CN104108106A - Gripper structure of robot - Google Patents
Gripper structure of robot Download PDFInfo
- Publication number
- CN104108106A CN104108106A CN201410297556.1A CN201410297556A CN104108106A CN 104108106 A CN104108106 A CN 104108106A CN 201410297556 A CN201410297556 A CN 201410297556A CN 104108106 A CN104108106 A CN 104108106A
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- China
- Prior art keywords
- handgrip
- gripper
- air cylinder
- rectangle
- horn
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Abstract
The invention relates to a gripper structure of a robot. The gripper structure comprises a rectangular machine body, a gripper mechanism, a left air cylinder, a right air cylinder, a linkage motor and a rotary mechanism. The gripper structure is characterized in that slide ways are formed in long sides of the rectangle, the gripper mechanism is arranged on the slide ways through a mechanical mechanism, and a machine arm motor is arranged on the mechanical mechanism. The gripper mechanism is provided with a gripper cross beam and two gripper arms, the gripper cross beam is parallel to the long sides of the rectangle, the gripper mechanism can move on the slide ways under driving of the machine arm motor, the left air cylinder and the right air cylinder are arranged at the positions close to the short sides of the rectangle, and one end of the left air cylinder and one end of the right air cylinder are connected with the gripper mechanism. Machine arm opening and closing mechanisms are arranged at the two ends of the long sides of the machine body and connected with gripper arms through mechanical bearings, gripper tail ends are arranged below the gripper arms, and gripper tail end rotation mechanisms are arranged at the gripper tail ends. The gripper structure of the robot is multiple in degrees of freedom, convenient, flexible and good in practical effect.
Description
Technical field
The present invention relates to a kind of robot, be specifically related to a kind of robot gripper structure.
Background technology
Industrial robot is more and more extensive in the application of China's industrial circle, and along with popularizing of robot, the action underaction of robot and handgrip thereof, is subject to many restrictions, and the application level in piling and carrying industry is difficult to bring into play due advantage especially.
Summary of the invention
The present invention overcomes the deficiencies in the prior art, has proposed a kind of robot gripper structure, and described robot gripper has nearly 6 frees degree, and handgrip operation flexibility is high, and mechanical action is accurate, precision is high, good practical effect.
Technical scheme of the present invention is, a kind of robot gripper structure, comprise body, handgrip mechanism, left and right cylinder, interlock motor and rotating mechanism, described body is rectangular, on the long limit of described rectangle, be provided with slideway, described handgrip mechanism is arranged on slideway by mechanical mechanism, on described mechanical mechanism, be provided with horn motor, described handgrip mechanism is provided with a handgrip crossbeam and two handgrip arms, described handgrip crossbeam is parallel with the long limit of rectangle, handgrip mechanism can move under the driving of horn motor on slideway, described left and right cylinder is arranged on the position near rectangle minor face, one end of described left and right cylinder is connected with handgrip mechanism, two ends on the long limit of described body are provided with horn open/close mechanism, and described horn open/close mechanism is connected with handgrip arm by mechanical bearing, is provided with handgrip end below handgrip arm, and described handgrip end is provided with handgrip end rotating mechanism.
In the inside of handgrip arm, be provided with horn cylinder, one end of described horn cylinder is connected with the lower end of handgrip arm.
Described rotating mechanism is arranged on the center of described rectangle, and described rotating mechanism is connected with described body by transmission mechanism, and when described rotating mechanism rotates, body is along with rotation.
At handgrip end, be provided with fender rod.
On rotating mechanism, be provided with electric rotating machine.
Beneficial effect of the present invention:
1) handgrip of the present invention has nearly 6 frees degree, practical.
2) control accuracy of the present invention is high, and applicability is strong.
3) the present invention is rational in infrastructure, and convenient control is effective.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention will be further described.
Fig. 1 is plan structure schematic diagram of the present invention.
Fig. 2 is side-looking structural representation of the present invention.
Fig. 3 is handgrip end schematic diagram of the present invention.
In figure, 1, handgrip mechanism; 2, left and right cylinder; 3, interlock motor; 4, rotating mechanism; 5, horn motor; 6, handgrip crossbeam; 7, horn cylinder; 8, transmission mechanism; 9, electric rotating machine; 10, handgrip bindiny mechanism; 11, horn open/close mechanism; 12, handgrip arm; 13, handgrip end; 14, handgrip end rotating mechanism; 15, fender rod.
