CN107877534A - A kind of robot chela - Google Patents
A kind of robot chela Download PDFInfo
- Publication number
- CN107877534A CN107877534A CN201711298411.3A CN201711298411A CN107877534A CN 107877534 A CN107877534 A CN 107877534A CN 201711298411 A CN201711298411 A CN 201711298411A CN 107877534 A CN107877534 A CN 107877534A
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- CN
- China
- Prior art keywords
- servomotor
- fixed block
- fixedly connected
- robot
- support
- 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.)
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot chela, including fixed block, port is provided with the fixed block, screw rod is rotatably connected in the port, fixed cover is connected to first gear on the screw rod, the bottom of the fixed block is provided with the first servomotor, the output shaft of first servomotor extends through the bottom of fixed block and into port, one end fixed cover of the first servo motor output shaft extension is connected to the second gear being meshed with first gear, screw thread is socketed with two support bars being oppositely arranged on the screw rod, the support bar extends through the both ends of port and stretched out, the side of the fixed block is fixedly connected with symmetrically arranged two support blocks, it is fixedly connected between two support blocks by slide bar, the support bar is provided with sliding mouth corresponding with slide bar.The present invention is made chela when being clamped to object, can be changed according to the actual conditions of object by the setting of many places transmission mechanism.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of robot chela.
Background technology
Hydraulic efficiency manipulator is used in heavy different areas of activity majority at present, the performance of hydraulic efficiency manipulator end effector is to machinery
The overall performance tool of hand plays a very important role, the clamping device of high efficient and reliable be manipulator smoothly complete job task it is important before
Put forward condition.
But the chela structure of existing machinery device people's mechanical arm front end is relatively simple, chela when being clamped to object,
It can not be changed according to the shape of actual object, so as to influence the stability of mechanical arm gripping object.
The content of the invention
It is relatively simple the invention aims to solve the chela structure of mechanical device people mechanical arm front end in the prior art,
Chela to object when clamping, the problem of can not being changed according to actual object shape, and a kind of robot proposed
Chela.
To achieve these goals, present invention employs following technical scheme：
A kind of robot chela, including fixed block, the fixed block is interior to be provided with port, and spiral shell is rotatably connected in the port
Bar, fixed cover is connected to first gear on the screw rod, and the bottom of the fixed block is provided with the first servomotor, first servo
The output shaft of motor extends through the bottom of fixed block and into port, and one end of the first servo motor output shaft extension is consolidated
Surely the second gear being meshed with first gear is socketed with, screw thread is socketed with two support bars being oppositely arranged on the screw rod,
The support bar extends through the both ends of port and stretched out, and the side of the fixed block is fixedly connected with symmetrically arranged two
Individual support block, it is fixedly connected by slide bar between two support blocks, the support bar is provided with sliding mouth corresponding with slide bar,
The one end of the support bar away from slide bar is fixedly connected with the second servomotor, and the output shaft of second servomotor, which is fixed, to be connected
Bull stick is connected to, the one end of the bull stick away from the second servomotor is provided with mounting groove, passes through multiple expansion links in the mounting groove
Be connected with arc, be arranged with the first spring on the expansion link, the both ends of first spring respectively with arc and installation
The inwall of groove is fixedly connected.
Preferably, it is fixedly connected between first servomotor and fixed block by fix bar.
Preferably, rotated on the output shaft of first servomotor and be socketed with support set, the side of the support set and
The inwall of port offsets.
Preferably, second spring is arranged with the slide bar, the both ends of the second spring are consolidated with two support bars respectively
Fixed connection.
Preferably, side fixed bonding of the bull stick away from mounting groove has rubber blanket.
Preferably, side fixed bonding of the arc away from expansion link has slipmat.
Preferably, multiple latch segments are fixedly connected with the outer wall of the fixed block, the latch segment is provided with keeper.
In the present invention, user when in use, first opens the first servomotor and drives second gear to rotate, then by the
Engagement between one gear and second gear drives screw rod to rotate, so as to drive two support bar relative movements, so as to band
Turn bar cramp lives object, when needing to grip object of different shapes, opens the second servomotor and drives bar rotation, so as to change
The shape of two bull stick opposite sides, so as to more stable gripping object.The present invention makes pincers by the setting of many places transmission mechanism
Pawl can be changed when being clamped to object according to the actual conditions of object.
Brief description of the drawings
Fig. 1 is a kind of structural representation of robot chela proposed by the present invention；
Fig. 2 is the side structure schematic view at a kind of robot chela support bar proposed by the present invention；
Fig. 3 is structural representation at Fig. 1 A.
