CN108127678A - A kind of rod piece clamper - Google Patents
A kind of rod piece clamper Download PDFInfo
- Publication number
- CN108127678A CN108127678A CN201810127374.8A CN201810127374A CN108127678A CN 108127678 A CN108127678 A CN 108127678A CN 201810127374 A CN201810127374 A CN 201810127374A CN 108127678 A CN108127678 A CN 108127678A
- Authority
- CN
- China
- Prior art keywords
- clamping plate
- rod piece
- worm screw
- lower jaw
- clamper
- 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
- 210000002050 maxilla Anatomy 0.000 claims abstract description 24
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 3
- 230000009194 climbing Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 241000237858 Gastropoda Species 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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
- B25J15/0019—End effectors other than grippers
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of rod piece clamper, including maxilla, lower jaw, the worm screw for being rotatably connected with lower jaw and being engaged with maxilla；Wherein, maxilla is equipped with first clamping plate, and lower jaw is equipped with second clamping plate, and anti-sliding rib is equipped in first clamping plate and second clamping plate, and can be moved by rotary worm, the maxilla that makes to be meshed with worm screw, so as to change the distance of first clamping plate and second clamping plate.In actual use, rod piece to be held is placed between first clamping plate and second clamping plate, and rotary worm shortens the distance between first clamping plate and second clamping plate, until rod piece is fixedly clamped.Because of the latching characteristics that worm screw engages with rack, worm screw can lock the distance between first clamping plate and second clamping plate in stop motion；And anti-sliding rib is equipped in first clamping plate and second clamping plate, slip of the clamper around rod piece central axis can be effectively prevented, so as to ensure that clamper grabs folder for the reliable of rod piece.
Description
Technical field
The present invention relates to robot ends to grip field, more specifically to a kind of rod piece clamper.
Background technology
In industries such as agricultural, buildings, there are a large amount of high intensity, highly difficult, high-risk operation, such as picking fruit, lines
Cable is set up, truss dismounts etc., and the work of heavy " three high " is higher to manpower requirements, time-consuming and laborious, less efficient, and is easy to send out
Raw work accident, causes casualties.
In recent years, it in order to improve working efficiency, ensures personal safety, more high-risk work is gradually introducing robot work
Industry is such as climbed using climbing robot instead of manpower.Climbing robot is mutually fixed using clamper with rod piece, and is in control
Climbing operation is completed under the control of system.But for the prior art, there is design deficiency in clamper on the market, clamping force has
Limit, easily makes to slide between clamper and rod piece, and lead to the sliding of robot in actual use, influences to climb work
It is smoothed out.
Therefore, the stability between clamper and rod piece how is improved, avoids the occurrence of the sliding of clamper, at this stage should be
Field problem urgently to be resolved hurrily.
Invention content
In view of this, the purpose of the present invention is to provide a kind of rod piece clamper, which can improve clamping
Stability between device and rod piece avoids the occurrence of clamper sliding, solves the problems, such as the field at this stage.
A kind of rod piece clamper, applied to gripping for robot end, including：
Maxilla, the maxilla include first clamping plate and with the mutually fixed rack of the first clamping plate, and the first clamping plate
It is equipped with anti-sliding rib；
Lower jaw, the lower jaw include second clamping plate and the connecting plate being connected with the second clamping plate, the second clamping plate
Anti- sliding rib is equipped with, the connecting plate is equipped with first through hole, and the rack can pass through the first through hole and realize institute
State the suit of lower jaw and the maxilla；
Worm screw, the worm screw with the lower jaw is rotatable is connected, and the worm screw is meshed with the rack, and energy
It is enough to adjust the distance between the first clamping plate and the second clamping plate by rotating the worm screw.
Preferably, the rod piece clamper further includes disc type electric machine, the rotary shaft of the disc type electric machine and the worm screw
It is connected, for the worm screw to be driven to rotate.
