CN109397324A - A kind of grasping mechanism and grasping means without driving source - Google Patents
A kind of grasping mechanism and grasping means without driving source Download PDFInfo
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- CN109397324A CN109397324A CN201811315254.7A CN201811315254A CN109397324A CN 109397324 A CN109397324 A CN 109397324A CN 201811315254 A CN201811315254 A CN 201811315254A CN 109397324 A CN109397324 A CN 109397324A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 46
- 210000000078 claw Anatomy 0.000 claims abstract description 29
- 238000009434 installation Methods 0.000 claims description 12
- 238000004804 winding Methods 0.000 claims description 2
- 230000005622 photoelectricity Effects 0.000 claims 1
- 230000005484 gravity Effects 0.000 abstract description 11
- 238000005265 energy consumption Methods 0.000 abstract description 4
- 230000008859 change Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
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- 238000005457 optimization Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
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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
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of grasping mechanism without driving source and grasping means, and self-locking by self gravity and frictional force locks workpiece, avoids energy consumption.Including hooking pawl crawl block assembly and hooking pawl seat component；Hooking pawl crawl block assembly includes hooking pawl crawl block and longitudinally disposed mounting plate, hooks the side that pawl crawl block is fixed on mounting plate；The side of hook pawl crawl block includes the circular arc conical surface C for being crawled, and the axis of circular arc conical surface C is longitudinally disposed, and it is downward to bore bottom；Hooking pawl seat component includes hooking pawl seat and two hook pawl locating pieces；The hook claw slot that pawl seat upper surface offers with hooks pawl crawl block cooperation is hooked, hooking claw slot has the circular arc conical surface D cooperated with circular arc conical surface C；The one side opening for hooking claw slot, when so that hook claw slot moving up, hook pawl crawl block, which is able to enter, to be hooked in claw slot；Two hook pawl locating pieces and are mounted on the two sides for hooking pawl seat, when crawl, hook pawl locating piece and contact positioning with mounting plate.
Description
Technical field
The invention belongs to manipulator technical field, specially a kind of grasping mechanism and grasping means without driving source.
Background technique
Existing automation gripper huge number, has dedicated, has general, most of to be all that positioning locks tight basic
Form, the power source of locking have a compressed gas-driven and two kinds of electric drive, pneuma-lock mode implement it is compact-sized, as long as
There is compressed air source it is achieved that electric drive mode volume is larger, at high cost, but has that precision is high, coupling mechanism force is adjustable, can
The advantages of carrying out Precise control.Unless otherwise specified, the compressed gas in text each means pressure in the industry of 0.6MPa or so
Use compressed air.
It is pneumatic gripping claw and robot end's tool quick change that wherein positioning, which locks tight two types, and gripping claw is that a kind of energy is fast
The chuck rivet pulling device of speed positioning and locking；Robot end's tool quick change is used when the multiple grippers of robot need forked working
The chuck rivet pulling device of quick-replaceable robot hand is carried out, is generally all integrated with circuit and the quick plug receptacle of gas circuit.Gripping claw
It is high to the required precision of manipulator check and punctuate using upper, otherwise it is easy to appear Fast Wearing even clamping stagnation.Robot end's tool is fast
It changes, is substantially the same with the principle of gripping claw, is all the structure of chuck blind rivet, only application is different, robot end
Ending tool quick change is the fast interface with circuit abundant and gas circuit for robot replacement gripper design.
Either gripping claw or robot end's tool quick change, working principle and process is the same, and when crawl, is first wanted
Location hole among chuck is axially aligned with blind rivet, while the location hole on the positioning pin and chuck of side being axially aligned,
Then chuck is passed through compressed air, and steel ball unclamps in chuck, and chuck is along axial linearly operating, until blind rivet and positioning pin are all accurate
Enter in the corresponding location hole of chuck, blind rivet positioning surface and chuck contact；Compressed air is cut off, the compression discharged in chuck is empty
Atmospheric pressure, under spring force, steel ball are released, and blind rivet is clamped, and are completed positioning and locking, can be carried to workpiece.
