CN105291128A - Electric grab hand for industrial machinery arms - Google Patents
Electric grab hand for industrial machinery arms Download PDFInfo
- Publication number
- CN105291128A CN105291128A CN201510853921.7A CN201510853921A CN105291128A CN 105291128 A CN105291128 A CN 105291128A CN 201510853921 A CN201510853921 A CN 201510853921A CN 105291128 A CN105291128 A CN 105291128A
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- hold
- installation cavity
- disc
- motor
- electricity consumption
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Abstract
The invention relates to the technical field of electric grab hands for mechanical equipment, in particular to an electric grab hand for industrial machinery arms. The electric grab hand for the industrial machinery arms is high in accuracy and large in clamping force. A machine base is fixedly arranged at one end of a motor of the electric grab hand, an installation cavity is formed in the machine base, installation arms of the electric grab hand are arranged on the machine base and are provided with installation ends and drive ends, the drive ends extend into the installation cavity of the machine base, a harmonic drive reducer is arranged in the installation cavity, a cam of the harmonic drive reducer is arranged at the drive ends extending into the installation cavity of the machine base in a sleeving mode, an output plate is fixedly arranged on a rigid gear of the harmonic drive reducer, a drive device is arranged between the output plate and the two installation arms, slide rods are arranged on the two opposite side walls of the installation cavity respectively, and the drive device drives the two installation arms to slide on the two slide rods in opposite directions or towards each other. The electric grab hand for the industrial machinery arms has the advantages of being high in clamping accuracy, large in clamping force, high in steadiness, strength and durability, not easy to damp, long in service life, high in sealing performance, low in failure rate and high in production efficiency.
Description
Technical field
The present invention relates to the technical field of plant equipment electric gripper, especially relate to the industrial machine arm electricity consumption pawl hand that a kind of precision is high, chucking power is large.
Background technology
Electric gripper is a kind of some holding function imitating staff and arm, in order to capture, to carry the automatic pilot of object or operation tool by fixed routine.Electric gripper is the industrial robot occurred the earliest; also be the modern machines people occurred the earliest; it can replace the heavy labor of people to realize mechanization and the automation of production; can operate to protect personal safety under hostile environment, thus be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Electric gripper traditional at present, one end of its motor is fixed with support, installation cavity is provided with in support, support is provided with the hold-down arm of electric gripper, hold-down arm has installation end and drive end, drive end extends in the installation cavity of support, the motor-shaft extending of motor is in support, the motor shaft of motor drives the worm gear be located in support, worm gear carries out engaged transmission by the tooth bar be located on drive end again and between the drive end of hold-down arm, the course of work of this electric gripper is comparatively clumsy, and precision is also very low, easily in the process of clamping, presss from both sides bad price.In addition because electric gripper is kept in motion in the process of work, the engagement so between worm screw, worm gear, tooth bar will seem to compare and be difficult to adaptation, and easily occur stuck, cause equipment fault, therefore production efficiency reduce, and service life is shorter.
Summary of the invention
For the deficiency that above-mentioned prior art exists, the object of this invention is to provide a kind of clamp precision high, chucking power is large, steadiness is good, and intensity is high, and durability is good, long service life, the failure rate is low of electric gripper, and the industrial machine arm electricity consumption pawl hand that production efficiency is high simultaneously.
For realizing above-mentioned object, the invention provides following technical scheme:
A kind of industrial machine arm electricity consumption pawl hand, comprise motor, one end of motor is fixed with support, installation cavity is provided with in support, support is provided with the hold-down arm of electric gripper, hold-down arm has installation end and drive end, drive end extends in the installation cavity of support, harmonic wave drive speed reducer is provided with in installation cavity, the cam of harmonic wave drive speed reducer is placed on the drive end that extends in the installation cavity of support, the firm wheel of harmonic wave drive speed reducer is fixed with output panel, drive unit is provided with between output panel and two hold-down arms, the two lateral walls of described installation cavity is respectively equipped with slide bar, drive unit drives two hold-down arms contrary/slide in opposition on two slide bars.
The present invention is set to further: described harmonic oscillator comprises firm wheel, flexbile gear, bearing and cam, and the outer ring of flexbile gear is provided with external toothing tooth, and the side on firm inner ring of taking turns is provided with internal messing tooth, and flexbile gear is located at and is just taken turns between also interior and firm wheel by tooth engaged transmission.
The present invention is set to further: be provided with the bearing corresponding with the firm wheel of harmonic oscillator and output panel position in described installation cavity, and the outer ring of just wheel and output panel is located at by bearing.
