CN219819767U - Opening and closing device for grabbing manipulator - Google Patents
Opening and closing device for grabbing manipulator Download PDFInfo
- Publication number
- CN219819767U CN219819767U CN202320743307.5U CN202320743307U CN219819767U CN 219819767 U CN219819767 U CN 219819767U CN 202320743307 U CN202320743307 U CN 202320743307U CN 219819767 U CN219819767 U CN 219819767U
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- opening
- closing
- clamping
- guide rod
- gripper
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- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 230000000149 penetrating effect Effects 0.000 claims abstract description 6
- 239000000872 buffer Substances 0.000 claims description 29
- 238000003825 pressing Methods 0.000 claims description 29
- 239000000463 material Substances 0.000 claims description 18
- 230000003139 buffering effect Effects 0.000 claims description 15
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model relates to the technical field of manipulators, and discloses an opening and closing device for a grabbing manipulator, which comprises an opening and closing fixing plate for fixing, an opening and closing control device arranged on the opening and closing fixing plate, and a clamping jaw mechanism connected with the opening and closing control device; the opening and closing control device comprises an opening and closing cylinder mounting seat arranged on the opening and closing fixing plate and a gripper opening and closing cylinder arranged on the opening and closing cylinder mounting seat, wherein the driving end of the gripper opening and closing cylinder is connected with an opening and closing guide rod through an opening and closing cylinder connector, and the opening and closing guide rod can enter the clamping jaw mechanism after penetrating through the opening and closing cylinder mounting seat to control the opening or clamping of the clamping jaw mechanism. When the clamping jaw mechanism is required to be opened, the gripper opening and closing cylinder drives the opening and closing guide rod to press down, and the opening and closing guide rod enters the clamping jaw mechanism, so that the clamping jaw is changed from the clamping state to the opening state; when the clamping jaw is required to be changed from an open state to a clamping state, the gripper opening and closing cylinder drives the opening and closing guide rod to move upwards, and the structure is simple and the control is convenient.
Description
Technical Field
The utility model relates to the technical field of manipulators, in particular to an opening and closing device for a grabbing manipulator.
Background
In modern industrial production, a manipulator has become an important production device, and product gripper feeding is indispensable in a rib cutting and forming process of semiconductor chip manufacturing. The opening and closing of the manipulator is one of the most basic actions of the manipulator in the operation process, and the control of the opening or clamping of the clamping jaw of the manipulator is one of core technologies. In the existing semiconductor chip manufacturing process, the mechanical arm feeding opening and closing control device is complex in structure, large in size and high in cost; and the rigidity is relatively, the force control of the driving device is poor, and the surface of the material is damaged. Therefore, it is necessary to design an opening and closing control device of a manipulator with a simple structure and small occupied space.
Disclosure of Invention
The utility model solves the technical problem of providing the opening and closing device for the grabbing manipulator, which has a simple structure and can control the clamping jaw to open or clamp.
The technical scheme adopted for solving the technical problems is as follows: the opening and closing mechanism for the grabbing manipulator comprises an opening and closing fixing plate for fixing, an opening and closing control device arranged on the opening and closing fixing plate, and a clamping jaw mechanism connected with the opening and closing control device; the opening and closing control device comprises an opening and closing cylinder mounting seat arranged on the opening and closing fixing plate and a gripper opening and closing cylinder arranged on the opening and closing cylinder mounting seat, wherein the driving end of the gripper opening and closing cylinder is connected with an opening and closing guide rod through an opening and closing cylinder connector, and the opening and closing guide rod can enter the clamping jaw mechanism after penetrating through the opening and closing cylinder mounting seat to control the opening or clamping of the clamping jaw mechanism. When the clamping jaw mechanism is required to be opened, the gripper opening and closing cylinder drives the opening and closing guide rod to press down, and the opening and closing guide rod enters the clamping jaw mechanism, so that the clamping jaw is changed from the clamping state to the opening state; when the clamping jaw is required to be changed from an open state to a clamping state, the gripper opening and closing cylinder drives the opening and closing guide rod to move upwards.
Further is: the clamping jaw mechanism comprises a clamping hand fixing seat, a clamping hand connecting seat matched with the clamping hand fixing seat, an opening and closing assembly connected to the clamping hand connecting seat through two opening and closing fixing shafts, and a plurality of clamping jaws fixed to the opening and closing assembly.
Further is: the opening and closing assembly comprises an opening and closing block body, an opening and closing bearing fixing seat arranged on the opening and closing block body, and a gripper opening and closing bearing arranged on the opening and closing bearing fixing seat; the two sides of the opening and closing block body, which are positioned on the opening and closing bearing fixing seat, are respectively provided with a first spring fixing stud and a second spring fixing stud, a clamping spring is further connected between the two first spring fixing studs, and a clamping spring is further connected between the two second spring fixing studs; the opening and closing block body is also provided with 2 lifting lugs, and through holes for the opening and closing fixing shafts to pass through are formed in the lifting lugs.
