CN206263979U - A kind of clamp device and gripping robot - Google Patents
A kind of clamp device and gripping robot Download PDFInfo
- Publication number
- CN206263979U CN206263979U CN201621287350.1U CN201621287350U CN206263979U CN 206263979 U CN206263979 U CN 206263979U CN 201621287350 U CN201621287350 U CN 201621287350U CN 206263979 U CN206263979 U CN 206263979U
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- jaw
- clamp device
- clamping piece
- connecting portion
- slide
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Abstract
A kind of clamp device and gripping robot that the utility model embodiment is provided, belong to technical field of mechanical automation.The clamp device, including：Electronic clamping jaw, upper clamping piece and lower clamping piece, the first end of the upper clamping piece are arranged on the first jaw end of the electronic clamping jaw, and the first end of the lower clamping piece is arranged on the second jaw end of the electronic clamping jaw.Second end of the upper clamping piece is provided with first surface, and the second end of the lower clamping piece is provided with second surface, and the first surface and the second surface are oppositely arranged, and multiple cambered surface rubber parts are provided with the first surface.The clamp device that the utility model is provided, when the object of slide or other laminated structures is gripped, due to being the contact of cambered surface with first surface, clamps slide firm position, grasping stability, reliability；It is easier to come off because contact surface is small when decontroling slide.
Description
Technical field
The utility model is related to field of machinery automation, in particular to a kind of clamp device and application gripping dress
The gripping robot put.
Background technology
The slide clamp device of prior art is all generally the cam mechanism for using, or uses electromagnetic actuation.This two
The clamping jaw that the mode of kind is used, typically directly pastes smooth rubber blanket in the gripping face of clamping jaw, when slide is gripped, rubber blanket
Vacuum adsorption force is easily formed with surface of glass slide and cannot come off, so as to the risk for causing slide to damage.If when clamping jaw has been opened
Slide comes off and just very easily causes the damage of slide when opening.In addition, motor-driven cam mechanism complex structure, does not have
There is Force feedback, the lower folder of its clamping jaw is fixed, rely solely on folder movement to grip slide, such gripping precision will
Ask higher.Using electromagnetic actuation gripping mode when, it is impossible to accomplish prolonged gripping, if overlong time, electromagnet
Can be conducted to be gripped to obtain slide due to heating power, due to the change of temperature, be also easy to make slide damage or deform, or
Person is bonded on upper clamping piece, it is difficult to come off.
Utility model content
The purpose of this utility model is to provide the sheet knots such as a kind of clamp device, the gripping slide that it can be solid and reliable
Structure object, and because cambered surface is contacted when decontroling slide, contact surface is small more easy to fall off, is difficult to bond.
Another object of the present utility model is to provide a kind of gripping robot, and it applies above-mentioned clamp device high
The gripping slide of effect and slide can be reduced drop probability, or the probability Nian Jie with upper clamping piece.
What embodiment of the present utility model was realized in：
A kind of clamp device, including：Electronic clamping jaw, upper clamping piece and lower clamping piece, the electronic clamping jaw same side are provided with
First jaw end and the second jaw end, the first end of the upper clamping piece are connected with first jaw end, and the of the lower clamping piece
One end is connected with second jaw end；Second end of the upper clamping piece is provided with first surface, the second end of the lower clamping piece
Second surface is provided with, the first surface and the second surface are relative two-by-two, and multiple arcs are provided with the first surface
Face rubber parts.
Preferably, the thickness of the ledge of multiple cambered surface rubber parts is identical.
Preferably, the cambered surface of multiple cambered surface rubber parts is the sphere of rule.
Preferably, the upper clamping piece includes：Upper connecting portion and upper clamping part, the first surface are arranged on clamping part
On, the connection of the first jaw end of the first end of the upper connecting portion and the electronic clamping jaw, the second end of the upper connecting portion with
The upper clamping part connection, and the second end of the upper connecting portion and the junction of the upper clamping part are in a bent angle.
Preferably, the bent angle angle is right angle.
Preferably, the upper clamping piece also includes connector, the first end of the upper connecting portion and the first of the connector
Side connects, and the second side adjacent with the first side of the connector connects with the first jaw end of the electronic clamping jaw
Connect.
Preferably, the lower clamping piece includes lower clamping part and lower connecting portion, the first end and the electricity of the lower connecting portion
The second jaw end connection of dynamic clamping jaw, the second end of the lower connecting portion and the lower clamping part connection, the second surface set
Put on the lower clamping part.
