CN108372515A - A kind of robot device of parallel gripping - Google Patents
A kind of robot device of parallel gripping Download PDFInfo
- Publication number
- CN108372515A CN108372515A CN201810364130.1A CN201810364130A CN108372515A CN 108372515 A CN108372515 A CN 108372515A CN 201810364130 A CN201810364130 A CN 201810364130A CN 108372515 A CN108372515 A CN 108372515A
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- China
- Prior art keywords
- hole
- bolt
- screw
- parallel
- sliding block
- 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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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 abstract description 3
- 238000006073 displacement reaction Methods 0.000 abstract description 3
- 230000006641 stabilisation Effects 0.000 abstract 1
- 238000011105 stabilization Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000007788 liquid Substances 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot devices of parallel gripping, it is characterized in that by fixed seat, electric cylinder, four-bar linkage, sliding block, slipway, clamping plate forms, mechanical hand splint moving in parallel and gripping in slideway can be achieved in the present invention, it is after being connected to instruction, mechanical arm is accurately positioned, front and back movement is carried out in stroke range by the leading screw of electric cylinder, drive four-bar linkage (parallelogram mechanism), make to remain parallel between adjacent two connecting rod, and the angular displacement of adjacent two connecting rod, angular speed and angular acceleration are also equal always, to realize the movement of parallel stabilization, to be moved in parallel on sliding rail with movable slider, and then realize the parallel folding of clamping plate, achieve the purpose that gripping and placement.
Description
Technical field
The present invention relates to a kind of robot devices of parallel gripping.
Background technology
Industrially, manipulator can replace the heavy labor of people to realize the mechanization and automation of production.In order to improve work
The efficiency of industry production and processing, mostly uses manipulator to carry out the gripping and movement of article, however existing manipulator cannot be accurate
Gripping of the completion to the similar thin pieces article such as books or archives, be that can grip to also tend to cause robot manipulator structure to design
It is excessively complicated, cause the raising of cost.
Existing manipulator cannot accurately realize the movement to thin pieces article and gripping --- being exactly particularly cannot be accurate
Really now positioning of the manipulator to horizontal position and the gripping to thin pieces.However, the robot device also having use compared with
For dumb, occupied space is big, it is often necessary to which personnel are operated manually, and are not easy to dismount and safeguard.
Traditional manipulator some realizes the movement of manipulator by hydraulic pressure or air pressure, due to viscosity and the gas of liquid
Compressibility, often motion-affecting stationarity, and also it is also higher to being required in the cooperation precision of element, these can all limit machine
Tool hand is more widely applied.
Invention content
It in view of the above shortcomings of the prior art, can the object of the present invention is to provide a kind of robot device of parallel gripping
Realize mechanical hand splint moving in parallel and gripping in slideway, after being connected to instruction, mechanical arm is accurately positioned, by electronic
The leading screw of cylinder carries out front and back movement in stroke range, drives four-bar linkage (parallelogram mechanism), makes adjacent two
Remain parallel between connecting rod, and angular displacement, angular speed and the angular acceleration of adjacent two connecting rod are also equal always, it is flat to realize
The stable movement of row, to be moved in parallel on sliding rail with movable slider, and then realizes the parallel folding of clamping plate, reach gripping and
The purpose of placement.