The present invention is set to further: the internal chamber wall of described installation cavity is provided with the annular protrusion corresponding with position of bearings, and bearing holder (housing, cover) is located in annular protrusion.
The present invention is set to further: described annular protrusion is provided with at least two fixing holes paralleled with its axis, and fixing hole is provided with housing screw, and the compression side pressure of housing screw is located on bearing outer ring.
The present invention is set to further: the concrete structure of described drive unit is: be provided with driving-disc between output panel and two hold-down arms, output panel with on driving-disc between be fixedly connected with, both sides relative on driving-disc are respectively equipped with hinge hole or jointed shaft, two hinge holes or jointed shaft hinged with corresponding hold-down arm respectively by connecting rod.
The present invention is set to further: described output panel is provided with several fixing holes, and driving-disc is provided with the locating hole matched with the fixing hole position on output panel and quantity, is fixedly connected with between corresponding locating hole and fixing hole by pin.
The present invention is set to further: the motor shaft of described motor stretches out from the other end of motor, the motor shaft ends stretched out from the other end of motor is provided with code-disc, the side of code-disc is provided with the read head reading code-disc data, read head is connected with controller, and controller is located at the side on motor or the side on support.
The present invention is set to further: the side corresponding with code-disc be located at by described controller, and controller and code-disc, read head are all located in control box, and control box is fixedly connected with the other end of motor.
The present invention is set to further: described support is sealed and installed with protective cover, protective cover is provided with the installing hole matched with hold-down arm position and quantity, the installation end of hold-down arm extends outside protective cover through installing hole, has gap between the installation end of hold-down arm and installing hole.
By adopting technique scheme, the technique effect that the present invention reaches is: by improving the drives structure between the motor shaft of base inner and hold-down arm, make the clamp precision of this electric gripper high, the moment that drives structure produces is large, chucking power is large, and steadiness is good, and intensity is high, durability is good, product is not easy to make moist, long service life, and sealing property is also strong, the failure rate is low of electric gripper simultaneously, and production efficiency is high.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is further detailed explanation.
Fig. 1 is sectional structure schematic diagram of the present invention.
Fig. 2 is the sectional structure schematic diagram of A-A in Fig. 1.
Fig. 3 is the sectional structure schematic diagram of B-B in Fig. 1.
Fig. 4 is plan structure principle schematic of the present invention.
Fig. 5 is the sectional structure schematic diagram of C-C in Fig. 4.
Detailed description of the invention
With reference to Fig. 1 ~ 5, for a kind of industrial machine arm electricity consumption pawl hand disclosed by the invention, one end of its motor 10 is fixed with support 11, installation cavity 12 is provided with in support 11, support 11 is provided with the hold-down arm 13 of electric gripper, hold-down arm 13 has installation end 130 and drive end 131, drive end 131 extends in the installation cavity 12 of support 11, harmonic wave drive speed reducer is provided with in installation cavity 12, harmonic oscillator comprises just wheel 14, flexbile gear 15, bearing 16 and cam 17, the outer ring of flexbile gear 15 is provided with external toothing tooth, side on the inner ring of firm wheel 14 is provided with internal messing tooth, flexbile gear 15 is located at just in wheel 14 and and by tooth engaged transmission between just having taken turns 14.The cam 17 of harmonic wave drive speed reducer is placed on the drive end 131 that extends in the installation cavity 12 of support 11, the firm wheel 14 of harmonic wave drive speed reducer is fixed with output panel 18, drive unit is provided with between output panel 18 and two hold-down arms 13, the two lateral walls of installation cavity 12 is respectively equipped with slide bar 19, drive unit drives two hold-down arms 13 contrary/slide in opposition on two slide bars 19.Here support 11 is sealed and installed with protective cover 28, protective cover 28 is provided with the installing hole matched with hold-down arm 13 position and quantity, the installation end of hold-down arm 13 extends outside protective cover 28 through installing hole, has gap between the installation end of hold-down arm 13 and installing hole.
Be provided with the bearing 16 corresponding with the firm wheel 14 of harmonic oscillator and outgoing position in installation cavity 12 in above-mentioned, the outer ring of just wheel 14 and output panel 18 is located at by bearing 16.The internal chamber wall of installation cavity 12 is provided with the annular protrusion 20 corresponding with bearing 16 position, and bearing 16 is sheathed in annular protrusion 20.Annular protrusion 20 is provided with at least two fixing holes paralleled with its axis, and fixing hole is provided with housing screw 21, and the compression side pressure of housing screw 21 is located on bearing 16 outer ring.
The concrete structure of above-mentioned drive unit is: be provided with driving-disc 22 between output panel 18 and two hold-down arms 13, output panel 18 with on driving-disc 22 between be fixedly connected with, both sides relative on driving-disc 22 are respectively equipped with hinge hole or jointed shaft, two hinge holes or jointed shaft hinged with corresponding hold-down arm 13 respectively by connecting rod 23.Wherein, output panel 18 is provided with several fixing holes, and driving-disc 22 is provided with the locating hole matched with the fixing hole position on output panel 18 and quantity, is fixedly connected with between corresponding locating hole and fixing hole by pin 29.Certainly, drive unit also can be: output panel 18 is provided with two positions and is relatively fixed hole, and two fixing holes are respectively equipped with fixed arm, and two fixed arms are hinged with corresponding hold-down arm 13 respectively by connecting rod 23.In a word, drive unit is just provided at the principle utilizing hinge and connecting rod between hold-down arm and output panel, drives hold-down arm work.
The motor shaft of the motor 10 in above-mentioned stretches out from the other end of motor, the motor shaft ends stretched out from the other end of motor 10 is provided with code-disc 24, the side of code-disc 24 is provided with the read head 25 reading code-disc data, read head 25 is connected with controller 26, and controller is here the product a series of electronic devices and components such as driver, chip of the electronic component of driver and motor being all integrated in circuit board.Here code-disc, read head and controller are that traditional product possesses.But traditional electric gripper controller is all be all be separated setting with code-disc, read head, namely controller arranges on an other controlling equipment to carry out unifying to manipulate.Controller 26 is located at the side on motor 10 or the side on support 11.The side corresponding with code-disc 24 be located at by preferred controller 26, and controller 26 and code-disc 24, read head 25 are all located in control box 27, and control box 27 is fixedly connected with the other end of motor 10.
Above-described embodiment is only preferred embodiment of the present invention, not limits the scope of the invention according to this, therefore: all equivalence changes done according to structure of the present invention, shape, principle, all should be covered by within protection scope of the present invention.
Claims (10)
1. an industrial machine arm electricity consumption pawl hand, comprise motor, one end of motor is fixed with support, installation cavity is provided with in support, support is provided with the hold-down arm of electric gripper, hold-down arm has installation end and drive end, drive end extends in the installation cavity of support, it is characterized in that: in installation cavity, be provided with harmonic wave drive speed reducer, the cam of harmonic wave drive speed reducer is placed on the drive end that extends in the installation cavity of support, the firm wheel of harmonic wave drive speed reducer is fixed with output panel, drive unit is provided with between output panel and two hold-down arms, the two lateral walls of described installation cavity is respectively equipped with slide bar, drive unit drives two hold-down arms contrary/slide in opposition on two slide bars.
2. industrial machine arm electricity consumption pawl hand according to claim 1, it is characterized in that: described harmonic oscillator comprises firm wheel, flexbile gear, bearing and cam, the outer ring of flexbile gear is provided with external toothing tooth, side on the inner ring of firm wheel is provided with internal messing tooth, and flexbile gear is located at and is just taken turns between also interior and firm wheel by tooth engaged transmission.
3. industrial machine arm electricity consumption pawl hand according to claim 1, is characterized in that: be provided with the bearing corresponding with the firm wheel of harmonic oscillator and output panel position in described installation cavity, and the outer ring of just wheel and output panel is located at by bearing.
4. industrial machine arm electricity consumption pawl hand according to claim 3, is characterized in that: the internal chamber wall of described installation cavity is provided with the annular protrusion corresponding with position of bearings, and bearing holder (housing, cover) is located in annular protrusion.
5. industrial machine arm electricity consumption pawl hand according to claim 4, it is characterized in that: described annular protrusion is provided with at least two fixing holes paralleled with its axis, fixing hole is provided with housing screw, and the compression side pressure of housing screw is located on bearing outer ring.
6. industrial machine arm electricity consumption pawl hand according to claim 1, it is characterized in that: the concrete structure of described drive unit is: be provided with driving-disc between output panel and two hold-down arms, output panel with on driving-disc between be fixedly connected with, both sides relative on driving-disc are respectively equipped with hinge hole or jointed shaft, two hinge holes or jointed shaft hinged with corresponding hold-down arm respectively by connecting rod.
7. industrial machine arm electricity consumption pawl hand according to claim 6, it is characterized in that: described output panel is provided with several fixing holes, driving-disc is provided with the locating hole matched with the fixing hole position on output panel and quantity, is fixedly connected with between corresponding locating hole and fixing hole by pin.