Preferably, an edges and corners of the side for being set to second surface on the lower clamping part are set to chamfering knot
Structure, second end of the corner angle for being set to chamfering structure away from the lower connecting portion.
Preferably, opening is offered in the lower connecting portion.
One kind gripping robot, including：Robot body and above-mentioned clamp device, the clamp device are arranged on described
Grip the end of the mechanical arm of robot.
A kind of clamp device that above-mentioned the utility model embodiment is provided, the clamp device installs folder on electronic clamping jaw
Part and lower clamping piece, and upper clamping piece, lower clamping piece are connected to first jaw end and the second jaw end of electronic clamping jaw；And
Second end of upper clamping piece is provided with first surface, and the second end of lower clamping piece is provided with second surface.The first surface and the second table
Face is oppositely arranged two-by-two, can mutually draw close clamping slide.Multiple cambered surface rubber parts are provided with the first surface, are passed through
Cambered surface rubber parts carries out compression to the slide (or other laminated structures) for being gripped more firmly, and can be had more
Good buffering, and preferably thickness tolerance.Due to being the multiple cambered surface rubber installed on upper clamping piece when slide is clamped
The cambered surface and slide contact of part, so slide is easier to come off when upper clamping piece and lower clamping piece unclamp, can be prevented effectively from glass
Vacuum adhesion is formed between piece and upper clamping piece.
The embodiment of the present invention also provides a kind of gripping robot, and the end of the mechanical arm of the gripping robot is provided with
The clamp device stated, by the Based Intelligent Control of robot, is gripped using the clamp device to slide or other objects, can
Efficiency is gripped with obvious raising.
To enable above-mentioned purpose of the present utility model, feature and advantage to become apparent, preferred embodiment cited below particularly, and
Coordinate appended accompanying drawing, be described in detail below.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme of the utility model embodiment, below will be to be used needed for embodiment
Accompanying drawing be briefly described, it will be appreciated that the following drawings illustrate only some embodiments of the present utility model, therefore should not be by
Regard the restriction to scope as, for those of ordinary skill in the art, on the premise of not paying creative work, may be used also
Other related accompanying drawings are obtained with according to these accompanying drawings.
Fig. 1 is the structural representation of the clamp device that the utility model preferred embodiment is provided.
Fig. 2 is the structural representation of the electronic clamping jaw of the clamp device that the utility model preferred embodiment is provided.
Fig. 3 is the structural representation at the visual angle of upper clamping piece first of the clamp device that the utility model preferred embodiment is provided.
Fig. 4 is the structural representation at the visual angle of upper clamping piece second of the clamp device that the utility model preferred embodiment is provided.
Fig. 5 is the schematic diagram of the gripping slide state of the clamp device that the utility model preferred embodiment is provided.
Fig. 6 is the structural representation of the lower clamping piece of the clamp device that the utility model preferred embodiment is provided.
Fig. 7 is the structural representation of the gripping robot that the utility model preferred embodiment is provided.
Icon：10- clamp devices；The electronic clamping jaws of 100-；The jaw ends of 101- first；The jaw ends of 102- second；Pressed from both sides on 110-
Part；The upper connecting portions of 111-；The upper clamping parts of 112-；113- connectors；114- cambered surface rubber parts；120- lower clamping pieces；Clamped under 121-
Portion；Connecting portion under 122-；123- is open；124- chamfering structures；20- grips robot；210- robot bodies；130- slides.
Specific embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, is clearly and completely described, it is clear that retouched to the technical scheme in the utility model embodiment
The embodiment stated is a part of embodiment of the utility model, rather than whole embodiments.Generally described in accompanying drawing herein and
The component of the utility model embodiment for showing can be arranged and designed with a variety of configurations.
Therefore, the detailed description of embodiment of the present utility model below to providing in the accompanying drawings is not intended to limit requirement
The scope of the present utility model of protection, but it is merely representative of selected embodiment of the present utility model.Based in the utility model
Embodiment, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, all
Belong to the scope of the utility model protection.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it need not be further defined and explained in subsequent accompanying drawing.
In description of the present utility model, it is necessary to explanation, term " on ", D score, " vertical ", " level ", " interior ",
The orientation or position relationship of the instruction such as " outward " are or the utility model product based on orientation shown in the drawings or position relationship
The orientation or position relationship usually put when using, are for only for ease of description the utility model and simplify description, without referring to
Show or imply that the device or element of meaning with specific orientation, with specific azimuth configuration and operation, therefore must can not be managed
Solution is to limitation of the present utility model.Additionally, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that referring to
Show or imply relative importance.
