CN219135702U - Paw and transfer device - Google Patents
Paw and transfer device Download PDFInfo
- Publication number
- CN219135702U CN219135702U CN202223171298.1U CN202223171298U CN219135702U CN 219135702 U CN219135702 U CN 219135702U CN 202223171298 U CN202223171298 U CN 202223171298U CN 219135702 U CN219135702 U CN 219135702U
- Authority
- CN
- China
- Prior art keywords
- clamping
- piece
- groove
- connecting piece
- assembly
- 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
- 239000000463 material Substances 0.000 claims abstract description 159
- 238000001179 sorption measurement Methods 0.000 claims abstract description 54
- 230000007246 mechanism Effects 0.000 claims abstract description 20
- 210000000078 claw Anatomy 0.000 claims description 12
- 230000001939 inductive effect Effects 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 2
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000007664 blowing Methods 0.000 description 3
- 238000007599 discharging Methods 0.000 description 3
- 230000002745 absorbent Effects 0.000 description 2
- 239000002250 absorbent Substances 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
Images
Classifications
-
- 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
Landscapes
- Manipulator (AREA)
Abstract
The application provides a paw, comprising: a connection assembly; the clamping assembly is connected to one side of the connecting assembly and used for clamping materials, and comprises a plurality of clamping fingers, wherein a concave clamping groove matched with the materials is formed in one side of each clamping finger, which is used for being abutted against the materials; and the adsorption component comprises a fixing part and a plurality of adsorption parts for adsorbing the material tray, the material tray is used for loading materials, the fixing part is connected to the other side of the connecting component, a plurality of perforations corresponding to the adsorption parts one to one are formed in the fixing part, the adsorption parts penetrate through the corresponding perforations, and the adsorption parts are movably connected with the perforations so as to adjust the relative positions of the adsorption parts and the adjacent adsorption parts. The gripper has the advantage of stable material clamping, can reduce the collision of the materials during transferring, and improves the yield of the materials. The application also provides a transfer device, which comprises a moving mechanism and the paw, wherein the moving mechanism is used for driving the paw to move.
Description
Technical Field
The application relates to the technical field of transfer equipment, in particular to a paw and a transfer device.
Background
After the materials are processed by the machine, the materials need to be transferred for cleaning. The unstable factor exists in the manual material transferring, the situation of collision scratch is unavoidable, and the overall reject ratio of the material is improved. It is therefore necessary to provide a gripper to perform work instead of a human.
Disclosure of Invention
In view of the above, it is necessary to provide a gripper and a transfer device provided with the gripper, which have the advantage of stable gripping of materials, reduce the collision of the materials during transfer, and improve the yield of the materials.
The application provides a paw, comprising: a connection assembly; the clamping assembly is connected to one side of the connecting assembly and used for clamping materials, the clamping assembly comprises a plurality of clamping fingers, one side of each clamping finger, which is used for being abutted against the materials, is provided with a concave clamping groove matched with the materials, and the clamping groove is matched with the materials; and the adsorption component comprises a fixing piece and a plurality of adsorption parts used for adsorbing the material tray, the adsorption parts are used for adsorbing the material tray, the material tray is used for loading the materials, the fixing piece is connected with the other side of the connecting component, which deviates from the material clamping component, a plurality of perforations corresponding to the adsorption parts one to one are formed in the fixing piece, the adsorption parts penetrate through the corresponding perforations, and the adsorption parts are movably connected with the perforations so as to adjust the relative positions of the adjacent adsorption parts.
According to the gripper, the material clamping assembly is arranged on one side of the connecting assembly, the material is clamped through the clamping fingers of the material clamping assembly, and the clamping grooves are formed in the clamping fingers, so that the stability of the gripper in clamping the material can be improved; the opposite side of coupling assembling is provided with the adsorption component for adsorb and remove the charging tray, the adsorption component can be with empty charging tray transfer to blowing region, and then makes the clamp material subassembly can be with the material transfer to the charging tray, and the relative position can be adjusted through the perforation to the adsorption component in the adsorption component, in order to be suitable for different charging trays, can improve the efficiency of carrying the material through the adsorption component, and improve degree of automation. The gripper can replace manual work to transfer materials, improves the working efficiency, reduces the labor intensity of operators, replaces manual work with machinery, does not need to manually contact the materials, reduces the collision damage of the materials in the material transferring process, and improves the yield of the materials.
