CN108161963A - Robot gripper - Google Patents
Robot gripper Download PDFInfo
- Publication number
- CN108161963A CN108161963A CN201810110821.9A CN201810110821A CN108161963A CN 108161963 A CN108161963 A CN 108161963A CN 201810110821 A CN201810110821 A CN 201810110821A CN 108161963 A CN108161963 A CN 108161963A
- Authority
- CN
- China
- Prior art keywords
- link
- connecting rod
- hinged
- clamping
- driving
- 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
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims 2
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000001788 irregular Effects 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
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
- B25J15/0206—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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses robot grippers, including mounting bracket and two clamping units, mounting bracket is disposed with driving device, clamping unit includes clamp structure, follower link component and drive connecting rod component, the other end of follower link component is hinged with mounting bracket, and the other end of drive connecting rod component is arranged in the output terminal of driving device.The clamping unit that the present invention designs can not only clamp the object of the shapes such as cuboid, but also can clamp the object with curve form such as cylinder；When clamping rectangular shape object, drive connecting rod component is considered as an entirety, and follower link component is considered as an entirety, and two clamping units are substantially four-bar mechanism, when clamping cylindrical object, drive connecting rod component, follower link component and clamp structure composition six bar mechanism.The present invention can clamp object of different shapes, can be widely applied to robotic technology field.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to robot gripper.
Background technology
Robot industry development is rapid at present, and the demand to robot gripper is also increasingly urgent.In existing robot gripper
In, it generally realizes that double fastener refers to using gear drive and drives double leval jib to turning horizontal clamping to turning clamping and gear.But when crawl
During irregular object, it is easy to capture failure due to contact is uneven, limiting is insufficient, frictional force is not enough when reasons.
There are two types of modes for existing robot clamping device：1. a pair of engaged gears drives two bar finger motions, shortcoming is
Simple folding and unfolding campaign, narrow scope of application as scissors folding；2. a pair of engaged gears drives two groups of parallel double leval jibs
Finger motion, shortcoming is that two finger intelligence keeping parallelisms or certain angle do clamping movement, when capturing different shape object
Influence crawl efficiency.
Invention content
The technical problems to be solved by the invention are to provide robot gripper, take six-bar linkage clamping device, can basis
The difference of clamped body form adjusts accordingly clamping device, is parallel folder when planar object as regular such as fixture
It holds, when clamping irregular curved face object, adjust automatically shape wraps up body surface.
Used technical solution to solve above-mentioned technical problem：
Robot gripper, including mounting bracket and two clamping units, the mounting bracket is disposed with driving device, the clamping
Unit includes clamp structure, is cut with scissors with follower link component hinged in the middle part of the clamp structure and with the clamp structure end
The drive connecting rod component connect, the other end and the mounting bracket of the follower link component are hinged, the drive connecting rod component
The other end is arranged in the output terminal of the driving device.
Further, the follower link component include the seven-link assembly hinged with the mounting bracket and with the clamp structure
The 8th hinged connecting rod, hinged between the seven-link assembly and the 8th connecting rod, two seven-link assemblies, two the 8th connecting rods and two
The region that clamp structure surrounds is clamping zone.
Further, the drive connecting rod component include the driving link that is connect with the driving device output terminal and with the folder
The hinged fourth link of structure is held, it is hinged between the driving link and the fourth link.
Further, the bottom of the clamping zone is disposed with cushion block, and the cushion block is located at the top of the mounting bracket.
Further, the hinged place and/or the fourth link of the seven-link assembly and the 8th connecting rod and the hinge of clamp structure
The place of connecing is disposed with torsional spring.
Further, the output terminal of the driving device is disposed at least a pair of engaged gears, and wherein driving wheel is arranged in institute
The output terminal of driving device is stated, one of driving link is arranged on driving wheel, another driving link is arranged on the driven wheel.
Further, the output terminal of the driving device controls driving wheel by shaft, and the quantity of the meshing gear is two
Right, two driving wheels are arranged in the both ends of the shaft.
Further, at least one U-type groove, each institute are disposed with along horizontal line in two opposite planes of two clamp structures
State the edge of plane where U-type groove both ends extend to.
