CN109623861A - A kind of flexible grabbing device - Google Patents
A kind of flexible grabbing device Download PDFInfo
- Publication number
- CN109623861A CN109623861A CN201910092386.6A CN201910092386A CN109623861A CN 109623861 A CN109623861 A CN 109623861A CN 201910092386 A CN201910092386 A CN 201910092386A CN 109623861 A CN109623861 A CN 109623861A
- Authority
- CN
- China
- Prior art keywords
- flexible
- cylinder
- grappling fixture
- grabbing device
- connecting rod
- 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.)
- Pending
Links
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 6
- 239000000463 material Substances 0.000 claims description 8
- 230000001788 irregular Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
-
- 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
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to mechanical equipment technical fields, especially a kind of flexible grabbing device, including frame and cylinder, the pedestal of cylinder is connect with frame upper end, the extension bar of cylinder stretches out downward and end is provided with the rack gear on left and right two sides, and rack gear left and right ends are engaged with gear respectively, and gear is connect by shaft with frame, gear radially stretches out connecting rod, and flexible grappling fixture is arranged in connecting rod outer end.Flexible grabbing device of the invention, the brittleness rapid wear irregular items such as two flexible grappling fixture crawl bowls, cups are driven using cylinder, grasp speed is high-efficient fastly, torsional spring is additionally provided in the shaft of flexible grappling fixture simultaneously, grappling fixture is set to deform a part outward, greatly reduce stress when crawl, reduces and grabbed the broken probability of article.
Description
Technical field
The invention belongs to mechanical equipment technical fields, and in particular to a kind of flexible grabbing device.
Background technique
With the continuous development of robot technology, more and more manipulators are in industrial automation production.Traditional
Industry mechanical arm is generally Rigid Manipulators, has preferable control precision and operability, but its average physique is larger, needs
Working space is big, is not easy to grab the relatively small object of some volumes, and since manipulator is rigidly larger, should not grab and carry
In irregular shape, frangible delicate objects.And it is many times needed in the industrial automations such as food industry and packaging industry production
This type objects is grabbed and carries, Rigid Manipulators are unable to complete these work, and are accomplished manually that this working efficiency is low and precision
It is low, error is larger.Especially on automatic bowl and sorting device, after sorting device classifies dish, bowl, cup, need to grab dress
It sets and is placed on dish after picking up bowl and cup, this just needs flexible grabbing device, prevents Rigid Manipulators from damaging bowl and cup, simultaneously
It is required that grasp speed is fast and secured.
Summary of the invention
The purpose of the present invention is to provide a kind of flexible grabbing devices, it is intended to which bowl can not be grabbed by solving existing Rigid Manipulators
Cup brittleness rapid wear and irregular the problem of waiting objects.
To achieve the above object, a kind of flexible grabbing device of the invention adopts the following technical scheme that gentle including frame
The pedestal of cylinder, cylinder is connect with frame upper end, and the extension bar of cylinder stretches out downward and end is provided with the rack gear on left and right two sides,
Rack gear left and right ends are engaged with gear respectively, and gear is connect by shaft with frame, and gear radially stretches out connecting rod, connecting rod
Flexible grappling fixture is arranged in outer end.
The grappling fixture and connecting rod are hinged, and hinged place, which is provided with torsional spring, compresses flexible grappling fixture inwardly, flexible grappling fixture and connecting rod
Hinged place is additionally provided with limited block, so that flexible grappling fixture is rotated inward angle relative to connecting rod and is limited.
The frame includes the top plate of the pedestal of fixed cylinder, and top plate two sides are provided with side plate, intermediate setting below side plate
There is middle plate, the extension bar that hole passes through cylinder is provided among middle plate, guide holder is additionally provided on middle plate, the extension bar of cylinder is carried out
Guiding；It is respectively arranged with cover board before and after the middle plate, is corresponded on cover board and is provided with hole at shaft.
The frame is made of low-density materials, and is connected by screw to.
The flexibility grappling fixture is made of rubber material.
The flexibility grappling fixture inner surface is the shape for being crawled article.
The beneficial effects of the present invention are: flexible grabbing device of the invention, drives two flexible grappling fixture crawls using cylinder
The brittleness rapid wear irregular items such as bowl, cup, grasp speed is high-efficient fastly, while being additionally provided with torsional spring in the shaft of flexible grappling fixture,
So that grappling fixture is deformed a part outward, greatly reduce stress when crawl, reduces and grabbed the broken probability of article.
Detailed description of the invention
Fig. 1 is three-dimensional view of the invention；
Fig. 2 is front sectional view of the invention.
Appended drawing reference: 1- frame, 101- top plate, 102- side plate, plate, 104- cover board, 2- cylinder, 3- rack gear, 4- in 103-
Gear, 5- shaft, 6- connecting rod, 7- flexibility grappling fixture, 8- torsional spring, 9- guide holder.
Specific embodiment
The embodiment of invention is described further with reference to the accompanying drawing.
A kind of embodiment of flexible grabbing device of the present invention, it is shown as depicted in figs. 1 and 2, including frame 1 and cylinder 2, gas
The pedestal of cylinder 2 is connect with 1 upper end of frame, and the extension bar of cylinder 2 stretches out downward and end is provided with the rack gear 3 on left and right two sides,
3 left and right ends of rack gear are engaged with gear 4 respectively, and gear 4 is connect by shaft 5 with frame 1, and gear 4 radially stretches out company
Flexible grappling fixture 7 is arranged in bar 6,6 outer end of connecting rod；Grappling fixture 7 and connecting rod 6 are hinged, hinged place be provided with torsional spring 8 make flexible grappling fixture 7 to
Interior compression, flexible grappling fixture 7 are additionally provided with limited block with 6 hinged place of connecting rod, flexible grappling fixture 7 are made to rotate inward angle relative to connecting rod 6
Degree is limited, and when cylinder 2 is received upwards clamps connecting rod, if holding tension, flexible grappling fixture 7 is flared out one by the elastic force of spring
Point, it is ensured that bowl will not be caught broken.
It dismantles in order to facilitate the installation of, frame 1 includes the top plate 101 of the pedestal of fixed cylinder 2, and 101 two sides of top plate are provided with
Side plate 102,102 lower section of side plate is intermediate to be provided with middle plate 103, and the extension bar that hole passes through cylinder 2, middle plate are provided among middle plate 103
Guide holder 9 is additionally provided on 103 to be oriented to the extension bar of cylinder 2；It is respectively arranged with cover board 104 before and after the middle plate 103,
It is corresponded on cover board 104 and is provided with hole at shaft 5.Frame 1 is whole to be made reduction weight of equipment using low-density materials such as aluminium sheets, and leads to
Screw connection is crossed, if special requirement certainly, can also use stainless steel material.
In order to grab flexible grappling fixture 7 securely and not allow frangible bowl, flexible grappling fixture 7 is made of rubber material, can also be with
Other non-rigid materials, flexible 7 inner surface of grappling fixture be it is arc-shaped, facilitate the circular bowl of crawl and cup, be also possible to its other party
Just the shape of object is grabbed.
The flexible grabbing device course of work of the present invention: the extension bar of cylinder stretches out, and the connecting rod in left side is made to rotate clockwise the right side
The connecting rod of side rotates counterclockwise, and separates two flexible grappling fixtures, and then entire flexible grabbing device is moved to the surface of bowl, after
It moves down, makes the two sides of two flexible grappling fixture alignment bowls, the extension bar of cylinder retracts, and two flexible grappling fixtures is made to collapse and clamp bowl
Two sides enable flexible grappling fixture while promptly due to the elastic force of torsional spring, will not be due to the too long and broken bowl of cylinder stroke, so
Entire flexible grabbing device is moved to the position for needing to put bowl afterwards, and the extension bar stretching of cylinder puts down bowl, it is dynamic to complete a crawl
Make.
In the description of the present invention, it is to be understood that, the orientation or positional relationship of instruction is side based on the figure
Position or positional relationship, are merely for convenience of description of the present invention and simplification of the description, rather than the device or member of indication or suggestion meaning
Part must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In the present invention unless specifically defined or limited otherwise, for example, it may be being fixedly connected, be also possible to removable
Connection is unloaded, or integral；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, intermediate matchmaker can also be passed through
Jie is indirectly connected, and can be the connection inside two elements or the interaction relationship of two elements, unless otherwise specific limit
It is fixed, for the ordinary skill in the art, above-mentioned term in the present invention specific can be understood as the case may be
Meaning.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of flexible grabbing device, it is characterised in that: including frame and cylinder, the pedestal of cylinder is connect with frame upper end, gas
The extension bar of cylinder stretches out downward and end is provided with the rack gear on left and right two sides, and rack gear left and right ends are engaged with gear, tooth respectively
Wheel is connect by shaft with frame, and gear radially stretches out connecting rod, and flexible grappling fixture is arranged in connecting rod outer end.
2. a kind of flexible grabbing device according to claim 1, it is characterised in that: the grappling fixture and connecting rod are hinged, hingedly
Place, which is provided with torsional spring, compresses flexible grappling fixture inwardly, and flexible grappling fixture and connecting rod hinged place are additionally provided with limited block.
3. a kind of flexible grabbing device according to claim 1, it is characterised in that: the frame includes the bottom of fixed cylinder
The top plate of seat, top plate two sides are provided with side plate, and side plate lower section is intermediate to be provided with middle plate, and hole stretching across cylinder is provided among middle plate
Rod is additionally provided with guide holder on middle plate and is oriented to the extension bar of cylinder；It is respectively arranged with cover board before and after the middle plate, is covered
It is corresponded on plate and is provided with hole at shaft.
4. a kind of flexible grabbing device according to claim 3, it is characterised in that: the frame uses low-density materials system
At, and be connected by screw to.
5. a kind of flexible grabbing device according to claim 1, it is characterised in that: the flexibility grappling fixture uses rubber material
It is made.
6. a kind of flexible grabbing device according to claim 1, it is characterised in that: the flexibility grappling fixture inner surface is to be grabbed
Take the shape of article.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910092386.6A CN109623861A (en) | 2019-01-30 | 2019-01-30 | A kind of flexible grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910092386.6A CN109623861A (en) | 2019-01-30 | 2019-01-30 | A kind of flexible grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109623861A true CN109623861A (en) | 2019-04-16 |
Family
ID=66064254
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910092386.6A Pending CN109623861A (en) | 2019-01-30 | 2019-01-30 | A kind of flexible grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109623861A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110666822A (en) * | 2019-09-18 | 2020-01-10 | 合肥亿福自动化科技有限公司 | Material taking device of cooperative robot |
| CN110683339A (en) * | 2019-08-13 | 2020-01-14 | 东风汽车有限公司 | Clamping assembly and workpiece conveying system |
| CN110900447A (en) * | 2019-12-16 | 2020-03-24 | 张耕乾 | Clamping device capable of keeping bearing clamping force constant |
| CN116395391A (en) * | 2023-06-09 | 2023-07-07 | 沈阳和研科技股份有限公司 | Flexible clamping jaw mechanism suitable for wafer loading machine |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200970770Y (en) * | 2006-11-22 | 2007-11-07 | 于复生 | Pneumatic manipulator claw |
| CN101134316A (en) * | 2007-09-18 | 2008-03-05 | 浙江理工大学 | Activation lacking mechanical finger device capable of preventing form and position degradation |
| CN206633037U (en) * | 2017-03-28 | 2017-11-14 | 杭州仙果科技有限公司 | A kind of arm end grip device |
| CN206937344U (en) * | 2017-05-10 | 2018-01-30 | 黄淑敏 | A kind of pinion and-rack mechanical gripper |
| CN207172107U (en) * | 2017-09-30 | 2018-04-03 | 武汉库柏特科技有限公司 | A kind of flexible manipulator of cylinder driving |
| CN108714909A (en) * | 2018-06-26 | 2018-10-30 | 北京艾利特科技有限公司 | A kind of mechanical paw with self-adapting grasping ability |
| CN209478221U (en) * | 2019-01-30 | 2019-10-11 | 郑州莱发科技有限公司 | A kind of flexible grabbing device |
-
2019
- 2019-01-30 CN CN201910092386.6A patent/CN109623861A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200970770Y (en) * | 2006-11-22 | 2007-11-07 | 于复生 | Pneumatic manipulator claw |
| CN101134316A (en) * | 2007-09-18 | 2008-03-05 | 浙江理工大学 | Activation lacking mechanical finger device capable of preventing form and position degradation |
| CN206633037U (en) * | 2017-03-28 | 2017-11-14 | 杭州仙果科技有限公司 | A kind of arm end grip device |
| CN206937344U (en) * | 2017-05-10 | 2018-01-30 | 黄淑敏 | A kind of pinion and-rack mechanical gripper |
| CN207172107U (en) * | 2017-09-30 | 2018-04-03 | 武汉库柏特科技有限公司 | A kind of flexible manipulator of cylinder driving |
| CN108714909A (en) * | 2018-06-26 | 2018-10-30 | 北京艾利特科技有限公司 | A kind of mechanical paw with self-adapting grasping ability |
| CN209478221U (en) * | 2019-01-30 | 2019-10-11 | 郑州莱发科技有限公司 | A kind of flexible grabbing device |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110683339A (en) * | 2019-08-13 | 2020-01-14 | 东风汽车有限公司 | Clamping assembly and workpiece conveying system |
| CN110666822A (en) * | 2019-09-18 | 2020-01-10 | 合肥亿福自动化科技有限公司 | Material taking device of cooperative robot |
| CN110900447A (en) * | 2019-12-16 | 2020-03-24 | 张耕乾 | Clamping device capable of keeping bearing clamping force constant |
| CN110900447B (en) * | 2019-12-16 | 2021-11-30 | 建湖县华越机械制造有限公司 | Clamping device capable of keeping bearing clamping force constant |
| CN116395391A (en) * | 2023-06-09 | 2023-07-07 | 沈阳和研科技股份有限公司 | Flexible clamping jaw mechanism suitable for wafer loading machine |
| CN116395391B (en) * | 2023-06-09 | 2023-10-27 | 沈阳和研科技股份有限公司 | Flexible clamping jaw mechanism suitable for wafer loading machine |
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