CN107186741A - A kind of robot arm clamping device - Google Patents
A kind of robot arm clamping device Download PDFInfo
- Publication number
- CN107186741A CN107186741A CN201710537353.9A CN201710537353A CN107186741A CN 107186741 A CN107186741 A CN 107186741A CN 201710537353 A CN201710537353 A CN 201710537353A CN 107186741 A CN107186741 A CN 107186741A
- Authority
- CN
- China
- Prior art keywords
- main frame
- frame body
- cavity
- gear
- servomotor
- 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
- B25J15/02—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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0038—Cylindrical gripping surfaces
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot arm clamping device, including main frame body and servomotor, the servomotor is fixedly connected with the side outer wall of main frame body, cavity is provided with the main frame body, threaded rod is rotatably connected in the cavity, fixed cover is connected to first gear on the threaded rod, the output end of the servomotor is fixedly connected with bull stick, outer wall of the one end of the bull stick away from servomotor through main frame body and the extension into cavity, one end fixed cover of the bull stick extension is connected to the second gear being meshed with first gear, screw thread is socketed with two support blocks on the threaded rod, the inwall of the cavity side is provided with sliding mouth corresponding with support block.The present invention makes the structure of device relatively simple by the setting of arc and bearing plate, easy to operate, while what can be stablized when being clamped to object clamps object, prevents object from dropping.
Description
Technical field
The present invention relates to technical field of automation equipment, more particularly to a kind of robot arm clamping device.
Background technology
Robot is the automatic installations for performing work, and it can both receive mankind commander, advance volume can be run again
The program of row, can also be according to the principle guiding principle action formulated with artificial intelligence technology, and its task is assistance or the substitution mankind
The work of work, for example, produce industry, construction industry, or dangerous work, with the development of industrial technology, robot is in production
With more and more extensively, existing robot species is varied, in order to preferably clamp object of different shapes, have devised
Imitate the manipulator of human arm.But the clamping of existing manipulator wall is driven using Hydraulic Elements, its cost is higher, knot
Structure is complicated, while when being clamped to object, there is the problem of clamping is unstable, there is very big use defective.
The content of the invention
The invention aims to solve the clamping of manipulator wall in the prior art to drive using Hydraulic Elements, its into
This is higher, complicated, while when being clamped to object, there is the problem of clamping is unstable, and a kind of machine of proposition
Device human arm clamping device.
To achieve these goals, present invention employs following technical scheme：
A kind of robot arm clamping device, including main frame body and servomotor, the side of the servomotor and main frame body
Outer wall is fixedly connected, and is provided with cavity, the cavity to be rotatably connected on threaded rod, the threaded rod in the main frame body and is fixed
First gear is socketed with, the output end of the servomotor is fixedly connected with bull stick, the one end of the bull stick away from servomotor
Outer wall through main frame body and the extension into cavity, one end fixed cover of the bull stick extension are connected to what is be meshed with first gear
Screw thread is socketed with two support blocks on second gear, the threaded rod, and the inwall of the cavity side is provided with and support block pair
The cunning mouth answered, the one end of the support block away from threaded rod runs through sliding mouth and is fixedly connected with arc, two arcs
Relative side is connected with to be rotatably connected in stripper plate, the cavity and mutually nibbled with first gear by some damping shock absorbers
The worm screw of conjunction, one end of the worm screw is run through the inner bottom part of cavity and stretched out, and the bottom of the main frame body is fixedly connected with
It is connected between two support bars for being oppositely arranged, two support bars in bearing plate, the rotating shaft by axis of rotation solid
Surely it is socketed with the 3rd gear that worm screw is meshed.
Preferably, the cunning is intraoral slidably connects some balls, the edge of the ball and the bottom connection of support block
Touch.
Preferably, two equal fixed bondings in the relative side of the stripper plate have slipmat.
Preferably, rotated on the worm screw and be socketed with two fixed covers, the relative side of two fixed covers respectively with
The bottom of cavity inner bottom part and main frame body offsets.
Preferably, the top of the bearing plate is provided with mounting groove, the mounting groove and is connected with buffering by some springs
Plate.
Preferably, the main frame body is fixedly connected with some fixed blocks on the outer wall of servomotor side, described solid
Block is determined provided with fixing port.
