CN206614531U - Reinforcement clamping jaw and manipulator - Google Patents
Reinforcement clamping jaw and manipulator Download PDFInfo
- Publication number
- CN206614531U CN206614531U CN201720089314.2U CN201720089314U CN206614531U CN 206614531 U CN206614531 U CN 206614531U CN 201720089314 U CN201720089314 U CN 201720089314U CN 206614531 U CN206614531 U CN 206614531U
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- Prior art keywords
- clamping
- reinforcement
- clamping jaw
- fixed seat
- seats
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Abstract
The utility model provides a kind of reinforcement clamping jaw and manipulator, is related to mechanical automation production technical field, including drive device, upper clamping section and lower clamping seats；Drive shaft is provided with the drive device, the drive shaft is connected with sliding fixed seat；The lower clamping section for clamping is provided with the lower clamping seats；And the upper clamping section and the lower clamping section can clamp workpiece；Centering block is hinged with clamping section on described；The connecting rod for connecting centering block is provided with the slip fixed seat.Reinforcement clamping jaw and manipulator that the utility model is provided, the clamping force of reinforcement clamping jaw is upper in theory can to reach infinity, in actual applications, and the position that clamping force can be hinged by connecting rod and centering block adjusts the size of clamping force；Solve in limited space, the problem of clamping force is inadequate, while also solving the problem of plate washboard during gripping.
Description
Technical field
The utility model is related to mechanical automation production technical field, more particularly, to a kind of reinforcement clamping jaw and manipulator.
Background technology
Manipulator can imitate some holding functions of human hand and arm, to be captured by fixed routine, carry object or operation
The automatic pilot of instrument.
Manipulator is the industrial robot occurred earliest, is also the modern machines people occurred earliest, and it can replace people's numerous
Heavy work can be operated to protect personal safety with realizing the mechanization and automation of production under hostile environment, thus extensively should
For departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
With the development of network skill, the direction that the networking operation problem of manipulator develops after being also.Industrial robot
It is a kind of high-tech automated production equipment that recent decades grow up.Industry mechanical arm be industrial robot a weight
Want branch.
Its feature is that various expected job tasks can be completed by programming, and people and machine are had concurrently on construction and performance
The respective advantage of device, especially embodies the intelligence and adaptability of people.
The ability fulfiled assignment in the accuracy of mechanical manual task and various environment, has wide in all fields of national economy
Development prospect.
Manipulator is a kind of new device grown up during mechanization, automated production.In modern production mistake
Cheng Zhong, manipulator is widely applied in automatic assembly line, and the development and production of robot turn into high-tech sector, fast
The emerging technology that speed grows up, it more promotes the development of manipulator so that manipulator can be better achieved with
Mechanization and the combination of automation.Although manipulator is flexible like that not as good as human hand, it has can continuous repeated work
And work, do not know fatigue, be fearless of danger, the characteristics of strength of snatch weight is bigger than people hand-power, therefore, manipulator is by many
The attention of department, and applied more and more widely.
Being on the increase with new product in refrigerator, refrigerator and washing machine automated production equipment, manufacturer is most of
Product type is increasingly intended to diversification, causes type product scope different.Although traditional conveying mechanical arm can play folder
The effect take, conveyed, but there are two large problems always：One the problem of be not clamping plate, but has impression during gripping plate,
The easy rubbing of plate during gripping.Cause its manipulator clamping jaw to turn into always and perplex a great problem that we produce.Therefore
Seeking the new clamping jaw structure of design, must to be fulfilled for clamping force sufficiently large, and without impression, plate rubbing can not be made during gripping
It is required that.So as to reduce the waste of the human and material resources because being produced this two hang-up.
Utility model content
The purpose of this utility model is to provide reinforcement clamping jaw and manipulator, to solve traditional manipulator in polynary metaplasia
When production, there is not clamping plate, have impression when gripping plate, the technology of the easy rubbing of plate is asked during gripping
Topic.
A kind of reinforcement clamping jaw that the utility model is provided, including drive device, upper clamping section and lower clamping seats；
Drive shaft is provided with the drive device, the drive shaft is connected with sliding fixed seat；
The lower clamping section for clamping is provided with the lower clamping seats；And the upper clamping section and the lower clamping section energy
Enough clamp workpiece；
Centering block is hinged with clamping section on described；The company for connecting centering block is provided with the slip fixed seat
Bar；And the connecting rod two ends are respectively hinged on the slip fixed seat and centering block.
