CN217552425U - Gripper mechanism for gripping cylindrical articles - Google Patents
Gripper mechanism for gripping cylindrical articles Download PDFInfo
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- CN217552425U CN217552425U CN202221681985.5U CN202221681985U CN217552425U CN 217552425 U CN217552425 U CN 217552425U CN 202221681985 U CN202221681985 U CN 202221681985U CN 217552425 U CN217552425 U CN 217552425U
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Abstract
The application relates to a clamping jaw mechanism for grabbing cylindrical articles, and relates to the field of clamping jaws. The device comprises a first supporting beam, a second supporting beam, a cylinder bottom plate and a mounting positioning plate; the cylinder bottom plate comprises a first cylinder bottom plate and a second cylinder bottom plate, two ends of the first cylinder bottom plate are respectively connected with a first end of the first supporting beam and a first end of the second supporting beam, and two ends of the second cylinder bottom plate are respectively connected with a second end of the first supporting beam and a second end of the second supporting beam; a plurality of groups of clamping mechanisms are connected to the first cylinder bottom plate and the second cylinder bottom plate, and the clamping mechanisms are used for clamping cylindrical objects; the two ends of the mounting positioning plate are respectively connected with the middle part of the top surface of the first supporting beam and the middle part of the top surface of the second supporting beam, and the first cylinder bottom plate and the second cylinder bottom plate are symmetrically distributed along the mounting positioning plate. This application has realized snatching to large-scale cylinder article through ingenious structural design, has promoted work efficiency, security and has snatched the precision.
Description
Technical Field
The application relates to the technical field of clamping jaws, in particular to a clamping jaw mechanism for grabbing cylindrical objects.
Background
Clamping jaw wide application is industrial robot, is a mechanical clamping structure, generally designs and makes according to the demand.
The clamping jaws on the market are mainly divided into three categories: firstly, clamping or loosening an object by hydraulic pressure and a spring to form a hydraulic end clamping structure; secondly, the pneumatic end clamping structure is mainly derived from a hydraulic system and is relatively suitable for grabbing long-distance objects; thirdly, the power source of the air-suction type tail end clamping structure is the suction force of the sucker, and the air-suction type tail end clamping structure is suitable for grabbing objects with large shapes and moderate thicknesses, such as common glass.
In the correlation technique, mainly design to the anchor clamps of snatching of small-size article, and comparatively lack to the anchor clamps of snatching of large-scale cylinder article, cause and to go forward still using the driving lifting hook when removing large-scale cylinder article, work efficiency is low, and the security is poor.
SUMMERY OF THE UTILITY MODEL
It is an object of the present application to provide a gripper mechanism for gripping cylindrical articles that solves the above-mentioned problems of the prior art.
The technical scheme is as follows: in order to achieve the purpose, the technical scheme adopted by the application is as follows:
a clamping jaw mechanism for grabbing cylindrical objects comprises a first supporting beam, a second supporting beam, a cylinder bottom plate and a mounting positioning plate;
the cylinder bottom plate comprises a first cylinder bottom plate and a second cylinder bottom plate, two ends of the first cylinder bottom plate are respectively connected with a first end of the first supporting beam and a first end of the second supporting beam, two ends of the second cylinder bottom plate are respectively connected with a second end of the first supporting beam and a second end of the second supporting beam, the first cylinder bottom plate and the second cylinder bottom plate are parallel to each other, the first supporting beam and the second supporting beam are parallel to each other, and the first cylinder bottom plate and the first supporting beam are perpendicular to each other;
a plurality of groups of clamping mechanisms are connected to the first cylinder bottom plate and the second cylinder bottom plate, and the clamping mechanisms are used for clamping cylindrical objects;
the two ends of the mounting and positioning plate are respectively connected with the middle part of the top surface of the first supporting beam and the middle part of the top surface of the second supporting beam, the mounting and positioning plate is parallel to the first cylinder bottom plate, and the first cylinder bottom plate and the second cylinder bottom plate are symmetrically distributed along the mounting and positioning plate.
