CN106737619B - Mechanical gripper - Google Patents
Mechanical gripper Download PDFInfo
- Publication number
- CN106737619B CN106737619B CN201611227809.3A CN201611227809A CN106737619B CN 106737619 B CN106737619 B CN 106737619B CN 201611227809 A CN201611227809 A CN 201611227809A CN 106737619 B CN106737619 B CN 106737619B
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- China
- Prior art keywords
- cover plate
- push
- rotating shaft
- hollow rotating
- arc
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- 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.)
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- 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
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The utility model provides a manipulator claw, belong to the end effector of a manipulator, which comprises a bracket, hollow pivot, upper cover plate and lower apron, hollow pivot is through first no oily bush and support rotatable coupling, upper cover plate and lower apron lock are in the same place and link together, upper cover plate and lower apron are with hollow pivot's end connection together, it has two arc clamp fingers that are used for pressing from both sides at the disc work piece side to articulate between upper cover plate and the lower apron, the cross-section that the arc clamp finger is circular and the diameter is less than the thickness of disc work piece, be connected with the first actuating mechanism that is used for its opening and shutting on two arc clamp fingers, be equipped with the rotatory second actuating mechanism of drive hollow pivot on the support. The mechanical gripper can not influence the precision of the upper surface and the lower surface of the disc-shaped workpiece in the loading and unloading process of the disc-shaped workpiece, and can finish the overturning action.
Description
Technical field:
the invention relates to an end effector of a manipulator, in particular to a manipulator claw.
The background technology is as follows:
along with development of scientific technology, in order to improve quality and production efficiency of workpieces, a manipulator is gradually adopted in industrial production to replace manual operation, at present, when automatic feeding and discharging is carried out on some thin disc-shaped workpieces, a sucker is usually adopted to suck the upper surface of the thin disc-shaped workpieces or a three-jaw manipulator claw is adopted to grab the upper surface of the thin disc-shaped workpieces to carry out feeding and discharging work, but the mode can only realize parallel movement of the thin disc-shaped workpieces, but can not realize turning of the thin disc-shaped workpieces by 180 degrees in the feeding and discharging process, and when the precision of the upper surface and the lower surface of the thin disc-shaped workpieces is higher, the sucking disc is adopted to suck the upper surface of the thin disc-shaped workpieces to influence the precision of the thin disc-shaped workpieces.
The invention comprises the following steps:
the invention aims to solve the technical problem of providing the mechanical gripper which can finish the overturning action without affecting the precision of the upper surface and the lower surface of the disc-shaped workpiece in the loading and unloading process of the disc-shaped workpiece.
The technical scheme includes that the mechanical gripper comprises a support, a hollow rotating shaft, an upper cover plate and a lower cover plate, wherein the hollow rotating shaft is rotatably connected with the support through a first oil-free bushing, the upper cover plate is buckled with the lower cover plate and is connected with the lower cover plate, the upper cover plate and the lower cover plate are connected with the end part of the hollow rotating shaft, two arc-shaped clamping fingers used for clamping the side surface of a disc-shaped workpiece of a thin plate are hinged between the upper cover plate and the lower cover plate, the cross section of each arc-shaped clamping finger is circular, the diameter of each arc-shaped clamping finger is smaller than the thickness of the disc-shaped workpiece of the thin plate, a first driving mechanism used for opening and closing the arc-shaped clamping fingers is connected to the two arc-shaped clamping fingers, and a second driving mechanism used for driving the hollow rotating shaft to rotate is arranged on the support.