In figure：1 fixed block, 2 screw rods, 3 first gears, 4 first servomotors, 5 second gears, 6 support bars, 7 support blocks,
8 slide bars, 9 second servomotors, 10 bull sticks, 11 expansion links, 12 arcs, 13 first springs, 14 fix bars, 15 support sets, 16
Second spring, 17 latch segments.
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 describes, it is clear that described embodiment is only part of the embodiment of the present 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 instruction 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 chela, including fixed block 1, fixed block 1 is interior to be provided with port, is rotatablely connected in port
There is screw rod 2, for driving support bar 6 to move.Fixed cover is connected to first gear 3 on screw rod 2, fixed for driving screw rod 2 to rotate
The bottom of block 1 is provided with the first servomotor 4, and for driving second gear 5 to rotate, the output shaft of the first servomotor 4 is through solid
Determine the bottom of block 1 and extend into port, one end fixed cover of the output shaft of the first servomotor 4 extension is connected to and first gear 3
The second gear 5 being meshed, for driving screw rod 2 to rotate, screw thread is socketed with two support bars 6 being oppositely arranged on screw rod 2, uses
In supporting the second servomotor 9, support bar 6 extends through the both ends of port and stretched out, and the side of fixed block 1 is fixedly connected
There are symmetrically arranged two support blocks 7, be fixedly connected between two support blocks 7 by slide bar 8, for supporting support bar 6, support
Bar 7 is provided with sliding mouth corresponding with slide bar 8, and the one end of support bar 7 away from slide bar 8 is fixedly connected with the second servomotor 9, is used for
Bull stick 10 is driven to rotate, the output shaft of the second servomotor 9 is fixedly connected with bull stick 10, and bull stick 10 is away from the second servomotor 9
One end be provided with mounting groove, is connected with arc 12 by multiple expansion links 11 in mounting groove, certain elasticity is played to object
Buffering, is arranged with the first spring 13 on expansion link 11, the both ends of the first spring 13 respectively with arc 12 and the inwall of mounting groove
It is fixedly connected, certain elastic buffer is played to object.
In the present invention, it is fixedly connected between the first servomotor 4 and fixed block 1 by fix bar 14, prevents the first servo
Motor 4 rocks, and is rotated on the output shaft of the first servomotor 4 and is socketed with support set 15, the side of support set 15 and port it is interior
Wall is offseted, and prevents the output shaft of the first servomotor 4 from rocking, and second spring 16, the both ends of second spring 16 are arranged with slide bar 8
It is fixedly connected respectively with two support bars 6, certain elastic buffer, side of the bull stick 10 away from mounting groove is played to support bar 6
Fixed bonding has rubber blanket, and certain elastic buffer, side fixed bonding of the arc 12 away from expansion link 11 are played to object
There is slipmat, prevent object from sliding, multiple latch segments 17 are fixedly connected with the outer wall of fixed block 1, latch segment 17 is provided with lock
Tight mouth, convenient fixed fixed block 1.
In the present invention, first open the first servomotor 4 and drive second gear 5 to rotate, then pass through first gear 3 and second
Engagement between gear 5 drives screw rod 2 to rotate, so as to drive two support bars 6 to relatively move, to drive bull stick 10 to press from both sides
Firmly object, when needing to grip object of different shapes, open the second servomotor 9 and drive bull stick 10 to rotate, so as to change two
The shape of the opposite side of bull stick 10, so as to more stable gripping 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 (7)
1. a kind of robot chela, including fixed block (1), it is characterised in that port is provided with the fixed block (1), it is described logical
Intraoral to be rotatably connected to screw rod (2), fixed cover is connected to first gear (3), the bottom of the fixed block (1) on the screw rod (2)
Provided with the first servomotor (4), the output shaft of first servomotor (4) is through the bottom of fixed block (1) and into port
Extension, one end fixed cover of the first servomotor (4) output shaft extension are connected to the second tooth being meshed with first gear (3)
Take turns (5), screw thread is socketed with two support bars (6) being oppositely arranged on the screw rod (2), and the support bar (6) extends through logical
Mouthful both ends simultaneously stretch out, the side of the fixed block (1) is fixedly connected with symmetrically arranged two support blocks (7), two
It is fixedly connected between the support block (7) by slide bar (8), the support bar (7) is provided with sliding mouth corresponding with slide bar (8),
The one end of the support bar (7) away from slide bar (8) is fixedly connected with the second servomotor (9), second servomotor (9)
Output shaft is fixedly connected with bull stick (10), and the one end of the bull stick (10) away from the second servomotor (9) is provided with mounting groove, described
Arc (12) is connected with by multiple expansion links (11) in mounting groove, the first spring is arranged with the expansion link (11)
(13), inwall of the both ends of first spring (13) respectively with arc (12) and mounting groove is fixedly connected.