The technical solution adopted by the present invention is that：
A kind of robot device of parallel gripping, by fixed seat, electric cylinder, four-bar linkage, sliding block, slipway, folder
Board group is type configuration design at, wherein the fixed seat, has fixing screws connecting hole thereon, and pass through attachment screw and machine
Tool arm is fixedly connected；The electric cylinder is made of servo motor, lead screw, babinet, cylinder barrel, and by fixing screws by babinet
It is fixedly connected with the rased panel of fixed seat, the servo motor, cylinder barrel are fixedly mounted on babinet, and centre is cylinder barrel, cylinder
Cylinder both sides are servo motor, and the lead screw is fixedly mounted on cylinder barrel；The four-bar linkage is parallelogram mechanism,
It is made of fixed hinge bearing, hinges bearing, connecting rod and connection bolt, the connecting rod is four, and there is bolt at both ends
Connecting hole, the hinges bearing are made of hinge hole b, the b that wins in succession, pedestal, there is tight fixed bolt connector on the pedestal, and
It is connect by tight fixed bolt with electric cylinder lead screw, the hinge hole b is located at corresponding with the bolt connecting hole of connecting rod one end on the b that wins in succession
Place, be attached with connection bolt, the fixed hinge bearing be two, each by set screw hole b, pasting board, a that wins in succession,
Hinge hole a, side plate are constituted, and there are two the hinge hole a, are located on side plate, the other end of connecting rod 8 is placed on fixed hinge bearing
Among 6 conduit, bolt connecting hole is corresponding with hinge hole a to be placed, and is attached with connection bolt, the set screw hole b
There are four, it is located on pasting board；The sliding block is by stationary spindle, idler wheel, set screw hole b, sliding slot, slide body, screw, connection sheet
It constitutes, the slide body has two pieces, one piece of four set screw hole a identical with the set screw hole b sizes of pasting board, and corresponding
Be placed through holding screw connection, above another piece by multiple set screw holes, with realize with clamping plate can flexible modulation match
Close installation；The slipway is made of slideway, crane span structure, and idler wheel and the slideway cooperation of the sliding block are installed, and the crane span structure side is opened
There is fixing screws connecting hole；There are two the clamping plates, is connect respectively with sliding block by holding screw, can setpoint distance, so as to
Flexible modulation installation site, to meet different needs.
Preferably, the robot device is also equipped with shell, and specially shell passes through attachment screw and crane span structure, fixation
Seat fixing screws connection, it is in a symmetrical arrangement that electric cylinder is placed on case inside.
Preferably, the clamping plate can also be welded on the mode of sliding block inner face and connect.
The beneficial effects of the invention are as follows：
1, change of the present invention in structure is compacter in structure compared in terms of existing structure.Mechanical hand splint can
In the sliding slot of sliding block spacing between plates can be pressed from both sides by article difference, setting two.It realizes and moves in parallel in terms of function, it is made to have more
There is stable ride comfort.
2, the present invention uses the characteristic of parallelogram mechanism, i.e., is remained with respect to bar on four-bar linkage
Angular displacement, angular speed and the angular acceleration of Ping Hang ﹐ and two connecting rods are also equal always, realize the requirement of function.And in structure
Improve, make its have more practicability, and space using it is upper also achieved the effect that it is splendid.
3, the present invention has also reached splendid effectiveness, that is, it is pairs of to be placed on case inside on the location layout of electric cylinder
Claim arrangement, more safe more firm arrangement is also made that on fixed electric cylinder.Fixed seat, not only can be solid at convex
Trepanning facilitates pull-out electric wire among reservation, and can also be tightly fastened and connect with mechanical arm, has reached the good layout effect of tool.
Description of the drawings
Fig. 1 is the dimensional structure diagram (band shell) of the embodiment of the present invention；
Fig. 2 is the dimensional structure diagram of the embodiment of the present invention (without shell)；
Fig. 3 is the front view of Fig. 2；
Fig. 4 is the partial enlarged view of Fig. 2；
Fig. 5 is the structural schematic diagram of fixed hinge bearing in Fig. 2；
Fig. 6 is the structural schematic diagram of hinges bearing in Fig. 2；
Fig. 7 is the three-view diagram of sliding block in Fig. 2；
Fig. 8 is the structural schematic diagram of Fig. 2 middle slideway bodies；
Fig. 9 is the structural schematic diagram of electric cylinder in Fig. 2；
In figure, 1, clamping plate；2, shell；3, attachment screw；4, sliding block；41, stationary spindle；42, idler wheel；43, screw hole；
44, sliding slot；45, slide body；46, screw；47, connection sheet；5, slipway；51, slideway；52, crane span structure；6, fixed hinge bearing；
61, screw hole；62, pasting board；63, it wins in succession；64, hinge hole；65, side plate；7, hinges bearing；71, hinge hole；72, it wins in succession；
8, connecting rod；9, bolt is connected；10, electric cylinder；101, servo motor；102, lead screw；103, babinet；104, cylinder barrel；11, fixed
Seat.
Specific implementation mode
Preferred version of the present invention is described in further details below in conjunction with the accompanying drawings.
Embodiment
A kind of robot device of parallel gripping, as shown in Figure 2,3, by fixed seat (11), electric cylinder (10), hinge four-bar
Mechanism, sliding block (4), slipway (5), clamping plate (1) composition, wherein the fixed seat (11) is type configuration design, is had thereon solid
Determine screw connecting hole, and is fixedly connected with mechanical arm by attachment screw (3)；As shown in figure 9, the electric cylinder (10) by
Servo motor (101), lead screw (102), babinet (103), cylinder barrel (104) composition, and by fixing screws by babinet (103) and admittedly
The rased panel of reservation (11) is fixedly connected, and the servo motor (101), cylinder barrel (104) are fixedly mounted on babinet (3),
Centre is cylinder barrel (104), and cylinder barrel (104) both sides are servo motor (101), and the lead screw (102) is fixedly mounted on cylinder barrel (104)
On；The four-bar linkage is parallelogram mechanism, as shown in figure 4, it is by fixed hinge bearing (6), hinges branch
Seat (7), connecting rod (8) and connection bolt (9) form, and the connecting rod (8) is four, and there is bolt connecting hole at both ends, such as Fig. 6 institutes
Show, the hinges bearing (7) is made of hinge hole b (71), the b that wins in succession (72), pedestal (73), is had on the pedestal (73) tight
Surely it is bolted mouth, and is connect by tight fixed bolt with electric cylinder (10) lead screw (102), the hinge hole b (71) is located at the b that wins in succession
(72) corresponding with the bolt connecting hole of connecting rod (8) one end on to place, it is attached with connection bolt (9), as shown in figure 5, described
Fixed hinge bearing (6) is two, each by set screw hole b (61), pasting board (62), a that wins in succession (63), hinge hole a (64), side
Plate (65) is constituted, and there are two the hinge hole a (64), is located on side plate (65), the other end of connecting rod 8 is placed on fixed hinge branch
Among the conduit of seat 6, bolt connecting hole is corresponding with hinge hole a (64) to be placed, and is attached with connection bolt (9), described tight
Determine there are four screw hole b (61), is located on pasting board (62)；As shown in fig. 7, the sliding block (4) is by stationary spindle (41), idler wheel
(42), set screw hole b (43), sliding slot (44), slide body (45), screw (46), connection sheet (47) are constituted, the slide body
(45) there are two pieces, one piece of four set screw hole a identical with the set screw hole b sizes of pasting board (62), and corresponding place is led to
Cross holding screw connection, above another piece by multiple set screw holes, with realize with clamping plate (1) can the cooperation of flexible modulation pacify
Dress；The slipway (5) as shown in Figure 8 is made of slideway (51), crane span structure (52), the idler wheel (42) and slideway of the sliding block (4)
(51) cooperation installation, crane span structure (52) side is provided with fixing screws connecting hole；There are two the clamping plates (1), passes through respectively
Holding screw is connect with sliding block (4), can setpoint distance, so as to flexible modulation installation site, to meet different needs.
As shown in Figure 1, the robot device is also equipped with shell (2), specially shell (2) passes through attachment screw
(3) it is connect with crane span structure (52), fixed seat (11) fixing screws, electric cylinder (10) is placed in a symmetrical arrangement on the inside of shell (2).
Claims (3)
1. a kind of robot device of parallel gripping, it is characterised in that by fixed seat, electric cylinder, four-bar linkage, sliding block, cunning
Road body, clamping plate composition, wherein the fixed seat is type configuration design, has fixing screws connecting hole thereon, and by connecting spiral shell
Nail is fixedly connected with mechanical arm；The electric cylinder is made of servo motor, lead screw, babinet, cylinder barrel, and passes through fixing screws
The rased panel of babinet and fixed seat is fixedly connected, the servo motor, cylinder barrel are fixedly mounted on babinet, and centre is cylinder
Cylinder, cylinder barrel both sides are servo motor, and the lead screw is fixedly mounted on cylinder barrel；The four-bar linkage is parallelogram machine
Structure is made of fixed hinge bearing, hinges bearing, connecting rod and connection bolt, and the connecting rod is four, and both ends have
Bolt connecting hole, the hinges bearing are made of hinge hole b, the b that wins in succession, pedestal, there is tight fixed bolt connection on the pedestal
Mouthful, and connect by tight fixed bolt with electric cylinder lead screw, the hinge hole b be located on the b that wins in succession with the bolt of connecting rod one end connect
Hole correspond to place, be attached with connection bolt, the fixed hinge bearing be two, each by set screw hole b, pasting board,
Win in succession a, hinge hole a, side plate constitute, there are two the hinge hole a, be located at side plate on, the other end of connecting rod 8 is placed on fixed hinge
Among the conduit of chain bearing 6, bolt connecting hole is corresponding with hinge hole a to be placed, and is attached with connection bolt, the clamp screw
There are four nail hole b, is located on pasting board；The sliding block by stationary spindle, idler wheel, set screw hole b, sliding slot, slide body, screw,
Connection sheet is constituted, and the slide body has two pieces, one piece of four set screw hole a identical with the set screw hole b sizes of pasting board,
And it is corresponding be placed through holding screw connection, above another piece by multiple set screw holes, can flexibly be adjusted with clamping plate with realizing
The cooperation of section is installed；The slipway is made of slideway, crane span structure, and idler wheel and the slideway cooperation of the sliding block are installed, the crane span structure
Side is provided with fixing screws connecting hole；There are two the clamping plates, is connect respectively with sliding block by holding screw, can set away from
From so as to flexible modulation installation site, to meet different needs.
