CN103433930A - Steering engine gear type gripper with replaceable gripping jaws - Google Patents

Steering engine gear type gripper with replaceable gripping jaws Download PDF

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Publication number
CN103433930A
CN103433930A CN2013103691168A CN201310369116A CN103433930A CN 103433930 A CN103433930 A CN 103433930A CN 2013103691168 A CN2013103691168 A CN 2013103691168A CN 201310369116 A CN201310369116 A CN 201310369116A CN 103433930 A CN103433930 A CN 103433930A
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CN
China
Prior art keywords
clamping limb
shaped clamping
gripper jaw
main
steering wheel
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CN2013103691168A
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Chinese (zh)
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CN103433930B (en
Inventor
刘天亮
管贻生
罗东豪
叶景杨
赵国旗
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South China University of Technology SCUT
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South China University of Technology SCUT
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Priority to CN201310369116.8A priority Critical patent/CN103433930B/en
Publication of CN103433930A publication Critical patent/CN103433930A/en
Application granted granted Critical
Publication of CN103433930B publication Critical patent/CN103433930B/en
Expired - Fee Related legal-status Critical Current
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Abstract

The invention discloses a steering engine gear type gripper with replaceable gripping jaws. An output disk arranged at one end of a steering engine is directly connected with a main U-shaped gripping arm and the other end of the steering engine is connected with a main gear through middle screws and then connected with the main U-shaped gripping arm through a big screw and a plastic shaft sleeve. The main U-shaped gripping arm is connected with the right gripping jaw through middle screws. The right gripping jaw can be replaced in the method that the middle screws are disassembled so that the main U-shaped gripping arm can be separated from the right gripping jaw. The steering engine is connected with a steering engine fixing frame. The steering engine fixing frame is connected with a gripper outer shell. The gripper outer shell is connected with an auxiliary U-shaped gripping arm through a fixing column. An auxiliary gear is connected with the auxiliary U-shaped gripping arm and meanwhile meshed with the main gear, so that transmission is achieved. According to the steering engine gear type gripper with the replaceable gripping jaws, the torque is output through the output disk, the main U-shaped gripping arm is driven to rotate, so that the auxiliary U-shaped gripping arm is driven to rotate simultaneously, and an article is gripped according to the shape matching of the gripping jaws. Due to the fact that the gripping jaws are replaceable, the flexibility and the adaptability of the gripper are effectively improved.

