CN108115717A - A kind of grabbing device of robot - Google Patents
A kind of grabbing device of robot Download PDFInfo
- Publication number
- CN108115717A CN108115717A CN201711374631.XA CN201711374631A CN108115717A CN 108115717 A CN108115717 A CN 108115717A CN 201711374631 A CN201711374631 A CN 201711374631A CN 108115717 A CN108115717 A CN 108115717A
- Authority
- CN
- China
- Prior art keywords
- push rod
- articulated
- pushing block
- fixed
- fixed link
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The invention discloses a kind of grabbing devices of robot,Including fixed link,The bottom of the fixed link is fixed with shaft,And the root of shaft two gripper jaws of articulated connection,Sliding sleeve is equipped with pushing block in the fixed link,The both sides of the pushing block are fixed with two first articulated shafts,And the upper end of two first articulated shafts, two push rod of articulated connection,The present invention is when pushing block slide downward,The upper end of two push rod is squeezed,So that the lower end of push rod is flared out,Drive the opening of gripper jaw,When pushing block upward sliding,The upper end Tensile of push rod,So that the lower end of push rod is to contract,Gripper jaw is driven to be closed,Support slot plays the role of support,Push rod is made to remain at vertical direction movement,The opening of gripper jaw is made more to stablize with being closed,Guided way plays the role of guiding to the slip of pushing block,Pass through the setting of ball,Reduce the frictional force between guided way and pushing block.
Description
Technical field
The present invention relates to robotic technology fields, are specially a kind of grabbing device of robot.
Background technology
Industrial robot is the multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is to realize a kind of machine of various functions by self power and control ability.It can receive mankind commander, also may be used
To be run according to the program of advance layout, modern industrial robot can also be according to the principle guiding principle of artificial intelligence technology formulation
Action, industrial robot can replace people to do some dull, frequent and repetition long workings or danger in the industrial production
Operation under danger, adverse circumstances, such as add in punching press, compression casting, heat treatment, welding, application, plastic products shaping, machinery
In the processes such as work and simple assembling and in the departments such as atomic energy industry, carrying or the technique of harmful material are completed
Operation, the grabbing device gripper jaw of industrial robot of the prior art realize holding action, structure by more linkages
It is unstable, and clamp work in be easy to swing, therefore it is proposed that a kind of grabbing device of robot to solve on
State problem.
The content of the invention
It is an object of the invention to provide a kind of grabbing device of robot, to solve mentioned above in the background art ask
Topic.
To achieve the above object, the present invention provides following technical solution：A kind of grabbing device of robot, including fixation
Bar, the bottom of the fixed link are fixed with shaft, and the root of shaft two gripper jaws of articulated connection, are slided in the fixed link
Dynamic to be arranged with pushing block, the both sides of the pushing block are fixed with two first articulated shafts, and two first articulated shafts hingedly connect
The upper end of two push rod is connect, two second articulated shafts, and two second articulated shafts point are fixed on two gripper jaws
It is not articulated and connected with the lower end of two push rod, the surface of the fixed link is fixed with link block, and link block and supporting shell
Inner wall be fixedly connected, the upper end of the supporting shell, which is run through, is equipped with opening, and the upper end of the pushing block and one end of push rod are fixed
Connection, the push rod are fixedly connected with fixed link.
Preferably, the axis of the shaft and the length direction of fixed link are vertical, plane residing for the supporting shell and push
Plane is parallel residing for bar.
Preferably, the axis of two first articulated shafts is parallel with horizontal plane, the axis of second articulated shaft and
The axis of one articulated shaft is parallel.
Preferably, the inner wall insertion of the supporting shell is equipped with support slot, and the end of second articulated shaft, which is slided, to be fastened on
In support slot, and the head of the second articulated shaft is smooth sphere structure.
Preferably, guided way is fixed in the opening, the pushing block slip is fastened in guided way.
Preferably, the surface insertion of the sliding shoe is equipped with ball grooves, the length directions of the ball grooves perpendicular to horizontal plane,
And rolled in ball grooves and be arranged with ball, the guided way is embedded in equipped with sliding slot, and the ball rolling is fastened in sliding slot.
Compared with prior art, the beneficial effects of the invention are as follows：
1st, when pushing block slide downward of the present invention, the upper end of two push rod is squeezed so that the lower end of push rod
It is flared out, drives the opening of gripper jaw, when pushing block upward sliding, the upper end Tensile of push rod so that push
The lower end of bar drives gripper jaw to be closed, drive mechanism is simple, more stablizes to contract；
2nd, support slot of the present invention plays the role of support, and push rod is made to remain at vertical direction movement, makes gripper jaw
Opening be closed more stablize, guided way plays the role of guiding to the slip of pushing block, and by the setting of ball, reduction is led
Frictional force between rail and pushing block.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is enlarged structure schematic diagram at A in Fig. 1 of the present invention；
Fig. 3 is guided way structure diagram of the present invention.
