CN104959995A - Robot grabbing hand - Google Patents
Robot grabbing hand Download PDFInfo
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- CN104959995A CN104959995A CN201510378330.9A CN201510378330A CN104959995A CN 104959995 A CN104959995 A CN 104959995A CN 201510378330 A CN201510378330 A CN 201510378330A CN 104959995 A CN104959995 A CN 104959995A
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- finger
- connecting rod
- ring flange
- bearing
- robot gripper
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Abstract
The invention discloses robot grabbing hand which comprises a support, a first finger and a second finger, wherein the first finger and the second finger are rotatably mounted on the support. A clamping space is formed between the first finger and the second finger, the tail end of the first finger and the tail end of the second finger are rotatably connected with a first connecting rod and a second connecting rod respectively, the tail end of the first connecting rod and the tail end of the second connecting rod are rotatably connected to a cylindrical pin, a sliding groove is formed in the support, the cylindrical pin moves along the sliding groove, a flange plate is further rotatably connected to the support and connected with a motor, a third connecting rod is connected between the flange plate and the cylindrical pin, one end of the third connecting rod is rotatably connected to the cylindrical pin, and the other end of the third connecting rod is rotatably connected to an eccentric center of the flange plate. The robot grabbing hand is simple in structure and low in cost.
Description
Technical field
The application belongs to robotics, particularly relates to a kind of robot gripper.
Background technology
Pick and place in material automated job in robot, robot hand needs part to be loaded on the tool of board, and after part completion of processing, robot hand takes off part from the tool of board again.When taking off part from the tool of board, robot hand is not needed to have very high positioning precision, but, when robot hand captures the part be deposited in material disc, because the part be deposited in material disc may put irregularity, need robot hand to have larger accommodation, meanwhile, require that again part could accurately be fixed on board by the accurate locating element of robot hand.
There is complex structure, technical problem that cost is high in mechanical paw of the prior art.
Summary of the invention
The object of the present invention is to provide a kind of robot gripper, to overcome deficiency of the prior art.
For achieving the above object, the invention provides following technical scheme:
The embodiment of the present application discloses a kind of robot gripper, comprise bearing, rotate the first finger and the second finger be installed on described bearing, a grasping part is formed between described first finger and second finger, the end of described first finger and second finger is rotatably connected to first connecting rod and second connecting rod respectively, the end of described first connecting rod and second connecting rod is rotationally connected with a straight pin, described bearing offers a chute, described straight pin moves along described chute, described bearing is also rotatably connected to a ring flange, described ring flange is connected with a motor, third connecting rod is connected with between described ring flange and straight pin, one end of described third connecting rod is rotationally connected with described straight pin, the other end of described third connecting rod is rotationally connected with the eccentric position of described ring flange.
Preferably, in above-mentioned robot gripper, described bearing comprises the main part of rectangle and convexedly stretches in the first extension and second extension of described main part both sides, and described first finger and second finger are rotationally connected with on described first extension and the second extension respectively.
Preferably, in above-mentioned robot gripper, between described first finger and second finger, be fixed with spring.
Preferably, in above-mentioned robot gripper, the opposite face of described first finger and second finger is fixed with liner respectively.
Preferably, in above-mentioned robot gripper, described ring flange and motor lay respectively at the both sides of described bearing.
Compared with prior art, the invention has the advantages that: robot gripper of the present invention, structure is simple, and cost is low.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present application or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, the accompanying drawing that the following describes is only some embodiments recorded in the application, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Figure 1 shows that the structural representation of robot gripper in the specific embodiment of the invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be described in detail the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under the prerequisite not making creative work, all belongs to the scope of protection of the invention.
Shown in ginseng Fig. 1, robot gripper, comprise bearing 1, rotate the first finger 2 and the second finger 3 be installed on bearing, a grasping part is formed between first finger 2 and second finger 3, the end of the first finger 2 and second finger 3 is rotatably connected to first connecting rod 4 and second connecting rod 5 respectively, the end of first connecting rod 4 and second connecting rod 5 is rotationally connected with a straight pin 6, bearing 1 offers a chute 7, straight pin moves along chute, bearing is also rotatably connected to a ring flange 8, ring flange is connected with a motor, third connecting rod 9 is connected with between ring flange and straight pin, one end of third connecting rod is rotationally connected with straight pin, the other end of third connecting rod is rotationally connected with the eccentric position of ring flange.
Further, bearing 1 comprises the main part 11 of rectangle and convexedly stretches in the first extension 12 of main part both sides and the second extension 13, first finger and second finger and be rotationally connected with respectively on the first extension and the second extension.
Further, spring 10 is fixed with between the first finger 2 and second finger 3.
Further, first finger and second finger opposite face on be fixed with liner 14 respectively.
Further, ring flange 8 and motor lay respectively at the both sides of bearing.
Robot gripper of the present invention, structure is simple, and cost is low.
