CN109397324B - Grabbing mechanism without driving source and grabbing method - Google Patents
Grabbing mechanism without driving source and grabbing method Download PDFInfo
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- CN109397324B CN109397324B CN201811315254.7A CN201811315254A CN109397324B CN 109397324 B CN109397324 B CN 109397324B CN 201811315254 A CN201811315254 A CN 201811315254A CN 109397324 B CN109397324 B CN 109397324B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 44
- 238000000034 method Methods 0.000 title claims abstract description 9
- 210000000078 claw Anatomy 0.000 claims abstract description 178
- 230000009471 action Effects 0.000 claims description 8
- 230000005484 gravity Effects 0.000 abstract description 11
- 238000005265 energy consumption Methods 0.000 abstract description 4
- 230000008859 change Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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Classifications
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- 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)
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a grabbing mechanism and a grabbing method without a driving source, which lock a workpiece by self-locking of gravity and friction force and avoid energy consumption. The claw hooking device comprises a claw hooking block assembly and a claw hooking seat assembly; the hook claw grabbing block assembly comprises a hook claw grabbing block and a mounting plate which is longitudinally arranged, and the hook claw grabbing block is fixed on one side of the mounting plate; the side surface of the claw grabbing block comprises an arc conical surface C used for being grabbed, the axis of the arc conical surface C is arranged along the longitudinal direction, and the bottom of the arc conical surface C faces downwards; the claw hooking seat component comprises a claw hooking seat and two claw hooking positioning blocks; the upper surface of the claw hooking seat is provided with a claw hooking groove matched with the claw grabbing block, and the claw hooking groove is provided with an arc conical surface D matched with the arc conical surface C; one side surface of the claw hooking groove is opened, so that the claw hooking grabbing block can enter the claw hooking groove when the claw hooking groove moves upwards; the two claw-hooking positioning blocks are arranged on two sides of the claw-hooking seat, and when grabbing, the claw-hooking positioning blocks are in contact positioning with the mounting plate.
Description
Technical Field
The invention belongs to the technical field of mechanical arms, and particularly relates to a grabbing mechanism and a grabbing method without a driving source.
Background
The existing automatic paw has various types, is special and universal, mostly adopts a basic form of positioning and locking, the locking power source has two types of compressed gas driving and electric driving, the pneumatic locking mode has a compact structure, the pneumatic locking mode can be realized only by a compressed air source, the electric driving mode has larger volume and high cost, but has the advantages of high precision, adjustable locking force and fine control. Unless otherwise specified, the compressed gas in the present specification refers to industrial compressed air having a pressure of about 0.6 MPa.
The two types of positioning and locking are quick change of a pneumatic holding claw and a robot tail end tool, and the holding claw is a chuck blind rivet device capable of quickly positioning and locking; when a plurality of claws of a robot need to work in an intersecting way, the chuck rivet device for quickly replacing the claws of the robot is generally integrated with a circuit and an air path quick connector. In the application of the gripper, the precision requirement on the calibration of the manipulator is high, otherwise, the rapid abrasion and even clamping stagnation are easy to occur. The quick change of the robot end tool is basically the same as the principle of a gripper, is a structure of a chuck blind rivet, is different from the application occasions, is designed aiming at the replacement of the gripper of the robot, and is provided with a quick interface with abundant circuits and gas circuits.
The working principle and the process are the same no matter the gripper or the tail end tool of the robot is quickly replaced, when the gripper is used for gripping, a positioning hole in the middle of the chuck is axially aligned with the blind rivet, a positioning pin on one side is axially aligned with the positioning hole on the chuck, then compressed air is introduced into the chuck, a steel ball in the chuck is loosened, the chuck linearly moves along the axial direction until the blind rivet and the positioning pin accurately enter the positioning hole corresponding to the chuck, and a blind rivet positioning surface is contacted with the chuck; compressed air is cut off, compressed air pressure in the chuck is released, the steel ball is pushed out under the action of spring force, the blind rivet is clamped, positioning and locking are completed, and the workpiece can be carried.
Therefore, the current grabbing mechanisms all need driving sources, and energy consumption is caused.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a grabbing mechanism and a grabbing method without a driving source, which lock a workpiece by self-locking of self gravity and friction force and avoid energy consumption.
