WO2019061566A1 - 夹持装置及具有该夹持装置的机械手 - Google Patents
夹持装置及具有该夹持装置的机械手 Download PDFInfo
- Publication number
- WO2019061566A1 WO2019061566A1 PCT/CN2017/106166 CN2017106166W WO2019061566A1 WO 2019061566 A1 WO2019061566 A1 WO 2019061566A1 CN 2017106166 W CN2017106166 W CN 2017106166W WO 2019061566 A1 WO2019061566 A1 WO 2019061566A1
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- WIPO (PCT)
- Prior art keywords
- clamping
- fixing
- rotatably connected
- driving
- mounting
- Prior art date
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- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
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- 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
Definitions
- the utility model relates to a clamping device and a manipulator having the same, in particular to a clamping device capable of automatically adjusting and a robot having the clamping device.
- a robot In automated production, a robot is often used to grip the workpiece.
- the clamping device of the existing robot hand usually adopts a rigid clamping. When there is an error in the position of the workpiece, forcibly grasping may cause damage to the workpiece, affecting production efficiency and causing great waste.
- a clamping device for clamping a workpiece comprising a mounting plate, a fixing frame and a clamping mechanism, wherein the mounting plate is mounted on a driving arm of the robot, the mounting plate is disposed away from a side of the robot There is at least one bump, the fixing frame comprises a rotating shaft, two first fixing plates, two second fixing plates and two elastic members, two first fixing plates are oppositely disposed, and each of the two fixing plates is opposite ends Two ends of the first fixing plate are respectively connected to the same side, and the first fixing plate is rotatably connected to the protruding block through the rotating shaft, and the two ends of the elastic members respectively elastically resist the mounting plate and the second fixing
- the plates are respectively located on two sides of the rotating shaft, the fixing frame can be rotated to adapt to the position of the workpiece, and the two elastic members elastically push the rotating frame to be reset.
- the clamping mechanism comprises a driving member and two clamping blocks, and the two clamping members
- the block is rotatably connected to the first fixing plate, and the driving member connects the two clamping blocks, and the driving member drives the two clamping blocks to rotate to grip the workpiece.
- the clamping mechanism further includes a connecting member and two rotating members, wherein the driving member is disposed in the fixing frame, and the connecting member is connected at one end to the driving portion of the driving member, and the other end of the connecting member passes through the first portion a fixing plate, one end of the two rotating members is rotatably connected to the connecting member, and the other end of each of the rotating members is rotatably connected to a corresponding one of the clamping blocks, and the middle portions of the two clamping blocks are rotatably connected, the driving The piece drives the connecting member to move toward the two clamping blocks, the connecting member opens the two rotating members to both sides, and the two rotating members drive the free ends of the two clamping blocks to close to clamp the workpiece .
- each of the clamping blocks includes a connecting end and a connecting end, and a portion of the clamping end adjacent to the connecting end is rotatably connected to another clamping block, and each of the connecting ends is respectively connected to the corresponding one of the rotating blocks. Pieces.
- the width of the clamping end gradually decreases away from the connecting end.
- the connecting member is provided with two mounting plates at one end of the driving member, and one end of the two rotating members is rotatably connected between the two mounting plates, and the other end of each of the rotating members respectively corresponds to One of the clamping blocks is rotatably coupled.
- the fixing frame further comprises two hydraulic cylinders, each of the hydraulic cylinders comprising an associated main body and a pressing rod, the main body is mounted on the second fixing plate, and the pressing rod abuts on the mounting plate, each The hydraulic cylinder is adjacent to a corresponding one of the elastic members, and the hydraulic cylinder cooperates with the elastic member for buffering and resetting.
- a relief groove is disposed on the second fixing plate corresponding to the protrusion to avoid the protrusion.
- each of the first fixing plates extends toward a side of the mounting plate to form a mounting block, and each of the mounting blocks is provided with a mounting hole, and each of the protruding blocks is provided with a connecting hole, and the rotating shaft is worn. Two mounting holes and two of the connecting holes are passed through to rotatably connect the mounting block to the bump.
