CN113927614A - Terminal gripping means of claw formula arm with automatic tolerance location - Google Patents
Terminal gripping means of claw formula arm with automatic tolerance location Download PDFInfo
- Publication number
- CN113927614A CN113927614A CN202111335314.3A CN202111335314A CN113927614A CN 113927614 A CN113927614 A CN 113927614A CN 202111335314 A CN202111335314 A CN 202111335314A CN 113927614 A CN113927614 A CN 113927614A
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- lower shell
- grabbing
- gripper
- joint
- claw
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- 210000000078 claw Anatomy 0.000 title claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims abstract description 64
- 210000001503 joint Anatomy 0.000 claims abstract description 27
- 238000001179 sorption measurement Methods 0.000 claims abstract description 18
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 13
- 239000010959 steel Substances 0.000 claims abstract description 13
- 230000001960 triggered effect Effects 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000001704 evaporation Methods 0.000 description 34
- 238000000034 method Methods 0.000 description 14
- 230000008020 evaporation Effects 0.000 description 10
- 230000008569 process Effects 0.000 description 10
- 230000009471 action Effects 0.000 description 9
- 238000011835 investigation Methods 0.000 description 6
- 101150006573 PAN1 gene Proteins 0.000 description 5
- 230000005484 gravity Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000010030 laminating Methods 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003651 drinking water Substances 0.000 description 1
- 235000020188 drinking water Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Images
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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0038—Cylindrical gripping surfaces
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of tail end instruments of robots, and particularly discloses a claw type tail end grabbing tool of a mechanical arm, which comprises an upper shell and a lower shell, wherein a hooking mechanism, a driving mechanism and an adsorption structure are arranged in the lower shell; the lower shell is internally provided with a trigger switch, the grabbing end of the hooking mechanism extends out of the lower shell, the trigger switch is triggered when the adsorption structure is adsorbed on the passive butt-joint grabbing mechanism, and the trigger switch triggers the driving mechanism to work to drive the hooking mechanism and the passive butt-joint grabbing mechanism to butt-joint and grab. The invention has the advantages that the upper shell and the lower shell are flexibly connected by the steel wire rope, and the degree of freedom of the lower shell is increased, so that the butt joint can be carried out only within a certain range without the accurate positioning of a mechanical arm.
Description
Technical Field
The invention relates to the technical field of robot tail end instruments, in particular to a claw type mechanical arm tail end grabbing tool with automatic tolerance positioning function.
Background
The water content observation of the evaporating dish is one of the important tasks of scientific investigation operation, and the evaporating dish needs to be weighed and measured; at present, the observation of the evaporating dish is mainly manual operation, the evaporating dish for weather is placed outdoors, and the accurate position and posture positioning is not available; scientific investigation robot carries on the arm for portable robot, and scientific investigation station geographical condition is complicated again relatively, and the robot is difficult to realize accurate positioning with the relative evaporating dish of arm, and the evaporating dish is cylindric container for the meteorological affairs, and is bulky, and weight is big behind the retaining, has set up all around for the scientific investigation demand simultaneously and has prevented the birds circle, and the arm is difficult to adopt conventional hand claw to snatch the operation.
Disclosure of Invention
The object of the present invention is to overcome the drawbacks of the prior art and to provide a gripper robot end gripping tool with automatic tolerance positioning.
The purpose of the invention is realized by the following technical scheme: a claw type mechanical arm tail end grabbing tool with automatic tolerance positioning comprises an upper shell and a lower shell, wherein a hooking mechanism, a driving mechanism and an adsorption structure are arranged in the lower shell, the upper shell and the lower shell are connected through a steel wire rope, and a tail end joint is arranged on the upper shell and used for connecting the grabbing tool to the tail end of a mechanical arm;
the lower shell is internally provided with a trigger switch, the grabbing end of the hooking mechanism extends out of the lower shell, the trigger switch is triggered when the adsorption structure is adsorbed on the passive butt-joint grabbing mechanism, and the trigger switch triggers the driving mechanism to work to drive the hooking mechanism and the passive butt-joint grabbing mechanism to butt-joint and grab.