The invention is realized by the following technical scheme:
a gripping mechanism without a driving source, comprising: the claw hooking and grabbing block assembly is used for connecting a to-be-grabbed piece and the claw hooking seat assembly is used for connecting a manipulator;
the hook claw grabbing block assembly comprises a hook claw grabbing block and a mounting plate which is longitudinally arranged, and the hook claw grabbing block is fixed on one side of the mounting plate; the side surface of the claw grabbing block comprises an arc conical surface C used for being grabbed, the axis of the arc conical surface C is arranged along the longitudinal direction, and the bottom of the arc conical surface C faces downwards;
the claw hooking seat component comprises a claw hooking seat and two claw hooking positioning blocks; the upper surface of the claw hooking seat is provided with a claw hooking groove matched with the claw grabbing block, and the claw hooking groove is provided with an arc conical surface D matched with the arc conical surface C; one side surface of the claw hooking groove is opened, so that the claw hooking grabbing block can enter the claw hooking groove when the claw hooking groove moves upwards; the two hook claw positioning blocks are arranged on two sides of the hook claw seat, and when grabbing, the hook claw positioning blocks are in contact positioning with the mounting plate so as to limit the relative rotation between the hook claw grabbing block and the hook claw seat around the axis of the arc conical surface C.
Preferably, the side surface of the claw grabbing block is surrounded by a first mounting surface, a second mounting surface, a first grabbing surface and a second grabbing surface, the first mounting surface is in contact with the mounting plate, the second mounting surface is opposite to the first mounting surface, and the screw penetrates through the second mounting surface and the first mounting surface to mount the claw grabbing block on the mounting plate; the first grabbing surface and the second grabbing surface are opposite and coaxial arc conical surfaces, and the first grabbing surface and the second grabbing surface form an arc conical surface C.
Preferably, the taper angle α of the circular-arc conical surface C is recorded1The projection angle of the circular conical surface C is alpha2Then α is1Is alpha2A medium maximum value; alpha is alpha2The calculation formula is as follows:
wherein L is2、L1The mechanism is determined by the fixed size of the mechanical structure, and f is the sliding friction coefficient.
Preferably, the side surface of the mounting plate, on which the claw grabbing block is mounted, is connected with the bottom surface of the mounting plate through an arc surface B; one hook claw positioning block is provided with an inclined surface A1, the other hook claw positioning block is provided with an inclined surface A2, and during grabbing, the inclined surface A1 and the inclined surface A2 are in line contact with an arc surface B on the mounting plate.
Further, the inclination angles of the inclined surface a1 and the inclined surface a2 are the same as the taper angle of the circular arc tapered surface C.
Preferably, collude claw seat subassembly and still include photoelectric sensor, photoelectric sensor fixed mounting colludes the claw seat on for detect the tool clamping position.
Preferably, the mounting plate is provided with a positioning groove, and the hook claw grabbing block is arranged on the mounting plate through the positioning groove.
Preferably, the hook claw positioning block is installed on the hook claw seat through a screw and a locknut.
Preferably, the mounting plate is provided with a first positioning pin for positioning connection between the mounting plate and the piece to be grabbed; and a second positioning pin is arranged on the claw hooking seat and used for positioning connection between the claw hooking seat and the manipulator.
The other side of the mounting plate is connected with a piece to be grabbed, the claw hooking seat is connected with a mechanical arm, the mechanical arm controls the claw hooking seat assembly to move to the position below the claw hooking block from the X direction or the Y direction in a plane, and the claw hooking seat assembly is lifted upwards to enable the claw hooking block to enter a claw groove of the claw hooking seat to complete grabbing.
