CN108582146A - A kind of arm gripping body of robot - Google Patents

A kind of arm gripping body of robot Download PDF

Info

Publication number
CN108582146A
CN108582146A CN201810706281.0A CN201810706281A CN108582146A CN 108582146 A CN108582146 A CN 108582146A CN 201810706281 A CN201810706281 A CN 201810706281A CN 108582146 A CN108582146 A CN 108582146A
Authority
CN
China
Prior art keywords
gripping
holding tank
chuck
gripping finger
cylinder
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.)
Withdrawn
Application number
CN201810706281.0A
Other languages
Chinese (zh)
Inventor
吴倩倩
罗啸
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuhu Yi Xun Productivity Promotion Center LLC
Original Assignee
Wuhu Yi Xun Productivity Promotion Center LLC
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Wuhu Yi Xun Productivity Promotion Center LLC filed Critical Wuhu Yi Xun Productivity Promotion Center LLC
Priority to CN201810706281.0A priority Critical patent/CN108582146A/en
Publication of CN108582146A publication Critical patent/CN108582146A/en
Withdrawn legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • B25J15/10Gripping heads and other end effectors having finger members with three or more finger members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials

Abstract

The invention discloses a kind of arm gripping bodies of robot,Including cylinder and gripping finger,The upper end of cylinder is equipped with chuck,The circular hole passed through for the piston rod on cylinder is offered at the intermediate position of chuck,The edge spaced set of chuck has several boss,One first holding tank is all had in each boss,The bottom for gripping finger is mounted in the first holding tank,And it is equipped with pin hole in the both sides of the bottom of gripping finger and boss,Gripping finger can be rotatablely connected by the boss on pin and chuck,The upper end of chuck is provided with flange,The intermediate position of flange has a threaded hole,The threaded hole is threadedly coupled with the top of the piston rod on cylinder,The second holding tank is offered in the side of flange,Second holding tank is connect by bolt with gripping finger,The arm gripping body of this kind of robot,Drive gripping finger that can carry out gripping transport to cargo by cylinder,With the excellent performance for stablizing crawl cargo.

