CN106393148A - Bottle body grabbing manipulator end effector - Google Patents
Bottle body grabbing manipulator end effector Download PDFInfo
- Publication number
- CN106393148A CN106393148A CN201611022600.3A CN201611022600A CN106393148A CN 106393148 A CN106393148 A CN 106393148A CN 201611022600 A CN201611022600 A CN 201611022600A CN 106393148 A CN106393148 A CN 106393148A
- Authority
- CN
- China
- Prior art keywords
- finger
- end effector
- gripper
- refer
- driven
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
-
- 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
- B25J15/086—Gripping heads and other end effectors having finger members with means for synchronizing the movements of the fingers
Abstract
The invention discloses a bottle body grabbing manipulator end effector which comprises a connecting plate, a manipulator, a drive mechanism and a transmission mechanism; peripheral equipment is a mechanical arm; the connecting plate is horizontally installed at the end of the mechanical arm; the manipulator is vertically installed on the connecting plate; and rotation, in horizontal circumference, and regulation, in grabbing interval, of the manipulator are realized under control of the drive mechanism and the transmission mechanism. The bottle body grabbing manipulator end effector can freely rotate in the horizontal circumference and is adapted to different postures and different sizes of a bottle body, thus the working range of a whole device is enlarged, and the practicability of the whole device is improved.
Description
Technical field
The present invention relates to a kind of arm end effector is and in particular to a kind of bottle catching robot end effector,
Belong to the technical field of manipulator.
Background technology
With the continuous development of Robotics, manipulator is popularized, at present in industrial production line
Bottle catching robot end effector mainly have two ways, the first is the double pincers having circular arc grabbing groove, during work
Circular arc grabbing groove can tightly clamp target bottle, and this device range of application is narrow, once double pincers machine, institute's energy
The size of the bottle of crawl is also just unique to be determined, and is not applied for the target bottle of different attitudes, meanwhile, uncontrollable folder
Clamp force may result in the damage of some frangible bottles；Second be by the absorption of air pressure with release come to realize bottle pick up and
Place, although this traditional device can smoothly capture bottle, equally cause damage to ask frangible class bottle facing to meeting
Topic.
Retrieval to prior art literature finds, patent CN204868852U proposes a kind of bottle class material gripping device,
The crawl of bottle is realized although it reduces grabbing groove and bottle by the optimization of structure by the clamping of circular arc grabbing groove
Contact area, reduce the risk leading to because clamping force is excessive bottle to damage, but be equally faced with single the asking of application
Topic, and it is not applied for the different attitudes of bottle, practicality substantially reduces.
Content of the invention
In view of this, the invention provides a kind of bottle catching robot end effector, this arm end effector
Can be freely rotatable on horizontal circumference, adapt to target bottle difference attitude, different size, expand the workspace of single unit system
Between, improve the practicality of single unit system.
A kind of bottle catching robot end effector, this arm end effector is by link rod plate, gripper, driving machine
Structure and transmission mechanism composition, ancillary equipment is mechanical arm；
Link rod plate is horizontally arranged at mechanical arm tail end, and gripper is vertically mounted on link rod plate, and gripper is in drive mechanism
The regulation controlling the lower rotation realized on horizontal circumference and crawl spacing with transmission mechanism.
Further, described drive mechanism is divided between the drive mechanism I of control machine machinery claw rotation and control machine machinery claw two finger
The drive mechanism II that distance is adjusted.
Further, described transmission mechanism is divided into the transmission mechanism I realizing gripper rotation and realizes between gripper two finger
The transmission mechanism II that distance is adjusted.
Further, described drive mechanism is steering wheel.
Further, gripper includes left finger, right finger and finger connector；
It is fixedly connected by finger connector and the right finger of two or more between the left finger of two or more, left finger is referred to respectively with right
It is staggered between finger.