In the present invention, user when in use, first passes through fixed block and main frame body is arranged on robot arm, then
Open servomotor and drive bar rotation, drive threaded rod to rotate by the engagement between first gear and second gear,
So as to drive two support block move toward one anothers, so as to drive two arc clamping objects, worm screw is driven to turn by first gear
It is dynamic, axis of rotation is driven by the engagement between the 3rd gear and worm screw, so as to drive bearing plate to rotate, from bottom to thing
Body is supported, and keeps the stability of object.The present invention makes the structure of device more simple by the setting of arc and bearing plate
It is single, it is easy to operate, while what can be stablized when being clamped to object clamps object, prevent object from dropping.
Brief description of the drawings
Fig. 1 is a kind of structural representation of robot arm clamping device proposed by the present invention；
Fig. 2 is a kind of side structure schematic view of robot arm clamping device proposed by the present invention；
Fig. 3 is structural representation at Fig. 2 A.
In figure：1 main frame body, 2 servomotors, 3 threaded rods, 4 first gears, 5 bull sticks, 6 second gears, 7 support blocks, 8 arcs
Shape plate, 9 damping shock absorbers, 10 stripper plates, 11 worm screws, 12 support bars, 13 rotating shafts, 14 bearing plates, 15 the 3rd gears, 16 balls,
17 fixed covers, 18 springs, 19 buffer boards, 20 fixed blocks.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.
In the description of the invention, it is to be understood that term " on ", " under ", "front", "rear", "left", "right", " top ",
The orientation or position relationship of the instruction such as " bottom ", " interior ", " outer " are based on orientation shown in the drawings or position relationship, merely to just
In the description present invention and simplify description, rather than indicate or imply signified device or element must have specific orientation, with
Specific azimuth configuration and operation, therefore be not considered as limiting the invention
Reference picture 1-3, a kind of robot arm clamping device, including main frame body 1 and servomotor 2, servomotor 2 and body frame
The side outer wall of body 1 is fixedly connected, and is provided with main frame body 1 in cavity, cavity and is rotatably connected to threaded rod 3, for driving support
Block 7 is moved, and fixed cover is connected to first gear 4 on threaded rod 3, for driving threaded rod 3 to rotate, and the output end of servomotor 2 is consolidated
Surely bull stick 5 is connected with, for driving second gear 6 to rotate, the outer wall of main frame body 1 is run through in the one end of bull stick 5 away from servomotor 2
And extend into cavity, one end fixed cover that bull stick 5 extends is connected to the second gear 6 being meshed with first gear 4, threaded rod 3
Upper screw thread is socketed with two support blocks 7, for driving arc 8 to move, and the inwall of cavity side is provided with corresponding with support block 7
Cunning mouth, the one end of support block 7 away from threaded rod 3 runs through sliding mouth and is fixedly connected with arc 8, for clamping object, two
The relative side of arc 8 is connected with stripper plate 10 by some damping shock absorbers 9, plays certain cushioning effect, cavity
The worm screw 11 being meshed with first gear 4 is inside rotatably connected to, for driving rotating shaft 13 to rotate, cavity is run through in one end of worm screw 11
Inner bottom part and stretch out, the bottom of main frame body 1 is fixedly connected with two support bars being oppositely arranged 12, for supporting rotating shaft
13, bearing plate 14 is rotatably connected to by rotating shaft 13 between two support bars 12, for solid from bottom supporting object, rotating shaft 13
Surely it is socketed with the 3rd gear 15 that worm screw 11 is meshed.
In the present invention, cunning is intraoral to slidably connect some balls 16, the edge of ball 16 and the bottom connection of support block 7
Touch, reduce the frictional force between support block 7 and sliding mouth, two equal fixed bondings in the relative side of stripper plate 10 have slipmat, prevent
Only object comes off, and is rotated on worm screw 11 and is socketed with two fixed covers 17, the relative side of two fixed covers 17 respectively with cavity
Bottom and the bottom of main frame body 1 are offseted, and prevent worm screw 11 from rocking, and the top of bearing plate 14, which is provided with mounting groove, mounting groove, to be passed through
Some springs 18 are connected with buffer board 19, play certain cushioning effect, main frame body 1 is on the outer wall of the side of servomotor 2
Some fixed blocks 20 are fixedly connected with, fixed block 20 is provided with fixing port, convenient fixed main frame body 1.