As it can be seen that current grasping mechanism requires driving source, energy consumption is caused.
Summary of the invention
Aiming at the problems existing in the prior art, the present invention provides a kind of without the grasping mechanism of driving source and crawl side
Method, self-locking by self gravity and frictional force lock workpiece, avoid energy consumption.
The present invention is to be achieved through the following technical solutions:
A kind of grasping mechanism without driving source, comprising: for connecting the hook pawl crawl block assembly to grippers and being used for
Connect the hook pawl seat component of manipulator；
Hooking pawl crawl block assembly includes hooking pawl crawl block and longitudinally disposed mounting plate, hooks pawl crawl block and is fixed on mounting plate
Side；The side of hook pawl crawl block includes the circular arc conical surface C for being crawled, and the axis of circular arc conical surface C is longitudinally disposed, and
It is downward to bore bottom；
Hooking pawl seat component includes hooking pawl seat and two hook pawl locating pieces；It hooks pawl seat upper surface and offers and match with hook pawl crawl block
The hook claw slot of conjunction, hooking claw slot has the circular arc conical surface D cooperated with circular arc conical surface C；The one side opening for hooking claw slot, so as to hook claw slot
When moving up, hooks pawl crawl block and be able to enter in hook claw slot；Two hook pawl locating piece and are mounted on the two sides for hooking pawl seat, crawl
When, it hooks pawl locating piece and contacts positioning with mounting plate, to limit the axis phase for hooking pawl crawl block and the spaced winding circular arc conical surface C for hooking pawl seat
To rotation.
Preferably, the side of pawl crawl block is hooked by the first mounting surface, the second mounting surface, the first gripping surface and the second gripping surface
It surrounds, the first mounting surface is contacted with mounting plate, and the second mounting surface is opposite with the first mounting surface, and screw passes through the second mounting surface and the
One mounting surface will hook the installation of pawl crawl block on a mounting board；First gripping surface and the second gripping surface are bored relatively and for coaxial circular arc
Face, the first gripping surface and the second gripping surface form circular arc conical surface C.
Preferably, remember the cone angle alpha of circular arc conical surface C1, the projected angle of circular arc conical surface C is α2, then α1For α2Middle maximum value；α2
Calculation formula are as follows:
Wherein, L2、L1It is the definite value size that mechanism system is decided by mechanical structure, f is the coefficient of sliding friction.
Preferably, it is connected between the side of installation hook pawl crawl block and the bottom surface of mounting plate by arc surface B on mounting plate；
One, which hooks pawl locating piece, has inclined-plane A1, and another hooks pawl locating piece is with inclined-plane A2, when crawl, inclined-plane A1 and inclined-plane A2 with installation
Arc surface B line contact on plate.
Further, the inclination angle of inclined-plane A1 and inclined-plane A2 are identical as the coning angle angle of circular arc conical surface C.
Preferably, hooking pawl seat component further includes photoelectric sensor, and photoelectric sensor, which is fixedly mounted on, to be hooked in pawl seat, for pair
It is detected jig clamping position.
Preferably, mounting plate is equipped with locating slot, hooks pawl crawl block and passes through locating slot location and installation on a mounting board.
Preferably, pawl locating piece is hooked to be mounted in hook pawl seat by screw and stop nut.
Preferably, mounting plate is equipped with the first positioning pin, for mounting plate and to being located by connecting between grippers；Hook pawl
Seat is equipped with the second positioning pin, for hooking being located by connecting between pawl seat and manipulator.
A kind of grasping means of the grasping mechanism without driving source connects the other side of mounting plate with to grippers
It connects, pawl seat will be hooked and connect with manipulator, manipulator control hook pawl seat component X-direction or Y-direction out of plane move to hook pawl and grab
It takes below block, being lifted up hook pawl seat component enters hook pawl crawl block in the hook claw slot for hooking pawl seat, completes grasping movement.
