WO2018028108A1 - 一种自动调节大小的夹持装置 - Google Patents

一种自动调节大小的夹持装置 Download PDF

Info

Publication number
WO2018028108A1
WO2018028108A1 PCT/CN2016/110716 CN2016110716W WO2018028108A1 WO 2018028108 A1 WO2018028108 A1 WO 2018028108A1 CN 2016110716 W CN2016110716 W CN 2016110716W WO 2018028108 A1 WO2018028108 A1 WO 2018028108A1
Authority
WO
WIPO (PCT)
Prior art keywords
clamping
handed
adjusting
module
finger
Prior art date
Application number
PCT/CN2016/110716
Other languages
English (en)
French (fr)
Inventor
杨志勇
Original Assignee
杨志勇
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 杨志勇 filed Critical 杨志勇
Publication of WO2018028108A1 publication Critical patent/WO2018028108A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

Definitions

  • the utility model relates to a clamping device, in particular to an automatic adjusting device.
  • the clamping members of existing clamping mechanisms or devices are mostly pneumatic jaws or finger cylinders. This type of pneumatic gripper or finger cylinder is used to hold the item. Because the stroke of the pneumatic gripper and the finger cylinder is limited, it can only clamp the items within the stroke range. Different sizes of items need to adopt different stroke range pneumatics. Clamping or finger cylinders are used for clamping, which has a narrow range of gripping items and poor versatility.
  • the utility model provides a clamping device with simple structure, low cost, firm clamping, good effect and strong versatility.
  • An automatically sized clamping device comprising a clamping finger and a mounting bracket, the clamping finger being coupled to a clamping adjustment unit, the clamping adjustment unit comprising an adjustment module and a clamping module, the adjustment module and the clamp
  • the holding modules are respectively mounted on the fixing frame, one side of the adjusting module is connected with the clamping finger, and the other side is connected with the clamping module, and the adjusting module drives the clamping finger to adjust the distance, and the clamping module passes
  • the adjustment module drives the gripping finger to grip the item.
  • the clamping device with automatic adjustment of the utility model is mainly composed of a clamping finger and a clamping adjustment unit, and the clamping adjustment unit is mainly composed of an adjustment module and a clamping module, and the clamping finger is controlled by the adjustment module.
  • the distance is adjusted by the clamping module, and then the clamping module drives the article to hold the article.
  • the component has few components, the structure is simple, and the cost is low; the adjustment module and the clamping module are arranged, and the article is adjusted and clamped by the adjustment module before clamping. Distance to the appropriate position, and then start the clamping module to clamp the item, the clamping is firm and the effect is good; at the same time, the setting of the adjustment module is used to adjust the clamping distance to achieve the purpose of clamping different sizes of objects, effectively improving The versatility of the clamping device.
  • the clamping module includes a clamping cylinder, a sliding rail, a left sliding block and a right sliding block, wherein the left sliding block and the right sliding block are respectively slidably connected with the sliding rail, and the left clamping member of the clamping cylinder
  • the adjustment module is connected to the left slider, and the right clamping member of the clamping cylinder is connected to the right slider through the adjustment module.
  • the clamping module is mainly composed of a clamping cylinder, a sliding rail, a left sliding block and a right sliding block, and the clamping cylinder, the sliding rail and the sliding block are all common parts, and the combination of the above common components is used as the driving of the clamping article.
  • the source is not only simple in structure, but also has abundant sources and low cost.
  • the clamping cylinder is a finger parallel cylinder, and the finger parallel cylinder is used as the clamping driving source, and the two parallel fingers of the finger parallel cylinder are synchronized away from or close to each other, which effectively ensures that the clamping article is stable and firm.
  • the adjustment module includes a left-handed fixing member, a right-handed fixing member and an adjusting screw, and the left-handed fixing member and the right-handed fixing member are frame-shaped structures, and the adjusting screw penetrates the left-handed fixing member and the right-handed rotation
  • the fixing member is disposed, the left-handing fixing member is connected to the left clamping member, the right-handing fixing member is connected to the right clamping member, and the clamping cylinder drives the left-handed fixing member and the right-handed fixing by the left clamping member and the right clamping member Pieces are moved relative or opposite.
  • One side of the adjusting screw is a left-handed screw portion, and the other side is a right-handed screw portion, and the left-handed fixing member is provided with a left-handed screw portion.
  • a left-handed adjustment block wherein the right-handed fixing member is provided with a right-handed adjustment block that cooperates with the right-handed screw portion.
  • Rotating the adjusting screw by adjusting the left-handed screw part and the right-handed screw part provided on the screw, respectively, by setting the left-handed adjusting block and the right-handed adjusting block which are matched with the left-handed screw part and the right-handed screw part, respectively, by rotating the adjusting screw coherently,
  • the left-handed adjustment block and the right-handed adjustment block simultaneously perform opposite or opposite movements to adjust the distance between the left-handed adjustment block and the right-handed adjustment block.
  • one end of the adjusting screw is connected to a driving mechanism, which is a motor or a human.
  • the driving mechanism drives the adjusting screw for the rotary motion, and the driving mechanism can select the motor driving or the manual driving according to the need, which is flexible and convenient.
  • the left-handed adjustment block is provided with a left finger for holding the article
  • the right-handed adjustment external portion is provided with a right finger for holding the article
  • the left finger and the right finger are oppositely disposed, the left finger and the left finger
  • the inner surface of the right finger is a flat or circular surface.
  • the left and right fingers are respectively connected with the left-handed adjustment block and the right-handed adjustment block, and the left-handed and right-handed adjustments are carried out by the left-handed adjustment block and the right-handed adjustment block.
  • the surface is set in a plane, it is used for clamping square objects.
  • the inner surface of the left and right fingers is designed as a circular arc surface, it is used for clamping a circular or curved surface, which is convenient and flexible to use.
  • the clamping device further includes a sensing module, the sensing module includes a left sensor and a right sensor, and the left sensor and the right sensor are respectively disposed at the bottom of the left-hand fixing member and the bottom of the right-hand fixing member.
  • the settings of the left and right sensors are used to automatically sense the item and automatically adjust the clamping distance.
  • the fixing frame includes a fixed bottom plate, and two ends of the fixed bottom plate are respectively provided a side plate disposed perpendicularly to the fixed bottom plate, one side of the fixed bottom plate and the clamping fixing plate, the clamping fixing plate being vertically arranged with the fixed bottom plate and the side plate, respectively.
  • slide rail is mounted on a fixed bottom plate between the two side plates, and the left-hand screw fixing member and the right-hand screw fixing member are respectively mounted on the side plates on both sides.
  • the utility model automatically adjusts the size of the clamping device, and has the following beneficial effects:
  • the clamping device of the automatic adjustment size of the utility model is mainly composed of a clamping finger and a clamping adjustment unit, and the clamping adjustment unit is mainly composed of an adjustment module and a clamping module, the clamp The finger is automatically adjusted by the adjustment module, and then the clamping module drives the object to be clamped.
  • the component has few components, simple structure and low cost;
  • the clamping is firm and the effect is good.
  • the adjustment module and the clamping module are arranged. Before the object is clamped, the clamping distance is adjusted to a suitable position by the adjusting module, and then the clamping module is started to clamp the article, and the clamping member thereof Strong and effective;
  • the versatility is strong, and the setting of the adjustment module is used for adjusting the clamping distance to achieve the purpose of clamping different sizes of articles, thereby effectively improving the versatility of the clamping device.
  • Figure 1 is a schematic view showing the structure of a self-adjusting clamping device of the present invention
  • FIG. 2 is a schematic view showing the structure of the automatic adjusting device of the present invention after removing one side plate.
  • an automatically sized clamping device includes a gripping finger 40 and a holder 10, the gripping finger 40 being coupled to a grip adjustment unit, the grip adjustment unit including adjustment
  • the module 30 and the clamping module 20, the adjusting module 30 and the clamping module 20 are respectively mounted on the fixing frame 10.
  • the fixing frame 10 includes a fixing bottom plate 11, and two ends of the fixing bottom plate 11 are respectively provided with a fixing bottom plate.
  • the clamping device with automatic adjustment of the utility model is mainly composed of a clamping finger 40 and a clamping adjustment unit.
  • the clamping adjustment unit is mainly composed of an adjustment module 30 and a clamping module 20, and the clamping finger 40 is composed of an adjustment module.
  • 30 automatically adjusts the distance, and then is carried by the clamping module 20 to hold the article, which has fewer components, simple structure and low cost; the adjustment module 30 and the clamping module 20 are arranged, and the articles are adjusted before being clamped.
  • the module 30 adjusts the clamping distance to a suitable position, and then activates the clamping module 20 to clamp the article, and the clamping is firm and effective; and the setting of the adjusting module 30 is used for adjusting the clamping distance to achieve different clamping.
  • the purpose of the large and small items effectively improves the versatility of the clamping device.
  • the clamping module 20 includes a clamping cylinder 26, a slide rail 21, a left slider 22 and a right slider 23, and the slide rail 21 is mounted between the two side plates 12 for fixing.
  • the left slider 22 and the right slider 23 are respectively slidably connected to the slide rail 21, and the left clamping member 24 of the clamping cylinder 26 is connected to the left slider 22 through the adjustment module 30, and the right clamping of the clamping cylinder 26 is performed.
  • the piece 25 is connected to the right slider 23 by the adjustment module 30.
  • the clamping module 20 is mainly composed of a clamping cylinder 26, a sliding rail 21, a left sliding block 22 and a right sliding block 23.
  • the clamping cylinder 26, the sliding rail 21 and the sliding block are all conventional parts, and the common components are used. In combination with the driving source as the holding article, the structure is not only simple, but also the sources of the above-mentioned common components are abundant and the cost is low.
  • the clamping cylinder 26 is a finger parallel cylinder, and uses a finger parallel cylinder as a clamping driving source. The two parallel fingers of the finger parallel cylinder are synchronized away from or close to each other, which effectively ensures that the clamping article is stable and firm.
  • the adjustment module 30 includes oppositely disposed left-handed fixing members 31, right-handed fixing members 32 and adjusting screws 33, and the left-handed fixing members 31 and the right-handed fixing members 32 are respectively mounted on both sides.
  • the left-handed fixing member 31 and the right-handed fixing member 32 are frame-shaped structures, and the adjusting screw 33 is disposed through the left-handed fixing member 31 and the right-handed fixing member 32, and the left-handed fixing member 31 and the left side
  • the clamping member 24 is connected, the right-handing fixing member 32 is connected to the right clamping member 25, and the clamping cylinder 26 drives the left-hand fixing member 31 and the right-hand fixing member 32 to be opposite by the left clamping member 24 and the right clamping member 25.
  • the left-handed fixing member 31 is provided with a left-handed adjusting block 36 that cooperates with the left-handed screw portion 34.
  • a right-handed adjustment block 37 that cooperates with the right-handed screw portion 35 is provided in the fixing member 32.
  • the adjustment screw 33 is rotated, and the left-handed screw portion 34 and the right-handed screw portion 35 provided on the screw 33 are adjusted to the left-handed adjustment block 36 and the right-handed adjustment block 37 which are respectively engaged with the left-handed screw portion 34 and the right-handed screw portion 35.
  • the block 36 and the right-handed adjustment block 37 simultaneously perform the relative movement or the opposite movement to adjust the distance between the left-hand adjustment block 36 and the right-hand adjustment block 37.
  • one end portion of the adjusting screw 33 is connected to a driving mechanism 60 which is an electric motor or a human power.
  • the driving mechanism 60 drives the adjusting screw 33 for the rotary motion, and the driving mechanism 60 can select the motor driving or the manual driving according to the need, which is flexible and convenient.
  • the gripping finger 40 includes a left finger 41 and a right finger 42.
  • the left-hand adjusting block 36 is externally provided with a left finger 41 for holding an article, and the right-handed adjustment externally is provided.
  • the left finger 41 and the right finger 42 are oppositely disposed to the right finger 42 of the article, and the inner surface 43 of the left finger 41 and the right finger 42 is a plane or a circular arc surface.
  • the left finger 41 and the right finger 42 are respectively connected to the left rotation adjustment block 36 and the right rotation adjustment block 37, and the left rotation adjustment block 36 and the right rotation adjustment block 37 move relative or opposite movements to clamp the article or release the article, the left hand.
  • the square object is clamped, and the inner surface 43 of the left finger 41 and the right finger 42 is a circular arc surface for holding a circular surface or an arc.
  • Shaped items are easy to use and flexible.
  • the clamping device further includes a sensing module 50.
  • the sensing module 50 includes a left sensor 51 and a right sensor 52.
  • the left sensor 51 and the right sensor 52 are respectively disposed on the The bottom of the left-hand fixing member 31 and the bottom of the right-hand fixing member 32.
  • the settings of the left sensor 51 and the right sensor 52 are used to automatically sense the item and automatically adjust the clamping distance.
  • the working principle of the automatic adjusting device of the utility model after the clamping device is energized, Firstly, the left sensor and the right sensor in the sensing module are used to detect the size of the article, and the drive motor outputs a command to the driving motor on the driving mechanism, and the driving motor rotates in sequence or in reverse order, so that the left finger on the finger is gripped.
  • the right finger moves relative or opposite direction.
  • the driving motor stops working, and then the parallel cylinder of the finger drives the left slider and the right slider as the clamping driving source, thereby clamping the left and right fingers. article.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