Preferably, the rod piece clamper, harmonic speed reducer is connected between the disc type electric machine and the worm screw.
Preferably, the rod piece clamper applied to robot, further includes controller, the controller and the machine
Device people and disc type electric machine communication connection, for receiving the instruction that the robot is sent out, and control the disc type electric machine work
Make.
Preferably, the rod piece clamper further includes and the mutually fixed housing of the lower jaw, the end energy of the housing
Enough joints with the robot are connected.
Preferably, the rod piece clamper, the housing is with the lower jaw to be spirally connected.
Preferably, the rod piece clamper further includes guide rod, and the guide rod is mutually fixed with the maxilla, described
The connecting plate of lower jaw is equipped with the second through-hole passed through for the guide rod.
Preferably, the rod piece clamper, the guide rod is two, and the connecting plate is set there are two described second
Through-hole.
Preferably, the rod piece clamper, recess of the first clamping plate for package can be formed to rod piece.
Preferably, the rod piece clamper, recess of the second clamping plate for package can be formed to rod piece.
The present invention proposes a kind of rod piece clamper, and including maxilla, the lower jaw with maxilla suit connection is rotated with lower jaw and connected
The worm screw for connecing and being engaged with maxilla；Wherein, maxilla is equipped with first clamping plate, and lower jaw is equipped with second clamping plate, and first clamping plate and second
It is equipped with anti-sliding rib on clamping plate, and can be moved by rotary worm, the maxilla that makes to be meshed with worm screw, so as to change first clamping plate
With the distance of second clamping plate.In actual use, rod piece to be held is placed between first clamping plate and second clamping plate, and rotated
Worm screw shortens the distance between first clamping plate and second clamping plate, until being fixedly clamped rod piece in first clamping plate and second clamping plate
Between.Because of the latching characteristics that worm screw engages with rack, worm screw can will be between first clamping plate and second clamping plate in stop motion
Distance locking；And anti-sliding rib is equipped in first clamping plate and second clamping plate, clamper can be effectively prevented around rod piece central axis
Slip, so as to ensure that clamper grabs folder for the reliable of rod piece.Therefore, rod piece clamper provided by the invention, can improve
Stability between clamper and rod piece avoids the occurrence of clamper sliding, solves the problems, such as the field at this stage.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the schematic diagram of rod piece clamper in the specific embodiment of the invention；
Fig. 2 is the sectional view of rod piece clamper in the specific embodiment of the invention；
Fig. 3 is the schematic diagram that rod piece clamper is combined with rod piece in the specific embodiment of the invention.
In Fig. 1-Fig. 3：
Maxilla -1, first clamping plate -2, rack -3, anti-sliding rib -4, lower jaw -5, second clamping plate -6, connecting plate -7,
Worm screw -8, disc type electric machine -9, controller -10, housing -11, guide rod -12, harmonic speed reducer -13, harmonic wave shaft coupling
Device -14, ball bearing -15.
Specific embodiment
The core of present embodiment is to provide a kind of rod piece clamper, which can improve clamper
Stability between rod piece avoids the occurrence of clamper sliding, solves the problems, such as the field at this stage.
Hereinafter, embodiment is illustrated with reference to attached drawing.In addition, embodiments illustrated below is not to recorded in claim
Invention content rise any restriction effect.In addition, the full content of the composition represented by example below is not limited to as right
It is required that necessary to the solution of recorded invention.
The rod piece clamper that present embodiment provides, mainly includes：Maxilla 1, lower jaw 5, worm screw 8；Wherein, maxilla 1
Including first clamping plate 2 and rack 3, and rack 3 is fixed with 2 phase of first clamping plate, and first clamping plate 2 is equipped with anti-sliding rib 4；Lower jaw 5 wraps
Second clamping plate 6 and connecting plate 7 are included, second clamping plate 6 is connected with connecting plate 7, anti-sliding rib 4 is also equipped in second clamping plate 6, and connect
Plate 7 is equipped with first through hole, and above-mentioned rack 3 can pass through first through hole and realize that lower jaw 5 and the suit of maxilla 1 are connect；Worm screw
8 with 5 rotatable connection of lower jaw.It please specifically refer to Fig. 1-Fig. 3.