Description

A kind of arm gripping body of robot
Technical field
The present invention relates to robotic technology field, the arm gripping body of specially a kind of robot.
Background technology
Continuous with computer technology is developed to intelligent direction, the continuous extension and in-depth in robot application field, Industrial robot has become a kind of new high-tech industry, and great function has been played for industrial automation level, will be produced to future Increasingly important role is played with social development.
The gripping of cargo is carried out with robot, and to transport in many fields be extensive utilization, this just needs to ensure machine People grips cargo safe to carry not easily to fall off.
So how to design a kind of arm gripping body of robot, becoming us will currently solve the problems, such as.
Invention content
The purpose of the present invention is to provide a kind of arm gripping bodies of robot, to solve to propose in above-mentioned background technology The problem of.
To achieve the above object, the present invention provides the following technical solutions:
A kind of arm gripping body of robot, including cylinder and gripping finger, the upper end of the cylinder is equipped with card Disk offers the circular hole passed through for the piston rod on the cylinder, the edge of the chuck at the intermediate position of the chuck Spaced set has several boss, and one first holding tank, the bottom peace of the gripping finger are all had in each boss It is equipped with pin hole, the folder in first holding tank, and in the both sides of the bottom of the gripping finger and boss It takes finger that can be rotatablely connected by the boss on pin and the chuck, the upper end of the chuck is provided with flange, the method Blue intermediate position has a threaded hole, which is threadedly coupled with the top of the piston rod on the cylinder, in the method Blue side offers the second holding tank, and second holding tank is connect by bolt with the gripping finger.
Further, the circular hole both sides on the chuck are arranged with mounting hole.
Further, the side of the gripping finger is provided with a sliding slot, the position of the sliding slot and second holding tank Set corresponding, the both sides of second holding tank offer bolt hole, and the bolt on the bolt hole passes through the gripping finger On sliding slot, and the sliding slot and vertical direction have an angle, which is 30 °.
Further, thickness phase of the thickness of first holding tank, second holding tank with the gripping finger Deng.
Further, the medial surface of the gripping finger upper end is equipped with antiskid groove, and the antiskid groove is in semicircular arc-shaped.
Compared with prior art, the beneficial effects of the invention are as follows:
1, the arm gripping body of this kind of robot drives gripping finger that can carry out gripping transport to cargo by cylinder, With the excellent performance for stablizing crawl cargo;
2, it is equipped with antiskid groove in the gripping side of gripping finger, further increases the stability of gripping, cargo can be prevented Landing.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention;
Fig. 2 is the chuck structure schematic diagram of the present invention;
Fig. 3 is the flange arrangement schematic diagram of the present invention;
Fig. 4 is the gripping finger structure schematic diagram of the present invention;
Fig. 5 is the gripping finger closing structure schematic diagram of the present invention;
In figure:1- cylinders;2- piston rods;3- flanges;4- grips finger;5- chucks;6- circular holes;7- mounting holes;8- boss; The first holding tanks of 9-;10- threaded holes;The second holding tanks of 11-;12- sliding slots;13- antiskid grooves;14- pin holes.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term "upper", "lower", "inner", "outside" " end ", " front end ", The orientation or positional relationship of the instructions such as " rear end ", " both ends ", " one end ", " other end " is orientation based on ... shown in the drawings or position Relationship is merely for convenience of description of the present invention and simplification of the description, and not indicating or implying the indicated device or element must have There is specific orientation, with specific azimuth configuration and operation, therefore is not considered as limiting the invention.In addition, term " the One ", " second " is used for description purposes only, and is not understood to indicate or imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation " " is set Set/offer ", " connection ", etc., shall be understood in a broad sense, such as " connection ", may be a fixed connection, can also be detachably to connect It connects, or is integrally connected;It can be mechanical connection, can also be electrical connection;It can be directly connected, intermediate matchmaker can also be passed through Jie is indirectly connected, and can be the connection inside two elements.It for the ordinary skill in the art, can be with concrete condition Understand the concrete meaning of above-mentioned term in the present invention.
- 5 are please referred to Fig.1, the present invention provides a kind of technical solution:
A kind of arm gripping body of robot, including cylinder 1 and gripping finger 4, the upper end of the cylinder 1 is equipped with Chuck 5 offers the circular hole 6 passed through for the piston rod 2 on the cylinder 1, the chuck 5 at the intermediate position of the chuck 5 Edge spaced set have several boss 8, all have one first holding tank 9, the gripping hand in each boss 8 The bottom of finger 4 is mounted in first holding tank 9, and is equipped in the both sides of the bottom of the gripping finger 4 and boss 8 Pin hole 14, the gripping finger 4 can be rotatablely connected by the boss 8 on pin and the chuck 5, in the upper of the chuck 5 End is provided with flange 3, and the intermediate position of the flange 3 has a threaded hole 10, the threaded hole 10 and the piston on the cylinder 1 The top of bar 2 is threadedly coupled, and offers the second holding tank 11 in the side of the flange 3, second holding tank 11 passes through Bolt is connect with the gripping finger 4.The above basic structure for constituting the present invention.
The present invention uses such structure setting, its working principle is that:As shown in Figure 1, cylinder 1 drives piston rod 2, piston The circular hole 6 that bar 2 passes through 5 intermediate position of the chuck to be equipped with is threadedly coupled with the threaded hole 10 on the flange 3, and then can be driven Flange 3 moves, and has several boss 8 in the edge spaced set of chuck 5, one first is all had in each boss 8 Holding tank 9, it is described gripping finger 4 bottom be mounted on first holding tank 9 in, and it is described gripping finger 4 bottom with And the both sides of boss 8 are equipped with pin hole 14, therefore gripping finger 4 can be in the first holding tank 9 around pin rotation, and in flange 3 The second holding tank 11 for opening up of side connect with the gripping finger 4 by bolt, therefore flange 3 can drive 4 turns of finger of gripping It is dynamic to realize the function of clamping, it is preferred that first holding tank 9, second holding tank 11 thickness with the gripping hand The thickness of finger 4 is equal.
More specifically, 6 both sides of circular hole on the chuck 5 are arranged with mounting hole 7, can be by institute by mounting hole 7 State the end face that chuck 5 is fixed on the cylinder 1.
More specifically, the side of the gripping finger 4 is provided with a sliding slot 12, which accommodates with described second The position of slot 11 is corresponding, and the both sides of second holding tank 11 offer bolt hole, and the bolt on the bolt hole passes through institute The sliding slot 12 on gripping finger 4 is stated, and the sliding slot 12 has an angle with vertical direction, which is 30 °, on flange 3 The both sides of the second holding tank 11 offer bolt hole, meanwhile, the bolt on the bolt hole passes through on the gripping finger 4 Sliding slot 12, therefore bolt can be slided along the sliding slot 12 on gripping finger 4, and sliding slot 12 has one 30 ° of angle with vertical direction, When sliding slot 12 upper end that moves to gripping finger 4 on of the bolt on the second holding tank 11 with flange 3, finger 4 is gripped Open-shaped state (as shown in Figure 1);When the moving on gripping finger 4 with flange 3 of the bolt on the second holding tank 11 When 12 lower end of sliding slot, gripping finger 4 is in closed state (as shown in Figure 5), it is preferred that the medial surface of 4 upper end of the gripping finger Equipped with antiskid groove 13, the antiskid groove 13 is in semicircular arc-shaped, can increase the stability of gripping by the antiskid groove 13, can Prevent the landing of cargo.
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 (5)

