CN209190798U - A kind of mechanical gripper of anti-dropout - Google Patents
A kind of mechanical gripper of anti-dropout Download PDFInfo
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- CN209190798U CN209190798U CN201821342170.8U CN201821342170U CN209190798U CN 209190798 U CN209190798 U CN 209190798U CN 201821342170 U CN201821342170 U CN 201821342170U CN 209190798 U CN209190798 U CN 209190798U
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- dropout
- mechanical gripper
- positioning unit
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- driving unit
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- 210000000078 claw Anatomy 0.000 claims abstract description 11
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
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Abstract
The utility model belongs to manipulator field, relate generally to a kind of mechanical gripper of anti-dropout, including adapter, bottom plate, first direction fixed module and second unit fixed module, the adapter connects transfer robot, and the first direction fixed module includes the first cylinder, first direction driving arm, positioning pin mount and positioning pin；The second direction fixed module includes the second cylinder, second direction driving arm and claw, by replacement positioning pin and the distance between the first slotting pawl and the second slotting pawl are adjusted to adapt to different workpiece, the utility model, which is that assemble and carry for bearing and develop a kind of is anti-, grabs de- mechanical gripper, the phenomenon that being mounted on transfer robot, effectively workpiece being avoided to fall off in the handling process.
Description
Technical field
The utility model manipulator field, relates generally to a kind of mechanical gripper of anti-dropout.
Background technique
Mechanical gripper can imitate certain holding functions of manpower and arm, for being grabbed, being removed according to fixed program
Workpiece or operational instrument are transported, is a kind of industrial common automatic pilot.
Currently, the carrying of workpiece is all completed by parallel pneumatic-finger, due to workpiece in bearing during manufacturing
Surface is smooth and with oil, can lead to the phenomenon that falling off because precise positioning product is had no way in crawl, easily cause workpiece
It damages and wastes time.
Therefore, it is necessary to design a kind of gripper equipment that workpiece can be effectively prevented and fall off.
Utility model content
In view of this, can accurately be grabbed the purpose of this utility model is to provide a kind of mechanical gripper of anti-dropout
Workpiece, and the operation is stable, stabilized structure are readily produced.
In order to achieve the above objectives, the utility model provides the following technical solutions:
A kind of mechanical gripper of anti-dropout, is connected on handling device, for the state mobile or static in handling device
Lower fixed workpiece, comprising: adapter, for connecting handling device；Bottom plate is fixed on adapter；First direction is fixed
Bottom plate is arranged in far from the side of adapter in module, including first direction driving arm, for moving first direction driving branch
First driving unit of frame and the first positioning unit being arranged on the first driving unit；And second direction fixed module,
Bottom plate is set far from the side of adapter, including second direction driving arm, for moving second direction driving arm
Second direction driving arm is arranged in towards the second positioning unit on the side of the first positioning unit in second driving unit；Its
In, first direction is the direction close to or far from bottom plate, and the first driving unit drives first direction driving arm along first direction
Movement；Second direction is the direction close to or far from the first positioning unit, and the second driving unit drives second direction driving arm
It moves in a second direction, first direction intersects with second direction.
Optionally, first driving unit is the first cylinder, the second driving unit is the second cylinder.
Optionally, first positioning unit is mounted on the first driving unit by first direction locating support.
Optionally, first positioning unit is positioning pin, and the first direction locating support is positioning pin mount.
Optionally, second positioning unit is claw.
Optionally, the claw includes the first slotting pawl and the second slotting pawl being set side by side.
Optionally, the distance between the described first slotting pawl and the second slotting pawl are adjustable.
Optionally, first driving unit is equipped with first sensor towards the side of the first positioning unit, and described the
Two driving units are equipped with second sensor, the first sensor and second sensor phase towards the side of the first positioning unit
Cooperation is for detecting the second positioning unit position.
Optionally, the pedestal is equipped with photoelectric sensor towards the side of the first positioning unit, for detecting and judging
Whether workpiece grabs success.
Optionally, the first direction is orthogonal to second direction.
The utility model has the beneficial effects that:
The utility model be assemble and carry for bearing and exploitation it is a kind of it is anti-grab de- mechanical gripper, by fixed
Position pin the first slotting pawl of cooperation and the second slotting pawl can effectively realize the crawl to annular work piece, and application range is not limited only to ring
The crawl of shape workpiece.It may be mounted at handling device, on transfer robot, effectively avoid workpiece from occurring in the handling process de-
The phenomenon that falling.
Other advantages, target and feature of the utility model will be explained in the following description to a certain extent
It states, and to a certain extent, based on will be apparent to those skilled in the art to investigating hereafter, or
Person can be instructed from the practice of the utility model.The target of the utility model and other advantages can be said by following
Bright book is achieved and obtained.
Detailed description of the invention
It is practical to this below in conjunction with attached drawing in order to keep the purpose of this utility model, technical solution and advantage clearer
It is novel to be preferably described in detail, in which:
Fig. 1 is the structural schematic diagram of the utility model.
Specific embodiment
Illustrate the embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this theory
Content disclosed by bright book understands other advantages and effect of the utility model easily.The utility model can also be by addition
Different specific embodiments are embodied or practiced, and the various details in this specification can also be based on different viewpoints and answer
With carrying out various modifications or alterations under the spirit without departing from the utility model.It should be noted that institute in following embodiment
The diagram of offer only illustrates the basic conception of the utility model in a schematic way, in the absence of conflict, following embodiment and
Feature in embodiment can be combined with each other.
Wherein, the drawings are for illustrative purposes only and are merely schematic diagrams, rather than pictorial diagram, should not be understood as to this
The limitation of utility model；In order to better illustrate the utility model embodiment, the certain components of attached drawing have omission, amplification or contracting
It is small, do not represent the size of actual product；It will be understood by those skilled in the art that certain known features and its explanation may in attached drawing
Omission will be understood by.
The same or similar label correspond to the same or similar components in the attached drawing of the utility model embodiment；It is practical at this
In novel description, it is to be understood that if having the instructions such as term " on ", "lower", "left", "right", "front", "rear" orientation or
Positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of describing the present invention and simplifying the description,
Rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, because
The terms describing the positional relationship in the drawings are only for illustration for this, should not be understood as limiting the present invention, for
For those skilled in the art, the concrete meaning of above-mentioned term can be understood as the case may be.
Referring to Fig. 1, the element numbers in attached drawing respectively indicate: adapter 1, bottom plate 2, first direction driving arm 3,
One direction locating support 4, the first positioning unit 5, the first driving unit 6, second direction driving arm 7, the second driving unit 8,
First slotting pawl 9, the second slotting pawl 10.
The utility model relates to a kind of mechanical grippers of anti-dropout, are connected on handling device, for moving in handling device
Workpiece is fixed in the state of dynamic or static, comprising: adapter 1, for connecting handling device；Bottom plate 2, is fixed at adapter
On 1；First direction fixed module is arranged on side of the bottom plate 2 far from adapter 1, including first direction driving arm 3, use
It is single in the first driving unit 6 for moving first direction driving arm 3 and the first positioning being arranged on the first driving unit 6
Member 5；And second direction fixed module, it is arranged on side of the bottom plate 2 far from adapter 1, including second direction driving arm
7, fixed towards first in second direction driving arm 7 for moving the second driving unit 8 of second direction driving arm 7, being arranged
The second positioning unit on the side of bit location 5；Wherein, first direction is the direction close to or far from bottom plate 2, and the first driving is single
Member 6 drives first direction driving arm 3 to move along first direction；Second direction is the side close to or far from the first positioning unit 5
To the second driving unit 8 driving second direction driving arm 7 moves in a second direction, and first direction intersects with second direction.
Preferably, first driving unit 6 is the first cylinder, the second driving unit 8 is the second cylinder；Described first is fixed
Bit location 5 is mounted on the first driving unit 6 by first direction locating support 4；First positioning unit 5 is positioning pin,
The first direction locating support 4 is positioning pin mount；Second positioning unit is claw；The claw includes setting side by side
The slotting pawl 9 of first set and the second slotting pawl 10；The distance between the first slotting pawl 9 and the second slotting pawl 10 are adjustable；Described first drives
Moving cell 6 is equipped with first sensor towards the side of the first positioning unit 5, and second driving unit 8 is positioned towards first
The side of unit 5 is equipped with second sensor, and the first sensor is matched with second sensor for detecting the second positioning
Cell position；The pedestal is equipped with photoelectric sensor towards the side of the first positioning unit 5, for detecting and judging that workpiece is
It is no to grab successfully；The first direction is orthogonal to second direction.
In the present embodiment, first direction driving arm 3 is adjusted by the first cylinder and the second cylinder and second direction drives
The distance of bracket 7 specifically, adjusts positioning pin and claw so as to adjust the distance of the first positioning unit 5 and the second positioning unit
The distance between, it is different that the adjustment adaptation of the distance between pawl 9 and the second slotting pawl 10 is inserted by replacement positioning pin and slotting pawl first
The workpiece of size.
In the specific use process, by taking annular workpieces as an example, adapter 1 connects transfer robot and presses to positioning pin
In annular workpieces, the second cylinder, which inwardly moves, withdraws claw, judges that claw has been received by the first sensor on the first cylinder
It returns；First cylinder moves upwards, and judges that claw has been withdrawn by the second sensor on the second cylinder；By the first slotting pawl 9,
Second slotting pawl 10, positioning pin securely grab workpiece, and the photoelectric sensor judgement installed on bottom plate 2 has grabbed success.
Finally, it is stated that above embodiments are merely intended for describing the technical solutions of the present application, but not for limiting the present application, although ginseng
The utility model is described in detail according to preferred embodiment, those skilled in the art should understand that, it can be to this
The technical solution of utility model is modified or replaced equivalently, should all without departing from the objective and range of the technical program
Cover in the scope of the claims of the utility model.
Claims (10)
1. a kind of mechanical gripper of anti-dropout, is connected on handling device, in the state that handling device is mobile or static
Fixed workpiece characterized by comprising
Adapter, for connecting handling device；
Bottom plate is fixed on adapter；
Bottom plate is arranged in far from the side of adapter in first direction fixed module, including first direction driving arm, for moving
First driving unit of dynamic first direction driving arm and the first positioning unit being arranged on the first driving unit；
And second direction fixed module, bottom plate is set far from the side of adapter, including second direction driving arm, use
In mobile second direction driving arm the second driving unit, second direction driving arm is set towards the first positioning unit
The second positioning unit on side；
Wherein, first direction is the direction close to or far from bottom plate, and the first driving unit drives first direction driving arm along the
The movement of one direction；Second direction is the direction close to or far from the first positioning unit, and the second driving unit drives second direction to drive
Dynamic bracket moves in a second direction, and first direction intersects with second direction.
2. the mechanical gripper of anti-dropout as described in claim 1, it is characterised in that: first driving unit is the first gas
Cylinder, the second driving unit are the second cylinder.
3. the mechanical gripper of anti-dropout as described in claim 1, it is characterised in that: first positioning unit passes through first
Direction locating support is mounted on the first driving unit.
4. the mechanical gripper of anti-dropout as described in claim 3, it is characterised in that: first positioning unit is positioning
Pin, the first direction locating support are positioning pin mount.
5. the mechanical gripper of anti-dropout as described in claim 1, it is characterised in that: second positioning unit is claw.
6. the mechanical gripper of anti-dropout as described in claim 5, it is characterised in that: the claw includes be set side by side
One slotting pawl and the second slotting pawl.
7. the mechanical gripper of anti-dropout as described in claim 6, it is characterised in that: the first slotting pawl and the second slotting pawl it
Between distance it is adjustable.
8. the mechanical gripper of anti-dropout as described in claim 1, it is characterised in that: the first driving unit direction first
The side of positioning unit is equipped with first sensor, and second driving unit is equipped with the towards the side of the first positioning unit
Two sensors, the first sensor are matched with second sensor for detecting the second positioning unit position.
9. the mechanical gripper of anti-dropout as described in claim 1, it is characterised in that: the one of pedestal the first positioning unit of direction
Side is equipped with photoelectric sensor, for detecting and judging whether workpiece grabs success.
10. the mechanical gripper of the anti-dropout as described in any one of claim 1~9, it is characterised in that: the first direction is just
Meet at second direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821342170.8U CN209190798U (en) | 2018-08-20 | 2018-08-20 | A kind of mechanical gripper of anti-dropout |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821342170.8U CN209190798U (en) | 2018-08-20 | 2018-08-20 | A kind of mechanical gripper of anti-dropout |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209190798U true CN209190798U (en) | 2019-08-02 |
Family
ID=67404999
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821342170.8U Active CN209190798U (en) | 2018-08-20 | 2018-08-20 | A kind of mechanical gripper of anti-dropout |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209190798U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390955A (en) * | 2020-04-30 | 2020-07-10 | 天津施格自动化科技有限公司 | Guide rod and partition plate integrated clamp and workpiece clamping method thereof |
| CN112720547A (en) * | 2021-01-04 | 2021-04-30 | 烟台职业学院 | Finger joint of inspection robot |
-
2018
- 2018-08-20 CN CN201821342170.8U patent/CN209190798U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390955A (en) * | 2020-04-30 | 2020-07-10 | 天津施格自动化科技有限公司 | Guide rod and partition plate integrated clamp and workpiece clamping method thereof |
| CN111390955B (en) * | 2020-04-30 | 2024-10-15 | 天津施格自动化科技有限公司 | Guide rod and baffle integrated clamp and workpiece clamping method thereof |
| CN112720547A (en) * | 2021-01-04 | 2021-04-30 | 烟台职业学院 | Finger joint of inspection robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210524 Address after: 471000 in Zhuoyang science and Technology Park, Qinling Road, Jianxi District, Luoyang area, China (Henan) pilot Free Trade Zone, Luoyang City, Henan Province Patentee after: Luoyang Guohua New Energy Technology Co.,Ltd. Address before: 471023 Room 101, building 1, 66 Changxing street, Luolong District, Luoyang City, Henan Province Patentee before: LUOYANG ZHONGKE XIETONG TECHNOLOGY Co.,Ltd. |
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| CP03 | Change of name, title or address |
Address after: 471000 Building 2, Dahehui, northeast corner of Jinchengzhai Street and Zhanqian West Road, Luolong District, Luoyang City, Henan Province Patentee after: Luoyang Guosheng Commercial Development Co.,Ltd. Country or region after: China Address before: 471000 in Zhuoyang science and Technology Park, Qinling Road, Jianxi District, Luoyang area, China (Henan) pilot Free Trade Zone, Luoyang City, Henan Province Patentee before: Luoyang Guohua New Energy Technology Co.,Ltd. Country or region before: China |