CN105945980A - Robot gripper mechanism - Google Patents
Robot gripper mechanism Download PDFInfo
- Publication number
- CN105945980A CN105945980A CN201610540957.4A CN201610540957A CN105945980A CN 105945980 A CN105945980 A CN 105945980A CN 201610540957 A CN201610540957 A CN 201610540957A CN 105945980 A CN105945980 A CN 105945980A
- Authority
- CN
- China
- Prior art keywords
- connecting plate
- rotating shaft
- air flue
- air
- paw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of automation. A robot gripper mechanism comprises a wrist connecting plate, a main body and a gripper connecting plate. The wrist connecting plate is fixedly connected with the main body; a rotary shaft is arranged in the main body; the gripper connecting plate is fixedly arranged at one end of the rotary shaft; air ducts surrounding the rotary shaft are arranged in the main body; air holes corresponding to the air ducts are formed on the rotary shaft; communicating air passages are formed in the wrist connecting plate and the main body; the air passages in the main body communicate with air passages in the rotary shaft through the air ducts and the air holes; air passages are also formed in the gripper connecting plate; the air passages in the rotary shaft communicate with the air passages of the gripper connecting plate. According to the robot gripper mechanism provided by the invention, the air passages are directly formed in the wrist connecting plate and the main body, so that air pipelines are prevented from being wound and broken, and meanwhile, the influence of the communicating air passages formed on the rotary shaft on the rotary shaft is also avoided; and in addition, with the arrangement of buffer structures, the direct damage of the impact force on the buffer structures is reduced.
Description
Technical field
The invention belongs to technical field of automation, particularly relate to a kind of robot hand mechanism.
Background technology
Truss robot loading and unloading application, product is divided into wrist and gripper unit, and two kinds of modules are all
Being pneumatic actuation, wrist realizes spinfunction, and gripper unit realizes capturing function.In traditional mechanism,
The gas pipeline of gripper unit needs to draw from outside.So, gripper unit can make during rotating
The gas pipeline of gripper unit is wound around, fracture.
For avoiding above-mentioned situation, prior art discloses a kind of technology forming air flue in through rotating shaft punching,
Thus gas is delivered in gripper unit by rotating shaft.But restriction and the robot hand due to shaft diameter
The development trend of mechanism's small, through rotating shaft punching affects the structural strength of rotating shaft, difficult processing simultaneously
Spend bigger.
Summary of the invention
It is an object of the invention to overcome prior art to there is gripper unit and can make paw in rotary course
The defect that the gas pipeline of module is wound around, it is provided that a kind of robot hand module.
The technical solution adopted for the present invention to solve the technical problems is: a kind of robot hand mechanism,
Including wrist connecting plate, body and paw connecting plate, described wrist connecting plate is fixed with described body
Connecting, described internal is provided with rotating shaft, and described paw connecting plate is fixedly installed on described rotating shaft
One end, described the internal air drain being provided with around described rotating shaft, described rotating shaft is provided with described
The pore that air drain is corresponding；Described wrist connecting plate, this internal air flue being provided with connection, described
This internal air flue is connected with the air flue in described rotating shaft with pore, in described paw connecting plate by air drain
Being also equipped with air flue, in described rotating shaft, air flue connects with the air flue of described paw connecting plate.
Further, described body being provided with gas circuit branching block, described rotating shaft passes described gas circuit
Branching block, described air drain is arranged on described gas circuit branching block, is also provided with in described gas circuit branching block
Having air flue, the air flue two ends in described gas circuit branching block connect with this internal air flue and air drain respectively.Profit
Can be effectively by intrinsic air flue and the air flue in the rotating shaft being in rotary state with gas circuit branching block
Connect.
Further, described gas circuit branching block is additionally provided with the annular groove around described rotating shaft, described ring
Being provided with sealing ring in groove, described annular groove is arranged between adjacent two air drains.Due to gas circuit branching block
If air flue (pore) one_to_one corresponding in upper setting arterial highway air drain, and air drain and rotating shaft, for ensureing gas
Between groove and air drain the most airtight, annular groove is set between adjacent two air drains, and arranges in annular groove
Sealing ring so that relative airtight between air drain with air drain, it is to avoid occur collaborating (in air drain and rotating shaft
Air flue not one_to_one corresponding) phenomenon.