8. the industrial machine arm electricity consumption pawl hand according to any one of claim 1 to 7, it is characterized in that: the motor shaft of described motor stretches out from the other end of motor, the motor shaft ends stretched out from the other end of motor is provided with code-disc, the side of code-disc is provided with the read head reading code-disc data, read head is connected with controller, and controller is located at the side on motor or the side on support.
9. industrial machine arm electricity consumption pawl hand according to claim 8, it is characterized in that: the side corresponding with code-disc be located at by described controller, controller and code-disc, read head are all located in control box, and control box is fixedly connected with the other end of motor.
10. the industrial machine arm electricity consumption pawl hand according to any one of claim 1 to 7, it is characterized in that: described support is sealed and installed with protective cover, protective cover is provided with the installing hole matched with hold-down arm position and quantity, the installation end of hold-down arm extends outside protective cover through installing hole, has gap between the installation end of hold-down arm and installing hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510853921.7A CN105291128A (en) | 2015-11-28 | 2015-11-28 | Electric grab hand for industrial machinery arms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510853921.7A CN105291128A (en) | 2015-11-28 | 2015-11-28 | Electric grab hand for industrial machinery arms |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105291128A true CN105291128A (en) | 2016-02-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510853921.7A Pending CN105291128A (en) | 2015-11-28 | 2015-11-28 | Electric grab hand for industrial machinery arms |
Country Status (1)
| Country | Link |
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| CN (1) | CN105291128A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106346441A (en) * | 2016-11-16 | 2017-01-25 | 石伟东 | Unplugging robot for factory |
| CN106426260A (en) * | 2016-11-03 | 2017-02-22 | 郑州郑先医药科技有限公司 | All-dimensional automatic manipulator |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6626476B1 (en) * | 2000-07-18 | 2003-09-30 | Applied Materials, Inc. | Robotic gripper apparatus |
| CN1759994A (en) * | 2005-11-14 | 2006-04-19 | 哈尔滨工业大学 | Space robot paw |
| CN202756546U (en) * | 2012-08-15 | 2013-02-27 | 番禺得意精密电子工业有限公司 | Harmonic reducer and manipulator |
| CN103932828A (en) * | 2014-04-04 | 2014-07-23 | 东北大学 | Multifunctional mechanical arm for helping physically-challenged people |
| CN203792350U (en) * | 2014-04-24 | 2014-08-27 | 重庆社平科技有限公司 | Connecting rod slider type mechanical gripper |
| CN104209953A (en) * | 2014-07-15 | 2014-12-17 | 福州大学 | Robot electric gripper |
| CN204153065U (en) * | 2014-10-15 | 2015-02-11 | 宜兴市联众智能科技发展有限公司 | The harmonic speed reducer of torque is allowed in a kind of raising instantaneously |
| CN205166953U (en) * | 2015-11-28 | 2016-04-20 | 浙江众仙电子科技有限公司 | Industry robot arm uses electronic cleft hand |
-
2015
- 2015-11-28 CN CN201510853921.7A patent/CN105291128A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6626476B1 (en) * | 2000-07-18 | 2003-09-30 | Applied Materials, Inc. | Robotic gripper apparatus |
| CN1759994A (en) * | 2005-11-14 | 2006-04-19 | 哈尔滨工业大学 | Space robot paw |
| CN202756546U (en) * | 2012-08-15 | 2013-02-27 | 番禺得意精密电子工业有限公司 | Harmonic reducer and manipulator |
| CN103932828A (en) * | 2014-04-04 | 2014-07-23 | 东北大学 | Multifunctional mechanical arm for helping physically-challenged people |
| CN203792350U (en) * | 2014-04-24 | 2014-08-27 | 重庆社平科技有限公司 | Connecting rod slider type mechanical gripper |
| CN104209953A (en) * | 2014-07-15 | 2014-12-17 | 福州大学 | Robot electric gripper |
| CN204153065U (en) * | 2014-10-15 | 2015-02-11 | 宜兴市联众智能科技发展有限公司 | The harmonic speed reducer of torque is allowed in a kind of raising instantaneously |
| CN205166953U (en) * | 2015-11-28 | 2016-04-20 | 浙江众仙电子科技有限公司 | Industry robot arm uses electronic cleft hand |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426260A (en) * | 2016-11-03 | 2017-02-22 | 郑州郑先医药科技有限公司 | All-dimensional automatic manipulator |
| CN106346441A (en) * | 2016-11-16 | 2017-01-25 | 石伟东 | Unplugging robot for factory |
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| C06 | Publication | ||
| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160203 |