CN207596055U - Fixture and robot - Google Patents
Fixture and robot Download PDFInfo
- Publication number
- CN207596055U CN207596055U CN201721531914.6U CN201721531914U CN207596055U CN 207596055 U CN207596055 U CN 207596055U CN 201721531914 U CN201721531914 U CN 201721531914U CN 207596055 U CN207596055 U CN 207596055U
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- clamping jaw
- sucker
- fixture
- oppositely arranged
- disk part
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Abstract
The utility model discloses a kind of fixture and robot, the fixture includes：Sucking disk part, one end are external in moving parts, and being moved away from one end suspension of component has sucker, and the sucker is circumscribed with vacuum generating device, and article to be held is adsorbed in bottom；Clamping jaw portion, set on the side of sucker, including at least two clamping jaws being oppositely arranged, the clamping jaw folding unit that is flexibly connected with clamping jaw, clamping jaw folding unit is connect with sucking disk part, the sucker is located on the inside of two clamping jaws being oppositely arranged, the clamping jaw folding that the driving of clamping jaw folding unit is oppositely arranged clamps or decontrols the article to be held that sucker is sucked.The utility model enables fixture to capture weight, simultaneously as article is captured using adsorption structure, it is simple in structure, it occupies little space, the intensive article being stacked can be captured.
Description
Technical field
The utility model is related to robot device's technical field more particularly to a kind of fixtures and robot.
Background technology
Existing robot clamp is usually the structure of lever and principle to be added to capture workpiece by clamping jaw by cylinder.
But this fixture can only capture some separated things as unit of individual, such as the production just produced on pipeline
Product, but the fixture of lever construction is not suitable for the crawl of weight, while lever clamp is complicated, when capturing article, needs
Occupy the space around article, when the article encountered be some densely, the weight of stacked in multi-layers, between weight almost without
During gap, can not just it be captured.
Therefore, the prior art is also to be developed.
Utility model content
Part in view of above-mentioned deficiencies of the prior art, the purpose of this utility model is to provide a kind of fixtures, it is intended to solve
Existing fixture can not capture the problem of weight of intensive stacking.
To achieve the above object, the utility model takes following technical scheme：
A kind of fixture, wherein, including：
Sucking disk part, one end are external in moving parts, and one end suspension for being moved away from component has sucker, and the sucker is circumscribed with
Article to be held is adsorbed in vacuum generating device, bottom；
Clamping jaw portion, set on the side of sucker, including at least two clamping jaws being oppositely arranged, the clamping jaw that is flexibly connected with clamping jaw
Folding unit, clamping jaw folding unit are connect with sucking disk part, and the sucker is located on the inside of two clamping jaws being oppositely arranged, clamping jaw folding list
The clamping jaw folding that member driving is oppositely arranged clamps or decontrols the article to be held that sucker is sucked.
Optionally, the fixture further includes lifting unit, and described lifting unit one end is connected to sucking disk part, and the other end is connected to folder
Pawl folding unit, the lifting unit driving relatively described sucking disk part straight reciprocating in clamping jaw portion.
Optionally, the lifting unit includes two symmetrically arranged lifting cylinders, the extension bar of each lifting cylinder
End is connected to sucking disk part, and the cylinder body end of lifting cylinder is connected to clamping jaw folding unit.
Optionally, the sucking disk part further includes connecting flange and connecting rod, and described connecting flange one end is external in moving portion
Part, the other end connect the connecting rod, and the connecting rod middle section is arranged in the clamping jaw being oppositely arranged, the connecting rod
The other end suspends the sucker.
Optionally, the connecting rod is symmetrically arranged two.
Optionally, the clamping jaw folding unit includes a fixed plate, the guide rail for being set to fixed plate bottom, is moved with guide rail
At least two Mobile bases being oppositely arranged and a flat-removing air cyclinder of connection；
The middle section of the connecting rod passes through the fixed plate, and it is opposite that the two Mobile bases bottom connects described two respectively
The clamping jaw of setting, the stretching rod end of the flat-removing air cyclinder are fixed on a clamping jaw, and cylinder body end is fixed on another clamping jaw being oppositely arranged.