一种自动调节大小的夹持装置，包括夹持手指（40）和固定架（10），所述夹持手指（40）与夹持调节单元连接，所述夹持调节单元包括调节模块（30）和夹持模块（20），所述调节模块（30）和夹持模块（20）分别安装在固定架（10）上，所述调节模块（30）的一侧与夹持手指（40）连接，另一侧与夹持模块（20）连接，所述调节模块（30）带动夹持手指（40）进行距离大小调节，所述夹持模块（20）通过调节模块（30）带动夹持手指（40）夹持物品；所述自动调节大小的夹持装置具有结构简单、成本低、夹持牢固以及通用性强的优点。

Description

一种自动调节大小的夹持装置 技术领域
本实用新型涉及夹持装置，具体为一种自动调节大小的夹持装置。
背景技术
现有的夹持机构或装置的夹持部件多是气动夹爪或手指气缸。该种采用气动夹爪或手指气缸进行夹持物品的方式，由于气动夹爪和手指气缸的行程有限止，只能夹持行程范围内大小的物品，不同大小的物品需采用不同行程范围的气动夹爪或手指气缸来进行夹持，其夹持物品范围窄，通用性差。
实用新型内容
本实用新型提供了一种结构简单、成本低、夹持牢固、效果好以及通用性强的自动调节大小的夹持装置。
本实用新型可以通过以下技术方案来实现：
一种自动调节大小的夹持装置，包括夹持手指和固定架，所述夹持手指与夹持调节单元连接，所述夹持调节单元包括调节模块和夹持模块，所述调节模块和夹持模块分别安装在固定架上，所述调节模块的一侧与夹持手指连接，另一侧与夹持模块连接，所述调节模块带动夹持手指进行距离大小调节，所述夹持模块通过调节模块带动夹持手指夹持物品。本实用新型自动调节大小的夹持装置主要由夹持手指和夹持调节单元构成，所述夹持调节单元主要由调节模块和夹持模块构成，所述夹持手指由调节模块自 动调整距离大小，然后由夹持模块带动进行夹持物品，其零部件构成少，结构简单，成本低；调节模块和夹持模块的设置，物品在夹持前，先通过调节模块调节夹持距离至合适位置，然后再启动夹持模块进行夹持物品，其夹持牢固、效果好；同时调节模块的设置，用于进行夹持距离的调节，达到夹持不同大小物品的目的，有效提升了夹持装置的通用性。
进一步地，所述夹持模块包括夹持气缸、滑轨、左滑块和右滑块，所述左滑块和右滑块分别与滑轨滑动连接，所述夹持气缸的左夹持件通过调节模块与左滑块连接，夹持气缸的右夹持件通过调节模块与右滑块连接。夹持模块主要由夹持气缸、滑轨、左滑块和右滑块构成，其夹持气缸、滑轨、滑块均为常规零部件，采用上述常见零部件的结合作为夹持物品的驱动源，其不仅结构简单，而且上述常见零部件来源丰富，成本低廉。
进一步地，所述夹持气缸为手指平行气缸，采用手指平行气缸作为夹持驱动源，手指平行气缸两个相对平行设置的手指同步远离或靠近，其有效确保夹持物品稳定、牢固。
进一步地，所述调节模块包括相对设置的左旋固定件、右旋固定件和调节螺杆，所述左旋固定件和右旋固定件均为框形结构，所述调节螺杆贯穿左旋固定件和右旋固定件设置，所述左旋固定件与左夹持件连接，所述右旋固定件与右夹持件连接，夹持气缸通过左夹持件和右夹持件带动左旋固定件和右旋固定件作相对或相向运动。所述调节螺杆的一侧为左旋螺杆部，另一侧为右旋螺杆部，所述左旋固定件内设有与左旋螺杆部相配合的 左旋调节块，所述右旋固定件内设有与右旋螺杆部相配合的右旋调节块。旋转调节螺杆，通过调节螺杆上设置的左旋螺杆部和右旋螺杆部，以分别与左旋螺杆部和右旋螺杆部相配合的左旋调节块和右旋调节块的设置，通过旋转调节螺相干，左旋调节块和右旋调节块同时作相向运动或相背运动进行调节左旋调节块与右旋调节块之间的距离。
进一步地，所述调节螺杆的一端部与驱动机构连接，所述驱动机构为电机或者人力。通过驱动机构驱动调节螺杆作旋转运动，驱动机构可以根据需要选择电机驱动还是人力驱动，灵活方便。
进一步地，所述左旋调节块外部设有用于夹持物品的左手指，所述右旋调节外部设有用于夹持物品的右手指，所述左手指和右手指相对设置，所述左手指和右手指的内表面为平面或圆弧面。所述左手指和右手指分别与左旋调节块和右旋调节块连接，由左旋调节块和右旋调节块带动作相对或相向运动进行夹持物品或松开物品，左手指和右手指的内表面为平面设置时，用于夹持方形物品，左手指和右手指的内表面为圆弧面设计时，用于夹持有圆形面或弧形面物品，使用方便，灵活。
进一步地，夹持装置还包括感应模块，所述感应模块包括左感应器和右感应器，所述左感应器和右感应器分别设于所述左旋固定件底部和右旋固定件底部。左感应器和右感应器的设置，用于自动感应物品，自动调节夹持距离。
进一步地，所述固定架包括固定底板，所述固定底板的两端分别设有 与固定底板呈垂直设置的侧板，所述固定底板的一侧与夹持固定板，所述夹持固定板分别与固定底板和侧板呈垂直布置。
进一步地，所述滑轨安装在两侧板之间的固定底板上，所述左旋固定件和右旋固定件分别安装在两侧的侧板上。
本实用新型自动调节大小的夹持装置，具有如下的有益效果：
第一、结构简单、成本低，本实用新型自动调节大小的夹持装置主要由夹持手指和夹持调节单元构成，所述夹持调节单元主要由调节模块和夹持模块构成，所述夹持手指由调节模块自动调整距离大小，然后由夹持模块带动进行夹持物品，其零部件构成少，结构简单，成本低；
第二、夹持牢固、效果好，调节模块和夹持模块的设置，物品在夹持前，先通过调节模块调节夹持距离至合适位置，然后再启动夹持模块进行夹持物品，其夹持牢固、效果好；
第三、通用性强，调节模块的设置，用于进行夹持距离的调节，达到夹持不同大小物品的目的，有效提升了夹持装置的通用性。
附图说明
附图1为本实用新型自动调节大小的夹持装置的结构示意图；