Description

A kind of steering wheel gear type clamper of replaceable gripper jaw
 
Technical field
The present invention relates to steering wheel gear type robot clamping technology, relate in particular to a kind of steering wheel gear type clamper of replaceable gripper jaw.
Background technology
The clamper of robot has good immediate reaction ability while requiring the clamper running, and ensures enough chucking powers.Clamp different clamping objects for effective simultaneously, and gripper jaw is had to different shape needs.
The most traditional method is that gripper jaw is connected with clamping limb, be connected with gear and carry out transmission again, although this method is simple in structure, but because gripper jaw is connected with clamping limb, cause, when the clamping object shapes changes, needing another clamper, or changing whole clamping limb, increased the difficulty of installing, made the use flexibility of clamper not high.Especially for the robot often changed in the face of the clamping object, just need to be equipped with multiple clamper, thereby increased the cost of robot.Clamper great majority in the market can't be realized separating of gripper jaw and clamping limb, and the shape of clamping object is restricted.
Summary of the invention
The shortcoming that the object of the invention is to overcome above-mentioned technology and product existence, with not enough, provides a kind of simple in structure, low cost, and lightweight, flexibility ratio is large, the steering wheel gear type clamper of adaptable replaceable gripper jaw.
The present invention is achieved through the following technical solutions:
A kind of steering wheel gear type clamper of replaceable gripper jaw; the output panel of steering wheel one end directly is connected with main U-shaped clamping limb; the other end is connected by Screw with master gear; with main U-shaped clamping limb, by large screw and plastic sleeve, be connected, main U-shaped clamping limb top is connected with right gripper jaw by middle screw again; Steering wheel is fixedly connected on the steering wheel fixed mount, described steering wheel fixed mount is connected with the clamper shell, described clamper shell is flexibly connected by fixed leg and from U-shaped clamping limb, driven gear with from U-shaped clamping limb, be connected, simultaneously and the master gear engagement, from U-shaped clamping limb top and left gripper jaw by screw be connected.Steering wheel by the output panel output torque, drives main U-shaped clamping limb rotation, under the transmission of master gear and driven gear, from U-shaped clamping limb, rotates simultaneously, then according to the form fit of right gripper jaw and left gripper jaw, the clamping of realization to object.
Further, output panel is connected with main U-shaped clamping limb by Screw, and the main U-shaped clamping limb other end is pressed circle distribution by Screw and is connected with master gear, and is connected with steering wheel by large screw.
Further, describedly from U-shaped clamping limb, with driven gear, by Screw, be connected, two gears engagements, when main U-shaped clamping limb rotation drives from U-shaped clamping limb rotation simultaneously.
Further, the U-shaped clamping limb of described master and be equipped with screwed hole from U-shaped clamping limb, described left gripper jaw is provided with the through hole corresponding with screwed hole with on right gripper jaw, and described middle screw is fixed on right gripper jaw on main U-shaped clamping limb through screwing in screwed hole after through hole.
Further, the clamper outer casing bottom is provided with the installing hole be connected with other mechanisms.
For the ease of changing, the structure that has adopted gripper jaw to separate with clamping limb.
For the ease of changing, adopt two screwed holes be set on clamping limb, two through holes are set on gripper jaw, gripper jaw and clamping limb by through hole, use in screw fix.
Preferably, the gripper jaw both ends arrange the clamping cat's paw, and middle part arranges through hole.
Operation principle of the present invention: steering wheel is by the output panel output torque, drive main U-shaped clamping limb rotation, under the transmission of master gear and driven gear, rotate from U-shaped clamping limb simultaneously, according to the form fit of right gripper jaw and left gripper jaw, realize the clamping to object again.
During practical application, by steering engine output torque, drive driving gear, and drive the U-shaped clamping limb of principal and subordinate by meshed transmission gear simultaneously, realize the clamping of gripper jaw and open.The clamper shell has guaranteed the parallel of two U-shaped clamping limb centers of rotation in the rotation process, and plastic sleeve and fixed leg, for fixing U-shaped clamping limb and clamper shell, have guaranteed the compactness in the rotation process, and lubricant effect is arranged.The steering wheel fixed mount, for connecting steering wheel and clamper shell, guarantees the stability in clamping process.When the steering wheel forward, two clamping limbs close up, and realize holding action, and when steering wheel reverses, two clamping limbs separately, realize opening action.When gripper jaw weares and teares or fractures, can change pointedly gripper jaw, lower maintenance cost.
The present invention, for prior art, has following advantage and effect:
The present invention adopts the output panel of steering wheel one end directly to be connected with main U-shaped clamping limb, and the other end is connected by Screw with master gear, then is connected by large screw and plastic sleeve with main U-shaped clamping limb.Main U-shaped clamping limb is connected with right gripper jaw by middle screw.Steering wheel is connected with the steering wheel fixed mount, and the steering wheel fixed mount is connected with the clamper shell, the clamper shell by fixed leg with from U-shaped clamping limb, be connected, driven gear with from U-shaped clamping limb, be connected, with master gear, mesh simultaneously.From U-shaped clamping limb and left gripper jaw by screw be connected.Have movement response timely, gripper jaw can be changed, simple in structure, and low cost reduces maintenance cost, and lightweight, flexibility ratio is large, the characteristics such as strong adaptability.
2, main member of the present invention all is threaded connection and meshed transmission gear, forms an integral body, has reduced because part connects the shake too much brought, and the stability in the clamping movement process is provided.
3, connect by middle screw between the member in the present invention, make dismounting of the present invention simple, as long as two middle screws of gripper jaw are unloaded, just can realize separating of gripper jaw and clamping limb, reach the purpose of replacing.
4, clamper outer casing bottom of the present invention is provided with installing hole, is convenient to be connected with other mechanisms of robot.
The accompanying drawing explanation
Fig. 1 clamper overall structure schematic diagram.
The whole explosive view of Fig. 2 clamper.
The U-shaped clamping limb of Fig. 3 and steering wheel output panel connection diagram.
The specific embodiment
For the ease of it will be appreciated by those skilled in the art that the present invention is described in further detail below in conjunction with drawings and Examples, but its embodiment is not limited to this.
As shown in Figures 1 to 3, a kind of steering wheel gear type clamper of replaceable gripper jaw, the output panel 011 of steering wheel one end directly is connected with main U-shaped clamping limb 020, other end master gear 050 is fastened on steering wheel by middle screw 090, more fastening by middle screw 040 with main U-shaped clamping limb 020 and plastic sleeve 060.Main U-shaped clamping limb 020 is connected with right gripper jaw 030 by middle screw 040, by screw 040 in dismantling, makes to lead separating of U-shaped clamping limb 020 and right gripper jaw 030, realizes the replacing of gripper jaw.Steering wheel 010 is connected with steering wheel fixed mount 070, steering wheel fixed mount 070 is connected with clamper shell 080, and clamper shell 080 is by fixed leg 061 and be connected from U-shaped clamping limb 021, driven gear 051 with from U-shaped clamping limb 021, be connected, with master gear 050 engagement, realize transmission simultaneously.From the implementation of U-shaped clamping limb 021 and left gripper jaw 031 with main U-shaped clamping limb 020, be connected and the implementation of right gripper jaw 030 similar.Steering wheel 010 is by output panel 011 output torque, drive main U-shaped clamping limb 020 rotation, under the transmission of master gear 050 and driven gear 051, rotate from U-shaped clamping limb 021 simultaneously, the form fit with left gripper jaw 031 according to right gripper jaw 030, realize the clamping to object again.
In the present embodiment, right gripper jaw 030 and left gripper jaw 031 can also be applicable to along the robot of round bar climbing for clamping pole shape object, and needs that simultaneously also can be different according to reality are designed to different shapes, the needs of applicable different clamping objects.
In the present embodiment, lead U-shaped clamping limb 020 and from U-shaped clamping limb 021, two screwed holes all be set in centre, being convenient to mount and dismount right gripper jaw 030 and left gripper jaw 031.
In the present embodiment, lead U-shaped clamping limb 020 and from U-shaped clamping limb 021 1 ends, master gear 050 and driven gear 051 respectively be installed, master gear 050 is fixed in steering wheel 010, driven gear 051 is fixed in clamper shell 080, two gears are by engaged transmission, realize main U-shaped clamping limb 020 and action from U-shaped clamping limb 021 time.
In this example, clamper shell 080 bottom has some through holes, clamper can be connected on miscellaneous part easily as a kinetic energy element.
The above embodiment of the present invention is only for example of the present invention clearly is described, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without also giving all embodiments.All any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in the protection domain of the claims in the present invention.

Claims (5)

1. the steering wheel gear type clamper of a replaceable gripper jaw; it is characterized in that: the output panel (011) of steering wheel (010) one end directly is connected with main U-shaped clamping limb (020); the other end is connected by Screw (090) with master gear (050); with logical (020) the excessive screw (100) of main U-shaped clamping limb and plastic sleeve (060), be connected, main U-shaped clamping limb (020) top is connected with right gripper jaw (030) by middle screw (040) again; Steering wheel (010) is fixedly connected on steering wheel fixed mount (070), described steering wheel fixed mount (070) is connected with clamper shell (080), described clamper shell (080) passes through fixed leg (061) and is flexibly connected from U-shaped clamping limb (021), driven gear (051) with from U-shaped clamping limb (021), be connected, simultaneously and master gear (050) engagement, from U-shaped clamping limb (021) top and left gripper jaw (031) by screw (040) be connected.
2. the steering wheel gear type clamper of a kind of replaceable gripper jaw according to claim 1, it is characterized in that: output panel (011) is connected with main U-shaped clamping limb (020) by Screw (090), main U-shaped clamping limb (020) other end is connected with master gear (050) by circle distribution by Screw (090), and is connected with steering wheel (010) by large screw (100).
3. the steering wheel gear type clamper of a kind of replaceable gripper jaw according to claim 2, it is characterized in that: describedly from U-shaped clamping limb (021), with driven gear (051), by Screw (090), be connected, two gear engagements, rotate when main U-shaped clamping limb (020) rotation drives from U-shaped clamping limb (021) simultaneously.
4. the steering wheel gear type clamper of a kind of replaceable gripper jaw according to claim 3, it is characterized in that: the U-shaped clamping limb of described master (020) and be equipped with screwed hole from U-shaped clamping limb (021), described left gripper jaw (031) is provided with the through hole corresponding with screwed hole with on right gripper jaw (030), described middle screw (040) through screw in after through hole screwed hole by right gripper jaw (030) be fixed on main U-shaped clamping limb (020) upper, left gripper jaw (031) is fixed on from U-shaped clamping limb (021).
5. the steering wheel gear type clamper of a kind of replaceable gripper jaw according to claim 4, is characterized in that: be provided with the installing hole be connected with other mechanisms bottom clamper shell (080).
CN201310369116.8A 2013-08-22 2013-08-22 A kind of steering wheel gear type clamper of replaceable gripper jaw Expired - Fee Related CN103433930B (en)

