CN111730632B

CN111730632B - Robot gripper capable of stably saving electric energy through gripping force

Info

Publication number: CN111730632B
Application number: CN202010547668.3A
Authority: CN
Inventors: 孟凡慧
Original assignee: Hangzhou Weiku Technology Co ltd
Current assignee: Hangzhou Weiku Technology Co., Ltd
Priority date: 2020-06-16
Filing date: 2020-06-16
Publication date: 2021-12-03
Anticipated expiration: 2040-06-16
Also published as: CN111730632A

Abstract

The invention relates to the technical field of computer system integration, and discloses a robot gripper with stable gripping force and electric energy saving. This robot hand claw of practicing thrift the electric energy is stabilized to grabbing power, and the motion of movable pulley one can drive movable pulley two and the movable pulley three-phase is close to each other, further makes branch one and branch two be close to each other, again because branch one and two fixed connection of branch are on gripper one and gripper two, so can give gripper one and two the power that are close to each other of gripper this moment, further stabilizes the grabbing power to reached and snatched the stable effect of object. Because the spring has taken place deformation at the in-process that the object snatched, so the spring can give branch one and two power of branch for branch one and two separation of branch, further make gripper one and two separation of gripper, need not the reversal motor, can loosen the object of being snatched, thereby reached and practiced thrift the electric energy, reduce cost's effect.

Description

Robot gripper capable of stably saving electric energy through gripping force

Technical Field

The invention relates to the technical field of computer system integration, in particular to a robot gripper which is stable in gripping force and capable of saving electric energy.

Background

Computer system integration refers to a process of combining a plurality of relatively independent and mutually related systems into a large system with a certain scale, in the assembly of the system integration, a robot paw is often required to be used for assembly, and the robot paw is a robot component capable of realizing functions similar to a human hand. The robot gripper is a part used for holding a workpiece or a tool, and is one of important tools in the process of assembling the computer system.

The robot paw is an execution part at the tail end of the robot arm, and the accuracy and the stability of grabbing objects by the paw are important indexes for measuring the design level of the robot paw. And present electric gripper mainly rotates between the gear and gets the effort of getting the object with mechanical gripper control clamp, but can have the space between the mechanical gear, to some smooth and can not too hard objects in surface, the operation is got to difficult clamp, and often through the reversal motor when releasing the object, realize the opening of object, do so can extravagant electric power, increase cost, and how to make the gripper snatch the object stable, it is extravagant to reduce electric power, reduce cost has become an important problem, therefore we have proposed a robot gripper that the electric energy was practiced thrift in the stability of grabbing power.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides the robot paw with stable gripping force and electric energy saving, which has the advantages of stable object gripping by the mechanical paw, reduction of electric power waste and cost reduction, and solves the problems that some objects with smooth surfaces and incapable of exerting too much force are difficult to clamp, the electric power is wasted and the cost is increased.

(II) technical scheme

In order to realize the purposes of stably grabbing objects, reducing power waste and reducing cost by the mechanical gripper, the invention provides the following technical scheme: a robot gripper with stable gripping force and electric energy saving comprises a driving shaft, wherein a first transmission belt is connected to the outer portion of the driving shaft in a transmission mode, a shell is sleeved on one side, far away from the driving shaft, of the first transmission belt, the inner portion of the shell is movably connected with a first gear, a first sliding wheel is fixedly connected to the front face of the right side of the first gear, a second transmission belt is connected to the outer portion of the first sliding wheel in a transmission mode, a second gear is connected to the right side of the first gear in a meshing mode, a first rotating shaft is movably connected to the inner portion of the second gear in a meshing mode, a third gear is movably connected to the inner portion of the third gear in a meshing mode, a second rotating shaft is fixedly connected to the outer portion of the second gear in a transmission mode, a second mechanical gripper is fixedly connected to the outer portion of the third gear in a transmission mode, a second sliding wheel is connected to the inner portion of the second transmission belt in a transmission mode, the middle of the first mechanical claw is fixedly connected with a first supporting rod, the middle of the second mechanical claw is fixedly connected with a second supporting rod, the middle of the first supporting rod is movably connected with a cylinder, the left bottom of the first supporting rod is fixedly connected with a spring, the bottom of the cylinder is fixedly connected with a fixing block, the top of the right side of the first mechanical claw is fixedly connected with a first protruding block, the bottom of the right side of the second mechanical claw is fixedly connected with a second protruding block, and the back of the first gear is fixedly connected with a third rotating shaft.