As preferably, described rotating shaft is stepped, and the section diameter being located within the body is less, is positioned at
Section diameter in described gas circuit branching block is bigger.Owing to being positioned at the rotating shaft needs of gas circuit branching block part
If within it offering arterial highway air flue, increasing this section diameter and being conducive to reducing difficulty of processing and ensureing rotating shaft
Intensity, offer pore difficulty of processing compared to through rotating shaft little, intensity is high, and shaft length is less,
Gripper unit number of parts reduces.
Further, for saving installing space, described gas circuit branching block is positioned at the lower end of described body,
Being provided with receiving chamber on described paw connecting plate, described gas circuit branching block is positioned at described receiving intracavity,
And with described paw connecting plate matched in clearance.
Further, described the internal buffering cavity that is provided with, it is provided with sleeve in described cushion chamber body
With the buffer gear being arranged in described sleeve, described sleeve is slidably connected with described buffering cavity, institute
Stating and be provided with the tooth being meshed in sleeve and described rotating shaft, described body one end is provided with and described buffering
The hydraulic pressure hole of cavity connection, described buffer gear one end stretches out described body, and fixing with body is connected,
The other end is connected with described sleeve bottom by elastomeric element.Conventional buffer structure is not durable, and works as impact
When power and frequency of impact are the biggest, ordinary buffer structure can lose moment of torsion, and in the application, this kind arranges elder generation
Impulsive force being absorbed by elastomeric element, then elastomeric element recovers shape, by the bullet of elastomeric element
Power turns and comes here on sleeve, to reduce the impact coup injury to buffer structure, improves service life.
Further, described buffer gear stretches out one end of body and is provided with screw thread, described buffer
Structure is connected by nut and described body are fixing.Buffer gear operationally maintains static, and sleeve is at liquid
Moving back and forth under pressure effect, buffer gear, by the interaction between elastomeric element and sleeve, passes through
Adjusting nut can regulate the length that buffer gear stretches in sleeve, thus adjusts bullet according to actual needs
Pretightning force between property parts and sleeve.
As preferably, described elastomeric element is spring.
Further, described buffering number of cavities is two, the sleeve fortune in two described cushion chamber bodies
Dynamic in opposite direction.Utilize two sleeves to drive axis of rotation, slow-roll stabilization, it is achieved the rotating forward of rotating shaft and
Invert thus drive the reciprocating rotation of paw connecting plate.
Further, described paw connecting plate end is provided with two paws, is provided with in each paw
Two air flues, are provided with four air flues in described wrist connecting plate, body, paw connecting plate, and
With the air flue one_to_one corresponding in described paw.In paw, one of them air flue control paw opens, another
The individual control paw that plays closes, the gas of four connections in wrist connecting plate, body, paw connecting plate
Road controls the Guan Bi of two paws respectively and opens.
Compared with the prior art, the beneficial effects of the present invention is: in the application at wrist connecting plate and
This is the most internal directly offers air flue, it is to avoid gas pipeline is wound around and fracture, it also avoid in rotating shaft simultaneously
Offer through air flue, the impact that countershaft causes so that process simpler, save parts,
Structure is simpler, beneficially the miniaturization of paw mechanism；Additionally, the setting of buffer structure reduces
The impulsive force coup injury to buffer structure, improves the service life of buffer structure.
Accompanying drawing explanation
Tu1Shi robot hand mechanism perspective view；
Fig. 2 is that (air flue providing a connection in figure shows the in-house structural representation of robot hand
Meaning, other air flues are not drawn into)；
Fig. 3 is partial structurtes enlarged drawing at A in Fig. 2；
Fig. 4 is another angular views of robot gripper；
Fig. 5 is F-F direction sectional view in Fig. 4；
1. wrist connecting plate, 2. body in figure, 21. buffering cavitys, 22. sleeves, 23. buffer gears,
24. elastomeric elements, 25. nuts, 3. paw connecting plate, 4. paw, 5. gas circuit branching block, 51. gas
Groove, 52. sealing rings, 6. rotating shaft, 7. air flue.
Detailed description of the invention
The present invention is further detailed explanation with detailed description of the invention below in conjunction with the accompanying drawings.