- a manipulator includes a driving arm and a clamping device, the clamping device is disposed on the driving arm, and the driving arm is capable of driving the clamping device to move, the clamping device package
- the mounting plate, the fixing frame and the clamping mechanism are mounted on the driving arm of the robot, and the mounting plate is provided with at least one protrusion facing away from the side of the robot
- the fixing frame includes a rotating shaft and two first The fixing plate, the two second fixing plates and the two elastic members are disposed opposite to each other, and the two ends of the second fixing plate are respectively connected with two ends of the first fixing plate on the same side.
- the first fixing plate is rotatably connected to the protruding block by the rotating shaft, and the two elastic members respectively elastically resist the mounting plate and the second fixing plate and are respectively located on two sides of the rotating shaft, and the fixing frame can be rotated to adapt The position of the workpiece, the two elastic members elastically push the rotation of the fixing frame, the clamping mechanism comprises a driving member and two clamping blocks, and the two clamping blocks are rotatably connected to the first fixing plate, and the driving The piece connects the two clamping blocks, and the driving member drives the two clamping blocks to rotate to grip the workpiece.
- the clamping mechanism further includes a connecting member and two rotating members, wherein the driving member is disposed in the fixing frame, and the connecting member is connected at one end to the driving portion of the driving member, and the other end of the connecting member passes through the first portion a fixing plate, one end of the two rotating members is rotatably connected to the connecting member, and the other end of each of the rotating members is rotatably connected to a corresponding one of the clamping blocks, and the middle portions of the two clamping blocks are rotatably connected, the driving The piece drives the connecting member to move toward the two clamping blocks, the connecting member opens the two rotating members to both sides, and the two rotating members drive the free ends of the two clamping blocks to close to clamp the workpiece .
- the clamping device of the utility model rotates the fixing bracket on the mounting plate.
- the holder can be rotated to adjust to the position of the workpiece.
- the elastic member drives the fixing frame to be reset.
- the clamping device of the utility model can avoid damage of the workpiece caused by forced gripping caused by the position error of the workpiece.
- FIG. 1 is a perspective view of a manipulator of an embodiment of the present invention.
- Figure 2 is a perspective view of the clamping device of the robot shown in Figure 1.
- Figure 3 is a perspective view of the clamping device of Figure 2 at another angle.
- Figure 4 is an exploded perspective view of the holding device of Figure 2;
- Robot 100 Drive arm 10 Clamping device 20 Mounting plate twenty one Bump 212 Connection hole 2120 Fixing frame twenty three Rotating shaft 231 First fixing plate 233 Mounting holes 2330 Mounting block 2331 Avoidance slot 2332 Second fixing plate 235 Avoidance slot 2352 Fixed block 2354 Elastic part 237 Hydraulic cylinder 239 Clamping mechanism 252
- an embodiment of the present invention provides a robot 100 for clamping a workpiece.
- the robot 100 includes a drive arm 10 and a clamping device 20.
- Clamping device 20 It is used on the driving arm 10 for gripping the workpiece.
- the drive arm 10 is capable of driving the gripping device 20 to move to carry the workpiece.
- the clamping device 20 includes a mounting plate 21, a fixing frame 23 and a clamping mechanism 25.
- the mounting plate 21 is mounted on the drive arm 10.
- the holder 23 is rotatably mounted on the mounting plate 21.
- the clamping mechanism 25 is mounted on the fixing frame 23 for gripping the workpiece.
- the fixing frame 23 can drive the clamping mechanism 25 to adjust the rotation to absorb the error of the workpiece position.
- the mounting plate 21 is a rectangular plate body that is mounted to the connecting end of the driving arm 10.
- the side of the mounting plate 21 facing away from the driving arm 10 is provided with at least one bump 212 to mount the fixing frame 23. At least one of the bumps 212 is disposed perpendicular to the mounting plate 21.
- the number of the bumps 212 is two, and the two bumps 212 are parallel and oppositely disposed.
- the fixing frame 23 includes a rotating shaft 231, two first fixing plates 233 and two second fixing plates 235.
