Mechanical hand jig and mechanical hand

Abstract

The utility model discloses a mechanical hand fixture, including the mainboard, the inside of mainboard is provided with a plurality of air flue, at least one group of grabbing mechanism, and grabbing mechanism sets up in the one side of mainboard, and grabbing mechanism is linked with air flue, positioning part, positioning part sets up in the periphery of grabbing mechanism, and positioning part is used for cooperation grabbing mechanism and is positioned to metal sheet and is sucked. The present application is through setting up grabbing mechanism and positioning part, and when grabbing mechanism is grabbed, cooperation the auxiliary of positioning part can realize the directional accurate sheet taking and directional accurate sheet putting of no positioning hole metal sheet and the directional accurate sheet putting of having positioning hole metal sheet simultaneously, and the operation is convenient and quick.

Description

Technical Field

[0001] This utility model relates to the field of jig technology, and in particular to a robotic arm jig. Background Technology

[0002] In the prior art, when implanting a metal sheet, it is necessary to first open two or more positioning holes in the metal sheet. Moreover, there is no space on the mold where the metal sheet is to be implanted and the adjacent area can be designed to provide guide positioning holes for the metal sheet. The operation is cumbersome. However, when the purchased metal sheet cannot be drilled, the existing device cannot achieve rapid positioning of the metal sheet. In this regard, this application proposes a robotic jig to solve such problems. Utility Model Content

[0003] Based on this, in order to solve the problems existing in the prior art, this application provides a robotic arm fixture, including a motherboard, and the motherboard has several air passages inside;

[0004] At least one gripping mechanism is provided, which is located on one side of the motherboard and is connected to the air passage.

[0005] The positioning component is located on the periphery of the gripping mechanism. It is used to cooperate with the gripping mechanism to position, pick up, and implant the metal sheet.

[0006] Furthermore, the gripping mechanism includes a mounting cylinder and a suction cup, with an air outlet in the air passage. One end of the mounting cylinder is connected to the air outlet, and the other end of the mounting cylinder is connected to the suction cup.

[0007] Furthermore, the positioning component includes a mounting part and at least two support plates. The mounting part has a number of mounting holes corresponding to the number of mounting cylinders. The mounting cylinders pass through the mounting holes. The mounting part is connected to the main board. One end of the support plate is connected to the edge of the mounting part and the support plate is located on the periphery of the mounting cylinder. The other end of the support plate is inclined away from the mounting cylinder.

[0008] Furthermore, a guide positioning piece is provided at the end of the support piece that is inclined away from the mounting cylinder. One end of the guide positioning piece is connected to the support piece, and the other end is inclined away from the mounting cylinder. The inclination angle of the guide positioning piece is greater than that of the support piece.

[0009] Furthermore, the mounting cylinder and the air outlet are detachably connected.

[0010] Furthermore, the air passage includes a main air passage and several branch air passages, both ends of which pass through the main board. The number of branch air passages is the same as the number of gripping mechanisms. An air inlet is provided on one side of the main board, which is connected to one end of the main air passage. A sealing element is provided at the other end of the main air passage. One end of the branch air passage is connected to the main air passage, and a sealing element is provided at the other end. An air outlet is connected to the branch air passage.

[0011] Furthermore, it also includes a connector that connects to the air inlet and is used to connect to an external air extraction device.

[0012] Furthermore, it also includes a connector, one end of which is detachably connected to the motherboard, and the other end is used to connect to the robotic arm.

[0013] Beneficial effects: By setting up a gripping mechanism and a positioning component, this application can simultaneously achieve directional and precise picking and placement of metal sheets with and without positioning holes, with the assistance of the positioning component during gripping. The operation is convenient and quick. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the overall structure of the robotic arm fixture of this utility model;

[0016] Figure 2 This is a bottom view of the robotic arm fixture of this utility model;

[0017] Figure 3 This is a schematic diagram of the internal structure of the mainboard of the robotic arm fixture of this utility model;

[0018] Figure 4 This is a schematic diagram of the positioning component structure of the robotic arm fixture of this utility model;

[0019] In the diagram: 1. Main board; 11. Air passage; 12. Sealing component; 13. Air inlet; 14. Air outlet; 2. Gripping mechanism; 21. Mounting cylinder; 22. Suction cup; 3. Positioning component; 31. Mounting part; 311. Mounting hole; 32. Support plate; 33. Guide positioning plate; 4. Connector; 5. Connecting component.

[0020] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0023] Furthermore, the use of terms such as "first" and "second" in this utility model is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the term "and / or" throughout the text includes three solutions; taking A and / or B as an example, it includes technical solution A, technical solution B, and a technical solution that simultaneously satisfies A and B. Furthermore, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of a person skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0024] like Figure 1-4 As shown, this application embodiment provides a robotic arm fixture, including a main board 1, and the main board 1 has a plurality of air passages 11 inside;

[0025] At least one gripping mechanism 2 is provided, which is located on one side of the main board 1 and is connected to the air passage 11.

[0026] Positioning component 3 is located on the periphery of gripping mechanism 2. Positioning component 3 is used to cooperate with gripping mechanism 2 to position, pick up and implant metal sheet.

[0027] In this embodiment, there are two positioning elements 3, which are arranged at intervals on one side of the motherboard 1, and there are two sets of gripping mechanisms 2.

[0028] During operation, the robotic arm controls the moving motherboard 1 to make the gripping mechanism 2 and the positioning component 3 meet and dock with the metal sheet push block in a fixed position. After docking, the positioning component 3 will cover the side of the metal sheet push block, and then the gripping mechanism 2 will gradually approach the metal sheet adsorption surface. At this time, if the edge of the metal sheet is not flush with the side of the metal sheet push block, the uneven metal sheet will be aligned with the side of the metal sheet push block by the positioning component 3, thereby adjusting and positioning the position of the metal sheet. When the gripping mechanism 2 contacts the metal sheet, the outer edge of the metal sheet is completely flush with the side of the push block, thereby realizing the directional and precise implantation and suction of the metal sheet without positioning holes.

[0029] This application, by setting up a gripping mechanism 2 and a positioning component 3, can simultaneously achieve directional and precise picking and placement of metal sheets with and without positioning holes, with the assistance of the positioning component 3, when the gripping mechanism 2 grips, making the operation convenient and quick.

[0030] In one embodiment, the gripping mechanism 2 includes a mounting cylinder 21 and a suction cup 22. An air outlet 14 is provided in the air passage 11. One end of the mounting cylinder 21 is connected to the air outlet 14, and the other end of the mounting cylinder 21 is connected to the suction cup 22.

[0031] In this embodiment, the mounting cylinder 21 is a hollow cylinder. The mounting cylinder 21 is set perpendicular to the main board 1. By drawing in and drawing out air through the air passage 11, the suction cup 22 can be controlled to pick up and release the metal sheet.

[0032] In one embodiment, the positioning member 3 includes a mounting part 31 and at least two support plates 32. The mounting part 31 has a number of mounting holes 311 corresponding to the number of mounting cylinders 21. The mounting cylinders 21 pass through the mounting holes 311. The mounting part 31 is connected to the main board 1. One end of the support plate 32 is connected to the edge of the mounting part 31 and the support plate 32 is located on the periphery of the mounting cylinder 21. The other end of the support plate 32 is inclined away from the mounting cylinder 21.

[0033] In this embodiment, there are four support plates 32. The number of support plates 32 can be selected according to the shape of the metal sheet. That is, when the metal sheet has three sides, three support plates 32 are provided. The metal sheet in this application has four sides. The four support plates 32 are respectively installed at the edge positions of the four sides of the mounting part 31. The mounting part 31 and the four support plates 32 form a claw shape, and the other end of the support plate 32 is inclined away from the mounting cylinder 21 to form a slope.

[0034] During operation, the robotic arm controls the moving motherboard 1 to make the gripping mechanism 2 and the positioning component 3 meet and dock with the metal sheet push block in a fixed position. After docking, the four support plates 32 cover the four sides of the metal sheet push block respectively. Then, the suction cup 22 gradually approaches the metal sheet adsorption surface. If the edge of the metal sheet is not flush with the side of the metal sheet push block, the uneven metal sheet will be pushed by the inclined surface of the support plate 32 to make the edge of the metal sheet flush with the side of the metal sheet push block, thereby adjusting and positioning the position of the metal sheet. When the suction cup 22 contacts the metal sheet, the outer edge of the metal sheet is completely flush with the side of the push block, thereby achieving directional and precise implantation and adsorption of the metal sheet.

[0035] In one embodiment, a guide positioning piece 33 is provided at the end of the support piece 32 that is inclined away from the mounting cylinder 21. One end of the guide positioning piece 33 is connected to the support piece 32, and the other end is inclined away from the mounting cylinder 21. The inclination angle of the guide positioning piece 33 is greater than the inclination angle of the support piece 32.

[0036] In this embodiment, the guide positioning piece 33 is formed with an outward-curved angle, which facilitates the observation of the cutting angle of the robot arm for directional picking and placement of the piece. When the metal piece is picked up and placed in place, it is supported by four fixed-height support pieces 32, and at the same time, the guide positioning piece 33 is used to protect and limit the edges around it, so that the metal piece can maintain a level height and a fixed position for picking and placing the piece. The tilt angle of the guide positioning piece 33 is set to be greater than that of the support piece 32, which is more conducive to docking with the metal block. The connection between the support piece 32 and the guide positioning piece 33 is smooth.

[0037] During operation, the robotic arm controls the moving motherboard 1 to make the gripping mechanism 2 and the positioning component 3 meet and dock with the metal sheet push block in a fixed position. After docking, the four guide positioning plates 33 cover the four sides of the metal sheet push block respectively. Then, the suction cup 22 gradually approaches the metal sheet adsorption surface. If the edge of the metal sheet is not flush with the side of the metal sheet push block, the uneven metal sheet will be pushed by the inclined surface of the guide positioning plate 33 to make the edge of the metal sheet flush with the side of the metal sheet push block, thereby adjusting and positioning the position of the metal sheet. When the suction cup 22 contacts the metal sheet, the outer edge of the metal sheet is completely flush with the side of the push block, thereby realizing the directional and precise implantation and adsorption of the metal sheet.

[0038] In one embodiment, the mounting cylinder 21 and the vent 14 are detachably connected.

[0039] In this embodiment, the mounting cylinder 21 and the air outlet 14 are connected by a thread, which facilitates the installation and removal of the suction cup 22.

[0040] In one embodiment, the air passage 11 includes a main air passage and several branch air passages, both ends of which pass through the main board 1. The number of branch air passages is the same as the number of gripping mechanisms 2. An air inlet 13 is provided on one side of the main board 1. The air inlet 13 is connected to one end of the main air passage. A sealing member 12 is provided at the other end of the main air passage. One end of the branch air passage is connected to the main air passage, and a sealing member 12 is provided at the other end. An air outlet 14 is connected to the branch air passage.

[0041] In this embodiment, the motherboard 1 is designed with one main air passage and four branch air passages. The sealing component 12 is provided and is detachably connected to the air passage 11 opening. The purpose is to facilitate the unblocking of the air passage 11 when it is blocked.

[0042] In one embodiment, a connector 4 is also included, which is connected to an air inlet and is used to connect to an external air extraction device.

[0043] In this embodiment, by setting the connector 4, it can be connected to the air pressure pipe on the robotic arm through a hose, and the movement of the robotic arm can control the air pressure change of the robotic arm fixture air channel 11 in real time to realize the action of suction cup 22 to pick up and release metal sheet.

[0044] In one embodiment, a connector 5 is also included, one end of which is detachably connected to the motherboard 1, and the other end is used to connect to the robotic arm.

[0045] In this embodiment, one end of the connector 5 is fixedly mounted on the motherboard 1 by bolts, and the other end of the connector 5 can be connected to the robotic arm. The robotic arm can control the motherboard 1 to perform directional film picking and film placement for implantation.

[0046] This application also provides a robotic arm for assisting in directional tissue pickup and directional tissue placement and implantation, including the robotic arm fixture in any of the above embodiments.

[0047] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A robotic arm fixture, characterized in that, include: The motherboard has several air ducts inside. At least one gripping mechanism is provided, the gripping mechanism is disposed on one side of the motherboard, and the gripping mechanism is in communication with the air passage; A positioning element is disposed on the periphery of the gripping mechanism, and the positioning element is used to cooperate with the gripping mechanism to position, pick up and implant the metal sheet.

2. The robotic arm fixture according to claim 1, characterized in that, The gripping mechanism includes a mounting cylinder and a suction cup. An air outlet is provided in the air passage. One end of the mounting cylinder is connected to the air outlet, and the other end of the mounting cylinder is connected to the suction cup.

3. The robotic jig according to claim 2, characterized in that, The positioning component includes a mounting part and at least two support plates. The mounting part has a number of mounting holes corresponding to the number of mounting cylinders. The mounting cylinders pass through the mounting holes. The mounting part is connected to the main board. One end of the support plate is connected to the edge of the mounting part and the support plate is located on the periphery of the mounting cylinder. The other end of the support plate is inclined away from the mounting cylinder.

4. The robotic arm fixture according to claim 3, characterized in that, The support plate is provided with a guide positioning piece at one end that is inclined away from the mounting cylinder. One end of the guide positioning piece is connected to the support plate, and the other end is inclined away from the mounting cylinder. The inclination angle of the guide positioning piece is greater than that of the support plate.

5. The robotic jig according to claim 2, characterized in that, The mounting cylinder and the air outlet are detachably connected.

6. The robotic arm fixture according to claim 2, characterized in that, The air passage includes a main air passage and several branch air passages, both ends of which pass through the main board. The number of branch air passages is the same as the number of gripping mechanisms. An air inlet is provided on one side of the main board, and the air inlet is connected to one end of the main air passage. A sealing element is provided at the other end of the main air passage. One end of each branch air passage is connected to the main air passage, and a sealing element is provided at the other end. The air outlet is connected to the branch air passage.

7. The robotic jig according to claim 6, characterized in that, It also includes a connector that is connected to the air inlet and is used to connect to an external air extraction device.

8. The robotic arm fixture according to claim 1, characterized in that, It also includes a connector, one end of which is detachably connected to the motherboard, and the other end is used to connect to the robotic arm.

9. A robotic arm for assisting in directional tissue pickup and directional tissue placement and implantation, characterized in that, Includes the robotic arm fixture as described in any one of claims 1-8.

Images