The hook-taking mechanism comprises a plurality of hooks, a lifting hook fixing disc and a transmission block, a mounting plate is arranged in the lower shell body, the lifting hook fixing disc is fixed on the mounting plate, a plurality of supports corresponding to the hooks are fixed at the bottom of the lifting hook fixing disc, the supports are a plurality of, one ends of the hooks are hinged to the corresponding supports, the other ends of the hooks extend out of the lower shell body, the number of the transmission block corresponds to the number of the hooks, one end of the transmission block is hinged to the middle of the corresponding hooks, and the other end of the transmission block is hinged to a trigger plate.
Specifically, a return spring is arranged between the trigger plate and the mounting plate.
Specifically, actuating mechanism includes motor and crank, the motor is fixed in the lower casing, the crank is installed at the output of motor, the motor drives the crank rotation and makes crank butt press the trigger plate from top to bottom at the trigger plate to this drives the hook around rotating with the support articulated department and colludes passive butt joint and snatch the mechanism.
Specifically, the adsorption structure is a magnet fixing ring, and the magnet fixing ring is of an annular structure and is fixed on the bottom end face of the lower shell.
Specifically, the trigger switch is a microswitch, and a trigger part of the microswitch extends out of the bottom end face of the lower shell.
Specifically, a tension sensor is arranged in the upper shell, the tension sensor is fixed on the tail end connector, the working end of the tension sensor is connected with a connector, a through hole is formed in the connector, and one end of the steel wire rope forms an annular structure and is sleeved on the through hole.
Specifically, a spring is fixed between the upper shell and the lower shell.
Specifically, the passive butt joint grabbing mechanism comprises a grabbing disc which is of a circular ring-shaped structure, and a second magnet fixing ring is arranged on the end face of the grabbing disc.
The invention has the following advantages:
1. the invention provides a claw type gripping tool with automatic tolerance positioning, which can be directly carried at the tail end of a mechanical arm; under the assistance of the mechanical arm, the mechanical arm can be automatically positioned within a certain position and posture error range, the butt joint of the tail end of the mechanical arm and the evaporating dish is completed, and power is not needed to be kept in the grabbing process.
2. Because the upper shell and the lower shell are flexibly connected through the steel wire rope, the degree of freedom of the lower shell is increased, the mechanical arm is not required to be accurately positioned, and only the mechanical arm needs to reach a certain range, the magnet fixing ring arranged on the lower shell and the second magnet fixing ring for grabbing the disc attract each other, so that the two mechanisms are automatically attracted together.
3. The gripping tool realizes automatic positioning and pre-butting of the gripping tool and the evaporating dish through a pair of permanent magnets respectively arranged at the tail end of the mechanical arm and the evaporating dish; in order to better improve the error adaptability, the grabbing tool is flexibly connected with the tail end of the mechanical arm through a steel wire rope, and the initial posture is kept through a compression spring.
4. In order to avoid generating bending moment load to the mechanical arm in the grabbing process, the passive grabbing mechanism is arranged in the middle of the evaporating dish, the mechanical arm can be vertically extracted, the mechanical arm is directly weighed through a self-carrying sensor, and a bird prevention net is arranged around the passive grabbing mechanism, so that the performance of the evaporating dish is not influenced.
5. A centering three-jaw grabbing mechanism is adopted, three hooks are driven by a motor to rotate to realize the connection of a driving end on a mechanical arm and a driven end on an evaporation dish, a certain tolerance is arranged on the matching of the hooks, and the reliable connection is realized under the action of gravity of the evaporation dish; after weighing is finished, the evaporating dish is contacted with the ground, the gravity action is lost, and the hook claw automatically unhooks under the action of the reset spring to realize unlocking; only the motor is needed to provide grabbing state switching power, and the rest lifting processes do not need power maintenance, so that energy is saved.