Advantageous effect：The clamping unit that the present invention designs can not only clamp the object of the shapes such as cuboid, but also can clamp cylinder
Shape etc. has the object of curve form；When clamping rectangular shape object, drive connecting rod component is considered as a drive connecting rod, driven
Link assembly is considered as a follower link, and two clamping units are substantially four-bar mechanism, when clamping cylindrical object, actively connect
Bar assembly, follower link component and clamp structure composition six bar mechanism, can grasp object；Follower link component and drive connecting rod
In component, by installing torsional spring in hinged place respectively so that when clamping rectangular shape object, drive connecting rod component composition one
A drive connecting rod, follower link component form a follower link.The present invention is compact-sized, can clamp object of different shapes,
It can be widely applied to robotic technology field.
Description of the drawings
Fig. 1 is the structure chart of robot gripper；
Fig. 2 is the front view of robot gripper；
Action when Fig. 3 is robot gripper snatching cylindrical object；
Fig. 4 is action when robot gripper captures cuboid object；
Fig. 5 is the vertical view of torsional spring；
Fig. 6 is the front view of torsional spring.
Specific embodiment
With reference to Fig. 1 to Fig. 6, the present invention is described further.
Robot gripper, including mounting bracket 6 and two clamping units, the clamping unit is arranged symmetrically, the mounting bracket 6
Driving device is disposed with, the clamping unit includes clamp structure 1, the follower link group hinged with 1 middle part of clamp structure
Part and the drive connecting rod component hinged with 1 end of clamp structure.The other end of the follower link component and the peace
It shelves 6 to be hinged, the other end of the drive connecting rod component is arranged in the output terminal of the driving device.
The follower link component includes the seven-link assembly 7 hinged with the mounting bracket 6 and is hinged with the clamp structure 1
The 8th connecting rod 8, it is hinged between 7 and the 8th connecting rod 8 of seven-link assembly.The drive connecting rod component includes filling with the driving
The driving link 5 of output terminal connection and the fourth link 4 hinged with the clamp structure 1 are put, the driving link 5 connects with the described 4th
It is hinged between bar 4.Each clamping unit can be considered a six bar mechanism.
The opposite plane of two clamp structures 1 is clamping working face, available for the object of the regular plane of fixture, such as
There are two the parallel objects to opposite for prism or tool.On each clamping working face at least one U is disposed with along horizontal line
Type groove, the edge of clamping working face where each U-type groove both ends extend to, available for clamping cable or stripe object, this reality
It applies in example, the quantity of the U-type groove on each clamping working face is 1.Two seven-link assemblies, 7, two the 8th connecting rods 8 and two
The region that clamp structure 1 surrounds is clamping zone, available for clamping the object of irregular surface, such as the object that surface is cambered surface.
The bottom of the clamping zone is disposed with cushion block 16, and the cushion block 16 is located at the top of the mounting bracket 6, and the cushion block 16
Between two seven-link assemblies 7.The upper end of the cushion block 16 is recessed arcwall face, can be held object with cushion block 16, then lead to
Two clamping units are crossed to be clamped.
The output terminal of the driving device is disposed at least a pair of engaged gears, and wherein driving wheel is arranged in the driving dress
The output terminal put, the output terminal drive driving wheel to rotate by shaft.One of driving link 5 is arranged on driving wheel, another
A driving link 5 arranges that on the driven wheel gear can drive driving link 5 in rotation and then push clamping unit, and by nibbling
Closing gear can synchronize the action of two clamping units.In the present embodiment, in order to ensure to make as far as possible symmetrical configuration and crawl object
Motion stability during body, the quantity of the meshing gear is two pairs, and two driving wheels are arranged in the both ends of the shaft.