Additionally, the term such as term " level ", " vertical " is not offered as requiring part abswolute level or pendency, and can be slightly
Low dip.It is not that the expression structure must be complete if " level " refers to only its direction with respect to more level for " vertical "
Full level, and can be to be slightly tilted.
In description of the present utility model, in addition it is also necessary to explanation, unless otherwise clearly defined and limited, term " sets
Put ", " installation ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected,
Or be integrally connected；Can mechanically connect, or electrically connect；Can be joined directly together, it is also possible to by intermediary
It is indirectly connected to, can is two connections of element internal.For the ordinary skill in the art, can be managed with concrete condition
Solve concrete meaning of the above-mentioned term in the utility model.
First embodiment
Fig. 1 is refer to, the present embodiment provides a kind of clamp device 10, and the clamp device 10 includes：Electronic clamping jaw 100, if
The first jaw end 101 and the second jaw end 102 on the same side of electronic clamping jaw 100 are put, is connected with the first jaw end 101
Upper clamping piece 110, the lower clamping piece 120 being connected with the second jaw end 102, and it is arranged on the multiple cambered surface rubber on upper clamping piece 110
Part 114.Below by as a example by the gripping of slide 130, detailed explanation and explanation is done to the utility model.
Electronic clamping jaw 100, is mainly used in providing driving force to the clamp device 10.
Preferably, the electronic clamping jaw 100 is the electronic clamping jaw 100 with force feedback.When work, for example, press from both sides
When taking slide 130, can be according to force feedback when gripping come the size of adjust automatically driving force, to be unlikely to damage picked up glass
Piece 130.In addition, the model size of the electronic clamping jaw 100 is not restricted.
Fig. 2 is refer to, the first jaw end 101 and the second clamping jaw are provided with a side on the electronic clamping jaw 100
End 102, the driving force of above-mentioned electronic clamping jaw 100 can be delivered in the jaw end 102 of first jaw end 101 and second, made
It being capable of opening and closing campaign.
Fig. 3 is refer to, upper clamping piece 110 is used to coordinate with lower clamping piece 120 realizes gripping function, and the upper clamping piece 110 includes：Even
Fitting 113, upper connecting portion 111 and upper clamping part 112, the first side of the first end of connecting portion 111 and the connector 113 on this
Face connection, the second side connection of first jaw end 101 and the connector 113 of electronic clamping jaw 100, the first side and institute
It is two adjacent sides to state second side.Second end of upper connecting portion 111 is connected with the upper clamping part 112.In this implementation
In example, the width of the width less than the first end of upper connecting portion 111 at the second end of upper connecting portion 111.
Connected mode between the jaw end 101 of the upper connecting portion 111 and first can use screw connection, the number of screw
Amount is not restricted (such as countersunk head screw etc.), and the connected mode between upper connecting portion 111 and upper clamping part 112 can be that screw connects
Connect, weld, be integrally formed.In the present embodiment, the connector 113 respectively with first jaw end 101 and it is described on
Connecting portion 111, is all screwed connection.The jaw end 101 of upper connecting portion 111 and first is connected by connector 113, can
The replacing of connecting portion 111 or upper clamping part 112 in convenience.Upper connecting portion 111 is formed in one with upper clamping part 112.
The present embodiment provides a kind of implementation method, specifically, the connector 113 is in cube structure, it should the company of fixation
It is connected on the upper side of first jaw end 101.Then go up after connecting portion 111 is connected with the connector 113, upper connecting portion
111 form bent angle with the connecting portion of the connector 113, and bent angle angle (should be understood to substantially for right angle in the present embodiment
It is a right angle, rather than can only is absolute right angle, it is allowed to comprising error, similarly hereinafter), as shown in Figure 1.Upper connecting portion 111 and upper folder
Hold portion 112, between there is certain angle, it shall be guaranteed that upper clamping part 112 is when work and clamped slide 130 is neat
It is flat.If the clamp device 10 is horizontally mounted, upper connecting portion 111 should be vertical, and upper clamping part 112 is horizontality.Above-mentioned
Angular relationship is not particularly limited, and can adjust accordingly according to the actual requirements, and limit is not caused to protection domain of the present utility model
System.