Drawings
FIG. 1 is a schematic view of the connection structure of the upper housing and the lower housing according to the present invention;
FIG. 2 is a schematic view showing the internal structure of the lower case of the present invention;
FIG. 3 is an enlarged schematic view of the structure at A in FIG. 1;
FIG. 4 is a schematic view of the connection relationship between the passive docking grabbing mechanism and the evaporating dish according to the present invention;
FIG. 5 is a schematic view of the structure of the gripper grasping disk of the present invention;
FIG. 6 is an enlarged view of the structure at B in FIG. 5;
in the figure: 1-evaporating dish, 2-steel belt, 3-outer ring bird-proof net, 4-inner ring bird-proof net, 5-grabbing plate, 6-second magnet fixing ring, 7-pull rod, 8-fixing block, 9-end joint, 10-upper shell, 11-tension sensor, 12-connecting head, 13-steel wire rope, 14-lower shell, 15-magnet fixing ring, 16-lifting hook fixing plate, 17-microswitch, 18-claw, 19-transmission block, 20-support, 21-trigger plate, 22-motor, 23-crank, 24-reset spring, 25-mounting plate and 26-spring.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The invention will be further described with reference to the accompanying drawings, but the scope of the invention is not limited to the following.
As shown in fig. 1 to 6, a gripper type mechanical arm end gripping tool with automatic tolerance positioning includes an upper housing 10 and a lower housing 14, a hooking mechanism, a driving mechanism and an adsorption structure are disposed in the lower housing 14, the upper housing 10 and the lower housing 14 are connected by a steel wire rope 13, and an end joint 9 is disposed on the upper housing 10 for connecting the gripping tool to an end of a mechanical arm;
the lower shell 14 is internally provided with a trigger switch, the grabbing end of the hooking mechanism extends out of the lower shell 14, the trigger switch is triggered when the adsorption structure is adsorbed on the passive butt-joint grabbing mechanism, and the trigger switch enables the driving mechanism to work to drive the hooking mechanism and the passive butt-joint grabbing mechanism to butt-joint and grab after being triggered. In order to deal with a complex scientific investigation environment, the embodiment designs a gripping tool, the gripping tool is installed at the tail end of a mechanical arm of a robot and used for gripping an evaporation pan, because the environment is complex, the evaporation pan is placed outdoors and is not accurately positioned in position and posture, the gripping tool can grip the evaporation pan in a manner of adapting to the posture deviation, the mechanical arm can be automatically positioned in a certain position and posture error range under the assistance of the mechanical arm, the butt joint of the tail end of the mechanical arm and the evaporation pan 1 is completed, the upper shell 10 and the lower shell 14 are flexibly connected through a steel wire rope 13, the lower shell 14 is paired with the evaporation pan 1 to be gripped in the gripping process after the tail end joint 9 is rigidly connected to the tail end of the mechanical arm, the lower shell 14 needs to adapt to the posture of the evaporation pan 1 in the process, and the mode of flexibly connecting the steel wire rope 13 can well adapt to the posture of the evaporation pan 1, wherein be provided with adsorption structure on the terminal surface of casing 14 down, it snatchs the mechanism to be provided with passive butt joint on evaporating dish 1, passive butt joint snatchs the mechanism and adopts metal material, the adsorption structure who sets up on casing 14 down adsorbs on passive butt joint snatchs the mechanism with the in-process of passive butt joint snatching the mechanism butt joint, just so can adapt to the gesture of evaporating dish 1, just can trigger the trigger switch after adsorption structure adsorbs on passive butt joint snatchs the mechanism, trigger switch is triggered and colludes the mechanism through actuating mechanism drive with signal transmission and get and collude on passive butt joint snatchs the mechanism, just so can realize snatching of evaporating dish 1, and convenient for operation, can self-adaptation evaporating dish 1's gesture through adsorption structure and wire rope 13's cooperation, adopt simple structure just can realize, and use is with low costs.