The specific embodiment
Referring to shown in Fig. 1 to Fig. 3, the present invention includes body, Liang Ge handgrip mechanism 1, left and right cylinder 2, interlock motor 3 and rotating mechanism 4, described body is rectangular, on the long limit of described rectangle, be provided with slideway, described handgrip mechanism 1 is arranged on slideway by mechanical mechanism, on described mechanical mechanism, be provided with horn motor 5, described handgrip mechanism 1 is provided with a handgrip crossbeam 6 and two handgrip arms 12, described handgrip crossbeam 6 is parallel with the long limit of rectangle, handgrip mechanism 1 can move under the driving of horn motor on slideway, described left and right cylinder 2 is arranged on the position near rectangle minor face, one end of described left and right cylinder 2 is connected with handgrip mechanism 1, when left and right cylinder 2 starts, Liang Ge handgrip of the present invention mechanism 1 can clamp or unclamp under the drive of cylinder.
Two ends, long limit at described body are provided with horn open/close mechanism 11, described horn open/close mechanism 11 is connected with handgrip arm 12 by mechanical bearing, when horn open/close mechanism 11 starts, handgrip arm 12 can open or be closed, below handgrip arm 12, be provided with handgrip end 13, described handgrip end 13 is provided with handgrip end rotating mechanism 14, when handgrip end rotating mechanism 14 rotates, drives handgrip end 13 to rotate.At handgrip end 13, be provided with fender rod 15, fender rod 15 can make handgrip end 13 reliable and stable, does not rock.
In the inside of handgrip arm 12, be provided with horn cylinder 7, one end of described horn cylinder 7 is connected with the lower end of handgrip arm.
Described rotating mechanism 4 is arranged on the center of described rectangle, and described rotating mechanism 4 is connected with described body by transmission mechanism 8, and when described rotating mechanism 14 rotates, body is along with rotation, thereby handgrip mechanism 1 is along with rotation.
Operation principle is: when the control system of robot is worked, each position of control system order starts as work schedule:
1) if described rotating mechanism 4 rotates, handgrip mechanism 1 can be along with rotation;
2) if left and right cylinder starts, laterally folding of handgrip mechanism 1;
3) if horn electric motor starting, handgrip mechanism 1 can move forward and backward;
4) if horn cylinder starts, handgrip mechanism 1 can move up and down;
5) if horn open/close mechanism starts, handgrip mechanism 1 can rotate centered by horn open/close mechanism;
6) if handgrip end rotating mechanism starts, handgrip end can rotate centered by handgrip end rotating mechanism.
The present invention has six-freedom degree.Each handgrip end can self-movement, and the present invention can adapt to multiple situation.
Claims (1)
1. a robot gripper structure, comprise body, handgrip mechanism, left and right cylinder, interlock motor and rotating mechanism, described body is rectangular, it is characterized in that: on the long limit of described rectangle, be provided with slideway, described handgrip mechanism is arranged on slideway by mechanical mechanism, on described mechanical mechanism, be provided with horn motor, described handgrip mechanism is provided with a handgrip crossbeam and two handgrip arms, described handgrip crossbeam is parallel with the long limit of rectangle, handgrip mechanism can move under the driving of horn motor on slideway, described left and right cylinder is arranged on the position near rectangle minor face, one end of described left and right cylinder is connected with handgrip mechanism, two ends on the long limit of described body are provided with horn open/close mechanism, and described horn open/close mechanism is connected with handgrip arm by mechanical bearing, is provided with handgrip end below handgrip arm, and described handgrip end is provided with handgrip end rotating mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410297556.1A CN104108106A (en) | 2014-06-29 | 2014-06-29 | Gripper structure of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410297556.1A CN104108106A (en) | 2014-06-29 | 2014-06-29 | Gripper structure of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104108106A true CN104108106A (en) | 2014-10-22 |
Family
ID=51705194
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410297556.1A Pending CN104108106A (en) | 2014-06-29 | 2014-06-29 | Gripper structure of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104108106A (en) |
-
2014
- 2014-06-29 CN CN201410297556.1A patent/CN104108106A/en active Pending
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20141022 |
|
| WD01 | Invention patent application deemed withdrawn after publication |