Embodiment 1
Such as Fig. 1, shown in 2 and 4, a kind of robot hand mechanism, including wrist connecting plate 1, this
Body 2 and paw connecting plate 3, described wrist connecting plate 1 is fixing with described body 2 to be connected, described
Being provided with rotating shaft 6 in body 2, described paw connecting plate 3 is fixedly installed on the one of described rotating shaft 6
End, is provided with the air drain 51 around described rotating shaft 6 in described body 2, described rotating shaft 6 is arranged
There is the pore corresponding with described air drain 51；It is provided with in described wrist connecting plate 1, body 2
The air flue 7 of connection, in described body 2, air flue 7 is by air drain 51 and pore and described rotating shaft 6
Air flue 7 connect, be also equipped with air flue 7, air flue in described rotating shaft 6 in described paw connecting plate 3
7 connect with the air flue 7 of described paw connecting plate 3.Described paw connecting plate 3 end is provided with two
Paw 4, is provided with two air flues 7, described wrist connecting plate 1, body 2, hands in each paw 4
Be provided with four air flues 7 in ZHUANLIAN fishplate bar 3, and with air flue 7 one_to_one corresponding in described paw 4
Connection.
Specifically, described body 2 is provided with gas circuit branching block 5, described gas circuit branching block 5
Being provided with receiving chamber on the lower end of described body 2, described paw connecting plate 3, described gas circuit is divided
Stream block 5 is positioned at described receiving intracavity, and with described paw connecting plate 3 matched in clearance, described rotating shaft
6 pass described gas circuit branching block 5, as it is shown on figure 3, described air drain 51 is arranged on the shunting of described gas circuit
On block 5, it is also equipped with air flue 7 in described gas circuit branching block 5, in described gas circuit branching block 5
Air flue 7 two ends connect with air flue 7 in body 2 and air drain 51 respectively.On described gas circuit branching block 5
It is additionally provided with the annular groove around described rotating shaft 6, in described annular groove, is provided with sealing ring 52, described ring
Groove is arranged between adjacent two air drains 51.Described rotating shaft 6 is stepped, is positioned at body 2
Section diameter less, the section diameter being positioned at described gas circuit branching block 5 is bigger.
As it is shown in figure 5, be provided with buffering cavity 21 in described body 2, in described buffering cavity 21
It is provided with sleeve 22 and the buffer gear 23 being arranged in described sleeve 22, described sleeve 22 and institute
State buffering cavity 21 to be slidably connected, described sleeve 22 and described rotating shaft 6 be provided with the tooth being meshed,
Described body 2 one end is provided with the hydraulic pressure hole connected with described buffering cavity 21, described buffer gear
Described body 2 is stretched out in 23 one end, and is provided with screw thread, and solid by nut 25 screw thread with body 2
Fixed adjustable connection, the other end is connected bottom described sleeve 22 by elastomeric element 24, the present embodiment
In as a example by elastomeric element 24 is as spring.Described buffering cavity 21 quantity is two, and two described slow
Rush sleeve 22 direction of motion in cavity 21 contrary.
Operation principle is as follows: paw 4 opening and closing movement: its in 1 four air flues 7 of wrist connecting plate
In an air flue 7 ventilate, gas is respectively by an air flue 7 in body 2, gas circuit branching block 5
An air flue 7, an air drain 51 of gas circuit branching block 5, an air flue 7 in rotating shaft 6 and
An air flue 7 in paw connecting plate 3, finally passes in an air flue 7 of one of them paw 4,
Control the merging of paw 4, it is achieved action, the unlatching of paw 4 can be controlled by another air flue 7,
Action is put down in realization；The opening and closing movement to another paw 4 can be realized by other air flues 7, four
Air flue 7 controls the opening and closing action of two paws 4 respectively.
Paw connecting plate 3 drives paw 4 along rotating shaft 6 rotational action: one of them liquid on body 2
Pressure is passed through hydraulic oil in hole, and sleeve 22 slides along buffering cavity 21 under hydraulic oil effect, tooth on it
Driving rotating shaft 6 to rotate, rotating shaft 6 drives paw connecting plate 3 to rotate, and paw connecting plate 3 drives paw
4 conversion directions, are passed through hydraulic oil in another buffering cavity 21, and another sleeve 22 moves,
Drive rotating shaft 6 phase rightabout to rotate, drive rotating shaft 6 to turn round, thus drive paw 4 to reset.?
During this, the impulsive force first being absorbed by spring, then spring recovers shape, by elastic potential energy
Turning comes here on sleeve 22, to reduce impulsive force to sleeve 22 and the coup injury of buffer gear 23,
Improve service life.