Further, collude and get mechanism and include a plurality of claws 18, carry and draw hook fixed disk 16 and transmission block 19, be provided with a mounting panel 25 in the casing 14 down, fixed hook fixed disk 16 that draws is carried on the mounting panel 25, the bottom of carrying hook fixed disk 16 is fixed with a plurality of supports 20 that correspond with claw 18, and is a plurality of the one end of claw 18 is articulated with the support 20 that corresponds, casing 14 down is extended to the other end of claw 18, the number of transmission block 19 corresponds with the number of claw 18, the one end of transmission block 19 articulates the middle part at corresponding claw 18, the other end of transmission block 19 all articulates on a trigger plate 21, be provided with reset spring 24 between trigger plate 21 and the mounting panel 25. In the embodiment, the hooking is performed by adopting a three-jaw structure, preferably, three hooks 18 are provided, one end of each hook 18 is hinged to the support 20 through a pin shaft, so that the hook 18 can rotate around the support 20, a transmission block 19 is hinged at the middle part of the claw 18, the other end of the transmission block 19 is hinged on a trigger plate 21, so that the transmission block 19 can be pressed down by pressing down the trigger plate 21 through a driving mechanism, the drive block 19 drives the hook claws 18 to rotate around the hinge point with the support 20 in the process of pressing down, so that the three hook claws 18 can be hooked on the passive butt joint grabbing mechanism through rotation, after the adsorption structure is adsorbed on the passive butt joint grabbing mechanism to trigger the trigger switch, the driving mechanism can drive the trigger plate 21 to press down immediately, the action is compact, one end of the hook claw 18 extends out of the lower shell 14, and the hook claw 18 can hook the passive butt joint grabbing mechanism after rotating and opening.
Further, the driving mechanism comprises a motor 22 and a crank 23, the motor 22 is fixed in the lower shell 14, the crank 23 is installed at the output end of the motor 22, and when the motor 22 drives the crank 23 to rotate, the crank 23 abuts against the trigger plate 21 to press the trigger plate 21 up and down, so that the hook claw 18 is driven to rotate around the hinge joint with the support 20 to hook the passive butt joint grabbing mechanism. In the driving mechanism in this embodiment, the motor 22 is used as power, the output end of the motor 22 is connected with the crank 23, the crank 23 rotates in a plane perpendicular to the trigger plate 21, the motor 22 starts to drive the crank 23 to rotate after receiving a control signal, one end of the crank 23 abuts against the trigger plate 21 in the rotating process, the motor 22 continuously rotates to drive the crank 23 to rotate to press down the trigger plate 21, and the claw 18 can be driven to open and hook the passive butt joint grabbing mechanism in such a way.
Further, the adsorption structure is a magnet fixing ring 15, and the magnet fixing ring 15 is an annular structure and is fixed on the bottom end face of the lower shell 14. The adsorption structure in this embodiment adopts a magnet fixing ring 15, which is a circular ring-shaped structure and is fixed on the end surface of the lower shell 14, and the positioning of the passive butt-joint grabbing mechanism is realized by utilizing the adsorption performance of the magnet, wherein the claw 18 is located in the inner hole of the magnet fixing ring 15.
Further, the trigger switch is a microswitch 17, and a trigger part of the microswitch 17 extends out of the bottom end surface of the lower shell 14. Trigger switch adopts micro-gap switch 17 in this embodiment, and micro-gap switch 17 installs on magnet retainer plate 15 or lower casing 14, adsorbs on passive butt joint snatchs the mechanism at magnet retainer plate 15, just can trigger micro-gap switch 17 when the bottom surface of magnet retainer plate 15 and passive butt joint snatchs the mechanism laminating, and micro-gap development 17 produces the start-up of signal transmission for scientific investigation robot control motor 22.
Further, a tension sensor 11 is arranged in the upper shell 10, the tension sensor 11 is fixed on the terminal joint 9, the working end of the tension sensor 11 is connected with a connector 12, a through hole is formed in the connector 12, and one end of the steel wire rope 13 forms an annular structure and is sleeved on the through hole. Hook 18 colludes and gets behind the passive butt joint snatchs the mechanism and rise through control arm, and evaporating dish 1 is pulled up, and force sensor 11 measured data this moment, wire rope 13's both ends all are provided with the lantern ring, and the through-hole cover of one end is established on the through-hole of connector 12, and wire rope 13's the other end passes lower casing 14 and carries out spacing connection through the lantern ring, just so with last casing 10 and lower casing 14 flexonics together.
Further, a spring 26 is fixed between the upper housing 10 and the lower housing 14. The present embodiment can maintain the initial posture of the lower housing 14 by providing a spring between the upper housing 10 and the lower housing 14, thereby facilitating the next operation of the robot.
