CN217143971U - Positioning paw and robot device - Google Patents
Positioning paw and robot device Download PDFInfo
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- CN217143971U CN217143971U CN202123167477.3U CN202123167477U CN217143971U CN 217143971 U CN217143971 U CN 217143971U CN 202123167477 U CN202123167477 U CN 202123167477U CN 217143971 U CN217143971 U CN 217143971U
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- gripper
- supporting plate
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Abstract
The application provides a location hand claw, it includes: the positioning plate is provided with two groups of limiting grooves and is used for bearing the frame-shaped product; a transmission mechanism; the two positioning columns are fixedly connected with the transmission mechanism and movably penetrate through the two limiting grooves; and the driving device is connected with the transmission mechanism and used for driving the two groups of positioning columns on the transmission mechanism to move along the two groups of limiting grooves so as to position the frame-shaped product. The application also provides a robot device comprising the positioning paw. Above-mentioned location hand claw passes through the reference column and realizes automatic positioning frame form product at the spacing groove motion, and the robot device can directly snatch frame form product and carry out automatic positioning to frame form product in the charging tray, need not the transfer positioner to fix a position frame form product and need not to wait just snatch frame form product after fixing a position frame form product through the transfer positioner, so, improved the efficiency of fixing a position frame form product and snatching frame form product.
Description
Technical Field
The application relates to the field of positioning of frame-shaped products, in particular to a positioning paw and a robot device.
Background
When realizing on the production line that the manipulator snatchs the material from on the tray, because the space of putting the material on the tray is generally bigger than the material, causes the material to put and has the error unavoidably, in order to make the manipulator accurately snatch the material, need the manual work to move the material to positioner from the tray earlier, if have the positioner of a plurality of locating pins to through positioner with the accurate location of material, then the rethread manipulator snatchs the material from positioner. In the material grabbing process, due to the fact that the materials need to be moved manually and located on the locating device, the efficiency of locating the materials and grabbing the materials is low.
SUMMERY OF THE UTILITY MODEL
In view of the above, it is desirable to provide a positioning gripper for improving the efficiency of positioning and gripping frame-shaped products.
A positioning gripper, comprising: the positioning plate is provided with two groups of limiting grooves and is used for bearing the frame-shaped product; a transmission mechanism; the two positioning columns are fixedly connected with the transmission mechanism and movably penetrate through the two limiting grooves; and the driving device is connected with the transmission mechanism and used for driving the two groups of positioning columns on the transmission mechanism to move along the two groups of limiting grooves so as to position the frame-shaped product.
Further, in an embodiment, the transmission mechanism includes: the connecting piece is fixedly connected with the driving device, and the driving device drives the connecting piece to do linear reciprocating motion; the supporting plate is arranged below the positioning plate and is fixedly connected with the positioning plate; the first connecting rod component is rotatably connected with the connecting piece and is arranged on the supporting plate in a sliding manner, and a group of positioning columns are fixedly connected with the first connecting rod component; and the second connecting rod assembly is rotatably connected with the connecting piece and is arranged below the positioning plate in a sliding manner, and the other group of positioning columns is fixedly connected with the second connecting rod assembly.
Further, in an embodiment, each of the positioning columns includes two positioning columns, each of the positioning grooves includes two positioning grooves, and the two positioning grooves are in a shape of a Chinese character 'ba' and have a larger opening toward an edge of the positioning plate.
Further, in an embodiment, a fixing shaft is protruded from the connecting member, and the first link assembly includes: the first connecting rod is slidably arranged on the supporting plate, one end of the first connecting rod is rotatably sleeved on the fixed shaft, and the other end of the first connecting rod is fixedly connected with the positioning column; the second connecting rod is arranged on the supporting plate in a sliding mode, one end of the second connecting rod is rotatably sleeved on the fixed shaft, and the other end of the second connecting rod is fixedly connected with the other positioning column.
Further, in one embodiment, a side of the positioning plate facing the supporting plate has a first guide groove, and the fixing shaft protrudes from the first link assembly and is slidably disposed in the first guide groove.
Further, in an embodiment, the second link assembly includes: the rotating rod is rotatably connected to the supporting plate, and one end of the rotating rod is connected with the connecting piece; one end of the connecting rod is rotatably connected with the other end of the rotating rod; the third connecting rod is slidably arranged on the supporting plate, and one end of the third connecting rod is rotatably connected with the other end of the connecting rod; and the fourth connecting rod is arranged on the supporting plate in a sliding manner, and one end of the fourth connecting rod is rotatably connected with the other end of the connecting rod.
Further, in one embodiment, a side of the positioning plate facing the support plate has a second guide groove, and the third link and the fourth link are located below the connecting rod, and the connecting rod is slidably disposed in the second guide groove.
Further, in an embodiment, the driving device is a two-axis linear cylinder, and a piston head of the two-axis linear cylinder is fixedly connected with the connecting piece.
Further, in an embodiment, the positioning claw further includes a pressing block, and the pressing block is fixed on the positioning plate and used for abutting against the frame-shaped product to position the frame-shaped product in a direction perpendicular to the positioning plate.
A robot device comprises the positioning paw.
Above-mentioned location hand claw passes through the reference column and realizes automatic positioning frame form product at the spacing groove motion, and the robot device can directly snatch frame form product and carry out automatic positioning to frame form product in the charging tray, need not the transfer positioner to fix a position frame form product and need not to wait just snatch frame form product after fixing a position frame form product through the transfer positioner, so, improved the efficiency of fixing a position frame form product and snatching frame form product.
Drawings
Fig. 1 is a perspective view of a positioning gripper according to some embodiments of the present disclosure in positioning a frame-shaped product.
Fig. 2 is an exploded view of the positioning gripper of fig. 1.
Fig. 3 is a perspective view of the positioning gripper of fig. 1 from another perspective when positioning a frame-shaped product.
Fig. 4 is a perspective view of the positioning post in fig. 3 located at the other end of the limiting groove.
Figure 5 is a perspective view of the positioning gripper of figure 1 from another perspective, with the drive removed.
Figure 6 is a partially exploded view of the positioning gripper of figure 5.
Fig. 7 is a further exploded view of the positioning gripper of fig. 6.
Description of the main elements
The following detailed description will further illustrate the present application in conjunction with the above-described figures.
Detailed Description
In order that the above objects, features and advantages of the embodiments of the present application can be more clearly understood, a detailed description of the present application will be given below with reference to the accompanying drawings and detailed description. In addition, the features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth to provide a thorough understanding of embodiments of the application, and the described embodiments are merely a subset of embodiments of the application, rather than all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without any creative effort belong to the protection scope of the embodiments in the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the embodiments of this application belong. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the present application.
Referring to fig. 1 and 2, the present application provides a positioning claw 1, where the positioning claw 1 includes a positioning plate 2, a transmission mechanism 3, two sets of positioning posts 4 and a driving device 5. The positioning plate 2 has two sets of limiting grooves 21. The two positioning columns 4 are fixedly connected with the transmission mechanism 3 and movably penetrate through the two limiting grooves 21. The driving device 5 is connected to the transmission mechanism 3, and is configured to drive the two positioning posts 4 on the transmission mechanism 3 to move along the two sets of limiting grooves 21 to position the inner cavity 101 of the frame-shaped product 10.
Specifically, the transmission mechanism 3 includes a connecting member 31, a support plate 32, a first link assembly 33, and a second link assembly 34. The connecting piece 31 is fixedly connected with the driving device 5, and the driving device 5 drives the connecting piece 31 to do linear reciprocating motion when in work. The supporting plate 32 is disposed below the positioning plate 2 and is fixedly connected to the positioning plate 2. The first link assembly 33 is rotatably connected with the connecting member 31 and slidably disposed on the supporting plate 32, and the set of positioning posts 4 is fixedly connected with the first link assembly 33. The second connecting rod assembly 34 is rotatably connected with the connecting piece 31 and is slidably arranged below the positioning plate 2, and the other group of positioning columns 4 is fixedly connected with the second connecting rod assembly 34. Each group of positioning posts 4 comprises two positioning posts 4. Each set of limiting groove 21 comprises two limiting grooves 21, and the two limiting grooves 21 are splayed and have a larger opening and face one edge of the positioning plate 2. Two positioning columns 4 in each positioning column set 4 movably penetrate through two limiting grooves 21 in one limiting groove 21. In some embodiments, the link 31 has an L-shape, the first link assembly 33 is connected to a long side of the link 31, and the second link assembly 34 is connected to an end of a short side of the link 31 remote from the long side of the link 31.
The first link assembly 33 includes a first link 331 and a second link 332. The first connecting rod 331 is slidably disposed on the supporting plate 32, the connecting member 31 is convexly provided with a fixed shaft 311, one end of the first connecting rod 331 is rotatably sleeved on the fixed shaft 311, and the other end of the first connecting rod 331 is fixedly connected with one of the positioning columns 4 in the group of positioning columns 4.
The second connecting rod 332 is slidably disposed on the supporting plate 32, one end of the second connecting rod 332 is rotatably sleeved on the fixed shaft 311 and is disposed at one end of the first connecting rod 331 sleeved on the fixed shaft 311, and the other end of the second connecting rod 332 is fixedly connected to another positioning column 4 of the positioning columns 4. In some embodiments, referring to fig. 7, a side of the positioning plate 2 facing the supporting plate 32 has a first guiding slot 22, and the fixing shaft 311 protrudes from the second connecting rod 332 and is slidably disposed in the first guiding slot 22, so that the driving device 5 drives the connecting member 31 to move back and forth along the first guiding slot 22 and drives the first connecting rod 331 and the second connecting rod 332 to move. The positioning post 4 connected to the first connecting rod 331 and the positioning post 4 connected to the second connecting rod 332 are movably disposed through two limiting grooves 21 of the set of limiting grooves 21, respectively.
The second link assembly 34 includes a rotating rod 341, a connecting rod 342, a third link 343, and a fourth link 344. Rotating rod 341 is rotatably connected to supporting plate 32, and one end of rotating rod 341 is connected to connecting member 31, and driving device 5 drives rotating rod 341 to rotate through connecting member 31 when driving connecting member 31 to move linearly. In some embodiments, referring to fig. 7, the rotating rod 341 has a through hole 345 at a middle portion thereof, a connecting shaft 346 is rotatably disposed at the through hole 345, one end of the connecting shaft 346 is fixed to a connecting hole (not shown) on the supporting plate 32 to realize the rotating connection between the rotating rod 341 and the supporting plate 32, and the other end of the connecting shaft 346 is fixed to the positioning hole 23 on the positioning plate 2 to stably position the rotating rod 341. One end of the connecting rod 342 is rotatably connected to the other end of the rotating rod 341. In some embodiments, the side of the positioning plate 2 facing the supporting plate 32 has a second guiding groove 24, the third link 343 and the fourth link 344 are located below the connecting rod 342, and the connecting rod 342 is slidably disposed in the second guiding groove 24, so that the connecting rod 342 is driven to move back and forth along the second guiding groove 24 when the driving device 5 drives the connecting member 31 to move.
The third connecting rod 343 is slidably disposed on the supporting plate 32, one end of the third connecting rod 343 is rotatably connected to the other end of the connecting rod 342, and the other end of the third connecting rod 343 is fixedly connected to a positioning column 4 of another positioning column 4. The fourth link 344 is slidably disposed on the supporting plate 32, one end of the fourth link 344 is rotatably connected to the other end of the connecting rod 342, and the other end of the fourth link 344 is fixedly connected to another positioning column 4 in another positioning column 4. The positioning column 4 connected to the third connecting rod 343 and the positioning column 4 connected to the fourth connecting rod 344 are movably inserted into two limiting grooves 21 of the other set of limiting grooves 21, respectively.
The driving device 5 may be a two-axis linear cylinder, and a piston head 51 of the two-axis linear cylinder is fixedly connected with the connecting piece 31.