It should be noted that, in this article, the such as relational terms of first and second grades and so on is only used for an entity or operation to separate with another entity or operating space, and not necessarily requires or imply the relation that there is any this reality between these entities or operation or sequentially.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or equipment and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or equipment.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment comprising described key element and also there is other identical element.
The above is only the detailed description of the invention of the application; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the application's principle; can also make some improvements and modifications, these improvements and modifications also should be considered as the protection domain of the application.
Claims (5)
1. a robot gripper, it is characterized in that, comprise bearing, rotate the first finger and the second finger be installed on described bearing, a grasping part is formed between described first finger and second finger, the end of described first finger and second finger is rotatably connected to first connecting rod and second connecting rod respectively, the end of described first connecting rod and second connecting rod is rotationally connected with a straight pin, described bearing offers a chute, described straight pin moves along described chute, described bearing is also rotatably connected to a ring flange, described ring flange is connected with a motor, third connecting rod is connected with between described ring flange and straight pin, one end of described third connecting rod is rotationally connected with described straight pin, the other end of described third connecting rod is rotationally connected with the eccentric position of described ring flange.
2. robot gripper according to claim 1, it is characterized in that: described bearing comprises the main part of rectangle and convexedly stretches in the first extension and second extension of described main part both sides, described first finger and second finger are rotationally connected with on described first extension and the second extension respectively.
3. robot gripper according to claim 1, is characterized in that: be fixed with spring between described first finger and second finger.
4. robot gripper according to claim 1, is characterized in that: the opposite face of described first finger and second finger is fixed with liner respectively.
5. robot gripper according to claim 1, is characterized in that: described ring flange and motor lay respectively at the both sides of described bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510378330.9A CN104959995A (en) | 2015-07-01 | 2015-07-01 | Robot grabbing hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510378330.9A CN104959995A (en) | 2015-07-01 | 2015-07-01 | Robot grabbing hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104959995A true CN104959995A (en) | 2015-10-07 |
Family
ID=54214165
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510378330.9A Pending CN104959995A (en) | 2015-07-01 | 2015-07-01 | Robot grabbing hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104959995A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107322624A (en) * | 2017-08-24 | 2017-11-07 | 佛山伊贝尔科技有限公司 | A kind of sucking disc type mechanical hand |
| WO2018188057A1 (en) * | 2017-04-14 | 2018-10-18 | 深圳市方鹏科技有限公司 | Auxiliary claw mechanism for intelligent robot |
| CN109867138A (en) * | 2019-03-21 | 2019-06-11 | 安徽延达智能科技有限公司 | It is a kind of to press from both sides the cylinder clamping jaw for twisting bullet |
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| CN201597031U (en) * | 2010-03-09 | 2010-10-06 | 沈观耕 | Manipulator |
| CN202507282U (en) * | 2012-01-16 | 2012-10-31 | 杜昕 | Mechanical hand of material carrying robot |
| CN202491242U (en) * | 2012-04-03 | 2012-10-17 | 张雪燕 | Mechanical arm for medical container machining tool |
| CN203156749U (en) * | 2013-04-09 | 2013-08-28 | 何坤山 | Mechanical arm for automatic manufacturing |
| CN103273488A (en) * | 2013-06-21 | 2013-09-04 | 苏州速腾电子科技有限公司 | Clamping manipulator |
| CN203371544U (en) * | 2013-06-21 | 2014-01-01 | 苏州速腾电子科技有限公司 | Clamping manipulator |
| CN103921279A (en) * | 2013-09-30 | 2014-07-16 | 安徽兴科门窗幕墙有限公司 | Mechanical arm |
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| CN104526709A (en) * | 2014-11-28 | 2015-04-22 | 赖卫华 | Mechanical material sending arm |
| CN204414123U (en) * | 2014-12-16 | 2015-06-24 | 程保星 | Manipulator |
| CN204382296U (en) * | 2015-01-12 | 2015-06-10 | 温州乐控节能科技有限公司 | A kind of mechanical arm |
| CN104626128A (en) * | 2015-01-29 | 2015-05-20 | 周正英 | Feeding mechanical arm |
| CN204712066U (en) * | 2015-07-01 | 2015-10-21 | 西北工业大学（张家港）智能装备技术产业化研究院有限公司 | A kind of robot gripper |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018188057A1 (en) * | 2017-04-14 | 2018-10-18 | 深圳市方鹏科技有限公司 | Auxiliary claw mechanism for intelligent robot |
| CN107322624A (en) * | 2017-08-24 | 2017-11-07 | 佛山伊贝尔科技有限公司 | A kind of sucking disc type mechanical hand |
| CN109867138A (en) * | 2019-03-21 | 2019-06-11 | 安徽延达智能科技有限公司 | It is a kind of to press from both sides the cylinder clamping jaw for twisting bullet |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20151007 |