CN108247613B - Double-hand claw - Google Patents
Double-hand claw Download PDFInfo
- Publication number
- CN108247613B CN108247613B CN201810147176.8A CN201810147176A CN108247613B CN 108247613 B CN108247613 B CN 108247613B CN 201810147176 A CN201810147176 A CN 201810147176A CN 108247613 B CN108247613 B CN 108247613B
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- face
- floating
- plate
- fingers
- finger
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- 210000000078 claw Anatomy 0.000 title description 7
- 244000023431 Proboscidea parviflora Species 0.000 abstract description 3
- 235000019096 Proboscidea parviflora Nutrition 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/20—Programme controls fluidic
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a double gripper, comprising: the camera is fixed in the right-hand member face of connecting plate through the camera fixed plate. The left side of connecting plate is connected on robot flange's right side. The upper end of the floating cylinder is connected to the lower end face of the robot connecting flange, and the two linear bearings are located on the two sides of the left and right directions of the floating cylinder. The guide shaft is in sliding connection with the linear bearing; the lower end of the guide shaft is connected with a floating plate. The upper end of the floating joint is arranged in the floating cylinder, and the lower end of the floating joint is connected with the floating plate. The upper end of the clamping mechanism is fixedly connected to the lower end surface of the floating plate. The upper ends of the two first fingers are fixedly connected to the lower end face of the floating plate; the clamping mechanism controls the two first fingers to move towards or away from each other. Each second finger is arranged on the end face of the first finger right opposite to the other first finger. The two first fingers and the two second fingers of the double-claw are compact in design, and can work by adopting one clamping cylinder, so that the cost of multiple cylinders is reduced.
Description
Technical Field
The invention relates to the technical field of robot claws, in particular to the technical field of double claws.
Background
With the development of intelligent manufacturing, robots are increasingly used in automated manufacturing industries. The gripper is used as an actuating mechanism at the six-axis tail end of the robot, is quite rich in types, and can be divided into a single gripper, two grippers, three grippers and the like according to the function of the gripper. The common multifunctional paw is characterized in that the air cylinders are often distributed in different directions of the paw, and then the workpiece is clamped, so that a robot can be used for grabbing various workpieces. However, at the same time, due to the increase of the cylinders on the paw, the volume of the paw is larger, the robot is easy to interfere with peripheral equipment, and the manufacturing cost is increased.
Disclosure of Invention
Aiming at the defects, the invention aims to provide a double-gripper, which solves the problem of interference caused by the fact that the existing double-gripper grips different workpieces.
The invention successfully solves the interference problem caused by tension of the grabbing space; the structure is simpler, compares ordinary both hands claw structure, and one cylinder less has reduced the cost.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a two-finger jaw, comprising:
the camera is fixed on the right end face of the connecting plate through a camera fixing plate;
the right side face of the robot connecting flange is connected with the left end face of the connecting plate;
the upper end of the floating cylinder is connected to the lower end face of the robot connecting flange;
the upper ends of the two linear bearings are connected to the lower end face of the robot connecting flange, and the two linear bearings are positioned on two sides of the left-right direction of the floating cylinder;
the upper end of each guide shaft is inserted into the lower end of the linear bearing from bottom to top, and the guide shafts are connected with the linear bearing in a sliding manner; the lower end of the guide shaft is fixedly connected to the floating plate;
the upper end of the floating joint is arranged in the floating cylinder, and the lower end of the floating joint is fixedly connected with the floating plate;
the upper end of the clamping mechanism is fixedly connected to the lower end surface of the floating plate, and the clamping mechanism is positioned on the left side of the floating plate;
the upper ends of the two first fingers are fixedly connected to the lower end face of the floating plate, and the two first fingers are symmetrical along the central axis of the clamping mechanism in the left-right direction; the clamping mechanism controls the two first fingers to move oppositely or reversely;
two second fingers, each of which is arranged on the end face of the first finger opposite to the other first finger; and the two second fingers are symmetrical along the central axis of the left and right directions of the clamping mechanism.
The above-mentioned both hands claw, wherein includes: the two anti-rotation plates are provided with a first through hole, and the first through hole of each anti-rotation plate is sleeved at the lower end of the floating contact; and the lower end face of each anti-rotation piece is fixedly connected with the upper end face of the floating plate.
The above-mentioned one kind of both hands claw, wherein, the said camera includes camera body and light source; the right end of the camera body is connected with the light source; the lower end face of the camera body is provided with a lead.
The camera body comprises a first block-shaped structure and a second block-shaped structure, wherein the front end of the first block-shaped structure is arc-shaped; the rear end face of the first block-shaped structure is connected with the front end face of the second block-shaped structure; the right end face of the second block-shaped structure is connected with the light source; the upper end face of the camera fixing plate is connected to the lower end face of the first block-shaped structure.
In the above two-finger claw, the first finger is vertically downward, and the lower end of the second finger is inclined forward.