In one possible implementation manner, the clamping mechanism comprises a driving mechanism, a connecting rod, two groups of bearing seats, a first transfer arm, a second transfer arm, a clamping rod, a first clamping jaw and a second clamping jaw;
the driving mechanism is connected with the cylinder bottom plate, the middle part of the connecting rod is in transmission connection with the driving mechanism, and the driving mechanism drives the connecting rod to rotate;
the two groups of bearing blocks are rotatably connected to the connecting rod, the two groups of bearing blocks are respectively positioned at two ends of the connecting rod, and the tops of the two groups of bearing blocks are fixedly connected with the cylinder bottom plate;
two ends of the connecting rod are respectively and fixedly connected with a first end of the first transfer arm and a first end of the second transfer arm, the first transfer arm and the second transfer arm are respectively positioned on the outer sides of the two groups of bearing seats, the first transfer arm and the second transfer arm are parallel to each other, and the first transfer arm and the connecting rod are perpendicular to each other;
the two ends of the first side of the clamping rod are fixedly connected with the second end of the first transfer arm and the second end of the second transfer arm respectively, and the two ends of the second side of the clamping rod are fixedly connected with the first clamping jaw and the second clamping jaw respectively.
In one possible implementation, the driving mechanism includes a cylinder, a hinge block, and a driving arm;
the cylinder through two sets of cylinder positioning seats with cylinder bottom plate fixed connection, the flexible end of cylinder with articulated piece fixed connection, articulated piece with the first end of actuating arm is articulated mutually, the second end of actuating arm with the middle part fixed connection of connecting rod.
In a possible implementation, the first jaw and the second jaw are arc-shaped, the concave surfaces of the first jaw and the second jaw facing the cylindrical article.
In a possible implementation manner, the first cylinder bottom plate and the second cylinder bottom plate are both connected with two sets of the clamping mechanisms, and the two sets of the clamping mechanisms on the first cylinder bottom plate and the two sets of the clamping mechanisms on the second cylinder bottom plate are symmetrically distributed along the mounting positioning plate.
The beneficial effect that technical scheme that this application provided brought includes at least:
set up a plurality of groups clamping jaw mechanism through at first cylinder bottom plate and second cylinder bottom plate symmetry, and install on the robot arm through the installation locating plate, it is concertina movement to drive articulated piece when cylinder during operation, articulated piece drives the actuating arm and is rotary motion, the actuating arm drives the connecting rod and is rotary motion, the connecting rod drives first clamping jaw and second clamping jaw through first switching arm and second switching arm and carries out the centre gripping to the cylinder article, through ingenious structural design, realized snatching to large-scale cylinder article, and the work efficiency is promoted, safety and snatch the precision.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiment(s) of the application and together with the description serve to explain the application and not limit the application. In the drawings:
FIG. 1 is a schematic diagram illustrating the overall structure of a gripper mechanism for gripping cylindrical articles provided by an exemplary embodiment of the present application;
FIG. 2 is a schematic diagram illustrating a gripper mechanism of a gripper mechanism for gripping cylindrical articles according to an exemplary embodiment of the present application;
in the figure:
1. a first support beam; 2. a second support beam; 3. a first cylinder bottom plate; 4. a second cylinder bottom plate; 5. a clamping mechanism; 6. installing a positioning plate; 7. a cylindrical article;
51. a cylinder; 52. a cylinder positioning seat; 53. a hinged block; 54. a drive arm; 55. a connecting rod; 56. a bearing seat; 57. a first transfer arm; 58. a second transfer arm; 59. a clamping rod; 510. a first jaw; 511. a second jaw;
61. and (7) installing holes.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The present application will be further described with reference to the drawings and examples.