- the two first fixing plates 233 are oppositely disposed.
- the two second fixing plates 235 are respectively connected to two ends of the two first fixing plates 233 on the same side.
- the two first fixing plates 233 and the two second fixing plates 235 are connected end to end to form an approximately rectangular frame.
- a mounting block 2331 extends from a side of each of the first fixing plates 233 toward the mounting plate 21.
- a mounting hole 2330 is provided in each mounting block 2331.
- Each of the bumps 212 is provided with a connecting hole 2120.
- the rotating shaft 231 simultaneously rotatably connects the mounting block 2331 and the bump 212 through the two mounting holes 2330 and the two connecting holes 2120.
- each of the mounting blocks 2331 toward one end of the mounting plate 21 is gradually reduced, and is substantially tapered to facilitate relative rotation of the first fixing plate 233.
- the mounting block 2331 can also be a rectangular structure as long as it is far enough away from the mounting plate 21 to avoid collision when rotated.
- a second securing plate 235 adjacent to the bump 212 is provided with a relief groove 2352.
- the avoidance groove 2352 parallels the rotation shaft 231 to the second fixing plate
- the 235 is divided into two fixed blocks 2354. It can be understood that in other embodiments, the escape groove 2352 can also be eliminated as long as the second fixing plate 235 is far enough away from the protrusion 212 to avoid collision when rotating.
- the fixing frame 23 further includes two elastic members 237.
- the two ends of each elastic member 237 are respectively elastically resisted on the mounting plate 21 and the corresponding one of the fixing blocks 2354.
- the fixing frame 23 is maintained in a stable state.
- the elastic member 237 is used for resetting after being buffered and rotated while rotating.
- the fixing frame 23 further includes two hydraulic cylinders 239.
- Each hydraulic cylinder 239 includes a main body and a pressing rod. The body of the hydraulic cylinder 239 is mounted to a corresponding one of the fixed blocks 2354. The pressing rod of the hydraulic cylinder 239 abuts against the mounting plate 21.
- Each hydraulic cylinder 239 is adjacent to a respective one of the elastic members 237.
- the hydraulic cylinder 239 is used for cushioning and resetting in conjunction with the elastic member 237. It will be appreciated that in other embodiments, the hydraulic cylinder 239 may also be eliminated as long as the resilient member 237 is sufficiently cushioned to reset.
- the clamping mechanism 25 includes a driving member 252, a connecting member 254, two rotating members 256, and two clamping blocks 258.
- the driving member 252 is mounted in the fixing frame 23.
- the main body of the driving member 252 is fixedly coupled to the second fixing plate 235 away from the driving arm 10.
- the driving portion of the driving member 252 faces the mounting board 21.
- One end of the connecting member 254 is connected to the driving portion of the driving member 252, and the other end of the connecting member 254 passes through the first fixing plate 233.
- the first fixing plate 233 is provided with a avoidance groove 2332 to allow the connecting member 254 to move.
- the connecting member 254 is substantially F-shaped, and two mounting plates 2542 are provided at one end of the driving member 252.
- One end of the two rotating members 256 is rotatably connected between the two mounting plates 2542.
- the other end of each of the rotating members 256 is rotatably coupled to a corresponding one of the clamping blocks 258, respectively.
- one end of the two rotating members 256 is rotatably connected between the two mounting plates 2542 via a rotating shaft.
- the other ends of the two rotating members 256 are rotatably connected to the corresponding one of the clamping blocks 258 via the other rotating shaft.
- Each clamping block 258 includes a connected clamping end 2581 and a connecting end 2583.
- the cross section of the grip end 2581 is substantially triangular.
- the width of the clamping end 2581 is gradually reduced in a direction away from the connecting end 2583.
- a knurl is provided on one side of each of the gripping ends 2581 toward the other gripping end 2581 to increase grip stability.
- the portion of the clamping end 2581 near the connecting end 2583 is rotatably coupled to the other clamping block 258.
- the connecting end 2583 is generally semi-circular.
- Each of the connecting ends is connected to a corresponding one of the rotating members 256.