The hinged place of 7 and the 8th connecting rod 8 of seven-link assembly and/or the fourth link 4 and the hinged place of clamp structure 1
It is disposed with torsional spring 9.In the present embodiment, the hinged place of 7 and the 8th connecting rod 8 of seven-link assembly, the fourth link 4 are tied with clamping
The hinged place of structure 1 is arranged with torsional spring 9, and the arrangement of two torsional springs 9 is identical, and the torsional spring 9 is substantially torsion spring.With the 7th
For the hinged place of 7 and the 8th connecting rod 8 of connecting rod, the torsional spring 9 is sleeved in the shaft of the hinged place, two external parts of torsional spring 9
The side of 7 and the 8th connecting rod 8 of seven-link assembly is respectively held against, the two sides are towards the clamping zone.Therefore robot gripper
When not working, by the effect of torsional spring 9,7 and the 8th connecting rod 8 of seven-link assembly is made to keep the state of straight connection.Equally, another
Torsional spring 9 makes fourth link 4 and clamp structure 1 keep the state of straight connection.
In this case, when the object of robot gripper clamping rectangular shape, driving link 5 and fourth link 4 it
Between do not relatively rotate, the two can be considered a drive connecting rod, and 7 and the 8th connecting rod 8 of seven-link assembly can be considered a driven company
Bar, therefore the clamping unit can be considered the parallel four-bar linkage of standard, under the promotion of drive connecting rod, two clamp structures
1 clamps object.In the present embodiment, at this point, the driving link 5 is vertical with the axis of fourth link 4,7 He of seven-link assembly
The axis collinear of 8th connecting rod 8.When the object of robot gripper clamping cylindrical shape, driving link 5 and fourth link the 4, the 7th
It relatively rotates between 7 and the 8th connecting rod 8 of connecting rod, under the promotion of driving link 5, clamp structure 1, seven-link assembly 7 and
Eight connecting rods 8 are attached to side of the object and are clamped, this process can be considered the process of grasping.
7 and the 8th connecting rod 8 of seven-link assembly is abutted in the end face of hinged place, in the object for clamping rectangular shape,
By the effect of torsional spring 9, two end face fittings, and backwards to the face of the clamping zone and it is hinged on 7 and the 8th connecting rod 8 of seven-link assembly
The transition position of the end face at place is right angle, therefore this transition right angle substantially has position-limiting action, can prevent seven-link assembly 7 and the 8th
Connecting rod 8 is further bent under the action of torsional spring 9 backwards to clamping zone.Towards the clamping on 7 and the 8th connecting rod 8 of seven-link assembly
The transition position of the face in region and the end face of hinged place is fillet, when clamping the object of cylindrical shape, under the promotion of driving link 5,
7 and the 8th connecting rod 8 of seven-link assembly can be bent to the clamping zone.
Embodiments of the present invention are explained in detail above in association with attached drawing, but the present invention is not limited to above-mentioned embodiment party
Formula, can also be before present inventive concept not be departed from the knowledge having in the technical field those of ordinary skill
Put that various changes can be made.
Claims (8)
1. robot gripper, it is characterised in that：Including mounting bracket (6) and two clamping units, the mounting bracket (6) is disposed with drive
Dynamic device, the clamping unit include clamp structure (1), with follower link component hinged in the middle part of the clamp structure (1) with
And the hinged drive connecting rod component with the clamp structure (1) end, the other end and the installation of the follower link component
Frame (6) is hinged, and the other end of the drive connecting rod component is arranged in the output terminal of the driving device.
2. robot gripper according to claim 1, it is characterised in that：The follower link component includes and the installation
The hinged seven-link assembly (7) of frame (6) and eightth connecting rod (8) hinged with the clamp structure (1), the seven-link assembly (7) and
It is hinged between 8th connecting rod (8), the area that two seven-link assemblies (7), two the 8th connecting rods (8) and two clamp structures (1) surround
Domain is clamping zone.
3. robot gripper according to claim 2, it is characterised in that：The drive connecting rod component includes and the driving
Device output terminal connection driving link (5) and the fourth link (4) hinged with the clamp structure (1), the driving link (5) with
It is hinged between the fourth link (4).
4. robot gripper according to claim 2, it is characterised in that：The bottom of the clamping zone is disposed with cushion block
(16), the cushion block (16) is positioned at the top of the mounting bracket (6).
5. robot gripper according to claim 3, it is characterised in that：The seven-link assembly (7) and the 8th connecting rod (8)
Hinged place and/or the fourth link (4) and the hinged place of clamp structure (1) are disposed with torsional spring (9).
6. robot gripper according to claim 3, it is characterised in that：The output terminal of the driving device is disposed at least
A pair of engaged gears, wherein driving wheel are arranged in the output terminal of the driving device, and one of driving link (5) is arranged in actively
On wheel, another driving link (5) is arranged on the driven wheel.
7. robot gripper according to claim 6, it is characterised in that：The output terminal of the driving device passes through shaft control
Driving wheel processed, the quantity of the meshing gear is two pairs, and two driving wheels are arranged in the both ends of the shaft.
8. robot gripper according to claim 1, it is characterised in that：Two opposite planes of two clamp structures (1)
On be disposed at least one U-type groove along horizontal line, the edge of plane where each U-type groove both ends extend to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810110821.9A CN108161963A (en) | 2018-02-01 | 2018-02-01 | Robot gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810110821.9A CN108161963A (en) | 2018-02-01 | 2018-02-01 | Robot gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108161963A true CN108161963A (en) | 2018-06-15 |
Family
ID=62512682
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810110821.9A Pending CN108161963A (en) | 2018-02-01 | 2018-02-01 | Robot gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108161963A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109434867A (en) * | 2018-12-05 | 2019-03-08 | 广东科佩克机器人有限公司 | A kind of electronic two fingers mechanical paw of adaptivity |
| CN110254547A (en) * | 2019-06-27 | 2019-09-20 | 安徽理工大学 | A kind of bionic type climbing level robot |
| CN111001728A (en) * | 2019-12-27 | 2020-04-14 | 苏州飞宇精密科技股份有限公司 | Pre-cutting equipment and process for removing acute angle of local edge covering of low-temperature heat shield |
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|---|---|---|---|---|
| CN1159136A (en) * | 1995-09-19 | 1997-09-10 | 三星电子株式会社 | Hinge mechanism for foldable electronic apparatus |
| CN102152265A (en) * | 2011-02-22 | 2011-08-17 | 大行科技(深圳)有限公司 | Wrench tool |
| CN102345383A (en) * | 2010-08-02 | 2012-02-08 | 王亚运 | Angle piece template with adjustable angle |
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| CN104772769A (en) * | 2015-04-29 | 2015-07-15 | 广东泰格威机器人科技有限公司 | Robot gripper driven by gear |
| CN104972475A (en) * | 2015-07-29 | 2015-10-14 | 苏州拓德机器人科技有限公司 | Under-actuated mechanical hand with self-adaptive shape |
| CN205704242U (en) * | 2016-04-11 | 2016-11-23 | 西南科技大学 | A kind of mechanical arm clamper with adaptive ability |
| CN206171798U (en) * | 2016-10-10 | 2017-05-17 | 深圳一电航空技术有限公司 | Undercarriage and unmanned aerial vehicle |
| KR20170101548A (en) * | 2016-02-29 | 2017-09-06 | 한국기술교육대학교 산학협력단 | Robot Hand Assembly Having Compliant Finger Unit |
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| CN208117883U (en) * | 2018-02-01 | 2018-11-20 | 深圳市智能机器人研究院 | Robot gripper |
-
2018
- 2018-02-01 CN CN201810110821.9A patent/CN108161963A/en active Pending
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| CN107363856A (en) * | 2017-08-16 | 2017-11-21 | 深圳果力智能科技有限公司 | A kind of adaptive finger, two pawl manipulators and robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109434867A (en) * | 2018-12-05 | 2019-03-08 | 广东科佩克机器人有限公司 | A kind of electronic two fingers mechanical paw of adaptivity |
| CN110254547A (en) * | 2019-06-27 | 2019-09-20 | 安徽理工大学 | A kind of bionic type climbing level robot |
| CN110254547B (en) * | 2019-06-27 | 2024-04-02 | 安徽理工大学 | Bionic pole-climbing robot |
| CN111001728A (en) * | 2019-12-27 | 2020-04-14 | 苏州飞宇精密科技股份有限公司 | Pre-cutting equipment and process for removing acute angle of local edge covering of low-temperature heat shield |
| CN111001728B (en) * | 2019-12-27 | 2021-11-12 | 苏州飞宇精密科技股份有限公司 | Pre-cutting equipment and process for removing acute angle of local edge covering of low-temperature heat shield |
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