附图2为本实用新型自动调节大小的夹持装置去掉一侧板后的结构示意图。
具体实施方式
为了使本技术领域的人员更好地理解本实用新型的技术方案，下面结合实施例及附图对本实用新型产品作进一步详细的说明。
如图1和图2所示，一种自动调节大小的夹持装置，包括夹持手指40和固定架10，所述夹持手指40与夹持调节单元连接，所述夹持调节单元包括调节模块30和夹持模块20，所述调节模块30和夹持模块20分别安装在固定架10上，所述固定架10包括固定底板11，所述固定底板11的两端分别设有与固定底板11呈垂直设置的侧板12，所述固定底板11的一侧与夹持固定板13连接，所述夹持固定板13分别与固定底板11和侧板12呈垂直布置，所述夹持模块20安装在夹持固定板13上，所述调节模块30安装在两侧板12上，所述调节模块30的一侧与夹持手指40连接，另一侧与夹持模块20连接，所述调节模块30带动夹持手指40进行距离大小调节，所述夹持模块20通过调节模块30带动夹持手指40夹持物品。本实用新型自动调节大小的夹持装置主要由夹持手指40和夹持调节单元构成，所述夹持调节单元主要由调节模块30和夹持模块20构成，所述夹持手指40由调节模块30自动调整距离大小，然后由夹持模块20带动进行夹持物品，其零部件构成少，结构简单，成本低；调节模块30和夹持模块20的设置，物品在夹持前，先通过调节模块30调节夹持距离至合适位置，然后再启动夹持模块20进行夹持物品，其夹持牢固、效果好；同时调节模块30的设置，用于进行夹持距离的调节，达到夹持不同大小物品的目的，有效提升了夹持装置的通用性。
如图1和图2所示，所述夹持模块20包括夹持气缸26、滑轨21、左滑块22和右滑块23，所述滑轨21安装在两侧板12之间的固定底板11上， 所述左滑块22和右滑块23分别与滑轨21滑动连接，所述夹持气缸26的左夹持件24通过调节模块30与左滑块22连接，夹持气缸26的右夹持件25通过调节模块30与右滑块23连接。夹持模块20主要由夹持气缸26、滑轨21、左滑块22和右滑块23构成，其夹持气缸26、滑轨21、滑块均为常规零部件，采用上述常见零部件的结合作为夹持物品的驱动源，其不仅结构简单，而且上述常见零部件来源丰富，成本低廉。所述夹持气缸26为手指平行气缸，采用手指平行气缸作为夹持驱动源，手指平行气缸两个相对平行设置的手指同步远离或靠近，其有效确保夹持物品稳定、牢固。
如图1和图2所示，所述调节模块30包括相对设置的左旋固定件31、右旋固定件32和调节螺杆33，所述左旋固定件31和右旋固定件32分别安装在两侧的侧板12上，所述左旋固定件31和右旋固定件32均为框形结构，所述调节螺杆33贯穿左旋固定件31和右旋固定件32设置，所述左旋固定件31与左夹持件24连接，所述右旋固定件32与右夹持件25连接，夹持气缸26通过左夹持件24和右夹持件25带动左旋固定件31和右旋固定件32作相对或相向运动。所述调节螺杆33的一侧为左旋螺杆部34，另一侧为右旋螺杆部35，所述左旋固定件31内设有与左旋螺杆部34相配合的左旋调节块36，所述右旋固定件32内设有与右旋螺杆部35相配合的右旋调节块37。旋转调节螺杆33，通过调节螺杆33上设置的左旋螺杆部34和右旋螺杆部35，以分别与左旋螺杆部34和右旋螺杆部35相配合的左旋调节块36和右旋调节块37的设置，通过旋转调节螺杆33，左旋调节 块36和右旋调节块37同时作相向运动或相背运动进行调节左旋调节块36与右旋调节块37之间的距离。
如图1和图2所示，所述调节螺杆33的一端部与驱动机构60连接，所述驱动机构60为电机或者人力。通过驱动机构60驱动调节螺杆33作旋转运动，驱动机构60可以根据需要选择电机驱动还是人力驱动，灵活方便。
如图1和图2所示，所述夹持手指40包括左手指41和右手指42，所述左旋调节块36外部设有用于夹持物品的左手指41，所述右旋调节外部设有用于夹持物品的右手指42，所述左手指41和右手指42相对设置，所述左手指41和右手指42的内表面43为平面或圆弧面。所述左手指41和右手指42分别与左旋调节块36和右旋调节块37连接，由左旋调节块36和右旋调节块37带动作相对或相向运动进行夹持物品或松开物品，左手指41和右手指42的内表面43为平面设置时，用于夹持方形物品，左手指41和右手指42的内表面43为圆弧面设计时，用于夹持有圆形面或弧形面物品，使用方便，灵活。
如图1和图2所示，夹持装置还包括感应模块50，所述感应模块50包括左感应器51和右感应器52，所述左感应器51和右感应器52分别设于所述左旋固定件31底部和右旋固定件32底部。左感应器51和右感应器52的设置，用于自动感应物品，自动调节夹持距离。
本实用新型自动调节大小的夹持装置的工作原理：夹持装置通电后， 首先由感应模块中的左感应器和右感应器对物品进行大小的检测，并通过驱动器对驱动机构上的驱动电机输出指令，驱动电机作顺序或逆序旋转，使夹持手指上的左手指和右手指作相对或相向运动，当夹持手指到达物品外缘时，驱动电机停止工作，然后手指平行气缸作为夹持驱动源驱动左滑块和右滑块运动，从而使左、右手指夹紧物品。
以上所述，仅为本实用新型的较佳实施例而已，并非对本实用新型作任何形式上的限制；凡本行业的普通技术人员均可按说明书附图所示和以上所述而顺畅地实施本实用新型；但是，凡熟悉本专业的技术人员在不脱离本实用新型技术方案范围内，可利用以上所揭示的技术内容而作出的些许更动、修饰与演变的等同变化，均为本实用新型的等效实施例；同时，凡依据本实用新型的实质技术对以上实施例所作的任何等同变化的更动、修饰与演变等，均仍属于本实用新型的技术方案的保护范围之内。