- the connector 254 pushes the two rotating members 256 apart to the sides.
- the two rotating members 256 respectively push the two connecting ends 2583 to open to both sides while closing the two clamping ends 2581 to the middle to clamp the workpiece.
- the connecting member 254 is moved away from the clamping block 258, the two clamping ends 2581 are opened to release the workpiece.
- the mounting plate 21 is locked to the connecting end of the driving arm 10 by screws or the like.
- the first fixing plate 233 and the second fixing plate 235 are connected and fixed.
- the first fixing plate 233 and the bump 212 are rotatably connected by the rotating shaft 231.
- Two elastic members 237 and two hydraulic cylinders 239 are respectively mounted on the mounting plate 21 and the fixing block 2354.
- the driving member 252 is fixed to the first fixing plate 233 and the second fixing plate 235, and the connecting member 254 is connected to the driving portion of the driving member 252.
- the two rotating members 256 are rotatably mounted on the mounting plate 2542 through the rotating shaft, and the other ends of the rotating member 256 are respectively rotatably connected to the clamping block 258 through the rotating shaft.
- the two clamping blocks 258 are also rotatably connected by a rotating shaft to complete the installation.
- the drive arm 10 drives the gripping device 20 toward the workpiece and aligns the grip end 2581 with the workpiece.
- the driving member 252 drives the connecting member 254 to move toward the clamping block 258, and the connecting member 254 pushes the two rotating members 256 to open to both sides.
- the two rotating members 256 respectively push the two connecting ends 2583 to open to both sides while closing the two clamping ends 2581 to the middle to clamp the workpiece. If there is a deviation between the workpiece position and the preset position, the holder 23 can be rotated to adjust the position of the workpiece. After that, drive arm 10 drive The movable gripping device 20 is moved to a preset location.