In some embodiments, the clamping groove comprises a groove wall and a groove bottom, the groove wall is connected with the groove bottom, and the groove wall is obliquely arranged, so that when the clamping fingers clamp the material, the material slides to the groove bottom along the groove wall.
In some embodiments, the connecting assembly comprises a connecting arm, a first connecting piece, a second connecting piece and a positioning piece, one side of the connecting arm is connected to the fixing piece, the first connecting piece is connected to one side of the connecting arm, which is away from the fixing piece, the second connecting piece is connected to one side of the first connecting piece, which is away from the connecting arm, the clamping assembly is connected to one side of the second connecting piece, which is away from the first connecting piece, a waist-shaped hole is formed in the second connecting piece, the positioning piece is installed on the waist-shaped hole, the second connecting piece is connected with the first connecting piece through the positioning piece, and the second connecting piece is adjusted to the connection position of the second connecting piece through the waist-shaped hole.
In some embodiments, a limiting groove is formed in a position where the second connecting piece is connected with the first connecting piece, the first connecting piece is connected with the limiting groove of the second connecting piece, and the limiting groove is used for limiting the second connecting piece.
In some embodiments, the clamping assembly further comprises a driving member connected to a side of the second connecting member facing away from the first connecting member, the driving member being configured to drive the plurality of clamping fingers to move so that the clamping fingers can clamp the material.
In some embodiments, the clamping assembly further comprises a connecting block and an inductor, wherein the connecting block is connected with the driving piece, the inductor is connected with the connecting block and corresponds to the clamping fingers, and the inductor is used for inducing materials clamped by the clamping fingers.
In some embodiments, the connecting block is provided with a through groove, and the inductor is movably arranged in the through groove, so that the position of the inductor connected to the connecting block is adjustable.
In some embodiments, the clamping assembly further comprises a stop member connected to an end of the connecting block away from the driving member, the stop member being disposed on a side of the connecting block adjacent to the clamping fingers, the stop member being configured to abut against the material when the clamping fingers clamp the material.
In some embodiments, the plurality of through holes are all arranged obliquely from the corners of the fixing piece to the middle part of the fixing piece, so that the positions of the absorbing piece in the first direction and the second direction can be adjusted through the through holes, and the first direction and the second direction are perpendicular to each other.
The application provides a move and carry device simultaneously, including moving mechanism and as above-mentioned hand claw, moving mechanism's output with coupling assembling the link arm is connected for the drive hand claw removes.
According to the transfer device, the output end of the moving mechanism is connected with the connecting arm of the paw, so that the moving mechanism drives the paw to move, and the purposes of automatically grabbing and transferring materials are achieved.
Drawings
Fig. 1 is a schematic perspective view of a paw provided in some embodiments of the present application.
Fig. 2 is a schematic perspective view of the second connector and clamping assembly shown in fig. 1.
Fig. 3 is a schematic perspective view of the nip assembly shown in fig. 1.
Fig. 4 is a schematic perspective view of the material gripping assembly shown in fig. 3 when gripping material.
Fig. 5 is a schematic perspective view of a transfer device according to some embodiments of the present disclosure.
Description of the main reference signs
Connecting arm 11
Waist-shaped hole 131
Limiting groove 132
Clamping assembly 20
Clamping groove 211
Drive member 22
Connecting block 23
Through groove 231
Stop 25
Fixing member 31
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; the two components can be connected in a mechanical mode, can be electrically connected or can be communicated with each other, can be directly connected, can be indirectly connected through an intermediate medium, and can be communicated with each other inside the two components or can be in interaction relation with each other. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
Embodiments of the present application are further described below with reference to the accompanying drawings.
