CN103753597B - There is the gripper equipment of attitude correcting function - Google Patents
There is the gripper equipment of attitude correcting function Download PDFInfo
- Publication number
- CN103753597B CN103753597B CN201410030482.5A CN201410030482A CN103753597B CN 103753597 B CN103753597 B CN 103753597B CN 201410030482 A CN201410030482 A CN 201410030482A CN 103753597 B CN103753597 B CN 103753597B
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- unit
- gripper equipment
- claw
- docking
- gear
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Abstract
The invention discloses a kind of for less working place and the gripper equipment with attitude correcting function. Described gripper equipment power drive adopts motor (12), through planetary reduction gear (10), power is transferred to travelling gear (23), described travelling gear (23) rotates by engaging driving left jamming claw (3) with half gear (9), described left jamming claw (3), right jamming claw (16) are rotating around the rotation of left rotary shaft (5), right spindle (15), left half gear (7) is engaged with right half gear (26) and synchronized is rotated backward, it is achieved unclamping and grasping of described two claws (3,16). The end of described two claws (3,16) all designs the latch (2) with guide frame, during described gripper equipment grasping object, described latch (2) inserts in the square hole of object docking unit, can correct by the attitude error of grasping object simultaneously; After promptly, it is adjacent to buttcover plate (29) by grasping object, it is achieved by the location of grasping thing and fastening grasping.
Description
Technical field
The present invention relates to a kind of gripper equipment with attitude correcting function, be a kind of require in strict plant equipment for working place, compact conformation, there is attitude correcting function and the stronger gripper equipment of load capacity.
Background technology
Along with the raising of plant equipment total quality and performance, the safety and reliability capturing object process is one of important indicator weighing capability of engineering equipment. Existing gripper equipment simple in construction, it is impossible to suitable in the crawl of variety classes object, and having certain deviation in attitude and the position of object, efficiency and the reliability of crawl are relatively low, it is impossible to meet the requirement of quickly grasping and the release of plant equipment. The gripper equipment with attitude correcting function is that compages volume is optimum, is suitable for multi items object, grasps the technology requirement that reliability is high, designs a kind of device having and correcting object attitude and reliably capture.
Summary of the invention
In order to overcome above-mentioned the deficiencies in the prior art, the invention provides a kind of gripper equipment with attitude correcting function.
For achieving the above object, the present invention takes techniques below scheme:
A kind of gripper equipment with attitude correcting function, specifically includes that
Power unit: the power source of the present invention adopts the motor of band brake, and motor exports power through planetary reduction gear, and planetary reduction gear is connected with power transmission shaft, drives the gear and half gear that coordinate, drives the double card pawl of gripper equipment.
Claw unit: the double card pawl of the present invention is the core component of gripper equipment, claw is connected by rotating shaft with gripper equipment body, the power of power unit output drives left jamming claw through gear engagement, realize opening and Guan Bi of double card pawl by half gear of pair of meshing, and there is the locking property of grasping object.
Docking unit: the gripper equipment of the present invention can be used for the crawl of multiple object, different types of object volume and weight are different, docking unit then designs according to the common feature of different objects, docking unit lateral layout has docking block, docking block both sides respectively have three square holes, in order to dock with gripper equipment.
Attitude correcting unit: the attitude correcting unit of the present invention realizes the grasping to object by the blade tooth on double card pawl and buttcover plate, on left and right claw, each design has three blade tooths, blade tooth end has guide frame, and blade tooth inserts the square hole of docking unit both sides, corrects the attitude of docking unit simultaneously; Blade tooth continues into, and claw clamping docking unit, docking unit side contacts with buttcover plate, and buttcover plate plays location and the effect supported.
Compared with prior art, the beneficial effects of the present invention is, described device only needs a motor can realize stronger grasping ability, and has locking function under grasping state.
Compared with prior art, the beneficial effects of the present invention is, described device has the function correcting object attitude, is greatly improved efficiency and reliability that object captures.
Compared with prior art, the beneficial effects of the present invention is, described apparatus structure is compact, reliability is high, load capacity is strong, it is adaptable to the crawl of many objects.
The simple change of those skilled in that art and replacement are all within protection scope of the present invention.