- the drive member 252 drives the connector 254 away from the clamping block 258, which pushes the two rotating members 256 toward the middle.
- the two rotating members 256 respectively push the two connecting ends 2583 to the middle to close, while the two clamping ends 2581 are opened to both sides to release the workpiece.
- the manipulator 100 of the present invention rotatably mounts the holder 23 to the mounting plate 21.
- the holder 23 can be rotationally adjusted to accommodate the position of the workpiece.
- the fixing member 23 is driven by the elastic member 237 to be reset.
- the manipulator 100 of the present invention can avoid damage to the workpiece caused by forced gripping caused by the position error of the workpiece.
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Abstract
一种夹持装置（20）及具有该夹持装置（20）的机械手（100），夹持装置（20）包括安装板（21）、固定架（23）及夹持机构（25），安装板（21）用于安装于机械手（100）上，安装板（21）背离机械手（100）的一侧设有至少一个凸块（212），固定架（23）包括转轴（231）、两个第一固定板（233）、两个第二固定板（235）及两个弹性件（237），两个第一固定板（233）相对设置，每个第二固定板（235）连接两个第一固定板（233）位于同一侧的两端，第一固定板（233）通过转轴（231）转动连接于凸块（212），两个弹性件（237）两端分别弹性抵持安装板（21）与第二固定板（235），固定架（23）能够转动以适应工件位置，两个弹性件（237）弹性推动固定架（23）转动复位，夹持机构（25）包括两个夹持块（258）及驱动件（252），两个夹持块（258）转动连接并设于第一固定板（20）上，驱动件（252）连接两个夹持块（258），驱动件（252）驱动两个夹持块（258）转动以夹取工件。
Description
本实用新型涉及一种夹持装置及具有该夹持装置的机械手，尤其涉及一种能够自动调节的夹持装置及具有该夹持装置的机械手。
在自动化生产中，通常会用到机械手来夹取工件。现有的机械手上的夹持装置通常采用硬性夹取，当工件位置等存在误差时，强行抓取可能会导致工件损坏，影响生产效率并造成极大地浪费。
实用新型内容
鉴于以上内容，有必要提供一种自动调节以适应误差的夹持装置及具有该夹持装置的机械手。
一种夹持装置，用于夹持工件，该夹持装置包括安装板、固定架及夹持机构，该安装板用于安装于机械手的驱动臂上，该安装板背离该机械手的一侧设有至少一个凸块，该固定架包括转轴、两个第一固定板、两个第二固定板及两个弹性件，两个该第一固定板相对设置，每个该第二固定板两端分别连接两个该第一固定板位于同一侧的两端，该第一固定板通过该转轴转动连接于该凸块，两个该弹性件两端分别弹性抵持该安装板与该第二固定板且分别位于该转轴两侧，该固定架能够转动以适应工件位置，两个该弹性件弹性推动该固定架转动复位，该夹持机构包括驱动件及两个夹持块，两个该夹持块转动连接并设于该第一固定板上，该驱动件连接两个该夹持块，该驱动件驱动两个该夹持块转动以夹取工件。
进一步地，该夹持机构还包括连接件及两个转动件，该驱动件装设于该固定架内，该连接件一端连接于该驱动件的驱动部，该连接件另一端穿过该第一固定板，两个该转动件的一端转动连接于该连接件，每个该转动件的另一端分别与对应一个该夹持块转动连接，两个该夹持块的中部转动连接，该驱动件驱动该连接件朝向两个该夹持块方向移动，该连接件使两个该转动件向两侧张开，两个该转动件带动两个夹持块的自由端相闭合以夹持工件。
进一步地，每个该夹持块包括相连接的夹持端与连接端，该夹持端靠近该连接端的部位与另一该夹持块转动连接，每个该连接端分别连接对应一个该转动件。