Fig. 1 is a schematic view showing the overall structure of a gripper mechanism for gripping a cylindrical object according to an exemplary embodiment of the present application, and the gripper mechanism for gripping a cylindrical object includes a first support beam 1, a second support beam 2, a cylinder bottom plate, and a mounting positioning plate 6; the cylinder bottom plate comprises a first cylinder bottom plate 3 and a second cylinder bottom plate 4 which are identical in shape, two ends of the first cylinder bottom plate 3 are fixedly connected with a first end of a first supporting beam 1 and a first end of a second supporting beam 2 respectively, two ends of the second cylinder bottom plate 4 are fixedly connected with a second end of the first supporting beam 1 and a second end of the second supporting beam 2 respectively, the first cylinder bottom plate 3 and the second cylinder bottom plate 4 are parallel to each other, the first supporting beam 1 and the second supporting beam 2 are parallel to each other, and the first cylinder bottom plate 3 and the first supporting beam 1 are perpendicular to each other; a plurality of groups of clamping mechanisms 5 are connected to the first cylinder bottom plate 3 and the second cylinder bottom plate 4, and the clamping mechanisms 5 are used for clamping cylindrical objects 7; the two ends of the mounting and positioning plate 6 are respectively connected with the middle part of the top surface of the first supporting beam 1 and the middle part of the top surface of the second supporting beam 2, the mounting and positioning plate 6 is parallel to the first cylinder bottom plate 3, and the first cylinder bottom plate 3 and the second cylinder bottom plate 4 are symmetrically distributed along the mounting and positioning plate 6.
In the embodiment of the present application, the mounting positioning plate 6 is provided with a mounting hole 61, and the mounting positioning plate 6 is connected with an external robot arm through the mounting hole 61.
In the present embodiment, the gripping mechanism 5 is connected to a control cabinet of the external robot, so that the gripping and unfolding of the gripping mechanism 5 can be controlled on a teaching box of the external robot.
In an alternative embodiment, referring to fig. 2, the clamping mechanism 5 includes a driving mechanism, a connecting rod 55, two sets of bearing blocks 56, a first transfer arm 57, a second transfer arm 58, a clamping rod 59, a first clamping jaw 510, and a second clamping jaw 511; the driving mechanism is connected with the cylinder bottom plate, the middle part of the connecting rod 55 is in transmission connection with the driving mechanism, and the driving mechanism drives the connecting rod 55 to rotate; the two groups of bearing blocks 56 are rotatably connected to the connecting rod 55, the two groups of bearing blocks 56 are respectively positioned at two ends of the connecting rod 55, and the tops of the two groups of bearing blocks 56 are fixedly connected with the cylinder bottom plate; two ends of the connecting rod 55 are respectively fixedly connected with a first end of a first transfer arm 57 and a first end of a second transfer arm 58, the first transfer arm 57 and the second transfer arm 58 are respectively positioned at the outer sides of the two groups of bearing seats 56, the first transfer arm 57 and the second transfer arm 58 are parallel to each other, and the first transfer arm 57 and the connecting rod 55 are perpendicular to each other; the two ends of the first side of the clamping rod 59 are fixedly connected with the second end of the first transfer arm 57 and the second end of the second transfer arm 58, respectively, and the two ends of the second side of the clamping rod 59 are fixedly connected with the first clamping jaw 510 and the second clamping jaw 511, respectively.
In the present embodiment, the first and second transfer arms 57 and 58 are identical in shape, and the first and second jaws 510 and 511 are identical in shape. When the driving mechanism is in a working state, the driving mechanism drives the connecting rod 55 to rotate, the connecting rod 55 is fixed on the cylinder bottom plate through the two sets of bearing blocks 56, the connecting rod 55 can drive the first transfer arm 57 and the second transfer arm 58 to rotate towards the inner side or the outer side, meanwhile, the connecting rod 55 rotates in the two sets of bearing blocks 56, and the first transfer arm 57 and the second transfer arm 58 drive the first clamping jaw 510 and the second clamping jaw 511 to rotate towards the inner side or the outer side through the clamping rod 59, so that the cylindrical object 7 can be grabbed or loosened.
In an alternative embodiment, referring to fig. 2, the driving mechanism includes a cylinder 51, a hinge block 53, and a driving arm 54; the cylinder 51 is fixedly connected with the cylinder bottom plate through two groups of cylinder positioning seats 52, the telescopic end of the cylinder 51 is fixedly connected with the hinge block 53, the hinge block 53 is hinged with the first end of the driving arm 54, and the second end of the driving arm 54 is fixedly connected with the middle part of the connecting rod 55.