2. a kind of robot chela according to claim 1, it is characterised in that first servomotor (4) and fixation
It is fixedly connected between block (1) by fix bar (14).
A kind of 3. robot chela according to claim 1, it is characterised in that the output of first servomotor (4)
Rotated on axle and be socketed with support set (15), the side of the support set (15) and the inwall of port offset.
4. a kind of robot chela according to claim 1, it is characterised in that be arranged with the second bullet on the slide bar (8)
Spring (16), the both ends of the second spring (16) are fixedly connected with two support bars (6) respectively.
A kind of 5. robot chela according to claim 1, it is characterised in that the one of the remote mounting groove of the bull stick (10)
Side fixed bonding has rubber blanket.
6. a kind of robot chela according to claim 1, it is characterised in that the arc (12) is away from expansion link
(11) side fixed bonding has slipmat.
7. a kind of robot chela according to claim 1, it is characterised in that fixed on the outer wall of the fixed block (1)
Multiple latch segments (17) are connected with, the latch segment (17) is provided with keeper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711298411.3A CN107877534A (en) | 2017-12-08 | 2017-12-08 | A kind of robot chela |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711298411.3A CN107877534A (en) | 2017-12-08 | 2017-12-08 | A kind of robot chela |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107877534A true CN107877534A (en) | 2018-04-06 |
Family
ID=61773560
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711298411.3A Withdrawn CN107877534A (en) | 2017-12-08 | 2017-12-08 | A kind of robot chela |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107877534A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312171A (en) * | 2018-05-04 | 2018-07-24 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of manipulator convenient for adjusting |
| 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 |
| CN108638107A (en) * | 2018-05-11 | 2018-10-12 | 郑州嘉晨化工科技有限公司 | Numerical controlled machinery arm with feeding clamping device |
| CN108907830A (en) * | 2018-08-24 | 2018-11-30 | 张旭 | A kind of brake disc automatic punching equipment |
| CN108974920A (en) * | 2018-08-15 | 2018-12-11 | 潍坊科技学院 | A kind of transfer robot |
| CN109304700A (en) * | 2018-10-31 | 2019-02-05 | 河南工学院 | A kind of hydraulic clamping robot of industrial production |
| CN110465828A (en) * | 2019-08-11 | 2019-11-19 | 嘉兴勤慎智能技术有限公司 | Industrial robot is used in a kind of handling |
| CN110539325A (en) * | 2019-08-29 | 2019-12-06 | 南京禹智智能科技有限公司 | Novel mechanical gripper for industrial robot |
| CN110817411A (en) * | 2019-11-20 | 2020-02-21 | 黑龙江中医药大学 | Device for mechanically grabbing Chinese patent medicine |
| CN111267066A (en) * | 2020-03-18 | 2020-06-12 | 安徽建筑大学 | Rescue robot with rescue mechanical arm |
-
2017
- 2017-12-08 CN CN201711298411.3A patent/CN107877534A/en not_active Withdrawn
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312171A (en) * | 2018-05-04 | 2018-07-24 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of manipulator convenient for adjusting |
| 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 |
| CN108638107A (en) * | 2018-05-11 | 2018-10-12 | 郑州嘉晨化工科技有限公司 | Numerical controlled machinery arm with feeding clamping device |
| CN108974920A (en) * | 2018-08-15 | 2018-12-11 | 潍坊科技学院 | A kind of transfer robot |
| CN108907830A (en) * | 2018-08-24 | 2018-11-30 | 张旭 | A kind of brake disc automatic punching equipment |
| CN108907830B (en) * | 2018-08-24 | 2020-10-27 | 温岭市天诚汽车修理有限公司 | Automatic punching equipment for brake disc |
| CN109304700A (en) * | 2018-10-31 | 2019-02-05 | 河南工学院 | A kind of hydraulic clamping robot of industrial production |
| CN110465828A (en) * | 2019-08-11 | 2019-11-19 | 嘉兴勤慎智能技术有限公司 | Industrial robot is used in a kind of handling |
| CN110539325A (en) * | 2019-08-29 | 2019-12-06 | 南京禹智智能科技有限公司 | Novel mechanical gripper for industrial robot |
| CN110817411A (en) * | 2019-11-20 | 2020-02-21 | 黑龙江中医药大学 | Device for mechanically grabbing Chinese patent medicine |
| CN111267066A (en) * | 2020-03-18 | 2020-06-12 | 安徽建筑大学 | Rescue robot with rescue mechanical arm |
| CN111267066B (en) * | 2020-03-18 | 2021-06-25 | 安徽建筑大学 | Rescue robot with rescue mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180406 |