Above-mentioned rod piece clamper in actual use, by rod piece to be held be placed in first clamping plate 2 and second clamping plate 6 it
Between, and rotary worm 8 shortens the distance between first clamping plate 2 and second clamping plate 6, until being fixedly clamped rod piece in the first folder
Between plate 2 and second clamping plate 6.Because of the latching characteristics that worm screw 8 engages with rack 3, worm screw 8 can be by the first folder in stop motion
The locking of the distance between plate 2 and second clamping plate 6；And anti-sliding rib 4 is equipped in first clamping plate 2 and second clamping plate 6, it can effectively prevent
Clamper around rod piece central axis slip, so as to ensure that clamper grabs folder for the reliable of rod piece.Therefore, it is provided by the invention
Rod piece clamper can improve the stability between clamper and rod piece, avoid the occurrence of clamper sliding, at this stage should solve
The problem in field.
The rod piece clamper that present embodiment provides, when in use, can by the rotation of manually implemented worm screw 8,
So as to adjust the distance between first clamping plate 2 and second clamping plate 6, but for the intelligence for further improving clamper, facilitate reality
With can design using driving device of the disc type electric machine 9 as worm screw 8；I.e. the shaft of disc type electric machine 9 is connected with worm screw 8, uses
It is rotated in driving worm screw 8.
It preferably, can be in disc type electric machine 9 and snail in order to further improve the rotating property of shaft connection inside clamper
Harmonic speed reducer 13 is connected between bar 8；And the harmonic wave shaft coupling 14 being connected with harmonic speed reducer 13 can be further set.
The rod piece clamper that present embodiment provides, can be connected between worm screw 8 and lower jaw 5 by bearing, example
Such as ball bearing 15, the rotating property of relative motion therebetween can be further improved, ensures the smooth pivotal of worm screw 8.
The rod piece clamper that present embodiment provides, can be applied to robot, to ensure climbing robot and bar
Soundness between part；In order to which the communication further facilitated between robot is connect, controller 10 is also provided with, the control
Device 10 processed is connected with robot and disc type electric machine 9, for receiving the instruction that machine human hair goes out, convenient for opening to disc type electric machine 9
Stop being controlled, consequently facilitating the clamping to rod piece carries out good control.It please specifically refer to Fig. 1-Fig. 3.
The rod piece clamper that present embodiment provides, in order to be carried out to worm screw 8, disc type electric machine 9 and relevant component
Protection can be equipped with housing 11, the safety of this clamper is improved by housing 11, is prolonged the service life；The housing 11 can be with
It is fixed with 5 phase of lower jaw, and the mating connection with joint of robot can be realized by the end of housing 11, in order to which clamper should
For robot.It can be clamping between housing 11 and lower jaw 5, be spirally connected or other can play the connection of equivalent effect
Form can set therebetween other fixing pieces, to realize that housing 11 can be with the mating connection between lower jaw 5.
Preferably, in order to which maxilla 1 in rotary worm 8, can be made smoothly mobile, to adjust first clamping plate 2 and second
The distance between clamping plate 6 can be equipped with guide rod 12；The guide rod 12 is fixed with 1 phase of maxilla, and on the connecting plate 7 of lower jaw 5
Equipped with the second through-hole that can pass through guide rod 12, when maxilla 1 moves, it can be moved and play a part of to be oriented to, prevented
There is clamping offset, to be further ensured that the clamping of clamper and firm performance.And in order to ensure the stationarity being oriented to, Ke Yi
Two guide rods 12 of monosymmetric setting of rack 3, as shown in Figure 1, set on corresponding connecting plate 7 there are two with 12 phase of guide rod
Matched second through-hole.