In the present invention, first pass through fixed block 20 and main frame body 1 is arranged on robot arm, then open servomotor
2 drive bull sticks 5 are rotated, and drive threaded rod 3 to rotate by the engagement between first gear 4 and second gear 6, so as to drive
Two move toward one anothers of support block 7, to drive two clamping objects of arc 8, drive worm screw 11 to rotate by first gear 4,
Rotating shaft 13 is driven to rotate by the engagement between the 3rd gear 15 and worm screw 11, so as to drive bearing plate 14 to rotate, the bottom of from
Portion is supported to object, keeps the stability of object.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (6)
1. a kind of robot arm clamping device, including main frame body（1）And servomotor（2）, it is characterised in that the servo
Motor（2）And main frame body（1）Side outer wall be fixedly connected, the main frame body（1）It is interior to be provided with the company of rotation in cavity, the cavity
It is connected to threaded rod（3）, the threaded rod（3）Upper fixed cover is connected to first gear（4）, the servomotor（2）Output end consolidate
Surely it is connected with bull stick（5）, the bull stick（5）Away from servomotor（2）One end run through main frame body（1）Outer wall and into cavity
Extension, the bull stick（5）One end fixed cover of extension is connected to and first gear（4）The second gear being meshed（6）, the screw thread
Bar（3）Upper screw thread is socketed with two support blocks（7）, the inwall of the cavity side is provided with and support block（7）Corresponding sliding mouth,
The support block（7）Away from threaded rod（3）One end run through sliding mouth and be fixedly connected with arc（8）, two arcs
（8）Relative side passes through some damping shock absorbers（9）It is connected with stripper plate（10）, it is rotatably connected in the cavity and the
One gear（4）The worm screw being meshed（11）, the worm screw（11）One end through cavity inner bottom part and stretch out, the master
Support body（1）Bottom be fixedly connected with two support bars being oppositely arranged（12）, two support bars（12）Between by turn
Axle（13）It is rotatably connected to bearing plate（14）, the rotating shaft（13）Upper fixed cover is connected to worm screw（11）The 3rd gear being meshed
（15）.
2. a kind of robot arm clamping device according to claim 1, it is characterised in that the intraoral company of slip of the cunning
It is connected to some balls（16）, the ball（16）Edge and support block（7）Bottom connection touch.
3. a kind of robot arm clamping device according to claim 1, it is characterised in that two stripper plates
（10）The equal fixed bonding in relative side has slipmat.
4. a kind of robot arm clamping device according to claim 1, it is characterised in that the worm screw（11）It is upper to turn
It is dynamic to be socketed with two fixed covers（17）, two fixed covers（17）Relative side respectively with cavity inner bottom part and main frame body
（1）Bottom offset.
5. a kind of robot arm clamping device according to claim 1, it is characterised in that the bearing plate（14）'s
Top, which is provided with mounting groove, the mounting groove, passes through some springs（18）It is connected with buffer board（19）.
6. a kind of robot arm clamping device according to claim 1, it is characterised in that the main frame body（1）Lean on
Nearly servomotor（2）Some fixed blocks are fixedly connected with the outer wall of side（20）, the fixed block（20）It is provided with fixing port.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710537353.9A CN107186741A (en) | 2017-07-21 | 2017-07-21 | A kind of robot arm clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710537353.9A CN107186741A (en) | 2017-07-21 | 2017-07-21 | A kind of robot arm clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107186741A true CN107186741A (en) | 2017-09-22 |
Family
ID=59880361
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710537353.9A Pending CN107186741A (en) | 2017-07-21 | 2017-07-21 | A kind of robot arm clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107186741A (en) |
Cited By (32)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107575303A (en) * | 2017-11-02 | 2018-01-12 | 吉林大学 | A kind of motor-driven variable length link |
| CN107598825A (en) * | 2017-10-23 | 2018-01-19 | 安徽江威精密制造有限公司 | A kind of capacitor clamping device |
| CN107622871A (en) * | 2017-10-23 | 2018-01-23 | 安徽江威精密制造有限公司 | assembling and fixing device for capacitor |
| CN107671882A (en) * | 2017-09-30 | 2018-02-09 | 镇江市谷品道原农业有限公司 | A kind of stalk carries gripper structure in fork |
| CN107755449A (en) * | 2017-11-02 | 2018-03-06 | 安徽盛达前亮铝业有限公司 | A kind of extruding die for aluminum shaped material |
| CN107776460A (en) * | 2017-10-25 | 2018-03-09 | 佛山杰致信息科技有限公司 | A kind of multifunction power engineering truck |
| CN107901028A (en) * | 2017-12-14 | 2018-04-13 | 李从宾 | A kind of fixing device for artificial intelligence robot |
| CN108045858A (en) * | 2017-11-29 | 2018-05-18 | 中山市小榄企业服务有限公司 | A kind of pipeline non-destructive testing rotating device |
| CN108081283A (en) * | 2017-12-11 | 2018-05-29 | 淮南师范学院 | A kind of medical safety-type automatically identical robot |
| CN108274489A (en) * | 2018-04-26 | 2018-07-13 | 阜阳盛东智能制造技术研发有限公司 | A kind of medical treatment auxiliary manipulator |
| CN108381591A (en) * | 2018-05-23 | 2018-08-10 | 上海交通大学 | A kind of two finger clamping devices with dual non-slip mechanism |
| CN108501000A (en) * | 2018-06-20 | 2018-09-07 | 江苏大成航空科技有限公司 | A kind of unmanned plane battery changing machine tool hand |
| CN108555945A (en) * | 2018-04-27 | 2018-09-21 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of manipulator positioning grasping mechanism |
| CN108621184A (en) * | 2018-04-03 | 2018-10-09 | 浙江大学 | A kind of machinery prefastening electric drive manipulator |
| CN108621185A (en) * | 2018-05-04 | 2018-10-09 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of conveying robot with defencive function |
| CN108792587A (en) * | 2018-05-04 | 2018-11-13 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of fast removal manipulator |
| CN108942996A (en) * | 2018-07-17 | 2018-12-07 | 安徽航科自动化设备有限公司 | A kind of new-energy automobile gear box casing catching robot |
| CN108974920A (en) * | 2018-08-15 | 2018-12-11 | 潍坊科技学院 | A kind of transfer robot |
| CN109365794A (en) * | 2018-11-20 | 2019-02-22 | 湖州恒发机械科技有限公司 | Metallic solution suspends casting device in midair |
| CN110125905A (en) * | 2018-02-09 | 2019-08-16 | 李威 | A kind of robot device |
| CN110125971A (en) * | 2019-06-18 | 2019-08-16 | 徐春丽 | A kind of roller gear adaptive guard fixture manipulator |
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| CN110405786A (en) * | 2019-07-31 | 2019-11-05 | 河南牧业经济学院 | A kind of catering industry transportation robot |
| CN110576454A (en) * | 2019-10-16 | 2019-12-17 | 河南工程学院 | pressure-adjustable clamping robot |
| CN111002298A (en) * | 2019-12-24 | 2020-04-14 | 芜湖英罗智能制造有限公司 | 3D is centre gripping arm for print head |
| CN111230917A (en) * | 2020-02-21 | 2020-06-05 | 江苏工程职业技术学院 | Industrial robot clamping structure |
| CN111703885A (en) * | 2020-08-20 | 2020-09-25 | 山东交通职业学院 | Automatic clamping device |
| CN111747108A (en) * | 2020-07-09 | 2020-10-09 | 上海思客琦自动化工程有限公司 | Electric clamp capable of clamping multiple groups of lithium battery modules and clamping method |
| CN112454403A (en) * | 2020-12-25 | 2021-03-09 | 淄博职业学院 | Manipulator with function of preventing pipe from rotating and sliding |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107671882A (en) * | 2017-09-30 | 2018-02-09 | 镇江市谷品道原农业有限公司 | A kind of stalk carries gripper structure in fork |
| CN107598825A (en) * | 2017-10-23 | 2018-01-19 | 安徽江威精密制造有限公司 | A kind of capacitor clamping device |
| CN107622871A (en) * | 2017-10-23 | 2018-01-23 | 安徽江威精密制造有限公司 | assembling and fixing device for capacitor |
| CN107776460A (en) * | 2017-10-25 | 2018-03-09 | 佛山杰致信息科技有限公司 | A kind of multifunction power engineering truck |
| CN107755449A (en) * | 2017-11-02 | 2018-03-06 | 安徽盛达前亮铝业有限公司 | A kind of extruding die for aluminum shaped material |
| CN107575303A (en) * | 2017-11-02 | 2018-01-12 | 吉林大学 | A kind of motor-driven variable length link |
| CN108045858A (en) * | 2017-11-29 | 2018-05-18 | 中山市小榄企业服务有限公司 | A kind of pipeline non-destructive testing rotating device |
| CN108081283A (en) * | 2017-12-11 | 2018-05-29 | 淮南师范学院 | A kind of medical safety-type automatically identical robot |
| CN107901028A (en) * | 2017-12-14 | 2018-04-13 | 李从宾 | A kind of fixing device for artificial intelligence robot |
| CN110125905A (en) * | 2018-02-09 | 2019-08-16 | 李威 | A kind of robot device |
| CN108621184B (en) * | 2018-04-03 | 2023-11-10 | 浙江大学 | Mechanical pre-tightening type electric driving manipulator |
| CN108621184A (en) * | 2018-04-03 | 2018-10-09 | 浙江大学 | A kind of machinery prefastening electric drive manipulator |
| CN108274489A (en) * | 2018-04-26 | 2018-07-13 | 阜阳盛东智能制造技术研发有限公司 | A kind of medical treatment auxiliary manipulator |
| CN108274489B (en) * | 2018-04-26 | 2020-12-04 | 江苏同济分析仪器有限公司 | Medical auxiliary manipulator |
| CN108555945A (en) * | 2018-04-27 | 2018-09-21 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of manipulator positioning grasping mechanism |
| CN108792587A (en) * | 2018-05-04 | 2018-11-13 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of fast removal manipulator |
| CN108621185A (en) * | 2018-05-04 | 2018-10-09 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of conveying robot with defencive function |
| CN108381591A (en) * | 2018-05-23 | 2018-08-10 | 上海交通大学 | A kind of two finger clamping devices with dual non-slip mechanism |
| CN108501000A (en) * | 2018-06-20 | 2018-09-07 | 江苏大成航空科技有限公司 | A kind of unmanned plane battery changing machine tool hand |
| CN108942996A (en) * | 2018-07-17 | 2018-12-07 | 安徽航科自动化设备有限公司 | A kind of new-energy automobile gear box casing catching robot |
| CN108974920A (en) * | 2018-08-15 | 2018-12-11 | 潍坊科技学院 | A kind of transfer robot |
| CN109365794A (en) * | 2018-11-20 | 2019-02-22 | 湖州恒发机械科技有限公司 | Metallic solution suspends casting device in midair |
| CN110125971A (en) * | 2019-06-18 | 2019-08-16 | 徐春丽 | A kind of roller gear adaptive guard fixture manipulator |
| CN110293573A (en) * | 2019-06-24 | 2019-10-01 | 盐城永鑫机械有限公司 | A kind of heavy castings clamping device and clamp method |
| CN110405786A (en) * | 2019-07-31 | 2019-11-05 | 河南牧业经济学院 | A kind of catering industry transportation robot |
| CN110576454A (en) * | 2019-10-16 | 2019-12-17 | 河南工程学院 | pressure-adjustable clamping robot |
| CN111002298A (en) * | 2019-12-24 | 2020-04-14 | 芜湖英罗智能制造有限公司 | 3D is centre gripping arm for print head |
| CN111230917A (en) * | 2020-02-21 | 2020-06-05 | 江苏工程职业技术学院 | Industrial robot clamping structure |
| CN111747108A (en) * | 2020-07-09 | 2020-10-09 | 上海思客琦自动化工程有限公司 | Electric clamp capable of clamping multiple groups of lithium battery modules and clamping method |
| CN111703885B (en) * | 2020-08-20 | 2020-11-17 | 山东交通职业学院 | Automatic clamping device |
| CN111703885A (en) * | 2020-08-20 | 2020-09-25 | 山东交通职业学院 | Automatic clamping device |
| CN112659160A (en) * | 2020-12-17 | 2021-04-16 | 深圳晋阳精密模具有限公司 | Industrial robot composite clamp |
| CN112454403A (en) * | 2020-12-25 | 2021-03-09 | 淄博职业学院 | Manipulator with function of preventing pipe from rotating and sliding |
| CN113218656A (en) * | 2021-05-12 | 2021-08-06 | 江苏太平洋精锻科技股份有限公司 | Experiment bench for testing dynamic performance of new energy power assembly differential mechanism |
| CN116872184A (en) * | 2023-08-16 | 2023-10-13 | 南京邮电大学 | Manipulator for producing communication equipment shell |
| CN116872184B (en) * | 2023-08-16 | 2024-06-18 | 南京邮电大学 | Manipulator for producing communication equipment shell |
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