CN104772767B - A kind of link-type handgrip of robot - Google Patents
A kind of link-type handgrip of robot Download PDFInfo
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- CN104772767B CN104772767B CN201510212353.2A CN201510212353A CN104772767B CN 104772767 B CN104772767 B CN 104772767B CN 201510212353 A CN201510212353 A CN 201510212353A CN 104772767 B CN104772767 B CN 104772767B
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- connecting rod
- robot
- holder
- driving means
- handgrip
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Abstract
The present invention provides the link-type handgrip of a kind of robot, and it is arranged on robot movable end；This handgrip include support that top board is connected with robot movable end, connecting rod, for the driving means promoting connecting rod and the holder being slidably connected with frame bottom；Driving means is rack-mount；Connecting rod one end is flexibly connected with driving means, and the other end is flexibly connected with holder, for the elevating movement of driving means is converted to the opening and closing campaign of holder；Two holders translate opening and closing campaign in opposite directions in same level direction.Handgrip of the present invention clamping great efforts, clamping speed is fast and good stability, and the workpiece being particularly well-suited to square shaped isoline side clamps, it is achieved firmly capture workpiece in the quick moving process of robot.This handgrip positioning precision is high, the problem that can be prevented effectively from the overlay error formed when multi-joint rotates or rotates, thus improves robot further and quickly run or the parallel stability of clamping workpiece during workpiece Heavy Weight.
Description
Technical field
The present invention relates to industrial robot intelligent use technical field, more particularly, it relates to a kind of robot
Link-type handgrip.
Background technology
In the industrial production, usually by robot, material or product can be carried, arrange or
The work such as assembling, to improve production efficiency.
Existing robot gripper is generally multiarticulate cascaded structure, its installation of the robot gripper of this type
Arm on base portion includes many arms component, and adjacent arm member is connected on one by joint (actuator) and connects,
And arm member can rotate relative to corresponding joint or rotate.During work, under control of the control system, drive
Dynamic device (such as motor) drives arm member rotate relative to corresponding joint or rotate, thus drives and be arranged on
Holder motion on the arm member of front end, captures material or product capturing station, is then moved by object
Move and be placed into predetermined position, it is achieved the work such as material or the carrying of product, arrangement or assembling.
But there are two problems in the robot gripper of this kind of structure: is on the one hand arranged on arm member foremost
Holder as well as joint rotate or rotate angle with pivot point for the center of circle move, therefore clamping
During workpiece, sandwich part can and workpiece (workpiece of the most square isoline side) between formed one
Angle, causes not fitting with outer surface of workpiece inside holder, and the area of contact greatly reduces, thus reduces
The clamping dynamics of handgrip.On the other hand it is the structure using many arms component to be cascaded due to its arm,
During work, the error that each arm member is formed relative to corresponding articulation or when rotating can be overlapped mutually,
Therefore its clamping position precision is relatively low, affects robot and quickly runs or handgrip clamping workpiece during workpiece Heavy Weight
Stability.
Summary of the invention
It is an object of the invention to overcome shortcoming of the prior art with not enough, it is provided that the connecting rod of a kind of robot
Formula handgrip, the clamping great efforts of this handgrip, clamping speed is fast and good stability, is particularly well-suited to square shaped etc. straight
The workpiece on line side limit clamps, it is achieved firmly capture workpiece in the quick moving process of robot；
Meanwhile, this handgrip positioning precision is high, can be prevented effectively from the overlay error formed when multi-joint rotates or rotates
Problem, thus improve robot further and quickly run or handgrip clamping workpiece parallel during workpiece Heavy Weight
Stability.
In order to achieve the above object, the technical scheme is that: the company of a kind of robot
Rod-type handgrip, is arranged on robot movable end；It is characterized in that: include that top board is connected with robot movable end
Support, connecting rod, for the driving means that promotes connecting rod and the holder being slidably connected with frame bottom；
Described driving means is rack-mount；Described connecting rod one end is flexibly connected with driving means, the other end and folder
Gripping member is flexibly connected, for the elevating movement of driving means is converted to the opening and closing campaign of holder；Two institutes
State holder and translate opening and closing campaign in opposite directions in same level direction.