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CN103433930B CN103433930B (en) 2015-10-28

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103753597A (en) * 2014-01-22 2014-04-30 北京航空航天大学 Tong device with posture correction function
CN104708637A (en) * 2015-03-17 2015-06-17 南京理工大学 Human-simulated mechanical arm
CN105415181A (en) * 2015-11-27 2016-03-23 芜湖银星汽车零部件有限公司 Locating device for valve rod grinding
CN106114672A (en) * 2016-06-25 2016-11-16 李玉婷 A kind of Hexapod Robot
CN106586699A (en) * 2016-12-16 2017-04-26 芜湖航达网业有限公司 Moving device for loading shaft of knitting machine
CN109202951A (en) * 2018-11-22 2019-01-15 广东工业大学 A kind of holding finger of antiskid, gripper jaw and clamper
CN110871451A (en) * 2020-01-19 2020-03-10 广东电网有限责任公司东莞供电局 Manipulator clamp and manipulator
CN113370245A (en) * 2021-07-07 2021-09-10 北京理工大学 Mechanical arm clamp holder capable of automatically bending and returning

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0956027A (en) * 1995-08-11 1997-02-25 Furukawa Electric Co Ltd:The Composite gripper
JP2002066861A (en) * 2000-08-29 2002-03-05 Shinichi Saito Hand
CN201214244Y (en) * 2008-05-19 2009-04-01 昆明理工大学 Parallel holding paw for robot
KR20110100771A (en) * 2010-03-05 2011-09-15 (주)영창로보테크 Industrial gripper for multifunction handling
CN202622817U (en) * 2011-12-23 2012-12-26 王建军 External structure for steering engine
CN203427043U (en) * 2013-08-22 2014-02-12 华南理工大学 Steering engine gear type clamp with replaceable clamping jaw

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0956027A (en) * 1995-08-11 1997-02-25 Furukawa Electric Co Ltd:The Composite gripper
JP2002066861A (en) * 2000-08-29 2002-03-05 Shinichi Saito Hand
CN201214244Y (en) * 2008-05-19 2009-04-01 昆明理工大学 Parallel holding paw for robot
KR20110100771A (en) * 2010-03-05 2011-09-15 (주)영창로보테크 Industrial gripper for multifunction handling
CN202622817U (en) * 2011-12-23 2012-12-26 王建军 External structure for steering engine
CN203427043U (en) * 2013-08-22 2014-02-12 华南理工大学 Steering engine gear type clamp with replaceable clamping jaw

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103753597A (en) * 2014-01-22 2014-04-30 北京航空航天大学 Tong device with posture correction function
CN103753597B (en) * 2014-01-22 2016-06-08 北京航空航天大学 There is the gripper equipment of attitude correcting function
CN104708637A (en) * 2015-03-17 2015-06-17 南京理工大学 Human-simulated mechanical arm
CN105415181A (en) * 2015-11-27 2016-03-23 芜湖银星汽车零部件有限公司 Locating device for valve rod grinding
CN106114672A (en) * 2016-06-25 2016-11-16 李玉婷 A kind of Hexapod Robot
CN106586699A (en) * 2016-12-16 2017-04-26 芜湖航达网业有限公司 Moving device for loading shaft of knitting machine
CN109202951A (en) * 2018-11-22 2019-01-15 广东工业大学 A kind of holding finger of antiskid, gripper jaw and clamper
CN109202951B (en) * 2018-11-22 2023-09-12 广东工业大学 Anti-slip clamping finger, clamping claw and clamping device
CN110871451A (en) * 2020-01-19 2020-03-10 广东电网有限责任公司东莞供电局 Manipulator clamp and manipulator
CN113370245A (en) * 2021-07-07 2021-09-10 北京理工大学 Mechanical arm clamp holder capable of automatically bending and returning
CN113370245B (en) * 2021-07-07 2022-09-02 北京理工大学 Mechanical arm clamp holder capable of automatically bending and returning
WO2023279996A1 (en) * 2021-07-07 2023-01-12 北京理工大学 Robotic arm holder capable of automatically bending and resetting

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Granted publication date: 20151028