamping jaw mechanism is firstly installed on the mechanical arm, the clamping assembly is driven to move by the air cylinder, so that the first clamping part clamps one article, the second clamping part clamps another article, then the mechanical arm is moved, the clamping jaw mechanism is further driven to move to a target position, and the clamping assembly is driven to move by the air cylinder, so that the first clamping part and the second clamping part respectively release the articles clamped by the clamping jaw mechanism, the articles are carried, the clamping jaw mechanism can clamp at least two articles at one time, namely, the purpose of carrying two articles at one time is realized, and the production efficiency is improved; in addition, this application can drive the cylinder rotation through the motor, and then makes to press from both sides and get the subassembly and can carry out the switching of free angle by 0 to 180, has improved greatly and has got the degree of freedom of getting the subassembly, the diversification of adaptable robot gesture.

Drawings

Fig. 1 is a perspective view of a gripper mechanism provided in an embodiment of the present application when gripping an article.

Fig. 2 is a perspective view of another angled gripper mechanism provided in accordance with an embodiment of the present disclosure when gripping an article.

Fig. 3 is a perspective view of a further angled jaw mechanism provided in accordance with an embodiment of the present application when gripping an article.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

In the description of the present application, unless explicitly stated or limited otherwise, the terms "first", "second", and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless specified or indicated otherwise; the terms "connected," "fixed," and the like are to be construed broadly and may, for example, be fixedly connected, detachably connected, integrally connected, or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In the description of the present application, it should be understood that the terms "upper" and "lower" used in the description of the embodiments of the present application are used in a descriptive sense only and not for purposes of limitation. In addition, in this context, it will also be understood that when an element is referred to as being "on" or "under" another element, it can be directly on "or" under "the other element or be indirectly on" or "under" the other element via an intermediate element.

Referring to fig. 1, fig. 1 is a perspective view of a gripper mechanism provided in an embodiment of the present application when gripping an article. This clamping jaw mechanism 100 is got subassembly 1, cylinder 2 and motor 3 including pressing from both sides, and cylinder 2 can be the pneumatic finger cylinder of guide rail slip table. The gripping assembly 1 comprises at least a first gripping part 101 and a second gripping part 102, the first gripping part 101 being used for gripping a first kind of article and the second gripping part 102 being used for gripping a second kind of article. The cylinder 2 is connected with the clamping assembly 1 and used for driving the clamping assembly 1 to slide, so that the first clamping part 101 and the second clamping part 102 can move in a linkage manner to simultaneously clamp or release articles with different structures, and finally the articles are conveyed. The motor 3 is connected with the cylinder 2 for it is rotatory to drive fortune cylinder 2, and then can drive to press from both sides and get subassembly 1 rotation, makes to press from both sides and get subassembly 1 and can carry out the switching of free angle by 0 to 180, has improved this gripper mechanism 100's degree of freedom, with the multiple gesture of adaptation robot. The area of the gripping space of the first gripping part 101 is larger than or smaller than that of the second gripping part 102.

When getting article, drive actuating cylinder 2 through motor 3 and rotate, and then drive to press from both sides and get subassembly 1 rotatory to suitable position, get subassembly 1 motion through actuating cylinder 2 again, make to press from both sides and get subassembly 1 and can press from both sides the article of getting two kinds of not isostructures simultaneously.

When carrying articles, install gripper mechanism 100 of this application on the arm, it is rotatory to drive actuating cylinder 2 through motor 3, and then it gets subassembly 1 rotation to suitable position to drive to press from both sides, it gets subassembly 1 motion to drive to press from both sides through actuating cylinder 2, make first clamping part 101 press from both sides and get first article, second clamping part 102 is got and is got the second article, then remove the arm, and then drive this gripper mechanism 100 and remove to the target position, it is rotatory to drive actuating cylinder 2 through motor 3, and then it gets subassembly 1 rotation to suitable position to drive to press from both sides, it gets subassembly 1 motion to drive to press from both sides through actuating cylinder 2 again, make first clamping part 101 and second clamping part 102 release article respectively, realize the transport of article. The clamping jaw mechanism 100 can simultaneously clamp two different structures of articles at one time, namely, the purpose of simultaneously carrying two different structures of articles at one time is realized, and the production efficiency is improved.

Referring to fig. 2, fig. 2 is a perspective view of another angle of the gripper mechanism provided in the embodiments of the present application when gripping an article. The clamping assembly 1 comprises a fixing member 11, a first clamping member 12 and a second clamping member 13, wherein the fixing member 11, the first clamping member 12 and the second clamping member 13 are respectively provided with two clamping members, namely, the fixing member 11, the first clamping member 12 and the second clamping member 13 are all arranged in pairs. The two fixing members 11 are oppositely disposed along a first direction and are slidably connected to the cylinder 2, respectively. The two first clamping members 12 are oppositely arranged along the first direction and respectively connected to the two fixing members 11, so that the two first clamping members 12 can move oppositely or oppositely under the driving of the cylinder 2 to form a first clamping portion 101. The two second clamping members 13 are oppositely arranged along the first direction and are respectively connected to the two fixing members 11, so that the two second clamping members 13 can move oppositely or oppositely under the driving of the cylinder 2 to form a second clamping portion 102. Wherein, the first direction is the sliding direction of the clamping assembly 1. This application is through connecting first holder 12 and second holder 13 respectively in mounting 11, synthesizes into a clamping jaw structure, can make by two kinds of different structure article of centre gripping mutually noninterfere in the space, simple structure, easily control can also reduce cost.