Accompanying drawing explanation
The axle that Fig. 1 is the present invention surveys view;
Fig. 2 is gripper equipment general assembly structure chart;
Fig. 3 is docking cellular construction schematic diagram;
Fig. 4 is that gripper equipment captures and unclamps docking cell schematics.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Fig. 1 is the overall construction drawing of the present invention, specifically include that the power unit being critical piece with motor (12), planetary reduction gear (10), travelling gear (23), smaller part gear (9), the claw unit being critical piece with left jamming claw (3), right jamming claw (16), left half gear (7), right half gear (26), the attitude correcting unit being critical piece with buttcover plate (29), the latch (2) that is arranged on described left and right claw (3,16). Described motor (12) is connected with described planetary reduction gear (10), through slowing down, power is delivered to described travelling gear (23); Described travelling gear (23) engages with described smaller part gear (9), and the moment of torsion of output is transferred to left rotary shaft (5), described left rotary shaft (5) drives described left jamming claw (3) and described left half gear (7) to rotate; Described left half gear (7) is engaged with described right half gear (26), transferring a torque to right spindle 15 by described right half gear (26), described right spindle (15) drives described right jamming claw (16) to rotate. Described left jamming claw (3) rotates backward with described right jamming claw (16) is synchronized, realize opening and Guan Bi of described two claws (3,16), described left and right claw (3,16) tip designs has latch 2, described latch (2) has guide frame, during described left and right claw (3,16) Guan Bi, described latch 2 inserts docking unit (31), described latch 2 corrects described docking unit (31) during insertion, and by described buttcover plate (29), described docking unit (31) is positioned and clamped.
Consult Fig. 2, described motor (12) is connected by flat key (11) with described planetary reduction gear (10), described planetary reduction gear (10) is connected on bearing block (18), power transmission shaft (19) is supported by a pair deep groove ball bearing (17), described deep groove ball bearing (17) relies on axial back-up ring (20) to position, described power transmission shaft (19) drives described travelling gear (23) by flat key 22, baffle plate 24 is fastened on described power transmission shaft (19) by screw 25, described travelling gear (23) is carried out axial restraint by described baffle plate (24).Described travelling gear (23) engages with described smaller part gear (9), described smaller part gear (9) is connected with described left rotary shaft (5) by flat key (8), and the moment of torsion that described motor (12) exports is transferred to described left rotary shaft (5) through described travelling gear (23).
Consult Fig. 2, described left rotary shaft (5) is connected with described left half gear (7) by flat key (6), described left half gear (7) is engaged with described right half gear (26), described right half gear (26) adopts flat key connected mode with described right spindle (15), described right spindle (15) two ends are respectively mounted sliding bearing (14), described sliding bearing (14) is embedded on upper cover plate (1) and lower cover (13) respectively, described upper cover plate (1) is connected with base plate 4 each through soket head cap screw (30) with described lower cover (13). described left half gear (7) is engaged on year-on-year basis with described right half gear (26), the power that described motor (12) exports is transferred to described right spindle (15), described right jamming claw (16) is driven to rotate around the axis of described right spindle (15), described left jamming claw (3) rotates backward with described right jamming claw (16) is synchronized, it is achieved opening and Guan Bi of described two claws (3,16).
Consult Fig. 1, travel switch (27,28) is arranged on described buttcover plate (29), during described gripper equipment Guan Bi, described right jamming claw (16) touches described travel switch (27), described motor (12) stops operating and braking and locking, and described left and right claw (3,16) is in closure state and grasps described docking unit (31); When described gripper equipment opens, described right half gear (26) touches described travel switch (28), described motor (12) stops operating, and described gripper equipment unclamps described docking unit (31) and keeps open configuration.
Consult Fig. 3, described docking unit (31) is used for placing object, overall dimensions according to different objects, design adapts to the described docking unit (31) of Multiple Type object, described docking unit (31) is welded with docking block (32), described docking block (32) each side has three square holes, realizes the grasping between described docking unit (31) and handgrip by described docking block (32).
Consult Fig. 4, Fig. 4 illustrates described left jamming claw (3), described right jamming claw (16) rotating around the rotation situation of described left rotary shaft (5), described right spindle (15), the described left and right claw (3,16) being represented by dashed line in figure is in deployed position, and the described left and right claw (3,16) that heavy line represents is in grasping locked position. When described gripper equipment grasps described docking unit (31), described latch (2) inserts the square hole on described docking block (32), described latch (2) tip designs has guide frame, in described gripper equipment grasping process, the rectifiable described docking unit (31) of described gripper equipment attitude in space; In the grasping process of described gripper equipment, described two claws (3,16) are more and more tight to the clamping of described docking unit (31), forcing described docking block (32) and described buttcover plate (29) to be adjacent to, described docking unit (31) is achieved Complete Bind and fastening grasping by described gripper equipment.