In the embodiment of the present application, the cylinder 51 is installed on the top surface of the cylinder bottom plate, the hinge block 53 is also located above the cylinder bottom plate, the second end of the driving arm 54 passes through the through hole formed on the cylinder bottom plate and is fixedly connected with the middle portion of the connecting rod 55, and the connecting rod 55 is located below the cylinder bottom plate. Wherein, the second end of the driving arm 54 is sleeved at the middle part of the connecting rod 55, the middle part of the connecting rod 55 and the second end of the driving arm 54 are both provided with a key slot, and the two are fixedly connected through a key.
In an alternative embodiment, referring to figure 2, the first jaw 510 and the second jaw 511 are arcuate, the concavity of the first jaw 510 and the second jaw 511 facing the cylindrical article 7.
In the embodiment of the present application, the first clamping jaw 510 and the second clamping jaw 511 are arc-shaped and are configured to fit the outer wall of the cylindrical object 7 for facilitating gripping.
In an alternative embodiment, referring to fig. 1, two sets of clamping mechanisms 5 are connected to the first cylinder bottom plate 3 and the second cylinder bottom plate 4, and the two sets of clamping mechanisms 5 on the first cylinder bottom plate 3 and the two sets of clamping mechanisms 5 on the second cylinder bottom plate 4 are symmetrically distributed along the mounting positioning plate 6.
Optionally, the number of the clamping mechanisms 5 on the first cylinder bottom plate 3 and the second cylinder bottom plate 4 is flexibly set according to actual working conditions, and the more the number of the clamping mechanisms 5 is, the more stably the cylindrical object 7 is grabbed.
Next, the operation of a gripper mechanism for gripping a cylindrical article according to an embodiment of the present application will be described.
The clamping jaw mechanism for grabbing the cylindrical object is connected with an external robot arm through a mounting hole 61 on a mounting positioning plate 6, when the cylindrical object 7 needs to be grabbed, an air cylinder 51 is started, a telescopic end of the air cylinder 51 drives a hinge block 53 to do telescopic motion, the telescopic motion of the hinge block 53 drives a driving arm 54 to do rotary motion, the driving arm 54 drives a connecting rod 55 to do rotary motion, the connecting rod 55 is fixed on a cylinder bottom plate through two groups of bearing seats 56, the connecting rod 55 can drive a first switching arm 57 and a second switching arm 58 to rotate towards the inner side or the outer side, meanwhile, the connecting rod 55 rotates in the two groups of bearing seats 56, and the first switching arm 57 and the second switching arm 58 drive a first clamping jaw 510 and a second clamping jaw 511 to rotate towards the inner side or the outer side through clamping rods 59, so that the grabbing or loosening of the cylindrical object 7 is achieved.
To sum up, this application sets up a plurality of clamping jaw mechanisms of group through at first cylinder bottom plate and second cylinder bottom plate symmetry, and install on robot arm through the installation locating plate, it is telescopic motion to drive articulated piece when the cylinder during operation, articulated piece drives the actuating arm and is rotary motion, the actuating arm drives the connecting rod and is rotary motion, the connecting rod carries out the centre gripping to the cylinder article through first switching arm and second switching arm drive first clamping jaw and second clamping jaw, through ingenious structural design, realized snatching to large-scale cylinder article, and the work efficiency is promoted, the security and snatch the precision.
The above is only the preferred embodiment of the present application, and it should be noted that: it will be apparent to those skilled in the art that various modifications and enhancements can be made without departing from the principles of the application, and such modifications and enhancements are intended to be included within the scope of the application.