Preferably, the driving shaft and the rotating shaft tee are in transmission connection through a transmission belt.

Preferably, the first sliding wheel, the second sliding wheel and the third sliding wheel are in transmission connection through a second transmission belt.

Preferably, the right sides of the first mechanical claw and the second mechanical claw are horizontally flush.

Preferably, a first supporting rod and a second supporting rod are sleeved outside the cylinder.

Preferably, two ends of the spring are fixedly connected with a first supporting rod and a second supporting rod.

Preferably, both ends of the fixing block are fixedly connected with a cylinder and a shell.

Preferably, the top of the first projection on the right side of the first mechanical claw is not less than ten, and the bottom of the second projection on the right side of the second mechanical claw is not less than ten.

(III) advantageous effects

Compared with the prior art, the invention provides the robot gripper with stable gripping force and electric energy saving, which has the following beneficial effects:

1. this robot hand claw of practicing thrift electric energy is stabilized to grabbing power, through sliding wheel one and sliding wheel two, sliding wheel three, the cooperation of drive belt two is used, when the robot hand claw snatchs the object, because sliding wheel one and sliding wheel two, sliding wheel three is connected through drive belt two transmission, so the motion of sliding wheel one can drive sliding wheel two and sliding wheel three phase and be close to each other, further make branch one and branch two be close to each other, again because branch one and branch two fixed connection are on mechanical claw one and mechanical claw two, so can give mechanical claw one and mechanical claw two power that are close to each other this moment, further stabilize the grabbing power, thereby reached and snatched the stable effect of object.

2. This robot hand claw of practicing thrift electric energy is stabilized to grabbing power, through spring and branch one, branch two, gripper one, gripper two's cooperation is used, when the object that is snatched is loosened to needs, only need the disconnection motor electric energy, because the spring has taken place deformation at the in-process that the object snatched, so the spring can give branch one and two power of branch, make branch one and two separation of branch, further make gripper one and two separation of gripper, need not the reversal motor, can loosen the object that is snatched, thereby reached and practiced thrift the electric energy, reduce cost's effect.

Drawings

FIG. 1 is a schematic top sectional view of the present invention;

FIG. 2 is a schematic view of the overall structure of the present invention;

fig. 3 is a schematic structural view of a gear transmission part of the invention.

In the figure: 1. a drive shaft; 2. a first transmission belt; 3. a housing; 4. a first gear; 5. a first sliding wheel; 6. a second transmission belt; 7. a second gear; 8. rotating a first shaft; 9. a third gear; 10. a second rotating shaft; 11. a mechanical claw I; 12. a second mechanical claw; 13. a second sliding wheel; 14. a third sliding wheel; 15. a first support rod; 16. a second supporting rod; 17. a cylinder; 18. a spring; 19. a fixed block; 20. a first bump; 21. a second bump; 22. and rotating the shaft III.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-3, a robot gripper with stable gripping force and electric energy saving comprises a driving shaft 1, a first transmission belt 2 is connected to the outside of the driving shaft 1 in a transmission manner, a housing 3 is sleeved on one side, away from the driving shaft 1, of the first transmission belt 2, a first gear 4 is movably connected to the inside of the housing 3, a first sliding wheel 5 is fixedly connected to the front side of the right side of the first gear 4, a second transmission belt 6 is connected to the outside of the first sliding wheel 5 in a transmission manner, a second gear 7 is connected to the right side of the first gear 4 in a meshing manner, the right side of the first gear 4 is connected to the left side of the second gear 7 in a meshing manner, a first rotating shaft 8 is movably connected to the inside of the second gear 7, a third gear 9 is connected to the top of the second gear 7 in a meshing manner, the top of the second gear 7 is connected to the bottom of the third gear 9 in a meshing manner, a second rotating shaft 10 is movably connected to the inside of the third gear 9, a first gripper 11 is fixedly connected to the outside of the second gear 7, a second gripper 12 is fixedly connected to the outside of the third gear 9, the right sides of the first mechanical claw 11 and the second mechanical claw 12 are horizontally parallel and level, objects can be conveniently grabbed, the internal transmission of the second transmission belt 6 is connected with a sliding wheel II 13, the internal transmission of the second transmission belt 6 is connected with a sliding wheel III 14, the sliding wheel I5, the sliding wheel II 13 and the sliding wheel III 14 are in transmission connection through the second transmission belt 6, the grabbing force between the first mechanical claw 11 and the second mechanical claw 12 is further controlled, the middle of the first mechanical claw 11 is fixedly connected with a support rod I15, the middle of the second mechanical claw 12 is fixedly connected with a support rod II 16, the middle of the first support rod 15 is movably connected with a cylinder 17, the outer part of the cylinder 17 is sleeved with the first support rod 15 and the second support rod 16, the first support rod 15 and the second support rod 16 can rotate outside the cylinder 17, the bottom of the left side of the first support rod 15 is fixedly connected with a spring 18, the two ends of the spring 18 are fixedly connected with the first support rod 15 and the second support rod 16, the spring 18 can control the distance between the first support rod 15 and the second support rod 16, the bottom fixedly connected with fixed block 19 of cylinder 17, the both ends fixedly connected with cylinder 17 and the shell 3 of fixed block 19, top fixedly connected with lug one 20 on first gripper 11 right side, bottom fixedly connected with lug two 21 on second gripper 12 right side, lug one 20 is no less than ten at the top on first gripper 11 right side, lug two 21 is no less than ten at the bottom on second gripper 12 right side, increase first gripper 11 and second gripper 12 surface friction power, make and snatch the object more stable, the back fixedly connected with axis of rotation three 22 of gear one 4, driving shaft 1 and axis of rotation three 22 are connected through the transmission of drive belt one 2.

The working principle is that the driving shaft 1 is rotated clockwise, the driving shaft 1 and the rotating shaft three 22 are in transmission connection through the driving belt one 2, the rotating shaft three 22 also rotates clockwise at the moment, the rotating shaft three 22 is fixedly connected to the back of the gear one 4, the gear one 4 also rotates clockwise at the moment, the right side of the gear one 4 is in meshed connection with the left side of the gear two 7, the gear two 7 rotates anticlockwise, the top of the gear two 7 is in meshed connection with the bottom of the gear three 9, the gear three 9 rotates clockwise at the moment, the mechanical claw one 11 is fixedly connected to the outer side of the bottom of the gear two 7, the mechanical claw two 12 is fixedly connected to the outer side of the top of the gear three 9, the positions between the mechanical claw one 11 and the mechanical claw two 12 are close to each other at the moment, the mechanical claw one 11 and the right side of the mechanical claw two 12 are horizontally flush with each other at the moment, therefore, the object can be grabbed, the front side of the right side of the first gear 4 is fixedly connected with the first sliding wheel 5, the first sliding wheel 5 rotates around the central point of the first gear 4 when the first gear 4 rotates clockwise, the first sliding wheel 5, the second sliding wheel 13 and the third sliding wheel 14 are in transmission connection through the second transmission belt 6, the second sliding wheel 13 and the third sliding wheel 14 are respectively and fixedly connected with the second support rod 16 and the first support rod 15, when the first sliding wheel 5 rotates around the center of the first gear 4, the distance between the second sliding wheel 13 and the third sliding wheel 14 is close, the left sides of the first support rod 15 and the second support rod 16 are close, the right sides of the first support rod 15 and the second support rod 16 are fixedly connected with the first mechanical claw 11 and the second mechanical claw 12, the middle of the first support rod 15 and the second support rod 16 is movably connected with the column 17, so that the right sides of the first mechanical claw 11 and the second mechanical claw 12 are close, the gripping force of the first mechanical claw 11 and the second mechanical claw 12 is further increased, and therefore the effect of stabilizing the gripping force is achieved. When the grabbed object needs to be loosened, the motor is stopped at the moment, because the first support rod 15 and the second support rod 16 are fixedly connected to the two ends of the spring 18, the spring 18 can give a downward force to the first support rod 15 and an upward force to the second support rod 16, the left sides of the first support rod 15 and the second support rod 16 return to the initial positions, the right sides of the first support rod 15 and the second support rod 16 can move in the opposite direction, and because the first gripper 11 is fixedly connected to the right side of the first support rod 15 and the second gripper 12 is fixedly connected to the right side of the second support rod 16, the first gripper 11 and the second gripper 12 can be separated under the action of force at the moment, the grabbed object is put down without reversing the motor, and the effects of saving electric energy and reducing cost are achieved.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a robot gripper of practicing thrift electric energy is stabilized to holding power, includes driving shaft (1), its characterized in that: the outer transmission of the driving shaft (1) is connected with a first transmission belt (2), one side, far away from the driving shaft (1), of the first transmission belt (2) is sleeved with a shell (3), the inner portion of the shell (3) is movably connected with a first gear (4), the front face on the right side of the first gear (4) is fixedly connected with a first sliding wheel (5), the outer portion of the first sliding wheel (5) is connected with a second transmission belt (6), the right side of the first gear (4) is meshed with a second gear (7), the inner portion of the second gear (7) is movably connected with a first rotating shaft (8), the top of the second gear (7) is meshed with a third gear (9), the inner portion of the third gear (9) is movably connected with a second rotating shaft (10), the outer portion of the second gear (7) is fixedly connected with a first mechanical claw (11), and the outer portion of the third gear (9) is fixedly connected with a second mechanical claw (12), the inner transmission of the second transmission belt (6) is connected with a second sliding wheel (13), the inner transmission of the second transmission belt (6) is connected with a third sliding wheel (14), the middle of the first mechanical claw (11) is fixedly connected with a first support rod (15), the middle of the second mechanical claw (12) is fixedly connected with a second support rod (16), the middle of the first support rod (15) is movably connected with a cylinder (17), the bottom of the left side of the first support rod (15) is fixedly connected with a spring (18), the bottom of the cylinder (17) is fixedly connected with a fixed block (19), the top of the right side of the first mechanical claw (11) is fixedly connected with a first projection (20), the bottom of the right side of the second mechanical claw (12) is fixedly connected with a second projection (21), and the back of the first gear (4) is fixedly connected with a third rotating shaft (22); the driving shaft (1) is in transmission connection with the rotating shaft III (22) through the transmission belt I (2); the sliding wheel I (5), the sliding wheel II (13) and the sliding wheel III (14) are in transmission connection through a transmission belt II (6); and a first support rod (15) and a second support rod (16) are sleeved outside the cylinder (17).

2. A robot gripper for stable gripping and power saving according to claim 1, characterized in that: the right sides of the mechanical claw I (11) and the mechanical claw II (12) are horizontally flush.

3. A robot gripper for stable gripping and power saving according to claim 1, characterized in that: and a first support rod (15) and a second support rod (16) are fixedly connected to two ends of the spring (18).

4. A robot gripper for stable gripping and power saving according to claim 1, characterized in that: and the two ends of the fixed block (19) are fixedly connected with a cylinder (17) and a shell (3).

5. A robot gripper for stable gripping and power saving according to claim 1, characterized in that: the top of the first projection (20) on the right side of the first mechanical claw (11) is not less than ten, and the bottom of the second projection (21) on the right side of the second mechanical claw (12) is not less than ten.