Referring to fig. 3-4, when the positioning gripper 1 positions the frame-shaped product 10, the piston head 51 is driven by the dual-axis linear cylinder to move from a position far from the cylinder body 52 to a position near the cylinder body 52, referring to fig. 2 and 5-7, the piston head 51 drives the connecting member 31 to move near the cylinder body 52, the connecting member 31 drives the fixing shaft 311 to move near the cylinder body 52 along the first guiding groove 22, so that the first connecting rod 331 and the second connecting rod 332 slide from one end of the limiting groove 21 near one edge of the supporting plate 32 to one end far from the one edge of the supporting plate 32, the connecting member 31 also pushes the rotating rod 341 to rotate to drive the connecting rod 342 to move near the connecting member 31 along the second guiding groove 24, so that the third connecting rod 343 and the fourth connecting rod 344 slide from one end of the limiting groove 21 near the other edge of the supporting plate 32 to one end of the other edge far from the supporting plate 32, thereby moving the two sets of positioning posts 4 towards each other. When the two sets of positioning pillars 4 move to and abut against the ends of the corresponding limiting grooves 21 far from the edge of the supporting plate 32, the positioning pillars 4 are located in the inner cavity 101 of the frame-shaped product 10, and at this time, a gap is formed between the inner wall of the inner cavity 101 of the frame-shaped product 10 and the positioning pillars 4, so that the positioning pillars 4 can be prevented from damaging the frame-shaped product 10.
When the positioning columns 4 are placed in the inner cavity 101 of the frame-shaped product 10, the two-axis linear cylinder drives the piston head 51 to move away from the cylinder body 52, the piston head 51 drives the connecting member 31 to move away from the cylinder body 52, the connecting member 31 drives the fixing shaft 311 to move away from the cylinder body 52 along the first guide groove 22, so that the first connecting rod 331 and the second connecting rod 332 slide from one end of the edge of the limiting groove 21 away from the supporting plate 32 to one end close to the one edge of the supporting plate 32, the connecting member 31 also drives the rotating rod 341 to rotate in the opposite direction to drive the connecting rod 342 to move away from the connecting member 31 along the second guide groove 24, so that the third connecting rod 343 and the fourth connecting rod 344 slide from one end of the other edge of the limiting groove 21 away from the supporting plate 32 to one end of the other edge away from the supporting plate 32, so that the two sets of positioning columns 4 move back to back and when the two sets of positioning columns 4 move to abut against the inner wall of the inner cavity 101 of the frame-shaped product 10, two sets of positioning posts 4 are positioned in the cavity 101 of the frame-shaped product 10.
Referring to fig. 1 again, the positioning claw 1 further includes two pressing blocks 6. The two pressing blocks 6 are fixed at two ends of the positioning plate 2 and used for abutting against the frame-shaped product 10 in a direction perpendicular to the positioning plate 2 so as to position the frame-shaped product 10 in the direction perpendicular to the positioning plate 2, thereby reducing the displacement of the frame-shaped product 10 when the inner cavity 101 of the frame-shaped product 10 is positioned by the positioning column 4, and positioning the frame-shaped product 10 more stably and quickly.
The present application also provides a robotic device (not shown) comprising a positioning gripper 1 as described above.
Above-mentioned location hand claw 1 passes through reference column 4 and realizes automatic positioning frame form product 10 at spacing groove 21 motion, and the robot device can directly snatch frame form product 10 and carry out automatic positioning to frame form product 10 in the charging tray, need not the transfer positioner to fix a position frame form product 10 and need not wait to just snatch frame form product 10 after frame form product 10 fixes a position through the transfer positioner, so, has improved location frame form product 10 and has snatched the efficiency of frame form product 10.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present application and are not to be taken as limiting the present application, and that suitable changes and modifications of the above embodiments are within the scope of the disclosure claimed in the present application as long as they are within the spirit and scope of the present application.
Claims (10)
1. A positioning gripper, comprising:
the positioning plate is provided with two groups of limiting grooves and is used for bearing the frame-shaped product;
a transmission mechanism;
the two positioning columns are fixedly connected with the transmission mechanism and movably penetrate through the two limiting grooves;
and the driving device is connected with the transmission mechanism and used for driving the two groups of positioning columns on the transmission mechanism to move along the two groups of limiting grooves so as to position the frame-shaped product.
2. The positioning gripper of claim 1, wherein said transmission mechanism comprises:
the connecting piece is fixedly connected with the driving device, and the driving device drives the connecting piece to do linear reciprocating motion;
the supporting plate is arranged below the positioning plate and is fixedly connected with the positioning plate;
the first connecting rod component is rotatably connected with the connecting piece and is arranged on the supporting plate in a sliding manner, and a group of positioning columns are fixedly connected with the first connecting rod component;
and the second connecting rod assembly is rotatably connected with the connecting piece and is arranged below the positioning plate in a sliding manner, and the other group of positioning columns is fixedly connected with the second connecting rod assembly.
3. The positioning gripper as claimed in claim 2, wherein each positioning post set comprises two positioning posts, and each positioning groove set comprises two positioning grooves, the two positioning grooves are splayed and the side with larger opening faces to an edge of the positioning plate.
4. The positioning gripper of claim 2, wherein said attachment member has a fixed shaft projecting therefrom, said first link assembly comprising:
the first connecting rod is slidably arranged on the supporting plate, one end of the first connecting rod is rotatably sleeved on the fixed shaft, and the other end of the first connecting rod is fixedly connected with the positioning column;
the second connecting rod is arranged on the supporting plate in a sliding mode, one end of the second connecting rod is rotatably sleeved on the fixed shaft, and the other end of the second connecting rod is fixedly connected with the other positioning column.
5. The positioning gripper of claim 4, wherein the positioning plate has a first guide groove on a side facing the support plate, and the fixed shaft protrudes from the first link assembly and is slidably disposed in the first guide groove.
6. The positioning gripper of claim 2, wherein said second linkage assembly comprises:
the rotating rod is rotatably connected to the supporting plate, and one end of the rotating rod is connected with the connecting piece;
one end of the connecting rod is rotatably connected with the other end of the rotating rod;
the third connecting rod is slidably arranged on the supporting plate, and one end of the third connecting rod is rotatably connected with the other end of the connecting rod;
and the fourth connecting rod is arranged on the supporting plate in a sliding manner, and one end of the fourth connecting rod is rotatably connected with the other end of the connecting rod.
7. The positioning gripper of claim 6, wherein a side of said positioning plate facing said support plate has a second guide slot, said third link and said fourth link being located below said connecting rod, said connecting rod being slidably disposed in said second guide slot.
8. The positioning gripper of claim 2, wherein said drive means is a dual axis linear cylinder having a piston head fixedly attached to said connecting member.
9. The positioning gripper as claimed in claim 1, further comprising a swage block fixed to said positioning plate for abutting against said frame-shaped product to position said frame-shaped product in a direction perpendicular to said positioning plate.
10. A robotic device comprising a positioning gripper as claimed in any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123167477.3U CN217143971U (en) | 2021-12-16 | 2021-12-16 | Positioning paw and robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123167477.3U CN217143971U (en) | 2021-12-16 | 2021-12-16 | Positioning paw and robot device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217143971U true CN217143971U (en) | 2022-08-09 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123167477.3U Active CN217143971U (en) | 2021-12-16 | 2021-12-16 | Positioning paw and robot device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217143971U (en) |
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2021
- 2021-12-16 CN CN202123167477.3U patent/CN217143971U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 451162 the second and third floors of building B07, zone B, comprehensive bonded zone, east side of Zhenxing Road, Hangkong District, Zhengzhou City, Henan Province Patentee after: Fulian Yuzhan Technology (Henan) Co.,Ltd. Address before: 451162 the second and third floors of building B07, zone B, comprehensive bonded zone, east side of Zhenxing Road, Hangkong District, Zhengzhou City, Henan Province Patentee before: HENAN YUZHAN PRECISION TECHNOLOGY Co.,Ltd. |