CN218488439U - Clamp and robot with same - Google Patents
Clamp and robot with same Download PDFInfo
- Publication number
- CN218488439U CN218488439U CN202222470041.XU CN202222470041U CN218488439U CN 218488439 U CN218488439 U CN 218488439U CN 202222470041 U CN202222470041 U CN 202222470041U CN 218488439 U CN218488439 U CN 218488439U
- Authority
- CN
- China
- Prior art keywords
- assembly
- grabbing
- mounting
- component
- transmission
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a clamp and a robot with the same; the fixture comprises a mounting assembly, a connecting assembly and a movable assembly, wherein the mounting assembly is provided with a first grabbing assembly, the connecting assembly is rotatably connected with the mounting assembly, the connecting assembly is provided with a second grabbing assembly, the movable assembly is movably arranged on the mounting assembly, and the movable assembly is provided with a third grabbing assembly; according to the clamp, the first grabbing component and the second grabbing component are respectively arranged on the mounting component and the connecting component, so that the first grabbing component and the second grabbing component can simultaneously fix two side surfaces of the opened and formed box skin, and the stability of the box skin in the opening and forming process is guaranteed; simultaneously, the movable assembly which can be movably arranged can adjust the distance between the movable assembly and the mounting assembly according to the area of the box skin, and then the distance between the third grabbing assembly and the first grabbing assembly is adjusted to adapt to box skins with different areas, and the fixing effect of the fixture on the box skin is ensured.
Description
Technical Field
The utility model relates to the field of packaging technology, especially, relate to anchor clamps and have its robot.
Background
To facilitate the transport of the products while reducing damage to the products during transport, the products are typically placed in a package. For example, in the tobacco industry, after the tobacco rods are stacked and formed, the tobacco rods are fed into an opened and formed box skin by a push plate, and the stacked and formed tobacco rods are packaged through the box skin.
Most of the existing robots are provided with a clamp, a negative pressure sucker is arranged on the clamp, box skins are sucked through the negative pressure sucker and are sent to a designated position, and the box skins are converged and boxed with cigarette strips formed by stacking.
During the process of conveying the box skin by the clamp, the box skin needs to be opened and formed so as to place the tobacco rods in the box skin. However, because the position of the negative pressure suction cup is fixed, the negative pressure suction cup cannot adapt to the boxes with different areas, and therefore the stability of the boxes on the clamp is limited. And the case skin all can take place to rock at the conveying and open fashioned in-process, further reduces the stability of case skin on anchor clamps, leads to the case skin easily to take place the phenomenon of dropping in transportation process, influences the packing effect.
SUMMERY OF THE UTILITY MODEL
In view of the above, it is necessary to provide a jig and a robot having the same, which solve the problem of the limited stability of the box skin on the jig.
A clamp, comprising:
the mounting assembly is provided with a first grabbing assembly;
the connecting assembly is rotatably connected with the mounting assembly, and a second grabbing assembly is arranged on the connecting assembly;
the movable assembly is movably arranged on the mounting assembly, a third grabbing assembly is arranged on the movable assembly, and the third grabbing assembly and the first grabbing assembly are arranged at intervals.
According to the clamp, the first grabbing component and the second grabbing component are respectively arranged on the mounting component and the connecting component, so that the connecting component rotates relative to the mounting component, when the box skin is opened and formed, the first grabbing component and the second grabbing component can simultaneously fix two side surfaces of the box skin, and the stability of the box skin in the opening and forming process is ensured; simultaneously, the movable assembly which can be movably arranged can adjust the distance between the movable assembly and the mounting assembly according to the area of the box skin, and then the distance between the third grabbing assembly and the first grabbing assembly is adjusted to adapt to box skins with different areas, and the fixing effect of the fixture on the box skin is ensured.
In one embodiment, the first gripper assembly comprises a first suction surface, the second gripper assembly comprises a second suction surface, the second suction surface is movable to a position perpendicular to the first suction surface during rotation of the coupling assembly, and the second suction surface is spaced apart from the first suction surface.
In the above embodiment, the first adsorption surface and the second adsorption surface are respectively abutted against two adjacent side surfaces of the box leather, so that the first grabbing component and the second grabbing component can respectively adsorb and grab two side surfaces of the box leather, and the second adsorption surface is moved to a position perpendicular to the first adsorption surface, so that the two adjacent side surfaces of the box leather can also be moved to a mutually perpendicular state, and the box leather is opened and molded.
In one embodiment, the third gripper assembly comprises a third suction surface, the third suction surface is arranged in parallel with the first suction surface, and the third suction surface and the first suction surface are located in the same plane. In the above embodiment, the third suction surface is abutted against the box skin, so that the third grabbing component can assist the first grabbing component in sucking and grabbing the box skin.
In one embodiment, the clamp further comprises a first transmission assembly, the first transmission assembly is arranged on the mounting assembly, and the first transmission assembly is in transmission connection with the connecting assembly, so that the connecting assembly rotates under the action of the first transmission assembly.
In above-mentioned embodiment, compare in making coupling assembling rotate relatively the installation component through the action of gravity, can control the relative installation component of coupling assembling better through first transmission assembly and rotate, improve operating personnel to coupling assembling's control effect.
In one embodiment, the first transmission assembly comprises a driver and a fixing piece, fixing seats are arranged on two sides of the mounting assembly, a connecting shaft is arranged between the two fixing seats in a rotating mode, the fixing piece and the connecting assembly are arranged on the connecting shaft, the driver is arranged on the mounting assembly in a rotating mode, and a driving end of the driver is connected with the fixing piece in a rotating mode.
In the above embodiment, the driver can drive the driving end of the connecting element to move, and then the fixing element is driven to drive the connecting shaft to rotate between the two fixing seats, so that the connecting assembly can rotate along with the connecting shaft.
In one embodiment, a second transmission assembly is arranged on the mounting assembly and is in transmission connection with the connecting assembly so as to drive the connecting assembly to horizontally move relative to the mounting assembly.
In the embodiment, the connecting assembly can be driven by the second transmission assembly to horizontally move relative to the mounting assembly, so that the distance between the third grabbing assembly and the first grabbing assembly can be adjusted, and the fixing effect of the fixture on the box skins with various areas is ensured.
In one embodiment, a first sliding assembly is arranged on the mounting assembly, a second sliding assembly is arranged on the connecting assembly, and the second sliding assembly is connected with the first sliding assembly in a sliding mode.
In the above embodiment, through the sliding fit relationship between the second sliding assembly and the first sliding assembly, the moving effect between the connecting assembly and the mounting assembly can be ensured, and meanwhile, the stability between the connecting assembly and the mounting assembly can be improved.
In one embodiment, the first grasping assembly is disposed on a first side of the mounting assembly, and the second driving assembly and the first sliding assembly are disposed on an opposite second side of the mounting assembly.
In the above embodiment, the first grabbing component, the second transmission component and the first sliding component are arranged on the opposite surface of the mounting component, so that the second transmission component and the first sliding component do not affect the grabbing effect of the first grabbing component on the box skin, and the space on the other side surface of the mounting component can be effectively utilized.
In one embodiment, the connecting assembly and the second transmission assemblies are at least two, the two second transmission assemblies are arranged on the mounting assembly, the two connecting assemblies are respectively arranged on two sides of the mounting assembly, and the two connecting assemblies are respectively connected with driving ends of the two second transmission assemblies.
In the above embodiment, through setting up two coupling assembling, can further increase the fixed area of anchor clamps to the case skin, improve fixed effect.
In one embodiment, the second sliding component on the two connecting components is in sliding connection with the first sliding component.
In the above embodiment, the two connecting assemblies share one first sliding assembly, so that the utilization effect of the first sliding assembly is improved, and the structural tightness is increased.
In one embodiment, the connecting assembly includes a first connecting portion movably disposed on the mounting assembly and a second connecting portion perpendicularly connected to the first connecting portion, and the third grasping assembly is disposed on the second connecting portion.
In the above embodiment, the second connecting portion is vertically connected to the first connecting portion, and the third grasping assembly is disposed on the second connecting portion, so that the third grasping assembly does not easily obstruct the movement of the connecting assembly.
A robot comprises a mechanical arm and the clamp, and the mounting assembly is connected with the mechanical arm.
The robot can drive the clamp to move through the mechanical arm so as to control the clamp to clamp the box leather.