With the technical scheme, the following beneficial effects can be achieved:
1. the two first fingers and the two second fingers of the double-claw are compact in design, and can work by adopting one clamping cylinder, so that the cost of multiple cylinders is reduced.
Drawings
FIG. 1 is a front view of a two-jaw grip of the present invention;
FIG. 2 is a perspective view of an angle of a two-jaw in accordance with the present invention;
FIG. 3 is another perspective view of one of the two jaws of the present invention at another angle;
FIG. 4 is a perspective view of a two-jaw and manipulator of the present invention;
fig. 5 is a front view in cross section of a two-jaw grip of the present invention.
In the accompanying drawings: 1. a camera; 11. a camera fixing plate; 12. a connecting plate; 13. a camera body; 131. a first block structure; 132. a second block structure; 14. a light source; 15. a lead wire; 2. a robot connecting flange; 21. a second through hole; 3. a floating cylinder; 4. a linear bearing; 41. a guide shaft; 5. a floating plate; 51. a floating joint; 6. a clamping mechanism; 71. a first finger; 72. a second finger; 8. an anti-rotation sheet; 81. a first through hole; 91. a first workpiece; 92. a second workpiece; 10. and a manipulator.
Detailed Description
The invention is further described below with reference to the drawings and specific examples, which are not intended to be limiting.
Fig. 1 is a front view of a two-jaw grip of the present invention. Fig. 2 is a perspective view of an angle of a two-jaw in accordance with the present invention. FIG. 3 is another angular perspective view of one of the two jaws of the present invention. Fig. 4 is a perspective view of a two-jaw and manipulator of the present invention. Fig. 5 is a front view in cross section of a two-jaw grip of the present invention.
Referring to fig. 1 to 5, in a preferred embodiment, a two-jaw, comprising:
the camera 1, the camera 1 is fixed to the right end face of the connection plate 12 by the camera fixing plate 11.
The robot connecting flange 2, the right side of the robot connecting flange 2 is connected with the left end face of the connecting plate 12.
And the upper end of the floating cylinder 3 is connected to the lower end face of the robot connecting flange 2.
And two linear bearings 4, the upper ends of the two linear bearings 4 are connected to the lower end surface of the robot connecting flange 2, and the two linear bearings 4 are positioned at both sides of the left and right direction of the floating cylinder 3.
Two guide shafts 41, the upper end of each guide shaft 41 is inserted into the lower end of the linear bearing 4 from bottom to top, and the guide shafts 41 are in sliding connection with the linear bearing 4; the lower end of the guide shaft 41 is fixedly connected to the floating plate 5.
A floating joint 51, an upper end of the floating joint 51 is disposed in the floating cylinder, and a lower end of the floating joint 51 is fixedly connected to the floating plate.
And the clamping mechanism 6, the upper end of the clamping mechanism 6 is fixedly connected to the lower end surface of the floating plate 5, and the clamping mechanism 6 is positioned on the left side of the floating plate 5.
The upper ends of the two first fingers 71 are fixedly connected to the lower end surface of the floating plate 5, and the two first fingers 71 are symmetrical along the central axis of the clamping mechanism 6 in the left-right direction; the clamping mechanism 6 controls the movement of the two first fingers 71 toward or away from each other.
Two second fingers 72, each second finger 72 being disposed on an end face of the first finger 71 opposite to the other first finger 71; and the two second fingers 72 remain symmetrical along the central axis of the left-right direction of the clamping mechanism 6.
The foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the embodiments and the protection scope of the present invention.
Further, in a preferred embodiment, the method comprises: the two anti-rotation plates 8, each anti-rotation plate 8 is provided with a first through hole 81, and the first through hole 81 of each anti-rotation plate 8 is sleeved at the lower end of the floating contact 51; and the lower end face of each anti-rotation piece 8 is fixedly connected to the upper end face of the floating plate 5.
Further, in a preferred embodiment, the camera 1 comprises a camera body 13 and a light source 14; the right end of the camera body 13 is connected with a light source 14; a lead 15 is provided on the lower end surface of the camera body 13.
Further, in a preferred embodiment, the camera body 13 includes a first block structure 131 and a second block structure 132 with arc-shaped front ends; the rear end face of the first block-shaped structure 131 is connected with the front end face of the second block-shaped structure 132; the right end face of the second block-shaped structure 132 is connected with the light source 14; the upper end surface of the camera fixing plate 11 is connected to the lower end surface of the first block structure 131.
Further, in a preferred embodiment, the first finger 71 is vertically downward and the lower end of the second finger 72 is inclined forward. The first work piece 91 may be held between the two first fingers 71 and the second work piece 92 may be held between the two second fingers 72.
Further, in a preferred embodiment, the robot connecting flange 2 is provided with a second through hole for connection of the robot arm 10.
The foregoing is merely illustrative of the preferred embodiments of the present invention and is not intended to limit the embodiments and scope of the present invention, and it should be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and illustrations of the present invention, and are intended to be included in the scope of the present invention.
