CN207841359U - Robot clamping jaw device and robot - Google Patents
Robot clamping jaw device and robot Download PDFInfo
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- CN207841359U CN207841359U CN201820203070.0U CN201820203070U CN207841359U CN 207841359 U CN207841359 U CN 207841359U CN 201820203070 U CN201820203070 U CN 201820203070U CN 207841359 U CN207841359 U CN 207841359U
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- arm
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- clamping
- supporting surface
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- 238000005096 rolling process Methods 0.000 claims description 10
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
The utility model provides a kind of robot clamping jaw device and robot.The robot clamping jaw device includes pedestal；First clamping jaw, the first clamping part being connected with the first arm being slidably arranged on pedestal and with the first arm, there is first arm upper arm parts, lower arm part and the mobile space being formed between upper and lower arm, first clamping part one end to extend along the second direction perpendicular to first direction；Second clamping jaw, with the second arm and the second clamping part for connecting with the second arm and being oppositely arranged with the first clamping part, the second arm stretches into mobile space and is supported by lower arm part, and the second retaining part is between first clamping part and lower arm part；Driving element.There is the lower arm part the first supporting surface, the second supporting surface higher than the first supporting surface and inclination to extend and connect the third supporting surface of the first supporting surface and the second supporting surface.In use, driving element drives the first clamping jaw to be displaced outwardly, the space that gripping article is formed between the first clamping part and the second clamping part is enabled.
Description
Technical field
The utility model is related to robotic technology field more particularly to a kind of robot clamping jaw devices and robot.
Background technology
Robot is to automatically control being commonly called as machine, is widely used in industry-by-industry and field.With reference in September, 2012
A kind of robot clamping jaw device that Chinese utility model CN102658552 patents disclose disclosed in 12 days, the robot
Clamping jaw device includes push rod and power plant that the push rod can be driven to be axially moveable, and first axle is arranged with outside the push rod
Set, one end of first axle sleeve are connected with the output end of the power plant, and the other end of first axle sleeve is fixedly connected with
Clamping set, the clamping set offer the first axis hole, and the clamping that can radially open or collapse is provided in clamping set, described
Clamping is formed with the second axis hole opened up in an axial direction, and the push rod has the second axis hole that can be inserted into the clamping interior and by the folder
The radially distracted cone head part of mould.With reference to Chinese utility model CN107139204 patents disclosed in September in 2017 8 days
A kind of robot clamping jaw disclosed, the robot clamping jaw includes the clamping that gripper cylinder and two are movably connected on gripper cylinder
Part, two clamping pieces can be located remotely from each other or close under the driving of gripper cylinder.In practical applications, such robot clamping jaw
Mostly complicated, operation is complicated, is unfavorable for industrialization production and utilization.
Therefore, it is necessary to provide a kind of improved robot clamping jaw device and robot to solve the above problems.
Utility model content
The purpose of this utility model is to provide a kind of simple in structure and easy-operating robot clamping jaw device and robots.
For the above-mentioned purpose of utility model of realization, the utility model provides a kind of robot clamping jaw device, including:Pedestal；
First clamping jaw has the first arm being slidably arranged on the pedestal along first direction and be connected with the first arm first
Clamping part, first arm be in along first direction towards the first clamping part direction opening setting it is U-shaped, and with upper arm parts,
Lower arm part, the interconnecting piece of attached to upper arm portion and lower arm part and the mobile space that is formed between upper arm parts and lower arm part, described
One clamping part extends from the one end of upper arm parts far from interconnecting piece along the second direction perpendicular to first direction；Second clamping jaw, has
Second arm and the second clamping part being connect with the second arm, second arm stretch into mobile space and are supported by lower arm part,
Second clamping part is oppositely arranged with the first clamping part, and between first clamping part and lower arm part；Driving element,
To drive the first clamping jaw, upper edge pedestal moves in a first direction；Wherein, the lower arm part has the first supporting surface, is higher than first
Second supporting surface of supporting surface and inclination extend and connect the third supporting surface of the first supporting surface and the second supporting surface.
The pedestal is included in perpendicular to first direction and second direction as a further improvement of the utility model,
A pair of side plates that tripartite is oppositely arranged upwards, the robot clamping jaw device have the second arm close to the position of the second clamping part
The place of setting is fixed on the screw in a pair of side plates, and second clamping jaw can be rotated around screw.
The pedestal further includes the sliding rail for being fixed on the side plate and corresponding to the upper arm parts and lower arm part, the upper arm
Portion and lower arm part are slided relative to sliding rail to be arranged.
