CN210757753U - Rotary clamping type manipulator grabbing device - Google Patents
Rotary clamping type manipulator grabbing device Download PDFInfo
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- CN210757753U CN210757753U CN201921423846.0U CN201921423846U CN210757753U CN 210757753 U CN210757753 U CN 210757753U CN 201921423846 U CN201921423846 U CN 201921423846U CN 210757753 U CN210757753 U CN 210757753U
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Abstract
The utility model discloses a rotatory clamp formula manipulator grabbing device. Including the rotating electrical machines, slide bar and anchor clamps, the rotation axis and the slide bar of rotating electrical machines link up, install no pole cylinder on the slide bar, be provided with the connecting plate on the no pole cylinder, the clamping cylinder is installed to the end of connecting plate, the clamping end and the anchor clamps of clamping cylinder are connected, the front end of anchor clamps is provided with two mutual symmetries and semicircular arm lock, the arm lock is provided with the cramping piece of downward sloping along the inner ring limit, the cramping piece is provided with a plurality of breach, the connecting plate still is provided with the promotion cylinder, the catch bar of promotion cylinder is provided with the baffle that is "L", the baffle is located the below of arm lock, the baffle is provided. The utility model discloses the centre gripping piece that utilizes the arm lock and combine the inner ring limit to set up then can be used to the cup that the centre gripping rim of a cup is not of uniform size, conveniently realizes the centre gripping of cup, satisfies to press from both sides and gets the demand.
Description
Technical Field
The utility model belongs to the technical field of mechanical grabbing device technique and specifically relates to a rotatory clamp formula manipulator grabbing device.
Background
As is well known, in an automated device, some mechanism is often used to complete the movement of an article for the grabbing of the article, and the object is moved to a desired position by the grabbing. In some self-service machines that require cups to receive articles, the cups are moved to the desired position, and a robotic grasping device is often used to accomplish this.
At present, the most structure of current manipulator grabbing device is complicated to not having a suitable mechanism that snatchs to snatching of cup, satisfying to what can not laminate snatchs the requirement of cup, snatchs the effect not good, simultaneously, can't detect the unexpected emergence such as whether cup drops at the in-process of snatching the cup.
Disclosure of Invention
To the deficiencies in the prior art, an object of the utility model is to provide a rotatory clamp formula manipulator grabbing device.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides a rotatory clamp formula manipulator grabbing device, includes rotating electrical machines, slide bar and anchor clamps, the rotation axis and the slide bar of rotating electrical machines link up, install rodless cylinder on the slide bar, be provided with the connecting plate on the rodless cylinder, the clamping cylinder is installed to the end of connecting plate, the clamping end and the anchor clamps of clamping cylinder are connected, the front end of anchor clamps is provided with two mutual symmetries and semicircular arm lock, the arm lock is provided with the cramping piece of downward sloping along the inner ring limit, the cramping piece is provided with a plurality of breach, the connecting plate still is provided with push cylinder, push cylinder's catch bar is provided with the baffle that is "L", the baffle is located the below of arm lock, the baffle is provided with the saucer.
Preferably, a touch switch is arranged on the baffle.
Preferably, the clamping piece is made of soft rubber.
Preferably, the connecting plate is provided with a plurality of hollows.
Due to the adoption of the scheme, the utility model realizes the integral rotation and up-and-down movement by utilizing the rotating motor and the rodless cylinder, and realizes the moving requirement in the clamping process; meanwhile, the clamping of the clamp is controlled by the clamping cylinder, and the clamping arms and the clamping pieces arranged by combining the inner ring edges can be used for clamping cups with different cup mouths, so that the clamping of the cups is conveniently realized, and the clamping requirements are met; in addition, in the process of clamping the cup by the clamping arms, the baffle is pushed by the pushing cylinder, and the cup holder is arranged under the cup, so that the cup falling in the clamping and moving process can be received, the cup is prevented from directly falling, and articles in the cup are prevented from polluting the inside of the machine body.
Drawings
Fig. 1 is a schematic diagram of the structural principle of the embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a clamp according to an embodiment of the present invention.
Fig. 3 is a schematic sectional structural view of a clamp according to an embodiment of the present invention.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
As shown in fig. 1 to 3, the present embodiment provides a rotary clamping type manipulator grabbing device, including a rotary motor 1, a slide bar 2 and a fixture 3, a rotation axis of the rotary motor 1 is connected with the slide bar 2, a rodless cylinder 4 is installed on the slide bar 2, a connection plate 5 is provided on the rodless cylinder 4, a clamping cylinder 6 is installed at the end of the connection plate 5, a clamping end of the clamping cylinder 6 is connected with the fixture 3, the front end of the fixture 3 is provided with two symmetrical and semicircular clamping arms 7, the clamping arms 7 are provided with clamping pieces 8 inclined downward along an inner ring edge, the clamping pieces 8 are provided with a plurality of notches 9, the connection plate 5 is further provided with a pushing cylinder 10, a pushing rod of the pushing cylinder 10 is provided with a baffle 11 in an "L", the baffle 11 is located below the clamping arm 7, a cup holder 12 is provided on the baffle 11, and a touch switch 13 is provided on the.
In this embodiment, an integral movable support is mainly realized by the rotary motor 1 and the rodless cylinder 4, the rotary motor 1 rotates to realize 360-degree position selection, the rodless cylinder 4 moves up and down along the slide rod 2, that is, the position can be adjusted up and down when a cup is received and placed, the cup is clamped by the clamping cylinder 6 to control the clamp 3 to open and close, when the clamp 3 is clamped, the two symmetrical clamping arms 7 are clamped, the two clamping arms 7 form a circle after being clamped, the cup is used for clamping the cup (the clamped cup in this embodiment is a disposable cup), the cup has various sizes, but the size difference is not too large, therefore, in order to meet the clamping requirements of different cups, the clamping sheet 8 inclined downwards is used, as shown in fig. 2, the cup is further clamped by the clamping sheet 8, the cup is clamped and lifted, and a cup with a smaller diameter is also clamped, and in order to reduce larger extrusion, the clamping sheet 8 of the embodiment is made of soft rubber, such as rubber, silica gel and the like, wherein after the cup is specifically clamped and the cup is placed to receive an article, the overall weight of the cup is increased after the article is placed into the cup, once the placed article exceeds the standard, in the clamping and moving process, the cup is likely to fall off, and once the cup is separated from the clamp 3, the article placed in the cup causes pollution to the inside of the machine body, even damages, therefore, in the clamping process of the embodiment, after the clamping is carried out through the clamping arm 7, the pushing cylinder 10 is opened to work, the baffle plate 11 is pushed, so that the cup holder 12 is located right below the cup, the distance between the top of the cup holder 12 and the cup cannot be too large, and is generally kept between 2cm, and the diameter of the cup holder 12 should be larger than the diameter of the bottom of the cup, therefore, once the cup is separated, the cup can not directly fall off and can fall into the cup holder 12, so that the cup is prevented from directly falling off when an accident happens, and the safety protection effect is achieved. When the cup falls into the cup holder 12, the cup touches the touch switch, and the touch switch 13 is used for feeding back information to enable the outside to know that the cup falling accident occurs.
Further, the connecting plate 5 is provided with a plurality of hollow parts 14, and the hollow parts 14 are arranged to reduce the load of the rodless cylinder 4 and enhance the strength of the rodless cylinder.
The above is only the preferred embodiment of the present invention, and not the scope of the present invention, all the equivalent structures or equivalent flow changes made by the contents of the specification and the drawings or the direct or indirect application in other related technical fields are included in the patent protection scope of the present invention.
Claims (4)
1. The utility model provides a rotatory clamp formula manipulator grabbing device which characterized in that: including rotating electrical machines, slide bar and anchor clamps, rotating electrical machines's rotation axis links up with the slide bar, install no pole cylinder on the slide bar, be provided with the connecting plate on the no pole cylinder, the clamping cylinder is installed to the end of connecting plate, the clamping end and the anchor clamps of clamping cylinder are connected, the front end of anchor clamps is provided with two mutual symmetries and semicircular arm lock, the arm lock is provided with the holding piece of downward sloping along the inner ring limit, the holding piece is provided with a plurality of breach, the connecting plate still is provided with the promotion cylinder, the catch bar of promotion cylinder is provided with the baffle that is "L", the baffle is located the below of arm lock, the baffle is provided with the saucer.
2. The rotating clamping type manipulator grabbing device of claim 1, wherein: and a touch switch is arranged on the baffle.
3. The rotating clamping type manipulator grabbing device of claim 2, wherein: the clamping piece is made of soft rubber.
4. A rotating clamping robot gripper as claimed in claim 3, wherein: the connecting plate is provided with a plurality of hollow parts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921423846.0U CN210757753U (en) | 2019-08-30 | 2019-08-30 | Rotary clamping type manipulator grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921423846.0U CN210757753U (en) | 2019-08-30 | 2019-08-30 | Rotary clamping type manipulator grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210757753U true CN210757753U (en) | 2020-06-16 |
Family
ID=71050813
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921423846.0U Active CN210757753U (en) | 2019-08-30 | 2019-08-30 | Rotary clamping type manipulator grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210757753U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112237073A (en) * | 2020-10-21 | 2021-01-19 | 高淑兰 | Unmanned automatic transplanter is used in ecological remediation side slope afforestation |
-
2019
- 2019-08-30 CN CN201921423846.0U patent/CN210757753U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112237073A (en) * | 2020-10-21 | 2021-01-19 | 高淑兰 | Unmanned automatic transplanter is used in ecological remediation side slope afforestation |
| CN112237073B (en) * | 2020-10-21 | 2022-02-18 | 高淑兰 | Unmanned automatic transplanter is used in ecological remediation side slope afforestation |
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