CN207930690U - Manipulator clamping jaw structure - Google Patents
Manipulator clamping jaw structure Download PDFInfo
- Publication number
- CN207930690U CN207930690U CN201820365983.2U CN201820365983U CN207930690U CN 207930690 U CN207930690 U CN 207930690U CN 201820365983 U CN201820365983 U CN 201820365983U CN 207930690 U CN207930690 U CN 207930690U
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- China
- Prior art keywords
- clamping jaw
- pedestal
- clamp pawl
- gripping face
- actuator
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Abstract
The utility model is related to a kind of manipulator clamping jaw structures, several clip claw assemblies and actuator including clamping jaw pedestal, on clamping jaw pedestal, clip claw assembly includes clamp pawl and dynamic clamping jaw, clamp pawl is set on clamping jaw pedestal and clamp pawl is equipped with the first gripping face, dynamic clamping jaw is equipped with the second gripping face corresponding with the first gripping face, and the output of actuator is pivotally connected to dynamic clamping jaw for driving dynamic clamping jaw to be moved horizontally to clamp pawl direction.The utility model embodiment on clamping jaw pedestal by being equipped with clamp pawl and dynamic clamping jaw, wherein clamp pawl moves clamping jaw and is equipped with the second gripping face equipped with the first gripping face, the output of the actuator is pivotally connected to dynamic clamping jaw to drive dynamic clamping jaw to be moved horizontally to clamp pawl direction, so that horizontal clamping function is realized in the first gripping face and the second gripping face, the stability that workpiece to be added is clamped is improved.
Description
Technical field
The utility model is related to automated production equipment technical field, more particularly to a kind of manipulator clamping jaw structure.
Background technology
In place's production process of product, needs product being moved to next station from a station and be given birth to accordingly
Process is produced, such as：In the generating process of battery core, it is necessary to which battery core grasping mechanism captures to move battery core battery core.But
It is that existing battery core picks up mechanism generally use scissor structure, captures unstable when battery core, is susceptible to battery core slippage and falls
The case where, reduce production efficiency.
Utility model content
The technical problem to be solved by the present invention is to the shortcomings in for the above-mentioned prior art, provide a kind of machine
Tool hand clamping jaw structure.
The utility model solves the technological means that technical problem uses and is to provide a kind of manipulator clamping jaw structure, including clamping jaw
Pedestal, several clip claw assemblies and actuator on the clamping jaw pedestal, the clip claw assembly include clamp pawl and dynamic folder
Pawl, the clamp pawl is set on the clamping jaw pedestal and the clamp pawl is equipped with the first gripping face, and the dynamic clamping jaw is equipped with and institute
The corresponding second gripping face in the first gripping face is stated, the output of the actuator is pivotally connected to dynamic clamping jaw for driving the dynamic clamping jaw
It is moved horizontally to clamp pawl direction.
Further, the dynamic clamping jaw includes interconnecting piece and gripping portion, the output shaft of the interconnecting piece and the actuator
Connection, the free end in the gripping portion are equipped with described second and grip face.
Further, the dynamic clamping jaw further includes release link and the reseting baffle in the release link, described multiple
Position baffle is connect with the interconnecting piece, and the output of the actuator is pivotally connected to the release link, and the clamping jaw pedestal is equipped with solid
Fixed board, the fixed plate are equipped with the through-hole passed freely through for the release link, are equipped between the reseting baffle and fixed plate multiple
Position elastic component.
Further, the dynamic clamping jaw is set to the first side of the clamping jaw pedestal, and the clamp pawl is set to the clamping jaw
The free end of the pedestal second side opposite with the first side, the gripping portion is extended to form to the second side direction
First gripping face.
Further, the clamp pawl includes the fixed part being set on the clamping jaw pedestal, the free end of the fixed part
The second gripping face is extended to form to first side direction, the first gripping face and the second gripping face are adapted to completely.
Further, further include limit assembly, the limit assembly includes the first limiting section, and first limiting section is set to
One end end of clamping jaw pedestal and corresponding with the interconnecting piece position.