The invention relates to a mechanical gripper, wherein a first driving mechanism comprises a cylinder, a wedge block, an inclined push plate and a push-pull rod, wherein the cylinder body of the cylinder is connected with a bracket, the wedge block is connected with a piston rod of the cylinder, the push-pull rod is positioned in a hollow rotating shaft and can axially move along the hollow rotating shaft, the inclined push plate is connected with the tail end of the push-pull rod, the inclined surface at the bottom of the wedge block is engaged with the inclined surface on the inclined push plate and can relatively slide, the tail ends of two arc-shaped clamping fingers are hinged with a first connecting rod, the front end of the push-pull rod is connected with a rotatable second connecting rod, the two first connecting rods are respectively hinged with the two ends of the second connecting rod, the push-pull rod is connected with a clamp spring, the push-pull rod is sleeved with a first spring, and the two ends of the first spring are respectively propped against the clamp spring and the hollow rotating shaft.
The invention discloses a mechanical gripper, wherein a second driving mechanism comprises a motor, a speed reducer, a first bevel gear and a second bevel gear, the speed reducer is connected in an inner cavity of a bracket, the motor is arranged on the speed reducer, a motor shaft of the motor is connected with an input shaft of the speed reducer, the first bevel gear is connected on an output shaft of the speed reducer, the second bevel gear is connected on a hollow rotating shaft, and the first bevel gear is meshed with the second bevel gear.
The mechanical gripper is characterized in that a guide screw is connected to the inclined push plate and is slidably connected with the support through a second oilless bushing, a second spring is sleeved on the guide screw, and the second spring is propped between a screw head of the guide screw and the second oilless bushing.
After adopting above structure, compared with the prior art, the mechanical gripper has the following advantages: because two arc clamp indicate when snatching and placing the disc-shaped work piece of sheet metal, therefore, can not influence the precision of the upper and lower surface of disc-shaped work piece of sheet metal to the cross-section that arc clamp indicated is circular and diameter is less than the thickness of disc-shaped work piece of sheet metal, can not touch the plane of placing when touching the unloading yet, because be equipped with the rotatory second actuating mechanism of drive hollow pivot on the support again, consequently, when second actuating mechanism drives hollow pivot rotatory, upper cover plate, lower cover plate and two arc clamp that are connected with hollow pivot indicate and rotate together, thereby can realize the action of the disc-shaped work piece upset 180 of two arc clamp finger centre gripping.
The arrangement of the guide screw and the second spring can enable the movement guide and the reset of the inclined push plate to be smoother.
Description of the drawings:
FIG. 1 is a schematic perspective view of a robot gripper according to the present invention;
FIG. 2 is a schematic view of a front cross-sectional structure of the robot jaw of the present invention;
FIG. 3 is a schematic top view of the arcuate gripping fingers of the manipulator of the present invention;
fig. 4 is a schematic perspective view of the mechanical gripper of the present invention holding a thin disc-shaped workpiece.
The specific embodiment is as follows:
the manipulator claw according to the invention is further described below with reference to the accompanying drawings and the detailed description:
as shown in fig. 1 to 4, the mechanical gripper of the invention comprises a bracket 10, a hollow rotating shaft 19, an upper cover plate 11 and a lower cover plate 14, wherein the hollow rotating shaft 19 is rotatably connected with the bracket 10 through two first oil-free bushings 17, the upper cover plate 11 and the lower cover plate 14 are buckled and connected together, the upper cover plate 11 and the lower cover plate 14 are connected with the end part of the hollow rotating shaft 19 together, two arc-shaped clamping fingers 13 used for clamping the side surface of a thin disc-shaped workpiece 101 are hinged between the upper cover plate 11 and the lower cover plate 14, the section of each arc-shaped clamping finger 13 is circular and the diameter is smaller than the thickness of the thin disc-shaped workpiece 101, a first driving mechanism used for opening and closing the arc-shaped clamping fingers 13 is connected with the two arc-shaped clamping fingers 13, a second driving mechanism used for driving the hollow rotating shaft 19 to rotate is arranged on the bracket 10, the first driving mechanism comprises a cylinder 7, a wedge block 3, an inclined push plate 2 and a push-pull rod 20, and the cylinder body of the cylinder 7 is connected with the bracket 10, the wedge-shaped block 3 is connected with a piston rod of the air cylinder 7, the push-pull rod 20 is positioned in the hollow rotating shaft 19 and can axially move along the hollow rotating shaft 19, the inclined push plate 2 is connected with the tail end of the push-pull rod 20, the inclined surface at the bottom of the wedge-shaped block 3 is adhered to the inclined surface on the inclined push plate 2 and can relatively slide, the tail ends of the two arc-shaped clamping fingers 13 are hinged with a first connecting rod 21, the front end of the push-pull rod 20 is connected with a rotatable second connecting rod 12, the two first connecting rods 21 are respectively hinged with the two ends of the second connecting rod 12, the push-pull rod 20 is connected with a clamp spring 15, the push-pull rod 20 is sleeved with a first spring 16, the two ends of the first spring 16 are respectively propped against the clamp spring 15 and the hollow rotating shaft 19, the second driving mechanism comprises a motor 8, a speed reducer 9, a first bevel gear 1 and a second bevel gear 18, the speed reducer 9 is connected in an inner cavity of the bracket 10, and an output shaft of the speed reducer 9 is vertically arranged with the hollow rotating shaft 19, the motor 8 is installed on the reduction gear 9, the motor shaft of the motor 8 is connected with the input shaft of the reduction gear 9, the first bevel gear 1 is connected on the output shaft of the reduction gear 9, the second bevel gear 18 is connected on the hollow rotating shaft 19, the first bevel gear 1 is meshed with the second bevel gear 18, the inclined push plate 2 is connected with the guide screw 4, the guide screw 4 is slidably connected with the support 10 through the second oil-free bushing 5, the guide screw 4 is sleeved with the second spring 6, the second spring 6 is propped between the screw head of the guide screw 4 and the second oil-free bushing 5, and the reduction gear 9 is a commercially available product, so the specific structure of the guide screw is not repeated here.
The working principle of the mechanical gripper of the invention is as follows: when the piston rod of the air cylinder 7 moves downwards, the wedge block 3 is driven to move downwards, the wedge block 3 moves downwards to enable the inclined push plate 2, the push-pull rod 20 and the second connecting rod 12 connected with the front end of the push-pull rod 20 to move along the hollow rotating shaft 19 towards the rear end, at the moment, the first spring 16 is contracted, the second connecting rod 12 drives the two arc-shaped clamping fingers 13 to rotate through the two first connecting rods 21, and the two arc-shaped clamping fingers 13 can be clamped on the side face of the disc-shaped thin plate workpiece 101 to realize clamping action; when the disc-shaped workpiece 101 is to be put down, only the piston rod of the air cylinder 7 is required to move upwards, under the action of the elastic force of the first spring 16, the inclined push plate 2, the push-pull rod 20 and the second connecting rod 12 connected with the front end of the push-pull rod 20 can move forwards along the hollow rotating shaft 19, and the second connecting rod 12 drives the two arc-shaped clamping fingers 13 to rotate in opposite directions through the two first connecting rods 21, so that the two arc-shaped clamping fingers 13 are opened, and the disc-shaped workpiece 101 can be put down; through the rotation of the motor shaft of the motor 8, the first bevel gear 1 is driven to rotate after the speed is reduced by the speed reducer 9, the rotation of the first bevel gear 1 drives the second bevel gear 18 to rotate, the rotation of the second bevel gear 18 drives the hollow rotating shaft 19 to rotate, the rotation of the hollow rotating shaft 19 drives the upper cover plate 11, the lower cover plate 14 and the two arc-shaped clamping fingers 13 connected with the hollow rotating shaft to rotate together around the push-pull rod 20, and the action of turning over 180 degrees of the thin disc-shaped workpiece 101 clamped by the two arc-shaped clamping fingers 13 can be realized.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (3)
1. A mechanical gripper, characterized in that: the device comprises a support (10), a hollow rotating shaft (19), an upper cover plate (11) and a lower cover plate (14), wherein the hollow rotating shaft (19) is rotatably connected with the support (10) through a first oil-free bushing (17), the upper cover plate (11) is buckled with the lower cover plate (14) and is connected with the lower cover plate (14), the upper cover plate (11) and the lower cover plate (14) are connected with the end part of the hollow rotating shaft (19), two arc-shaped clamping fingers (13) used for clamping the side surface of a thin disc-shaped workpiece (101) are hinged between the upper cover plate (11) and the lower cover plate (14), the section of each arc-shaped clamping finger (13) is circular, the diameter of each arc-shaped clamping finger is smaller than the thickness of the thin disc-shaped workpiece (101), a first driving mechanism used for opening and closing the arc-shaped clamping fingers (13) is connected with the support (10), and a second driving mechanism used for driving the hollow rotating shaft (19) to rotate is arranged on the support (10).
The first driving mechanism comprises a cylinder (7), a wedge block (3), an inclined push plate (2) and a push-pull rod (20), wherein the cylinder body of the cylinder (7) is connected with a bracket (10), the wedge block (3) is connected with a piston rod of the cylinder (7), the push-pull rod (20) is positioned in a hollow rotating shaft (19) and can axially move along the hollow rotating shaft (19), the inclined push plate (2) is connected with the tail end of the push-pull rod (20), the inclined surface at the bottom of the wedge block (3) is engaged with the inclined surface on the inclined push plate (2) and can relatively slide, the tail ends of the two arc clamping fingers (13) are hinged with a first connecting rod (21), the front ends of the push-pull rod (20) are connected with rotatable second connecting rods (12), the two first connecting rods (21) are hinged with the two ends of the second connecting rods (12) respectively, the push-pull rod (20) are connected with a clamp spring (15), the push-pull rod (20) is sleeved with a first spring (16), and the two ends of the first spring (16) are respectively pushed against the hollow rotating shaft (19).
2. The manipulator claw according to claim 1, wherein: the second driving mechanism comprises a motor (8), a speed reducer (9), a first bevel gear (1) and a second bevel gear (18), wherein the speed reducer (9) is connected in an inner cavity of the support (10), the motor (8) is installed on the speed reducer (9), a motor shaft of the motor (8) is connected with an input shaft of the speed reducer (9), the first bevel gear (1) is connected to an output shaft of the speed reducer (9), the second bevel gear (18) is connected to a hollow rotating shaft (19), and the first bevel gear (1) is meshed with the second bevel gear (18).
3. The manipulator claw according to claim 1, wherein: the inclined pushing plate (2) is connected with a guide screw (4), the guide screw (4) is slidably connected with the support (10) through a second oil-free bushing (5), a second spring (6) is sleeved on the guide screw (4), and the second spring (6) is propped between a screw head of the guide 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 CN106737619A (en) | 2017-05-31 |
| CN106737619B true CN106737619B (en) | 2023-06-13 |
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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 |
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| CN (1) | CN106737619B (en) |
Families Citing this family (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 |
| 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 |
| 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 |
| CN112095492B (en) * | 2020-10-20 | 2021-11-12 | 安徽省公路桥梁工程有限公司 | Thrust device of guy rope hanging basket for bridge construction |
Citations (3)
| 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 |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5345167B2 (en) * | 2011-03-18 | 2013-11-20 | 東京エレクトロン株式会社 | 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 |
| CN105128023B (en) * | 2015-08-25 | 2017-06-06 | 河南科技大学 | A kind of manipulator |
| CN105057937B (en) * | 2015-08-28 | 2017-01-25 | 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 |
-
2016
- 2016-12-27 CN CN201611227809.3A patent/CN106737619B/en active Active
Patent Citations (3)
| 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 |
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| Publication number | Publication date |
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| CN106737619A (en) | 2017-05-31 |
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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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