Further, gripper include left driven finger I, left driven finger II, its excess-three left finger, right driven finger I,
Right driven finger II, the right finger of its excess-three, Left Drive axle I, Left Drive axle II, right power transmission shaft I, right power transmission shaft II and finger are even
Fitting；
Described left driven finger I and left driven finger II are rotatably assorted with Left Drive axle II, and its excess-three is left to be referred to and left biography
Moving axis I is rotatably assorted, left driven finger I, left driven finger II and its excess-three left finger totally five left fingers, logical between five left fingers
Cross finger connector to be fixedly connected, right driven finger I and right driven finger II are rotatably assorted with right power transmission shaft II, its excess-three is right
Refer to be rotatably assorted with right power transmission shaft I, right driven finger I, right driven finger II and its excess-three right finger totally five right fingers, five right sides
It is fixedly connected by finger connector between finger, be staggered between five left fingers and five right fingers.
Further, axle centered on transmission mechanism I, described transmission mechanism II is gear pair.
Further, left finger and right finger are equipped with two panels rubber blanket.
Further, the gear of gear pair is fixedly connected with gripper.
Beneficial effect：
1st, the present invention can be freely rotatable on horizontal circumference, with left refer to right refer to closer or far from the form of realize bottle
Crawl and placement, make gripper be adapted to target bottle difference attitude, different size, expand the workspace of single unit system
Between, improve the practicality of single unit system.
2nd, the mechanical arm tail end of the present invention is not directly connected gripper, but first connects waling stripe plate, expands entirety
The operation interval of device.
3rd, the present invention only just can transmit motion to left and right finger, simply efficiently by driving gear.
4th, the present invention disposes two panels rubber blanket on each finger, increased the frictional force and target bottle between, increases
Stability during work.
5th, staggered mode between finger of the present invention, makes gripper adapt to the longer bottle of length, also increases simultaneously
Add moment of torsion during work, thus increased the stationarity of bottle during work.
6th, the present invention allows gripper can make the rotary motion on horizontal circumference under the driving of steering wheel, so makes gripper
Corresponding rotation adjustment can be made according to the different attitudes of target bottle, thus crawl work is implemented with preferable angle, increase
Add the applicability of device.
Brief description
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the sectional view of the present invention.
Wherein, 1- steering wheel I, 2- vertical center web, 3- driving gear, the left driven finger II of 4-, 5- driven gear, 6- steering wheel
Mounting blocks I, the right driven finger II of 7-, 8- steering wheel II, 9- rubber blanket, 10- link rod plate, 11- Left Drive axle I, 12- steering wheel mounting blocks
The left driven finger I of II, 13-, 14- sells, 15- screw, 16- Left Drive axle II, 17- bearing sleeve, the right power transmission shaft of 18- II, and 19- is right
Driven finger I, 20- steering wheel mounting blocks I, 21- finger connector, the right power transmission shaft of 22- I, 23- wrist joint junction.
Specific embodiment
Develop simultaneously embodiment below in conjunction with the accompanying drawings, describes the present invention.
The invention provides a kind of bottle catching robot end effector, this arm end effector by link rod plate,
Gripper, drive mechanism and transmission mechanism composition, ancillary equipment is mechanical arm.
Link rod plate is horizontally arranged at mechanical arm tail end, and gripper is vertically mounted on link rod plate, and gripper is in drive mechanism
The regulation controlling the lower rotation realized on horizontal circumference and crawl spacing with transmission mechanism.Drive mechanism is divided into control machinery
The drive mechanism II that between the drive mechanism I of pawl rotation, control machine machinery claw two finger, distance is adjusted, transmission mechanism is divided into realizes gripper
The transmission mechanism I rotating and the transmission mechanism II realizing distance regulation between gripper two finger.
In the present embodiment, drive mechanism is steering wheel I 1 and steering wheel II 8, axle and gear pair, manipulator centered on transmission mechanism
End effector is by link rod plate 10, gripper, central shaft, vertical center web 2, steering wheel I 1, steering wheel II 8, steering wheel mounting blocks I 6, rudder
Machine mounting blocks II 12, power transmission shaft and gear pair composition, as shown in Figure 1.
Link rod plate 10 end is provided with central shaft, and axis direction is vertical with link rod plate 10 place plane, and central shaft upper end is even
Connect steering wheel I 1, lower end is fixedly connected with vertical center web 2, vertical center web 2 is fixedly connected with steering wheel mounting blocks II 12 upper surface,
Gripper is fixedly connected in steering wheel mounting blocks II 12 by power transmission shaft, is provided with steering wheel II 8, gear in steering wheel mounting blocks II 12
Pair is arranged on gripper, and steering wheel II 8 adjusts crawl spacing by sliding tooth wheel set and come the crawl of control machine machinery claw and places dynamic
Make, steering wheel I 1 realizes gripper rotary motion in the horizontal plane by driving the rotation of central shaft, and steering wheel I 1 is arranged on steering wheel
In mounting blocks I 6.
Gripper include left driven finger I 13, left driven finger II 4, its excess-three left finger, right driven finger I 19, right from
Start to refer to the right finger of II 7, its excess-three, Left Drive axle I 11, Left Drive axle II 16, right power transmission shaft I 22, right power transmission shaft II 18 and
Finger connector 21.
As shown in Fig. 2 left driven finger I 13 and left driven finger II 4 are rotatably assorted with Left Drive axle II 16, its excess-three
Left finger is rotatably assorted with Left Drive axle I 11, left driven finger I 13, left driven finger II 4 and its excess-three left finger totally five left sides
Refer to, five left refer between by being fixedly connected with finger connector 21 by screw 15, right driven finger I 19 and right driven finger
II 7 are rotatably assorted with right power transmission shaft II 18, and right power transmission shaft II 18 is externally provided with bearing sleeve 17, and its excess-three is right to be referred to and right power transmission shaft
I 22 are rotatably assorted, and right driven finger I 19, right driven finger II 7 and its excess-three right finger totally five right fingers, between five right fingers
By being fixedly connected with finger connector 21 by screw 15, five left refer to and five right refer between be staggered, left refer to right
Two panels rubber blanket 9 is equipped with finger.
Gear pair includes driving gear 3 and driven gear 5, and driving gear 3 is intermeshed with driven gear 5, left from starting
Refer to I 13 to be fixedly connected on driving gear 3 by pin 14, right driven finger I is fixedly connected with driven gear 5 by screw, tooth
Wheel directly drives the motion of finger.
During work, the wrist joint junction 23 of link rod plate 10 head end is connected with mechanical arm, and link rod plate 10 needs maintenance level shape
State, need to be orthogonal with center shaft axis direction.The rotating direct drive central axis of steering wheel I 1, central shaft passes moving
Pass vertical center web 2 and steering wheel mounting blocks II 6, drive steering wheel II 8 and gripper to rotate on horizontal circumference.So make machinery
Pawl can make corresponding rotation adjustment according to the different attitudes of target bottle, thus crawl work is implemented with preferable angle,
Increased the applicability of device.
The driving gear 3 in steering wheel II 8 direct drive left side rotates, and driving gear 3 transmits motion to left driven finger I
13, then left driven finger I 13 transmit motion to remaining left driven finger；For the motion of right side finger, driving gear 3
Transmit motion to driven gear 5, then driven gear 5 drives right driven finger I 19 motion, secondly right driven finger I 19 will
Motion be delivered to remaining right driven finger it is ensured that between left and right finger motion synchronism, thus can by control steering wheel
II 8 rotating adjusts the distance between two fingers, realizes the left clamping referring to and right finger between and loosens.
In sum, these are only presently preferred embodiments of the present invention, be not intended to limit protection scope of the present invention.
All any modification, equivalent substitution and improvement within the spirit and principles in the present invention, made etc., should be included in the present invention's
Within protection domain.
Claims (9)
1. a kind of bottle catching robot end effector is it is characterised in that this arm end effector is by link rod plate, machinery
Pawl, drive mechanism and transmission mechanism composition, ancillary equipment is mechanical arm；
Link rod plate is horizontally arranged at mechanical arm tail end, and gripper is vertically mounted on link rod plate, and gripper is in drive mechanism and biography
The regulation controlling the lower rotation realizing on horizontal circumference and crawl spacing of motivation structure.
2. bottle catching robot end effector as claimed in claim 1 is it is characterised in that described drive mechanism is divided into control
The drive mechanism II that between the drive mechanism I of gripper rotation processed and control machine machinery claw two finger, distance is adjusted.
3. bottle catching robot end effector as claimed in claim 1 is it is characterised in that described transmission mechanism is divided into reality
Transmission mechanism I and the transmission mechanism II realizing distance regulation between gripper two finger that existing gripper rotates.
4. bottle catching robot end effector as claimed in claim 1 or 2 is it is characterised in that described drive mechanism is
Steering wheel.
5. bottle catching robot end effector as claimed in claim 1 is it is characterised in that described gripper includes a left side
Finger, right finger and finger connector；
Two or more is left refer between and two or more is right refer between be fixedly connected by finger connector, left refer to and each finger of right finger
Between be staggered.
6. bottle catching robot end effector as claimed in claim 1 it is characterised in that described gripper include left from
Start to refer to I, left driven finger II, the left finger of its excess-three, right driven finger I, right driven finger II, its excess-three right finger, Zuo Chuan
Moving axis I, Left Drive axle II, right power transmission shaft I, right power transmission shaft II and finger connector；
Described left driven finger I and left driven finger II are rotatably assorted with Left Drive axle II, and its excess-three is left to be referred to and Left Drive axle I
It is rotatably assorted, left driven finger I, left driven finger II and its excess-three left finger totally five left fingers, pass through hand between five left fingers
Refer to connector to be fixedly connected, right driven finger I and right driven finger II are rotatably assorted with right power transmission shaft II, its excess-three is right refer to and
Right power transmission shaft I is rotatably assorted, right driven finger I, right driven finger II and its excess-three right finger totally five right fingers, five right fingers
Between be fixedly connected by finger connector, five left refer to and five right refer between be staggered.
7. the bottle catching robot end effector as described in claim 1 or 3 is it is characterised in that described transmission mechanism I is
Central shaft, described transmission mechanism II is gear pair.
8. the bottle catching robot end effector as described in claim 5 or 6 it is characterised in that described left refer to right finger
On be equipped with two panels rubber blanket.
9. bottle catching robot end effector as claimed in claim 7 it is characterised in that the gear of described gear pair with
Gripper is fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611022600.3A CN106393148A (en) | 2016-11-18 | 2016-11-18 | Bottle body grabbing manipulator end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611022600.3A CN106393148A (en) | 2016-11-18 | 2016-11-18 | Bottle body grabbing manipulator end effector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106393148A true CN106393148A (en) | 2017-02-15 |
Family
ID=58068990
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611022600.3A Pending CN106393148A (en) | 2016-11-18 | 2016-11-18 | Bottle body grabbing manipulator end effector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106393148A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107363824A (en) * | 2017-07-21 | 2017-11-21 | 重庆奥沃斯机器人有限公司 | Mechanical arm |
| CN107499412A (en) * | 2017-09-05 | 2017-12-22 | 西安工业大学 | A kind of automated handling robot |
| CN107650136A (en) * | 2017-10-06 | 2018-02-02 | 深圳供电局有限公司 | A kind of electronic clamper of four-point |
| CN108263674A (en) * | 2018-03-23 | 2018-07-10 | 长沙开元仪器股份有限公司 | A kind of manipulator for bottling machine and the bottling machine with the manipulator |
| CN108544510A (en) * | 2018-06-15 | 2018-09-18 | 天津大学 | A kind of automatic recovery magic square robot mechanical arm |
| CN109015729A (en) * | 2018-10-08 | 2018-12-18 | 中国民用航空飞行学院 | A kind of latching mechanical pawl |
| CN109436789A (en) * | 2018-12-29 | 2019-03-08 | 天津森雅医疗设备科技有限公司 | It is a kind of intelligently to send medicine terminal grabbing device |
| CN109794925A (en) * | 2017-11-16 | 2019-05-24 | 东北林业大学 | A kind of feeding manipulator arm for round log peeler |
| CN112228727A (en) * | 2020-10-30 | 2021-01-15 | 广东电网有限责任公司广州供电局 | Cleaning equipment and connecting mechanism thereof |
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| CN1049028A (en) * | 1989-07-28 | 1991-02-06 | 湖南省轻工业专科学校 | Method for producing beer |
| US6217094B1 (en) * | 1999-05-24 | 2001-04-17 | Japan Servo Co., Ltd. | Object holding device |
| CN103786158A (en) * | 2012-10-29 | 2014-05-14 | 陈国良 | Bottle grabbing mechanical arm |
| CN104476557A (en) * | 2014-11-14 | 2015-04-01 | 无锡乐华自动化科技有限公司 | Manipulator |
| CN104626180A (en) * | 2014-12-24 | 2015-05-20 | 上海电机学院 | Manipulator tongs capable of striding across fixed obstacle |
| CN204382290U (en) * | 2015-01-19 | 2015-06-10 | 林丽妹 | A kind of manipulator |
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2016
- 2016-11-18 CN CN201611022600.3A patent/CN106393148A/en active Pending
Patent Citations (6)
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|---|---|---|---|---|
| CN1049028A (en) * | 1989-07-28 | 1991-02-06 | 湖南省轻工业专科学校 | Method for producing beer |
| US6217094B1 (en) * | 1999-05-24 | 2001-04-17 | Japan Servo Co., Ltd. | Object holding device |
| CN103786158A (en) * | 2012-10-29 | 2014-05-14 | 陈国良 | Bottle grabbing mechanical arm |
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| CN104626180A (en) * | 2014-12-24 | 2015-05-20 | 上海电机学院 | Manipulator tongs capable of striding across fixed obstacle |
| CN204382290U (en) * | 2015-01-19 | 2015-06-10 | 林丽妹 | A kind of manipulator |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107363824A (en) * | 2017-07-21 | 2017-11-21 | 重庆奥沃斯机器人有限公司 | Mechanical arm |
| CN107499412A (en) * | 2017-09-05 | 2017-12-22 | 西安工业大学 | A kind of automated handling robot |
| CN107650136A (en) * | 2017-10-06 | 2018-02-02 | 深圳供电局有限公司 | A kind of electronic clamper of four-point |
| CN109794925A (en) * | 2017-11-16 | 2019-05-24 | 东北林业大学 | A kind of feeding manipulator arm for round log peeler |
| CN108263674A (en) * | 2018-03-23 | 2018-07-10 | 长沙开元仪器股份有限公司 | A kind of manipulator for bottling machine and the bottling machine with the manipulator |
| CN108544510A (en) * | 2018-06-15 | 2018-09-18 | 天津大学 | A kind of automatic recovery magic square robot mechanical arm |
| CN109015729A (en) * | 2018-10-08 | 2018-12-18 | 中国民用航空飞行学院 | A kind of latching mechanical pawl |
| CN109436789A (en) * | 2018-12-29 | 2019-03-08 | 天津森雅医疗设备科技有限公司 | It is a kind of intelligently to send medicine terminal grabbing device |
| CN109436789B (en) * | 2018-12-29 | 2024-02-20 | 天津森雅医疗设备科技有限公司 | Intelligence is sent medicine terminal grabbing device |
| CN112228727A (en) * | 2020-10-30 | 2021-01-15 | 广东电网有限责任公司广州供电局 | Cleaning equipment and connecting mechanism thereof |
| CN112228727B (en) * | 2020-10-30 | 2022-08-02 | 广东电网有限责任公司广州供电局 | Cleaning equipment and connecting mechanism thereof |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170215 |
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| RJ01 | Rejection of invention patent application after publication |