Further, the limit assembly further includes the second limiting section, and the output shaft of the actuator is connected by switching part
Be connected to the release link, second limiting section be set to the both ends end of the clamping jaw pedestal and with the switching part position pair
It answers.
Further, the return springs include any one in spring, compression spring and elastic rubber.
Further, the actuator include it is following in any one：Cylinder, fluid cylinder, motor and screw component.
Using above-mentioned technical proposal, the utility model at least has the advantages that：The utility model embodiment passes through
Clamp pawl and dynamic clamping jaw are equipped on clamping jaw pedestal, wherein clamp pawl moves clamping jaw and be equipped with the second gripping equipped with the first gripping face
The output in face, the actuator is pivotally connected to dynamic clamping jaw to drive dynamic clamping jaw to be moved horizontally to clamp pawl direction so that the first folder
Face and the second horizontal clamping function of gripping face realization are taken, the stability that workpiece to be added is clamped is improved.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the utility model manipulator clamping jaw structure one embodiment.
Fig. 2 is the enlarged diagram of part A in Fig. 1.
Fig. 3 is the part schematic front view of the utility model manipulator clamping jaw structure one embodiment.
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 implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
It please refers to Fig.1 to Fig.3, the utility model provides a kind of technical solution：A kind of manipulator clamping jaw structure, including clamping jaw
Pedestal 1, several clip claw assemblies 2 on the clamping jaw pedestal 1 and actuator 3, the clip claw assembly 2 include clamp pawl 21
With dynamic clamping jaw 22, the clamp pawl 21 is set on the clamping jaw pedestal 1 and the clamp pawl 21 is equipped with the first gripping face 211, institute
It states clamping jaw 22 and is equipped with the second gripping face 221 for being adapted for gripping workpiece to be added corresponding with the first gripping face 211, it is described
The output of actuator 3 is pivotally connected to dynamic clamping jaw 22 for driving the dynamic clamping jaw 22 to be moved horizontally to 21 direction of clamp pawl.
Implement when, the actuator 3 include it is following in any one：Cylinder, fluid cylinder, motor and screw component.
The clamp pawl 21 is fixed on the clamping jaw pedestal 1, and the actuator 3 is set on the clamping jaw pedestal 1 and actuator 3
Output is pivotally connected on dynamic clamping jaw 22, and the first gripping face, 211 and second gripping face 221 is arranged in parallel, when actuator 3 drives
When dynamic clamping jaw 22 is moved to 21 direction of clamp pawl, the distance between the second gripping face 221 and the first gripping face 211, which become smaller, realizes folder
The function of taking workpiece to be added is horizontal method of clamping, structure by using between the first gripping face 211 and the second gripping face 221
Simple and reliable, clamping effect is stablized.
For the present embodiment by being equipped with clamp pawl 21 and dynamic clamping jaw 22 on clamping jaw pedestal 1, wherein clamp pawl 21 is equipped with the
One grips face 211 and moves clamping jaw 22 and be equipped with the second gripping face 221, and the output of the actuator 3 is pivotally connected to dynamic clamping jaw 22 to drive
Dynamic clamping jaw 22 is moved horizontally to 21 direction of clamp pawl so that horizontal clamping is realized in the first gripping face 211 and the second gripping face 221
Function improves the stability that workpiece to be added is clamped.
In one alternate embodiment, the dynamic clamping jaw 22 includes interconnecting piece 222 and gripping portion 223, the interconnecting piece 222
With the output axis connection of the actuator 3, the free end in the gripping portion 223 is equipped with described second and grips face 221.
When implementing, 222 one end of the interconnecting piece is connect with the gripping portion 223, and the gripping portion 223 is by clamping jaw base
Seat 1 is protruding, and the described one end of gripping portion 223 far from interconnecting piece is free end, and the free end is equipped with described second and grips
Face 221, specifically, the dynamic clamping jaw 22 are set to the first side of the clamping jaw pedestal 1, and the clamp pawl 21 is set to the clamping jaw
The free end of the second side opposite with the first side of pedestal 1, the gripping portion 223 extends to the second side direction
Form the second gripping face 221.It can be effectively increased the area in the second gripping face 221, to improve the steady of gripping workpiece to be added
It is qualitative.
In one alternate embodiment, the dynamic clamping jaw 22 further includes release link 224 and is set in the release link 224
Reseting baffle 225, the reseting baffle 225 connect with the interconnecting piece 222, and the output of the actuator 3 is pivotally connected to institute
Release link 224 is stated, the clamping jaw pedestal 1 is equipped with fixed plate 11, and the fixed plate 11 is equipped with to be passed freely through for the release link 224
Through-hole, between the reseting baffle 225 and fixed plate 11 be equipped with return springs 12.
When implementing, the return springs 12 include any one in spring, compression spring and elastic rubber.It is described multiple
Position bar 224 is linked together multiple dynamic clamping jaws 22 by multiple reseting baffles 225, and actuator 3 is by driving release link
223 movements can realize that driving moves clamping jaw 22 and carries out mobile function, and specifically, the clamping jaw pedestal 1 is equipped with multiple fixations
Plate 11, each fixed plate 11 are corresponded with the reseting baffle 225, and between the fixed plate 11 and reseting baffle 225
Equipped with return springs 12, when actuator 3 drive release link 223 to move so that the first gripping face 211 and second grip face 221 that
When this is close to be clamped workpiece to be added, the distance between fixed plate 11 and reseting baffle 225 become larger, to stretch return springs
12 so that elastic deformation occurs for return springs 12；After completing the clamping of workpiece to be added, workpiece slave clip pawl 22 to be added and fixed
It is detached between clamping jaw 21, actuator 3 no longer exports power, elastic acting force lower band of the reseting baffle 225 in return springs 12
Dynamic clamping jaw 22 is returned to initial position, facilitates and is gripped workpiece to be added next time, improves production efficiency.
In one alternate embodiment, the clamp pawl 21 includes the fixed part 212 being set on the clamping jaw pedestal 1, institute
The free end for stating fixed part 212 extends to form the first gripping face 211, first gripping face 211 to first side direction
It is adapted to completely with the second gripping face 221.
When implementing, 211 and second gripping face of the first gripping face, the 221 position face is mutually parallel, and can be effectively increased
The stability of first gripping face 211 gripping parallel with the second gripping face 221 workpiece to be added.
In one alternate embodiment, further include limit assembly 4, the limit assembly 4 includes the first limiting section 41, described
First limiting section 41 is set to one end end of clamping jaw pedestal 1 and corresponding with 222 position of the interconnecting piece.
The present embodiment in one end end of clamping jaw pedestal 1 by being equipped with the first limiting section 41, for being carried out to interconnecting piece 222
Limit, avoids actuator 3 or the active force of return springs 12 that interconnecting piece 222 is made to skid off clamping jaw pedestal 1 and damage this reality
With new mechanical arm clamping jaw structure, the practicability and safety in utilization of the utility model are improved.
In one alternate embodiment, the limit assembly 4 further includes the second limiting section 42, the output of the actuator 3
Axis is connected to the release link 224 by switching part 31, and second limiting section 42 is set to the both ends end of the clamping jaw pedestal 1
And it is corresponding with 31 position of the switching part.
When implementing, second limiting section 42 by being limited to switching part 31, and then realize to dynamic clamping jaw 22 into
The function of row limit, the hypertelorism for avoiding dynamic clamping jaw 22 from being moved under the driving of actuator 3 and clamping jaw structure is damaged,
In addition, second limiting section 42 can also play the role of buffering to switching part 31, the stable of the utility model is improved
Property.
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,
Equivalent structure or equivalent flow shift made by using the description of the utility model and the drawings, is directly or indirectly transported
Used in other related technical areas, it is equally included in the patent within the scope of the utility model.
Claims (9)
1. a kind of manipulator clamping jaw structure, including clamping jaw pedestal, several clip claw assemblies on the clamping jaw pedestal and drive
Moving part, it is characterised in that：The clip claw assembly includes clamp pawl and dynamic clamping jaw, the clamp pawl be set on the clamping jaw pedestal and
The clamp pawl is equipped with the first gripping face, and the dynamic clamping jaw is equipped with grips face with the first gripping face corresponding second, described
The output of actuator is pivotally connected to dynamic clamping jaw for driving the dynamic clamping jaw to be moved horizontally to clamp pawl direction.
2. manipulator clamping jaw structure according to claim 1, it is characterised in that：The dynamic clamping jaw includes interconnecting piece and gripping
Portion, the output axis connection of the interconnecting piece and the actuator, the free end in the gripping portion are equipped with described second and grip face.
3. manipulator clamping jaw structure according to claim 2, it is characterised in that：The dynamic clamping jaw further include release link and
Reseting baffle in the release link, the reseting baffle are connect with the interconnecting piece, and the output shaft of the actuator connects
It is connected to the release link, the clamping jaw pedestal is equipped with fixed plate, and the fixed plate is equipped with leads to for what the release link passed freely through
Hole is equipped with return springs between the reseting baffle and fixed plate.
4. manipulator clamping jaw structure according to claim 3, it is characterised in that：The dynamic clamping jaw is set to the clamping jaw pedestal
First side, the clamp pawl is set to the clamping jaw pedestal second side opposite with the first side, the gripping portion
Free end extend to form the first gripping face to the second side direction.
5. manipulator clamping jaw structure according to claim 4, it is characterised in that：The clamp pawl includes being set to the clamping jaw
Fixed part on pedestal, the free end of the fixed part extend to form the second gripping face to first side direction, and described
One gripping face and the second gripping face are adapted to completely.
6. manipulator clamping jaw structure according to claim 5, it is characterised in that：Further include limit assembly, the limit group
Part includes the first limiting section, and first limiting section is set to one end end of clamping jaw pedestal and corresponding with the interconnecting piece position.
7. manipulator clamping jaw structure according to claim 6, it is characterised in that：The limit assembly further includes the second limit
The output shaft in portion, the actuator is connected to the release link by switching part, and second limiting section is set to the clamping jaw base
The both ends end and corresponding with the switching part position of seat.
8. according to claim 3 to 7 any one of them manipulator clamping jaw structure, it is characterised in that：The return springs packet
Include any one in spring, compression spring and elastic rubber.
9. manipulator clamping jaw structure according to any one of claims 1 to 7, it is characterised in that：The actuator include with
Any one in lower：Cylinder, fluid cylinder, motor and screw component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820365983.2U CN207930690U (en) | 2018-03-16 | 2018-03-16 | Manipulator clamping jaw structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820365983.2U CN207930690U (en) | 2018-03-16 | 2018-03-16 | Manipulator clamping jaw structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207930690U true CN207930690U (en) | 2018-10-02 |
Family
ID=63655286
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820365983.2U Active CN207930690U (en) | 2018-03-16 | 2018-03-16 | Manipulator clamping jaw structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207930690U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109910036A (en) * | 2019-04-15 | 2019-06-21 | 广东天机工业智能***有限公司 | Manipulator and material grasping equipment |
| CN113023189A (en) * | 2019-12-25 | 2021-06-25 | 沈阳新松机器人自动化股份有限公司 | Automatic transport storage system |
-
2018
- 2018-03-16 CN CN201820365983.2U patent/CN207930690U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109910036A (en) * | 2019-04-15 | 2019-06-21 | 广东天机工业智能***有限公司 | Manipulator and material grasping equipment |
| CN109910036B (en) * | 2019-04-15 | 2021-12-14 | 广东天机工业智能***有限公司 | Manipulator and material grabbing equipment |
| CN113023189A (en) * | 2019-12-25 | 2021-06-25 | 沈阳新松机器人自动化股份有限公司 | Automatic transport storage system |
| CN113023189B (en) * | 2019-12-25 | 2022-06-07 | 沈阳新松机器人自动化股份有限公司 | Automatic transport storage system |
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