In this embodiment, the first clamping member 12 and the second clamping member 13 are made of a flexible material, such as silicone, so that when the clamping assembly 1 clamps an object, the object is prevented from being damaged by the buffer effect of the clamping members made of the flexible material on the object. It is understood that in other embodiments, a gasket may be included, the gasket being made of a flexible material; the first and

second clamps

12, 13 may also be made of a hard material, with the shim coated on the outer surface of the clamps. Specifically, the first clamping member 12 is connected to one end of the fixing member 11 close to the cylinder 2, and the second clamping member 13 is connected to one end of the fixing member far from the cylinder 2. The distance between the two first clamping pieces 12 is smaller than the distance between the two second clamping pieces 13, so that the first clamping part 101 and the second clamping part 102 can clamp articles with different structures respectively, and the working efficiency is improved.

Referring to fig. 3, fig. 3 is a perspective view of a further angular gripper mechanism provided in an embodiment of the present application when gripping an article. The limiting groove 121 is formed in one side, used for clamping the article, of the first clamping piece 12, and when the first clamping piece 12 clamps the article, the movement of the article is limited through the limiting groove 121, so that the clamping and carrying processes are more stable.

Further, the fixing member 11 is an L-shaped structure, and has been provided with an accommodating cavity 111, and the first clamping member 12 and the second clamping member 13 are respectively accommodated in the accommodating cavity 111, and through the arrangement of the accommodating cavity 111, the connection between the first clamping member 12 and the fixing member 11 and the connection between the second clamping member 13 and the fixing member 12 are more stable.

In order to facilitate connection and strengthen the connection relationship, the gripper mechanism 100 further comprises a strengthening connection component 4, the strengthening connection component 4 is connected to the motor 3, and the gripper mechanism 100 can be conveniently connected to a mechanical arm of the robot through the strengthening connection component 4.

Specifically, the reinforcement connection assembly 4 includes a mounting plate 41, a connection plate 42, and a reinforcement plate 43. The mounting plate 41 is used for mounting the motor 3. One side of the connecting plate 42 is connected to the motor 3, and one side of the connecting plate 42 is connected to one side of the mounting plate 41 for connecting the gripper mechanism 100 to a robot arm of a robot. One side of the reinforcing plate 43 is connected to the motor 3, and two adjacent sides of the reinforcing plate 43 are connected to the mounting plate 41 and the connecting plate 42, respectively, so that the stability of the gripper mechanism 100 is enhanced by the action of the reinforcing plate 43.

The clamping jaw mechanism 100 can be embedded and matched to a mechanical arm of a robot as an independent module, and is convenient, fast, easy to machine and assemble.

In specific implementation, the gripper mechanism 100 is provided with a mechanical arm, when clamping articles, such as a fry basket 5 and a material taking box 6, the two fixing members 11 are driven by the cylinder 2 to move back and forth to a certain position, so that the distance between the two first clamping members 12 is large enough, the distance between the two second clamping members 13 is large enough, the clamped part of the fry basket 5 is positioned between the two first clamping members 12, at least part of the material taking box 6 is positioned between the two second clamping members 13, the two fixing members 11 are driven by the cylinder 2 to move relatively, so that the fry basket 5 can be clamped by the two first clamping members 12, the material taking box 6 can be clamped by the two second clamping members 13 simultaneously, and the mechanical arm is driven to move to a target position, so that the first clamping portion 101 releases the fry basket 5, and the second clamping portion 102 releases the material taking box 6, that the articles are carried.

The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A jaw mechanism, comprising:

2. The gripper mechanism of claim 1, wherein the gripper assembly comprises two first grippers and two second grippers;

3. Gripper mechanism according to claim 2, characterized in that the first and second gripper members are each made of a flexible material.

4. Gripper mechanism according to claim 2, characterized in that the spacing between two first clamping members is smaller than the spacing between two second clamping members.

5. The gripper mechanism of claim 2, wherein the gripping assembly further comprises two fixed members disposed opposite to each other along the first direction and slidably connected to the cylinder, respectively;

6. The jaw mechanism of claim 5, wherein said fixed member defines a receiving cavity, and said first clamping member and said second clamping member are respectively received in said receiving cavity.

7. Gripper mechanism according to any one of claims 1 to 6, characterized in that the gripper mechanism further comprises a reinforcement connection assembly, which is connected to the motor.

8. A jaw mechanism as claimed in claim 7, wherein said reinforcing connection assembly comprises a mounting plate, said motor being mounted to a side of said mounting plate.

9. A jaw mechanism as claimed in claim 8, wherein said reinforcing connection assembly further comprises a connecting plate, one side of said connecting plate being connected to said motor, one side of said connecting plate being connected to one side of said mounting plate.

10. The jaw mechanism of claim 9, wherein said stiffening connection assembly further comprises a stiffening plate, one side of said stiffening plate is connected to said motor, and two adjacent sides of said stiffening plate are connected to said mounting plate and said connecting plate, respectively.