Further is: the number of the opening and closing assemblies is 2.
Further is: the buffer assembly comprises a handle buffer guide sleeve, a buffer guide rod penetrating through the handle buffer guide sleeve, a pressing buffer spring and a product pressing plate; the product pressing plate is in threaded connection with the buffering guide rod, and the pressing buffering spring is sleeved outside the buffering guide rod and is positioned between the product pressing plate and the buffering guide sleeve of the gripper.
Further is: the device also comprises a pressing buffering limiting block arranged at one end of the buffering guide rod, which is far away from the product pressing plate.
Further is: the rotary assembly comprises a rotary wheel, an opening and closing bearing and an opening and closing rotating shaft; the opening and closing bearing is arranged on the inner ring of the opening and closing fixing plate, the opening and closing rotating shaft is connected with the opening and closing bearing, the opening and closing bearing is connected with a rotating wheel, the gripper fixing seat is connected with the rotating wheel, and the rotating wheel rotates to drive the gripper fixing seat to synchronously rotate.
The beneficial effects of the utility model are as follows: the opening and closing assembly is opened and clamped by arranging the opening and closing guide rod, the structure is simple and convenient, and the opening and closing guide rod can be guided by arranging the opening and closing rotating shaft. The clamping spring is used for controlling the two opening and closing block bodies, so that the clamping of the materials is guaranteed, the damage to the surfaces of the materials is avoided, and the safety is good.
Drawings
FIG. 1 is a schematic view of a non-rotating assembly according to the present utility model;
FIG. 2 is a schematic view of a rotary assembly according to the present utility model;
FIG. 3 is a schematic diagram of an opening/closing control device according to the present utility model;
FIG. 4 is a cross-sectional view A-A of FIG. 3 in accordance with the present utility model;
FIG. 5 is a schematic view of a clamping jaw structure according to the present utility model;
FIG. 6 is a schematic view of the structure of the gripper connecting seat and the buffer assembly of the present utility model;
FIG. 7 is a schematic view of the structure of the opening and closing assembly of the present utility model;
marked in the figure as: 111. an opening and closing fixing plate; 121. a gripper opening and closing cylinder; 122. an opening and closing cylinder mounting seat; 13. a bearing is opened and closed; 141. an opening and closing cylinder connector; 142. an opening and closing guide rod; 15. an opening and closing rotating shaft; 161. a gripper fixing seat; 162. a gripper connecting seat; 172. the gripper buffers the guide sleeve; 173. pressing down a buffering limiting block; 174. pressing down the buffer spring; 175. a product pressing plate; 181. an opening and closing block body; 182. an open-close bearing fixing seat; 183. the gripper opens and closes the bearing; 184. lifting lugs; 185. a first spring-fixed stud; 186. a second spring-fixed stud; 187. a clamping spring; 188. a limiting shaft sleeve; 19. clamping jaw.
Detailed Description
The utility model is further described below with reference to the drawings and the detailed description.
The opening and closing mechanism for the grabbing mechanical arm shown in fig. 2 to 7 comprises an opening and closing fixing plate 111 for fixing, an opening and closing control device installed on the opening and closing fixing plate 111, a clamping jaw mechanism connected with the opening and closing control device and a rotating assembly, wherein the rotating assembly is connected with the opening and closing fixing plate 111. The opening and closing control device comprises an opening and closing cylinder mounting seat 122 arranged on the opening and closing fixing plate 111, and a hand grip opening and closing cylinder 121 arranged on the opening and closing cylinder mounting seat 122, wherein the driving end of the hand grip opening and closing cylinder 121 is connected with an opening and closing guide rod 142 through an opening and closing cylinder connector 141, and the opening and closing guide rod 142 can penetrate through the opening and closing cylinder mounting seat 122 and then enter the clamping jaw mechanism to control the opening or clamping of the clamping jaw mechanism; the opening and closing cylinder mounting seat 122 is of a hollow structure, and the opening and closing guide rod 142 can enter the clamping jaw mechanism through the opening and closing cylinder mounting seat 122. As shown in fig. 1 and 5, the clamping jaw mechanism comprises a clamping jaw fixing seat 161, a clamping jaw connecting seat 162 matched with the clamping jaw fixing seat 161, an opening and closing assembly connected to the clamping jaw connecting seat 162 through two opening and closing fixing shafts, and a plurality of clamping jaws 19 fixed on the opening and closing assembly, wherein the number of the clamping jaws 19 is at least 4. The opening and closing guide rod 142 is driven by the gripper opening and closing cylinder 121 to control the states of the two opening and closing assemblies, so that the clamping jaw 19 is in an opened or clamped state.
On the basis of the above, as shown in fig. 5 and 7, the number of the opening and closing assemblies is 2, and each opening and closing assembly comprises an opening and closing block body 181, an opening and closing bearing fixing seat 182 installed on the opening and closing block body 181, and a gripper opening and closing bearing 183 installed on the opening and closing bearing fixing seat 182. The opening and closing block body 181 is also provided with 2 lifting lugs 184, the lifting lugs 184 are provided with through holes for the opening and closing fixed shafts to pass through, and a limiting shaft sleeve 188 is sleeved in each through hole and fixed on the opening and closing fixed shaft through screws, so that the opening and closing block body 181 can be reset to an initial position when clamping is required after separation; the next time the opening and closing guide rod 142 separates the opening and closing block body 181, the accuracy of the position is ensured. Each opening and closing fixed shaft penetrates through the through holes in the two opening and closing block bodies 181, the opening and closing block bodies 181 are connected with the gripper connecting seat 162, and the opening and closing fixed shafts are fixed on the gripper connecting seat 162 through screws. As shown in fig. 7, a first spring fixing stud 185 and a second spring fixing stud 186 are respectively mounted on the upper surface of the opening and closing block body 181 and positioned on two sides of the opening and closing bearing fixing seat 182, a clamping spring 187 is further connected between the two first spring fixing studs 185, and a clamping spring 187 is further connected between the two second spring fixing studs 186; the clamping spring 187 is connected with the spring fixing stud, so that clamping force can be ensured between the two opening and closing components, and clamping firmness is ensured when the clamping jaw 19 clamps a product. It is also convenient for the opening and closing guide rod 142 to reset the opening and closing assembly after separating the opening and closing assembly.
On the basis of the above, as shown in fig. 5 and 6, the buffer assembly is further included at both ends of the grip connecting seat 162, and includes a grip buffer guide sleeve 172, a buffer guide rod penetrating through the grip buffer guide sleeve 172, a pressing buffer spring 174 and a product pressing plate 175; and a pressing buffering limiting block 173 arranged at one end of the buffering guide rod far away from the product pressing plate 175. The product clamp plate 175 is threaded with the buffer guide rod, and the pressing buffer spring 174 is sleeved outside the buffer guide rod and is positioned between the product clamp plate 175 and the gripper buffer guide sleeve 172. The adoption of the pressing buffer spring 174 can ensure that the pressing buffer spring 174 can provide buffer force when pressing down, and the pressing buffer spring 175 can not press the material when pressing the material.
When the two opening and closing components are required to be separated, the gripper opening and closing cylinder 121 drives the opening and closing guide rod 142 to be pressed downwards, one end of the opening and closing guide rod 142, which is far away from the gripper opening and closing cylinder 121, is inserted into the contact position of the two gripper opening and closing bearings 183, and the two gripper opening and closing bearings 183 are separated, so that the two opening and closing block bodies 181 are separated, and the clamping jaw 19 arranged on the opening and closing block bodies 181 is driven to be in an open state; when the clamping jaw 19 is required to clamp a material, the gripper opening and closing air cylinder 121 drives the opening and closing guide rod 142 to move upwards, the gripper opening and closing air cylinder 121 is separated from the space between the two grippers and the bearing, the two opening and closing block bodies 181 move towards the central line under the action of the clamping springs 187, the clamping jaw 19 can clamp the material under the action of the clamping springs 187, the opening and closing fixing plate 111 moves to the material position of the material under the cooperation of the lifting mechanism and other mechanisms, and the opening and closing guide rod 142 is pressed downwards under the driving of the gripper opening and closing air cylinder 121, so that the clamping jaw 19 is in an open state, and the material feeding is completed; the opening and closing fixing plate 111 moves to the material position under the cooperation of the lifting mechanism and other mechanisms, and the steps are repeated, so that the feeding is continued. When the clamping jaw mechanism does not need to clamp materials, the opening and closing guide rod 142 moves upwards, the two opening and closing block bodies 181 move towards the central line under the action of the clamping springs 187 until the clamping limiting shaft sleeve 188 is attached, and at the moment, the contact position of the two gripper opening and closing bearings 183 is right below the opening and closing guide rod 142, namely the initial position.
When the material is clamped, the opening and closing fixing plate 111 is close to the material under the action of the lifting mechanism, when the product pressing plate 175 presses the material, the buffer guide rod moves upwards relative to the product pressing plate 175, and the buffer spring 174 can be pressed down to provide buffer force, so that damage to the material due to overlarge pressure is avoided.
On the basis of the above, as shown in fig. 2, 3 and 4, the rotating assembly comprises a rotating wheel, an opening and closing bearing 13 and an opening and closing rotating shaft 15; the open-close bearing 13 is arranged on the inner ring of the open-close fixing plate 111, the open-close rotating shaft 15 is connected with the open-close bearing 13, the open-close bearing 13 is connected with a rotating wheel, the gripper fixing seat 161 is connected with the rotating wheel, and the rotating wheel rotates to drive the gripper fixing seat 161 to synchronously rotate. When the clamping jaw mechanism is required to rotate, the rotating wheel can be driven to rotate through the connecting device such as the synchronous belt, the hand grip fixing seat 161 is driven to rotate when the rotating wheel rotates, namely the whole clamping jaw mechanism is driven to rotate and adjust the position, and the feeding of materials is facilitated. Since the open-close rotation shaft 15 is connected to the open-close bearing 13, the open-close fixing plate 111 does not rotate when the rotation wheel rotates.
Example two
In this embodiment, as shown in fig. 1, compared with the first embodiment, the present embodiment does not include a rotating component, and the grip fixing base 161 is directly connected to the opening/closing fixing plate 111 by bolts or screws.
While the foregoing is directed to embodiments of the present utility model, other and further details of the utility model may be had by the present utility model, it should be understood that the foregoing description is merely illustrative of the present utility model and that no limitations are intended to the scope of the utility model, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the utility model.
Claims (7)
1. A device that opens and shuts for grabbing material manipulator, its characterized in that: the clamping jaw mechanism is connected with the opening and closing control device; the opening and closing control device comprises an opening and closing cylinder mounting seat arranged on the opening and closing fixing plate and a gripper opening and closing cylinder arranged on the opening and closing cylinder mounting seat, wherein the driving end of the gripper opening and closing cylinder is connected with an opening and closing guide rod through an opening and closing cylinder connector, and the opening and closing guide rod can enter the clamping jaw mechanism after penetrating through the opening and closing cylinder mounting seat to control the opening or clamping of the clamping jaw mechanism.
2. The opening and closing apparatus for a grasping manipulator according to claim 1, wherein: the clamping jaw mechanism comprises a clamping hand fixing seat, a clamping hand connecting seat matched with the clamping hand fixing seat, an opening and closing assembly connected to the clamping hand connecting seat through two opening and closing fixing shafts, and a plurality of clamping jaws fixed to the opening and closing assembly.
3. The opening and closing apparatus for a grasping manipulator according to claim 2, wherein: the opening and closing assembly comprises an opening and closing block body, an opening and closing bearing fixing seat arranged on the opening and closing block body, and a gripper opening and closing bearing arranged on the opening and closing bearing fixing seat; the two sides of the opening and closing block body, which are positioned on the opening and closing bearing fixing seat, are respectively provided with a first spring fixing stud and a second spring fixing stud, a clamping spring is further connected between the two first spring fixing studs, and a clamping spring is further connected between the two second spring fixing studs; the opening and closing block body is also provided with 2 lifting lugs, and through holes for the opening and closing fixing shafts to pass through are formed in the lifting lugs.
4. The opening and closing apparatus for a grasping manipulator according to claim 3, wherein: the number of the opening and closing assemblies is 2.
5. The opening and closing apparatus for a grasping manipulator according to claim 3, wherein: the buffer assembly comprises a handle buffer guide sleeve, a buffer guide rod penetrating through the handle buffer guide sleeve, a pressing buffer spring and a product pressing plate; the product pressing plate is in threaded connection with the buffering guide rod, and the pressing buffering spring is sleeved outside the buffering guide rod and is positioned between the product pressing plate and the buffering guide sleeve of the gripper.
6. The opening and closing apparatus for a grasping manipulator according to claim 5, wherein: the device also comprises a pressing buffering limiting block arranged at one end of the buffering guide rod, which is far away from the product pressing plate.
7. The opening and closing apparatus for a grasping robot according to any one of claims 2 to 6, wherein: the rotary assembly comprises a rotary wheel, an opening and closing bearing and an opening and closing rotating shaft; the opening and closing bearing is arranged on the inner ring of the opening and closing fixing plate, the opening and closing rotating shaft is connected with the opening and closing bearing, the opening and closing bearing is connected with a rotating wheel, the gripper fixing seat is connected with the rotating wheel, and the rotating wheel rotates to drive the gripper fixing seat to synchronously rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320743307.5U CN219819767U (en) | 2023-04-07 | 2023-04-07 | Opening and closing device for grabbing manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320743307.5U CN219819767U (en) | 2023-04-07 | 2023-04-07 | Opening and closing device for grabbing manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219819767U true CN219819767U (en) | 2023-10-13 |
Family
ID=88276273
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320743307.5U Active CN219819767U (en) | 2023-04-07 | 2023-04-07 | Opening and closing device for grabbing manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219819767U (en) |
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2023
- 2023-04-07 CN CN202320743307.5U patent/CN219819767U/en active Active
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant |