CN214186313U - Gripper and gripping device - Google Patents
Gripper and gripping device Download PDFInfo
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- CN214186313U CN214186313U CN202023345791.1U CN202023345791U CN214186313U CN 214186313 U CN214186313 U CN 214186313U CN 202023345791 U CN202023345791 U CN 202023345791U CN 214186313 U CN214186313 U CN 214186313U
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Abstract
The utility model discloses a gripper and grabbing device. The mechanical claw comprises a first driving mechanism, a clamping mechanism and at least one positioning mechanism, wherein the clamping mechanism is connected with the first driving mechanism, is provided with a clamping channel for accommodating a workpiece and is provided with a clamping part arranged in the clamping channel; the positioning mechanism is arranged in the clamping channel and is provided with a sensor and an abutting surface, the sensor is electrically connected with the first driving mechanism, and the sensor is used for detecting the abutting state of the abutting surface and the workpiece; after the abutting surface abuts against the workpiece, the first driving mechanism drives the clamping mechanism to close, so that the clamping part clamps the workpiece. The utility model discloses a set up positioning mechanism and sensor, play the effect of the response that targets in place, realize snatching the locate function.
Description
Technical Field
The utility model relates to a snatch equipment technical field, in particular to gripper and grabbing device.
Background
With the development of science and technology, many industries use machinery to replace manpower, and the production efficiency of enterprises is improved. When the workpiece is machined, the purpose of grabbing the workpiece can be achieved through the mechanical claw. The existing mechanical claw is used for grabbing ahead of time or delayed to cause grabbing failure and reduce production efficiency, or cause grabbing position deviation, and then bad products are generated in the process of carrying out subsequent machining on workpieces.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a gripper and grabbing device aims at solving the snatching location problem of gripper.
In order to achieve the above object, the present invention provides a gripper comprising:
a first drive mechanism;
the clamping mechanism is connected with the first driving mechanism and provided with a clamping channel for accommodating a workpiece, and the clamping mechanism is provided with a clamping part arranged in the clamping channel; and
the positioning mechanism is arranged on the clamping channel and provided with a sensor and an abutting surface, the sensor is electrically connected with the first driving mechanism, and the sensor is used for detecting the abutting state of the abutting surface and the workpiece;
after the abutting surface abuts against the workpiece, the first driving mechanism drives the clamping mechanism to close, so that the clamping part clamps the workpiece.
In an embodiment of the present invention, the positioning mechanism includes:
the positioning mounting plate is connected with the clamping mechanism; the positioning plate and the positioning mounting plate are arranged at intervals, and the positioning plate is provided with the abutting surface; and
the two ends of the elastic piece are respectively connected with the positioning mounting plate and the positioning plate;
wherein, the sensor is located the location mounting panel or the locating plate.
The utility model discloses an in the embodiment, the location mounting panel is equipped with the locating hole, the locating plate towards one side of location mounting panel is equipped with the locating lever, the locating lever activity is worn to locate in the locating hole, the elastic component cover is located the locating lever.
In an embodiment of the present invention, the clamping mechanism includes a plurality of clamping jaws, one end of each clamping jaw is connected to the first driving mechanism, the other end of each clamping jaw is provided with the clamping portion, at least one positioning mechanism is provided on at least one clamping jaw, and the plurality of clamping portions and the at least one positioning mechanism enclose to form the clamping channel; the first driving mechanism drives the clamping jaws to open or close.
The utility model discloses an in the embodiment, the clamping part deviates from one side of clamping jaw is equipped with a plurality of protruding muscle of antiskid.
In an embodiment of the present invention, each of the clamping jaws deviates from one side of the clamping channel and is provided with a reinforcing rib.
In an embodiment of the invention, the plurality of jaws comprises at least one first jaw and at least one second jaw;
the first drive mechanism includes:
a drive member;
the driving piece is arranged on the fixing plate, and the first clamping jaw is connected with the fixing plate;
the telescopic plate is connected with the output end of the driving piece and the second clamping jaw;
the driving piece drives the expansion plate to be close to or far away from the fixed plate, so that the second clamping jaw is close to or far away from the first clamping jaw.
In an embodiment of the present invention, the retractable plate is provided with a slide rail, the fixing plate is provided with a slider, and the slide rail is slidably connected to the slider.
The utility model discloses an in an embodiment, actuating mechanism still includes and prevents dust encloses the fender, prevent dust to enclose that the fender can extend or contract, prevent dust enclose the fender the fixed plate with the expansion plate encloses to close and forms and hold the chamber, the driving piece the slider with the slide rail all is located hold the intracavity.
The utility model discloses still provide a grabbing device, grabbing device includes:
a second drive mechanism; and
in the gripper according to the above embodiment, the gripper is connected to the second driving mechanism, and the second driving mechanism drives the gripper to move, so that the workpiece extends into or exits from the clamping channel of the gripper.
The utility model discloses in clamping part and positioning mechanism located the tight passageway of clamp among the technical scheme, at the in-process that clamping mechanism snatched the work piece, the work piece stretched into the tight passageway of clamp until with positioning mechanism's butt face butt, the sensor obtained the signal, and sign clamping mechanism has removed with the work piece and has targeted in place, and a actuating mechanism drives clamping mechanism this moment and folds to make clamping part press from both sides tight work piece. The utility model discloses a set up positioning mechanism and sensor, play the effect of the response that targets in place, realize snatching the locate function.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural view of an embodiment of a gripper according to the present invention;
FIG. 2 is an enlarged view of a portion A of FIG. 1;
fig. 3 is a schematic structural diagram of the first driving mechanism in fig. 1.
The reference numbers illustrate:
the implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that, if directional indications (such as upper, lower, left, right, front and rear … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B," including either the A or B arrangement, or both A and B satisfied arrangement. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The utility model provides a gripper for the clamp gets the work piece.
In the embodiment of the present invention, as shown in fig. 1, the gripper includes a first driving mechanism 1, a clamping mechanism 2 and at least one positioning mechanism 3, the clamping mechanism 2 is connected to the first driving mechanism 1, the clamping mechanism is provided with a clamping channel 6 for accommodating a workpiece, the clamping mechanism 2 is provided with a clamping portion 22 disposed in the clamping channel 6, the positioning mechanism 3 is provided with a sensor 31 and an abutting surface 331, the sensor 31 is electrically connected to the first driving mechanism 1, and the sensor 31 is used for detecting an abutting state of the abutting surface 331 and the workpiece; after the abutting surface abuts against the workpiece, the first driving mechanism 1 drives the clamping mechanism 2 to close, so that the clamping part 22 clamps the workpiece.
It can be understood that the first driving mechanism 1 provides a power source to drive the clamping mechanism 2 to open or close, and when the clamping mechanism 2 is opened or closed, the clamping portion 22 is driven to approach or move away from the workpiece, so as to achieve the purpose of clamping or releasing the workpiece. In this embodiment, the clamping portion 22 is disposed at an end of the clamping mechanism 2 away from the first driving mechanism 1. The positioning mechanism 3 is arranged in the clamping channel 6 and is positioned between the clamping part and the first driving mechanism. The positioning mechanism 3 plays a role in position sensing. In the embodiment, in the process of grabbing the workpiece, the positioning mechanism 3 and the workpiece relatively move towards each other until the workpiece abuts against the abutting surface 331 of the positioning mechanism 3, the sensor 31 obtains the in-place signal and sends the signal to the first driving mechanism 1, and after the first driving mechanism 1 obtains the in-place signal, the clamping mechanism 2 is started and driven to close until the clamping portion 22 abuts against the workpiece, so that the purpose of clamping the workpiece is achieved.
The utility model discloses in the clamping part 22 all located with positioning mechanism 3 among the technical scheme in pressing from both sides tight passageway 6, at the in-process that clamping mechanism 2 snatched the work piece, the work piece stretched into and presss from both sides tight passageway 6 until with positioning mechanism 3's butt 331 butt, sensor 31 obtains the signal, and sign clamping mechanism 2 has moved in place with the work piece, and first actuating mechanism 1 drive clamping mechanism 2 folds this moment to make clamping part 22 press from both sides tight work piece. The utility model discloses a set up positioning mechanism 3 and sensor 31, play the effect of the response that targets in place, realize snatching the locate function.
It should be noted that, when the gripper of this embodiment is applied to an automated mechanical system such as a polishing system, the first driving mechanism 1 and the sensor 31 are both electrically connected or communicatively connected to a control system of the mechanical system to implement signal transmission and on-off control, and the control system controls the first driving mechanism 1 to start after receiving a signal from the sensor 31.
In an embodiment of the present invention, as shown in fig. 2, the positioning mechanism 3 includes a positioning mounting plate 32 and a positioning plate 33, and the positioning mounting plate 32 is connected to the clamping mechanism 2; the positioning plate 33 is provided with the abutting surface 331, and the positioning plate 33 is movably arranged on the positioning mounting plate 32 to be close to or far away from the positioning mounting plate 32; the sensor 31 is provided on the positioning mounting plate 32 or the positioning plate 33.
In this embodiment, the sensor 31 is provided on the positioning and mounting plate 32.
It will be appreciated that the stable connection to the clamping mechanism 2 is achieved by locating the mounting plate 32 and that the mounting of the location plate 33 does not provide a mounting basis. Locating plate 33 activity is located location mounting panel 32 to be close to or keep away from location mounting panel 32, for locating plate 33 and the chamber wall's of inner chamber 51 butt provide the buffering, play the guard action. In this embodiment, the sensor 31 may be a distance sensor 31, after the abutting surface 331 abuts in place, the positioning plate 33 moves toward the positioning mounting plate 32 under the acting force of the workpiece, and the sensor 31 detects that the distance between the positioning plate 33 and the positioning mounting plate 32 is reduced, and obtains and sends out an in-place signal. In other embodiments, the sensor 31 may directly detect the distance from itself to the wall of the lumen 51, and obtain and send the in-position signal when the distance reaches a set value. In still other embodiments, a sensing strip may be disposed on the contact surface to signal that the sensing strip is in contact with the wall of the cavity 51.
In this embodiment, one side of the positioning plate 33 departing from the positioning mounting plate 32 is provided with a flexible buffer member, and one side of the flexible buffer member departing from the positioning plate 33 is an abutting surface 331. The flexible buffer piece is made of soft rubber.
As shown in fig. 3, the positioning mechanism 3 further includes an elastic member (not shown), and two ends of the elastic member are respectively connected to the positioning mounting plate 32 and the positioning plate 33. In this embodiment, the elastic member is a spring.
It can be understood that, under the effect of elastic component, the stability of butt can be guaranteed on the one hand, and on the other hand can realize the reseing of locating plate 33 after locating plate 33 and work piece separation, is convenient for press from both sides next work piece and gets, realizes automaticly, improves production efficiency.
In an embodiment of the present invention, as shown in fig. 2, the positioning mounting plate 32 is provided with a positioning hole, the positioning plate 33 faces the positioning rod 35 arranged on one side of the positioning mounting plate 32, the positioning rod 35 is movably disposed in the positioning hole, and the elastic member is sleeved on the positioning rod 35.
It can be understood that, the positioning rod 35 and the positioning hole are arranged to guide the movement of the positioning plate 33, so as to improve the stability of the positioning plate 33.
In an embodiment of the present invention, as shown in fig. 1, the clamping mechanism 2 includes a plurality of clamping jaws 21, one end of each clamping jaw 21 is connected to the first driving mechanism 1, the other end is provided with the clamping portion 22, one positioning mechanism 3 is provided on one clamping jaw 21, and a plurality of clamping portions 22 and at least one positioning mechanism 3 enclose to form the clamping channel 6; the first driving mechanism 1 drives a plurality of the clamping jaws 21 to open or close.
It can be understood that the first driving mechanism 1 drives the plurality of clamping jaws 21 to move so as to move the clamping portion 22 on the clamping jaw 21 to be abutted against the workpiece or move the clamping portion 22 to be separated from the workpiece, thereby realizing the taking and placing of the workpiece.
It should be noted that the number and arrangement of the grippers may be set according to the shape of the to-be-gripped workpiece, for example, the workpiece in fig. 1 is a strip shape, the clamping mechanism 2 is provided with two rows of grippers, and each row of grippers includes a plurality of clamping jaws 21 arranged at intervals, so that the workpiece can be stably gripped.
In this embodiment, the number of the clamping jaws 21 is four, two clamping portions are correspondingly disposed, and each clamping portion 22 is disposed on one side of each clamping jaw 21 facing the other clamping jaw 21.
In an embodiment of the present invention, as shown in fig. 1 and 2, one side of the clamping portion 22 away from the clamping jaw 21 is provided with a plurality of anti-slip ribs 221.
In this embodiment, clamping part 22 is the imitative template of excellent power glue, can play the buffering guard action, sets up a plurality of anti-skidding protruding muscle 221 for form concave-convex surface on one side of clamping part 22 and work piece contact, improved the coefficient of friction between clamping part 22 and the work piece, and then improve frictional force, prevent dropping of work piece.
In an embodiment of the present invention, as shown in fig. 1 and 3, each of the clamping jaws 21 is provided with a reinforcing rib 23 on a side away from the clamping channel 6.
It will be appreciated that the strength and rigidity of the jaw may be increased by the provision of the ribs 23.
In an embodiment of the present invention, as shown in fig. 1, the plurality of clamping jaws 21 includes at least one first clamping jaw 21a and at least one second clamping jaw 21 b;
the first driving mechanism 1 comprises a driving part 11, a fixed plate 12 and an expansion plate 13, wherein the driving part 11 is arranged on the fixed plate 12, and the first clamping jaw 21a is connected with the fixed plate 12; the expansion plate 13 is connected with the output end of the driving piece 11, and the expansion plate 13 is connected with the second clamping jaw 21 b;
the driving member 11 drives the expansion plate 13 to approach or separate from the fixed plate 12, so that the second clamping jaw 21b approaches or separates from the first clamping jaw 21 a.
In the present embodiment, the positioning mechanism 3 is provided on the first chuck jaw 21 a. After the in-place signal is obtained, the driving part 11 drives the expansion plate 13 to be close to the fixing plate 12, the second clamping jaw 21b is driven to be far away from the first clamping jaw 21a, and after the second clamping jaw 21b is abutted to the workpiece, the workpiece is driven to be abutted to the first clamping jaw 21a, so that the clamping purpose is realized. The utility model discloses in set up a expansion plate 13 and a fixed plate 12, can reduce the energy resource consumption of driving piece 11, can carry out the position fine setting to the work piece simultaneously, that is to say, the initial locating position of work piece if there is the deviation, at the tight in-process of clamp, can adjust. In the process of processing a large number of workpieces, the consistency of the positions of the clamped workpieces can be ensured.
In this embodiment, the number of the positioning mechanisms 3 is two, and the two positioning mechanisms are respectively provided on the two first clamping jaws 21 a. The driving member 11 is a cylinder.
In other embodiments, the driving member 11 may be a bi-directional driving member 11, which drives the fixed plate 12 and the retractable plate 13 to move toward and away from each other to clamp or release the workpiece.
In an embodiment of the present invention, as shown in fig. 3, the retractable plate 13 is provided with a slide rail 14, the fixing plate 12 is provided with a slider 15, and the slide rail 14 is slidably connected to the slider 15.
It can be understood that the sliding fit of the sliding rail 14 and the sliding block 15 provides positioning and guiding for the movement of the telescopic plate 13, and ensures the stability of the movement of the telescopic plate 13.
In this embodiment, a first connecting plate 121 is disposed on one side of the fixing plate 12 facing the expansion plate 13, a second connecting plate 131 is disposed on one side of the expansion plate 13 facing the fixing plate 12, the first connecting plate 121 and the second connecting plate 131 are disposed in parallel and at an interval, the slide rail 14 is disposed on one side of the first connecting plate 121 facing the second connecting plate 131, the slide block 15 is disposed on one side of the second connecting plate 131 facing the first connecting plate 121, or the slide block 15 is disposed on one side of the first connecting plate 121 facing the second connecting plate 131, and the slide rail 14 is disposed on one side of the second connecting plate 131 facing the first connecting plate 121.
In an embodiment of the present invention, as shown in fig. 1 and fig. 3, the driving mechanism further includes a dustproof enclosure 16, the dustproof enclosure 16 can be extended or retracted, the dustproof enclosure 16, the fixed plate 12 and the expansion plate 13 enclose to form an accommodation cavity 17, and the driving member 11, the sliding block 15 and the sliding rail 14 are all located in the accommodation cavity 17.
It can be understood that in the long-term operation of the mechanical claw, the dustproof enclosure 16 plays a dustproof role, and avoids that excessive impurities are adsorbed on the components in the accommodating cavity 17 to influence the precision and the fluency of the driving piece 11 and the slide rail 14. In this embodiment, the dust enclosure 16 is a flexible organ-type shield.
The utility model discloses still provide a grabbing device, as shown in FIG. 1, this grabbing device includes:
a second drive mechanism; and
the mechanical claw is connected with the second driving mechanism, and the second driving mechanism drives the mechanical claw to move so as to enable a workpiece to extend into or withdraw from the clamping channel 6 of the mechanical claw.
The specific structure of the gripper refers to the above embodiments, and since the gripping device adopts all technical solutions of all the above embodiments, at least all beneficial effects brought by the technical solutions of the above embodiments are achieved, and no further description is given here.
In this embodiment, the second driving mechanism provides a driving force for the entire movement of the gripper. In this embodiment, the gripper is provided on the mount 4. The mounting seat 4, the expansion plate 13, the fixing plate 12 and the dustproof enclosure 16 enclose to form a closed accommodating cavity 17. The second driving mechanism is rotatably connected with the mounting seat 4.
The above is only the optional embodiment of the present invention, and not therefore the scope of the present invention is limited, all under the inventive concept, the equivalent structure transformation made by the contents of the specification and the drawings is utilized, or the direct/indirect application is included in other related technical fields in the patent protection scope of the present invention.
Claims (10)
1. A gripper, characterized in that the gripper comprises:
a first drive mechanism (1);
the clamping mechanism (2) is connected with the first driving mechanism (1), the clamping mechanism is provided with a clamping channel (6) used for accommodating a workpiece, and the clamping mechanism (2) is provided with a clamping part (22) arranged in the clamping channel (6); and
the positioning mechanism (3) is arranged on the clamping channel (6), the positioning mechanism (3) is provided with a sensor (31) and an abutting surface (331), the sensor (31) is electrically connected with the first driving mechanism (1), and the sensor (31) is used for detecting the abutting state of the abutting surface (331) and the workpiece;
after the abutting surface (331) abuts against the workpiece, the first driving mechanism (1) drives the clamping mechanism (2) to close, so that the clamping part (22) clamps the workpiece.
2. A gripper according to claim 1, characterized in that the positioning means (3) comprise:
a positioning mounting plate (32), wherein the positioning mounting plate (32) is connected with the clamping mechanism (2); the positioning plate (33), the positioning plate (33) and the positioning mounting plate (32) are arranged at intervals, and the positioning plate (33) is provided with the abutting surface (331); and
the two ends of the elastic piece are respectively connected with the positioning mounting plate (32) and the positioning plate (33);
wherein the sensor (31) is arranged on the positioning mounting plate (32) or the positioning plate (33).
3. The gripper according to claim 2, wherein the positioning plate (32) is provided with a positioning hole, a positioning rod (35) is disposed on a side of the positioning plate (33) facing the positioning plate (32), the positioning rod (35) is movably disposed in the positioning hole, and the elastic member is sleeved on the positioning rod (35).
4. The gripper according to claim 1, wherein the gripping mechanism (2) comprises a plurality of gripping jaws (21), each gripping jaw (21) having one end connected to the first driving mechanism (1) and the other end provided with the gripping portion (22), one positioning mechanism (3) provided to one gripping jaw (21), and a plurality of gripping portions (22) enclosing at least one positioning mechanism (3) to form the gripping channel; the first driving mechanism (1) drives the clamping jaws (21) to be opened or closed.
5. A gripper according to claim 4, characterized in that the side of the gripping part (22) facing away from the gripping jaw (21) is provided with anti-slip ribs (221).
6. Gripper according to claim 4, characterized in that each gripper jaw is provided with a reinforcement rib (23) on the side facing away from the clamping channel.
7. Gripper according to claim 4, characterized in that said plurality of gripping jaws (21) comprises at least one first gripping jaw (21a) and at least one second gripping jaw (21 b);
the first drive mechanism (1) comprises:
a driver (11);
the fixing plate (12), the driving piece (11) is arranged on the fixing plate (12), and the first clamping jaw (21a) is connected with the fixing plate (12);
the telescopic plate (13) is connected with the output end of the driving piece (11), and the telescopic plate (13) is connected with the second clamping jaw (21 b);
wherein the driving part (11) drives the expansion plate (13) to approach or separate from the fixing plate (12) so as to enable the second clamping jaw (21b) to approach or separate from the first clamping jaw (21 a).
8. Gripper according to claim 7, characterized in that the telescopic plate (13) is provided with a slide (14) and the fixed plate (12) is provided with a slide (15), the slide (14) being slidably connected to the slide (15).
9. The gripper according to claim 8, wherein the driving mechanism further comprises a dust enclosure (16), the dust enclosure (16) is extendable or retractable, the dust enclosure (16), the fixed plate (12) and the retractable plate (13) enclose a receiving cavity (17), and the driving member (11), the sliding block (15) and the sliding rail (14) are located in the receiving cavity (17).
10. A grasping apparatus, characterized in that the grasping apparatus comprises:
a second drive mechanism; and
the gripper of any of claims 1-9, wherein the gripper is coupled to the second drive mechanism, and wherein the second drive mechanism drives the gripper to move to extend or retract a workpiece into or out of the gripper channel of the gripper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023345791.1U CN214186313U (en) | 2020-12-31 | 2020-12-31 | Gripper and gripping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023345791.1U CN214186313U (en) | 2020-12-31 | 2020-12-31 | Gripper and gripping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214186313U true CN214186313U (en) | 2021-09-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023345791.1U Active CN214186313U (en) | 2020-12-31 | 2020-12-31 | Gripper and gripping device |
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| Country | Link |
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| CN (1) | CN214186313U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114888837A (en) * | 2022-06-24 | 2022-08-12 | 安徽江淮汽车集团股份有限公司 | Clamp holder and manipulator of automobile production line |
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2020
- 2020-12-31 CN CN202023345791.1U patent/CN214186313U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114888837A (en) * | 2022-06-24 | 2022-08-12 | 安徽江淮汽车集团股份有限公司 | Clamp holder and manipulator of automobile production line |
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