Further, in addition to for supporting the operating platform of the drive device and lower clamping seats；
It is provided with the operating platform for ensureing to slide the guide rail that fixed seat moves along a straight line；The slip fixed seat
On be provided with the slip elongated slot matched with guide rail.
Further, the lower clamping seats are to have between two, two lower clamping seats for sliding fixed seat motion
Passage.
Further, it is hinged with pendulum wing between the lower clamping seats and the centering block.
Further, spring base is provided with the lower clamping seats, spring is provided with the spring base；Outside spring
It is arranged a spring housing for being used to contact with pendulum wing.
Further, it is provided with the upper clamping section on up-protective layer, the lower clamping section and is provided with lower protective layer.
Further, it is provided with floating junction between the drive shaft and slip fixed seat.
Further, clamping seats are set on the operating platform；The driving bearing being hinged in the drive device is fixed on
On clamping seats.
Further, boss is provided with the pendulum wing, the boss is contacted with spring housing.
The utility model also provides a kind of manipulator, using reinforcement clamping jaw described above.
Reinforcement clamping jaw and manipulator that the utility model is provided, the clamping force of reinforcement clamping jaw in theory on can reach it is infinite
Greatly, in actual applications, clamping force can be hinged by connecting rod and centering block position adjusts the size of clamping force；Solve
In limited space, the problem of clamping force is inadequate, while also solving the problem of plate washboard during gripping.
Brief description of the drawings
, below will be right in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
The accompanying drawing used required in embodiment or description of the prior art is briefly described, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other accompanying drawings can also be obtained according to these accompanying drawings.
The stereogram for the reinforcement clamping jaw that Fig. 1 provides for the utility model embodiment；
Fig. 2 is the stereogram of another angle of reinforcement clamping jaw shown in Fig. 1；
Fig. 3 is the front view of reinforcement clamping jaw shown in Fig. 1；
Fig. 4 is the left view of reinforcement clamping jaw shown in Fig. 1；
Fig. 5 is the top view of reinforcement clamping jaw shown in Fig. 1；
Fig. 6 is Fig. 5 AA schematic cross-sections；
The stereogram of another state for the reinforcement clamping jaw that Fig. 7 provides for the utility model embodiment；
Fig. 8 is the stereogram of another angle of reinforcement clamping jaw shown in Fig. 7；
Fig. 9 is the top view of reinforcement clamping jaw shown in Fig. 7；
Figure 10 is Fig. 9 BB schematic cross-sections.
Icon：100- workpiece；200- drive shafts；Clamping seats under 300-；The upper clamping sections of 400-；Clamping section under 500-；
600- operating platforms；700- centering blocks；800- connecting rods；900- puts wing；110- drive devices；120- drives bearing；130-
Floating junction；140- slides fixed seat；150- spring bases；160- spring housings；170- guide rails；180- boss.
Embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is a part of embodiment of the utility model, rather than whole embodiments.Based on the embodiment in the utility model, sheet
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality
Novel protected scope.
, it is necessary to explanation in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation or position relationship of the instruction such as " level ", " interior ", " outer " are, based on orientation shown in the drawings or position relationship, to be only
Described for the ease of description the utility model and simplifying, rather than to indicate or imply that signified device or element must have specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that indicating or implying relative importance.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
The stereogram for the reinforcement clamping jaw that Fig. 1 provides for the utility model embodiment；Fig. 2 is another for reinforcement clamping jaw shown in Fig. 1
The stereogram of one angle；Fig. 3 is the front view of reinforcement clamping jaw shown in Fig. 1；Fig. 4 is the left view of reinforcement clamping jaw shown in Fig. 1；Figure
5 be the top view of reinforcement clamping jaw shown in Fig. 1；Fig. 6 is Fig. 5 AA schematic cross-sections；Fig. 7 provides for the utility model embodiment
The stereogram of another state of reinforcement clamping jaw；Fig. 8 is the stereogram of another angle of reinforcement clamping jaw shown in Fig. 7；Fig. 9 is figure
The top view of reinforcement clamping jaw shown in 7；Figure 10 is Fig. 9 BB schematic cross-sections.
As shown in Fig. 1-Figure 10, a kind of reinforcement clamping jaw that the utility model is provided, including drive device 110, upper clamping section
400 and lower clamping seats 300；
Drive shaft 200 is provided with the drive device 110, the drive shaft 200 is connected with sliding fixed seat 140；
The lower clamping section 500 for clamping is provided with the lower clamping seats 300；And the upper clamping section and the lower folder
Tight portion 500 can clamp workpiece 100；
Centering block 700 is hinged with clamping section 400 on described；It is provided with the slip fixed seat 140 for connecting
The connecting rod 800 of centering block 700；And the two ends of connecting rod 800 are respectively hinged on the slip fixed seat 140 and centering block 700.
In the present embodiment, drive device 110 can use cylinder；Drive shaft 200 on cylinder is with sliding fixed seat
140 connections；When reinforcement clamping jaw is in complete clamped condition, the drive shaft 200 of cylinder is in contraction state；Upper clamping section
It is located at the upper and lower of workpiece 100 respectively with lower clamping section 500；When cylinder stretches out drive shaft 200, fixed seat is slided
140 move away from cylinder direction；The drivening rod 800 of fixed seat 140 is so slided to rotate, with the motion for sliding fixed seat 140,
Connecting rod 800 drives centering block 700 to move, so as to drive clamping section 400 to rotate, so that workpiece 100 can be removed.
For more preferable fixed drive device 110, on above-described embodiment basis, further, in addition to for propping up
Support the operating platform 600 of the drive device 110 and lower clamping seats 300；
It is provided with the operating platform 600 for ensureing to slide the guide rail 170 that fixed seat 140 moves along a straight line；It is described
Slide and be provided with the slip elongated slot matched with guide rail 170 in fixed seat 140.
Drive device 110 can be fixed on operating platform 600, and the guide rail 170 set on operating platform 600 can be
When drive device 110 makes the motion of slip fixed seat 140, guiding can be played a part of, it is ensured that slide fixed seat 140 and move
Direction is not offset.
There is slip elongated slot sliding the lower end of fixed seat 140, guide rail 170 is inserted from elongated slot one end is slided；Guide rail 170 uses spiral shell
Bolt is arranged on operating platform 600 that to ensure that guide rail 170 and operating platform 600 are installed firm.
As shown in figure 3, on above-described embodiment basis, further, the lower clamping seats 300 are two, two institutes
State the passage having between lower clamping seats 300 for sliding the motion of fixed seat 140.
In the present embodiment, lower clamping seats 300 are two, and lower clamping section 500 is arranged on two lower upper ends of clamping seats 300；
Guide rail 170 passes through between two lower clamping seats 300；Fixed seat 140 is slided when the driving of drive device 110 to transport along guide rail 170
When dynamic, it can be moved between two lower clamping seats 300, the lower without prejudice to of clamping seats 300 is slided fixed seat 140 and moved.
As shown in Fig. 6, Figure 10, further, pendulum wing is hinged between the lower clamping seats 300 and the centering block 700
900。
There is pendulum wing 900 on lower clamping seats 300；There are pendulum wing 900, pendulum wing 900 two ends point in two lower inner sides of clamping seats 300
It is not hinged between lower clamping seats 300 and centering block 700.
There are two side walls on centering block 700, pendulum wing 900 is hinged on the inner side of the side wall of two centering blocks 700；Sliding fixed seat
Both sides are respectively articulated with a connecting rod 800 on 140, and the upper end of two connecting rods 800 is hinged on the side wall of centering block 700.
As shown in Figure 2, Figure 4 shows, on above-described embodiment basis, further, bullet is provided with the lower clamping seats 300
Spring abutment 150, spring is provided with the spring base 150；A spring housing for being used to contact with pendulum wing 900 is set in spring overcoat
160。
In the present embodiment, spring base 150 is set on lower clamping seats 300；There is cavity in spring base 150, spring housing 160 is set
Put on spring base 150, spring is set in the cavity of spring base 150, bullet can be compressed indirectly by compression spring set 160
Spring；Contacted on spring housing 160 with pendulum wing 900；When the drive shaft 200 of cylinder is stretched out, pendulum wing 900 compression spring set 160；
When the drive shaft 200 of cylinder is shunk, spring housing 160 carrys out the first jack-up of pendulum wing 900, puts wing 900 against lower clamping seats 300
It is spacing, in the final state of clamping, the articulated position of upper clamping section is concordant with workpiece 100, and the direction of motion of upper clamping section is erected
It is straight downward, prevent washboard.
On above-described embodiment basis, further, up-protective layer, the lower clamping are provided with the upper clamping section
Lower protective layer is provided with portion 500.
Up-protective layer and lower guarantor are set respectively in the plane that upper clamping section and lower clamping section 500 are in contact with workpiece 100
Sheath；Up-protective layer and lower protective layer can be effectively protected workpiece 100, and the generation of impression is reduced in the state of clamping；It is upper to protect
Sheath and lower protective layer can be made of rubber, play a part of protecting workpiece 100, reduced the impression on workpiece 100 and drawn
Trace.
As shown in Figure 1 and Figure 2, connection of the drive shaft 200 with sliding fixed seat 140 for convenience, further, described to drive
Floating junction 130 is provided between moving axis 200 and slip fixed seat 140.
In the present embodiment, floating junction 130 is arranged in drive shaft 200, and such drive shaft 200 can transmit power
Give slip fixed seat 140.
As shown in figure 4, on above-described embodiment basis, further, clamping seats are set on the operating platform 600；
The driving bearing 120 being hinged in the drive device 110 is fixed on clamping seats.
Drive device 110 is provided with driving bearing 120, driving bearing 120 is arranged far from the side of drive shaft 200, this
Sample is when fixed seat 140 are slided in the driving of drive device 110, and driving bearing 120 can provide enough supports, it is ensured that it drives
Dynamic device 110 is static with respect to operating platform 600.
As shown in Fig. 2 on above-described embodiment basis, further, boss 180, institute are provided with the pendulum wing 900
Boss 180 is stated to contact with spring housing 160.
There is boss 180 at pendulum wing 900 two ends, when the swing of wing 900 is put, boss 180 can be stuck in lower clamping seats 300
On, so require, the distance between pendulum 900 two boss 180 of wing can not be less than the distance between two lower clamping seats 300；
So pendulum wing 900 is to when rotation, and lower clamping seats 300 can play the motion of limitation pendulum wing 900.
In order to better illustrate the motion process of increase clamping jaw, one of embodiment, drive device 110 uses cylinder,
As shown in figure 1, when cylinder is in fully retracted state, now upper clamping section and lower clamping section 500 are in the clamped condition completed,
When the drive shaft 200 of cylinder stretches out 10mm, now floating junction 130 drives slip fixed seat 140 to be moved right along guide rail 170
10mm, connecting rod 800 is the centre of gyration with the articulated position for sliding fixed seat 140；Connecting rod 800 starts revolution, centering block 700 and upper folder
Lower clamping section 500 is not left in tight portion also, and pendulum wing 900 does not change.
When cylinder drive shaft 200 stretch out 20mm when, now floating junction 130 with movable slider fixed seat along guide rail 170 to
20mm is moved right, connecting rod 800 continues on centre of gyration rotation, and centering block 700 initially moves off lower clamping section 500, because sliding block is solid
Reservation still without with pendulum wing 900 basis, therefore to be still in origin-location under the action of the spring constant for pendulum wing 900, cylinder
Drive shaft 200 continues to press on slip fixed seat 140 and moved.
When the drive shaft 200 of cylinder stretches out 70mm, slip fixed seat 140 is just tangent with the pendulum ledge of wing 900, puts wing
900 positions start to be varied from, under cylinder action, and pendulum wing 900 starts to be rotated down along the centre of gyration, and pendulum wing 900 is with
The articulated position of clamping seats 300 is the centre of gyration；Boss 180 on pendulum wing 900 starts downward compression spring.
After the drive shaft 200 of cylinder is fully extended；Fig. 8, Figure 10 are the shape of the fully extended rear clip-claw of cylinder drive shaft 200
State, is now placed exactly on same horizontal plane, pendulum wing 900 reaches below the ledge above sliding block fixed seat with putting wing 900
To a dead-centre position, pendulum wing 900 position no longer changes, and he is compressed to extreme position by that Huang, now the peak of centering block 700
Positioned at the lower upper surface of clamping section 500.
Existing conventional clamping jaw uses the structure of plain connecting rod 800, is limited by space, and structure will be made compact,
Clamping force can reach requirement reluctantly when clamping casual labourer's part 100, but during machining long workpieces 100, clamping force can not reach requirement；Reinforcement clamp
Pawl is not increasing on the premise of structure takes up space, and substantially increases the clamping force of clamping jaw.After reinforcement structure, managed in clamping
, in actual applications, can also be by adjusting the position that connecting rod 800 and centering block 700 are hinged in clamping by can above reach infinity
Put, adjust the size of clamping force, it is advantageous that, in limited space, the problem of clamping force is inadequate is solved, meanwhile,
Solve the problem of rubbing is worked during gripping.
The utility model also provides a kind of manipulator, using reinforcement clamping jaw described above.
In the present embodiment, manipulator uses reinforcement clamping jaw, so that manipulator has enough folders during can conveying
Clamp force, and impression will not be produced on workpiece 100, it also prevent the rubbing of the workpiece 100 during gripping.
Reinforcement clamping jaw and manipulator that the utility model is provided, the clamping force of reinforcement clamping jaw in theory on can reach it is infinite
Greatly, in actual applications, clamping force can be hinged by connecting rod 800 and centering block 700 position adjusts the size of clamping force；Solution
Determine in limited space, the problem of clamping force is inadequate, while also solving the problem of plate washboard during gripping.
Finally it should be noted that：Various embodiments above is only limited to illustrate the technical solution of the utility model, rather than to it
System；Although the utility model is described in detail with reference to foregoing embodiments, one of ordinary skill in the art should
Understand：It can still modify to the technical scheme described in foregoing embodiments, or to which part or whole
Technical characteristic carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from this practicality newly
The scope of each embodiment technical scheme of type.
Claims (10)
1. a kind of reinforcement clamping jaw, it is characterised in that including drive device, upper clamping section and lower clamping seats；
Drive shaft is provided with the drive device, the drive shaft is connected with sliding fixed seat；
The lower clamping section for clamping is provided with the lower clamping seats；And the upper clamping section and the lower clamping section can be pressed from both sides
Firmly workpiece；
Centering block is hinged with clamping section on described；The connecting rod for connecting centering block is provided with the slip fixed seat；And
The connecting rod two ends are respectively hinged on the slip fixed seat and centering block.
2. reinforcement clamping jaw according to claim 1, it is characterised in that also including for supporting the drive device and lower folder
The operating platform of tight seat；
It is provided with the operating platform for ensureing to slide the guide rail that fixed seat moves along a straight line；Set in the slip fixed seat
It is equipped with the slip elongated slot matched with guide rail.
3. reinforcement clamping jaw according to claim 2, it is characterised in that the lower clamping seats are two, two lower folders
There is the passage for sliding fixed seat motion between tight seat.
4. reinforcement clamping jaw according to claim 3, it is characterised in that be hinged between the lower clamping seats and the centering block
Put wing.
5. reinforcement clamping jaw according to claim 4, it is characterised in that spring base is provided with the lower clamping seats, in institute
State and spring is provided with spring base；A spring housing for being used to contact with pendulum wing is set in spring overcoat.
6. reinforcement clamping jaw according to claim 2, it is characterised in that be provided with up-protective layer on the upper clamping section, institute
State and be provided with lower protective layer on lower clamping section.
7. reinforcement clamping jaw according to claim 6, it is characterised in that be provided between the drive shaft and slip fixed seat
Floating junction.
8. reinforcement clamping jaw according to claim 2, it is characterised in that clamping seats are set on the operating platform；It is described to drive
The driving bearing being hinged on dynamic device is fixed on clamping seats.
9. reinforcement clamping jaw according to claim 5, it is characterised in that be provided with boss on the pendulum wing, the boss with
Spring housing is contacted.
10. a kind of manipulator, it is characterised in that using any one of the claim 1-9 reinforcement clamping jaw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720089314.2U CN206614531U (en) | 2017-01-23 | 2017-01-23 | Reinforcement clamping jaw and manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720089314.2U CN206614531U (en) | 2017-01-23 | 2017-01-23 | Reinforcement clamping jaw and manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206614531U true CN206614531U (en) | 2017-11-07 |
Family
ID=60230166
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720089314.2U Withdrawn - After Issue CN206614531U (en) | 2017-01-23 | 2017-01-23 | Reinforcement clamping jaw and manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206614531U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106541394A (en) * | 2017-01-23 | 2017-03-29 | 王安基 | Reinforcement jaw and mechanical hand |
| CN107877533A (en) * | 2017-12-27 | 2018-04-06 | 天津时代创业科技有限公司 | Force-doubling type mechanical grip |
-
2017
- 2017-01-23 CN CN201720089314.2U patent/CN206614531U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106541394A (en) * | 2017-01-23 | 2017-03-29 | 王安基 | Reinforcement jaw and mechanical hand |
| CN106541394B (en) * | 2017-01-23 | 2019-02-01 | 王安基 | Reinforcement clamping jaw and manipulator |
| CN107877533A (en) * | 2017-12-27 | 2018-04-06 | 天津时代创业科技有限公司 | Force-doubling type mechanical grip |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20171107 Effective date of abandoning: 20190201 |
|
| AV01 | Patent right actively abandoned |