Claims (5)
1. A clamping jaw mechanism for grabbing cylindrical objects is characterized by comprising a first supporting beam (1), a second supporting beam (2), a cylinder bottom plate and a mounting positioning plate (6);
the cylinder bottom plate comprises a first cylinder bottom plate (3) and a second cylinder bottom plate (4), two ends of the first cylinder bottom plate (3) are respectively connected with a first end of the first supporting beam (1) and a first end of the second supporting beam (2), two ends of the second cylinder bottom plate (4) are respectively connected with a second end of the first supporting beam (1) and a second end of the second supporting beam (2), the first cylinder bottom plate (3) and the second cylinder bottom plate (4) are parallel to each other, the first supporting beam (1) and the second supporting beam (2) are parallel to each other, and the first cylinder bottom plate (3) and the first supporting beam (1) are perpendicular to each other;
a plurality of groups of clamping mechanisms (5) are connected to the first cylinder bottom plate (3) and the second cylinder bottom plate (4), and the clamping mechanisms (5) are used for clamping cylindrical objects (7);
the two ends of the installation positioning plate (6) are respectively connected with the middle part of the top surface of the first supporting beam (1) and the middle part of the top surface of the second supporting beam (2), the installation positioning plate (6) is parallel to the first cylinder bottom plate (3), and the first cylinder bottom plate (3) and the second cylinder bottom plate (4) are symmetrically distributed along the installation positioning plate (6).
2. Gripper mechanism for gripping cylindrical articles according to claim 1, characterized in that said gripping mechanism (5) comprises a driving mechanism, a connecting rod (55), two sets of bearing blocks (56), a first transfer arm (57), a second transfer arm (58), a gripping lever (59), a first gripper (510) and a second gripper (511);
the driving mechanism is connected with the cylinder bottom plate, the middle part of the connecting rod (55) is in transmission connection with the driving mechanism, and the driving mechanism drives the connecting rod (55) to rotate;
the two groups of bearing blocks (56) are rotatably connected to the connecting rod (55), the two groups of bearing blocks (56) are respectively positioned at two ends of the connecting rod (55), and the tops of the two groups of bearing blocks (56) are fixedly connected with the cylinder bottom plate;
two ends of the connecting rod (55) are respectively and fixedly connected with a first end of the first transfer arm (57) and a first end of the second transfer arm (58), the first transfer arm (57) and the second transfer arm (58) are respectively positioned on the outer sides of the two groups of bearing seats (56), the first transfer arm (57) and the second transfer arm (58) are parallel to each other, and the first transfer arm (57) and the connecting rod (55) are perpendicular to each other;
the both ends of clamping rod (59) first side respectively with the second end of first switching arm (57) and the second end fixed connection of second switching arm (58), the both ends of clamping rod (59) second side respectively with first clamping jaw (510) and second clamping jaw (511) fixed connection.
3. Gripper mechanism for gripping cylindrical articles according to claim 2, characterized in that said driving mechanism comprises a cylinder (51), a hinged block (53) and a driving arm (54);
the air cylinder (51) is fixedly connected with the air cylinder bottom plate through two groups of air cylinder positioning seats (52), the telescopic end of the air cylinder (51) is fixedly connected with the hinge block (53), the hinge block (53) is hinged with the first end of the driving arm (54), and the second end of the driving arm (54) is fixedly connected with the middle of the connecting rod (55).
4. Gripper mechanism for gripping cylindrical articles according to claim 2, characterized in that said first jaw (510) and said second jaw (511) are arc-shaped, the concavity of said first jaw (510) and of said second jaw (511) being directed towards said cylindrical article (7).
5. Gripper mechanism for gripping cylindrical objects according to any of the claims 1 to 4, characterized in that two sets of gripping means (5) are connected to both the first cylinder bottom plate (3) and the second cylinder bottom plate (4), the two sets of gripping means (5) on the first cylinder bottom plate (3) and the two sets of gripping means (5) on the second cylinder bottom plate (4) being symmetrically distributed along the mounting positioning plate (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221681985.5U CN217552425U (en) | 2022-06-30 | 2022-06-30 | Gripper mechanism for gripping cylindrical articles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221681985.5U CN217552425U (en) | 2022-06-30 | 2022-06-30 | Gripper mechanism for gripping cylindrical articles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217552425U true CN217552425U (en) | 2022-10-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221681985.5U Active CN217552425U (en) | 2022-06-30 | 2022-06-30 | Gripper mechanism for gripping cylindrical articles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217552425U (en) |
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2022
- 2022-06-30 CN CN202221681985.5U patent/CN217552425U/en active Active
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