进一步地，该夹持端的宽度沿远离该连接端方向逐渐减小。
进一步地，该连接件远离该驱动件的一端设有两个装设板，两个该转动件的一端转动连接于两个该装设板之间，每个该转动件的另一端分别与对应一个该夹持块转动连接。
进一步地，该固定架还包括两个液压缸，每个该液压缸包括相连的主体及压杆，该主体安装于该第二固定板上，该压杆抵持于该安装板上，每个该液压缸邻近相应一个该弹性件，该液压缸配合该弹性件进行缓冲及复位。
进一步地，该第二固定板上对应该凸块处设有一避让槽以避让该凸块。
进一步地，每个该第一固定板朝向该安装板的一侧延伸出一个安装块，每个该安装块上设有一个安装孔，每个该凸块上设有一个连接孔，该转轴穿过两个该安装孔及两个该连接孔以将该安装块与该凸块转动连接。
一种机械手，该机械手包括驱动臂及夹持装置，该夹持装置设于该驱动臂上，该驱动臂能够驱动该夹持装置移动，该夹持装置包
括安装板、固定架及夹持机构，该安装板用于安装于机械手的驱动臂上，该安装板背离该机械手的一侧设有至少一个凸块，该固定架包括转轴、两个第一固定板、两个第二固定板及两个弹性件，两个该第一固定板相对设置，每个该第二固定板两端分别连接两个该第一固定板位于同一侧的两端，该第一固定板通过该转轴转动连接于该凸块，两个该弹性件两端分别弹性抵持该安装板与该第二固定板且分别位于该转轴两侧，该固定架能够转动以适应工件位置，两个该弹性件弹性推动该固定架转动复位，该夹持机构包括驱动件及两个夹持块，两个该夹持块转动连接并设于该第一固定板上，该驱动件连接两个该夹持块，该驱动件驱动两个该夹持块转动以夹取工件。
进一步地，该夹持机构还包括连接件及两个转动件，该驱动件装设于该固定架内，该连接件一端连接于该驱动件的驱动部，该连接件另一端穿过该第一固定板，两个该转动件的一端转动连接于该连接件，每个该转动件的另一端分别与对应一个该夹持块转动连接，两个该夹持块的中部转动连接，该驱动件驱动该连接件朝向两个该夹持块方向移动，该连接件使两个该转动件向两侧张开，两个该转动件带动两个夹持块的自由端相闭合以夹持工件。
本实用新型的夹持装置将固定架转动安装于安装板上。在工件位置与预设位置存在偏差时，固定架能够转动调整以适应工件的位置。并夹取工件后，由弹性件驱动固定架复位。本实用新型的夹持装置可以避免由工件位置误差导致强行抓取而造成的工件损坏。
图1是本实用新型的实施例的机械手的立体示意图。
图2是图1所示机械手的夹持装置的立体示意图。
图3是图2所示夹持装置另一角度的立体示意图。
图4是图2所示夹持装置的分解示意图。
主要元件符号说明
| 机械手 | 100 |
| 驱动臂 | 10 |
| 夹持装置 | 20 |
| 安装板 | 21 |
| 凸块 | 212 |
| 连接孔 | 2120 |
| 固定架 | 23 |
| 转轴 | 231 |
| 第一固定板 | 233 |
| 安装孔 | 2330 |
| 安装块 | 2331 |
| 避位槽 | 2332 |
| 第二固定板 | 235 |
| 避让槽 | 2352 |
| 固定块 | 2354 |
| 弹性件 | 237 |
| 液压缸 | 239 |
| 夹持机构 | 25 |
| 驱动件 | 252 |
| 连接件 | 254 |
| 装设板 | 2542 |
| 转动件 | 256 |
| 夹持块 | 258 |
| 夹持端 | 2581 |
| 连接端 | 2583 |
如下具体实施方式将结合上述附图进一步说明本实用新型。
下面将结合本实用新型实施例中的附图，对本实用新型实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本实用新型一部分实施例，而不是全部的实施例。基于本实用新型中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本实用新型保护的范围。
需要说明的是，当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中设置的元件。当一个元件被认为是“设置在”另一个元件，它可以是直接设置在另一个元件上或者可能同时存在居中设置的元件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本实用新型的技术领域的技术人员通常理解的含义相同。本文中在本实用新型的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本实用新型。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
请参阅图1，本实用新型一实施例提供一种机械手100以夹取工件。机械手100包括驱动臂10及夹持装置20。夹持装置20设
于驱动臂10上用于夹取工件。驱动臂10能够驱动夹持装置20移动以搬运工件。