2. the robot device of parallel gripping according to claim 1, it is characterised in that the robot device is also pacified
Equipped with shell, specially shell is connect by attachment screw with crane span structure, fixed seat fixing screws, and electric cylinder is placed on case inside
It is in a symmetrical arrangement.
3. the robot device of parallel gripping according to claim 1, it is characterised in that the clamping plate can also weld
It is connected in the mode of sliding block inner face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810364130.1A CN108372515A (en) | 2018-04-17 | 2018-04-17 | A kind of robot device of parallel gripping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810364130.1A CN108372515A (en) | 2018-04-17 | 2018-04-17 | A kind of robot device of parallel gripping |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108372515A true CN108372515A (en) | 2018-08-07 |
Family
ID=63032536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810364130.1A Pending CN108372515A (en) | 2018-04-17 | 2018-04-17 | A kind of robot device of parallel gripping |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108372515A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102269219A (en) * | 2011-07-21 | 2011-12-07 | 威海利奥泰儆自动化设备有限公司 | Gap adjustable high-speed roller guide rail |
| CN102588432A (en) * | 2012-02-22 | 2012-07-18 | 威海利奥泰儆自动化设备有限公司 | Aluminium base built-in raceway roller guide pair |
| CN205232760U (en) * | 2015-12-11 | 2016-05-18 | 温州大学 | Greenhouse vegetable seedling and transplanting manipulator |
| CN206068941U (en) * | 2016-07-29 | 2017-04-05 | 北京航天斯达科技有限公司 | A kind of grabbing device of stacking machine |
| CN206416182U (en) * | 2017-01-23 | 2017-08-18 | 侯茜 | A kind of anti-slip energy-saving mechanical paw |
| CN107877533A (en) * | 2017-12-27 | 2018-04-06 | 天津时代创业科技有限公司 | Force-doubling type mechanical grip |
| CN208305089U (en) * | 2018-04-17 | 2019-01-01 | 柳州宏科科技有限公司 | A kind of robot device clamped in parallel |
-
2018
- 2018-04-17 CN CN201810364130.1A patent/CN108372515A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102269219A (en) * | 2011-07-21 | 2011-12-07 | 威海利奥泰儆自动化设备有限公司 | Gap adjustable high-speed roller guide rail |
| CN102588432A (en) * | 2012-02-22 | 2012-07-18 | 威海利奥泰儆自动化设备有限公司 | Aluminium base built-in raceway roller guide pair |
| CN205232760U (en) * | 2015-12-11 | 2016-05-18 | 温州大学 | Greenhouse vegetable seedling and transplanting manipulator |
| CN206068941U (en) * | 2016-07-29 | 2017-04-05 | 北京航天斯达科技有限公司 | A kind of grabbing device of stacking machine |
| CN206416182U (en) * | 2017-01-23 | 2017-08-18 | 侯茜 | A kind of anti-slip energy-saving mechanical paw |
| CN107877533A (en) * | 2017-12-27 | 2018-04-06 | 天津时代创业科技有限公司 | Force-doubling type mechanical grip |
| CN208305089U (en) * | 2018-04-17 | 2019-01-01 | 柳州宏科科技有限公司 | A kind of robot device clamped in parallel |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180807 |
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| WD01 | Invention patent application deemed withdrawn after publication |