Optionally, the clamping jaw is provided with crook with article contacts position to be held.
Optionally, the fixture further includes directive wheel, and the directive wheel is set to the bottom surface of fixed plate, the clamping jaw top
Guide pad is additionally provided with, guide pad is contacted with the wheel rim of directive wheel, is oriented in the folding moving direction of clamping jaw.
Optionally, the fixture further includes guide rod, is set between sucking disk part and clamping jaw portion, and the clamping jaw portion is described
It is slided on guide rod.
The utility model also proposes a kind of robot, wherein, the robot includes above-mentioned fixture.
Advantageous effect：The fixture of the utility model, by setting sucking disk part, one end external mobile component of sucking disk part, separately
One end sets sucker, and sucker is provided with clamping jaw by the effect adsorbent article of vacuum generating device in the side of sucking disk part
Portion, the clamping jaw in clamping jaw portion can clamp or decontrol the article that sucker has adsorbed, and ensure the fastness of clamping, and sucker suction structure can inhale
Then addendum product are securely clamped with clamping jaw so that and this fixture can capture weight, simultaneously as article is captured using adsorption structure,
It is simple in structure, it occupies little space, the intensive article being stacked can be captured.
Description of the drawings
It in order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, other attached drawings can also be obtained according to the structure shown in these attached drawings.
Fig. 1 is the structure diagram of the utility model fixture；
Fig. 2 is the decomposition texture schematic diagram of the utility model fixture；
Fig. 3 is the decomposition diagram of the utility model clamping jaw portion and lifting unit；
Fig. 4 is the part-structure schematic diagram in the utility model clamping jaw portion.
Drawing reference numeral explanation：
| Label | Title | Label | Title |
| 100 | Fixture | 221 | Fixed plate |
| 10 | Sucking disk part | 222 | Guide rail |
| 11 | Sucker | 223 | Mobile base |
| 12 | Connecting flange | 224 | Flat-removing air cyclinder |
| 13 | Connecting rod | 30 | Lifting unit |
| 20 | Clamping jaw portion | 31 | Lifting cylinder |
| 21 | Clamping jaw | 40 | Directive wheel |
| 211 | Crook | 50 | Guide rod |
| 212 | Guide pad | 60 | Article to be held |
| 22 | Clamping jaw folding unit |
The embodiments will be further described with reference to the accompanying drawings for the realization, functional characteristics and advantage of the utility model aim.
Specific embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
It clearly and completely describes, it is clear that described embodiment is only the part of the embodiment rather than whole of the utility model
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not making creative work premise
Lower all other embodiments obtained, shall fall within the protection scope of the present invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute in the utility model embodiment
It is only used for explaining the phase under a certain particular pose (as shown in drawings) between each component
To position relationship, motion conditions etc., if the particular pose changes, directionality indicates also correspondingly
It changes correspondingly.
In the utility model unless specifically defined or limited otherwise, term " connection ", " fixation " etc. should do broad sense reason
Solution, for example, " fixation " can be fixedly connected or be detachably connected or integrally；It can be mechanical connection, also may be used
Be electrical connection；It can be directly connected, can also be indirectly connected by intermediary, can be the connection inside two elements
Or the interaction relationship of two elements, unless otherwise restricted clearly.It for the ordinary skill in the art, can be with
Concrete meaning of the above-mentioned term in the utility model is understood as the case may be.
In addition, it and cannot be managed in the utility model such as relating to the description of " first ", " second " etc. is only used for description purpose
It solves to indicate or implying its relative importance or the implicit quantity for indicating indicated technical characteristic.Define as a result, " the
One ", at least one this feature can be expressed or be implicitly included to the feature of " second ".In addition, the skill between each embodiment
Art scheme can be combined with each other, but must can be implemented as basis with those of ordinary skill in the art, when technical solution
It will be understood that the combination of this technical solution is not present with reference to there is conflicting or can not realize when, also not in the utility model
It is required that protection domain within.