请一并参阅图2至图4，夹持装置20包括安装板21、固定架23及夹持机构25。安装板21安装于驱动臂10上。固定架23转动安装于安装板21上。夹持机构25装设于固定架23上用于夹取工件。固定架23能够带动夹持机构25转动调整以吸收工件位置的误差。
安装板21为一矩形板体，其安装于驱动臂10的连接端。安装板21背离驱动臂10的一侧设有至少一个凸块212以安装固定架23。至少一个凸块212垂直安装板21设置。
本实施例中，凸块212的数量为两个，两个凸块212平行且相对设置。
固定架23包括转轴231、两个第一固定板233及两个第二固定板235。两个第一固定板233相对设置。两个第二固定板235分别连接两个第一固定板233位于同一侧的两端。两个第一固定板233及两个第二固定板235首尾相连构成一个近似矩形框架。每个第一固定板233朝向安装板21的一侧延伸出一个安装块2331。每个安装块2331上设有一个安装孔2330。每个凸块212上设有一个连接孔2120。转轴231同时穿过两个安装孔2330及两个连接孔2120将安装块2331与凸块212转动连接。
本实施例中，每个安装块2331朝向安装板21的一端的宽度逐渐减小，大致呈锥形结构以便于第一固定板233进行相对转动。可以理解，在其他实施例中，安装块2331还可以是矩形结构，只要其距离安装板21足够远，在转动时不会发生碰撞。
本实施例中，为避让凸块212，靠近凸块212的第二固定板235上设有一避让槽2352。避让槽2352平行转轴231将该第二固定板
235分割成两个固定块2354。可以理解，在其他实施例中，避让槽2352还可以取消，只要第二固定板235距离凸块212足够远，在转动时不会发生碰撞。
本实施例中，固定架23还包括两个弹性件237。每个弹性件237的两端分别弹性抵持于安装板21及相应一个固定块2354上。在两个弹性件237弹性抵持下，固定架23保持稳定状态。弹性件237用于在转动时进行缓冲及转动后复位。
本实施例中，固定架23还包括两个液压缸239。每个液压缸239包括主体及压杆。液压缸239的主体安装于相应一个固定块2354上。液压缸239的压杆抵持于安装板21上。每个液压缸239邻近相应一个弹性件237。液压缸239用于配合弹性件237进行缓冲及复位。可以理解，在其他实施例中，液压缸239还可以取消，只要弹性件237足够缓冲复位。
夹持机构25包括驱动件252、连接件254、两个转动件256及两个夹持块258。
驱动件252装设于固定架23内。本实施例中，驱动件252的主体固定连接于远离驱动臂10的第二固定板235上。驱动件252的驱动部朝向安装板21。连接件254一端连接于驱动件252的驱动部，连接件254另一端穿过第一固定板233。第一固定板233上设有一避位槽2332以允许连接件254移动。
连接件254大致呈F型，其远离驱动件252的一端设有两个装设板2542。两个转动件256的一端转动连接于两个装设板2542之间。每个转动件256另一端分别与对应一个夹持块258转动连接。本实施例中，两个转动件256一端通过一转轴转动连接于两个装设板2542之间。两个转动件256另一端各通过另一个转轴转动连接于相应一个夹持块258。
每个夹持块258包括相连接的夹持端2581与连接端2583。夹持端2581的截面大致呈三角形。夹持端2581的宽度沿远离连接端2583方向逐渐减小。每个夹持端2581朝向另一夹持端2581的一侧设有滚花以增加夹持稳定性。夹持端2581靠近连接端2583的部位于另一夹持块258转动连接。连接端2583大致为半圆形。每个连接端分别连接对应一个转动件256。
在连接件254受驱动件252驱动朝向夹持块258方向移动后，连接件254推动两个转动件256向两侧张开。两个转动件256分别推动两个连接端2583向两侧张开，同时使两个夹持端2581向中间闭合以夹持工件。连接件254向远离夹持块258方向移动后，两个夹持端2581张开以释放工件。
组装时，将安装板21通过螺丝等锁固于驱动臂10的连接端。接着，将第一固定板233与第二固定板235之间连接固定。接着，通过转轴231将第一固定板233与凸块212转动连接。再将两个弹性件237及两个液压缸239分别装设于安装板21及固定块2354上。之后，将驱动件252固定于第一固定板233及第二固定板235上，在将连接件254与驱动件252的驱动部相连接。之后，将两个转动件256通过转轴转动安装于装设板2542上，转动件256另一端分别通过转轴转动连接夹持块258。两个夹持块258之间也通过转轴转动连接，完成安装。
使用时，驱动臂10驱动夹持装置20朝向工件移动，并使夹持端2581对准工件。驱动件252驱动连接件254朝向夹持块258方向移动，连接件254推动两个转动件256向两侧张开。两个转动件256分别推动两个连接端2583向两侧张开，同时使两个夹持端2581向中间闭合以夹持工件。如果工件位置与预设位置之间存在偏差，固定架23能够发生转动以调整适应工件位置。之后，驱动臂10驱