Claims (3)
1. A two-finger jaw, comprising:
the camera is fixed on the right end face of the connecting plate through a camera fixing plate;
the right side face of the robot connecting flange is connected with the left end face of the connecting plate;
the upper end of the floating cylinder is connected to the lower end face of the robot connecting flange;
the upper ends of the two linear bearings are connected to the lower end face of the robot connecting flange, and the two linear bearings are positioned on two sides of the left-right direction of the floating cylinder;
the upper end of each guide shaft is inserted into the lower end of the linear bearing from bottom to top, and the guide shafts are connected with the linear bearing in a sliding manner; the lower end of the guide shaft is fixedly connected to the floating plate;
the upper end of the floating joint is arranged in the floating cylinder, and the lower end of the floating joint is fixedly connected with the floating plate;
the upper end of the clamping mechanism is fixedly connected to the lower end surface of the floating plate, and the clamping mechanism is positioned on the left side of the floating plate;
the upper ends of the two first fingers are fixedly connected to the lower end face of the floating plate, and the two first fingers are symmetrical along the central axis of the clamping mechanism in the left-right direction; the clamping mechanism controls the two first fingers to move oppositely or reversely;
two second fingers, each of which is arranged on the end face of the first finger opposite to the other first finger; and the two second fingers are symmetrical along the central axis of the left and right directions of the clamping mechanism;
comprising the following steps: the two anti-rotation plates are provided with a through hole, and the through hole of each anti-rotation plate is sleeved at the lower end of the floating contact; the lower end face of each anti-rotation piece is fixedly connected to the upper end face of the floating plate;
the first finger is vertically downward, and the lower end of the second finger is inclined forward.
2. The two-jaw of claim 1 wherein the camera comprises a camera body and a light source; the right end of the camera body is connected with the light source; the lower end face of the camera body is provided with a lead.
3. The both paws according to claim 1, wherein the camera body comprises a first block structure and a second block structure with an arc-shaped front end; the rear end face of the first block-shaped structure is connected with the front end face of the second block-shaped structure; the right end face of the second block-shaped structure is connected with a light source; the upper end face of the camera fixing plate is connected to the lower end face of the first block-shaped structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810147176.8A CN108247613B (en) | 2018-02-12 | 2018-02-12 | Double-hand claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810147176.8A CN108247613B (en) | 2018-02-12 | 2018-02-12 | Double-hand claw |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108247613A CN108247613A (en) | 2018-07-06 |
| CN108247613B true CN108247613B (en) | 2024-01-23 |
Family
ID=62744359
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810147176.8A Active CN108247613B (en) | 2018-02-12 | 2018-02-12 | Double-hand claw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108247613B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4565400A (en) * | 1982-08-11 | 1986-01-21 | Fanuc Ltd. | Double hand for an industrial robot |
| CN202910869U (en) * | 2012-10-26 | 2013-05-01 | 东风本田发动机有限公司 | Paws of robot |
| CN103213122A (en) * | 2013-04-23 | 2013-07-24 | 上海大学 | Mechanical grabbing hand based on synchronous double-connecting-rod centering moving mechanism |
| CN103737606A (en) * | 2013-12-24 | 2014-04-23 | 江苏中科机器人科技有限公司 | Mechanical claw for robot palletizer |
| CN104385289A (en) * | 2013-07-26 | 2015-03-04 | 发那科株式会社 | Robot gripping device |
| CN104826974A (en) * | 2015-06-02 | 2015-08-12 | 连云港杰瑞自动化有限公司 | Flexibility and rigidity controllable switching gripper |
| CN107139186A (en) * | 2017-06-19 | 2017-09-08 | 上海发那科机器人有限公司 | A kind of robot glass japanning paw |
| CN107263522A (en) * | 2016-04-04 | 2017-10-20 | 发那科株式会社 | Robot grasping device |
-
2018
- 2018-02-12 CN CN201810147176.8A patent/CN108247613B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4565400A (en) * | 1982-08-11 | 1986-01-21 | Fanuc Ltd. | Double hand for an industrial robot |
| CN202910869U (en) * | 2012-10-26 | 2013-05-01 | 东风本田发动机有限公司 | Paws of robot |
| CN103213122A (en) * | 2013-04-23 | 2013-07-24 | 上海大学 | Mechanical grabbing hand based on synchronous double-connecting-rod centering moving mechanism |
| CN104385289A (en) * | 2013-07-26 | 2015-03-04 | 发那科株式会社 | Robot gripping device |
| CN103737606A (en) * | 2013-12-24 | 2014-04-23 | 江苏中科机器人科技有限公司 | Mechanical claw for robot palletizer |
| CN104826974A (en) * | 2015-06-02 | 2015-08-12 | 连云港杰瑞自动化有限公司 | Flexibility and rigidity controllable switching gripper |
| CN107263522A (en) * | 2016-04-04 | 2017-10-20 | 发那科株式会社 | Robot grasping device |
| CN107139186A (en) * | 2017-06-19 | 2017-09-08 | 上海发那科机器人有限公司 | A kind of robot glass japanning paw |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108247613A (en) | 2018-07-06 |
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