In such scheme, link-type handgrip of the present invention is that the power of driving means elevating movement is passed through connecting rod
Drive the movement of holder opening and closing campaign, owing to power direction and moving direction are 90 ° of intersections, so must
Connecting rod must be used to rotate two linear motion conversions, and use holder to be connected with bracket slide simultaneously
Mode, then can reach and realize two holders and translate the effect of opening and closing campaign in same level direction in opposite directions,
So can be prevented effectively from the problem that holder moves with pivot point for the center of circle along with the angle that connecting rod rotates.This
Invention holder translates opening and closing campaign in the horizontal direction, can make clamping time holder inside and outer surface of workpiece
Fitting completely, so both areas of contact substantially increase, thus enhance the clamping dynamics of handgrip, it is achieved
Workpiece is firmly captured by the quick moving process of robot；And, two holders are same steppings
Row translational motion in opposite directions, the most also can improve the speed that handgrip captures.
Meanwhile, the present invention only with a connecting rod as middleware so that this handgrip joint is few, can effectively drop
The overlay error formed when the low each articulation of existing handgrip or rotation, therefore the clamping of this link-type handgrip is fixed
Position precision is high, thus improves robot further and quickly run or handgrip clamping workpiece flat during workpiece Heavy Weight
Line stabilization.
Specifically, described connecting rod one end is flexibly connected with driving means and refers to: also include push rod one；Described
Connecting rod one end offers elongated slot one, and driving means realizes itself and connecting rod one end by push rod one in elongated slot one slip
It is flexibly connected.
The connecting rod other end is flexibly connected with holder and refers to: also include push rod two；The described connecting rod other end is offered
Having elongated slot two, holder realizes it by push rod two in elongated slot two slip and is flexibly connected with the connecting rod other end.
The base plate of described support is provided with avoiding hollow groove, and the connecting rod other end is flexibly connected through avoiding hollow groove with holder.
The design of avoiding hollow groove is available for the activity space that connecting rod provides certain.
Present invention additionally comprises the carriage being made up of line slideway and slide block；Described line slideway is arranged on and props up
Bottom the base plate of frame, slide block is connected with holder；Described holder coordinates slip by slide block with line slideway
Realize it to be slidably connected with frame bottom.
Described connecting rod is " L " font connecting rod.
Present invention additionally comprises the bearing block being arranged on support base plate；Described connecting rod is hinged with bearing block.
Described connecting rod is hinged with bearing block to be referred to: also include rotary shaft；Described connecting rod kink offers through hole,
It is connected with bearing block in rotary shaft is located in through hole and by bearing；Described connecting rod kink by rotary shaft with
Bearing block is hinged.Connecting rod of the present invention is as the connector between driving means and holder, and it is designed as " L "
Font connecting rod, can facilitate it to be flexibly connected with driving means and holder, and its kink cuts with scissors with bearing block
Connect, thus other connector can be reduced, simplify the structure of this robot gripper, decrease the pass of this handgrip
Joint number amount, thus improve the precision of handgrip clamping position, improve robot further and quickly run or workpiece weight
The parallel stability of handgrip clamping workpiece during amount weight.
The operation principle of robot links formula handgrip of the present invention is such that
1, driving means decline promotes push rod one to slide in elongated slot one thus promotes connecting rod to rotate, now, by
Hinged in connecting rod and bearing block and be provided with carriage, thus the connecting rod other end can pass through push rod two at elongated slot
Slide in two to promote two holders to translate opening movement in opposite directions in same level direction.
2, driving means rising pulls push rod one to slide in elongated slot one thus pulls connecting rod to reset and rotate, this
Time, owing to connecting rod and bearing block are hinged and are provided with carriage, thus the connecting rod other end can pass through push rod two
Slide to pull two holders to translate clamping movement in opposite directions in same level direction in elongated slot two, it is achieved
Workpiece is firmly captured by the quick moving process of robot.
Compared with prior art, the invention have the advantages that and beneficial effect:
1, the link-type handgrip clamping great efforts of robot of the present invention, clamping speed is fast and good stability, especially
The workpiece being applicable to square shaped isoline side clamps, it is achieved firm in the quick moving process of robot
Workpiece is captured by ground.
2, the link-type handgrip positioning precision of robot of the present invention is high, can be prevented effectively from multi-joint and rotates or rotate
Time the problem of overlay error that formed, thus improve robot further and quickly run or during workpiece Heavy Weight
The parallel stability of handgrip clamping workpiece.
Accompanying drawing explanation
The structural representation one (holder open configuration) of the link-type handgrip of Tu1Shi robot of the present invention；
The structural representation two of the link-type handgrip of Tu2Shi robot of the present invention；
The schematic diagram that in the link-type handgrip of Tu3Shi robot of the present invention, connecting rod is connected with holder；
Wherein, 1 it is support, 2 is connecting rod, 2.1 is through hole for elongated slot one, 2.2 for elongated slot two, 2.3,3 is
Driving means, 4 be holder, 5 for push rod one, 6 for push rod two, 7 be avoiding hollow groove, 8 be line slideway,
9 be slide block, 10 be bearing block, 11 be rotary shaft, 12 for workpiece.