Compared with prior art, the invention has the following beneficial technical effects:
When the invention works, hook pawl seat component X-direction or Y-direction can move to below hook pawl crawl block out of plane,
Being lifted up hook pawl seat component enters hook pawl crawl block in the hook claw slot for hooking pawl seat, and grasping movement can be completed.It is former in crawl
There is essential distinction with the prior art in reason, do not need external any power source, with circular arc conical surface C, circular arc conical surface D and hooks pawl positioning
Block is positioned with mounting plate contact surface as positioning surface, and circular arc conical surface C and circular arc conical surface D contact carry out horizontal plane X and Y-direction
Positioning, hook pawl locating piece and mounting plate and connect to prevent from hooking pawl crawl block and hook and be rotated about the z axis between pawl seat.Positioning surface is completed fixed
Behind position, it is crawled by the self-locking of frictional force being crawled between part self gravity and circular arc conical surface C and circular arc conical surface D to lock
Part；Due to there is no power source, without movable part, without considering the space of internal activity component, the structure design of paw mechanism
It is upper comparatively simple, can according to need do it is very compact and small and exquisite.Also, the arc surface for hooking pawl crawl block and hook pawl seat is all
Circular conical surface has certain guiding role, while increasing the position gap surplus hooked when pawl crawl block enters hook pawl seat, reduces
Requirement of the grasping mechanism to manipulator check and punctuate precision.It can be grabbed with planar X, Y both direction, feeder can be saved
The movement number of axle of structure；Mechanism itself to load weight there is no limit, the weight of load be limited only in mechanism itself intensity and
Rigidity.The exchange and carrying of workpiece or quick change pallet may be implemented in the present invention.
Further, the coning angle size design of circular arc conical surface C, is not only able to meet the self-locking of frictional force well, together
When, it can also guarantee preferable guiding role, and can there are suitable position errors to the movement of pawl seat component is hooked.
Further, it to prevent loaded work piece using locating piece as fulcrum, rotates, therefore the supporting oblique surface of locating piece is set
It is set to 10 degree of inclined-plane, can produce a normal pressure perpendicular to inclined-plane, the anti-locking mechanism of workpiece is blocked and topples.
Further, photoelectric sensor is set, jig can be detected, avoids repeating feeding, causes accidentally to hit.
Grasping means of the invention, self-locking by self gravity and frictional force lock workpiece, do not need consumption additional
The energy, avoid energy consumption.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of grasping mechanism of the present invention.
Fig. 2 is the positioning surface schematic diagram of grasping mechanism of the present invention.
Fig. 3 is the crawl direction schematic diagram of grasping mechanism of the present invention.
Fig. 4 is the self-lock mechanism schematic diagram of grasping mechanism of the present invention.
In figure: 1- quick change pallet, 2- mounting plate, 3- hook pawl seat, the second screw of 4-, the second positioning pin of 5-, 6- third screw,
7- photoelectric sensor, the first screw of 8-, 9- hook pawl and grab block, 10- stop nut, and 11- hooks pawl locating piece, the first positioning pin of 12-.
Specific embodiment
Below with reference to specific embodiment, the present invention is described in further detail, it is described be explanation of the invention and
It is not to limit.
As illustrated in fig. 1 and 2, grasping mechanism of the present invention, is broadly divided into two parts: a part is mounted in wait grab
Hook pawl on part grabs block assembly, and another part is mounted in the hook pawl seat component on manipulator.It is load to grippers.This hair
The bright pallet grabbing device, comprising: mounting plate 2 hooks pawl seat 3, screw 4, positioning pin 5, screw 6, photoelectric sensor 7, the
One screw 8 hooks pawl crawl block 9, stop nut 10 and hooks pawl locating piece 11.It can be workpiece or quick change pallet 1, sheet to grippers
Invention is illustrated by taking quick change pallet 1 as an example.