Compared with the prior art, the invention has the following beneficial technical effects:
when the claw-hooking base assembly works, the claw-hooking base assembly can move to the position below the claw-hooking grabbing block from the X direction or the Y direction in a plane, and the claw-hooking base assembly is lifted upwards to enable the claw-hooking grabbing block to enter the claw-hooking groove of the claw-hooking base, so that grabbing action can be finished. The grabbing mechanism is essentially different from the prior art in the grabbing principle, does not need any external power source, and is positioned by taking the contact surfaces of the arc conical surface C, the arc conical surface D and the claw positioning block and the mounting plate as positioning surfaces, the arc conical surface C and the arc conical surface D are contacted to position in the X and Y directions of a horizontal plane, and the claw positioning block is connected with the mounting plate to prevent the claw grabbing block and the claw base from rotating around the Z axis. After the positioning surface finishes positioning, the grabbed piece is locked by self gravity of the grabbed piece and self-locking of friction force between the arc conical surface C and the arc conical surface D; because there is no power source, there is no moving part, need not consider the space of the internal moving part, the structural design of the paw mechanism is fairly simple, can be made very compact and small and exquisite as required. And the arc surfaces of the claw grabbing block and the claw hooking seat are conical surfaces, so that a certain guiding effect is achieved, the position clearance allowance of the claw grabbing block entering the claw hooking seat is increased, and the requirement of the grabbing mechanism on the mechanical hand calibration accuracy is lowered. The grabbing can be carried out in two directions of X, Y in the plane, so that the number of action shafts of the feeding mechanism can be saved; the mechanism has no limit on the weight of the load, and the weight of the load is only limited by the strength and rigidity of the mechanism. The invention can realize the exchange and the transportation of the workpieces or the quick-change trays.
Furthermore, the design of the size of the cone angle of the arc conical surface C can not only well meet the self-locking of friction force, but also ensure better guiding function and leave a proper positioning error for the action of the hook claw seat component.
Furthermore, in order to prevent the loaded workpiece from rotating by taking the positioning block as a fulcrum, the supporting inclined plane of the positioning block is set to be a 10-degree inclined plane, so that a positive pressure perpendicular to the inclined plane can be generated to clamp the workpiece and prevent the mechanism from overturning.
Further, set up photoelectric sensor, can detect the tool, avoid repeated material loading, cause the mistake and hit.
The grabbing method provided by the invention locks the workpiece by self-locking of self gravity and friction force, does not need to consume extra energy, and avoids energy consumption.
Drawings
Fig. 1 is a schematic structural view of the grasping mechanism of the present invention.
Fig. 2 is a schematic view of the positioning surface of the grasping mechanism of the present invention.
Fig. 3 is a schematic view of the grabbing direction of the grabbing mechanism of the present invention.
Fig. 4 is a schematic view of the self-locking principle of the grabbing mechanism of the present invention.
In the figure: 1-a quick-change tray, 2-a mounting plate, 3-a claw hooking seat, 4-a second screw, 5-a second positioning pin, 6-a third screw, 7-a photoelectric sensor, 8-a first screw, 9-a claw hooking and grabbing block, 10-a locknut, 11-a claw hooking and positioning block and 12-a first positioning pin.
Detailed Description
The present invention will now be described in further detail with reference to specific examples, which are intended to be illustrative, but not limiting, of the invention.
As shown in fig. 1 and 2, the gripping mechanism of the present invention is mainly divided into two parts: one part is a hook claw grabbing block assembly arranged on a piece to be grabbed, and the other part is a hook claw seat assembly arranged on a manipulator. The piece to be grabbed is a load. The invention provides a tray grabbing device, comprising: the mounting plate 2, collude claw seat 3, screw 4, locating pin 5, screw 6, photoelectric sensor 7, first screw 8, collude the claw and snatch piece 9, locknut 10 and collude claw locating piece 11. The part to be grabbed can be a workpiece or a quick-change tray 1, and the quick-change tray 1 is taken as an example for explanation in the invention.
Collude the claw and snatch the piece 9 and fix in one side of mounting panel 2 through first screw 8, constitute and collude the claw and snatch a block set spare, the opposite side of mounting panel 2 passes through the screw and is connected with quick change tray 1. Have the constant head tank about 2mm of depth on the mounting panel 2, collude the claw and snatch piece 9 and pass through the constant head tank location and install on mounting panel 2, the constant head tank guarantees to collude the claw and snatchs the mounted position accuracy between piece 9 and the mounting panel 2. The mounting plate 2 is provided with a pin hole, the mounting plate 2 is positioned and mounted on the quick-change tray 1 through the first positioning pin 12, and the mounting position of the mounting plate 2 on the quick-change tray 1 is ensured.
The side face of the claw grabbing block 9 is surrounded by a first mounting face, a second mounting face, a first grabbing face and a second grabbing face, the first mounting face is in contact with the mounting plate 2, the second mounting face is opposite to the first mounting face, and the first screw 8 penetrates through the second mounting face and the first mounting face to install the claw grabbing block 9 on the mounting plate 2. The first grabbing surface is opposite to the second grabbing surface, the first grabbing surface is opposite to the second grabbing surface and is a coaxial arc conical surface, and the first grabbing surface and the second grabbing surface form an arc conical surface C. The side surface of the mounting plate 2 provided with the claw grabbing block 9 is connected with the bottom surface of the mounting plate 2 through an arc surface B.
Two collude claw locating pieces 11 and install the left and right sides that colludes claw seat 3 through screw and locknut 10, and photoelectric sensor 7 colludes claw seat 3 through the nut is fixed on, colludes claw seat 3 and colludes on claw seat 3 is connected to the manipulator through second screw 4, third screw 6, constitutes and colludes claw seat subassembly.
The upper surface of the claw hooking seat 3 is provided with a claw hooking groove matched with the claw hooking block 9, and the claw hooking groove is provided with an arc conical surface D. One side surface of the claw hooking groove is opened, so that when the claw hooking groove moves upwards, the claw hooking grabbing block 9 can enter the claw hooking groove. When grabbing, the arc conical surface D is in contact fit with the first grabbing surface and the second grabbing surface.
One hook claw positioning block 11 is provided with an inclined surface A1, the other hook claw positioning block 11 is provided with an inclined surface A2, and the inclined surfaces A1 and A2 are in line contact with an arc surface B on the mounting plate 2 during grabbing. Two collude claw locating piece 11 positions adjustable, guarantee through adjusting suitable position that collude claw locating piece 11 during operation can carry out line contact with mounting panel 2, collude claw locating piece 11 back and have a stop screw, collude claw locating piece 11 and adjust the position back, screw up lock nut 10 to collude claw locating piece 11 and install on colluding claw seat 3. Collude and be equipped with second locating pin 5 on the claw seat 3, collude the mounted position between claw seat 3 and the manipulator, guarantee through locating pin 5. The photoelectric sensor 7 is installed at the center of the side face of the claw hooking seat 3 and used for detecting the jig, repeated feeding is avoided, and the position can be adjusted forwards and backwards.
The gripping mechanism of the invention adopts the self-locking principle of friction force on an inclined plane. As shown in fig. 2, the positioning of the grabbing mechanism is completed by matching a plurality of surfaces a1, a2 and B, C, D, the locking of the grabbing mechanism is realized by self-locking of gravity and friction force generated on the surfaces, when the paw works, the claw hooking seat assembly moves along the arrow H direction, the claw hooking block 9 enters the claw groove of the claw hooking seat 3, the arc conical surface C of the claw hooking block 9 is matched with the arc conical surface D of the claw hooking seat 3, so as to realize the positioning in the X and Y directions in the horizontal plane of the workpiece quick-change tray 1, meanwhile, the inclined surfaces a1 and the inclined surfaces a2 of the two claw positioning blocks 11 are in contact with the arc surface B on the mounting plate 2, so as to guide and position the Z axis of the workpiece to rotate, and thus completing the positioning of the workpiece. The arc surfaces of the hook claw grabbing block 9 and the hook claw seat 3 are conical surfaces, so that a certain guiding effect is achieved, the position clearance allowance of the hook claw grabbing block 9 entering the hook claw seat 3 is increased, and the requirement of the grabbing mechanism on the mechanical hand calibration precision is reduced.
The hook claw seat assembly continues to move along the direction of an arrow H, the arc conical surface D of the hook claw seat 3 is attached to the arc conical surface C of the hook claw grabbing block 9, the conical angle of the arc conical surface C is calculated to obtain a smaller value, the conical angle can meet the self-locking condition of the friction force on the inclined plane, and the overturning moment generated by the self gravity of the workpiece and the unilateral supporting force from the hook claw seat 3 is smaller than the reverse balance moment generated by the friction force. At this moment, the friction force reverse balance moment borne by the workpiece is in linear positive correlation with the load gravity, namely under the working condition, no matter the load becomes large or small, under the condition that the structure can bear, the reverse moment generated by the friction force is always larger than the overturning moment generated by the gravity, and the structure can realize the grabbing function. However, in order to satisfy the self-locking of the friction force, the smaller the cone angle of the arc-shaped conical surface D is, the better the requirement is, the smaller the cone angle is, the larger the friction force is, but the smaller the cone angle is, the smaller the gap allowance for the hook claw grabbing block 9 to be embedded is, the worse the guiding is, the smaller the positioning error left for the action of the hook claw seat assembly is, so that the cone angle needs to comprehensively consider two factors of the embedding gap and the friction force, and an optimal value is obtained.
In addition, the inclination angle of the upper inclined plane of the claw positioning block 11 is the same reason, and the guide distance and the friction force need to be comprehensively considered to take an optimal value.
The self-locking principle is specifically analyzed as follows.
As shown in fig. 4, when the mechanism is in stable contact, the mechanism receives gravity G as an external force, and a positive pressure and a friction force on a contact surface; conical angle alpha of circular arc conical surface C1The projection angle of the circular-arc conical surface C (the angle of the longitudinal section of the circular-arc conical surface C) is alpha2Then α is1Is alpha2A medium maximum value;
according to experiments and analysis, when the mechanism needs to be in a stable state to a destabilized state, relative sliding occurs on the stress surface T where the projection line Ln of the stress surface is located. The mechanism can slightly rotate around a point P1 due to elastic deformation of the mechanism, the contact condition of the conical surface is worsened after the mechanism slightly moves, and the friction force of the conical surface is insufficient, so that the point P1 slides until the structure completely overturns; therefore, the simplification of the stable state of the mechanism is that the stress condition is as follows: the torque energy of the friction force on the conical surface to the point P1 is greater than the torque of the gravity force to the point P1.
1) Friction on conical surface versus torque at point P1
M1＝FmL1 (1)
Fm＝f×F1 (2)
2) Torque of gravity to point P1
M2＝G×L2 (4)
G＝m·g (5)
Mechanism stable conditions:
M1＞M2
the above formulas (1), (2), (3), (4), (5) are substituted into:
wherein, F1The uniform force of the arc conical surface C is adopted, and the use equivalent coefficient is simplified; alpha is alpha2Is a projection angle of an arc conical surface; l is2、L1The mechanism system is determined by the fixed value size of the mechanical structure, and f is the sliding friction coefficient;
so the mechanism is stable under the condition that the projection angle alpha of the circular conical surface is2Less than a fixed value, in practice, alpha is also required2The part is grabbed, the conical surface is embedded into the conical groove by a robot, the conical angle is too small, the requirement on the precision of the robot is too high, elastic deformation is easy to generate, and the hook claw can be clamped.
Through calculation, the optimal solution of the final taper angle of the claw hooking mechanism is as follows: alpha is alpha 210 DEG, the taper angle alpha of the circular conical surface C1Is 10 deg..
The working process of the invention is as follows: the claw hooking seat component can move to the position below the claw hooking grabbing block 9 from the X direction or the Y direction in the plane, and the claw hooking seat component is lifted upwards to enable the claw hooking grabbing block 9 to enter a claw hooking groove of the claw hooking seat 3, so that the grabbing action can be completed.
The invention can realize the bidirectional grabbing function: as shown in fig. 3, the claw can grasp the workpiece from both directions of the X direction and the Y direction in the plane.
The claw hooking seat component can realize the detection function: the photoelectric sensor 7 arranged on the claw seat 3 can detect the fixture clamping position, so that repeated feeding is prevented from colliding.
The grabbing mechanism provided by the invention is a device for grabbing a tray or a workpiece by friction force, has a simple structure, is easy to realize, does not need a driving source, can realize bidirectional grabbing in two directions, can simplify a feeder in some occasions, and saves an action shaft of the feeder.