Preferably, it is provided with first surface on upper clamping part 112.Multiple cambered surface rubber parts are provided with the first surface
114 (cambered surface can be the sphere of rule), as shown in Figure 3.The cambered surface rubber parts 114 is relative to the first surface to evagination
Go out.The quantity of cambered surface rubber parts 114 is not limited, and can be in the present embodiment 3.The quantity of cambered surface rubber parts 114 is 4
It is individual, 5, and its above all can, specifically can specifically be set according to the area of the first surface of upper clamping part 112.The cambered surface rubber
The size of glue part 114 is not also limited, and the size of each cambered surface rubber parts 114 can be with identical, it is also possible to different, but it should ensureing
It is prominent that highly identical or roughly the same (point farthest apart from first surface should be in same level, such as i.e. in cambered surface
Shown in Fig. 4).The cambered surface rubber parts 114 can be fixedly connected using the mode of bonding with the first surface, it is also possible to by cambered surface
Rubber parts 114 carries out overall vulcanization with the rubber layer on first surface.
Fig. 5 is refer to, Fig. 5 shows the operating diagram of the clamp device 10, when the clamp device 10 works,
The multiple cambered surface rubber parts 114 set on first surface directly can be in contact with the slide 130 for being gripped, and can avoid first surface
Directly contacted with slide 130.Can play cushioning effect, and due to less with the contact area of slide 130, slide 130 with
It is not easy to cambered surface rubber parts 114 to be bonded together, the phenomenon for being difficult to come off occurs.
Refer to Fig. 6, lower clamping piece 120, for being cooperated with upper clamping piece 110, to grip slide 130.The lower clamping piece 120
Including lower clamping part 121 and lower connecting portion 122.
The downside connection of the second jaw end 102 of the first end of the lower connecting portion 122 and the electronic clamping jaw 100,
Connected mode can be fixedly connected using screw.Second end of the lower connecting portion 122 and the lower clamping part 121 are connected, even
The casting that the mode of connecing can be formed in one, or being fixedly connected using screw.The lower connecting portion 122 and lower clamping part
It is stepped after 121 connections.Lower connecting portion 122 with the link position of the second jaw end 102 to the connection with lower clamping part 121
Opening 123 is offered between position, when upper clamping part 112 is drawn close with lower clamping part 121, upper clamping part 112 and upper company
The link position of socket part 111 is placed in the opening 123, as shown in Figure 1.In addition, lower clamping part 121 is with lower connecting portion 122
Holistic block structure.
Second surface is provided with lower clamping part 121, the second surface is relative two-by-two with above-mentioned first surface.The lower folder
Second surface on part 120 should be flat surface.In the close outside of the second surface of the lower clamping piece 120 (when gripping glass
When piece 130, the side close at first with slide 130) an edges and corners may be configured as chamfering structure 124.It is set to down
Corner structure 124 can be conducive to the gripping of slide 130.Exist when slide 130 and between lower clamping piece 120 small error when
Wait, if slide 130 just cannot correctly be embedded in lower clamping part 121 and upper clamping when gripping slide 130 without chamfering structure 124
Between portion 112；If this edges and corners in the close outside of the second surface are set to chamfering structure 124, even if in the presence of smaller
Site error, due to the presence of chamfering, it is also possible to slide 130 is smoothly embedded into lower clamping part 121 and upper clamping part 112
Between.Corner angle in the outside of the second surface are set to chamfering structure 124, can improve the tolerance of gripping precision, carry
The efficiency of height gripping slide 130.
Fig. 7 is refer to, the embodiment of the present invention also provides a kind of gripping robot 20, and the gripping robot 20 includes：Machine
Human agent 210 and the clamp device 10 installed in the end of mechanical arm.The clamp device 10, by the gripping robot 20
Based Intelligent Control.The quantity of the mechanical arm of the gripping robot 20 is not restricted.
Preferably, what the gripping robot 20 can be fixed is arranged on carries out intelligent operation on different types of lathe,
Workpiece to various sheets is gripped.Can also be with locomotive function robot (for example, have mobile base or shoe
The robot of band), can individually be gripped operation.
The gripping robot 20 can Based Intelligent Control clamp device 10, using the clamp device 10 to slide 130 or its
He is gripped object, and clamping slide 130 is more solid and reliable, in addition when slide 130 is decontroled, due to being sphere-contact, is held
Easily depart from slide 130, it is to avoid ball is bonded with slide 130, it will be apparent that improve gripping efficiency.
In sum, a kind of clamp device 10 that the utility model embodiment is provided, the clamp device 10 is in electronic clamping jaw
Upper clamping piece 110 and lower clamping piece 120 are installed on 100, and upper clamping piece 110, lower clamping piece 120 are connected to electronic clamping jaw 100
First jaw end 101 and the second jaw end 102；And the second end of upper clamping piece 110 is provided with first surface, lower clamping piece 120
The second end be provided with second surface.The first surface and second surface are oppositely arranged two-by-two, can mutually draw close clamping slide
130.Multiple cambered surface rubber parts 114 are provided with the first surface, by 114 pairs of slides for being gripped of cambered surface rubber parts
130 (or other laminated structures) carry out compression more firmly, and can have preferably buffering, and preferably thick
Degree tolerance.Due to being the cambered surface and glass of the multiple cambered surface rubber parts 114 installed on upper clamping piece 110 when slide 130 are clamped
Piece 130 is contacted, so slide 130 is easier to come off when upper clamping piece 110 and lower clamping piece 120 unclamp, can be prevented effectively from glass
Vacuum adhesion is formed between piece 130 and upper clamping piece 110.
Preferred embodiment of the present utility model is the foregoing is only, the utility model is not limited to, for this
For the technical staff in field, the utility model can have various modifications and variations.It is all it is of the present utility model spirit and principle
Within, any modification, equivalent substitution and improvements made etc. should be included within protection domain of the present utility model.
Claims (10)
1. a kind of clamp device, it is characterised in that including：Electronic clamping jaw, upper clamping piece and lower clamping piece, described electronic clamping jaw the same side
Face is provided with the first jaw end and the second jaw end, and the first end of the upper clamping piece is connected with first jaw end, it is described under
The first end of folder is connected with second jaw end；Second end of the upper clamping piece is provided with first surface, the lower clamping piece
The second end be provided with second surface, the first surface and the second surface are relative two-by-two, are set on the first surface
There are multiple cambered surface rubber parts.
2. clamp device according to claim 1, it is characterised in that the thickness of the ledge of multiple cambered surface rubber parts
Degree is identical.
3. clamp device according to claim 1, it is characterised in that the cambered surface of multiple cambered surface rubber parts is rule
Sphere.
4. clamp device according to claim 1, it is characterised in that the upper clamping piece includes：Upper connecting portion and upper clamping
Portion, the first surface is arranged on clamping part, the first clamping jaw of the first end of the upper connecting portion and the electronic clamping jaw
End connection, the second end of the upper connecting portion is connected with the upper clamping part, and the second end of the upper connecting portion with it is described
The junction of upper clamping part is in a bent angle.
5. clamp device according to claim 4, it is characterised in that the bent angle angle is right angle.
6. clamp device according to claim 4, it is characterised in that the upper clamping piece also includes connector, the upper company
The first end of socket part is connected with the first side of the connector, second side adjacent with the first side of the connector
Face is connected with the first jaw end of the electronic clamping jaw.
7. clamp device according to claim 1, it is characterised in that the lower clamping piece includes lower clamping part and lower connection
Portion, the first end of the lower connecting portion and the electronic clamping jaw the second jaw end connection, the second end of the lower connecting portion and
The lower clamping part connection, the second surface is arranged on the lower clamping part.
8. clamp device according to claim 7, it is characterised in that be set to second surface on the lower clamping part
One edges and corners of side are set to chamfering structure, the corner angle for being set to chamfering structure away from the lower connecting portion second
End.
9. clamp device according to claim 8, it is characterised in that offer opening in the lower connecting portion.
10. it is a kind of to grip robot, it is characterised in that including：Gripping described in robot body and claim any one of 1-9
Device, the clamp device is arranged on the end of the mechanical arm of the gripping robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621287350.1U CN206263979U (en) | 2016-11-28 | 2016-11-28 | A kind of clamp device and gripping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621287350.1U CN206263979U (en) | 2016-11-28 | 2016-11-28 | A kind of clamp device and gripping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206263979U true CN206263979U (en) | 2017-06-20 |
Family
ID=59042596
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621287350.1U Active CN206263979U (en) | 2016-11-28 | 2016-11-28 | A kind of clamp device and gripping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206263979U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107433612A (en) * | 2017-09-11 | 2017-12-05 | 无锡弗沃德科技有限公司 | A kind of totally enclosed type high temperature resistant pneumatic gripping |
| CN108406828A (en) * | 2018-05-28 | 2018-08-17 | 珠海格力智能装备有限公司 | Clamp apparatus |
-
2016
- 2016-11-28 CN CN201621287350.1U patent/CN206263979U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107433612A (en) * | 2017-09-11 | 2017-12-05 | 无锡弗沃德科技有限公司 | A kind of totally enclosed type high temperature resistant pneumatic gripping |
| CN108406828A (en) * | 2018-05-28 | 2018-08-17 | 珠海格力智能装备有限公司 | Clamp apparatus |
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