Claims (10)

  1. 一种自动调节大小的夹持装置，包括夹持手指和固定架，其特征在于：所述夹持手指与夹持调节单元连接，所述夹持调节单元包括调节模块和夹持模块，所述调节模块和夹持模块分别安装在固定架上，所述调节模块的一侧与夹持手指连接，另一侧与夹持模块连接，所述调节模块带动夹持手指进行距离大小调节，所述夹持模块通过调节模块带动夹持手指夹持物品。
  2. 根据权利要求1所述的自动调节大小的夹持装置，其特征在于：所述夹持模块包括夹持气缸、滑轨、左滑块和右滑块，所述左滑块和右滑块分别与滑轨滑动连接，所述夹持气缸的左夹持件通过调节模块与左滑块连接，夹持气缸的右夹持件通过调节模块与右滑块连接。
  3. 根据权利要求2所述的自动调节大小的夹持装置，其特征在于：所述夹持气缸为手指平行气缸。
  4. 根据权利要求1至3任一项权利要求所述的自动调节大小的夹持装置，其特征在于：所述调节模块包括相对设置的左旋固定件、右旋固定件和调节螺杆，所述左旋固定件和右旋固定件均为框形结构，所述调节螺杆贯穿左旋固定件和右旋固定件设置，所述左旋固定件与左夹持件连接，所述右旋固定件与右夹持件连接，夹持气缸通过左夹持件和右夹持件带动左旋固定件和右旋固定件作相对或相向运动。
  5. 根据权利要求4所述的自动调节大小的夹持装置，其特征在于：所述调节螺杆的一侧为左旋螺杆部，另一侧为右旋螺杆部，所述左旋固定 件内设有与左旋螺杆部相配合的左旋调节块，所述右旋固定件内设有与右旋螺杆部相配合的右旋调节块。
  6. 根据权利要求5所述的自动调节大小的夹持装置，其特征在于：所述调节螺杆的一端部与驱动机构连接，所述驱动机构为电机或者人力。
  7. 根据权利要求6所述的自动调节大小的夹持装置，其特征在于：所述左旋调节块外部设有用于夹持物品的左手指，所述右旋调节外部设有用于夹持物品的右手指，所述左手指和右手指相对设置，所述左手指和右手指的内表面为平面或圆弧面。
  8. 根据权利要求7所述的自动调节大小的夹持装置，其特征在于：还包括感应模块，所述感应模块包括左感应器和右感应器，所述左感应器和右感应器分别设于所述左旋固定件底部和右旋固定件底部。
  9. 根据权利要求8所述的自动调节大小的夹持装置，其特征在于：所述固定架包括固定底板，所述固定底板的两端分别设有与固定底板呈垂直设置的侧板，所述固定底板的一侧与夹持固定板，所述夹持固定板分别与固定底板和侧板呈垂直布置。
  10. 根据权利要求9所述的自动调节大小的夹持装置，其特征在于：所述滑轨安装在两侧板之间的固定底板上，所述左旋固定件和右旋固定件分别安装在两侧的侧板上。
PCT/CN2016/110716 2016-08-09 2016-12-19 一种自动调节大小的夹持装置 WO2018028108A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201620853571.4U CN205998635U (zh) 2016-08-09 2016-08-09 一种自动调节大小的夹持装置
CN201620853571.4 2016-08-09

Publications (1)

Publication Number Publication Date
WO2018028108A1 true WO2018028108A1 (zh) 2018-02-15

Family

ID=58199954

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/110716 WO2018028108A1 (zh) 2016-08-09 2016-12-19 一种自动调节大小的夹持装置

Country Status (2)

Country Link
CN (1) CN205998635U (zh)
WO (1) WO2018028108A1 (zh)

Cited By (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108247564A (zh) * 2018-04-04 2018-07-06 苏州市远凌纺织有限公司 一种用于纺织辊体加工夹持装置
CN108516319A (zh) * 2018-06-08 2018-09-11 佛山市光华智能设备有限公司 一种新型全自动泡沫陶瓷翻面机
CN108748225A (zh) * 2018-06-29 2018-11-06 平湖市浩鑫塑胶有限公司 一种塑料瓶的夹持提取机构
CN108844812A (zh) * 2018-07-10 2018-11-20 张家港市凯利雅特种纺织纱线有限公司 一种氨纶布料的弹力测试用夹具
CN109081289A (zh) * 2018-08-23 2018-12-25 常州市泰瑞包装科技有限公司 高精度可调瓶模
CN109378678A (zh) * 2018-11-22 2019-02-22 深圳市新富城电子有限公司 一种探针半自动组立机
CN109454661A (zh) * 2018-11-28 2019-03-12 昆山源博信予智能装备有限公司 一种用于桁架的夹持装置及其使用方法
CN109806052A (zh) * 2019-04-01 2019-05-28 镇江市高等专科学校 一种医院理疗康复用骨科牵引器
CN109849037A (zh) * 2019-04-11 2019-06-07 上海焕巍智能科技有限公司 一种机器人抓手
CN109969791A (zh) * 2019-03-30 2019-07-05 深圳市亚的斯自动化设备有限公司 一种贴片机无板边运输机构
CN110202835A (zh) * 2019-07-16 2019-09-06 河南本杰科技有限公司 一种鞋盒透气孔安扣机
CN110203738A (zh) * 2019-05-27 2019-09-06 慈溪市宝翔机械有限公司 一种石墨上料机构及一种缠绕垫片自动缠绕机
CN110293393A (zh) * 2019-07-01 2019-10-01 福建星云电子股份有限公司 一种四轴反作用拧紧装置
CN110303429A (zh) * 2019-07-24 2019-10-08 德屹智能科技(扬州)有限公司 适应工件偏差的机器人打磨抓手
CN111629866A (zh) * 2018-09-07 2020-09-04 深圳配天智能技术研究院有限公司 机器人及夹取装置
CN111791254A (zh) * 2020-08-06 2020-10-20 西安航天自动化股份有限公司 一种夹持尺寸无级调节的旋转式机械手
CN112060122A (zh) * 2020-08-31 2020-12-11 西安精雕精密机械工程有限公司 一种一体式气动双手爪棒料抓取机构
CN113102570A (zh) * 2021-03-25 2021-07-13 东风汽车底盘系统有限公司 一种型材轮辋卷圆自动夹取出料装置
CN113386103A (zh) * 2021-06-15 2021-09-14 深圳市创一智能装备有限公司 夹取装置及龙门装置
CN113600700A (zh) * 2021-08-09 2021-11-05 常州众研科技发展有限公司 一种折弯机用工件输送机构
CN113858242A (zh) * 2021-10-21 2021-12-31 洛阳富道生物科技有限公司 一种细胞工厂生产用送料机械手
CN114029900A (zh) * 2021-11-04 2022-02-11 东港股份有限公司 一种ic卡高空插拔装置
CN114211522A (zh) * 2022-01-24 2022-03-22 北京晨购科技有限公司 一种自动机机械抓手
CN114326477A (zh) * 2021-12-02 2022-04-12 四川广目科技有限公司 基于开源框架的智能感知工业机器人的控制系统
CN114393516A (zh) * 2021-12-23 2022-04-26 盐城汇达玻璃仪器有限公司 一种生产效率高的三角烧瓶圆口机
CN114474115A (zh) * 2022-01-28 2022-05-13 西安交通大学 一种刚柔耦合仿生手指及夹爪
CN114516065A (zh) * 2022-03-17 2022-05-20 蒋济水 一种避免机械惯性损坏夹持品的人工智能夹持装置
CN115156828A (zh) * 2022-09-09 2022-10-11 徐州淮海新能源汽车有限公司 一种新能源汽车车架拼焊用夹持机构及拼焊装置