Referring to fig. 1, some embodiments of the present application provide a gripper 100 for gripping a material 300, where the material 300 is, for example, a casing, a middle frame, or the like of a device requiring appearance, such as a mobile phone, a tablet, or the like. The hand claw 100 includes a connecting assembly 10, a clamping assembly 20 and an adsorbing assembly 30.
In particular, referring to fig. 1 and 3, a connecting assembly 10 is used to connect a clamping assembly 20 and an adsorbing assembly 30. The clamping assembly 20 is connected to one side of the connecting assembly 10 and is used for clamping the material 300, and the clamping assembly 20 may be provided with a plurality of groups, such as a group, three groups, four groups, etc., and the number of the clamping assemblies 20 may be set according to actual requirements. The clamping assembly 20 includes a plurality of clamping fingers 21, for example, three, four, five, etc., so long as the clamping fingers 21 can be ensured to stably clamp the material 300, and in this embodiment, in order to ensure the stability of clamping the material 300, each group of clamping assemblies 20 is provided with four clamping fingers 21. The clamping finger 21 is provided with a concave clamping groove 211, and the clamping groove 211 is matched with the material 300. Referring to fig. 4, after the plurality of clamping fingers 21 cooperate with each other to clamp the material 300, the material 300 abuts against the bottom 2112 of the clamping groove 211 on the clamping finger 21, and the groove wall 2111 of the clamping groove 211 can support the material 300, so that the groove wall 2111 of the clamping groove 211 can also provide a supporting function to prevent the material 300 from sliding down when the material 300 is transferred. The adsorption component 30 comprises a fixing piece 31 and a plurality of adsorption pieces 32, the adsorption pieces 32 are used for adsorbing a material tray (not shown), the material tray is used for loading materials 300, the fixing piece 31 is connected to one side, away from the clamping component 20, of the connection component 10, a plurality of through holes 311 corresponding to the adsorption pieces 32 one by one are formed in the fixing piece 31, the adsorption pieces 32 penetrate through the corresponding through holes 311, the adsorption pieces 32 are movably connected with the through holes so as to adjust the relative positions of the adsorption pieces 32 and adjacent adsorption pieces 32, and therefore, the positions of the adsorption pieces 32 can be adjusted by adjusting the positions of the adsorption pieces 32 in the through holes 311, and then the adsorption pieces 32 can be matched with various material trays so as to improve the applicability of the embodiment.
Some embodiments provide a gripper 100 that operates generally as follows: first, the gripper 100 is moved to a position where the material 300 is to be taken, the gripper 100 clamps the material 300 by the clamping fingers 21, when the clamping fingers 21 clamp the material 300, the material 300 is clamped in the clamping grooves 211 of the clamping fingers 21, and at the same time, the groove walls 2111 of the clamping grooves 211 also play a certain supporting role on the material 300. Then, the gripper 100 is moved to a tray position for holding the material 300, and the material 300 is placed on the tray through the clamping fingers 21, so that the material 300 is taken and placed once. It will be appreciated that, before gripping the material 300 with the gripping fingers 21 of the gripper 100 to transfer the material 300, an empty tray for holding the material 300 may be sucked and placed in the position where the material 300 is to be placed by the suction assembly 30; similarly, when the tray is full of the material 300, the adsorption component 30 can adsorb a new empty tray and be placed at the position where the material 300 is to be placed, so as to continue discharging, thereby replacing manual operation and improving the operation efficiency.
According to the paw 100 provided by the embodiment of the application, the clamping fingers 21 of the clamping assembly 20 are used for clamping the material 300, and the clamping grooves 211 are formed in the clamping fingers 21, so that the stability of the paw 100 when clamping the material 300 can be improved; the opposite side of coupling assembling 10 is provided with adsorption component 30 for adsorb and remove the charging tray, adsorption component 30 can shift empty charging tray to the blowing region, and then makes clamp material subassembly 20 can shift material 300 to the charging tray, and the relative position can be adjusted through perforation 311 to the adsorption component 32 in the adsorption component 30, so as to be suitable for different charging trays, can improve the efficiency of carrying material 300 through adsorption component 30, and improve degree of automation. The paw 100 provided by the implementation can replace manual work to transfer the material 300, improve the working efficiency, reduce the labor intensity of operators, replace manual work with machinery, reduce the collision damage of the material 300 in the material transferring process, and improve the yield of the material 300.