动夹持装置20移动至预设地点。驱动件252驱动连接件254远离夹持块258，连接件254推动两个转动件256向中间闭合。两个转动件256分别推动两个连接端2583向中间闭合，同时使两个夹持端2581向两侧张开以释放工件。
本实用新型的机械手100将固定架23转动安装于安装板21上。在工件位置与预设位置存在偏差时，固定架23能够转动调整以适应工件的位置。并夹取工件后，由弹性件237驱动固定架23复位。本实用新型的机械手100可以避免由工件位置误差导致强行抓取而造成的工件损坏。
另外，本领域技术人员还可在本实用新型精神内做其它变化，当然，这些依据本实用新型精神所做的变化，都应包含在本实用新型所要求保护的范围。
Claims (10)
- 一种夹持装置，用于夹持工件，该夹持装置包括安装板、固定架及夹持机构，其特征在于：该安装板用于安装于机械手的驱动臂上，该安装板背离该机械手的一侧设有至少一个凸块，该固定架包括转轴、两个第一固定板、两个第二固定板及两个弹性件，两个该第一固定板相对设置，每个该第二固定板两端分别连接两个该第一固定板位于同一侧的两端，该第一固定板通过该转轴转动连接于该凸块，两个该弹性件两端分别弹性抵持该安装板与该第二固定板且分别位于该转轴两侧，该固定架能够转动以适应工件位置，两个该弹性件弹性推动该固定架转动复位，该夹持机构包括驱动件及两个夹持块，两个该夹持块转动连接并设于该第一固定板上，该驱动件连接两个该夹持块，该驱动件驱动两个该夹持块转动以夹取工件。
- 如权利要求1所述的夹持装置，其特征在于：该夹持机构还包括连接件及两个转动件，该驱动件装设于该固定架内，该连接件一端连接于该驱动件的驱动部，该连接件另一端穿过该第一固定板，两个该转动件的一端转动连接于该连接件，每个该转动件的另一端分别与对应一个该夹持块转动连接，两个该夹持块的中部转动连接，该驱动件驱动该连接件朝向两个该夹持块方向移动，该连接件使两个该转动件向两侧张开，两个该转动件带动两个夹持块的自由端相闭合以夹持工件。
- 如权利要求2所述的夹持装置，其特征在于：每个该夹持块包括相连接的夹持端与连接端，该夹持端靠近该连接端的部位与另一该夹持块转动连接，每个该连接端分别连接对应一个该转动件。
- 如权利要求3所述的夹持装置，其特征在于：该夹持端的 宽度沿远离该连接端方向逐渐减小。
- 如权利要求2所述的夹持装置，其特征在于：该连接件远离该驱动件的一端设有两个装设板，两个该转动件的一端转动连接于两个该装设板之间，每个该转动件的另一端分别与对应一个该夹持块转动连接。
- 如权利要求1所述的夹持装置，其特征在于：该固定架还包括两个液压缸，每个该液压缸包括相连的主体及压杆，该主体安装于该第二固定板上，该压杆抵持于该安装板上，每个该液压缸邻近相应一个该弹性件，该液压缸配合该弹性件进行缓冲及复位。
- 如权利要求1所述的夹持装置，其特征在于：该第二固定板上对应该凸块处设有一避让槽以避让该凸块。
- 如权利要求1所述的夹持装置，其特征在于：每个该第一固定板朝向该安装板的一侧延伸出一个安装块，每个该安装块上设有一个安装孔，每个该凸块上设有一个连接孔，该转轴穿过两个该安装孔及两个该连接孔以将该安装块与该凸块转动连接。
- 一种机械手，该机械手包括驱动臂及夹持装置，该夹持装置设于该驱动臂上，该驱动臂能够驱动该夹持装置移动，该夹持装置包括安装板、固定架及夹持机构，其特征在于：该安装板用于安装于驱动臂上，该安装板背离该驱动臂的一侧设有至少一个凸块，该固定架包括转轴、两个第一固定板、两个第二固定板及两个弹性件，两个该第一固定板相对设置，每个该第二固定板两端分别连接两个该第一固定板位于同一侧的两端，该第一固定板通过该转轴转动连接于该凸块，两个该弹性件两端分别弹性抵持该安装板与该第二固定板且分别位于该转轴两侧，该固定架能够转动以适应工件位置，两个该弹性件弹性推动该固定架转动复位，该夹持机构包括驱动件及两个夹持块，两个该夹持块转动连接并设于该第一固定板 上，该驱动件连接两个该夹持块，该驱动件驱动两个该夹持块转动以夹取工件。
- 如权利要求9所述的机械手，其特征在于：该夹持机构还包括连接件及两个转动件，该驱动件装设于该固定架内，该连接件一端连接于该驱动件的驱动部，该连接件另一端穿过该第一固定板，两个该转动件的一端转动连接于该连接件，每个该转动件的另一端分别与对应一个该夹持块转动连接，两个该夹持块的中部转动连接，该驱动件驱动该连接件朝向两个该夹持块方向移动，该连接件使两个该转动件向两侧张开，两个该转动件带动两个夹持块的自由端相闭合以夹持工件。
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