Claims (6)
1. a gripper equipment with attitude correcting function, comprising: the power unit being primary clustering with the motor (12) of band brake, planetary reduction gear (10), travelling gear (23), the claw unit being major part with left half gear (7), right half gear (26), left jamming claw (3), right jamming claw (16), adapt to the docking unit (31) of different object architectural feature, and comprise latch (2) and the attitude correcting unit of buttcover plate (29), wherein:
Described power unit is connected with the base plate (4) of described gripper equipment, and each primary clustering of power unit is arranged in series;
Described claw unit is connected with the upper cover plate (1) of gripper equipment, lower cover (13), and is axially positioned by sliding bearing;
Described left jamming claw (3), the end of right jamming claw (16) is respectively designed with 3 described latches (2), described latch (2) has guide frame, described gripper equipment is provided with described buttcover plate (29), the upper design of described docking unit (31) has docking block (32), described docking block (32) one side respectively has 3 square holes for plane and both sides, when described gripper equipment grasps described docking unit (31), described latch (2) inserts the square hole of described docking block (32) both sides, described latch (2) can correct the position and attitude of described docking unit (31), described buttcover plate (29) fits tightly with the described plane docking block (32), described docking unit (31) is positioned and clamps, the primary clustering that wherein said latch (2) and described buttcover plate (29) are attitude correcting unit,
Described power unit, described claw unit are each attached on described base plate (4), and gripper equipment is arranged on the end of plant equipment by base plate (4), there is the described docking unit (31) of deviation for grasping attitude.
2. the gripper equipment with attitude correcting function according to claim 1, it is characterised in that: described motor (12), with brake, exports power through described planetary reduction gear (10), wherein:
In described power unit, including the drive shaft system being made up of deep groove ball bearing (17), bearing block (18), power transmission shaft (19) and travelling gear (23), described power unit is connected with described base plate (4) by described bearing block (18).
3. the gripper equipment with attitude correcting function according to claim 1, it is characterised in that: left jamming claw (3), right jamming claw (16) in described claw unit reach to open and Guan Bi by gear engagement, wherein:
Described left half gear (7) only retains, with described right half gear (26), the number of teeth engaged, and reduces gripper equipment and takes up room.
4. the gripper equipment with attitude correcting function according to claim 1, it is characterized in that: described docking unit (31) can adapt to the physical dimension of different object, and is welded with described docking block (32) described docking unit (31).
5. the gripper equipment with attitude correcting function according to claim 1, it is characterised in that: described power unit, claw unit and attitude correcting unit are all connected on described base plate (4).
6. there is the gripper equipment of attitude correcting function according to claim 3, it is characterized in that: described motor (12) drives whole described gripper equipment, and there is the self-locking of grasping and release positions, described left jamming claw (3), right jamming claw (16) opening angle determined by travel switch (27,28), opening angle is 30 ��.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410030482.5A CN103753597B (en) | 2014-01-22 | 2014-01-22 | There is the gripper equipment of attitude correcting function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410030482.5A CN103753597B (en) | 2014-01-22 | 2014-01-22 | There is the gripper equipment of attitude correcting function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103753597A CN103753597A (en) | 2014-04-30 |
| CN103753597B true CN103753597B (en) | 2016-06-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410030482.5A Expired - Fee Related CN103753597B (en) | 2014-01-22 | 2014-01-22 | There is the gripper equipment of attitude correcting function |
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| Country | Link |
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| CN (1) | CN103753597B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114378569B (en) * | 2022-02-25 | 2023-08-18 | 北京航空航天大学 | Robot executive device with bolt automatic assembly function |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6217094B1 (en) * | 1999-05-24 | 2001-04-17 | Japan Servo Co., Ltd. | Object holding device |
| CN102699931A (en) * | 2012-05-09 | 2012-10-03 | 东南大学 | Connecting mechanism used between unit modules of modular self-reconfigurable robot |
| CN103264389A (en) * | 2013-05-14 | 2013-08-28 | 东南大学 | Omni-directional moving unit module structure of modularized self-reconfiguration robot |
| CN103433930A (en) * | 2013-08-22 | 2013-12-11 | 华南理工大学 | Steering engine gear type gripper with replaceable gripping jaws |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3198078B2 (en) * | 1997-06-18 | 2001-08-13 | 日本サーボ株式会社 | Gripping device |
| US7193810B2 (en) * | 2003-08-15 | 2007-03-20 | Quantum Corporation | Automated storage library gripper with finger position detector |
| EP1743735B1 (en) * | 2005-07-12 | 2008-02-27 | VIGEL S.p.A. | Workpiece gripping device for a tool holder of a tool machine |
-
2014
- 2014-01-22 CN CN201410030482.5A patent/CN103753597B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6217094B1 (en) * | 1999-05-24 | 2001-04-17 | Japan Servo Co., Ltd. | Object holding device |
| CN102699931A (en) * | 2012-05-09 | 2012-10-03 | 东南大学 | Connecting mechanism used between unit modules of modular self-reconfigurable robot |
| CN103264389A (en) * | 2013-05-14 | 2013-08-28 | 东南大学 | Omni-directional moving unit module structure of modularized self-reconfiguration robot |
| CN103433930A (en) * | 2013-08-22 | 2013-12-11 | 华南理工大学 | Steering engine gear type gripper with replaceable gripping jaws |
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| Publication number | Publication date |
|---|---|
| CN103753597A (en) | 2014-04-30 |
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