Detailed description of the invention
The present invention is described in further detail with detailed description of the invention below in conjunction with the accompanying drawings.
Embodiment
As shown in Figure 1 to Figure 3, the link-type handgrip of robot of the present invention is mounted in robot movable end,
It include support 1 that top board is connected with robot movable end, connecting rod 2, for promoting the driving means of connecting rod 2
3 and the holder 4 that is connected with support 1 basal sliding；Wherein, driving means 3 is arranged on support 1,
Connecting rod 2 one end is flexibly connected with driving means 3, and the other end is flexibly connected with holder 4, for driving
The elevating movement of device 3 is converted to the opening and closing campaign of holder 4, and two holders 4 are in same level direction
Translation opening and closing campaign in opposite directions.
Above-mentioned connecting rod 2 one end is flexibly connected with driving means 3 and refers to: also include push rod 1, connecting rod 2 one end
Offering elongated slot 1, driving means 3 realizes itself and connecting rod 2 by push rod 1 in elongated slot 1 slip
One end is flexibly connected.Connecting rod 2 other end is flexibly connected with holder 4 and refers to: also include push rod 26, connecting rod
2 other ends offer elongated slot 2 2.2, holder 4 by push rod 26 elongated slot 2 2.2 slide realize its with
Connecting rod 2 other end is flexibly connected.Wherein, the base plate of support 1 is provided with avoiding hollow groove 7, and connecting rod 2 other end is worn
Cross avoiding hollow groove 7 to be flexibly connected with holder 4.
Present invention additionally comprises the carriage being made up of line slideway 8 and slide block 9, this line slideway 8 is arranged
Bottom the base plate of support 1, slide block 9 is connected with holder 4, and holder 4 is led with straight line by slide block 9
Rail 8 coordinates slip to realize it and is connected with support 1 basal sliding.
Present invention additionally comprises the bearing block 10 being arranged on support 1 base plate, connecting rod 2 is " L " font connecting rod,
This connecting rod 2 is hinged with bearing block 10.Specifically refer to: also include that rotary shaft 11, connecting rod 2 kink offer
Through hole 2.3, is connected with bearing block 10 in rotary shaft 11 is located in through hole 2.3 and by bearing, and connecting rod 2 is curved
Folding part is hinged with bearing block 10 by rotary shaft 11.Connecting rod 2 of the present invention is as driving means 3 and holder 4
Between connector, it is designed as " L " font connecting rod, and it can be facilitated to live with driving means 3 and holder 4
It is dynamically connected, and its kink is hinged with bearing block 10, thus other connector can be reduced, simplify this machine
The structure of people's handgrip, decreases the amount of articulation of this handgrip, thus improves the precision of handgrip clamping position,
Improve further robot quickly to run or the parallel stability of handgrip clamping workpiece 12 during workpiece 12 Heavy Weight.
The operation principle of robot links formula handgrip of the present invention is such that
1, driving means 3 decline promotes push rod 1 to slide in elongated slot 1 thus promotes connecting rod 2 to rotate,
Now, owing to connecting rod 2 and bearing block 10 are hinged and are provided with carriage, thus connecting rod 2 other end can lead to
Cross push rod 26 to slide to promote two holders 4 to translate in opposite directions in same level direction in elongated slot 2 2.2
Open motion.
2, driving means 3 rising pulls push rod 1 to slide in elongated slot 1 thus pulls connecting rod 2 to reset
Rotate, now, owing to connecting rod 2 and bearing block 10 are hinged and are provided with carriage, thus connecting rod 2 another
End can slide to pull two holders 4 in same level direction in opposite directions by push rod 26 in elongated slot 2 2.2
Translation clamping movement, it is achieved firmly workpiece 12 is captured in the quick moving process of robot.
Above-described embodiment is the present invention preferably embodiment, but embodiments of the present invention are not by above-mentioned reality
Execute the restriction of example, the change made under other any spirit without departing from the present invention and principle, modification,
Substitute, combine, simplify, all should be the substitute mode of equivalence, within being included in protection scope of the present invention.
Claims (5)
1. a link-type handgrip for robot, is arranged on robot movable end；It is characterized in that: include top
Support that plate is connected with robot movable end, connecting rod, for promoting driving means and and the bracket bottom of connecting rod
The holder that portion is slidably connected；Described driving means is rack-mount；Described connecting rod one end and driving means
Being flexibly connected, the other end is flexibly connected with holder, for the elevating movement of driving means is converted to clamping
The opening and closing campaign of part；Two described holders translate opening and closing campaign in opposite directions in same level direction；
Described connecting rod one end is flexibly connected with driving means and refers to: also include push rod one；Described connecting rod one end is opened
Being provided with elongated slot one, driving means realizes it by push rod one in elongated slot one slip and is flexibly connected with connecting rod one end；
The connecting rod other end is flexibly connected with holder and refers to: also include push rod two；The described connecting rod other end is offered
Having elongated slot two, holder realizes it by push rod two in elongated slot two slip and is flexibly connected with the connecting rod other end；
The base plate of described support is provided with avoiding hollow groove, and the connecting rod other end is flexibly connected through avoiding hollow groove with holder.
The link-type handgrip of robot the most according to claim 1, it is characterised in that: also include by directly
Line guide rail and the carriage of slide block composition；Described line slideway is arranged on bottom the base plate of support, slide block with
Holder connects；Described holder coordinates slip to realize itself and frame bottom slip by slide block with line slideway
Connect.
The link-type handgrip of robot the most according to claim 1, it is characterised in that: described connecting rod is
" L " font connecting rod.
The link-type handgrip of robot the most according to claim 3, it is characterised in that: also include arranging
Bearing block on support base plate；Described connecting rod is hinged with bearing block.
The link-type handgrip of robot the most according to claim 4, it is characterised in that: described connecting rod with
Bearing block is hinged to be referred to: also include rotary shaft；Described connecting rod kink offers through hole, and rotary shaft is located in
It is connected with bearing block in through hole and by bearing；Described connecting rod kink is hinged with bearing block by rotary shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510212353.2A CN104772767B (en) | 2015-04-29 | 2015-04-29 | A kind of link-type handgrip of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510212353.2A CN104772767B (en) | 2015-04-29 | 2015-04-29 | A kind of link-type handgrip of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104772767A CN104772767A (en) | 2015-07-15 |
| CN104772767B true CN104772767B (en) | 2017-01-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510212353.2A Active CN104772767B (en) | 2015-04-29 | 2015-04-29 | A kind of link-type handgrip of robot |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139206B (en) * | 2017-05-17 | 2020-06-09 | 巢湖学院 | Variable-posture garbage pickup end effector |
| CN108422296A (en) * | 2018-04-26 | 2018-08-21 | 义乌工商职业技术学院 | A kind of end face wire drawing machine of lock core |
| CN110407077A (en) * | 2019-07-09 | 2019-11-05 | 广汽新能源汽车有限公司 | Clamp device and Lift-on/Lift-off System |
| CN112621176A (en) * | 2020-12-11 | 2021-04-09 | 温州宏刚科技有限公司 | Closing device is used in electrical apparatus production |
| CN113428639A (en) * | 2021-06-28 | 2021-09-24 | 宝武集团马钢轨交材料科技有限公司 | Railway wheel transferring clamp and transferring method |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2728727Y (en) * | 2004-07-30 | 2005-09-28 | 华寿庆 | Mechanical cripping device |
| CN201304647Y (en) * | 2008-12-05 | 2009-09-09 | 中国科学院沈阳自动化研究所 | Track turning manipulator |
| CN201399788Y (en) * | 2009-05-15 | 2010-02-10 | 竺开明 | Pneumatic control mechanical gripper |
| DE102009038988B3 (en) * | 2009-08-31 | 2011-03-31 | Khs Gmbh | Gripper for holding vessels such as PET bottles |
| CN201873342U (en) * | 2010-11-10 | 2011-06-22 | 白银有色集团股份有限公司 | Manipulator clamp for stacking zinc ingots |
| CN103612253B (en) * | 2013-11-28 | 2015-08-12 | 东莞职业技术学院 | Large-stroke industrial robot |
| CN204604346U (en) * | 2015-04-29 | 2015-09-02 | 广东泰格威机器人科技有限公司 | A kind of link-type handgrip of robot |
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Denomination of invention: Connecting rod type gripper of robot Effective date of registration: 20180529 Granted publication date: 20170104 Pledgee: Guangdong Nanhai rural commercial bank Limited by Share Ltd Sanshui branch Pledgor: Guangdong Tag prestige robot Science and Technology Ltd. Registration number: 2018440000135 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20210506 Granted publication date: 20170104 Pledgee: Guangdong Nanhai rural commercial bank Limited by Share Ltd. Sanshui branch Pledgor: GUANGDONG TIGERWELD ROBOT TECHNOLOGY Co.,Ltd. Registration number: 2018440000135 |