In figure：1 fixed link, 2 shafts, 3 gripper jaws, 4 pushing blocks, 5 first articulated shafts, 6 push rod, 7 second articulated shafts, 8
Supporting shell, 9 push rods, 10 support slots, 11 guided ways, 12 ball grooves.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution 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, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment belongs to the scope of protection of the invention.
- 3 are please referred to Fig.1, the present invention provides a kind of technical solution：A kind of grabbing device of robot, including fixed link 1,
The bottom of fixed link 1 is fixed with shaft 2, and the axis of shaft 2 is vertical with the length direction of fixed link 1, and shaft 2 is articulated and connected
The root of two gripper jaws 3, two gripper jaws 3 can rotate in shaft 2, and sliding sleeve is equipped with pushing block 4 in fixed link 1, pushes away
The both sides of motion block 4 are fixed with two first articulated shafts 5, and two first articulated shafts 5 are articulated and connected the upper of two push rod 6
End, is fixed with two second articulated shafts 7 on two gripper jaws 3, and two second articulated shafts 7 respectively with two push rod 6
Lower end is articulated and connected, and the axis of two first articulated shafts 5 is parallel with horizontal plane, the axis of the second articulated shaft 7 and the first articulated shaft 5
Axis it is parallel, when 4 slide downward of pushing block, the upper end of two push rod 6 is squeezed so that the lower end of push rod 6
It is flared out, drives the opening of gripper jaw 3, when 4 upward sliding of pushing block, the upper end Tensile of push rod 6 so that push away
The lower end of bar 6 is sent gripper jaw 3 to be driven to be closed, drive mechanism is simple, easy to produce and stable structure to contract.
The surface of fixed link 1 is fixed with link block, and link block is fixedly connected with the inner wall of supporting shell 8, and link block makes
Fixed link 1 is fixed together with supporting shell 8, and plane is parallel with plane residing for push rod 6 residing for supporting shell 8, supporting shell 8
Inner wall insertion is equipped with support slot 10, and the end of the second articulated shaft 7, which is slided, to be fastened in support slot 10, and the head of the second articulated shaft 7
Portion is smooth sphere structure, and the setting of smooth sphere structure reduces the sliding friction between 10 and second articulated shaft 7 of support slot
Power is also coated with lubricating oil in support slot 10, when plane residing for gripper jaw 3 is parallel with horizontal plane and slings weight, 8 energy of supporting shell
Enough to play the role of support to gripper jaw 3, fixed link 1 is the state being fixedly connected with support slot 10, and pushing block 4 is in fixed link 1
On slide up and down, the second articulated shaft 7 is moved with the movement of push rod 6, and support slot 10 plays the role of support, makes push rod
6 remain at vertical direction movement, and the opening of gripper jaw 3 is made more to stablize with being closed.
The upper end of supporting shell 8, which is run through, is equipped with opening, and the upper end of pushing block 4 is fixedly connected with one end of push rod 9, and push rod 9 is
Electric pushrod can promote pushing block 4 to slide up and down, and push rod 9 is fixedly connected with fixed link 1, and guided way is fixed in opening
11, the slip of pushing block 4 is fastened in guided way 11, and guided way 11 plays the role of guiding to the slip of pushing block 4.
The surface insertion of pushing block 4 is equipped with ball grooves 12, and the length directions of the ball grooves 12 is perpendicular to horizontal plane, and ball
It is rolled in slot 12 and is arranged with ball, guided way 11 is embedded in equipped with sliding slot, and ball rolling is fastened in sliding slot, passes through setting for ball
It puts, reduces the frictional force between guided way 11 and pushing block 4, reduce the abrasion between pushing block 4 and guided way 11.
Operation principle：When 4 slide downward of pushing block, the upper end of two push rod 6 is squeezed the present invention so that pushes away
The lower end of bar 6 is sent to be flared out, drives the opening of gripper jaw 3, when 4 upward sliding of pushing block, the upper end of push rod 6 by
It stretches so that the lower end of push rod 6 drives gripper jaw 3 to be closed, support slot 10 plays the role of support, makes push to contract
Bar 6 remains at vertical direction movement, the opening of gripper jaw 3 is made more to stablize with being closed, guided way 11 is to the cunning of pushing block 4
It is dynamic to play the role of guiding, by the setting of ball, reduce the frictional force between guided way 11 and pushing block 4.
In the description of the present invention, it is to be understood that term " bottom ", " inner wall ", " head ", " surface ", " upper end "
Wait the orientation of instructions or position relationship be based on orientation shown in the drawings or position relationship, be for only for ease of the description present invention and
Simplify description rather than instruction or imply that signified device or element there must be specific orientation, with specific azimuth configuration
And operation, therefore be not considered as limiting the invention.
In the present invention, unless otherwise clearly defined and limited, term " being equipped with ", " connection ", " fixation ", " hinged " etc.