1. a kind of arm gripping body of robot, including cylinder (1) and gripping finger (4), it is characterised in that:The cylinder (1) upper end is equipped with chuck (5), is offered for the piston rod on the cylinder (1) at the intermediate position of the chuck (5) (2) the edge spaced set of the circular hole (6) passed through, the chuck (5) has several boss (8), in each boss (8) one first holding tank (9) is all had, the bottom of the gripping finger (4) is mounted in first holding tank (9), and The bottom of the gripping finger (4) and the both sides of boss (8) are equipped with pin hole (14), and the gripping finger (4) can pass through Pin is rotatablely connected with the boss (8) on the chuck (5), and the upper end of the chuck (5) is provided with flange (3), the method The intermediate position of blue (3) has a threaded hole (10), the top of the threaded hole (10) and the piston rod (2) on the cylinder (1) It is threadedly coupled, offers the second holding tank (11) in the side of the flange (3), second holding tank (11) passes through bolt It is connect with the gripping finger (4).
2. a kind of arm gripping body of robot according to claim 1, it is characterised in that:On the chuck (5) Circular hole (6) both sides be arranged with mounting hole (7).
3. a kind of arm gripping body of robot according to claim 1, it is characterised in that:In the gripping finger (4) side is provided with a sliding slot (12), and the sliding slot (12) is corresponding with the position of the second holding tank (11), and described second The both sides of holding tank (11) offer bolt hole, and the bolt on the bolt hole passes through the sliding slot on the gripping finger (4) (12), and the sliding slot (12) has an angle with vertical direction, which is 30 °.
4. a kind of arm gripping body of robot according to claim 1, it is characterised in that:First holding tank (9), the thickness of second holding tank (11) is equal with the thickness of gripping finger (4).
5. a kind of arm gripping body of robot according to claim 1, it is characterised in that:The gripping finger (4) The medial surface of upper end is equipped with antiskid groove (13), and the antiskid groove (13) is in semicircular arc-shaped.
CN201810706281.0A 2018-07-02 2018-07-02 A kind of arm gripping body of robot Withdrawn CN108582146A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810706281.0A CN108582146A (en) 2018-07-02 2018-07-02 A kind of arm gripping body of robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810706281.0A CN108582146A (en) 2018-07-02 2018-07-02 A kind of arm gripping body of robot

Publications (1)

Publication Number Publication Date
CN108582146A true CN108582146A (en) 2018-09-28

Family

ID=63635377

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810706281.0A Withdrawn CN108582146A (en) 2018-07-02 2018-07-02 A kind of arm gripping body of robot

Country Status (1)

Country Link
CN (1) CN108582146A (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203557396U (en) * 2013-09-18 2014-04-23 中国电器科学研究院有限公司 Mechanical paw
CN204056380U (en) * 2014-07-16 2014-12-31 广州达意隆包装机械股份有限公司 Robot and grasping mechanism
CN106514694A (en) * 2017-01-11 2017-03-22 中国科学院合肥物质科学研究院 Flexible mechanical paw
CN107263512A (en) * 2017-08-14 2017-10-20 乔斌 Automatic clamping mechanism for intelligent robot
CN207522594U (en) * 2017-11-30 2018-06-22 天津埃尔途自动化科技有限公司 A kind of highly machine people mechanical arm
CN208584561U (en) * 2018-07-02 2019-03-08 青岛天云智能科技有限公司 A kind of arm gripping body of robot

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203557396U (en) * 2013-09-18 2014-04-23 中国电器科学研究院有限公司 Mechanical paw
CN204056380U (en) * 2014-07-16 2014-12-31 广州达意隆包装机械股份有限公司 Robot and grasping mechanism
CN106514694A (en) * 2017-01-11 2017-03-22 中国科学院合肥物质科学研究院 Flexible mechanical paw
CN107263512A (en) * 2017-08-14 2017-10-20 乔斌 Automatic clamping mechanism for intelligent robot
CN207522594U (en) * 2017-11-30 2018-06-22 天津埃尔途自动化科技有限公司 A kind of highly machine people mechanical arm
CN208584561U (en) * 2018-07-02 2019-03-08 青岛天云智能科技有限公司 A kind of arm gripping body of robot

Similar Documents

Publication Publication Date Title
CN104191434B (en) Hollow cascade machine mechanical arm
CN103707289A (en) Controllable multi-degree of freedom welding robot
CN205272030U (en) High -precision mechanical hand
CN201720848U (en) Built-in two-claw tongs of air cylinder
CN103737208A (en) Multi-degree-of-freedom welding robot
CN102167102B (en) Suction cup type pneumatic wall-climbing robot
WO2017028508A1 (en) Grasping mechanism and robot
JP6318264B2 (en) Robot applying the principle of parallelogram
CN105522556A (en) Four-degree-of-freedom multi-loop series-parallel mechanical arm
CN202114728U (en) Manipulator for automatically grabbing blood type cards
CN105064841B (en) A kind of torsion-beam-type passenger plane hatch door opens drive mechanism
CN109262638A (en) A kind of mechanical grip device
CN103568018A (en) Robot gripper for clamping multi-basket member to overturn
CN108621130A (en) Parallel institution with two kinds of motor patterns of 2R1T and 2T1R
CN105459140A (en) Servo grip of cell module
CN104139396B (en) A kind of under-driven adaptive manipulator
CN205415628U (en) Lathe material loading gripper
CN108621188A (en) The redundancy self-locking mechanical pawl that clamping force accurately controls
CN103086296A (en) Simple lifter
CN102350703A (en) Electromagnet-driven clamping mechanical hand
CN108502042A (en) A kind of biped magnetic adsorption wall climbing robot
CN104626107A (en) Four-degree-of-freedom seven-connecting-rod controllable moving operation mechanical arm with sliding plug pin
CN204194729U (en) A kind of flask overturning device
CN103086263B (en) Hoisting tool for hoisting and turning-over process of gearbox of forklift
CN202430510U (en) Manually-driven pull rod unlocking device for electric door lock of washing machine

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

Application publication date: 20180928

WW01 Invention patent application withdrawn after publication