Should be appreciated that it will be apparent to those skilled in the art that can technical scheme as described above and structure
Think, make other various corresponding changes and deformation, and all these changes and deformation all should belong to
Within the protection domain of the claims in the present invention.
Claims (10)
1. a robot hand mechanism, it is characterised in that: include wrist connecting plate (1), body
(2) fix with paw connecting plate (3), described wrist connecting plate (1) and described body (2)
Connecting, be provided with rotating shaft (6) in described body (2), described paw connecting plate (3) is fixing to be set
Put the one end in described rotating shaft (6), be provided with around described rotating shaft (6) in described body (2)
Air drain (51), described rotating shaft (6) is provided with the pore corresponding with described air drain (51)；
The air flue (7) of connection, described body it is provided with in described wrist connecting plate (1), body (2)
(2) interior air flue (7) is by air drain (51) and pore and the air flue (7) in described rotating shaft (6)
Connection, is also equipped with air flue (7), described rotating shaft (6) interior air flue in described paw connecting plate (3)
(7) air flue (7) with described paw connecting plate (3) connects.
Robot hand mechanism the most according to claim 1, it is characterised in that: described body
(2) being provided with gas circuit branching block (5) on, described rotating shaft (6) passes described gas circuit branching block (5),
Described air drain (51) is arranged on described gas circuit branching block (5), described gas circuit branching block (5)
Inside be also equipped with air flue (7), air flue (7) two ends in described gas circuit branching block (5) respectively with this
Body (2) interior air flue (7) connects with air drain (51).
Robot hand mechanism the most according to claim 2, it is characterised in that: described gas circuit
It is additionally provided with the annular groove around described rotating shaft (6) on branching block (5), is provided with close in described annular groove
Seal (52), described annular groove is arranged between adjacent two air drains (51).
4. according to the robot hand mechanism described in Claims 2 or 3, it is characterised in that: described
Rotating shaft (6) stepped, the section diameter being positioned at body (2) is less, is positioned at described gas circuit
Section diameter in branching block (5) is bigger.
Robot hand mechanism the most according to claim 2, it is characterised in that: described gas
Road branching block (5) is positioned at the lower end of described body (2), and described paw connecting plate (3) sets
Being equipped with receiving chamber, described gas circuit branching block (5) is positioned at described receiving intracavity, and connects with described paw
Fishplate bar (3) matched in clearance.
Robot hand mechanism the most according to claim 1, it is characterised in that: described body
(2) it is provided with buffering cavity (21) in, in described buffering cavity (21), is provided with sleeve (22)
With the buffer gear (23) being arranged in described sleeve (22), described sleeve (22) is slow with described
Rushing cavity (21) to be slidably connected, described sleeve (22) is nibbled mutually with being provided with in described rotating shaft (6)
The tooth closed, described body (2) one end is provided with the hydraulic pressure hole connected with described buffering cavity (21),
Described body (2) is stretched out in described buffer gear (23) one end, and fixing with body (2) is connected,
The other end is connected with described sleeve (22) bottom by elastomeric element (24).
Robot hand mechanism the most according to claim 6, it is characterised in that: described is slow
Punch mechanism (23) stretches out one end of body (2) and is provided with screw thread, and described buffer gear (23) leads to
Cross that nut (25) and described body (2) are fixing to be connected.
8. according to the robot hand mechanism described in claim 6 or 7, it is characterised in that: described
Elastomeric element (24) be spring.
9. according to the robot hand mechanism described in claim 6 or 7, it is characterised in that: described
Buffering cavity (21) quantity is two, sleeve (22) fortune in two described buffering cavitys (21)
Dynamic in opposite direction.
Robot hand mechanism the most according to claim 1, it is characterised in that: described paw
Connecting plate (3) end is provided with two paws (4), is provided with two air flues in each paw (4)
(7), described wrist connecting plate (1), body (2), paw connecting plate are provided with four in (3)
Individual air flue (7), and with air flue (7) one_to_one corresponding in described paw (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610540957.4A CN105945980A (en) | 2016-07-11 | 2016-07-11 | Robot gripper mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610540957.4A CN105945980A (en) | 2016-07-11 | 2016-07-11 | Robot gripper mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105945980A true CN105945980A (en) | 2016-09-21 |
Family
ID=56901168
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610540957.4A Pending CN105945980A (en) | 2016-07-11 | 2016-07-11 | Robot gripper mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105945980A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106392843A (en) * | 2016-10-28 | 2017-02-15 | 温州金石机器人科技有限公司 | Anti-twisting multidirectional polishing robot |
| CN107696065A (en) * | 2017-08-14 | 2018-02-16 | 芜湖慧盈自动化设备有限公司 | Double gas circuit export structures installed in industrial robot end |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0070781A1 (en) * | 1981-07-17 | 1983-01-26 | Société PHAREMME | Rotative gripper for a rotative arm |
| CN2290456Y (en) * | 1997-04-14 | 1998-09-09 | 北京航空航天大学 | Air type tolerance flexible assembly robot |
| WO2005005109A1 (en) * | 2003-07-14 | 2005-01-20 | Kuroda Precision Industries, Ltd. | Switch valve device |
| CN101264604A (en) * | 2007-03-12 | 2008-09-17 | 康茂股份公司 | Articulated robot wrist |
| CN202737697U (en) * | 2012-01-19 | 2013-02-13 | 杭州集智机电股份有限公司 | Unlimited rotation automatic clamping mechanism for full-automatic balance correcting equipment |
| CN203009442U (en) * | 2012-12-28 | 2013-06-19 | 大连瓦特重机床有限公司 | Rotary cylinder of fixture body |
| CN103507079A (en) * | 2013-09-29 | 2014-01-15 | 马万里 | Robot end effector |
| CN104209954A (en) * | 2014-09-18 | 2014-12-17 | 东莞市照亮焊接设备科技有限公司 | Manipulator for dip coating and sand burning of golf club head and use method of manipulator |
| CN204819570U (en) * | 2015-07-28 | 2015-12-02 | 浙江瑞宏机器人有限公司 | Antiwind structure of manipulator |
| CN105364515A (en) * | 2014-08-14 | 2016-03-02 | 美国艾洛宝技术公司 | Adjustable fixture mechanism |
| CN205766223U (en) * | 2016-07-11 | 2016-12-07 | 常州艾恩替机械科技有限公司 | A kind of robot hand mechanism |
-
2016
- 2016-07-11 CN CN201610540957.4A patent/CN105945980A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0070781A1 (en) * | 1981-07-17 | 1983-01-26 | Société PHAREMME | Rotative gripper for a rotative arm |
| CN2290456Y (en) * | 1997-04-14 | 1998-09-09 | 北京航空航天大学 | Air type tolerance flexible assembly robot |
| WO2005005109A1 (en) * | 2003-07-14 | 2005-01-20 | Kuroda Precision Industries, Ltd. | Switch valve device |
| CN101264604A (en) * | 2007-03-12 | 2008-09-17 | 康茂股份公司 | Articulated robot wrist |
| CN202737697U (en) * | 2012-01-19 | 2013-02-13 | 杭州集智机电股份有限公司 | Unlimited rotation automatic clamping mechanism for full-automatic balance correcting equipment |
| CN203009442U (en) * | 2012-12-28 | 2013-06-19 | 大连瓦特重机床有限公司 | Rotary cylinder of fixture body |
| CN103507079A (en) * | 2013-09-29 | 2014-01-15 | 马万里 | Robot end effector |
| CN105364515A (en) * | 2014-08-14 | 2016-03-02 | 美国艾洛宝技术公司 | Adjustable fixture mechanism |
| CN104209954A (en) * | 2014-09-18 | 2014-12-17 | 东莞市照亮焊接设备科技有限公司 | Manipulator for dip coating and sand burning of golf club head and use method of manipulator |
| CN204819570U (en) * | 2015-07-28 | 2015-12-02 | 浙江瑞宏机器人有限公司 | Antiwind structure of manipulator |
| CN205766223U (en) * | 2016-07-11 | 2016-12-07 | 常州艾恩替机械科技有限公司 | A kind of robot hand mechanism |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106392843A (en) * | 2016-10-28 | 2017-02-15 | 温州金石机器人科技有限公司 | Anti-twisting multidirectional polishing robot |
| CN107696065A (en) * | 2017-08-14 | 2018-02-16 | 芜湖慧盈自动化设备有限公司 | Double gas circuit export structures installed in industrial robot end |
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Application publication date: 20160921 |
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