Term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integral；Can be that machinery connects
It connects or is electrically connected；It can be directly connected, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, unless otherwise restricted clearly, for those of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of grabbing device of robot, including fixed link (1), it is characterised in that：The bottom of the fixed link (1) is fixed and is set
There is a shaft (2), and shaft (2) is articulated and connected the root of two gripper jaws (3), sliding sleeve, which is equipped with, on the fixed link (1) promotes
Block (4), the both sides of the pushing block (4) are fixed with two first articulated shafts (5), and two first articulated shafts (5) hingedly connect
The upper end of two push rod (6) is connect, two second articulated shafts (7), and two second are fixed on two gripper jaws (3)
Articulated shaft (7) is articulated and connected respectively with the lower end of two push rod (6), and the surface of the fixed link (1) is fixed with link block,
And link block is fixedly connected with the inner wall of supporting shell (8), the upper end of the supporting shell (8), which is run through, is equipped with opening, the pushing block
(4) upper end is fixedly connected with the one end of push rod (9), and the push rod (9) is fixedly connected with fixed link (1).
2. a kind of grabbing device of robot according to claim 1, it is characterised in that：The axis of the shaft (2) with
The length direction of fixed link (1) is vertical, and plane residing for the supporting shell (8) is parallel with plane residing for push rod (6).
3. a kind of grabbing device of robot according to claim 1, it is characterised in that：Two first articulated shafts
(5) axis is parallel with horizontal plane, and the axis of second articulated shaft (7) is parallel with the axis of the first articulated shaft (5).
4. a kind of grabbing device of robot according to claim 1, it is characterised in that：The inner wall of the supporting shell (8)
Embedded to be equipped with support slot (10), the end of second articulated shaft (7), which is slided, to be fastened in support slot (10), and the second articulated shaft
(7) head is smooth sphere structure.
5. a kind of grabbing device of robot according to claim 1, it is characterised in that：It is fixed with and leads in the opening
To rail (11), the pushing block (4) is slided and is fastened in guided way (11).
6. a kind of grabbing device of robot according to claim 5, it is characterised in that：The surface of the sliding shoe (4)
Embedded to be equipped with ball grooves (12), the length direction of the ball grooves (12) rolls card perpendicular to horizontal plane, and in ball grooves (12) and sets
There is ball, the guided way (11) is embedded in equipped with sliding slot, and the ball rolling is fastened in sliding slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711374631.XA CN108115717A (en) | 2017-12-19 | 2017-12-19 | A kind of grabbing device of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711374631.XA CN108115717A (en) | 2017-12-19 | 2017-12-19 | A kind of grabbing device of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108115717A true CN108115717A (en) | 2018-06-05 |
Family
ID=62229466
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711374631.XA Pending CN108115717A (en) | 2017-12-19 | 2017-12-19 | A kind of grabbing device of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108115717A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110916761A (en) * | 2019-12-12 | 2020-03-27 | 毕建耀 | Be used for department of general surgery to handle and use tweezers |
| CN110961894A (en) * | 2019-12-01 | 2020-04-07 | 安徽蓝锐电子科技有限公司 | Lamp holder wire feeding and inserting device |
| CN112894868A (en) * | 2021-05-07 | 2021-06-04 | 中国科学院宁波材料技术与工程研究所 | Variable-rigidity clamping device and industrial robot |
| US11633865B2 (en) | 2021-04-01 | 2023-04-25 | Ford Global Technologies, Llc | Mechanically actuated end of arm tooling device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201399788Y (en) * | 2009-05-15 | 2010-02-10 | 竺开明 | Pneumatic control mechanical gripper |
| CN203305225U (en) * | 2013-06-20 | 2013-11-27 | 太仓子午电气有限公司 | Automatic manipulator |
| CN105479477A (en) * | 2015-12-30 | 2016-04-13 | 苏州林信源自动化科技有限公司 | Detachable simple mechanical gripper |
-
2017
- 2017-12-19 CN CN201711374631.XA patent/CN108115717A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201399788Y (en) * | 2009-05-15 | 2010-02-10 | 竺开明 | Pneumatic control mechanical gripper |
| CN203305225U (en) * | 2013-06-20 | 2013-11-27 | 太仓子午电气有限公司 | Automatic manipulator |
| CN105479477A (en) * | 2015-12-30 | 2016-04-13 | 苏州林信源自动化科技有限公司 | Detachable simple mechanical gripper |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110961894A (en) * | 2019-12-01 | 2020-04-07 | 安徽蓝锐电子科技有限公司 | Lamp holder wire feeding and inserting device |
| CN110961894B (en) * | 2019-12-01 | 2022-03-25 | 安徽蓝锐电子科技有限公司 | Lamp holder wire feeding and inserting device |
| CN110916761A (en) * | 2019-12-12 | 2020-03-27 | 毕建耀 | Be used for department of general surgery to handle and use tweezers |
| US11633865B2 (en) | 2021-04-01 | 2023-04-25 | Ford Global Technologies, Llc | Mechanically actuated end of arm tooling device |
| CN112894868A (en) * | 2021-05-07 | 2021-06-04 | 中国科学院宁波材料技术与工程研究所 | Variable-rigidity clamping device and industrial robot |
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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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180605 |
|
| RJ01 | Rejection of invention patent application after publication |