CN108994866A - A kind of bio-robot gripper - Google Patents

Abstract

The invention discloses a kind of bio-robot grippers, including top cover, the top cover is boss dress, the upper end of the top cover is equipped with through-hole, third seal groove is equipped in the through-hole, the upper end of the top cover is equipped with several the first countersunk head threaded holes and several the second countersunk head threaded holes, the upper end of the top cover is equipped with the first counterbore, the lower end of first counterbore is equipped with the first seal groove, the top cover is fixed by the first screw being mounted in the first countersunk head threaded hole with cylinder, the shaft being rotatablely connected with it is equipped in the through-hole, the upper end of the shaft couples with servo motor, the present invention is by being arranged dismountable top cover, facilitate the cleaning of the dust inside device, make to maintain simpler, the service life of growing apparatus；, when in use can be convenient and simple directly to lubricating oil is added inside device by setting oil guide pipe and oil outlet plug, while facilitating the discharge of waste oil；By the way that rubber ring is arranged, facilitate the installation and removal of bearing replacing.

Description

A kind of bio-robot gripper

Technical field

The present invention relates to robot fields, and in particular to a kind of bio-robot gripper.

Background technique

The robot that bio-robot refers to mimic biology, is engaged in biological characteristic work, at present in western countries, machinery is doted on Object is all the fashion, in addition, imitative sparrow robot can serve as the task of environmental monitoring, has a wide development prospect, and 21 The mankind will enter aging society in century, develop the wretched insufficiency that anthropomorphic robot will make up young labour, solve aging The social concerns such as the home services of society and medical treatment, and new industry can be opened up, create new job opportunity.

Current bio-robot gripper is roughly divided into two classes, and one kind is that the shape of mimic biology is designed, such machine The bionical degree of tool hand is high, but cost is high；Another kind of is functionality, is designed as needed, such mechanical paw shape is each Different, practicability is high, at low cost, but in use since mechanism is simple, the power for clamping article utilizes hydraulic or gas Pressure, increases the difficulty of circuit design, while gripper is easily worn, and replacement is not convenient enough, and both the above mechanical paw exists Lubricating oil is inconvenient to the problem of adding, and service life is caused to reduce.

Summary of the invention

The purpose of the present invention is to provide a kind of board for teaching mathematics of quick drafting function curve, to solve above-mentioned background skill The bio-robot gripper proposed in art is roughly divided into two classes, and one kind is that the shape of mimic biology is designed, such manipulator Bionical degree is high, but cost is high；Another kind of is functionality, is designed as needed, and such mechanical paw is different, real It is at low cost with property height, but in use since mechanism is simple, the power for clamping article utilizes hydraulic or air pressure, increases The big difficulty of circuit design, while gripper is easily worn, and replaces not convenient enough problem.

To achieve the above object, the present invention provides the following technical solutions, a kind of bio-robot gripper, including top cover, institute Top cover is stated as boss dress, the upper end of the top cover is equipped with through-hole, is equipped with third seal groove, the upper end of the top cover in the through-hole Equipped with several the first countersunk head threaded holes and several the second countersunk head threaded holes, the upper end of the top cover is equipped with the first counterbore, institute The lower end for stating the first counterbore is equipped with the first seal groove, the top cover by the first screw for being mounted in the first countersunk head threaded hole with Cylinder is fixed.

Further, it is preferred that be equipped with the shaft being rotatablely connected with it in the through-hole, the second countersunk head threaded hole with Fixed device is fixed by screw, and the side of the cylinder is equipped with oil outlet, and the inside of the oil outlet is equipped with and its company of sliding The other end of the oil outlet plug connect, the oil outlet plug is equipped with blind hole, and the blind hole is connected to cone tank, and the cone tank is located at The upper end of hydraulic fluid port plug, first counterbore is interior to be equipped with the oil guide pipe being slidably connected with it.

Further, it is preferred that the inside of the oil guide pipe is equipped with through-hole, and the lower end of the oil guide pipe is conical head, institute It states conical head to be located in cone tank, the oil guide pipe is connected to blind hole, and the inside of the cylinder is set there are two annular groove, the ring Rubber ring is equipped in shape slot, the rubber ring is fixed in rubber ring recess, and the rubber ring recess is located in sleeve, and the shaft is logical It crosses bearing and sleeve inner ring is rotatablely connected.

Further, it is preferred that the cylinder is fixed by the first screw with boss, and the lower end of the boss is fixed with circle Platform, the shaft pass through boss, and the lower end of the shaft is threaded rod, and the threaded rod is located in the cavity in rotary table, described The lower end of rotary table is equipped with rotation slot, and the threaded rod is engaged with gear, and the gear is located in the cavity in rotary table, and and rotary table Rotation connection, the tooth engagement of the gear and special shape gear, the special shape gear are located in rotation slot and are rotatablely connected with it.

Further, it is preferred that the lower end of the special shape gear is fixed with cursor, is set on the cursor there are two spiral shell Pit, the threaded hole is interior to be equipped with the second screw being threadedly coupled with it, and second screw fixes finger and threaded hole, institute The outside cladding matcoveredn of finger is stated, the inside of the finger is equipped with anti-slip layer.

Further, it is preferred that first seal groove, the second seal groove, third seal groove, cylinder and boss connect It is equipped with sealing felt at place, shaft and boss rotation, is equipped with metal gasket at the gear and special shape gear rotation.

Further, it is preferred that the upper end of the shaft couples with servo motor, and the tooth position is in the side of special shape gear And the angle of circumferential spread is 180 °, the anti-slip layer is made of industrial abrasive rubber.

Compared with prior art, beneficial effects of the present invention are as follows:

1. wherein top cover is to be fixed by the first screw being mounted in the first countersunk head threaded hole with cylinder to the present invention, thus real It is convenient to have showed top cover disassembly, has facilitated the cleaning of the dust inside device, makes to maintain simpler, the service life of growing apparatus.

2. the present invention is equipped with by the inside equipped with the oil guide pipe and oil outlet that are slidably connected with it in the first counterbore and it The oil outlet plug being slidably connected, so when in use can be convenient and simple directly to lubricating oil is added inside device, while conveniently The discharge of waste oil, rotation oil outlet plug can make channel enclosed, prevent external dust from entering in cylinder.

3. the present invention is set by the inside of setting cylinder, there are two annular grooves, and rubber ring rubber is equipped in annular groove The installation and removal so that it is convenient to bearing replacing are enclosed, and by setting protective layer, prevent the damage in the outside of finger, and Also ensure that article can clamp using the antiskid function of anti-slip layer.

4. the present invention by the first seal groove, the second seal groove, third seal groove, cylinder and boss junction and shaft with It is equipped with sealing felt at boss rotation, may insure that internal lubrication oil will not outflow in this way, causes the waste of lubricating oil, saves About use cost.

Detailed description of the invention

Fig. 1 is a kind of schematic diagram of bio-robot gripper structure of the present invention.

Fig. 2 is a kind of right view of bio-robot gripper structure of the present invention.

Fig. 3 is a kind of main view of bio-robot gripper top cover of the present invention.

Fig. 4 is a kind of main view of bio-robot gripper oil outlet plug of the present invention.

Fig. 5 is a kind of main view of bio-robot gripper oil guide pipe of the present invention.

Fig. 6 is a kind of main view of bio-robot gripper special shape gear of the present invention.

Fig. 7 is partial enlarged view at A in a kind of Fig. 1 of bio-robot gripper structure of the present invention.

In figure: top cover 1, through-hole 1-1, the first countersunk head threaded hole 1-2, the second countersunk head threaded hole 1-3, the first counterbore 1-4, One seal groove 1-5, the second seal groove 1-6, third seal groove 1-7, cylinder 2, oil outlet 2-1, annular groove 2-2, the first screw 3, Oil guide pipe 4, through-hole 4-1, conical head 4-2, oil outlet plug 5, blind hole 5-1, cone tank 5-2, boss 6, sleeve 7, rubber ring recess 7- 1, rubber ring 8, sealing felt 9, shaft 10, threaded rod 10-1, gear 11, special shape gear 12, tooth 12-1, cursor 12-2, spiral shell Pit 12-3, finger 13, protective layer 14, anti-slip layer 15, the second screw 16, gasket 17, rotary table 18, rotation slot 18-1.

Specific embodiment

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 description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments, 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.

Fig. 1-7 is please referred to, the present invention provides a kind of technical solution: a kind of bio-robot gripper, including top cover 1, it is described Top cover 1 is boss dress, and the upper end of the top cover 1 is equipped with through-hole 1-1, and third seal groove 1-7 is equipped in the through-hole 1-1, described The upper end of top cover 1 is equipped with several the first countersunk head threaded hole 1-2 and several the second countersunk head threaded holes 1-3, the top cover 1 it is upper End is equipped with the first seal groove 1-5 equipped with the lower end of the first counterbore 1-4, the first counterbore 1-4, and the top cover 1 is by being mounted on The first screw 3 and cylinder 2 in first countersunk head threaded hole 1-2 is fixed.

Further, the shaft 10 being rotatablely connected with it, the second countersunk head threaded hole 1-3 are equipped in the through-hole 1-1 Fixed with fixed device by screw, the side of the cylinder 2 is equipped with oil outlet 2-1, the inside of the oil outlet 2-1 be equipped with The other end of its oil outlet plug 5 being slidably connected, the oil outlet plug 5 is equipped with blind hole 5-1, the blind hole 5-1 and cone tank 5-2 Connection, the cone tank 5-2 are located at the upper end of hydraulic fluid port plug 5, are equipped with the oil guide pipe being slidably connected with it in the first counterbore 1-4 4。

Further, the inside of the oil guide pipe 4 is equipped with through-hole 4-1, and the lower end of the oil guide pipe 4 is conical head 4-2, institute It states conical head 4-2 to be located in cone tank 5-2, the oil guide pipe 4 is connected to blind hole 5-1, and the inside of the cylinder 2 is set there are two ring Rubber ring 8 is equipped in shape slot 2-2, the annular groove 2-2, the rubber ring 8 is fixed in rubber ring recess 7-1, the rubber ring Slot 7-1 is located in sleeve 7, and the shaft 10 is rotatablely connected by bearing and 7 inner ring of sleeve.

Further, the cylinder 2 is fixed with boss 6 by the first screw 3, and the lower end of the boss 6 is fixed with rotary table 18, the shaft 10 passes through boss 6, and the lower end of the shaft 10 is threaded rod 10-1, and the threaded rod 10-1 is located at rotary table 18 In interior cavity, the lower end of the rotary table 18 is equipped with rotation slot 18-1, and the threaded rod 10-1 is engaged with gear 11, the gear 11 are located in the cavity in rotary table 18, and are rotatablely connected with rotary table 18, and the gear 11 is engaged with the tooth 12-1 of special shape gear 12, The special shape gear 12 is located in rotation slot 18-1 and is rotatablely connected with it.

Further, the lower end of the special shape gear 12 is fixed with cursor 12-2, and the cursor 12-2 is equipped with two It is equipped with the second screw 16 being threadedly coupled with it in a threaded hole 12-3, the threaded hole 12-3, second screw 16 is by hand Refer to that 13 fix with threaded hole 12-3, the outside of the finger 13 coats matcoveredn 14, and the inside of the finger 13 is equipped with anti-skidding Layer 15.

Further, the first seal groove 1-5, the second seal groove 1-6, third seal groove 1-7, cylinder 2 and boss 6 connect It is equipped with sealing felt 9 at the place of connecing, shaft 10 and 6 rotation of boss, is equipped at the gear 11 and 12 rotation of special shape gear Metal gasket 17.

Further, the upper end of the shaft 10 couples with servo motor, and the tooth 12-1 is located at the one of special shape gear 12 The angle of side and circumferential spread is 180 °, and the anti-slip layer 15 is made of industrial abrasive rubber.

The working principle of the present embodiment: the present apparatus when in use, is installed on the securing means, the shaft of shaft 10 and motor Connection, by the rotation of motor, drives shaft 10 to rotate in clamp device, the threaded rod 10-1 rotation of lower section, band moving gear 11 rotations carry out opening and closing movement according to the steering finger 13 of shaft 10 so that special shape gear 12 be driven to rotate, since top couples Servo motor can control the folding angle of finger 13, and when device needs repairing or replaces accessory, it is more square to remove replacement Just, when finger 13 receives injury, unscrew the second screw 16 remove finger 13 replace finger 13, to device add lubricating oil when It waits, lubricating oil is added from the through-hole 4-1 of oil guide pipe 4, enters inside cylinder 2 from blind hole 5-1, both can guarantee that the inside of cylinder 2 is close Envelope will not enter dust, and can rotate oil outlet plug 5 when non-refuelling, disconnect blind hole 5-1 and through-hole 4-1, prevent Only dust enters in device, when waste oil inside discharger, extracts oil outlet plug 5, waste oil is discharged；It is detachable by being arranged Top cover 1, facilitate the cleaning of the dust inside device, make to maintain simpler, the service life of growing apparatus；It is led by setting Oil pipe 4 and oil outlet plug 5, when in use can be convenient and simple directly to lubricating oil is added inside device, while facilitating waste oil Discharge；By the way that rubber ring 8 is arranged, facilitate the installation and removal of bearing replacing；By the way that protective layer 14 is arranged, the outer of finger 13 is prevented The damage of side, and ensure that article can clamp using the antiskid function of anti-slip layer 15；By the way that felt 9 is arranged, it is ensured that inside profit Lubricating oil will not outflow.

Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc. With replacement, all within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in this Within the protection scope of invention.

Claims (7)

1. a kind of bio-robot gripper, it is characterised in that: including top cover (1), the top cover (1) is boss dress, the top cover (1) upper end is equipped with through-hole (1-1), is equipped with third seal groove (1-7) in the through-hole (1-1), the upper end of the top cover (1) is set There are several the first countersunk head threaded holes (1-2) and several the second countersunk head threaded holes (1-3), the upper end of the top cover (1) is equipped with The lower end of first counterbore (1-4), first counterbore (1-4) is equipped with the first seal groove (1-5), and the top cover (1) passes through installation The first screw (3) and cylinder (2) in the first countersunk head threaded hole (1-2) is fixed.

2. a kind of bio-robot gripper according to claim 1, it is characterised in that: be equipped in the through-hole (1-1) with Its shaft (10) being rotatablely connected, the second countersunk head threaded hole (1-3) are fixed with fixed device by screw, the cylinder (2) side is equipped with oil outlet (2-1), and the inside of the oil outlet (2-1) is equipped with the oil outlet plug (5) being slidably connected with it, The other end of the oil outlet plug (5) is equipped with blind hole (5-1), and the blind hole (5-1) is connected to cone tank (5-2), the taper Slot (5-2) is located at the upper end of hydraulic fluid port plug (5), is equipped with the oil guide pipe (4) being slidably connected with it in first counterbore (1-4).

3. a kind of bio-robot gripper according to claim 2, it is characterised in that: the inside of the oil guide pipe (4) is set Have through-hole (4-1), the lower end of the oil guide pipe (4) is conical head (4-2), and the conical head (4-2) is located at cone tank (5-2) Interior, the oil guide pipe (4) is connected to blind hole (5-1), and the inside of the cylinder (2) is set there are two annular groove (2-2), the annular Rubber ring (8) are equipped in slot (2-2), the rubber ring (8) is fixed in rubber ring recess (7-1), and the rubber ring recess (7-1) sets In sleeve (7), the shaft (10) is rotatablely connected by bearing and sleeve (7) inner ring.

4. a kind of bio-robot gripper according to claim 3, it is characterised in that: the cylinder (2) passes through the first spiral shell It follows closely (3) and boss (6) to fix, the lower end of the boss (6) is fixed with rotary table (18), and the shaft (10) passes through boss (6), institute The lower end for stating shaft (10) is threaded rod (10-1), and the threaded rod (10-1) is located in the cavity in rotary table (18), the circle The lower end of platform (18) is equipped with rotation slot (18-1), and the threaded rod (10-1) is engaged with gear (11), and the gear (11) is located at In cavity in rotary table (18), and it is rotatablely connected with rotary table (18), the tooth (12-1) of the gear (11) and special shape gear (12) Engagement, the special shape gear (12) are located in rotation slot (18-1) and are rotatablely connected with it.

5. a kind of bio-robot gripper according to claim 2,4, it is characterised in that: under the special shape gear (12) End is fixed with cursor (12-2), is set on the cursor (12-2) there are two threaded hole (12-3), the threaded hole (12-3) It is interior equipped with the second screw (16) being threadedly coupled with it, second screw (16) is solid by finger (13) and threaded hole (12-3) Fixed, the outside of the finger (13) coats matcoveredn (14), and the inside of the finger (13) is equipped with anti-slip layer (15).

6. a kind of according to claim 1, bio-robot gripper described in 2,3, it is characterised in that: the first seal groove (1- 5), the second seal groove (1-6), third seal groove (1-7), cylinder (2) and boss (6) junction, shaft (10) and boss (6) turn It is equipped with sealing felt (9) in dynamic place, is equipped with metal gasket (17) at the gear (11) and special shape gear (12) rotation.

7. a kind of bio-robot gripper according to claim 2,5, it is characterised in that: the upper end of the shaft (10) with Servo motor connection, it is 180 ° that the tooth (12-1), which is located at the side of special shape gear (12) and the angle of circumferential spread, described anti- Slip layer (15) is made of industrial abrasive rubber.