As a further improvement of the utility model, the pedestal further include setting along first direction close to the first clamping jaw
The positioning plate of one end and a pair of end plate being oppositely arranged in second direction, the positioning plate has to be extended to form in a second direction
Main board portion and deviate from a pair of of transverse plate for extending to form of second arm from the main board portion top, the main board portion with
The end plate for being located at bottom in a second direction abuts against, first clamping jaw and the second clamping jaw be located at the pair of transverse plate it
Between, in use, second clamping jaw far from the first clamping jaw direction to after rotating an angle, second clamping part is kept off by main board portion
Only.
The pedestal, which also has, as a further improvement of the utility model, is oppositely arranged on third direction and is located at one
A pair of of fixing plate between side plate, the main board portion for fixing plate and the positioning plate and the end plate far from lower arm part support
It connects, the fixing board holds the fixed screw.
Be provided with can phase for the described one end of second arm far from the second clamping part as a further improvement of the utility model,
For the rolling bearing that lower arm part moves and is located in mobile space, in a second direction, the height of the rolling bearing and institute
State the highly consistent of mobile space.
Second arm has spaced a pair of of fixed arm as a further improvement of the utility model, described
Rolling bearing includes through the axle center of the pair of fixed arm, the roller bearing being set on the axle center and to fixation described second
The holding screw of arm and axle center.
Be respectively provided on the fixed arm as a further improvement of the utility model, accommodate the axle center pass through it is logical
Hole, the axle center are equipped with the mounting hole of the corresponding holding screw, described holding screw one end be fixed in the fixed arm and
Expose from the through-hole, other end receiving is fixed in the mounting hole.
The driving element is cylinder as a further improvement of the utility model,.
To realize that above-mentioned purpose of utility model, the utility model provide a kind of robot, including robot clamping jaw device.
The utility model has the beneficial effects that：Second clamping jaw is connected setting by the utility model with the first clamping jaw, and described
Second arm of two clamping jaws stretches into mobile space and is supported by lower arm part, and the lower arm part has the first supporting surface, is higher than first
Second supporting surface of supporting surface and inclination extend and connect the third supporting surface of the first supporting surface and the second supporting surface.In use,
Driving element drives the first clamping jaw to be displaced outwardly, and enables second clamping jaw to rotating far from the first clamping jaw direction, to described the
Two arms, via third supporting surface to the second supporting surface, enable between first clamping part and the second clamping part from the first supporting surface
The space of gripping article is formed, it is simple in structure and easy to operate.
Description of the drawings
Fig. 1 is the three-dimensional combination figure of the utility model robot clamping jaw device conventional sense.
Fig. 2 is the part isometric exploded view of the utility model robot clamping jaw device conventional sense.
Fig. 3 is the further part isometric exploded view of the utility model robot clamping jaw device conventional sense.
Fig. 4 is the part isometric exploded view that Fig. 3 is seen from other direction.
Fig. 5 is the part isometric exploded view after the utility model robot clamping jaw device conventional sense removal part base.
Fig. 6 is the part isometric exploded view that Fig. 5 is seen from other direction.
Fig. 7 is the second clamping jaw of the utility model robot clamping jaw device conventional sense and the part isometric point of rolling bearing
Xie Tu.
Fig. 8 is three-dimensional combination figure of the utility model robot clamping jaw device in use state.
Fig. 9 is part isometric exploded view of the utility model robot clamping jaw device in use state.
Specific embodiment
The utility model is described in detail below with reference to embodiment shown in the drawings.But these embodiments are simultaneously unlimited
The utility model processed, the transformation in structure or function that those skilled in the art are made according to these embodiments are wrapped
Containing within the protection scope of the present utility model.
Shown in Fig. 9, the utility model robot clamping jaw device 100 is applied in robot, for capturing object
Product.In the present invention, the robot clamping jaw device 100 includes pedestal 1, cooperates and be fixed on first on pedestal 1
2 second clamping jaw 3 of clamping jaw and to drive the first clamping jaw 2 in a first direction upper edge pedestal 1 move driving element 4.
First clamping jaw 2 has is slidably arranged in the first arm 21 on the pedestal 1 and with first along first direction
The first clamping part 22 that arm 21 is connected.First arm 21 is in be open towards 22 direction of the first clamping part along first direction
What is be arranged is U-shaped, and interconnecting piece 213 and shape with upper arm parts 211, lower arm part 212, attached to upper arm portion 211 and lower arm part 212
At the mobile space 210 between upper arm parts 211 and lower arm part 212.First clamping part 22 is from upper arm parts 211 far from connection
The one end in portion 213 extends along the second direction perpendicular to first direction.
The second clamping part 32 that second clamping jaw 3 has the second arm 31 and connect with the second arm 31.Described second
Arm 31 stretches into mobile space 210 and is supported by lower arm part 212, and second clamping part 32 is set relatively with the first clamping part 22
It sets, and between first clamping part 22 and lower arm part 212.
The lower arm part 212 has the first supporting surface 214, the second supporting surface 215 higher than the first supporting surface 214 and inclination
Extend and connect the third supporting surface 216 of the first supporting surface 214 and the second supporting surface 215.Shown in referring to Figures 1 and 2, initial shape
Under state, second arm 31 is supported by the first supporting surface 214 of lower arm part 211, and first clamping part 22 and second is clamped
Portion 32 abuts in a first direction.With reference to shown in Fig. 8 and Fig. 9, in use, the driving element 4 drives 2 edge of the first clamping jaw
First direction is displaced outwardly, and second clamping jaw 3 is enabled to be rotated to far from 2 direction of the first clamping jaw, certainly to second arm 31
First supporting surface 214 enables first clamping part, 22 and second clamping part via 216 to the second supporting surface 215 of third supporting surface
The space of gripping article is formed between 32.To realize the first clamping jaw 2 and the second clamping jaw 3, only one is driven, and passes through
Transmission enable both it is close to each other or far from come complete grip or place article action, it is simple in structure, it is easy to operate.
The pedestal 1 substantially be in rectangular shape, and one end in a first direction far from first clamping part 22 with
4 phase of the driving element is fixed.The pedestal 1 includes opposite on the third direction perpendicular to first direction and second direction sets
The a pair of side plates 11 set.The robot clamping jaw device 100 has the screw 5 being fixed on the second clamping jaw 3 on the side plate 11.
The screw 5 runs through second arm 31 at the position of the second clamping part 32, to which second clamping jaw 3 can be around screw
5 rotations.
The pedestal 1 further includes the sliding rail for being fixed on the side plate 11 and corresponding to the upper arm parts 211 and lower arm part 212
12, the upper arm parts 211 and lower arm part 212 are slided relative to sliding rail 12 and are arranged, to avoid the first arm 21 from being shaken in pedestal 1
Dynamic and generation position offset can not be moved effectively, cause robot clamping jaw device 100 that can not use.
The pedestal 1 further include be arranged along first direction close to the positioning plate 13 of 2 one end of the first clamping jaw and in second party
To a pair of end plate 14 being oppositely arranged.The positioning plate 13 has the main board portion 131 that extends to form in a second direction and from institute
It states 131 top of main board portion and deviates from a pair of of transverse plate 132 that second arm 31 extends to form.The main board portion 131 with the
End plate 14 on two directions positioned at bottom abuts against, and first clamping jaw, 2 and second clamping jaw 3 is located at the pair of transverse plate 132
Between, in use, second clamping jaw 3 far from 2 direction of the first clamping jaw to after rotating an angle, second clamping part 32 is led
131 block of plate portion, to avoid the second excessively rotation of clamping jaw 3.
The pedestal 1 also has a pair of of the fixing plate being oppositely arranged on third direction and between a pair of side plates 11
15.The plate 15 that fixes is abutted with the end plate 14 of the main board portion 131 of the positioning plate 13 and separate lower arm part 212, described
It fixes 15 clamping of plate and fixes the screw 5.
With reference to shown in Fig. 2 to Fig. 9, the one end of second arm 31 far from the second clamping part 32 is provided with can be relative under
Arm 212 moves and the rolling bearing 6 in mobile space 210.It is in a second direction, described with reference to shown in Fig. 2 and Fig. 9
The height of rolling bearing 6 is highly consistent with the mobile space 210.As shown in fig.7, second arm 31 has interval
A pair of of fixed arm 311 of setting.The rolling bearing 6 include through the axle center 61 of the pair of fixed arm 311, be set in it is described
Roller bearing 62 on axle center 61 and the holding screw 63 to fixation second arm 31 and axle center 61.On the fixed arm 311
It is respectively provided with and accommodates the through-hole 310 that the axle center 61 passes through, the axle center 61 is equipped with the mounting hole of the corresponding holding screw 63
610.63 one end of the holding screw is fixed in the fixed arm 311 and exposes from the through-hole 310, and other end receiving is fixed
In the mounting hole 610, it can not be used to avoid axle center 61 from generating axial float.
In the application preferred embodiment, the driving element 4 is cylinder.The robot clamping jaw device 100 is also
Connector 7 including the interconnecting piece 213 for connecting the cylinder and the first clamping jaw 2.
The series of detailed descriptions listed above only for the utility model possible embodiments it is specific
Illustrate, they are all without departing from made by the utility model skill spirit etc. not to limit the scope of protection of the utility model
Effect embodiment or change should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of robot clamping jaw device, it is characterised in that：Including:
Pedestal；
First clamping jaw has the first arm for being slidably arranged on the pedestal along first direction and is connected with the first arm
First clamping part, first arm is U-shaped in being arranged towards the first clamping part direction opening along first direction, and has upper arm
Portion, lower arm part, the interconnecting piece of attached to upper arm portion and lower arm part and the mobile space that is formed between upper arm parts and lower arm part, institute
The first clamping part is stated from the one end of upper arm parts far from interconnecting piece to extend along the second direction perpendicular to first direction；
Second clamping jaw, with the second arm and the second clamping part being connect with the second arm, second arm stretches into mobile sky
Between and supported by lower arm part, second clamping part is oppositely arranged with the first clamping part, and positioned at first clamping part and under
Between arm；
Driving element, to drive the first clamping jaw, upper edge pedestal moves in a first direction；
Wherein, there is the lower arm part the first supporting surface, the second supporting surface higher than the first supporting surface and inclination to extend and connect
The third supporting surface of first supporting surface and the second supporting surface.
2. robot clamping jaw device according to claim 1, it is characterised in that：The pedestal is included in perpendicular to first party
The a pair of side plates being oppositely arranged on the third direction with second direction, the robot clamping jaw device, which has, leans on the second arm
The screw being fixed at the position of nearly second clamping part in a pair of side plates, and second clamping jaw can be rotated around screw.
3. robot clamping jaw device according to claim 2, it is characterised in that：The pedestal further includes being fixed on the side
On plate and the sliding rail of the corresponding upper arm parts and lower arm part, the upper arm parts and lower arm part are slided relative to sliding rail and are arranged.
4. robot clamping jaw device according to claim 3, it is characterised in that：The pedestal further includes being arranged along first
Positioning plate and a pair of end plate that in second direction is oppositely arranged of the direction close to first clamping jaw one end, the positioning plate have the
The main board portion extended to form on two directions and a pair extended to form from the main board portion top away from second arm are lateral
Plate, the main board portion are abutted against with the end plate for being located at bottom in a second direction, and first clamping jaw and the second clamping jaw are located at institute
Between stating a pair of of transverse plate, in use, second clamping jaw far from the first clamping jaw direction to after rotating an angle, described second presss from both sides
Portion is held by main board portion block.
5. robot clamping jaw device according to claim 4, it is characterised in that：The pedestal also has on third direction
It is oppositely arranged and a pair between a pair of side plates fixes plate, the fixing plate is with the main board portion of the positioning plate and far under
The end plate of arm abuts, and the fixing board holds the fixed screw.
6. robot clamping jaw device according to claim 1, it is characterised in that：Second arm is far from the second clamping part
One end be provided with and can be moved relative to lower arm part and the rolling bearing in the mobile space, in a second direction, the rolling
The height of dynamic bearing is highly consistent with the mobile space.
7. robot clamping jaw device according to claim 6, it is characterised in that：Second arm has spaced
A pair of of fixed arm, the rolling bearing include the axle center through the pair of fixed arm, the roller bearing that is set on the axle center and
To the holding screw of fixation second arm and axle center.
8. robot clamping jaw device according to claim 7, it is characterised in that：It is respectively provided on the fixed arm and accommodates institute
The through-hole that axle center passes through is stated, the axle center is equipped with the mounting hole of the corresponding holding screw, and described holding screw one end is fixed on
Expose in the fixed arm and from the through-hole, other end receiving is fixed in the mounting hole.
9. robot clamping jaw device according to claim 1, it is characterised in that：The driving element is cylinder.
10. a kind of robot, which is characterized in that including robot clamping jaw device described in any one of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820203070.0U CN207841359U (en) | 2018-02-06 | 2018-02-06 | Robot clamping jaw device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820203070.0U CN207841359U (en) | 2018-02-06 | 2018-02-06 | Robot clamping jaw device and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207841359U true CN207841359U (en) | 2018-09-11 |
Family
ID=63411496
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820203070.0U Active CN207841359U (en) | 2018-02-06 | 2018-02-06 | Robot clamping jaw device and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207841359U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109396639A (en) * | 2018-12-04 | 2019-03-01 | 大族激光科技产业集团股份有限公司 | Fixture, grasping system, welding system and welding method |
-
2018
- 2018-02-06 CN CN201820203070.0U patent/CN207841359U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109396639A (en) * | 2018-12-04 | 2019-03-01 | 大族激光科技产业集团股份有限公司 | Fixture, grasping system, welding system and welding method |
| CN109396639B (en) * | 2018-12-04 | 2021-09-21 | 大族激光科技产业集团股份有限公司 | Clamp, clamping system, welding system and welding method |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 215300 room 1, No. 1187, Foxconn Road, north of Yushan Town, Kunshan City, Suzhou City, Jiangsu Province Patentee after: Jiangsu Jianrui Intelligent Technology Co.,Ltd. Country or region after: China Address before: 215300 1st floor, building 1, No.15, Huanqing Road, north of Yushan Town, Kunshan City, Suzhou City, Jiangsu Province Patentee before: JIANRUI INTELLIGENT TECHNOLOGY (KUNSHAN) CO.,LTD. Country or region before: China |