CN104787573A - Self-adaption robot gripper - Google Patents
Self-adaption robot gripper Download PDFInfo
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- CN104787573A CN104787573A CN201510047960.8A CN201510047960A CN104787573A CN 104787573 A CN104787573 A CN 104787573A CN 201510047960 A CN201510047960 A CN 201510047960A CN 104787573 A CN104787573 A CN 104787573A
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- motor
- leading screw
- handed nut
- reverse
- bearing
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Abstract
Provided is a self-adaption robot gripper. Supports are fixed to a main plate, the two ends of a sliding rail are fixed to the supports, a sliding block is arranged on the sliding rail, the two ends of a reverse lead screw are arranged on the supports through bearings, a left-handed nut and a right-handed nut are arranged on the reverse lead screw, the reverse lead screw is connected with a motor through a coupler, the motor is fixed to the main plate, a position detecting switch is arranged on the main plate for detecting the initial position of the gripper, and a left swing gripper body and a right swing gripper body are connected with the sliding block and connected with the left-handed nut and the right-handed nut respectively. When the self-adaption robot gripper needs to be adjusted, the motor controls and drives the reverse lead screw to rotate according to a program, the lead screw drives the left-handed nut and the right-handed nut to move reversely, and the left-handed nut and the right-handed nut drive the left swing gripper body and the right swing gripper body to move reversely along the sliding rail to automatically adjust the width dimension of the gripper.
Description
Technical field
The present invention relates to a kind of robot gripper with the automatic adaptive functions of size, automatically can adapt with it by adjust size when capturing the workpiece of different size, a robot can be realized to the continuous working of different size workpiece, and then realizing a tractor serves several purposes.For robot to the pile of packaging bag (case) and carrying.
Background technology
At present; crawl robot gripper for the packaging bag (case) of bulk solid packing can only capture the workpiece of single specification continuously; need when workpiece size specification changes to shut down by manually adjusting; automatic adjustment can not be realized; because needs operating personal enters into robot work region adjustment; add the potential safety hazard of operating personal, reduce machine task efficiency.A robot can not be realized to the continuous working of different size workpiece simultaneously, namely cannot realize the flexible working of a tractor serves several purposes.
Summary of the invention
Need shut down when specification of workpieces changes by manually adjusting for overcoming existing robot gripper; the deficiency of continuous working can not be carried out to different size workpiece; the invention provides a kind of robot gripper; this product is rotated by program controlled motor; drive and reverse leading screw rotation; reversing leading screw drives the reverse mobile drive of the forward and reverse nut paw that swings to move, and realizes the automatic regulating function of handgrip width dimensions parameter.The length of paw and height dimension have certain applicable area, do not need adjustment when workpiece size changes in applicable area.Picking and placeing of workpiece is realized by the synchronous hunting of bilateral paw.
The technical solution adopted for the present invention to solve the technical problems is: bearing is fixed on mainboard, slide rail two ends are fixed on bearing, slide block is arranged on slide rail, reversing leading screw two ends is arranged on bearing by bearing, left-handed nut, right handed unt are arranged on and reverse on leading screw, reverse leading screw to be connected with motor by coupler, motor is fixed on mainboard, mainboard is provided with the initial bit that position detecting switch detects handgrip, left and right swing paw is connected with slide block and is connected with left and right spin nut respectively simultaneously.When needs adjust, motor follow procedure controls to drive and reverses screw turns, and leading screw drives the reverse movement of left and right spin nut, and left and right spin nut drives left and right swing paw to realize the automatic adjustment of handgrip width dimensions along the reverse movement of slide rail.
The invention has the beneficial effects as follows: can be finely tuned in real time by adjustment controling parameters according to the working effect of handgrip in the equipment debugging stage, realize best working effect safely and fast easily.When specification of workpieces changes; the setting that control housing carries out controling parameters can realize the automatic adjustment of handgrip size; operating personal need not enter robot workspace's operation; consequent potential safety hazard can be stopped; the personal safety of protection operating personal; reduce robot floor time simultaneously, enhance productivity.Significant is to realize the continuous working of a robot to the plurality of specifications workpiece of multiple station, namely realize intellectuality and the flexible work of robot, realize a tractor serves several purposes, improve the utilization ratio of robot, reduce the equipment investment of user, for user creates larger benefit.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the schematic diagram of adaptive robot handgrip.
Fig. 2 is the front view of adaptive robot handgrip.
Fig. 3 is the birds-eye view containing semi-sictional view of Fig. 2.
Fig. 4 is the axonometric drawing of adaptive robot handgrip.
In figure: 1. motor, 2. coupler, 3. mainboard, 4. slide block, 5. position detecting switch, 6. slide rail, 7. bearing,
8. right swing paw, 9. left swing starts pawl, 10. left-handed nut, 11. right handed unts, and 12. reverse leading screws, 13. workpiece (long and two-short dash line is small size workpiece), 14. position indicators.