Drawings
FIG. 1 is a schematic structural view of a clamp according to some embodiments of the present application;
FIG. 2 is a left side view of the clamp of FIG. 1;
fig. 3 is a top view of the clamp of fig. 1.
Reference numerals are as follows:
1. mounting the component;
11. a first grasping assembly;
12. a first adsorption face;
2. a connection assembly;
21. a second grasping assembly;
22. a second adsorption surface;
3. a movable component;
31. a first connection portion; 32. a second connecting portion;
33. a third grasping assembly;
34. a third adsorption surface;
4. a first transmission assembly;
41. a driver; 42. a fixing member; 43. a fixed seat; 44. a connecting shaft;
5. a second transmission assembly;
6. a first slide assembly;
7. a second slide assembly.
Detailed Description
In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are for purposes of illustration only and do not denote a single embodiment.
Referring to fig. 1 to 3, an embodiment of the present invention provides a clamp, which includes a mounting assembly 1, a connecting assembly 2, and a movable assembly 3. Wherein, the installation component 1 is used for being connected with the mechanical arm and providing an installation platform for the first grabbing component 11, the connecting component 2 and the movable component 3. The connecting assembly 2 is used for providing a mounting platform for the second grabbing assembly 21 and assisting the mounting assembly 1 to grab the box skin through the second grabbing assembly 21. The movable assembly 3 is used for providing a mounting platform for the third grabbing assembly 33, and the third grabbing assembly 33 assists the mounting assembly 1 in grabbing the luggage leather.
The mounting assembly 1 is provided with a first grabbing assembly 11. Specifically, the top surface of the mounting assembly 1 is connected to a robot arm, and the first grasping assembly 11 is disposed on the bottom surface of the mounting assembly 1. The first grabbing component 11 comprises a plurality of first negative pressure suckers, and the box leather can be grabbed through the sucking effect of the negative pressure suckers. A plurality of negative sucker evenly set up on installation component 1, guarantee first snatch the subassembly 11 to the effect of snatching of case skin. A negative pressure pipeline is shared by a plurality of first negative pressure suckers, and the plurality of first negative pressure suckers can be conveniently controlled simultaneously.
The connecting assembly 2 is rotatably connected with the mounting assembly 1, and a second grabbing assembly 21 is arranged on the connecting assembly 2. Specifically, the second grasping assembly 21 is disposed on the bottom surface of the connecting assembly 2. When the connecting component 2 is parallel to the mounting component 1, the second grabbing component 21 is parallel to the first grabbing component 11, and the bottom surface of the second grabbing component 21 and the bottom surface of the first grabbing component 11 are located on the same horizontal plane. The bottom surface of the second grabbing component 21 and the bottom surface of the first grabbing component 11 are ensured to be simultaneously contacted with two side surfaces of the suitcase leather, and then the suitcase leather is sucked. The second gripper assembly 21 is perpendicular to the first gripper assembly 11 when the connecting assembly 2 is perpendicular to the mounting assembly 1. When the connecting component 2 rotates relative to the mounting component 1 until the connecting component is perpendicular to the mounting component 1, the second grabbing component 21 and the first grabbing component 11 can enable two sides of the suitcase leather to be perpendicular, and then the suitcase leather is opened and formed.
In addition, the second grabbing component 21 comprises at least two second negative pressure suckers, the two second negative pressure suckers are arranged on the connecting component 2, and the two second negative pressure suckers are far away from the first negative pressure sucker. That is, when the right front side and the right rear side of the connecting assembly 2 are close to the mounting assembly 1, two second negative pressure suction cups are respectively provided at the left front side and the left rear side of the connecting assembly 2. Keep away from first negative pressure sucking disc through making second negative pressure sucking disc, make the absorption area maximize behind second negative pressure sucking disc and the cooperation of first negative pressure sucking disc, and then guarantee the effect of snatching the case skin. The second snatchs subassembly 21 and first snatchs subassembly 11 sharing negative pressure pipeline, conveniently snatchs subassembly 21 and first snatchs subassembly 11 to carry out simultaneous control.
