CN106737619A - Mechanical paw - Google Patents
Mechanical paw Download PDFInfo
- Publication number
- CN106737619A CN106737619A CN201611227809.3A CN201611227809A CN106737619A CN 106737619 A CN106737619 A CN 106737619A CN 201611227809 A CN201611227809 A CN 201611227809A CN 106737619 A CN106737619 A CN 106737619A
- Authority
- CN
- China
- Prior art keywords
- rotating shaft
- hollow rotating
- plate
- support
- pull bar
- 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.)
- Granted
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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of mechanical paw, belong to a kind of end effector of manipulator, including support, hollow rotating shaft, upper cover plate and lower cover, hollow rotating shaft is rotatably connected by the first oil-free bushing and support, upper cover plate is fastened and linked together with lower cover, upper cover plate and lower cover are connected with the end of hollow rotating shaft together, two arc gripping fingers for being clipped in thin-plate round-disk shape workpiece side are hinged between upper cover plate and lower cover, the section of arc gripping finger is rounded and diameter less than thin-plate round-disk shape workpiece thickness, the first drive mechanism for its folding is connected with two arc gripping fingers, support is provided with the second drive mechanism for driving hollow rotating shaft rotation.Mechanical paw of the present invention does not interfere with the precision of the upper and lower surface of thin-plate round-disk shape workpiece during the loading and unloading of thin-plate round-disk shape workpiece, that is, and the action of upset can be completed again.
Description
Technical field：
It is especially a kind of mechanical paw the present invention relates to a kind of end effector of manipulator.
Background technology：
With the development of science and technology, in order to improve the quality and production efficiency of workpiece, gradually adopted in industrial production
Manipulator carrys out band and replaces artificial operation, at present, when carrying out automatic loading/unloading to some thin-plate round-disk shape workpieces, generally using sucker
Suction carries out loading and unloading above thin-plate round-disk shape workpiece or by the way of the mechanical paw of three clamping jaws is done from above crawl
Work, but this mode can only realize moving in parallel for thin-plate round-disk shape workpiece, and thin plate can not be realized during loading and unloading
Round-disk shape workpiece overturns 180 ° of action, and when the precision of the upper and lower surface of thin-plate round-disk shape workpiece is higher, using sucker
Suction can influence the precision of thin-plate round-disk shape workpiece above thin-plate round-disk shape workpiece.
The content of the invention：
The technical problem to be solved in the present invention be to provide it is a kind of during the loading and unloading of thin-plate round-disk shape workpiece, i.e., not
The precision of the upper and lower surface of thin-plate round-disk shape workpiece can be influenceed, the mechanical paw of rotary movement can be completed again.
Technical solution of the invention is to provide a kind of mechanical paw, including support, hollow rotating shaft, upper cover plate and
Lower cover, hollow rotating shaft is rotatably connected by the first oil-free bushing and support, and upper cover plate and lower cover are fastened and be connected to one
Rise, upper cover plate and lower cover are connected with the end of hollow rotating shaft together, two are hinged between upper cover plate and lower cover for pressing from both sides
In the arc gripping finger of thin-plate round-disk shape workpiece side, the section of arc gripping finger is rounded and diameter is less than thin-plate round-disk shape workpiece
Thickness, is connected with the first drive mechanism for its folding in two arc gripping fingers, support is provided with drive hollow rotating shaft rotation
The second drive mechanism.
Mechanical paw of the present invention, wherein, the first drive mechanism includes cylinder, wedge, inclined ejecting plate and push-and-pull
Bar, the cylinder body of cylinder is connected with support, and wedge is connected with the piston rod of cylinder, and pull bar is located in hollow rotating shaft and can be along sky
Heart rotating shaft is moved axially, and inclined ejecting plate is connected with the tail end of pull bar, and inclined-plane and the inclined-plane on inclined ejecting plate of wedge bottom are affixed
Merge and relative can slide, two tail ends of arc gripping finger are hinged with a head rod, and the front end of pull bar is connected with can
Rotate the second connecting rod, the two ends of two head rods respectively with the second connecting rod are hinged, and jump ring is connected with pull bar, are pushed away
The first spring is cased with pull bar, the two ends of the first spring are withstood on jump ring and hollow rotating shaft respectively.