Detailed description of the invention
In FIG, long and two-short dash line is small size workpiece (13), when workpiece size changes, motor (1) follow procedure controls to drive and reverses leading screw (12) rotation, reverse leading screw (12) and drive left-handed nut (10), right handed unt (11) reverse movement, left-handed nut (10), right handed unt (11) drive left and right swing paw (9) (8) to be realized the automatic adjustment of handgrip width dimensions along slide rail (6) reverse movement by coupled slide block (4).
In fig. 2, motor (1) is connected with coupler (2), motor (1), bearing (7) are arranged on mainboard (3), slide rail (6) is fixed on bearing (7), slide block (4) is connected with slide rail, position detecting switch (5) is arranged on mainboard (3), and right swing paw (8), left swing are started pawl (9) and be connected with slide block (4).
In figure 3, reverse leading screw (12) to be connected with bearing (7), left-handed nut (10), right handed unt (11) are connected with reverse leading screw (12), are connected respectively with left and right swing paw (9) (8) simultaneously, reverse leading screw (12) end and are connected with position indicator (14).
In the diagram, the overall assembly relation of adaptive robot handgrip can intuitively be embodied.
Claims (5)
1. an adaptive robot handgrip, it is characterized in that: bearing is fixed on mainboard, slide rail two ends are fixed on bearing, slide block is arranged on slide rail, reverses leading screw two ends and is arranged on bearing by bearing, and left-handed nut, right handed unt are arranged on and reverse on leading screw, left and right swing paw is connected with slide block and is connected with left and right spin nut respectively simultaneously, reverse leading screw to be connected with motor, motor is fixed on mainboard, mainboard is provided with the position detecting switch that can detect handgrip initial bit.
2. adaptive robot handgrip according to claim 1, is characterized in that: the one end of reversing leading screw is provided with the digital position indicator of display handgrip width dimensions, reverses the spanner mouth manually adjusted when leading screw end has for keeping in repair.
3. adaptive robot handgrip according to claim 1, is characterized in that: motor is the one in common electric machine, stepping motor, servomotor, and motor also can match retarder and drg.
4. adaptive robot handgrip according to claim 1, is characterized in that: the screw thread of left and right spin nut is self-locking, can not produce inverse driving to motor.
5. adaptive robot handgrip according to claim 1, is characterized in that: reverse the centre that leading screw is positioned at two slide rails.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510047960.8A CN104787573A (en) | 2015-01-30 | 2015-01-30 | Self-adaption robot gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510047960.8A CN104787573A (en) | 2015-01-30 | 2015-01-30 | Self-adaption robot gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104787573A true CN104787573A (en) | 2015-07-22 |
Family
ID=53552841
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510047960.8A Pending CN104787573A (en) | 2015-01-30 | 2015-01-30 | Self-adaption robot gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104787573A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105109997A (en) * | 2015-08-13 | 2015-12-02 | 广西北流市智诚陶瓷自动化科技有限公司 | Intermittent feeding mechanism for bowl blanks |
| CN106426215A (en) * | 2016-11-25 | 2017-02-22 | 许国梁 | Robot for distributing stuffed toys in shopping mall |
| CN109436822A (en) * | 2018-10-27 | 2019-03-08 | 合肥雄鹰自动化工程科技有限公司 | A kind of classifiable automatic docking device |
| CN111362009A (en) * | 2020-04-01 | 2020-07-03 | 常州创盛智能装备股份有限公司 | High-order full-automatic hacking machine |
| CN112207852A (en) * | 2020-09-17 | 2021-01-12 | 燕山大学 | Integrated terminal hand claw of transfer robot |
-
2015
- 2015-01-30 CN CN201510047960.8A patent/CN104787573A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105109997A (en) * | 2015-08-13 | 2015-12-02 | 广西北流市智诚陶瓷自动化科技有限公司 | Intermittent feeding mechanism for bowl blanks |
| CN106426215A (en) * | 2016-11-25 | 2017-02-22 | 许国梁 | Robot for distributing stuffed toys in shopping mall |
| CN106426215B (en) * | 2016-11-25 | 2019-04-12 | 许国梁 | A kind of market hair down toy robot |
| CN109436822A (en) * | 2018-10-27 | 2019-03-08 | 合肥雄鹰自动化工程科技有限公司 | A kind of classifiable automatic docking device |
| CN111362009A (en) * | 2020-04-01 | 2020-07-03 | 常州创盛智能装备股份有限公司 | High-order full-automatic hacking machine |
| CN112207852A (en) * | 2020-09-17 | 2021-01-12 | 燕山大学 | Integrated terminal hand claw of transfer robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150722 |