The rod piece clamper that present embodiment provides, can be by the first folder in order to further ensure the performance of clamping
Plate 2 and second clamping plate 6 are set as umbilicate type, i.e., can form parcel-like to rod piece when actually clamping rod piece；For example, the first folder
Plate 2 and second clamping plate 6 are made of two inclined-planes, and two inclined-plane uplinks are equipped with anti-sliding rib 4, and the angle between two inclined-planes can be with
It is selected between 3 ° -7 °, it can be with preferable to the clamping effect of rod piece when the angle between two inclined-planes is set to 5 ° through experiment.Because tooth is nibbled
The latching characteristics of conjunction, therefore can lock the distance between first clamping plate 2 and second clamping plate 6 in 8 stop motion of worm screw, it prevents
Clamper slides；And because being equipped with anti-sliding rib 4 in first clamping plate 2 and second clamping plate 6, therefore it can further avoid clamper
It is slided between rod piece, prevents clamper from being moved using the center line of rod piece as shaft rotation.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or use the present invention.
A variety of modifications of these embodiments will be apparent for those skilled in the art, it is as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and the principles and novel features disclosed herein phase one
The most wide range caused.
Claims (10)
1. a kind of rod piece clamper, applied to gripping for robot end, which is characterized in that including：
Maxilla (1), the maxilla (1) including first clamping plate (2) and with the first clamping plate (2) mutually fixed rack (3), and institute
First clamping plate (2) is stated equipped with anti-sliding rib (4)；
Lower jaw (5), the connecting plate (7) that the lower jaw (5) is connected including second clamping plate (6) and with the second clamping plate (6), institute
Second clamping plate (6) is stated equipped with anti-sliding rib (4), the connecting plate (7) is equipped with first through hole, and the rack (3) can be worn
It crosses the first through hole and realizes the suit of the lower jaw (5) and the maxilla (1)；
Worm screw (8), the worm screw (8) with the lower jaw (5) is rotatable is connected, and the worm screw (8) and the rack (3)
Be meshed, and can by rotate the worm screw (8) adjust between the first clamping plate (2) and the second clamping plate (6) away from
From.
2. rod piece clamper according to claim 1, which is characterized in that further include disc type electric machine (9), the disc type electric machine
(9) rotary shaft is connected with the worm screw (8), for the worm screw (8) to be driven to rotate.
3. rod piece clamper according to claim 2, which is characterized in that the disc type electric machine (9) and the worm screw (8) it
Between be connected with harmonic speed reducer (13).
4. rod piece clamper according to claim 2, which is characterized in that applied to robot, controller (10) is further included,
The controller (10) and the robot and the disc type electric machine (9) communication connect, and send out for receiving the robot
Instruction, and the disc type electric machine (9) is controlled to work.
5. rod piece clamper according to claim 4, which is characterized in that further include and the lower jaw (5) mutually fixed shell
Body (11), the end of the housing (11) can be connected with the joint of the robot.
6. rod piece clamper according to claim 5, which is characterized in that the housing (11) is spiral shell with the lower jaw (5)
It connects.
7. rod piece clamper according to claim 1, which is characterized in that further include guide rod (12), the guide rod
(12) it is mutually fixed with the maxilla (1), the connecting plate (7) of the lower jaw (5) is equipped with second passed through for the guide rod (12)
Through-hole.
8. rod piece clamper according to claim 7, which is characterized in that the guide rod (12) is two, and the company
Fishplate bar (7) is set there are two second through-hole.
9. rod piece clamper according to claim 1, which is characterized in that the first clamping plate (2) is can be to rod piece shape
Into the recess of package.