Mechanical paw of the present invention, wherein, the second drive mechanism include motor, decelerator, first bevel gear and
Second bevel gear, decelerator is connected in rack bore, and motor is arranged on decelerator, and the motor shaft of motor is defeated with decelerator
Enter axle connection, first bevel gear is connected on the output shaft of decelerator, and second bevel gear is connected on hollow rotating shaft, the first cone tooth
Wheel is engaged with second bevel gear.
Mechanical paw of the present invention, wherein, guider screw is connected with inclined ejecting plate, guider screw passes through the second oil-free
Bushing and support slidable connection, are cased with second spring on guider screw, second spring withstands on the head of screw and the of guider screw
Between two oil-free bushings.
After using above structure, compared with prior art, mechanical paw of the present invention has advantages below：Due to two arcs
Gripping finger, when capturing and placing thin-plate round-disk shape workpiece, is the side for being clipped in thin-plate round-disk shape workpiece, therefore, do not interfere with thin
The precision of the upper and lower surface of plate round-disk shape workpiece, and arc gripping finger section is rounded and diameter is less than thin-plate round-disk shape workpiece
Thickness, the plane placed when also will not touch loading and unloading, but due to support be provided with drive hollow rotating shaft rotation second
Drive mechanism, therefore, when the second drive mechanism drives hollow rotating shaft to rotate, upper cover plate, the lower cover being connected with hollow rotating shaft
Plate and two arc gripping fingers are rotated together, and the thin-plate round-disk shape workpiece such that it is able to realize two arc gripping finger clampings overturns 180 °
Action.
The setting of guider screw and second spring can make the mobile guide of inclined ejecting plate and reset more smooth.
Brief description of the drawings：
Fig. 1 is the dimensional structure diagram of mechanical paw of the present invention；
Fig. 2 is the main view cross section structure diagram of mechanical paw of the present invention；
Fig. 3 is the overlooking the structure diagram at arc gripping finger in mechanical paw of the present invention；
Fig. 4 is dimensional structure diagram when mechanical paw of the present invention is clamped with thin-plate round-disk shape workpiece.
Specific embodiment：
Mechanical paw of the present invention is described further with reference to the accompanying drawings and detailed description：
As shown in Figures 1 to 4, mechanical paw of the present invention includes support 10, hollow rotating shaft 19, upper cover plate 11 and lower cover
14, hollow rotating shaft 19 is rotatably connected by two the first oil-free bushings 17 with support 10, and upper cover plate 11 is fastened with lower cover 14
And link together, the end of upper cover plate 11 and lower cover 14 together with hollow rotating shaft 19 is connected, upper cover plate 11 and lower cover 14
Between be hinged with two for being clipped in the arc gripping fingers 13 of the side of thin-plate round-disk shape workpiece 101, the section of arc gripping finger 13 is in circle
Shape and diameter are connected with the first drive for its folding less than the thickness of thin-plate round-disk shape workpiece 101 in two arc gripping fingers 13
Motivation structure, support 10 is provided with the second drive mechanism for driving the rotation of hollow rotating shaft 19, and the first drive mechanism includes cylinder 7, wedge
Shape block 3, inclined ejecting plate 2 and pull bar 20, the cylinder body of cylinder 7 are connected with support 10, and wedge 3 is connected with the piston rod of cylinder 7,
Pull bar 20 is located in hollow rotating shaft 19 and can be moved axially along hollow rotating shaft 19, and inclined ejecting plate 2 is connected with the tail end of pull bar 20,
The inclined-plane of the bottom of wedge 3 is affixed merging and relative can slide with the inclined-plane on inclined ejecting plate 2, and the tail end of two arc gripping fingers 13 cuts with scissors
A head rod 21 is connected to, the front end of pull bar 20 is connected with rotatable second connecting rod 12, two head rods 21
The two ends with the second connecting rod 12 are hinged respectively, and jump ring 15 is connected with pull bar 20, and the first spring 16 is cased with pull bar 20,
The two ends of the first spring 16 withstand on jump ring 15 and hollow rotating shaft 19 respectively, and the second drive mechanism includes motor 8, decelerator 9, the
One bevel gear 1 and second bevel gear 18, decelerator 9 are connected in the inner chamber of support 10, the output shaft and hollow rotating shaft of decelerator 9
19 are arranged vertically, and motor 8 is arranged on decelerator 9, and the motor shaft of motor 8 is connected with the input shaft of decelerator 9, first bevel gear
1 is connected on the output shaft of decelerator 9, and second bevel gear 18 is connected on hollow rotating shaft 19, the cone tooth of first bevel gear 1 and second
Wheel 18 is engaged, and guider screw 4 is connected with inclined ejecting plate 2, and guider screw 4 is slidably connected by the second oil-free bushing 5 with support 10
Connect, be cased with second spring 6 on guider screw 4, second spring 6 withstand on guider screw 4 head of screw and the second oil-free bushing 5 it
Between, decelerator 9 is commercially available prod, therefore its concrete structure is not repeated herein.
The operation principle of mechanical paw of the present invention is：When the piston rod of cylinder 7 is moved down, can drive wedge 3 to
Lower movement, wedge 3 moves down the second connecting rod that can make inclined ejecting plate 2 and pull bar 20 and the connection of the front end of pull bar 20
12 is mobile to the back-end along hollow rotating shaft 19 together, and at this moment the first spring 16 can shrink, and the second connecting rod 12 can be by two first
Connecting rod 21 drives two arc gripping fingers 13 to rotate, and two arc gripping fingers 13 can be made to be clipped in the side of thin-plate round-disk shape workpiece 101
Face, realizes holding action；When thin-plate round-disk shape workpiece 101 to be put down, as long as moving up the piston rod of cylinder 7,
In the presence of the elastic force of one spring 16, the second connecting rod 12 of inclined ejecting plate 2 and pull bar 20 and the connection of the front end of pull bar 20 can be made
Moved along the forward end of hollow rotating shaft 19 together, the second connecting rod 12 can drive two arc gripping fingers by two head rods 21
13 rotate in the opposite direction, so that two arc gripping fingers 13 are opened, such that it is able to put down thin-plate round-disk shape workpiece 101；By electricity
The rotation of the motor shaft of machine 8, then by driving first bevel gear 1 to rotate after the deceleration of decelerator 9, the rotation of first bevel gear 1
Second bevel gear 18 is driven to rotate, the rotation of second bevel gear 18 drives hollow rotating shaft 19 to rotate, the rotational band of hollow rotating shaft 19
Dynamic upper cover plate 11, lower cover 14 and the two arc gripping fingers 13 being connected with it are rotated around pull bar 20 together, it is possible to achieve two
The thin-plate round-disk shape workpiece 101 of the individual clamping of arc gripping finger 13 overturns 180 ° of action.
Particular embodiments described above is only that the preferred embodiment of the present invention is described, not to the present invention
Scope be defined, on the premise of design spirit of the present invention is not departed from, those of ordinary skill in the art are to skill of the invention
Various modifications and improvement that art scheme is made, all should fall into the protection domain of claims of the present invention determination.
Claims (4)
1. a kind of mechanical paw, it is characterised in that：Including support (10), hollow rotating shaft (19), upper cover plate (11) and lower cover
(14), the hollow rotating shaft (19) is rotatably connected by the first oil-free bushing (17) with support (10), the upper cover plate (11)
Fasten and link together with lower cover (14), the upper cover plate (11) and lower cover (14) together with the end of hollow rotating shaft (19)
Portion is connected, and two are hinged between the upper cover plate (11) and lower cover (14) for being clipped in thin-plate round-disk shape workpiece (101) side
The arc gripping finger (13) in face, the section of the arc gripping finger (13) is rounded and diameter is less than thin-plate round-disk shape workpiece (101)
Thickness, is connected with the first drive mechanism for its folding on described two arc gripping fingers (13), the support (10) is provided with
Drive the second drive mechanism of hollow rotating shaft (19) rotation.
2. mechanical paw according to claim 1, it is characterised in that：First drive mechanism includes cylinder (7), wedge shape
Block (3), inclined ejecting plate (2) and pull bar (20), the cylinder body of the cylinder (7) are connected with support (10), the wedge (3) with
The piston rod connection of cylinder (7), the pull bar (20) is in hollow rotating shaft (19) and can axially be moved along hollow rotating shaft (19)
Dynamic, the inclined ejecting plate (2) is connected with the tail end of pull bar (20), on the inclined-plane and inclined ejecting plate (2) of wedge (3) bottom
Inclined-plane is affixed merging and relative can slide, and the tail end of described two arc gripping fingers (13) is hinged with a head rod (21),
The front end of the pull bar (20) is connected with rotatable second connecting rod (12), described two head rods (21) respectively with
The two ends of the second connecting rod (12) are hinged, and jump ring (15) is connected with the pull bar (20), are cased with the pull bar (20)
First spring (16), the two ends of first spring (16) withstand on jump ring (15) and hollow rotating shaft (19) respectively.
3. mechanical paw according to claim 1 and 2, it is characterised in that：Second drive mechanism include motor (8),
Decelerator (9), first bevel gear (1) and second bevel gear (18), the decelerator (9) are connected in support (10) inner chamber,
The motor (8) is on decelerator (9), and the motor shaft of the motor (8) is connected with the input shaft of decelerator (9), described
First bevel gear (1) is connected on the output shaft of decelerator (9), and the second bevel gear (18) is connected to hollow rotating shaft (19)
On, the first bevel gear (1) is engaged with second bevel gear (18).
4. mechanical paw according to claim 3, it is characterised in that：Guider screw is connected with the inclined ejecting plate (2)
(4), the guider screw (4) is by the second oil-free bushing (5) and support (10) slidable connection, on the guider screw (4)
Second spring (6) is cased with, the second spring (6) is withstood between the head of screw of guider screw (4) and the second oil-free bushing (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611227809.3A CN106737619B (en) | 2016-12-27 | 2016-12-27 | Mechanical gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611227809.3A CN106737619B (en) | 2016-12-27 | 2016-12-27 | Mechanical gripper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106737619A true CN106737619A (en) | 2017-05-31 |
| CN106737619B CN106737619B (en) | 2023-06-13 |
Family
ID=58921822
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611227809.3A Active CN106737619B (en) | 2016-12-27 | 2016-12-27 | Mechanical gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737619B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107336853A (en) * | 2017-07-07 | 2017-11-10 | 湘潭大学 | A kind of automatic packing device |
| CN107336852A (en) * | 2017-07-07 | 2017-11-10 | 湘潭大学 | A kind of and automatic packing device of logistics line locking |
| CN107940180A (en) * | 2017-11-29 | 2018-04-20 | 河南华赫电子科技有限公司 | A kind of Intelligent visible intercom machine being easily installed |
| CN109822122A (en) * | 2019-03-02 | 2019-05-31 | 秦皇岛中秦渤海轮毂有限公司 | A kind of aluminium alloy car casting machining clamping jaw |
| CN111374861A (en) * | 2018-12-28 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Lower limb rehabilitation training device and horizontal rotating mechanism thereof |
| CN112095492A (en) * | 2020-10-20 | 2020-12-18 | 安徽省公路桥梁工程有限公司 | Thrust device of guy rope hanging basket for bridge construction |
Citations (10)
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|---|---|---|---|---|
| JPH05111812A (en) * | 1991-10-24 | 1993-05-07 | Toyoda Mach Works Ltd | Work holding mechanism |
| KR20100117021A (en) * | 2009-04-23 | 2010-11-02 | 도쿄엘렉트론가부시키가이샤 | Substrate holding member, substrate transfer arm and substrate transfer device |
| JP2011212826A (en) * | 2010-04-02 | 2011-10-27 | Ihi Corp | Robot hand |
| CN202367609U (en) * | 2011-12-06 | 2012-08-08 | 常州好迪机械有限公司 | Manipulator claw |
| US20120235335A1 (en) * | 2011-03-18 | 2012-09-20 | Tokyo Electron Limited | Substrate holding device |
| CN103552067A (en) * | 2013-11-04 | 2014-02-05 | 武汉奋进电力技术有限公司 | Single-finger clamping and overturning manipulator |
| CN105057937A (en) * | 2015-08-28 | 2015-11-18 | 深圳市鹏煜威科技有限公司 | Shell welding production device |
| CN105128023A (en) * | 2015-08-25 | 2015-12-09 | 河南科技大学 | Mechanical arm |
| CN205766225U (en) * | 2016-05-20 | 2016-12-07 | 黄石艾博科技发展有限公司 | A kind of loading and unloading clamping device and robot |
| CN206493313U (en) * | 2016-12-27 | 2017-09-15 | 嘉兴高维智控有限公司 | Mechanical paw |
-
2016
- 2016-12-27 CN CN201611227809.3A patent/CN106737619B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05111812A (en) * | 1991-10-24 | 1993-05-07 | Toyoda Mach Works Ltd | Work holding mechanism |
| KR20100117021A (en) * | 2009-04-23 | 2010-11-02 | 도쿄엘렉트론가부시키가이샤 | Substrate holding member, substrate transfer arm and substrate transfer device |
| JP2011212826A (en) * | 2010-04-02 | 2011-10-27 | Ihi Corp | Robot hand |
| US20120235335A1 (en) * | 2011-03-18 | 2012-09-20 | Tokyo Electron Limited | Substrate holding device |
| CN202367609U (en) * | 2011-12-06 | 2012-08-08 | 常州好迪机械有限公司 | Manipulator claw |
| CN103552067A (en) * | 2013-11-04 | 2014-02-05 | 武汉奋进电力技术有限公司 | Single-finger clamping and overturning manipulator |
| CN105128023A (en) * | 2015-08-25 | 2015-12-09 | 河南科技大学 | Mechanical arm |
| CN105057937A (en) * | 2015-08-28 | 2015-11-18 | 深圳市鹏煜威科技有限公司 | Shell welding production device |
| CN205766225U (en) * | 2016-05-20 | 2016-12-07 | 黄石艾博科技发展有限公司 | A kind of loading and unloading clamping device and robot |
| CN206493313U (en) * | 2016-12-27 | 2017-09-15 | 嘉兴高维智控有限公司 | Mechanical paw |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107336853A (en) * | 2017-07-07 | 2017-11-10 | 湘潭大学 | A kind of automatic packing device |
| CN107336852A (en) * | 2017-07-07 | 2017-11-10 | 湘潭大学 | A kind of and automatic packing device of logistics line locking |
| CN107940180A (en) * | 2017-11-29 | 2018-04-20 | 河南华赫电子科技有限公司 | A kind of Intelligent visible intercom machine being easily installed |
| CN107940180B (en) * | 2017-11-29 | 2024-05-31 | 上海家常工程技术服务有限公司 | Visual intercom of intelligence convenient to installation |
| CN111374861A (en) * | 2018-12-28 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Lower limb rehabilitation training device and horizontal rotating mechanism thereof |
| CN111374861B (en) * | 2018-12-28 | 2022-03-15 | 沈阳新松机器人自动化股份有限公司 | Lower limb rehabilitation training device and horizontal rotating mechanism thereof |
| CN109822122A (en) * | 2019-03-02 | 2019-05-31 | 秦皇岛中秦渤海轮毂有限公司 | A kind of aluminium alloy car casting machining clamping jaw |
| CN112095492A (en) * | 2020-10-20 | 2020-12-18 | 安徽省公路桥梁工程有限公司 | Thrust device of guy rope hanging basket for bridge construction |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106737619B (en) | 2023-06-13 |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20211223 Address after: 215000 No.2 Yunshen Road, Southeast street, Changshu City, Suzhou City, Jiangsu Province Applicant after: Gaowei intelligent control robot technology (Suzhou) Co.,Ltd. Address before: 314200 east of Pinghu Avenue and north of Fanrong Road, Pinghu Economic Development Zone, Jiaxing City, Zhejiang Province (room 3046, building 3, Pinghu Economic Development Zone Asset Management Co., Ltd.) Applicant before: JIAXING GAOWEI INTELLIGENT CONTROL CO.,LTD. |
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