The side that pawl crawl block 9 is fixed on mounting plate 2 by the first screw 8 is hooked, composition hooks pawl and grabs block assembly, mounting plate
2 other side is connect by screw with quick change pallet 1.There is the locating slot of deep 2mm or so on mounting plate 2, hooks pawl crawl block 9 and pass through
Locating slot is positioned and installed on mounting plate 2, and locating slot guarantees that the installation site hooked between pawl crawl block 9 and mounting plate 2 is accurate.
There is pin hole on mounting plate 2, mounting plate 2 on quick change pallet 1, guarantees mounting plate 2 fast by 12 location and installation of the first positioning pin
Change the installation site on pallet 1.
The side for hooking pawl crawl block 9 is surrounded by the first mounting surface, the second mounting surface, the first gripping surface and the second gripping surface,
First mounting surface is contacted with mounting plate 2, and the second mounting surface is opposite with the first mounting surface, the first screw 8 pass through the second mounting surface and
First mounting surface will hook pawl crawl block 9 and be mounted on mounting plate 2.First gripping surface and the second gripping surface are opposite, the first gripping surface
Opposite with the second gripping surface and be the coaxial circular arc conical surface, the first gripping surface and the second gripping surface form circular arc conical surface C.Mounting plate
Installation, which hooks, on 2 is connected between the side of pawl crawl block 9 and the bottom surface of mounting plate 2 by arc surface B.
Two hook pawl locating piece 11 and are installed to the left and right sides for hooking pawl seat 3, photoelectric sensing by screw and stop nut 10
Device 7 is fixed to by nut and is hooked in pawl seat 3, is hooked pawl seat 3 and is connected on manipulator by the second screw 4, third screw 6, is formed
Hook pawl seat component.
The hook claw slot that 3 upper surface of pawl seat offers with hooks the pawl crawl cooperation of block 9 is hooked, hooking claw slot has circular arc conical surface D.Hook pawl
The one side of slot is open, and when so that hook claw slot moving up, hook pawl crawl block 9 can be made to enter and hooked in claw slot.When crawl, circular arc
Conical surface D is engaged with the first gripping surface and the second gripping surface.
One, which hooks pawl locating piece 11, has inclined-plane A1, and another hooks pawl locating piece 11 has inclined-plane A2, when crawl, inclined-plane A1 and oblique
Face A2 is contacted with the arc surface B line on mounting plate 2.Two 11 position-adjustables of hook pawl locating piece, by adjusting suitable position
Line contact can be carried out with mounting plate 2 when pawl locating piece 11 works to guarantee to hook by setting, and hooking 11 back side of pawl locating piece has a limit
Screw tightens stop nut 10 after hooking the adjustment good position of pawl locating piece 11, hooks pawl seat 3 to will hook pawl locating piece 11 and be mounted on
On.It hooks pawl seat 3 and is equipped with the second positioning pin 5, hook the installation site between pawl seat 3 and manipulator, guaranteed by positioning pin 5.
It hooks and photoelectric sensor 7 is installed at 3 center side of pawl seat, for detecting jig, avoid repeating feeding, position can front and back
Adjustment.
Grasping mechanism basic principle of the present invention is to utilize self-lock mechanism of the frictional force on inclined-plane.As shown in Fig. 2, gripper
Structure positioning is completed by the cooperation in the several faces A1, A2, B, C, D, and locking is by the friction generated on gravity and these faces
Power is self-locking to be realized, when gripper works, is hooked pawl seat component and is moved along arrow H direction, is hooked pawl crawl block 9 and is entered the hook for hooking pawl seat 3
In claw slot, the circular arc conical surface C for hooking pawl crawl block 9 and the circular arc conical surface D for hooking pawl seat 3 cooperate, and realize 1 horizontal plane of workpiece quick change pallet
Interior X, the positioning of Y-direction, at the same time, the inclined-plane A1 and inclined-plane A2 of two hook pawl locating pieces 11 connect with arc surface B on mounting plate 2
Touching is oriented to and positions workpiece Z-axis rotation, so far completes the positioning of workpiece.Hook pawl crawl block 9 and the arc surface for hooking pawl seat 3 are all
Circular conical surface has certain guiding role, while increasing the position gap surplus hooked when pawl crawl block 9 enters hook pawl seat 3, reduces
Requirement of the grasping mechanism to manipulator check and punctuate precision.
It hooks the continuation of pawl seat component to move along arrow H direction, hook the circular arc conical surface D of pawl seat 3 and hooks the circular arc cone of pawl crawl block 9
Face C fitting, the coning angle of circular arc conical surface C take a lesser value, this coning angle is able to satisfy frictional force on inclined-plane by calculating
Self-locking condition, i.e. workpiece self gravity and the tilting moment from the unilateral support force generation for hooking pawl seat 3 are produced less than frictional force
Raw counterbalancing torque.Frictional force counterbalancing torque suffered by workpiece and the linear positive correlation of load gravity at this time, namely
It is no matter to load to become larger and become smaller under this operating condition, in the case where structure can be born, the opposing torque that frictional force generates is always
Greater than the tilting moment that gravity generates, crawl function is may be implemented in structure.But to meet the self-locking of frictional force, to the circular arc conical surface
The coning angle requirement of D is the smaller the better, and coning angle more less friction is bigger, but the smaller pawl that hooks of coning angle grabs what block 9 was embedded in simultaneously
Gap surplus is smaller, be oriented to it is poorer, leave for hook pawl seat component movement position error it is smaller, so cone angle need to comprehensively consider it is embedding
Enter two aspect factor of gap and frictional force, takes the value of an optimization.
In addition, hooking 11 ramp inclination angle of pawl locating piece is also same reason, need to comprehensively consider guiding distance and friction
Power takes the value of an optimization.
Self-lock mechanism concrete analysis is as follows.
As shown in figure 4, suffered external force has normal pressure and friction on gravity G and contact surface when mechanism stable contact
Power；Remember the cone angle alpha of circular arc conical surface C1, the projected angle (angle of the circular arc longitudinal direction conical surface C section) of circular arc conical surface C is α2, then α1For
α2Middle maximum value；
According to experiment and analysis, mechanism will stress from stable state to unstability state, first where the projection line Ln of stress surface
Occurs opposite sliding on the T of face.In addition mechanism flexible deformation, mechanism can be around the micro- rotation of P1 point, and conical surface contact situation is disliked after fine motion
Change, conical-surface friction power is insufficient, causes P1 point to slide, until structure is toppled completely；So mechanism stable state is reduced to stress
Condition is exactly: the frictional force on circular conical surface can be greater than gravity to P1 point torque to the torque of P1 point constantly.
1) torque of the frictional force on circular conical surface for P1 point
M1=FmL1 (1)
Fm=f × F1 (2)
2) torque of the gravity for P1 point
M2=G × L2 (4)
G=mg (5)
Mechanism stable condition:
M1> M2
By above formula (1), (2), (3), (4), (5) are brought into:
Wherein, F1For the even distributed force of circular arc conical surface C, this is simplified using equivalent coefficient；α2For the projected angle of the circular arc conical surface；L2、
L1It is the definite value size that mechanism system is decided by mechanical structure, f is the coefficient of sliding friction；
So the condition of mechanism stable is the projected angle α of the circular arc conical surface2Less than one definite value also needs α in actual conditions2Greatly
In being equal to zero, this is because crawl part, circular conical surface will be embedded into conical grooves by robot, cone angle is too small, to robot
Required precision it is excessively high, and be easy to produce flexible deformation, hooking pawl can block.
By calculating, the value optimal solution of the final coning angle of Gou Zhao mechanism of the invention is: α2=10 °, circular arc conical surface C's
Cone angle alpha1It is 10 °.
The course of work of the invention are as follows: hooking pawl seat component X-direction or Y-direction can move to hook pawl crawl block out of plane
9 lower sections, being lifted up hook pawl seat component enters hook pawl crawl block 9 in the hook claw slot for hooking pawl seat 3, and grasping movement can be completed.
Two-way crawl function may be implemented in the present invention: as shown in figure 3, hook pawl can out of plane X-direction and Y-direction two
The crawl of direction progress workpiece.
The present invention, which hooks pawl seat component, may be implemented detection function: hooking the photoelectric sensor 7 installed in pawl seat 3 can be to jig
Clamping position is detected, and prevents repetition feeding from colliding.
Grasping mechanism of the invention is a kind of device that pallet or workpiece are grabbed by frictional force, and structure is simple, is easy to
It realizes, is not necessarily to driving source, and the two-way crawl of both direction may be implemented, can simplify loader in certain occasions, save
One movement axis of loader.
Claims (10)
1. a kind of grasping mechanism without driving source characterized by comprising for connecting the hook pawl crawl block group to grippers
Part and hook pawl seat component for connecting manipulator；
Hooking pawl crawl block assembly includes hooking pawl crawl block (9) and longitudinally disposed mounting plate (2), hooks pawl crawl block (9) and is fixed on
The side of mounting plate (2)；The side of hook pawl crawl block (9) includes the circular arc conical surface C for being crawled, the axis of circular arc conical surface C
It is longitudinally disposed, and it is downward to bore bottom；
Hooking pawl seat component includes hooking pawl seat (3) and two hook pawl locating pieces (11)；Hook pawl seat (3) upper surface is offered grabs with hook pawl
The hook claw slot for taking block (9) to cooperate, hooking claw slot has the circular arc conical surface D cooperated with circular arc conical surface C；The one side opening of claw slot is hooked,
When so that hook claw slot moving up, hooks pawl crawl block (9) and be able to enter in hook claw slot；Two hook pawl locating pieces (11) are mounted on hook
The two sides of pawl seat (3) when crawl, hook pawl locating piece (11) with mounting plate (2) and contacts positioning, with limit hook pawl grab block (9) and
The axis for hooking the spaced winding circular arc conical surface C of pawl seat (3) relatively rotates.
2. the grasping mechanism according to claim 1 without driving source, which is characterized in that hook the side of pawl crawl block (9)
It being surrounded by the first mounting surface, the second mounting surface, the first gripping surface and the second gripping surface, the first mounting surface is contacted with mounting plate (2),
Second mounting surface is opposite with the first mounting surface, and screw, which passes through the second mounting surface and the first mounting surface, will hook pawl crawl block (9) installation
On mounting plate (2)；First gripping surface and the second gripping surface are opposite and are the coaxial circular arc conical surface, and the first gripping surface and second is grabbed
Face is taken to form circular arc conical surface C.
3. the grasping mechanism according to claim 1 without driving source, which is characterized in that the coning angle of note circular arc conical surface C
α1, the projected angle of circular arc conical surface C is α2, then α1For α2Middle maximum value；α2Calculation formula are as follows:
Wherein, L2、L1It is the definite value size that mechanism system is decided by mechanical structure, f is the coefficient of sliding friction.
4. the grasping mechanism according to claim 1 without driving source, which is characterized in that installation hooks pawl on mounting plate (2)
It grabs and is connect between the side and the bottom surface of mounting plate (2) of block (9) by arc surface B；One, which hooks pawl locating piece (11), has inclined-plane
A1, another hook pawl locating piece (11) has inclined-plane A2, when crawl, inclined-plane A1 and inclined-plane A2 with the arc surface B on mounting plate (2)
Line contact.
5. the grasping mechanism according to claim 4 without driving source, which is characterized in that the inclination angle of inclined-plane A1 and inclined-plane A2
It is identical as the coning angle angle of circular arc conical surface C.
6. the grasping mechanism according to claim 1 without driving source, which is characterized in that hooking pawl seat component further includes photoelectricity
Sensor (7), photoelectric sensor (7), which is fixedly mounted on, to be hooked on pawl seat (3), for detecting to jig clamping position.
7. the grasping mechanism according to claim 1 without driving source, which is characterized in that mounting plate (2) is equipped with positioning
Slot hooks pawl crawl block (9) and passes through locating slot location and installation on mounting plate (2).
8. the grasping mechanism according to claim 1 without driving source, which is characterized in that hook pawl locating piece (11) and pass through spiral shell
Nail and stop nut (10), which are mounted on, to be hooked on pawl seat (3).
9. the grasping mechanism according to claim 1 without driving source, which is characterized in that mounting plate (2) is equipped with first
Positioning pin (12), for mounting plate (2) and to being located by connecting between grippers；It hooks pawl seat (3) and is equipped with the second positioning pin
(5), for hooking being located by connecting between pawl seat (3) and manipulator.
10. a kind of grasping means of the grasping mechanism described in claim 1 without driving source, which is characterized in that by mounting plate
(2) the other side is connect with to grippers, will be hooked pawl seat (3) and is connect with manipulator, manipulator control hooks pawl seat component from plane
Interior X-direction or Y-direction, which move to, hooks pawl crawl block (9) lower section, and being lifted up hook pawl seat component makes hook pawl crawl block (9) enter hook
In the hook claw slot of pawl seat (3), grasping movement is completed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811315254.7A CN109397324B (en) | 2018-11-06 | 2018-11-06 | Grabbing mechanism without driving source and grabbing method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811315254.7A CN109397324B (en) | 2018-11-06 | 2018-11-06 | Grabbing mechanism without driving source and grabbing method |
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| CN109397324A true CN109397324A (en) | 2019-03-01 |
| CN109397324B CN109397324B (en) | 2022-03-15 |
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| CN110181478A (en) * | 2019-06-19 | 2019-08-30 | 河北科技大学 | Passive mechanical pawl grabbing device and method |
| CN110576442A (en) * | 2019-09-11 | 2019-12-17 | 西安精雕软件科技有限公司 | tray grabbing device for reducing teaching difficulty of robot and operation method of tray grabbing device |
| CN111439511A (en) * | 2020-03-26 | 2020-07-24 | 青岛海信商用显示股份有限公司 | Logistics terminal |
| CN111558951A (en) * | 2019-09-18 | 2020-08-21 | 深圳市今天国际物流技术股份有限公司 | Laminate polymer battery manipulator |
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| CN207359109U (en) * | 2017-09-28 | 2018-05-15 | 深圳市优必选科技有限公司 | A kind of robot arm |
| CN207824915U (en) * | 2018-01-22 | 2018-09-07 | 山东理工大学 | The fast automatic attaching/detaching apparatus of handling machinery arm paw |
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| CN207359109U (en) * | 2017-09-28 | 2018-05-15 | 深圳市优必选科技有限公司 | A kind of robot arm |
| CN207824915U (en) * | 2018-01-22 | 2018-09-07 | 山东理工大学 | The fast automatic attaching/detaching apparatus of handling machinery arm paw |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110181478A (en) * | 2019-06-19 | 2019-08-30 | 河北科技大学 | Passive mechanical pawl grabbing device and method |
| CN110576442A (en) * | 2019-09-11 | 2019-12-17 | 西安精雕软件科技有限公司 | tray grabbing device for reducing teaching difficulty of robot and operation method of tray grabbing device |
| CN110576442B (en) * | 2019-09-11 | 2021-12-14 | 西安精雕软件科技有限公司 | Tray grabbing device for reducing teaching difficulty of robot and operation method of tray grabbing device |
| CN111558951A (en) * | 2019-09-18 | 2020-08-21 | 深圳市今天国际物流技术股份有限公司 | Laminate polymer battery manipulator |
| CN111439511A (en) * | 2020-03-26 | 2020-07-24 | 青岛海信商用显示股份有限公司 | Logistics terminal |
| CN111439511B (en) * | 2020-03-26 | 2022-02-01 | 青岛海信商用显示股份有限公司 | Logistics terminal |
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Inventor after: Gao Xiao Inventor after: Li Xiaolong Inventor after: Li Dongyan Inventor before: Li Xiaolong Inventor before: Gao Xiao Inventor before: Li Dongyan |