CN219599564U - Multifunctional clamping device - Google Patents
Multifunctional clamping device Download PDFInfo
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- CN219599564U CN219599564U CN202320845705.8U CN202320845705U CN219599564U CN 219599564 U CN219599564 U CN 219599564U CN 202320845705 U CN202320845705 U CN 202320845705U CN 219599564 U CN219599564 U CN 219599564U
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- clamping
- clamping part
- plate
- light source
- mounting
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- Clamps And Clips (AREA)
Abstract
The utility model provides a multifunctional clamping device which comprises a mounting structure, a clamping structure and a visual positioning structure, wherein the mounting structure is connected and mounted on a manipulator; the clamping structure is connected with the mounting structure and comprises a stepping motor and clamping jaws, the clamping jaws comprise clamping jaw plates, a first clamping part, a second clamping part and a third clamping part, the first clamping part is arranged at the inner end of the clamping jaw plates, the second clamping part is arranged at the outer end of the clamping jaw plates, and the third clamping part is arranged below the second clamping part; the distance between the two third clamping parts is larger than the distance between the two second clamping parts; the visual positioning structure comprises a light source and a camera, and the light source and the camera are arranged on the mounting structure and positioned at one side of the clamping structure; the utility model has a relatively simple structure and can be compatible for grabbing various articles with different sizes; the debugging and the disassembly are simple and convenient, the later maintenance is simple, the intellectualization is realized, the clamping detection function and the falling detection function are realized, and the high-precision positioning is realized by matching with the visual positioning mechanism.
Description
Technical Field
The utility model relates to the technical field of clamping and carrying equipment, in particular to a multifunctional clamping device.
Background
With the progress of science and technology, the manipulator replaces manpower in more and more posts. In order to save manpower and reduce labor cost, a plurality of factories can select a manipulator to carry articles, and the manipulator cannot be well adapted to the articles with different sizes; the clamping jaw is mature in the current market, can only realize single-direction clamping, has single function and poor precision, and generally has requirements on power input, generally is an air source or a power supply, so that the clamping jaw cannot be flexibly applied in a working environment, particularly a large factory or laboratory, the function of the clamping jaw is solidified, and flexible selection action cannot be carried out on different materials. The utility model aims to solve the problems of single size, poor flexibility, low precision, large difficulty in carrying large-size articles and the like of articles carried by a manipulator.
Disclosure of Invention
The utility model aims to overcome the defects and shortcomings of the prior art and provide a multifunctional clamping device.
A multifunctional clamping device comprises a mounting structure which is connected and mounted on a manipulator;
the clamping structure is connected with the mounting structure and comprises a stepping motor and two clamping jaws which are symmetrically arranged relative to the stepping motor, the clamping jaws comprise clamping jaw plates, a first clamping part, a second clamping part and a third clamping part, the first clamping part is arranged at the inner end of the clamping jaw plates, the second clamping part is arranged at the outer end of the clamping jaw plates, and the third clamping part is arranged below the second clamping part; the distance between the two third clamping parts is larger than the distance between the two second clamping parts;
the visual positioning structure comprises a light source and a camera, wherein the light source and the camera are arranged on the mounting structure and are positioned on one side of the clamping structure.
The gripping device provided by the utility model is mainly used for gripping materials through a visual positioning mechanism structure consisting of a visual mounting plate, a light source fixing plate and a light source, photographing and positioning through a camera, and gripping articles with various sizes through a mechanism consisting of a gripper plate at the tail end, a first gripping part, a second gripping part and a third gripping part driven by a stepping motor of the gripping structure after positioning. The multifunctional clamping device is simple in structure, and can clamp various works to improve the working efficiency.
In one embodiment, the gripping structure further includes a jaw adapter plate mounted between the stepper motor and the jaw plate.
In an implementation manner of one embodiment, the second clamping part comprises at least two clamping blocks, the third clamping part is arranged below the clamping blocks, a mounting groove is formed in the clamping claw plate, and the clamping blocks are arranged in the mounting groove.
In one embodiment, the third clamping portion is provided with a groove in a horizontal direction.
In one embodiment, the upper end of the second gripping portion is flush with the upper end of the first gripping portion at the location of the gripper plate.
In one embodiment, the upper end of the first clamping portion is provided with a first transition surface with an inclination angle.
In one embodiment, the upper end and the lower end of the second clamping part are provided with second transition surfaces with inclination angles.
In one embodiment, a strip-shaped avoiding hole is formed below the clamping claw plate.
In one embodiment, the mounting structure includes a transverse fixing plate and a longitudinal fixing plate that are fixed to each other in a connecting manner, and the transverse fixing plate and the longitudinal fixing plate are fixed to the manipulator in a connecting manner.
In an implementation manner of one embodiment, the visual positioning structure further includes a visual mounting plate, a light source fixing plate and a camera mounting support, the visual mounting plate is mounted on the transverse fixing plate or the longitudinal fixing plate, the camera mounting support is mounted above the visual mounting plate, the light source fixing plate is mounted below the visual mounting plate, the camera is mounted on the camera mounting support, the light source is mounted on the light source fixing plate, and a light emitting direction of the light source is downward.
The multifunctional clamping device has the beneficial effects that: the gripping device is used for gripping materials, the visual positioning mechanism structure is mainly composed of a visual mounting plate, a light source fixing plate and a light source, photographing and positioning are carried out through a camera, and after positioning is finished, the gripping claw plate, the first gripping part, the second gripping part and the third gripping part of the gripping structure are driven by the stepping motor to drive the tail end of the gripping claw plate to grip articles with various sizes. Compared with the complex structure of the existing clamping jaw, the multifunctional clamping device has large occupied space, has a relatively simple structure, and can be compatible for clamping various articles with different sizes; the installation time is saved, the debugging and the disassembly are simple and convenient, and the later maintenance is simple, so that the labor cost and the time cost are reduced; the intelligent device has the functions of clamping and detecting and falling, and is matched with a visual positioning mechanism to realize high-precision positioning.
Drawings
FIG. 1 is a schematic diagram of a multifunctional gripping device according to the present utility model;
FIG. 2 is a schematic view of a multi-functional gripping device according to another embodiment of the present utility model;
FIG. 3 is an exploded view of a portion of the multi-function gripping device of FIG. 1;
FIG. 4 is an enlarged view of a portion of the multi-function gripping device of FIG. 4;
FIG. 5 is a schematic plan view of a multi-functional gripping device of the present utility model;
FIG. 6 is a first application schematic diagram of the multifunctional gripping device of the present utility model;
FIG. 7 is a second application schematic of the multi-function gripping device of the present utility model;
fig. 8 is a third application schematic diagram of the multifunctional clamping device of the present utility model.
Detailed Description
Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model.
In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
The utility model provides a multifunctional clamping device which comprises a mounting structure, a clamping structure and a visual positioning structure, wherein the mounting structure is connected and mounted on a manipulator; the clamping structure is connected with the mounting structure and comprises a stepping motor and two clamping jaws which are symmetrically arranged relative to the stepping motor, the clamping jaws comprise clamping jaw plates, a first clamping part, a second clamping part and a third clamping part, the first clamping part is arranged at the inner end of the clamping jaw plates, the second clamping part is arranged at the outer end of the clamping jaw plates, and the third clamping part is arranged below the second clamping part; the distance between the two third clamping parts is larger than the distance between the two second clamping parts; the visual positioning structure comprises a light source and a camera, and the light source and the camera are arranged on the mounting structure and are positioned on one side of the clamping structure.
The gripping device provided by the utility model is mainly used for gripping materials through a visual positioning mechanism structure consisting of a visual mounting plate, a light source fixing plate and a light source, photographing and positioning through a camera, and gripping articles with various sizes through a mechanism consisting of a gripper plate at the tail end, a first gripping part, a second gripping part and a third gripping part driven by a stepping motor of the gripping structure after positioning. Compared with the complex structure of the existing clamping jaw, the multifunctional clamping device has large occupied space, has a relatively simple structure, and can be compatible for clamping various articles with different sizes; the installation time is saved, the debugging and the disassembly are simple and convenient, and the later maintenance is simple, so that the labor cost and the time cost are reduced; the intelligent device has the functions of clamping and detecting and falling, and is matched with a visual positioning mechanism to realize high-precision positioning.
Examples
Referring to fig. 1 to 5, the present utility model provides a multifunctional clamping device, which includes a mounting structure, a clamping structure and a visual positioning structure, wherein the clamping structure is mounted on the mounting structure, and the mounting structure is connected and mounted on a manipulator (not shown). The clamping structure is connected with the mounting structure, more specifically, the clamping structure comprises a stepping motor 1 and two clamping jaws 2 which are symmetrically arranged relative to the stepping motor 1, each clamping jaw 2 comprises a clamping jaw plate 21, a first clamping part 22, a second clamping part 23 and a third clamping part 24, the first clamping part 22 is arranged at the inner end of the clamping jaw plate 21, the second clamping part 23 is arranged at the outer end of the clamping jaw plate 21, and the third clamping part 24 is arranged below the second clamping part 23. Wherein the distance between the two third gripping portions 24 is greater than the distance between the two second gripping portions 23. The mounting structure comprises a transverse fixing plate 11 and a longitudinal fixing plate 12 which are connected and fixed with each other, wherein the transverse fixing plate 11 and/or the longitudinal fixing plate 12 are connected and fixed on a manipulator, and the stepping motor 1 is arranged on the transverse fixing plate 11 and the longitudinal fixing plate 12.
More specifically, referring to fig. 1 to 5, the visual positioning structure includes a light source 3, a camera 4, a visual mounting plate 5, a light source fixing plate 6, and a camera mounting bracket 7, the light source 3 and the camera 4 are mounted on the mounting structure on one side of the gripping structure, and in the view of the present embodiment, the light source 3 and the camera 4 are located on one side of the stepping motor 1. The visual mounting plate 5 is arranged on the transverse fixing plate 11 or the longitudinal fixing plate 12, the camera mounting support 7 is arranged above the visual mounting plate 5, the light source fixing plate 6 is arranged below the visual mounting plate 5, the camera 4 is arranged on the camera mounting support 7, the light source 3 is arranged on the light source fixing plate 6, and the light emitting direction of the light source 3 is downward. Wherein the light source 3 is an LED light source.
More specifically, referring to fig. 1 to 5, the gripping structure further includes a jaw adapter plate 25, and the jaw adapter plate 25 is installed between the stepper motor 1 and the jaw plate 21. An elongated avoiding hole 212 is formed below the gripper plate 21.
More specifically, referring to fig. 3 and 4, the second clamping portion 23 includes two clamping blocks 231, the third clamping portion 24 is disposed below the clamping blocks 231, the mounting groove 211 is formed on the clamping claw plate 21, and the clamping blocks 231 are mounted in the mounting groove 211.
More specifically, referring to fig. 3 and 4, the third clamping portion 24 is provided with a horizontal groove 241, and the groove 241 is more suitable for clamping a plate-like object and can be clamped in the groove 241.
More specifically, referring to fig. 1 and 2, the upper end of the second gripping portion 23 is flush with the upper end of the first gripping portion 22 at the position of the gripper plate 21. The first clamping part 22 and the second clamping part 23 can be matched to clamp longer materials.
More specifically, referring to fig. 3 and 4, the upper end of the first clamping portion 22 is provided with a first transition surface 221 having an inclined angle. The upper and lower ends of the second clamping portion 23 are provided with second transition surfaces 232 having an inclination angle. The first clamping part 22 and the second clamping part 23 are convenient to clamp and set on materials when clamped.
Referring to fig. 6, fig. 6 shows a state diagram of the third gripping portion 24 gripping a material, and it can be seen that the third gripping portion 24 is suitable for gripping a plate-shaped material, and the groove 241 is more suitable for gripping the plate-shaped material.
Referring to fig. 7, fig. 7 shows a state in which the second gripping portion 23 grips the material, and it can be seen that the third gripping portion 23 is adapted to grip the bulk material, and has a larger size and a longer length than the third gripping portion 24.
Referring to fig. 8, fig. 6 shows a state diagram of the first clamping portion 22 and the second clamping portion 23 matched to clamp materials, and it can be seen that the first clamping portion 22 and the second clamping portion 23 matched to clamp materials with multiple layers of plates, the first clamping portion 22 and the second clamping portion 23 are clamped in a gap between two plate materials, and the size of the gap is larger than that of the second clamping portion 23.
The gripping device of the utility model mainly uses the camera 4 to take a picture and position the materials, and after the positioning is finished, the gripping device uses a mechanism composed of a gripper plate 21, a first gripping part 22, a second gripping part 23 and a third gripping part 24 at the tail end driven by a stepping motor 1 of the gripping structure to grip the materials with various sizes. Compared with the complex structure of the existing clamping jaw, the multifunctional clamping device has large occupied space, has a relatively simple structure, and can be compatible for clamping various articles with different sizes; the installation time is saved, the debugging and the disassembly are simple and convenient, and the later maintenance is simple, so that the labor cost and the time cost are reduced; the intelligent device has the functions of clamping and detecting and falling, and is matched with a visual positioning mechanism to realize high-precision positioning.
In another implementation of the present embodiment, the second clamping portion 23 may be a plate-shaped clamping portion, and is fixed to the clamping plate 21 by a screw or a bolt.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.
Claims (10)
1. A multi-functional gripping device, comprising:
the mounting structure is connected and mounted on the manipulator;
the clamping structure is connected with the mounting structure and comprises a stepping motor and two clamping jaws which are symmetrically arranged relative to the stepping motor, the clamping jaws comprise clamping jaw plates, a first clamping part, a second clamping part and a third clamping part, the first clamping part is arranged at the inner end of the clamping jaw plates, the second clamping part is arranged at the outer end of the clamping jaw plates, and the third clamping part is arranged below the second clamping part; the distance between the two third clamping parts is larger than the distance between the two second clamping parts;
the visual positioning structure comprises a light source and a camera, wherein the light source and the camera are arranged on the mounting structure and are positioned on one side of the clamping structure.
2. The multi-function gripping device of claim 1, wherein: the clamping structure further comprises a clamping jaw adapter plate, and the clamping jaw adapter plate is arranged between the stepping motor and the clamping jaw plate.
3. The multi-function gripping device of claim 1, wherein: the second clamping part comprises at least two clamping blocks, the third clamping part is arranged below the clamping blocks, the clamping claw plate is provided with a mounting groove, and the clamping blocks are arranged in the mounting groove.
4. A multi-function gripping device according to claim 3, characterized in that: and the third clamping part is provided with a groove in the horizontal direction.
5. A multi-function gripping device according to claim 1 or 3, characterized in that: the upper end of the second clamping part is flush with the upper end of the first clamping part at the position of the clamping claw plate.
6. The multi-function gripping device of claim 1, wherein: the upper end of the first clamping part is provided with a first transition surface with an inclined angle.
7. A multi-function gripping device according to claim 1 or 3, characterized in that: the upper end and the lower end of the second clamping part are provided with second transition surfaces with inclined angles.
8. The multi-function gripping device of claim 1, wherein: a strip-shaped avoiding hole is formed in the lower portion of the clamping jaw plate.
9. The multi-function gripping device of claim 1, wherein: the mounting structure comprises a transverse fixing plate and a longitudinal fixing plate which are connected and fixed with each other, and the transverse fixing plate and the longitudinal fixing plate are connected and fixed on the manipulator.
10. The multi-function gripping device of claim 9, wherein: the visual positioning structure further comprises a visual mounting plate, a light source fixing plate and a camera mounting support, wherein the visual mounting plate is arranged on the transverse fixing plate or the longitudinal fixing plate, the camera mounting support is arranged above the visual mounting plate, the light source fixing plate is arranged below the visual mounting plate, the camera is arranged on the camera mounting support, the light source is arranged on the light source fixing plate, and the light emitting direction of the light source is downward.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320845705.8U CN219599564U (en) | 2023-04-14 | 2023-04-14 | Multifunctional clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320845705.8U CN219599564U (en) | 2023-04-14 | 2023-04-14 | Multifunctional clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219599564U true CN219599564U (en) | 2023-08-29 |
Family
ID=87756725
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320845705.8U Active CN219599564U (en) | 2023-04-14 | 2023-04-14 | Multifunctional clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219599564U (en) |
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2023
- 2023-04-14 CN CN202320845705.8U patent/CN219599564U/en active Active
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