10. rod piece clamper according to claim 1, which is characterized in that the second clamping plate (6) is can be to rod piece shape
Into the recess of package.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810127374.8A CN108127678A (en) | 2018-02-08 | 2018-02-08 | A kind of rod piece clamper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810127374.8A CN108127678A (en) | 2018-02-08 | 2018-02-08 | A kind of rod piece clamper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108127678A true CN108127678A (en) | 2018-06-08 |
Family
ID=62430705
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810127374.8A Pending CN108127678A (en) | 2018-02-08 | 2018-02-08 | A kind of rod piece clamper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108127678A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109202951A (en) * | 2018-11-22 | 2019-01-15 | 广东工业大学 | A kind of holding finger of antiskid, gripper jaw and clamper |
| CN112192590A (en) * | 2020-08-28 | 2021-01-08 | 南京禹智智能科技有限公司 | Industrial robot clamping component |
| CN113650040A (en) * | 2021-08-24 | 2021-11-16 | 哈尔滨工业大学（深圳） | End effector, manipulator, operation device and control system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB920066A (en) * | 1958-05-09 | 1963-03-06 | Albert Honsberg Junior | An electro-mechanical chucking mechanism for clamping devices |
| CN102554812A (en) * | 2012-01-13 | 2012-07-11 | 安徽理工大学 | Motor-driven quick bench clamp |
| CN105500397A (en) * | 2016-01-25 | 2016-04-20 | 嘉兴川页奇精密自动化机电有限公司 | Clamping device of mechanical arm |
| CN206154330U (en) * | 2016-08-26 | 2017-05-10 | 宁波长晟电子科技有限公司 | Jacking clamping mechanism for industrial robot |
| CN107350851A (en) * | 2017-09-04 | 2017-11-17 | 成都融创智谷科技有限公司 | A kind of Numerical control machine tool fixture of convenience and high-efficiency |
| CN207915493U (en) * | 2018-02-08 | 2018-09-28 | 广东工业大学 | A kind of rod piece clamper |
-
2018
- 2018-02-08 CN CN201810127374.8A patent/CN108127678A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB920066A (en) * | 1958-05-09 | 1963-03-06 | Albert Honsberg Junior | An electro-mechanical chucking mechanism for clamping devices |
| CN102554812A (en) * | 2012-01-13 | 2012-07-11 | 安徽理工大学 | Motor-driven quick bench clamp |
| CN105500397A (en) * | 2016-01-25 | 2016-04-20 | 嘉兴川页奇精密自动化机电有限公司 | Clamping device of mechanical arm |
| CN206154330U (en) * | 2016-08-26 | 2017-05-10 | 宁波长晟电子科技有限公司 | Jacking clamping mechanism for industrial robot |
| CN107350851A (en) * | 2017-09-04 | 2017-11-17 | 成都融创智谷科技有限公司 | A kind of Numerical control machine tool fixture of convenience and high-efficiency |
| CN207915493U (en) * | 2018-02-08 | 2018-09-28 | 广东工业大学 | A kind of rod piece clamper |
Non-Patent Citations (2)
| Title |
|---|
| 田椿年等: "《塑料注射成型模具结构设计图册》", vol. 1, 31 July 1988, 轻工业出版社, pages: 54 * |
| 马香峰等: "《机械设计制图》", vol. 1, 31 October 1988, 高等教育出版社, pages: 104 - 105 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109202951A (en) * | 2018-11-22 | 2019-01-15 | 广东工业大学 | A kind of holding finger of antiskid, gripper jaw and clamper |
| CN109202951B (en) * | 2018-11-22 | 2023-09-12 | 广东工业大学 | Anti-slip clamping finger, clamping claw and clamping device |
| CN112192590A (en) * | 2020-08-28 | 2021-01-08 | 南京禹智智能科技有限公司 | Industrial robot clamping component |
| CN113650040A (en) * | 2021-08-24 | 2021-11-16 | 哈尔滨工业大学（深圳） | End effector, manipulator, operation device and control system |
| CN113650040B (en) * | 2021-08-24 | 2023-06-20 | 哈尔滨工业大学（深圳） | End effector, manipulator, operation device, and control system |
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