CN108582146A - A kind of arm gripping body of robot - Google Patents
A kind of arm gripping body of robot Download PDFInfo
- 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
- holding tank
- chuck
- gripping finger
- gripping
- 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- Withdrawn
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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
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
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.
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) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300472A (en) * | 2019-12-13 | 2020-06-19 | 杭州老板电器股份有限公司 | Clamping device and robot |
Citations (6)
| 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 |
-
2018
- 2018-07-02 CN CN201810706281.0A patent/CN108582146A/en not_active Withdrawn
Patent Citations (6)
| 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 |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300472A (en) * | 2019-12-13 | 2020-06-19 | 杭州老板电器股份有限公司 | Clamping device and 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 | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180928 |
|
| WW01 | Invention patent application withdrawn after publication |