The movable assembly 3 is movably arranged on the mounting assembly 1, a third grabbing assembly 33 is arranged on the movable assembly 3, and the third grabbing assembly 33 and the first grabbing assembly 11 are arranged at intervals. Specifically, the third grasping assembly 33 is disposed on the bottom surface of the movable assembly 3, and the first grasping assembly 11 is disposed on the bottom surface of the installation assembly 1. The bottom surface of the movable component 3 is parallel to the bottom surface of the mounting component 1, the bottom surface of the third grabbing component 33 is parallel to the bottom surface of the first grabbing component 11, and the bottom surface of the third grabbing component 33 and the bottom surface of the first grabbing component 11 are located on the same horizontal plane. The bottom surface of the third grabbing component 33 and the bottom surface of the first grabbing component 11 are guaranteed to be simultaneously contacted with the box leather, and then the box leather is sucked. The bottom surface of the third grabbing component 33 and the bottom surface of the first grabbing component 11 can be contacted with the box leather at the same time, and then the box leather is sucked. In addition, the third gripping assembly 33 comprises at least two third negative pressure suction cups, both of which are arranged on the movable assembly 3. The third grabbing component 33, the second grabbing component 21 and the first grabbing component 11 share one negative pressure pipeline, so that the third grabbing component 33, the second grabbing component 21 and the first grabbing component 11 can be controlled simultaneously.
Above-mentioned anchor clamps snatch subassembly 11 and second through setting up respectively on installation component 1 and coupling assembling 2 and snatch subassembly 21 for coupling assembling 2 rotates at relative installation component 1, and then when opening the shaping with the case skin, first snatch subassembly 11 and second snatch subassembly 21 and can fix two sides of case skin simultaneously, guarantee the stability of case skin in opening the shaping process. That is, after the first grabbing component 11 and the second grabbing component 21 fix two sides of the box skin at the same time, the connecting component 2 can rotate relative to the mounting component 1 until the second grabbing component 21 on the connecting component 2 is perpendicular to the first grabbing component 11 on the mounting component 1, so that two sides of the box skin fixed by the first grabbing component 11 and the second grabbing component 21 are perpendicular, and the opening and forming of the box skin are completed. In addition, through setting up mobilizable movable assembly 3, can be according to the area adjustment movable assembly 3 of case skin and the distance between installation component 1, and then the adjustment third snatchs subassembly 33 and the first distance of snatching between subassembly 11, the third snatchs subassembly 33 and the first distance of snatching between subassembly 11 big more, the area of the case skin that can fix is big more, also is better to the fixed effect of case skin, and then guarantees the fixed effect of anchor clamps to the case skin.
In one embodiment, the first gripper assembly 11 includes a first suction surface 12, the second gripper assembly 21 includes a second suction surface 22, the second suction surface 22 is movable to a position perpendicular to the first suction surface 12 during rotation of the coupling assembly 2, and the second suction surface 22 is spaced apart from the first suction surface 12. Specifically, the first grasping unit 11 is disposed on the bottom surface of the mounting unit 1, and the first suction surface 12 is the bottom surface of the first grasping unit 11. The second grabbing component 21 is arranged on the bottom surface of the connecting component 2, and the second adsorption surface 22 is the bottom surface of the second grabbing component 21.
According to the clamp, the first adsorption surface 12 and the second adsorption surface 22 are respectively abutted against two adjacent side surfaces of the box leather, the first grabbing component 11 and the second grabbing component 21 can respectively adsorb and grab two side surfaces of the box leather, the second adsorption surface 22 moves to a position perpendicular to the first adsorption surface 12, the two adjacent side surfaces of the box leather can also move to a mutually perpendicular state, and then the box leather is opened and formed.
In one embodiment, the third grasping element 33 includes a third suction surface 34, the third suction surface 34 is disposed parallel to the first suction surface 12, and the third suction surface 34 and the first suction surface 12 are located in the same plane. Specifically, the third grasping element 33 is disposed on the bottom surface of the movable element 3, and the third suction surface 34 is the bottom surface of the third grasping element 33. The third adsorption surface 34 is located on the same horizontal plane as the first adsorption surface 12. The bottom surface of the third grabbing component 33 and the bottom surface of the first grabbing component 11 can be contacted with the box leather at the same time, and then the box leather is sucked.
In one embodiment, the clamp further comprises a first transmission assembly 4, the first transmission assembly 4 is arranged on the mounting assembly 1, and the first transmission assembly 4 is in transmission connection with the connecting assembly 2, so that the connecting assembly 2 rotates under the action of the first transmission assembly 4. Specifically, first grabbing subassembly 11 sets up on the bottom surface of installation component 1, and first drive assembly 4 sets up on the top surface of installation component 1, guarantees that first drive assembly 4 can not influence the effect of grabbing of first grabbing subassembly 11.
Above-mentioned anchor clamps compare in making coupling assembling 2 rotate relative installation component 1 through the action of gravity, can control coupling assembling 2 through first drive assembly 4 better and rotate relative installation component 1, improve operating personnel to coupling assembling 2's control effect.
In one embodiment, the first transmission assembly 4 includes a driver 41 and a fixing element 42, fixing elements 43 are disposed on two sides of the mounting assembly 1, a connecting shaft 44 is rotatably disposed between the two fixing elements 43, the fixing element 42 and the connecting assembly 2 are both disposed on the connecting shaft 44, the driver 41 is rotatably disposed on the mounting assembly 1, and a driving end of the driver 41 is rotatably connected to the fixing element 42. Specifically, two fixing bases 43 are respectively disposed at two ends of the same side of the mounting assembly 1, two ends of the connecting shaft 44 are respectively rotatably connected to the two fixing bases 43, and the top surface of the connecting assembly 2 is connected to the connecting shaft 44. One end of the fixing member 42 is sleeved on the connecting shaft 44 and is fixedly connected with the connecting shaft 44, and the other end of the fixing member 42 is rotatably connected with the driving end of the driver 41. The included angle between the central axis of the fixing member 42 and the central axis of the connecting assembly 2 is an obtuse angle. In addition, the driver 41 may be selected from an electric push rod or an electric cylinder. One end of the driver 41 is rotatably connected to the top surface of the mounting assembly 1, and the other driving end of the driver 41 is rotatably connected to the fixing member 42.
The driving end of the clamp can be driven by the driver 41 to move, and then the fixing piece 42 is driven to drive the connecting shaft 44 to rotate between the two fixing seats 43, so that the connecting assembly 2 can rotate along with the connecting shaft 44.
In one embodiment, the mounting assembly 1 is provided with a second transmission assembly 5, and the second transmission assembly 5 is in transmission connection with the connecting assembly 2 to drive the connecting assembly 2 to move horizontally relative to the mounting assembly 1. Specifically, the second transmission assembly 5 can be selected from an electric push rod or an electric cylinder. The second transmission assembly 5 is arranged on the top surface of the mounting assembly 1, the driving end of the second transmission assembly 5 is fixedly connected with the connecting assembly 2, and the second transmission assembly 5 can drive the connecting assembly 2 to move towards or away from the mounting assembly 1.
Above-mentioned anchor clamps can drive coupling assembling 2 through second drive assembly 5 and carry out horizontal migration for installation component 1 to snatch the subassembly 33 and first snatch the distance between the subassembly 11 and adjust the third, guarantee the fixed effect of anchor clamps to the case skin of multiple area.
In one embodiment, the mounting assembly 1 is provided with a first sliding assembly 6, the connecting assembly 2 is provided with a second sliding assembly 7, and the second sliding assembly 7 is slidably connected with the first sliding assembly 6. Specifically, the top surface of the mounting component 1 is provided with a first sliding component 6, and the bottom surface of the connecting component 2 is provided with a second sliding component 7. The first sliding component 6 and the second sliding component 7 respectively adopt a sliding rail and a sliding block matched with the sliding rail.
Above-mentioned anchor clamps through the sliding fit relation between second sliding component 7 and first sliding component 6, can improve the steadiness between coupling assembling 2 and installation component 1 when guaranteeing the removal effect between coupling assembling 2 and installation component 1.
In one embodiment, the first gripper assembly 11 is disposed on a first side of the mounting assembly 1, and the second drive assembly 5 and the first slide assembly 6 are both disposed on an opposite second side of the mounting assembly 1. Specifically, the first grasping assembly 11 is disposed on the bottom surface of the mounting assembly 1, and the second transmission assembly 5 and the first sliding assembly 6 are disposed on the top surface of the mounting assembly 1.
Above-mentioned anchor clamps through snatching first subassembly 11 and second drive assembly 5 and first slip subassembly 6 setting on the opposite face of installation component 1, make second drive assembly 5 and first slip subassembly 6 neither influence the effect of snatching to the case skin of first subassembly 11 of snatching, can effectively utilize the space of installation component 1 another side again.
In one embodiment, the connecting assemblies 2 and the second transmission assemblies 5 are at least two, the two second transmission assemblies 5 are arranged on the mounting assembly 1, the two connecting assemblies 2 are respectively arranged on two sides of the mounting assembly 1, and the two connecting assemblies 2 are respectively connected with the driving ends of the two second transmission assemblies 5. Specifically, two second transmission assemblies 5 are arranged on the top surface of the mounting assembly 1, the two second transmission assemblies 5 are respectively positioned on two sides of the first sliding assembly 6, and the moving directions of the driving ends of the two second transmission assemblies 5 are opposite. When the two second transmission assemblies 5 drive the driving ends thereof to move respectively, the two connection assemblies 2 move in opposite directions respectively.
Above-mentioned anchor clamps through setting up two coupling assembling 2, can further increase anchor clamps and to the fixed area of case skin, improve fixed effect.
In one embodiment, the second sliding members 7 of the two connecting members 2 are slidably connected to the first sliding members 6. Specifically, the first sliding assembly 6 is arranged on the top surface of the mounting assembly 1, two second sliding assemblies 7 are slidably arranged on the first sliding assembly 6, and the two second sliding assemblies 7 are fixedly connected with the two connecting assemblies 2 respectively. When the two second transmission assemblies 5 drive the two connecting assemblies 2 to move respectively, the two second sliding assemblies 7 slide on the first sliding assemblies 6 respectively.
According to the clamp, the two connecting assemblies 2 share one first sliding assembly 6, so that the utilization effect of the first sliding assembly 6 is improved, and the structural compactness is improved.
In one embodiment, the movable assembly 3 includes a first connecting portion 31 and a second connecting portion 32, the first connecting portion 31 is movably disposed on the mounting assembly 1, the second connecting portion 32 is perpendicularly connected to the first connecting portion 31, and the third grasping assembly 33 is disposed on the second connecting portion 32. Specifically, the connecting assembly 2 is "L" shaped, and the first connecting portion 31 is slidably connected to the first sliding assembly 6 through the second sliding assembly 7. The third grasping assembly 33 includes at least two third negative pressure suction cups, which are respectively disposed on both sides of the second connecting portion 32.
In the above-mentioned jig, the second connecting portion 32 is vertically connected to the first connecting portion 31, and the third grasping assembly 33 is disposed on the second connecting portion 32, so that the third grasping assembly 33 is less likely to obstruct the movement of the connecting assembly 2.
Another embodiment of the present application provides a robot comprising a robot arm and a clamp as described above, to which a mounting assembly 1 is connected (not shown in the figures). Specifically, the top surface of the mounting assembly 1 is connected to the bottom surface of the robot arm.
Above-mentioned robot, accessible robotic arm drives anchor clamps and removes to control anchor clamps press from both sides the operation of getting to the case skin.
All possible combinations of the technical features of the above embodiments may not be described for the sake of brevity, but should be considered as within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (10)
1. A clamp, comprising:
the device comprises a mounting component (1), wherein a first grabbing component (11) is arranged on the mounting component (1);
the connecting assembly (2), the connecting assembly (2) is rotatably connected with the mounting assembly (1), and a second grabbing assembly (21) is arranged on the connecting assembly (2);
the movable assembly (3), the movable assembly (3) is movably arranged on the mounting assembly (1), a third grabbing assembly (33) is arranged on the movable assembly (3), and the third grabbing assembly (33) and the first grabbing assembly (11) are arranged at intervals.
2. A clamp as claimed in claim 1, characterized in that the first gripper assembly (11) comprises a first suction surface (12) and the second gripper assembly (21) comprises a second suction surface (22), the second suction surface (22) being movable to a position perpendicular to the first suction surface (12) during rotation of the connecting assembly (2), and the second suction surface (22) being spaced apart from the first suction surface (12).
3. A clamp as claimed in claim 2, characterized in that said third gripping assembly (33) comprises a third suction surface (34), said third suction surface (34) being arranged parallel to said first suction surface (12), and said third suction surface (34) being located in the same plane as said first suction surface (12).
4. The clamp according to claim 1, characterized in that it further comprises a first transmission assembly (4), said first transmission assembly (4) being provided on said mounting assembly (1), said first transmission assembly (4) being in transmission connection with said connecting assembly (2) so that said connecting assembly (2) rotates under the action of said first transmission assembly (4).
5. The clamp according to claim 4, characterized in that the first transmission assembly (4) comprises a driver (41) and a fixing member (42), both sides of the mounting assembly (1) are provided with fixing seats (43), a connecting shaft (44) is rotatably arranged between the two fixing seats (43), the fixing member (42) and the connecting assembly (2) are both arranged on the connecting shaft (44), the driver (41) is rotatably arranged on the mounting assembly (1), and the driving end of the driver (41) is rotatably connected with the fixing member (42).
6. The clamp according to claim 1, characterized in that a second transmission assembly (5) is arranged on the mounting assembly (1), and the second transmission assembly (5) is in transmission connection with the connecting assembly (2) to drive the connecting assembly (2) to move horizontally relative to the mounting assembly (1).
7. The clamp according to claim 6, characterized in that a first sliding assembly (6) is provided on the mounting assembly (1), a second sliding assembly (7) is provided on the connecting assembly (2), and the second sliding assembly (7) is slidably connected with the first sliding assembly (6).
8. The clamp according to claim 7, characterized in that at least two connecting assemblies (2) and at least two second transmission assemblies (5) are provided, two second transmission assemblies (5) are provided on the mounting assembly (1), two connecting assemblies (2) are respectively provided on both sides of the mounting assembly (1), and two connecting assemblies (2) are respectively connected with the driving ends of two second transmission assemblies (5).
9. A clamp as claimed in claim 8, characterized in that the second sliding assemblies (7) on both of said connection assemblies (2) are slidingly connected to said first sliding assemblies (6).
10. A robot, characterized in that it comprises a robot arm and a gripper according to any one of claims 1 to 9, said mounting assembly (1) being connected to said robot arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222470041.XU CN218488439U (en) | 2022-09-19 | 2022-09-19 | Clamp and robot with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222470041.XU CN218488439U (en) | 2022-09-19 | 2022-09-19 | Clamp and robot with same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218488439U true CN218488439U (en) | 2023-02-17 |
Family
ID=85189925
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222470041.XU Active CN218488439U (en) | 2022-09-19 | 2022-09-19 | Clamp and robot with same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218488439U (en) |
-
2022
- 2022-09-19 CN CN202222470041.XU patent/CN218488439U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106956163B (en) | Full-automatic feeding equipment | |
| JPH0743056Y2 (en) | Cargo handling machine | |
| JP5438747B2 (en) | Work work system | |
| CN102922778A (en) | Packing device | |
| CN210763125U (en) | Prevent transport anchor clamps that box dropped | |
| CN108778965A (en) | The clamping of tray | |
| KR102484531B1 (en) | Container supply device and container supply method | |
| CN108583112A (en) | Automatic production line based on glass carving machine | |
| KR101501138B1 (en) | Multi function boxing robot | |
| CN216470826U (en) | Battery box snatchs transfer device | |
| CN109911622A (en) | Sheet material carrying system | |
| US10661932B2 (en) | Tray sealer | |
| CN218488439U (en) | Clamp and robot with same | |
| JP6769768B2 (en) | Transfer device | |
| KR920006513B1 (en) | Assembling apparatus | |
| WO2018186290A1 (en) | Robot and method for operating same | |
| CN214446361U (en) | Handling device suitable for photovoltaic module | |
| CN115744387A (en) | Rolling curtain type anti-falling mechanism and method thereof | |
| CN214085037U (en) | Kernel filling device | |
| KR102141075B1 (en) | Apparatus for Processing the Grid Divider of Packing Box | |
| CN210653846U (en) | Automatic box packaging equipment and box packaging device thereof | |
| CN110654588A (en) | Boxing equipment and corresponding boxing method | |
| CN112849481A (en) | Cigarette case auxiliary material automatic feed system | |
| JPS64285B2 (en) | ||
| CN220886078U (en) | Fixed point transfer mechanism for metal packaging box |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |