Sucking and clamping combined type holding tool manipulator

Abstract

The utility model belongs to the technical field of manipulators, and particularly relates to a sucking and clamping combined type holding tool manipulator which comprises a mounting plate, a supporting plate and a connecting frame which are used for being mounted on a mechanical arm actuator, one end of the connecting frame is connected with the supporting plate, the other end of the connecting frame is connected with the mounting plate, and the side, away from the mounting plate, of the supporting plate is provided with a clamping groove. Hardware suction cups which are oppositely arranged and are used for sucking a workpiece are installed, and holding tool devices are oppositely arranged on the two sides of each hardware suction cup and are used for clamping the workpiece sucked by the hardware suction cups. According to the mechanical arm, the hardware suction cup and the holding device are both installed on the supporting plate of the mechanical arm, after the hardware suction cup sucks a workpiece, the workpiece is clamped through the holding device, suction and clamping combination of the workpiece is formed, and the workpiece can be clamped by the mechanical arm more stably and firmly and is not prone to falling off.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of mechanical hand, specifically relates to a kind of suction clamp combined formula hug mechanical hand. BACKGROUND

[0002] Mechanical arm is the automation mechanical device that is most widely practically applied in the technical field of mechanical man, and it can be seen in the fields of industrial manufacturing, medical treatment, entertainment service, military, semiconductor manufacturing and space exploration. Although their forms are different, they all have a common feature, that is, they can accept instructions, accurately locate to a certain point on three-dimensional or two-dimensional space to work.

[0003] At present, the mechanical hand installed on mechanical arm often uses single mode to work on workpiece, such as the mechanical hand in glass production industry, which often only has pneumatic suction cup to suck glass;For example, some other industrial manufacturing also usually only uses clamping mechanism moving towards to clamp workpiece.

[0004] Therefore, the utility model provides a kind of suction clamp combined formula hug mechanical hand to provide more stable and firm mechanical hand. UTILITY MODEL CONTENT

[0005] To achieve the above purpose, the utility model provides the following technical scheme: a kind of suction clamp combined formula hug mechanical hand, including the mounting plate for being installed on the mounting plate of mechanical arm executor, support plate and connecting frame, one end of the connecting frame is connected support plate, its other end is connected with mounting plate, the side of support plate away from mounting plate, the goldware suction cup for suctioning workpiece is installed to the opposite side, the goldware suction cup is oppositely provided with hug device on both sides, for clamping the workpiece that goldware suction cup suction.

[0006] As a kind of suction clamp combined formula hug mechanical hand of the utility model, the side of support plate away from mounting plate is also provided with positioning groove located on the both sides of goldware suction cup, and positioning block is installed in the inside of positioning groove.

[0007] As a kind of suction clamp combined formula hug mechanical hand of the utility model, the hug device is installed on positioning block, so that height difference is formed between hug device and goldware suction cup.

[0008] As a kind of suction clamp combined formula hug mechanical hand of the utility model, the hug device includes: hug cylinder, and the clamping block connected in the output end of the hug cylinder.

[0009] As a kind of suction clamp combined formula hug mechanical hand of the utility model, the goldware suction cup includes: goldware connected on the support plate, and pneumatic suction cup connected in one end of the goldware.

[0010] Compared with the prior art, the utility model has the beneficial effects that:

[0011] The utility model discloses a support plate is installed on the mechanical hand to the fixture device and the gold utensil sucking disc, when the gold utensil sucking disc sucks the workpiece, and then the fixture device clamps the workpiece, forms the suction and clamping combination to the workpiece, and the mechanical hand clamps the workpiece more stably, firmly, and does not fall off easily. BRIEF DESCRIPTION OF DRAWINGS

[0012] The accompanying drawings are included to provide a further understanding of the utility model, and constitute a part of the specification, explain the utility model together with embodiments of the utility model, and do not constitute the limitation to the utility model.In the drawings:

[0013] Fig. 1 It is the three-dimensional structure schematic diagram of the utility model;

[0014] Fig. 2 It is the structure schematic diagram of another visual angle of the utility model;

[0015] Fig. 3 It is the main view structure schematic diagram of the utility model.

[0016] In the drawing: 1, mounting plate;2, support plate;3, connecting frame;4, positioning groove;5, positioning block;6, fixture cylinder;7, clamping block;8, gold utensil;9, pneumatic sucking disc. DETAILED DESCRIPTION

[0017] The technical scheme in the embodiments of the utility model will be described clearly and completely below in combination with the drawings in the embodiments of the utility model, and obviously, the described embodiments only are a part of the embodiments of the utility model, not all the embodiments.Based on the embodiments in the utility model, all other embodiments obtained by the ordinary skill in the art without making the creative labor belong to the range of protection of the utility model.

[0018] The utility model relates to a kind of suction and clamping combination type fixture mechanical hand, as Figs. 1-3 As shown, including: for being installed on the mounting plate 1 of mechanical arm executor, mounting plate 1 far from the side of mechanical arm executor four corners, it is connected with connecting frame 3, four connecting frames 3 far from the other end of mounting plate 1 and with support plate 2, to make mounting plate 1 and support plate 2 parallel and fixed together.

[0019] On the bottom surface of support plate 2, about its longitudinal midline symmetrically arranged: by gold utensil 8 and the pneumatic sucking disc 9 connected in the bottom of gold utensil 8 constitute gold utensil sucking disc, in the embodiment, gold utensil sucking disc is provided with twelve, its specific quantity can be determined according to actual use demand.

[0020] In use, the air nozzle of the pneumatic suction cup 9 is connected to a vacuum generator, an electromagnetic valve and an air compressor through an air pipe, so that the suction cup of the pneumatic suction cup 9 is vacuumized to realize suction of the workpiece, so as to fix the workpiece.

[0021] Further, on both sides of the position of the fitting suction cup, a holding device composed of a holding cylinder 6 and a clamping block 7 installed at the output end of the holding cylinder 6 is arranged, and in the embodiment, two sets of the holding device are arranged on both sides of the position of the fitting suction cup, and the specific number can be determined according to the actual use requirement.

[0022] In use, the holding cylinder 6 is connected to external high-pressure air through a high-pressure pipe, so that the clamping blocks 7 on both sides of the fitting suction cup can move towards or away from each other, and after the fitting suction cup sucks and fixes the workpiece, the holding device can clamp the sucked workpiece to form secondary fixation, so that the workpiece is clamped more stably and firmly and is not easy to fall off.

[0023] Further, a positioning block 5 can be installed between the holding device and the support plate 2, and by changing the height of the positioning block 5, the position height of the holding device can be changed to form a height difference with the fitting suction cup, so that the clamping end of the holding device is lower than or flush with the bottom of the fitting suction cup, so that the holding device can better clamp the workpiece.

[0024] At the same time, in order to improve the stability of the installation of the positioning block 5, a positioning groove 4 matched with the positioning block 5 can be formed on the installation surface of the support plate 2 and the positioning block 5, and the positioning block 5 is installed in the positioning groove 4, so that the movement of the positioning block 5 can be effectively limited, thereby improving the stability of the whole mechanical hand during operation.

[0025] Finally, it should be pointed out that the above-mentioned is only the preferred embodiment of the present application and is not used to limit the present application, although the present application has been described in detail with reference to the foregoing embodiments, and for those skilled in the art, the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A suction and clamp combined gripper manipulator, comprising a mounting plate (1) for mounting on a manipulator executor, a support plate (2) and a connecting frame (3), one end of the connecting frame (3) being connected to the support plate (2) and the other end being connected to the mounting plate (1), characterized in that: The support plate (2) is provided with a pair of metal fitting suction cups arranged oppositely on the side away from the mounting plate (1) and used for sucking workpieces.

2. The suction and clamp combined gripper robot of claim 1, wherein: The support plate (2) is further provided with positioning grooves (4) on the side away from the mounting plate (1) and located on both sides of the metal fitting suction cups.

3. The suction and clamp combined gripper robot of claim 2, wherein: The positioning grooves (4) are internally provided with positioning blocks (5).

4. The suction and clamp combined gripper robot of claim 3, wherein: The holder device is installed on the positioning blocks (5) to form a height difference between the holder device and the metal fitting suction cups.

5. The suction and clamp combined gripper robot of claim 4, wherein: The metal fitting suction cups comprise metal fittings (8) connected to the support plate (2) and pneumatic suction cups (9) connected to one end of the metal fittings (8).

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