Further, passive butt joint snatchs the mechanism and including snatching dish 5, it is the ring shape structure to snatch dish 5, and its terminal surface is provided with second magnet retainer plate 6. In this embodiment, the upper surface of the grabbing disc 5 is provided with an annular groove, the second magnet fixing ring 6 is embedded in the annular groove, the grabbing disc 5 is provided with a central through hole, the lower surface of the grabbing disc 5 is provided with a groove, when in butt joint, the magnet fixing ring 15 arranged on the lower shell 14 and the second magnet fixing ring 6 arranged on the grabbing disc 5 attract each other and are finally adsorbed together, the lower shell 14 can be conveniently guided to enter the central position of the grabbing disc 5 to realize butt joint due to the annular magnet structures which can keep a coaxial state after being adsorbed together, so that the butt joint precision can be kept, the edge of the upper surface of the grabbing disc 5 is provided with a tapered structure, the hook claw 18 is hooked in the groove at the bottom of the grabbing disc 5 after being opened, the groove is also an annular groove, after the measurement is completed, the evaporation pan 1 is contacted with the ground, the motor 22 drives the crank 23 to rotate back, lose the action of gravity, the automatic unhook realization unblock of hook 18 under reset spring 24's effect to shrink to casing 14 down in, second magnet retainer plate 6 and magnet retainer plate 15 adsorb the laminating together this moment, casing 14 under the arm promotion, under the action of gravity, casing 14 and evaporating dish 1 separation down, the initial gesture of casing 14 keeps down in the spring 26 realization in the wire rope 13 outside, make things convenient for the robot to carry out this operation task next time, compare gained experimental data.
Be provided with a plurality of fixed blocks 8 on the evaporating dish 1, a plurality of fixed blocks 8 are cramped on the outer wall of evaporating dish 1 by steel band 2, be provided with pull rod 7 on the fixed block 8, the one end of pull rod 7 is connected on snatching dish 5, it is located evaporating dish 1 directly over to snatch dish 5, it prevents birds net 3 to establish the periphery in evaporating dish 1 upper end and be provided with the outer lane, it prevents birds net 4 to be provided with the inner circle in the upper end periphery of snatching dish 5, birds net 3 is prevented to the outer lane and birds net 3 is used for preventing that birds beasts from drinking water to prevent in the outer lane, influence the experiment achievement.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way. Those skilled in the art can make numerous possible variations and modifications to the described embodiments, or modify equivalent embodiments, without departing from the scope of the invention. Therefore, any modification, equivalent change and modification made to the above embodiments according to the technology of the present invention are within the protection scope of the present invention, unless the content of the technical solution of the present invention is departed from.
Claims (9)
1. The utility model provides an end snatching tool of claw formula arm with automatic tolerance location which characterized in that: the grabbing tool comprises an upper shell (10) and a lower shell (14), wherein a hooking mechanism, a driving mechanism and an adsorption structure are arranged in the lower shell (14), the upper shell (10) is connected with the lower shell (14) through a steel wire rope (13), and a tail end joint (9) is arranged on the upper shell (10) and used for connecting the grabbing tool to the tail end of the mechanical arm;
the lower shell (14) is internally provided with a trigger switch, the grabbing end of the hooking mechanism extends out of the lower shell (14), the trigger switch is triggered when the adsorption structure is adsorbed on the passive butt-joint grabbing mechanism, and the trigger switch enables the driving mechanism to work to drive the hooking mechanism and the passive butt-joint grabbing mechanism to butt-joint and grab after being triggered.
2. The gripper end of a gripper robot with automated tolerance positioning of claim 1, wherein: collude and get mechanism and include a plurality of claws (18), carry draw hook fixed disk (16) and transmission block (19), be provided with a mounting panel (25) down in casing (14), fixed draw hook fixed disk (16) of carrying on mounting panel (25), the bottom of carrying hook fixed disk (16) is fixed with a plurality of support (20) that correspond with claw (18), and is a plurality of the one end of claw (18) is articulated with support (20) that correspond, casing (14) under the other end extension of claw (18), the number of transmission block (19) corresponds with a plurality of numbers of claw (18), the one end of transmission block (19) articulates the middle part at corresponding claw (18), the other end of transmission block (19) all articulates on a trigger plate (21).
3. The gripper end of a gripper robot with automated tolerance positioning of claim 2, wherein: and a return spring (24) is arranged between the trigger plate (21) and the mounting plate (25).
4. The gripper end of a gripper robot with automated tolerance positioning of claim 3, wherein: the driving mechanism comprises a motor (22) and a crank (23), the motor (22) is fixed in the lower shell (14), the crank (23) is installed at the output end of the motor (22), and when the motor (22) drives the crank (23) to rotate, the crank (23) abuts against the trigger plate (21) to press the trigger plate (21) up and down, so that the hook claw (18) is driven to rotate around the hinged position with the support (20) to hook and grab the passive butt joint grabbing mechanism.
5. The gripper end of a gripper robot with automated tolerance positioning of claim 1, wherein: the adsorption structure is a magnet fixing ring (15), the magnet fixing ring (15) is of an annular structure, and the magnet fixing ring is fixed on the end face of the bottom end of the lower shell (14).
6. The gripper end of a gripper robot with automated tolerance positioning of claim 1, wherein: the trigger switch is a microswitch (17), and a trigger part of the microswitch (17) extends out of the end surface of the bottom end of the lower shell (14).
7. The gripper end of a gripper robot with automated tolerance positioning of claim 1, wherein: go up to be provided with in casing (10) force sensor (11), force sensor (11) are fixed on end-to-end joint (9), and a connector (12) is connected to the work end of force sensor (11), be provided with the through-hole on connector (12), the one end of wire rope (13) forms annular structure and overlaps and establish on the through-hole.
8. The gripper end of a gripper robot with automated tolerance positioning of claim 1, wherein: a spring (26) is fixed between the upper shell (10) and the lower shell (14).
9. The gripper end of a gripper robot with automated tolerance positioning of claim 1, wherein: the passive butt joint grabbing mechanism comprises a grabbing disc (5), the grabbing disc (5) is of a circular ring structure, and a second magnet fixing ring (6) is arranged on the end face of the grabbing disc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111335314.3A CN113927614B (en) | 2021-11-11 | 2021-11-11 | Hook type mechanical arm tail end grabbing tool with automatic tolerance positioning function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111335314.3A CN113927614B (en) | 2021-11-11 | 2021-11-11 | Hook type mechanical arm tail end grabbing tool with automatic tolerance positioning function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113927614A true CN113927614A (en) | 2022-01-14 |
| CN113927614B CN113927614B (en) | 2023-10-24 |
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| Application Number | Title | Priority Date | Filing Date |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2032607C1 (en) * | 1992-05-18 | 1995-04-10 | Проектно-конструкторское бюро Московского научно-производственного объединения "Темп" | Load-lifting mechanism of overhead monorail vehicular robot |
| JP2015033751A (en) * | 2013-08-09 | 2015-02-19 | 本田技研工業株式会社 | Gripping mechanism and workpiece moving mechanism |
| CN108818113A (en) * | 2018-07-05 | 2018-11-16 | 从云敬 | A kind of easy industrial machinery is with clamping |
| CN209921585U (en) * | 2019-05-31 | 2020-01-10 | 西安工业大学 | Propulsion type diving equipment with execution arm |
| CN112249908A (en) * | 2020-09-10 | 2021-01-22 | 山东龙辉起重机械有限公司 | Grabbing bearing analysis system of crane |
-
2021
- 2021-11-11 CN CN202111335314.3A patent/CN113927614B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2032607C1 (en) * | 1992-05-18 | 1995-04-10 | Проектно-конструкторское бюро Московского научно-производственного объединения "Темп" | Load-lifting mechanism of overhead monorail vehicular robot |
| JP2015033751A (en) * | 2013-08-09 | 2015-02-19 | 本田技研工業株式会社 | Gripping mechanism and workpiece moving mechanism |
| CN108818113A (en) * | 2018-07-05 | 2018-11-16 | 从云敬 | A kind of easy industrial machinery is with clamping |
| CN209921585U (en) * | 2019-05-31 | 2020-01-10 | 西安工业大学 | Propulsion type diving equipment with execution arm |
| CN112249908A (en) * | 2020-09-10 | 2021-01-22 | 山东龙辉起重机械有限公司 | Grabbing bearing analysis system of crane |
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| Publication number | Publication date |
|---|---|
| CN113927614B (en) | 2023-10-24 |
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