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205998635U (zh) * 2016-08-09 2017-03-08 杨志勇 一种自动调节大小的夹持装置
CN108622646A (zh) * 2017-03-15 2018-10-09 昆山东威电镀设备技术有限公司 一种用于pcb板的上下料装置
CN108748234B (zh) * 2018-06-15 2021-11-05 芜湖易迅生产力促进中心有限责任公司 一种机器人用灵活夹具
CN111121555A (zh) * 2018-10-31 2020-05-08 沈阳新松机器人自动化股份有限公司 组合盆花包装设备中的机械手结构
CN110303470A (zh) * 2019-07-23 2019-10-08 东莞广泽汽车饰件有限公司 一种用于排挡框的机械手安装装置
CN112130350A (zh) * 2020-09-16 2020-12-25 董瑞清 一种眼镜清洗夹持调节系统
CN112548903B (zh) * 2020-12-11 2022-08-23 苏州市通吉汽车零部件有限公司 一种高强度车身机构加工用悬挂固定机构
CN113606815B (zh) * 2021-09-15 2023-07-07 河北纳森人工环境有限公司 一种环保型超低温空气源热泵

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4707013A (en) * 1986-05-30 1987-11-17 The United States Of America As Represented By The Secretary Of Commerce Split rail parallel gripper
CN1923472A (zh) * 2006-09-08 2007-03-07 清华大学 一种袋类包装搬运码垛机器人手部
CN103056873A (zh) * 2013-01-22 2013-04-24 江苏新光数控技术有限公司 一种用于打标机的机械手
US20140028118A1 (en) * 2012-07-25 2014-01-30 Fanuc Corporation Force-controlled electric hand
CN103803301A (zh) * 2014-03-07 2014-05-21 苏州博众精工科技有限公司 一种载具夹取机构
CN203612638U (zh) * 2013-11-20 2014-05-28 东莞市传进机械有限公司 一种取料装置
CN205129884U (zh) * 2015-11-16 2016-04-06 哈尔滨泓鑫数控机电工程有限公司 一种伺服同步夹具
CN205415670U (zh) * 2015-12-22 2016-08-03 广州长仁工业科技有限公司 抓纸箱夹手
CN205998635U (zh) * 2016-08-09 2017-03-08 杨志勇 一种自动调节大小的夹持装置

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4707013A (en) * 1986-05-30 1987-11-17 The United States Of America As Represented By The Secretary Of Commerce Split rail parallel gripper
CN1923472A (zh) * 2006-09-08 2007-03-07 清华大学 一种袋类包装搬运码垛机器人手部
US20140028118A1 (en) * 2012-07-25 2014-01-30 Fanuc Corporation Force-controlled electric hand
CN103056873A (zh) * 2013-01-22 2013-04-24 江苏新光数控技术有限公司 一种用于打标机的机械手
CN203612638U (zh) * 2013-11-20 2014-05-28 东莞市传进机械有限公司 一种取料装置
CN103803301A (zh) * 2014-03-07 2014-05-21 苏州博众精工科技有限公司 一种载具夹取机构
CN205129884U (zh) * 2015-11-16 2016-04-06 哈尔滨泓鑫数控机电工程有限公司 一种伺服同步夹具
CN205415670U (zh) * 2015-12-22 2016-08-03 广州长仁工业科技有限公司 抓纸箱夹手
CN205998635U (zh) * 2016-08-09 2017-03-08 杨志勇 一种自动调节大小的夹持装置

Cited By (40)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108247564A (zh) * 2018-04-04 2018-07-06 苏州市远凌纺织有限公司 一种用于纺织辊体加工夹持装置
CN108516319A (zh) * 2018-06-08 2018-09-11 佛山市光华智能设备有限公司 一种新型全自动泡沫陶瓷翻面机
CN108516319B (zh) * 2018-06-08 2024-04-26 佛山市光华智能设备有限公司 一种新型全自动泡沫陶瓷翻面机
CN108748225A (zh) * 2018-06-29 2018-11-06 平湖市浩鑫塑胶有限公司 一种塑料瓶的夹持提取机构
CN108844812A (zh) * 2018-07-10 2018-11-20 张家港市凯利雅特种纺织纱线有限公司 一种氨纶布料的弹力测试用夹具
CN109081289A (zh) * 2018-08-23 2018-12-25 常州市泰瑞包装科技有限公司 高精度可调瓶模
CN109081289B (zh) * 2018-08-23 2023-10-03 常州市泰瑞包装科技有限公司 高精度可调瓶模
CN111629866A (zh) * 2018-09-07 2020-09-04 深圳配天智能技术研究院有限公司 机器人及夹取装置
CN109378678A (zh) * 2018-11-22 2019-02-22 深圳市新富城电子有限公司 一种探针半自动组立机
CN109378678B (zh) * 2018-11-22 2023-10-13 深圳市新富城电子有限公司 一种探针半自动组立机
CN109454661A (zh) * 2018-11-28 2019-03-12 昆山源博信予智能装备有限公司 一种用于桁架的夹持装置及其使用方法
CN109969791A (zh) * 2019-03-30 2019-07-05 深圳市亚的斯自动化设备有限公司 一种贴片机无板边运输机构
CN109969791B (zh) * 2019-03-30 2024-03-26 深圳市亚的斯自动化设备有限公司 一种贴片机无板边运输机构
CN109806052A (zh) * 2019-04-01 2019-05-28 镇江市高等专科学校 一种医院理疗康复用骨科牵引器
CN109806052B (zh) * 2019-04-01 2023-08-15 镇江市高等专科学校 一种医院理疗康复用骨科牵引器
CN109849037A (zh) * 2019-04-11 2019-06-07 上海焕巍智能科技有限公司 一种机器人抓手
CN109849037B (zh) * 2019-04-11 2023-09-19 上海焕巍智能科技有限公司 一种机器人抓手
CN110203738A (zh) * 2019-05-27 2019-09-06 慈溪市宝翔机械有限公司 一种石墨上料机构及一种缠绕垫片自动缠绕机
CN110293393A (zh) * 2019-07-01 2019-10-01 福建星云电子股份有限公司 一种四轴反作用拧紧装置
CN110293393B (zh) * 2019-07-01 2023-12-05 福建星云电子股份有限公司 一种四轴反作用拧紧装置
CN110202835A (zh) * 2019-07-16 2019-09-06 河南本杰科技有限公司 一种鞋盒透气孔安扣机
CN110303429B (zh) * 2019-07-24 2024-06-07 德屹智能科技(扬州)有限公司 适应工件偏差的机器人打磨抓手
CN110303429A (zh) * 2019-07-24 2019-10-08 德屹智能科技(扬州)有限公司 适应工件偏差的机器人打磨抓手
CN111791254A (zh) * 2020-08-06 2020-10-20 西安航天自动化股份有限公司 一种夹持尺寸无级调节的旋转式机械手
CN112060122A (zh) * 2020-08-31 2020-12-11 西安精雕精密机械工程有限公司 一种一体式气动双手爪棒料抓取机构
CN113102570A (zh) * 2021-03-25 2021-07-13 东风汽车底盘系统有限公司 一种型材轮辋卷圆自动夹取出料装置
CN113102570B (zh) * 2021-03-25 2023-03-21 东风汽车底盘系统有限公司 一种型材轮辋卷圆自动夹取出料装置
CN113386103A (zh) * 2021-06-15 2021-09-14 深圳市创一智能装备有限公司 夹取装置及龙门装置
CN113600700B (zh) * 2021-08-09 2023-08-22 佛山市南海区汇攀金属制品有限公司 一种折弯机用工件输送机构
CN113600700A (zh) * 2021-08-09 2021-11-05 常州众研科技发展有限公司 一种折弯机用工件输送机构
CN113858242B (zh) * 2021-10-21 2023-09-22 洛阳富道生物科技有限公司 一种细胞工厂生产用送料机械手
CN113858242A (zh) * 2021-10-21 2021-12-31 洛阳富道生物科技有限公司 一种细胞工厂生产用送料机械手
CN114029900A (zh) * 2021-11-04 2022-02-11 东港股份有限公司 一种ic卡高空插拔装置
CN114326477A (zh) * 2021-12-02 2022-04-12 四川广目科技有限公司 基于开源框架的智能感知工业机器人的控制系统
CN114393516A (zh) * 2021-12-23 2022-04-26 盐城汇达玻璃仪器有限公司 一种生产效率高的三角烧瓶圆口机
CN114211522A (zh) * 2022-01-24 2022-03-22 北京晨购科技有限公司 一种自动机机械抓手
CN114474115A (zh) * 2022-01-28 2022-05-13 西安交通大学 一种刚柔耦合仿生手指及夹爪
CN114516065A (zh) * 2022-03-17 2022-05-20 蒋济水 一种避免机械惯性损坏夹持品的人工智能夹持装置
CN115156828B (zh) * 2022-09-09 2022-11-18 徐州淮海新能源汽车有限公司 一种新能源汽车车架拼焊用夹持机构及拼焊装置
CN115156828A (zh) * 2022-09-09 2022-10-11 徐州淮海新能源汽车有限公司 一种新能源汽车车架拼焊用夹持机构及拼焊装置

Also Published As

Publication number Publication date
CN205998635U (zh) 2017-03-08

Similar Documents

Publication Publication Date Title
WO2018028108A1 (zh) 一种自动调节大小的夹持装置
CN103481290B (zh) 一种码垛机器人吸盘抓手装置
AU2019101577A4 (en) Industrial robot for gripping
WO2016183877A1 (zh) 一种移载机械手
CN209491770U (zh) 一种对中机械手夹具装置
CN208051435U (zh) 胀块式夹紧机构
CN205219154U (zh) 旋转式机械手
WO2021017187A1 (zh) 一种用于抓取工作的工业机器人
JP6689447B2 (ja) 電動クランピング装置
CN205520998U (zh) 一种可设置夹紧力的电动虎钳
CN103273442A (zh) 一种大型工件翻转夹紧装置
CN207309962U (zh) 一种平行装夹的机器人夹具
WO2018201527A1 (zh) 底面贴标机的定位夹紧装置
CN210500270U (zh) 一种新型的机器人伸缩手
CN208841442U (zh) 一种位置可调的柔性夹持模块
CN208543151U (zh) 一种车架板材焊接直角夹
CN209288837U (zh) 一种电磁吸盘固定装置
CN209774694U (zh) 可调式机械爪
JP2010023120A (ja) ロボットハンドとこれを用いた対象物の把持方法
CN212291886U (zh) 一种pvc生产用的送料装置
CN208592764U (zh) 一种自动锁螺丝机器人用产品定位装夹治具
CN204382120U (zh) 一种手动液压台钳
CN109719750B (zh) 一种车辆b柱抓取装置
CN208068081U (zh) 夹持尺寸调节型夹具
CN213165422U (zh) 一种夹爪装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16912562

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16912562

Country of ref document: EP

Kind code of ref document: A1