Claims (8)
1. A gripping mechanism without a driving source, comprising: the claw hooking and grabbing block assembly is used for connecting a to-be-grabbed piece and the claw hooking seat assembly is used for connecting a manipulator;
the claw grabbing block assembly comprises a claw grabbing block (9) and a mounting plate (2) which is longitudinally arranged, and the claw grabbing block (9) is fixed on one side of the mounting plate (2); the side surface of the claw grabbing block (9) comprises an arc conical surface C used for being grabbed, the axis of the arc conical surface C is arranged along the longitudinal direction, and the conical bottom is downward;
the claw hooking seat component comprises a claw hooking seat (3) and two claw hooking positioning blocks (11); the upper surface of the claw hooking seat (3) is provided with a claw hooking groove matched with the claw hooking block (9), and the claw hooking groove is provided with an arc conical surface D matched with the arc conical surface C; one side surface of the claw hooking groove is opened, so that when the claw hooking groove moves upwards, the claw hooking grabbing block (9) can enter the claw hooking groove; two hook claw positioning blocks (11) are arranged on two sides of the hook claw seat (3), and when grabbing, the hook claw positioning blocks (11) are in contact positioning with the mounting plate (2) so as to limit the relative rotation between the hook claw grabbing block (9) and the hook claw seat (3) around the axis of the arc conical surface C.
2. The drive-source-free gripping mechanism according to claim 1, wherein the side surface of the claw gripping block (9) is surrounded by a first mounting surface which contacts the mounting plate (2), a second mounting surface which is opposite to the first mounting surface, a first gripping surface which is opposite to the first mounting surface, and a second gripping surface through which a screw passes to mount the claw gripping block (9) on the mounting plate (2); the first grabbing surface and the second grabbing surface are opposite and coaxial arc conical surfaces, and the first grabbing surface and the second grabbing surface form an arc conical surface C.
3. The gripping mechanism without the driving source according to claim 1, characterized in that the side surface of the mounting plate (2) where the claw gripping block (9) is mounted is connected with the bottom surface of the mounting plate (2) through a circular arc surface B; one hook claw positioning block (11) is provided with an inclined surface A1, the other hook claw positioning block (11) is provided with an inclined surface A2, and the inclined surface A1 and the inclined surface A2 are in line contact with an arc surface B on the mounting plate (2) during grabbing.
4. The gripping mechanism without a driving source according to claim 3, wherein the inclination angles of the inclined surface A1 and the inclined surface A2 are the same as the taper angle of the circular arc tapered surface C.
5. The gripping mechanism without a driving source according to claim 1, wherein the mounting plate (2) is provided with a positioning groove, and the claw gripping block (9) is positioned and mounted on the mounting plate (2) through the positioning groove.
6. The grasping mechanism without a drive source according to claim 1, wherein the pawl positioning block (11) is mounted on the pawl seat (3) by a screw and a locknut (10).
7. A drive-source-free gripper mechanism according to claim 1, characterized in that the mounting plate (2) is provided with a first positioning pin (12) for positioning connection between the mounting plate (2) and the piece to be gripped; and a second positioning pin (5) is arranged on the claw hooking seat (3) and used for positioning connection between the claw hooking seat (3) and the manipulator.
8. The grabbing method of the grabbing mechanism without the driving source as claimed in claim 1, wherein the other side of the mounting plate (2) is connected with the object to be grabbed, the claw hooking seat (3) is connected with the manipulator, the manipulator controls the claw hooking seat assembly to move to the position below the claw grabbing block (9) from the X direction or the Y direction in the plane, and the claw hooking seat assembly is lifted upwards to enable the claw grabbing block (9) to enter the claw groove of the claw hooking seat (3) to complete the grabbing action.
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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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| CN201811315254.7A CN109397324B (en) | 2018-11-06 | 2018-11-06 | Grabbing mechanism without driving source and grabbing method |
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| CN109397324B true CN109397324B (en) | 2022-03-15 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110181478B (en) * | 2019-06-19 | 2020-10-16 | 河北科技大学 | Passive mechanical claw grabbing device and method |
| 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 |
| CN111558951B (en) * | 2019-09-18 | 2023-05-16 | 深圳市今天国际物流技术股份有限公司 | Soft packet of battery manipulator |
| CN111439511B (en) * | 2020-03-26 | 2022-02-01 | 青岛海信商用显示股份有限公司 | Logistics terminal |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207359109U (en) * | 2017-09-28 | 2018-05-15 | 深圳市优必选科技有限公司 | 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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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207359109U (en) * | 2017-09-28 | 2018-05-15 | 深圳市优必选科技有限公司 | 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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Inventor after: Gao Xiao Inventor after: Li Xiaolong Inventor after: Li Dongyan Inventor before: Li Xiaolong Inventor before: Gao Xiao Inventor before: Li Dongyan |