Fig. 1 to Fig. 4 is please referred to, the utility model proposes a kind of fixture 100, including：
Sucking disk part 10, one end is external in moving parts, and one end suspension for being moved away from component has sucker 11, the sucker 11
Vacuum generating device is circumscribed with, article 60 to be held is adsorbed in bottom；Moving parts can be the mechanical arm of robot, this reality
It applies example to be not shown in figure, mechanical arm can directly drive sucking disk part and the component connecting with sucking disk part integrally to be moved, such as
Another location is transported to after being moved to article stowed location or gripping article；Due to using sucker suction article, sucker and object
The contact area of product is big, can adsorb the big article of weight, while it is big to avoid occupied space when being captured using lever construction, no
Can crawl it is intensive be stacked article the problem of.
Clamping jaw portion 20, set on the side of sucker 11, the clamping jaw 21 being oppositely arranged including at least two and 21 activity of clamping jaw are even
The clamping jaw folding unit 22 connect, 22 yuan of clamping jaw folding list are connect with sucking disk part 10, and the sucker 11 is located at two folders being oppositely arranged
21 inside of pawl, clamping jaw folding unit 22 drive 21 folding of clamping jaw being oppositely arranged, and clamp or decontrol the object to be held that sucker is sucked
Product 60.Clamping jaw 21 can be oppositely arranged to be multiple, and in the utility model embodiment, clamping jaw is provided with 4, wherein opposite two-by-two
Setting.
In the utility model embodiment, by setting sucking disk part, one end external mobile component of sucking disk part, other end setting
Sucker, sucker are provided with clamping jaw portion, clamping jaw portion in the side of sucking disk part by the effect adsorbent article of vacuum generating device
Clamping jaw can clamp or decontrol the article that sucker has adsorbed, ensure clamping fastness, sucker suction structure energy adsorbent article, so
It is securely clamped with clamping jaw afterwards so that this fixture can capture weight, improve the Grasping skill of the utility model fixture；Meanwhile by
Article is captured in use adsorption structure, it is simple in structure, it occupies little space, the intensive article being stacked can be captured, improved
The scope of application of this fixture.
Preferably, the fixture 100 further includes lifting unit 30, and described 30 one end of lifting unit is connected to sucking disk part 10, another
End is connected to clamping jaw folding unit 22,20 relatively described 10 straight reciprocating of sucking disk part of the lifting unit 30 driving clamping jaw portion.It rises
The setting in drop portion enables clamping jaw portion 20 with respect to 10 straight reciprocating of sucking disk part, in the process of grasping, when the article of crawl is thick
When spending different, the height of lifting unit adjustment clamping jaw can be used and clamp article, be adapted to the article crawl of different-thickness；
Simultaneously as the effect of lifting unit, clamping jaw can lift, can be with when needing sucker being put into smaller space crawl article
Clamping jaw is tightened on the top of sucker, further to reduce the occupied space at sucker, is reached in smaller space crawl article
Purpose.
Specifically, as shown in figure 3, the lifting unit 30 includes two symmetrically arranged lifting cylinders 31, each liter
The stretching rod end of sending down abnormally ascending cylinder 31 is connected to sucking disk part 10, and the cylinder body end of lifting cylinder 31 is connected to clamping jaw folding unit 22.It is double to rise
Sending down abnormally ascending cylinder 31 is symmetrical arranged so that uniform force is symmetrical in the lifting process in clamping jaw portion 20, and operation is more steady.
Please continue to refer to Fig. 1 and Fig. 2, the sucking disk part 10 further includes connecting flange 12 and connecting rod 13, the connection method
Blue 12 one end are external in moving parts, and the other end connects the connecting rod 13, and 13 middle section of connecting rod is arranged in described
The clamping jaw 21 being oppositely arranged, the other end of the connecting rod 13 suspend the sucker 11.Connecting flange one end in the present embodiment connects
The moving parts of the robot connect such as mechanical arm, since sucker, connecting rod and connecting flange are interconnected and fixed, mechanical arm
When mobile, you can drive sucking disk part movement, and then clamping jaw portion is driven to move together.It is lived in order to which the clamping jaw enable clamps sucker suction
Article, connecting rod middle section is threaded through the inner space of two clamping jaws being oppositely arranged, and sucker is then placed in the inner space.
Preferably, the connecting rod 13 is symmetrically arranged two.Symmetrically arranged two connecting rods cause sucker and company
Connection between acting flange is more secured, ensures stability of the sucker during adsorbent article.
As a kind of embodiment, specifically, as shown in figure 3, the clamping jaw folding unit 22 include a fixed plate 221,
The guide rail 222 of 221 bottom of fixed plate is set to, the Mobile base 223, Yi Jiyi being oppositely arranged at least the two of guide rail mobile connection
Flat-removing air cyclinder 224；
The middle section of the connecting rod 13 passes through the fixed plate 221, and two Mobile bases, 223 bottom connects institute respectively
Two clamping jaws 21 being oppositely arranged are stated, the stretching rod end of the flat mobile cylinder 224 is fixed on a clamping jaw 21, and cylinder body end is fixed on phase
To another clamping jaw 21 of setting.
Flat-removing air cyclinder energy 224 in the present embodiment causes two clamping jaws 21 being oppositely arranged to move linearly, and clamps or unclamps
Folding is realized in the article of sucker suction, the linear movement of clamping jaw 21, avoids the lever motion of existing clamping jaw and to occupy space big
The problem of.
Guide rail 222 in the present embodiment is to be fixedly connected with fixed plate 221, Mobile base 223 and guide rail 222 be slide or
Connection is rolled, meanwhile, the bottom of Mobile base 223 is fixedly connected with clamping jaw 21, and the both sides of each guide rail 222 set a movement respectively
Seat 223 so that two clamping jaws 21 being oppositely arranged relatively move realization clamping and release function under the action of flat-removing air cyclinder 224.
As shown in Figure 3 and Figure 4, the clamping jaw 21 in the present embodiment be four, each two clamping jaw 21 is oppositely arranged, it is corresponding with
The Mobile base 223 that clamping jaw 21 is fixedly connected is four, and each two Mobile base 223 is relatively arranged on a guide rail 222.It is appreciated that
In the other embodiment of the utility model, clamping jaw, Mobile base, guide rail can also set corresponding multiple according to design requirement.
Preferably, the clamping jaw 21 is provided with crook 211 with article contacts position to be held.Crook 211 can be strengthened
The clamping effect of article.
Preferably, as shown in figure 4, the fixture 100 further includes directive wheel 40, the directive wheel 40 is set to fixed plate
221 bottom surface, 21 top of clamping jaw are additionally provided with guide pad 212, and guide pad 212 is contacted with the wheel rim of directive wheel 40, is being pressed from both sides
The folding moving direction of pawl 21 is oriented to.The cooperation of directive wheel and guide pad play the guiding role to the clamping jaw of relative motion.
With reference to figure 1 and Fig. 2, preferably, the fixture 100 further includes guide rod 50, it is set to sucking disk part 10 and clamping jaw portion
Between 20, the clamping jaw portion 20 is slided on the guide rod 50.Guide rod 50 and the junction of sucking disk part 10 are fixed, and are oriented to
Bar 50 is to be slidably connected with clamping jaw portion 20, and under the action of lifting cylinder 30, clamping jaw portion 20 is moved up and down with respect to sucking disk part 10, is
The offset in moving process is prevented, the guide rod 50 between sucking disk part 10 and clamping jaw portion 20 is then in the up-down direction to moving
Dynamic clamping jaw portion 20 is oriented to.It is appreciated that guide rod 50 could be provided as more, as being provided with 4 in the present embodiment,
In other embodiment, 6,8 etc. can also be set.
The utility model also proposes a kind of robot (not shown), wherein, the robot includes above-mentioned fixture 100.
The concrete structure of the fixture 100 is with reference to above-described embodiment, since robot employs whole technologies of above-mentioned all embodiments
Scheme, therefore all advantageous effects at least caused by the technical solution with above-described embodiment, this is no longer going to repeat them.
The above is only the preferred embodiment of the present invention, and it does not limit the scope of the patent of the present invention,
Under every utility model in the utility model is conceived, equivalent structure made based on the specification and figures of the utility model
Transformation or directly/be used in other related technical areas indirectly and be included in the scope of patent protection of the utility model.
Claims (10)
1. a kind of fixture, which is characterized in that including：
Sucking disk part, one end are external in moving parts, and one end suspension for being moved away from component has sucker, and the sucker is circumscribed with vacuum
Article to be held is adsorbed in generating means, bottom；
Clamping jaw portion, set on the side of sucker, including at least two clamping jaws being oppositely arranged, the clamping jaw folding that is flexibly connected with clamping jaw
Unit, clamping jaw folding unit are connect with sucking disk part, and the sucker is located on the inside of two clamping jaws being oppositely arranged, and clamping jaw folding unit drives
The dynamic clamping jaw folding being oppositely arranged clamps or decontrols the article to be held that sucker is sucked.
2. fixture according to claim 1, which is characterized in that the fixture further includes lifting unit, described lifting unit one end
Sucking disk part is connected to, the other end is connected to clamping jaw folding unit, and the lifting unit driving relatively described sucking disk part straight line in clamping jaw portion is past
It is multiple mobile.
3. fixture according to claim 2, which is characterized in that the lifting unit includes two symmetrically arranged lifting airs
Cylinder, the stretching rod end of each lifting cylinder are connected to sucking disk part, and the cylinder body end of lifting cylinder is connected to clamping jaw folding unit.
4. fixture according to claim 2, which is characterized in that the sucking disk part further includes connecting flange and connecting rod, institute
It states connecting flange one end and is external in moving parts, the other end connects the connecting rod, and the connecting rod middle section is arranged in institute
The clamping jaw being oppositely arranged is stated, the other end of the connecting rod suspends the sucker.
5. fixture according to claim 4, which is characterized in that the connecting rod is symmetrically arranged two.
6. fixture according to claim 4, which is characterized in that the clamping jaw folding unit includes a fixed plate, is set to
The guide rail of fixed plate bottom, at least two Mobile bases being oppositely arranged of guide rail mobile connection and a flat-removing air cyclinder；
The middle section of the connecting rod passes through the fixed plate, and the two Mobile bases bottom connects described two and is oppositely arranged respectively
Clamping jaw, the stretching rod end of the flat-removing air cyclinder is fixed on a clamping jaw, and cylinder body end is fixed on another clamping jaw being oppositely arranged.
7. fixture according to claim 6, which is characterized in that the clamping jaw is provided with hook with article contacts position to be held
Shape portion.
8. fixture according to claim 6, which is characterized in that the fixture further includes directive wheel, the directive wheel setting
Guide pad is additionally provided at the top of the bottom surface of fixed plate, the clamping jaw, guide pad is contacted with the wheel rim of directive wheel, in opening for clamping jaw
Moving direction is closed to be oriented to.
9. according to any fixtures of claim 1-8, which is characterized in that the fixture further includes guide rod, is set to suction
Between pan portion and clamping jaw portion, the clamping jaw portion is slided on the guide rod.
10. a kind of robot, which is characterized in that the robot includes such as claim 1-9 any one of them fixtures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721531914.6U CN207596055U (en) | 2017-11-15 | 2017-11-15 | Fixture and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721531914.6U CN207596055U (en) | 2017-11-15 | 2017-11-15 | Fixture and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207596055U true CN207596055U (en) | 2018-07-10 |
Family
ID=62760057
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721531914.6U Active CN207596055U (en) | 2017-11-15 | 2017-11-15 | Fixture and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207596055U (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108838924A (en) * | 2018-07-11 | 2018-11-20 | 江苏新惕姆智能装备有限公司 | Filter assembles clamp system and clamping means |
| CN110465963A (en) * | 2019-08-30 | 2019-11-19 | 沈阳豪邦机械装备有限公司 | A kind of multi-function robot clamp hand |
| CN110540037A (en) * | 2018-08-21 | 2019-12-06 | 蓝思智能机器人(长沙)有限公司 | Hot bending forming equipment and mould turnover mechanism thereof |
| CN110654588A (en) * | 2019-10-31 | 2020-01-07 | 厦门宏泰智能制造有限公司 | Boxing equipment and corresponding boxing method |
| CN112809713A (en) * | 2020-12-31 | 2021-05-18 | 珠海格力智能装备有限公司 | Clamp, clamping mechanism and clamping method |
| CN113002494A (en) * | 2021-02-25 | 2021-06-22 | 张学文 | Quick replacement mounting system of new energy automobile power battery group |
| CN113086285A (en) * | 2021-04-19 | 2021-07-09 | 张小刚 | A snatch mechanism for automizing apple cover net box packing machine |
| CN113287838A (en) * | 2021-05-20 | 2021-08-24 | 知守科技(杭州)有限公司 | Novel intelligent bottom pasting production line |
| CN113816141A (en) * | 2021-11-01 | 2021-12-21 | 博众精工科技股份有限公司 | Battery cell taking and placing device |
| CN113859991A (en) * | 2021-10-26 | 2021-12-31 | 杭州迁移科技有限公司 | Sucker type unstacking device |
| CN114044358A (en) * | 2021-12-02 | 2022-02-15 | 苏州佳祺仕信息科技有限公司 | Workpiece position calibration equipment and workpiece position calibration system |
| CN115159109A (en) * | 2022-07-11 | 2022-10-11 | 深圳西可实业有限公司 | Tray moves and carries mechanism |
| CN115432432A (en) * | 2022-09-24 | 2022-12-06 | 歌尔股份有限公司 | Shell material taking and placing device |
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2017
- 2017-11-15 CN CN201721531914.6U patent/CN207596055U/en active Active
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108838924A (en) * | 2018-07-11 | 2018-11-20 | 江苏新惕姆智能装备有限公司 | Filter assembles clamp system and clamping means |
| CN110540037A (en) * | 2018-08-21 | 2019-12-06 | 蓝思智能机器人(长沙)有限公司 | Hot bending forming equipment and mould turnover mechanism thereof |
| CN110465963A (en) * | 2019-08-30 | 2019-11-19 | 沈阳豪邦机械装备有限公司 | A kind of multi-function robot clamp hand |
| CN110654588A (en) * | 2019-10-31 | 2020-01-07 | 厦门宏泰智能制造有限公司 | Boxing equipment and corresponding boxing method |
| CN112809713A (en) * | 2020-12-31 | 2021-05-18 | 珠海格力智能装备有限公司 | Clamp, clamping mechanism and clamping method |
| CN113002494A (en) * | 2021-02-25 | 2021-06-22 | 张学文 | Quick replacement mounting system of new energy automobile power battery group |
| CN113086285A (en) * | 2021-04-19 | 2021-07-09 | 张小刚 | A snatch mechanism for automizing apple cover net box packing machine |
| CN113287838A (en) * | 2021-05-20 | 2021-08-24 | 知守科技(杭州)有限公司 | Novel intelligent bottom pasting production line |
| CN113859991A (en) * | 2021-10-26 | 2021-12-31 | 杭州迁移科技有限公司 | Sucker type unstacking device |
| CN113816141A (en) * | 2021-11-01 | 2021-12-21 | 博众精工科技股份有限公司 | Battery cell taking and placing device |
| CN114044358A (en) * | 2021-12-02 | 2022-02-15 | 苏州佳祺仕信息科技有限公司 | Workpiece position calibration equipment and workpiece position calibration system |
| CN114044358B (en) * | 2021-12-02 | 2023-10-17 | 苏州佳祺仕科技股份有限公司 | Workpiece position calibration equipment and workpiece position calibration system |
| CN115159109A (en) * | 2022-07-11 | 2022-10-11 | 深圳西可实业有限公司 | Tray moves and carries mechanism |
| CN115432432A (en) * | 2022-09-24 | 2022-12-06 | 歌尔股份有限公司 | Shell material taking and placing device |
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