In some embodiments, referring to fig. 3 and 4, the clamping groove 211 includes a groove wall 2111 and a groove bottom 2112, the groove wall 2111 and the groove bottom 2112 being connected, the groove wall 2111 being inclined such that the material 300 slides along the groove wall 2111 to the groove bottom 2112 when the clamping finger 21 clamps the material 300. It will be appreciated that when the gripping fingers 21 grip the material 300, the groove walls 2111 of the gripping grooves 211 are first abutted against the material 300, the groove walls 2111 are inclined, the gripping fingers 21 slide along the inclined surfaces toward the groove bottom 2112 during the continuous gripping of the material 300, and the material 300 is abutted against the groove bottom 2112, so that the groove walls 2111 can also provide a supporting function to prevent the material 300 from sliding down during the transfer of the gripping of the material 300 by the grippers 100.
In some embodiments, referring to fig. 1, the connection assembly 10 includes a connection arm 11, a first connection member 12, a second connection member 13, and a positioning member 14, where the connection arm 11 is an object, such as a flange, that facilitates connection with an external mechanical structure. The connection arm 11 is used for connecting with an external moving mechanism 200 (see fig. 5), and the moving mechanism 200 is, for example, a manipulator, a robot, or the like. The fixing member 31 is connected to one side of the connecting arm 11, the first connecting member 12 is connected to one side of the connecting arm 11 facing away from the fixing member 31, the second connecting member 13 is connected to one side of the first connecting member 12 facing away from the connecting arm 11, and the clamping assembly 20 is connected to one side of the second connecting member 13 facing away from the first connecting member 12. The first and second connection members 12 and 13 are, for example, plate-like structures, which can increase the stability of connection. The second connecting members 13 may be further provided with a plurality of connecting fingers 21, so that the number of the connecting fingers 21 can be increased to increase the number of the single gripping materials 300, and further, the efficiency of single transferring the materials 300 can be increased. Referring to fig. 2, the second connecting member 13 is provided with a waist-shaped hole 131, the positioning member 14 is mounted on the waist-shaped hole 131, the second connecting member 13 is connected with the first connecting member 12 through the positioning member 14, the second connecting member 13 is connected with the first connecting member 12 through the waist-shaped hole 131, the positioning member 14 is, for example, a bolt, the first connecting member 12 and the second connecting member 13 are connected through the positioning member 14, and the connection position of the second connecting member 13 and the first connecting member 12 can be adjusted by arranging the waist-shaped hole 131 on the second connecting member 13, so that the relative position of the second connecting member 13 is adjusted according to the relative position of the material 300 when the material 300 is taken, and the accuracy of the material 300 is improved.
In some embodiments, referring to fig. 1 and 2, a limiting groove 132 is formed at a position where the second connecting member 13 is connected to the first connecting member 12, the first connecting member 12 is connected to the limiting groove 132 of the second connecting member 13, and the limiting groove 132 is used for limiting the second connecting member 13. By providing the limiting groove 132 on the second connecting piece 13, the second connecting piece 13 can be limited, so that the second connecting piece 13 is prevented from being deviated, and the clamping finger 21 cannot accurately clamp the material 300. It is understood that the width of the limiting groove 132 is the same as the width of the first connector 12.
In some embodiments, referring to fig. 1, the clamping assembly 20 further includes a driving member 22, where the driving member 22 is connected to a side of the second connecting member 13 facing away from the first connecting member 12, and the driving member 22 is configured to drive the plurality of clamping fingers 21 to move so that the clamping fingers 21 can clamp the material 300. The driving member 22 is, for example, a cylinder, a motor, or the like, which can drive the movement of the finger 21.
In some embodiments, referring to fig. 1 and 4, the material clamping assembly 20 further includes a connection block 23 and an inductor 24, the connection block 23 is connected to the driving member 22, the inductor 24 is connected to the connection block 23 and corresponds to the clamping finger 21, and the inductor 24 is used for sensing the material 300 clamped by the clamping finger 21. The connecting block 23 is connected to the side of the driving piece 22, and the inductor 24 is installed at one end of the connecting block 23 far away from the driving piece 22, when the clamping fingers 21 clamp the material 300, the inductor 24 can sense the material 300, and whether the claw 100 clamps the material 300 is sensed by the inductor 24. The sensor 24 is, for example, a proximity switch, an infrared sensor 24, or the like, which can sense the material 300.
In some embodiments, referring to fig. 1, the connection block 23 is provided with a through slot 231, and the sensor 24 is movably disposed in the through slot 231, so that a position of the sensor 24 connected to the connection block 23 is adjustable. The through groove 231 can be configured as a U-shaped groove, a waist-shaped groove, etc., so that the position of the inductor 24 on the connecting block 23 can be adjusted, so that the position of the inductor 24 can be adjusted for different materials 300, and the application range of the embodiment is improved.
In some embodiments, referring to fig. 1, the clamping assembly 20 further includes a stopper 25, the stopper 25 is connected to an end of the connecting block 23 away from the driving member 22, and the stopper 25 is disposed on a side of the connecting block 23 near the clamping finger 21, and the stopper 25 is used for supporting the material 300 when the clamping finger 21 clamps the material 300. The stop member 25 may have a columnar or block-shaped structure, and the stop member 25 is disposed near the sensor 24, and when the clamping finger 21 clamps the material 300, the stop member 25 is used for stopping the material 300 to prevent the material 300 from colliding with the sensor 24.
In some embodiments, the plurality of perforations 311 are each disposed obliquely from the corner of the fixing member 31 toward the middle of the fixing member 31, so that the absorbent member 32 can be adjusted in the first direction and the second direction, which are perpendicular to each other, through the perforations 311. For ease of understanding, the first direction is defined as the X direction shown as 1 and the second direction is defined as the Y direction. When the perforations 311 are arranged in an inclined manner as shown in fig. 1, the positions of the absorbing members 32 in the X direction and the positions of the absorbing members 32 in the Y direction can be adjusted through the perforations 311, so that the absorbing members 30 can be suitable for trays with different sizes by adjusting the positions of the absorbing members 32.
Some embodiments provide a gripper 100 that operates generally as follows: first, the gripper 100 is moved to a position of the material 300 to be taken, the driving member 22 drives the gripping fingers 21 to move to grip the material 300, and the gripping fingers 21 slide along the inclined surface of the groove wall 2111 to abut against the groove bottom 2112 in the process of gripping the material 300, so that the groove wall 2111 supports the material 300 when the gripper 100 moves the material 300. When the clamping fingers 21 clamp the material 300, the stop piece 25 can play a role in stopping the material 300, so that the material 300 is prevented from colliding with the sensor 24. After the gripping fingers 21 grip the material 300, the sensor 24 can sense the material 300, and the sensor 24 is used to sense whether the gripper 100 grips the material 300. Before the gripper fingers 21 of the gripper 100 are used to grip the material 300 to transfer the material 300, an empty tray for holding the material 300 can be adsorbed and placed at the position where the material 300 is to be placed by the adsorption assembly 30; similarly, when the tray is full of the material 300, the adsorption component 30 can adsorb a new empty tray and be placed at the position where the material 300 is to be placed, so as to continue discharging, thereby replacing manual operation and improving the operation efficiency.
According to the paw 100 provided by the embodiment of the application, the clamping fingers 21 of the clamping assembly 20 are used for clamping the material 300, the driving piece 22 is used for driving the clamping fingers 21, so that the material 300 can be automatically clamped, and the clamping grooves 211 are formed in the clamping fingers 21, so that the stability of the paw 100 when clamping the material 300 can be improved; the gripper assembly 20 is also provided with a sensor 24 that detects whether the gripper 100 is gripping material 300. The opposite side of coupling assembling 10 is provided with adsorption component 30 for adsorb and remove the charging tray, adsorption component 30 can shift empty charging tray to the blowing region, and then makes clamp material subassembly 20 can shift material 300 to the charging tray, and the relative position can be adjusted through perforation 311 to the adsorption component 32 in the adsorption component 30, so as to be suitable for different charging trays, can improve the efficiency of carrying material 300 through adsorption component 30, and improve degree of automation. The paw 100 provided by the implementation can replace manual work to transfer the material 300, improve the working efficiency, reduce the labor intensity of operators, replace manual work with machinery, reduce the collision damage of the material 300 in the material transferring process, and improve the yield of the material 300.
Referring to fig. 5, the present application also provides a transfer device 1000, including a moving mechanism 200 and the above-mentioned gripper 100, where an output end of the moving mechanism 200 is connected with a connecting arm 11 of the connecting assembly 10, and is used for driving the gripper 100 to move, and the moving mechanism 200 is, for example, a mechanism capable of driving the gripper 100 to move, so that the gripper 100 can be driven to move by the moving mechanism 200 by connecting an output end of the moving mechanism 200 with the connecting arm 11 of the gripper 100, thereby achieving the purposes of automatic gripping and transferring of the material 300.
Some embodiments provide a transfer apparatus 1000 that works substantially as follows: the moving mechanism 200 drives the gripper 100 to move to the position of the material 300 to be fetched, and enables the gripping fingers 21 to correspond to the material 300, and then drives the gripper 100 to move towards the material 300, and when the sensor 24 of the gripper 100 senses the material 300, the gripper 100 starts gripping the material 300. After clamping, the moving mechanism 200 drives the gripper 100 to move to the tray position, and the material 300 is placed in the tray through the gripper 100. When an empty tray is needed, the moving mechanism 200 drives the gripper 100 to rotate, so that the adsorption assembly 30 is aligned to the tray, and the empty tray is transferred to the discharging area through the adsorption assembly 30.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Finally, it should be noted that the above embodiments are merely for illustrating the technical solution of the present application and not for limiting, and although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present application may be modified or substituted without departing from the spirit and scope of the technical solution of the present application.
Claims (10)
1. A paw, comprising:
a connection assembly;
the clamping assembly is connected to one side of the connecting assembly and used for clamping materials, the clamping assembly comprises a plurality of clamping fingers, concave clamping grooves are formed in the clamping fingers, and the clamping grooves are matched with the materials; and
The adsorption component comprises a fixing piece and a plurality of adsorption pieces, wherein the adsorption pieces are used for adsorbing a material tray, the material tray is used for loading materials, the fixing piece is connected to one side, deviating from the material clamping component, of the connecting component, a plurality of perforations corresponding to the adsorption pieces one to one are formed in the fixing piece, the adsorption pieces penetrate through the corresponding perforations, and the adsorption pieces are movably connected with the perforations so as to adjust the relative positions of the adjacent adsorption pieces.
2. The hand claw according to claim 1 wherein,
the clamping groove comprises a groove wall and a groove bottom, wherein the groove wall is connected with the groove bottom, and the groove wall is obliquely arranged, so that when the clamping fingers clamp the material, the material slides to the groove bottom along the groove wall.
3. The hand claw according to claim 1 wherein,
the connecting component comprises a connecting arm, a first connecting piece, a second connecting piece and a positioning piece,
one side of the connecting arm is connected with the fixing piece, the first connecting piece is connected with one side of the connecting arm, which is away from the fixing piece, the second connecting piece is connected with one side of the first connecting piece, which is away from the connecting arm, the clamping component is connected with one side of the second connecting piece, which is away from the first connecting piece,
the second connecting piece is provided with a waist-shaped hole, the positioning piece is arranged on the waist-shaped hole, the second connecting piece is connected with the first connecting piece through the positioning piece, and the second connecting piece is adjusted to be connected with the first connecting piece through the waist-shaped hole.
4. The hand claw according to claim 3 wherein,
the position that the second connecting piece with first connecting piece is connected has seted up the spacing groove, first connecting piece connect in the spacing groove of second connecting piece, the spacing groove is used for right the second connecting piece is spacing.
5. The hand claw according to claim 3 wherein,
the clamping assembly further comprises a driving piece,
the driving piece is connected to one side, away from the first connecting piece, of the second connecting piece, and the driving piece is used for driving the clamping fingers to move so that the clamping fingers can clamp the materials.
6. The hand claw according to claim 5 wherein,
the clamping assembly also comprises a connecting block and an inductor,
the connecting block is connected with the driving piece, the inductor is connected with the connecting block and corresponds to the clamping finger, and the inductor is used for inducing the material clamped by the clamping finger.
7. The hand claw according to claim 6 wherein,
the connecting block is provided with a through groove,
the inductor is movably arranged in the through groove, so that the position of the inductor connected to the connecting block is adjustable.
8. The hand claw according to claim 6 wherein,
the clamping assembly further comprises a stop element,
the stop piece is connected to one end of the connecting block, which is far away from the driving piece, and the stop piece is arranged on one side of the connecting block, which is close to the clamping finger, and is used for propping against the material when the clamping finger clamps the material.
9. The hand claw according to claim 1 wherein,
the plurality of through holes are all arranged from the corners of the fixing piece to the middle part of the fixing piece in an inclined mode, so that the positions of the adsorption piece in the first direction and the second direction can be adjusted through the through holes, and the first direction and the second direction are perpendicular to each other.
10. A transfer device, characterized in that: comprising a movement mechanism and a gripper according to any one of claims 1-9, said movement mechanism being connected to said connecting arm of said connecting assembly for moving said gripper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223171298.1U CN219135702U (en) | 2022-11-25 | 2022-11-25 | Paw and transfer device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223171298.1U CN219135702U (en) | 2022-11-25 | 2022-11-25 | Paw and transfer device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219135702U true CN219135702U (en) | 2023-06-06 |
Family
ID=86592603
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223171298.1U Active CN219135702U (en) | 2022-11-25 | 2022-11-25 | Paw and transfer device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219135702U (en) |
-
2022
- 2022-11-25 CN CN202223171298.1U patent/CN219135702U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2022110484A1 (en) | Automatic assembly equipment for pcb and heat sinks of 3d printer | |
| KR101848215B1 (en) | Tool loading device for arm of robot | |
| CN107438357A (en) | Automatic assembling device | |
| JP2013123788A (en) | Workpiece work system | |
| CN108687512B (en) | Automatic assembling device | |
| CN113199190B (en) | Jig and assembling equipment | |
| CN107414452B (en) | Battery cover assembling device and assembling method | |
| CN107225391B (en) | Robot assembly system and assembly method and robot for multi-housing products | |
| CN113320992A (en) | Double-channel unstacking and stacking machine and unstacking and stacking method | |
| CN219135702U (en) | Paw and transfer device | |
| CN108516676B (en) | Material transferring equipment | |
| CN114918635A (en) | Cantilever type feeding and discharging robot | |
| CN219325018U (en) | Turnover mechanism for loading and unloading products on CNC machine | |
| JPH01161846A (en) | Shifting device | |
| KR100569068B1 (en) | Panel feeder | |
| CN215100600U (en) | Feeding and discharging device | |
| CN211545204U (en) | Variable-pitch feeding mechanism | |
| CN212173776U (en) | Automatic insert machine | |
| CN113857800B (en) | Automatic assembling device | |
| CN111376014B (en) | Buckle and soundproof cotton rigging equipment | |
| CN111163587B (en) | Automatic assembling equipment for FPC (flexible printed circuit) boards | |
| CN110950072B (en) | Material receiving device | |
| CN221134756U (en) | Assembling device | |
| CN219115852U (en) | Box sleeving system | |
| CN218260560U (en) | Turnover equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |