CN217046483U - Press from both sides and get subassembly and manipulator - Google Patents
Press from both sides and get subassembly and manipulator Download PDFInfo
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- CN217046483U CN217046483U CN202123395267.XU CN202123395267U CN217046483U CN 217046483 U CN217046483 U CN 217046483U CN 202123395267 U CN202123395267 U CN 202123395267U CN 217046483 U CN217046483 U CN 217046483U
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Abstract
The utility model discloses a clamping assembly and a manipulator, wherein the clamping assembly comprises a base, a rotating mechanism and a clamping mechanism, the rotating mechanism is fixedly arranged on the base, and the rotating mechanism comprises a first driving piece and a rotating shaft; fixture includes a plurality of clamping jaws and second driving piece, and a plurality of clamping jaws are arranged along the circumference of pivot, and first driving piece can drive a plurality of clamping jaws and rotate around the axis of pivot, and the second driving piece can drive the clamping jaw and open or closed. The utility model discloses a press from both sides and get subassembly and manipulator can improve and press from both sides getting of getting the subassembly and put efficiency to improve the product machining efficiency on the production line.
Description
Technical Field
The application relates to the technical field of machinery, especially, relate to a press from both sides and get subassembly and manipulator.
Background
Along with the development of the society and the increase of various industrial product market demands, the clamping assembly gradually replaces the manual work to complete the grabbing and transplanting of the products on the production line.
The existing clamping mode is that a steering engine controls a clamping jaw to grab and place a product by controlling the clamping jaw to open and close, but on a production line, when a processed product needs to be moved away from a processing station and the product to be processed is put into the processing station, the same clamping assembly needs to be used for firstly moving the processed product away, then clamping the product to be processed is carried out, and finally the product to be processed is put into the processing station, and in the time of taking the processed product away and putting the product to be processed into the processing station, the processing station is always vacant, so that the processing efficiency is low.
SUMMERY OF THE UTILITY MODEL
The embodiment of the application discloses a clamping assembly and a manipulator, which can improve the efficiency of taking and placing the clamping assembly, thereby improving the processing efficiency of products on a production line.
In order to achieve the above object, in a first aspect, an embodiment of the present application discloses a clamping assembly, which is characterized by comprising:
a base;
the rotating mechanism is fixedly arranged on the base and comprises a first driving piece and a rotating shaft;
fixture, fixture include a plurality of clamping jaws and second driving piece, and a plurality of clamping jaws are arranged along the circumference of pivot, and first driving piece can drive a plurality of clamping jaws and revolve the axis rotation of pivot, and the second driving piece can drive the clamping jaw and open or be closed.
The embodiment of the utility model discloses a press from both sides and get subassembly, owing to including fixture and rotary mechanism, fixture can rotate along the axis of pivot under rotary mechanism's drive, and fixture includes a plurality of clamping jaws, consequently when pressing from both sides the subassembly and being used for transplanting the product on the production line, can only press from both sides the subassembly with one and just realize detecting taking out of accomplishing the product and waiting to detect placing of product detecting the station, and accomplish taking out of product and waiting to detect the in-process of placing of product detecting the completion product finishing accomplishing, press from both sides the subassembly and need not advance the removal between the different stations, detect the station and can not empty. When the clamping assembly is used for transplanting products on a production line, the grabbing efficiency of the grabbing articles can be improved, the idle time of detection stations is shortened, and the product detection efficiency on the production line is improved.
In a possible implementation manner of the first aspect, the first driving part is a first steering engine, the first steering engine is fixed on the base, one end of the rotating shaft is fixedly connected with an output shaft of the first steering engine, and the other end of the rotating shaft is fixedly connected with the clamping mechanism.
The first steering engine is used for driving, so that the rotating process is more stable, and the first steering engine is provided with the output shaft, so that the first steering engine is more convenient to install with other structures.
In a possible implementation manner of the first aspect, the clamping assembly further includes a bracket, the bracket is fixed on the rotating shaft, and the clamping mechanism is fixedly mounted on the bracket.
The support can provide the installation department for fixture, makes overall structure more firm, and the existence of support can let fixture and pivot change and realize fixed connection.
In a possible implementation manner of the first aspect, there are two clamping jaws, and the two clamping jaws are arranged oppositely.
This ensures that the opening angle can be at most 180 ° without being influenced by one another when the two clamping jaws are opened simultaneously.
In a possible implementation manner of the first aspect, the number of the second driving members is two, the bracket includes a base plate and connecting plate assemblies disposed on opposite sides of the base plate, the two second driving members are respectively fixed on the connecting plate assemblies on two sides of the base plate, the connecting plate assemblies include a first connecting plate and a second connecting plate, the first connecting plate and the second connecting plate are spaced and disposed oppositely, and the second driving member is installed between the first connecting plate and the second connecting plate.
Two second driving pieces are respectively fixed on the connecting plate component on the two sides of the base plate, so that the second driving pieces can be separately placed, and the second driving pieces can better dissipate heat in the working process.
In a possible implementation manner of the first aspect, the first connecting plates and the second connecting plates are arranged at intervals along a first direction, the first connecting plates on two sides of the substrate are arranged in a staggered manner along a second direction, the first direction and the second direction are both parallel to the substrate, and the first direction is perpendicular to the second direction.
Because the first connecting plate of base plate both sides staggers along the second direction and sets up, consequently install the focus of the second driving piece of base plate both sides and distribute comparatively balancedly along the second direction, install the back more stable.
In a possible implementation manner of the first aspect, the second driving element is a second steering engine, the clamping mechanism comprises a first gear and a second gear, the first gear is meshed with the second gear, the first gear is fixedly connected with an output shaft of the second steering engine, the second gear is rotatably connected with the support, the clamping jaw comprises a first clamping arm and a second clamping arm, the first clamping arm is fixed on the first gear, and the second clamping arm is fixed on the second gear.
The drive of second steering wheel is more stable, therefore the atress of centre gripping in-process product is more stable, and the product can not damage because of the atress.
In a possible implementation manner of the first aspect, the first clamping arm includes a first swinging portion, a second swinging portion and a first clamping portion, the first swinging portion and the second swinging portion are arranged in parallel along an axial direction of the first gear, one end of the first clamping portion is fixedly connected with one end of the first swinging portion, which is far away from the first gear, the other end of the first clamping portion is fixedly connected with one end of the second swinging portion, which is far away from the first gear, two first gears are provided, the two first gears are arranged along the same axis, and the first swinging portion and the second swinging portion are respectively in one-to-one correspondence with and fixedly connected with the two first gears; the second clamping arm comprises a third swinging portion, a fourth swinging portion and a second clamping portion, the third swinging portion and the fourth swinging portion are arranged in parallel along the axial direction of the second gear, one end of the second clamping portion is fixedly connected with one end, far away from the second gear, of the third swinging portion, the other end of the second clamping portion is fixedly connected with one end, far away from the second gear, of the fourth swinging portion, the number of the second gears is two, the two second gears are arranged along the same axis, and the third swinging portion and the fourth swinging portion are respectively in one-to-one correspondence and fixed connection with the two second gears.
Therefore, the first clamping arm comprises the first swinging part and the second swinging part which are in one-to-one correspondence and fixedly connected with the first gear, so that the first clamping arm is more stable and powerful in opening and closing.
In a possible implementation manner of the first aspect, two clamping teeth are arranged on the first clamping portion, one clamping tooth is arranged on the second clamping portion, and when the first clamping arm and the second clamping arm are closed, one clamping tooth on the second clamping portion is located between the two clamping teeth on the first clamping portion;
or, the first clamping part is provided with one clamping tooth, the second clamping part is provided with two clamping teeth, and when the first clamping arm and the second clamping arm are closed, one clamping tooth on the first clamping part is positioned between the two clamping teeth on the second clamping part.
When grabbing the product under this structure, more firm.
In a second aspect, the embodiment of the present application further discloses a manipulator, which includes the clamping assembly of the first aspect and a mechanical arm, wherein the clamping assembly is installed at one end of the mechanical arm, and the mechanical arm can drive the clamping assembly to move.
The manipulator that this application embodiment provided owing to adopted the clamp of first aspect to get the subassembly, consequently can improve and grab getting of getting the thing and put efficiency, reduces the idle time of detection station to improve the product detection efficiency on the production line.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of a clamping assembly according to a first embodiment of the present invention;
fig. 2 is a cross-sectional view of a rotating mechanism according to a first embodiment of the present invention;
fig. 3 is a schematic view of an assembly structure of two clamping jaws according to a first embodiment of the present invention;
fig. 4 is a schematic view of a bracket structure according to a first embodiment of the present invention;
fig. 5 is a schematic diagram illustrating relative positions of a first connecting plate and a second connecting plate according to a first embodiment of the present invention;
fig. 6 is a schematic structural view of a clamping mechanism according to a first embodiment of the present invention;
fig. 7 is a schematic structural view of a first clamping arm according to a first embodiment of the present invention.
Description of reference numerals:
1-a base; 11-a holding tank; 2-a rotating mechanism; 21-a first driving member; 211-a first steering engine; 22-a rotating shaft; 23-a coupling; 24-a bearing; 25-a connector; 3-a clamping mechanism; 31-a second drive member; 311-a second steering engine; 32-a clamping jaw; 321-a first gripper arm; 3211-a first clamping portion; 3212-a first swing part; 3213-a second swing part; 322-a second gripper arm; 3221-a second clamping portion; 3222-a third oscillating portion; 3223-a fourth oscillating portion; 323-gripping teeth; 33-a first gear; 34-a second gear; 4-a scaffold; 41-a substrate; 42-a connector plate assembly; 421-a first connecting plate; 422-second connecting plate.
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 all belong to the protection scope of the present invention.
In the present invention, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the invention and its embodiments, and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used in other meanings besides orientation or positional relationship, for example, the term "upper" may also be used in some cases to indicate a certain attaching or connecting relationship. The specific meaning of these terms in the present invention can be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
Furthermore, the terms "first," "second," and the like, are used primarily to distinguish one device, element, or component from another (the specific nature and configuration may be the same or different), and are not used to indicate or imply the relative importance or number of the indicated devices, elements, or components. "plurality" means two or more unless otherwise specified.
Along with the development of the society and the increase of various industrial product market demands, the clamping assembly gradually replaces the manual work to complete the grabbing and transplanting of the products on the production line.
The clamping assembly generally comprises a driving assembly and a clamping jaw, the driving assembly controls the clamping jaw to grab and place a product by controlling the clamping jaw to open and close, on a production line, when a processed product needs to be moved away from a processing station and a product to be processed is placed into the processing station, the same clamping assembly needs to be used for moving away the processed product firstly, then clamping the product to be processed, and finally placing the product to be processed into the processing station, and the processing station is always empty in the time from taking away the processed product to placing the product to be processed, so that the processing efficiency is low.
Based on this, the utility model provides a press from both sides and get subassembly and manipulator can improve and press from both sides getting of getting the subassembly and put efficiency to improve the product machining efficiency on the production line.
The gripping assembly and robot are described in detail below with specific embodiments:
example one
The embodiment of the application discloses get subassembly to press from both sides, as shown in fig. 1, should get the subassembly to include: base 1, rotary mechanism 2 and fixture 3, wherein, rotary mechanism 2 includes first driving piece 21 and pivot 22, rotary mechanism 2 fixed mounting is on base 1, fixture 3 includes a plurality of clamping jaws 32 and second driving piece 31, a plurality of clamping jaws 32 are arranged along the circumference of pivot 22, first driving piece 21 can drive a plurality of clamping jaws 32 and rotate around the axis of pivot 22, second driving piece 31 can drive clamping jaw 32 and open or closed.
As a use scene, this press from both sides and get subassembly and can be used for the categorised product that waits to detect, the specific process that the product detected is: at the beginning, the products are all located on the first station, then the products are transplanted to the detection station, and finally the products are placed on the corresponding conveying belts according to the detection results after the detection is completed. The moving process of the clamping assembly in the above detection process provided by this embodiment is, at the beginning, the clamping assembly is located on the first station, at this time, a part of the clamping jaws 32 are clamped with a product to be detected, another part of the clamping jaws 32 are unloaded, then when the clamping assembly moves integrally to the detection station, the unloaded clamping jaws 32 are driven by the first driving part 21 on the rotating mechanism 2, the product which has been detected by the detection station is clamped by the unloaded clamping jaws 32, and then the product is placed into the detection station by the clamping jaws 32 which are rotated to be capable of grabbing the product to be detected through the driving of the first driving part 21, and finally, the product which has been detected is placed on the corresponding conveying belt according to the detection result.
Foretell press from both sides and get the subassembly, owing to include rotary mechanism 2 and fixture 3, and fixture 3 includes a plurality of clamping jaws 32, a plurality of clamping jaws 32 can rotate along the axis of pivot 22 under rotary mechanism 2's drive, consequently when pressing from both sides the subassembly and being used for transplanting the product on the production line, can only press from both sides the subassembly with one and just realize detecting taking out of accomplishing the product and waiting to detect placing of product at the detection station, and accomplish taking out of product and waiting to detect the in-process of placing of product at the completion detection, press from both sides the subassembly and need not carry out the removal between the different stations, the detection station can not be for a long time vacant position. When transplanting products on the production line by the clamping mechanism 3, the grabbing efficiency of grabbing the products can be improved, the idle time of detection stations is shortened, and the product detection efficiency on the production line is improved.
It can be understood that, when the gripping assembly is used to pick and place a product, the empty gripping jaw 32 needs to grab the product to empty the inspection station, and then the gripping mechanism 3 is rotated to put a new product into the inspection station. Thus, for maximum utilization of the jaws 32, the number of jaws 32 should be an even number, such as two, four or six. The specific number can be determined according to the number of stations on the production line, and is not limited herein.
Specifically, as shown in fig. 2, the first driving member 21 is a first steering engine 211, an output shaft is arranged on the first steering engine 211, the output shaft can rotate and drive a component fixedly connected with the output shaft to rotate together, the rotation process of the clamping mechanism 3 can be more stable by driving the first steering engine 211, and the first steering engine 211 is more convenient to connect with other components because the first steering engine 211 is provided with the output shaft. Thereby rotary mechanism 2 through first steering wheel 211 fixed mounting on base 1 with base 1 fixed connection, in order to realize that first driving piece 21 drives fixture 3 rotatory, the one end of pivot 22 and first driving piece 21 are the output shaft fixed connection of first steering wheel 211, the other end and fixture 3 fixed connection of pivot 22.
In addition, the fixed connection between the rotating shaft 22 and the output shaft can be realized through a coupler 23, the coupler 23 can be used for firmly connecting the driving shaft and the driven shaft in different mechanisms to rotate together and transmit motion and torque, and specifically, the output shaft of the first steering engine 211 is connected with a connecting piece 25; first steering wheel 211 passes through the fixed connection and the shaft coupling 23 fixed connection of connecting piece 25 and shaft coupling 23, is equipped with the through-hole in the shaft coupling 23, and the through-hole is kept away from fixedly connected with pivot 22 in the one end of connecting piece 25 to this lets the output shaft drive pivot 22 rotatory. One end of the rotating shaft 22 connected with the clamping mechanism 3 is integrally formed with a connecting strip vertical to the body of the rotating shaft 22, and the bracket 4 is fixedly connected with the connecting strip through a screw. The connection mode enlarges the area of the connection part, thereby ensuring that the connection between the rotating shaft 22 and the clamping mechanism 3 is more stable.
In some embodiments, still be formed with holding tank 11 on the base 1, first steering wheel 211 all sets up in holding tank 11 with pivot 22, and this structure is safer when can making pivot 22 rotate, thereby can not receive external influence and make the rotation receive the influence, and reduced to get the holistic space size that occupies of subassembly. The rotating shaft 22 is further provided with a bearing 24, the bearing 24 is located inside the accommodating groove 11, the bearing 24 is arranged close to the clamping mechanism 3, the rotating shaft 22 can be supported when rotating due to the bearing 24, the friction coefficient of the rotating shaft 22 in the moving process is reduced, and the rotation precision of the rotating shaft 22 is guaranteed.
The clamping assembly further comprises a support 4, the support 4 is fixed on the rotating shaft 22, the clamping mechanism 3 is fixedly installed on the support 4, and the rotating shaft 22 is fixedly connected with the support 4 and the clamping mechanism 3, so that the whole clamping mechanism 3 is driven to rotate. The support 4 can provide the installation position for the clamping mechanism 3, so that the whole structure is more stable, and the existence of the support 4 can enable the clamping mechanism 3 and the rotating shaft 22 to be easier to realize fixed connection.
In some embodiments, as shown in FIG. 3, there are two jaws 32, and the two jaws 32 are disposed opposite each other. At this time, when the two clamping jaws 32 are in the opening state, the bisectors of the opening angles of the two clamping jaws 32 are located on the same straight line, so that the opening angle a can reach the maximum 180 degrees without being influenced by each other when the two clamping jaws 32 are opened simultaneously.
In the above embodiment, as shown in fig. 4, there are two second driving members 31, in this case, the bracket 4 includes a base plate 41 and connecting plate assemblies 42 disposed on two opposite sides of the base plate 41, the two second driving members 31 are respectively fixed on the connecting plate assemblies 42 on two opposite sides of the base plate 41, and the two second driving members 31 respectively drive one of the clamping jaws 32 to open and close. The connection plate assembly 42 includes a first connection plate 421 and a second connection plate 422, the first connection plate 421 and the second connection plate 422 are spaced apart and opposite to each other, and the second driving member 31 is installed between the first connection plate 421 and the second connection plate 422. The first connecting plate 421 and the second connecting plate 422 can cooperate to better fix the second driving member 31, and the connecting plate assembly 42 is disposed on two opposite sides of the base plate 41 to enable the second driving member 31 to be separately disposed, so that the second driving member 31 can better dissipate heat in the working process, and the machine can be prevented from being damaged by excessive heat generated by the attached second driving member 31 in the working process.
In some embodiments, as shown in fig. 5, the first connecting plates 421 and the second connecting plates 422 are spaced apart along a first direction, the first connecting plates 421 on two sides of the substrate 41 are offset along a second direction, the first direction and the second direction are both parallel to the substrate 41, and the first direction is perpendicular to the second direction, the first direction is a Y direction shown in fig. 5, and the second direction is an X direction shown in fig. 5. Under the above structure, the second steering engine 311 is generally partially located between the first connecting plate 421 and the second connecting plate 422, and the portion is clamped between the first connecting plate 421 and the second connecting plate 422, and the other portion extends out of the first connecting plate 421 and the second connecting plate 422, so that the connection between the second driving member 31 and the clamping jaw 32 can be located at the portion of the second driving member 31 extending out of the first connecting plate 421 and the second connecting plate 422, and the connection transmission between the second driving member 31 and the clamping jaw 32 is not affected by the first connecting plate 421 and the second connecting plate 422. In addition, since the first connection plates 421 at both sides of the base plate 41 are arranged in a staggered manner along the second direction, the centers of gravity of the second driving parts 31 installed at both sides of the base plate 41 are distributed along the second direction in a balanced manner, and the installation is more stable.
In some embodiments, as shown in fig. 6, the second driving element 31 is a second steering engine 311, the second steering engine 311 is provided with an output shaft, the output shaft can rotate and drive the components fixedly connected with the output shaft to rotate together, the opening and closing process of the clamping jaw 32 can be more stable by using the second steering engine for driving, and the second steering engine 311 is more convenient to connect with the rest components because the second steering engine 311 is provided with the output shaft. The clamping mechanism 3 further comprises a first gear 33 and a second gear 34, the first gear 33 is meshed with the second gear 34, the first gear 33 is fixedly connected with an output shaft of the second steering engine 311, the second gear 34 is rotatably connected with the support 4, the clamping jaw 32 comprises a first clamping arm 321 and a second clamping arm 322, the first clamping arm 321 is fixed on the first gear 33, and the second clamping arm 322 is fixed on the second gear 34. Thus, the first gear 33 is fixedly connected to the first holding arm 321 to drive the first holding arm 321 to swing, the second gear 34 is fixedly connected to the second holding arm 322 to drive the second holding arm 322 to swing, and when the first gear 33 and the second gear 34 rotate, the first holding arm 321 and the second holding arm 322 can swing back and forth or swing toward each other.
In the working process, the rotating force provided by the output shaft of the second steering engine 311 is firstly transmitted to the first gear 33, at this time, the first gear 33 starts to rotate, when the first gear 33 rotates, the second gear 34 also synchronously rotates due to the meshing of the first gear 33 and the second gear 34, when the first gear 33 rotates, the first clamping arm 321 can swing, and when the second gear 34 rotates, the second clamping arm 322 can swing, so that the first clamping arm 321 and the second clamping arm 322 swing back and forth to release the product or swing in opposite directions to grab the product.
Specifically, the first holding arm 321 and the second holding arm 322 can be fixed to the first gear 33 and the second gear 34 in various ways, and may be fixed by screwing, welding, bonding, or the like.
The structure that the second steering engine 311 drives the first gear 33 to rotate can be achieved in various manners, in the first structure, the outer wall of the output shaft of the second steering engine 311 is in a saw-toothed shape, a connecting hole is formed in the first gear 33, the side wall of the connecting hole is also in a saw-toothed shape, the saw-toothed shape of the output shaft is matched with the saw-toothed shape of the side wall of the connecting hole, and when the first gear 33 is sleeved on the output shaft, the output shaft of the second steering engine 311 is fixedly connected with the first gear 33 so as to drive the first gear 33 to rotate. The structure has fewer lower disassembled parts and higher efficiency in manufacturing and processing.
In the second structure, a through hole is formed in the first gear 33, the through hole in the first gear 33 is sleeved on the output shaft of the second steering engine 311, a screw is provided to fixedly connect the first gear 33 with the second steering engine 311, and the first gear 33 cannot move along the axial direction of the output shaft of the second steering engine 311 in the structure.
In addition, in order to realize the above-mentioned rotational connection between the second gear 34 and the bracket 4, a shaft is formed on the bracket 4, and the second gear 34 is sleeved on the shaft, so that when the first gear 33 drives the second gear 34 to rotate, the second gear 34 can rotate around the shaft.
Specifically, as shown in fig. 7, the first holding arm 321 includes a first swinging portion 3212, a second swinging portion 3213, and a first holding portion 3211, the first swinging portion 3212 and the second swinging portion 3213 are arranged in parallel along the axial direction of the first gear 33, one end of the first holding portion 3211 is fixedly connected to one end of the first swinging portion 3212 away from the first gear 33, the other end of the first holding portion 3211 is fixedly connected to one end of the second swinging portion 3213 away from the first gear 33, there are two first gears 33, the two first gears 33 are disposed along the same axis, the two first gears 33 are disposed on two faces of the second steering engine 311 near the first connecting plate 421 and the second connecting plate 422, the two first gears 33 are disposed on the two portions of the two surfaces extending out of the first connecting plate 421 and the second connecting plate 422, and the first swinging portion 3212 and the second swinging portion 3213 are respectively in one-to-one correspondence with the two first gears 33 and are fixedly connected to the two first gears 33. Similarly, the second holding arm 322 includes a third swinging portion 3222, a fourth swinging portion 3223 and a second holding portion 3221, the third swinging portion 3222 and the fourth swinging portion 3223 are arranged in parallel along the axial direction of the second gear 34, one end of the second holding portion 3221 is fixedly connected to one end of the third swinging portion 3222 away from the second gear 34, the other end of the second holding portion 3221 is fixedly connected to one end of the fourth swinging portion 3223 away from the second gear 34, there are two second gears 34, the two second gears 34 are respectively disposed on the surface of the first connecting plate 421 away from the second steering engine 311 and the surface of the second connecting plate 422 away from the second steering engine 311, the two second gears 34 are disposed along the same axis, and the third swinging portion 3222 and the fourth swinging portion 3223 are respectively in one-to-one correspondence with and fixedly connected to the two second gears 34. Since the first and second swinging portions 3212 and 3213 are both connected to the first gear 33, the opening and closing of the first clamping arm 321 is more stable and powerful.
In addition, in order to realize the rotational connection between the second gear 34 and the bracket 4, shafts are formed on the surfaces of the first connecting plate 421 and the second connecting plate 422 of the bracket 4 away from the second steering engine 311, and the second gear 34 is sleeved on the shafts, so that when the first gear 33 drives the second gear 34 to rotate, the second gear 34 can rotate around the shafts.
In some embodiments, two clamping teeth 323 are disposed on the first clamping portion 3211, and one clamping tooth 323 is disposed on the second clamping portion 3221, when the first clamping arm 321 is closed with the second clamping arm 322, the one clamping tooth 323 on the second clamping portion 3221 is located between the two clamping teeth 323 on the first clamping portion 3211; or, one clamping tooth 323 is arranged on the first clamping portion 3211, and two clamping teeth 323 are arranged on the second clamping portion 3221, and when the first clamping arm 321 and the second clamping arm 322 are closed, one clamping tooth 323 on the first clamping portion 3211 is located between the two clamping teeth 323 on the second clamping portion 3221. Since one clamping tooth 323 on the first clamping portion 3211 and two clamping teeth 323 on the second clamping portion 3221 can be mutually cross-buckled when the first clamping arm 321 and the second clamping arm 322 are closed, that is, the first clamping tooth 323 is located between the two clamping teeth 323, the product can be more firmly grabbed.
It should be noted that the number of the clipping teeth 323 on the first clipping portion 3211 and the number of the clipping teeth 323 on the second clipping portion 3221 are only for example, and the specific numbers are not limited, and the clipping teeth 323 on the first clipping portion 3211 and the clipping teeth 323 on the second clipping portion 3221 may be engaged only when the first clipping arm 321 and the second clipping arm 322 are closed.
Example two
The embodiment also discloses a manipulator, the manipulator includes the arm and the first clamping subassembly of embodiment, the clamping subassembly is installed in the one end of arm, and the arm can drive the clamping subassembly and remove.
Particularly, the clamping assembly is fixedly mounted on the mechanical arm through the base and the mechanical arm in a fixed connection mode, so that the mechanical arm can drive the clamping assembly to move.
In some embodiments, the mechanical arm can rotate at a certain angle on the basis of realizing linear movement of the mechanical arm, so that the mechanical arm can be used in various environments.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. A clamping assembly, comprising:
a base;
the rotating mechanism is fixedly arranged on the base and comprises a first driving piece and a rotating shaft;
fixture, fixture includes a plurality of clamping jaws and second driving piece, and is a plurality of the clamping jaw is followed the circumference of pivot is arranged, first driving piece can drive a plurality ofly the clamping jaw winds the axis of pivot rotates, the second driving piece can drive the clamping jaw opens or is closed.
2. The clamping assembly according to claim 1, wherein the first driving member is a first steering engine fixed to the base, one end of the rotating shaft is fixedly connected to an output shaft of the first steering engine, and the other end of the rotating shaft is fixedly connected to the clamping mechanism.
3. The grasping assembly according to claim 2, further comprising a bracket fixed to the shaft, the grasping mechanism being fixedly mounted to the bracket.
4. The grasping assembly according to claim 3, wherein there are two of the jaws, and wherein the two jaws are disposed opposite each other.
5. The grasping assembly according to claim 4, wherein there are two of the second actuators, the support includes a base plate and a connecting plate assembly disposed on opposite sides of the base plate, the two second actuators are secured to the connecting plate assembly on opposite sides of the base plate, the connecting plate assembly includes a first connecting plate and a second connecting plate, the first connecting plate is spaced apart from and disposed opposite the second connecting plate, and the second actuators are mounted between the first connecting plate and the second connecting plate.
6. The grasping assembly according to claim 5, wherein the first connecting plate and the second connecting plate are spaced apart in a first direction, the first connecting plates on opposite sides of the base plate are offset in a second direction, the first direction and the second direction are both parallel to the base plate, and the first direction is perpendicular to the second direction.
7. The clamping assembly of claim 6, wherein the second driving member is a second steering engine, the clamping mechanism comprises a first gear and a second gear, the first gear is meshed with the second gear, the first gear is fixedly connected with an output shaft of the second steering engine, the second gear is rotatably connected with the bracket, the clamping jaw comprises a first clamping arm and a second clamping arm, the first clamping arm is fixed on the first gear, and the second clamping arm is fixed on the second gear.
8. The clamping assembly as recited in claim 7, wherein said first clamping arm includes a first swinging portion, a second swinging portion and a first clamping portion, said first swinging portion and said second swinging portion are arranged in parallel along an axial direction of said first gear, one end of said first clamping portion is fixedly connected to one end of said first swinging portion away from said first gear, another end of said first clamping portion is fixedly connected to one end of said second swinging portion away from said first gear, there are two first gears, and said two first gears are disposed along a same axis, said first swinging portion and said second swinging portion are respectively in one-to-one correspondence with and fixedly connected to said two first gears; the second centre gripping arm includes third swing portion, fourth swing portion and second clamping part, the third swing portion with the fourth swing portion is followed the axial direction parallel arrangement of second gear, the one end of second clamping part with the third swing portion is kept away from the one end fixed connection of second gear, the other end of second clamping part with the fourth swing portion is kept away from the one end fixed connection of second gear, the second gear has two, and two the second gear sets up along same axis, the third swing portion with the fourth swing portion respectively with two second gear one-to-one and fixed connection.
9. The assembly of claim 8, wherein the first gripping portion has two gripping teeth and the second gripping portion has one gripping tooth, and wherein when the first gripping arm and the second gripping arm are closed, the one gripping tooth of the second gripping portion is positioned between the two gripping teeth of the first gripping portion;
or, be equipped with one on the first clamping part and press from both sides the tooth, be equipped with two on the second clamping part and press from both sides the tooth, when first centre gripping arm with the second centre gripping arm is closed, a clamp tooth on the first clamping part is located between two clamp teeth on the second clamping part.
10. A robot hand, characterized by comprising:
the clamping assembly is the clamping assembly of any one of claims 1-9;
the clamping assembly is arranged at one end of the mechanical arm, and the mechanical arm can drive the clamping assembly to move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123395267.XU CN217046483U (en) | 2021-12-30 | 2021-12-30 | Press from both sides and get subassembly and manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123395267.XU CN217046483U (en) | 2021-12-30 | 2021-12-30 | Press from both sides and get subassembly and manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN217046483U true CN217046483U (en) | 2022-07-26 |
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| CN202123395267.XU Active CN217046483U (en) | 2021-12-30 | 2021-12-30 | Press from both sides and get subassembly and manipulator |
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| CN (1) | CN217046483U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117681394A (en) * | 2023-12-29 | 2024-03-12 | 东莞利富高塑料制品有限公司 | Clamping device and production equipment for manufacturing automobile parts |
-
2021
- 2021-12-30 CN CN202123395267.XU patent/CN217046483U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117681394A (en) * | 2023-12-29 | 2024-03-12 | 东莞利富高塑料制品有限公司 | Clamping device and production equipment for manufacturing automobile parts |
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