CN116372969B - Integrated tongs of robot - Google Patents
Integrated tongs of robot Download PDFInfo
- Publication number
- CN116372969B CN116372969B CN202310546390.1A CN202310546390A CN116372969B CN 116372969 B CN116372969 B CN 116372969B CN 202310546390 A CN202310546390 A CN 202310546390A CN 116372969 B CN116372969 B CN 116372969B
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- CN
- China
- Prior art keywords
- main
- clamping jaw
- auxiliary
- rotary ring
- support
- Prior art date
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- 230000005540 biological transmission Effects 0.000 claims abstract description 30
- 230000000149 penetrating effect Effects 0.000 claims abstract description 4
- 230000033001 locomotion Effects 0.000 abstract description 14
- 230000007547 defect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 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
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The invention discloses an integrated gripper of a robot, and belongs to the technical field of robots. The outer rotary ring is rotatably arranged outside the middle rotary ring; the main disc is provided with a chute penetrating through the main disc, and the back side of the main disc is fixedly provided with a screw rod transmission mechanism; the rear end of the main support is connected with the screw rod transmission mechanism, the main support penetrates through the sliding groove, and the front end of the main support is connected with the main clamping jaw; the back side of the middle rotary ring is fixed with a first tooth transmission mechanism, and the front side of the middle rotary ring is fixed with a first auxiliary clamping jaw; the back side of the outer layer rotary ring is fixed with a second tooth transmission mechanism, and the front side of the outer layer rotary ring is fixed with a second auxiliary clamping jaw. The main clamping jaw moves linearly to provide main clamping force; the two auxiliary supports do circular motion and are used for matching with the main clamping jaw, adjusting proper clamping points through the circular motion, controlling the opening and closing amount of the clamping jaw, adapting to the grabbing of products with different shapes and sizes, and improving the adaptability and the working efficiency of the products.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an integrated gripper of a robot.
Background
With the improvement of the production automation degree, robot grippers are often used in various product production lines. The mechanical gripper commonly used at present adopts a two-jaw type gripper and a three-jaw type gripper, and generally, the two-jaw type gripper is convenient to operate, and the three-jaw type gripper has higher stability;
the utility model provides a two claw type mechanical tongs has, the mechanical arm of medical instrument letter sorting (CN 217513877U) that chinese patent discloses, and it includes chassis and adjustment mechanism, the standing groove has been seted up at the top of chassis, and rotary mechanism is installed at the top of chassis, and movable column is installed at rotary mechanism's top, and movable column's top movable mounting has the dwang, and the left end fixed mounting of dwang has the U type piece, and the inside both sides of U type piece are all fixed mounting has the second cylinder. The scheme controls the relative movement of the two clamping plates through the air cylinder to clamp the product.
The utility model provides a three-jaw type mechanical tongs has, the medical instrument assembly based on machine vision discloses a deep hole snatchs robot (CN 111168346A) for the medical instrument, including industrial robot, flexible support, hollow deep hole jack catch, jack catch driver, machine vision mechanism, industrial computer, flexible support fixed mounting is at industrial robot's work end, flexible support, hollow deep hole jack catch, jack catch driver all with flexible support fixed connection, hollow deep hole jack catch sets up the one end of keeping away from industrial robot at flexible support. The three-jaw chuck drives three jaws to make clutch motion so as to clamp a product.
The defects of the prior art are as follows: both two-jaw and three-jaw gripping structures have certain applicable limitations, particularly for some shaped products, the two-jaw grip is unstable, while the three-jaw grip may have difficulty in finding the appropriate three gripping points.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides the integrated robot gripper. The invention combines the two-jaw type and the three-jaw type to give more grabbing modes to the grippers so as to adapt to products with various shapes.
The invention adopts the following technical scheme: the robot integrated gripper comprises a main disc, wherein a connecting drawer is fixed on the back side of the main disc; the outer rotary ring is rotatably arranged outside the middle rotary ring; the main disc is provided with a chute penetrating through the main disc, and a screw rod transmission mechanism is fixed on the back side of the main disc; the rear end of the main support is connected with the screw rod transmission mechanism, the main support passes through the sliding groove, and the front end of the main support is connected with a main clamping jaw; the back side of the middle rotary ring is fixedly provided with a first tooth transmission mechanism for driving the middle rotary ring to rotate, the front side of the middle rotary ring is fixedly provided with a first auxiliary support, and the front end of the first auxiliary support is connected with a first auxiliary clamping jaw; the back side of the outer rotary ring is fixed with a second tooth transmission mechanism for driving the outer rotary ring to rotate, the front side of the outer rotary ring is fixed with a second auxiliary support, and the front end of the second auxiliary support is connected with a second auxiliary clamping jaw.
Preferably: the screw transmission mechanism comprises a screw rod parallel to the sliding groove of the main disc, two ends of the screw rod are in rotary connection with the lug plates, and the lug plates are fixed on the back side of the main disc; the screw rod is provided with a sliding block in a matched manner through threaded connection; a threaded hole is formed in one side of the sliding block, and the rear end of the main support is connected into the threaded hole of the sliding block through threads; one end of the screw rod is connected with a main motor through a pair of bevel gears.
Preferably: the first tooth transmission mechanism comprises an outer tooth ring fixed on the back side of the middle rotary ring; the second tooth transmission mechanism comprises an inner gear ring fixed on the back side of the outer layer rotary ring, and a gap is reserved between the inner gear ring and the outer gear ring; a first straight gear and a second straight gear are arranged in the gap between the inner gear ring and the outer gear ring; the first straight gear is meshed with the outer gear ring, and is connected with a first motor; the second spur gear is meshed with the inner gear ring, and the second spur gear is connected with a second auxiliary motor.
Preferably: the motor mounting plate is fixed on the back side of the main disk, and the main motor, the first auxiliary motor and the second auxiliary motor are fixed on the motor mounting plate in a triangular distribution mode; the main motor is axially opposite to the screw rod, and the first auxiliary motor and the second auxiliary motor are respectively arranged at two sides of the axis of the screw rod.
Preferably: the front end of the main support is provided with a threaded hole, the rear end of the main clamping jaw is provided with a threaded column, and the main clamping jaw is connected with the main support through threads; the front end of the main clamping jaw is provided with an anti-skid block.
Preferably: the front ends of the first auxiliary clamping jaw and the second auxiliary clamping jaw are provided with an anti-skid sleeve.
Preferably: the main disk back side is fixed with the support, connect to take out to fix on the support, connect to take out to be away from the one end of support and be fixed with the ring flange.
The invention has the beneficial effects that: the main clamping jaw moves linearly to provide main clamping force; the two auxiliary supports do circular motion and are used for matching with the main clamping jaw, adjusting proper clamping points through the circular motion, and controlling the opening and closing amounts of the clamping jaws so as to adapt to the grabbing of products with different shapes and sizes; when adjusting the auxiliary support to the position collinear with the main clamping jaw, can also be used as a two-claw type gripper, the product adaptability is wider, the robot gripper is prevented from being replaced back and forth, and the working efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view (front view) of a robot integrated gripper according to the present invention;
fig. 2 is a schematic structural view (rear view) of a robot integrated gripper according to the present invention;
FIG. 3 is a schematic view of the structure of FIG. 2 with the motor mounting plate, bracket and connection pump omitted;
FIG. 4 is an exploded view of the main disk, the intermediate swivel ring and the outer swivel ring;
FIG. 5 is a front view of a robotic integrated grip of the present invention;
FIG. 6 is a right side view of a robotic integrated grip of the present invention;
FIG. 7 is a left side view of a robotic integrated grip of the present invention;
fig. 8 is a schematic view of another arrangement of the jaws of fig. 7.
Reference numerals illustrate: 1. connecting and drawing; 2. a main disk; 201. a chute; 3. an intermediate swivel ring; 4. an outer layer rotary ring; 5. a main support; 6. a main clamping jaw; 7. a first secondary support; 8. a first pair of jaws; 9. a second secondary support; 10. a second auxiliary clamping jaw; 11. a screw rod; 12. ear plates; 13. a slide block; 14. bevel gear; 15. a main motor; 16. an outer ring gear; 17. an inner gear ring; 18. a first straight gear; 19. a second spur gear; 20. a first sub-motor; 21. a second sub-motor; 22. a motor mounting plate; 23. an anti-skid block; 24. an anti-skid sleeve; 25. a bracket; 26. and a flange plate.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 5, a robot integrated gripper is shown, a main disc 2 is a circular disc body, and a U-shaped bracket 25 is fixed in the middle of the back side of the main disc 2. A connection pump 1 is fixed on the bracket 25, and the connection pump 1 and the main disk 2 are coaxially arranged. A flange 26 is fixed at one end of the connection drawer 1 far away from the bracket 25, and the connection with the robot arm is facilitated through the flange 26.
The main disc 2 is provided with a chute 201 penetrating through the main disc 2, and a screw rod transmission mechanism is fixed on the back side of the main disc 2. The rear end of the main support 5 is connected with a screw transmission mechanism, the main support 5 passes through the chute 201, and the front end of the main support 5 is connected with the main clamping jaw 6. The main support 5 and the main clamping jaw 6 are controlled to do linear motion along the chute 201 through a screw transmission mechanism.
The main disc 2 is externally rotatably provided with a middle rotary ring 3, the middle rotary ring 3 is externally rotatably provided with an outer rotary ring 4, and the main disc 2, the middle rotary ring 3 and the outer rotary ring 4 are coaxial. The back side of the middle rotary ring 3 is fixed with a first tooth transmission mechanism for driving the middle rotary ring 3 to rotate, the front side of the middle rotary ring 3 is fixed with a first auxiliary support 7, and the front end of the first auxiliary support 7 is connected with a first auxiliary clamping jaw 8. The first tooth transmission mechanism controls the rotary motion of the middle rotary ring 3, and further controls the first auxiliary support 7 and the first auxiliary clamping jaw 8 to do circular motion. The back side of the outer rotary ring 4 is fixed with a second tooth transmission mechanism for driving the outer rotary ring 4 to rotate, the front side of the outer rotary ring 4 is fixed with a second auxiliary support 9, and the front end of the second auxiliary support 9 is connected with a second auxiliary clamping jaw 10. The second gear transmission mechanism controls the rotary motion of the outer rotary ring 4, and further controls the second auxiliary support 9 and the second auxiliary clamping jaw 10 to do circular motion.
As shown in fig. 2 to 6, the screw transmission mechanism includes a screw 11 parallel to and opposite to the chute 201 of the main plate 2, both ends of the screw 11 are rotatably connected to the lug plate 12, and the lug plate 12 is fixed to the back side of the main plate 2. The screw rod 11 is provided with a sliding block 13 in a threaded connection and matching way, the front side of the sliding block 13 is provided with a threaded hole, and the rear end of the main support 5 is connected in the threaded hole of the sliding block 13 through threads. One end of the screw 11 is connected to a main motor 15 through a pair of bevel gears 14. When the screw rod 11 rotates, the main support 5 slides in the chute 201 to guide and limit the sliding block 13, so that the sliding block 13 and the main support 5 move linearly along the chute 201.
The first tooth transmission mechanism comprises an outer gear ring 16 which is fixed on the back side of the middle rotary ring 3 and is coaxial with the middle rotary ring 3, the second tooth transmission mechanism comprises an inner gear ring 17 which is fixed on the back side of the outer rotary ring 4 and is coaxial with the outer rotary ring 4, and a gap is reserved between the inner gear ring 17 and the outer gear ring 16. A first spur gear 18 and a second spur gear 19 are provided in the gap between the inner ring gear 17 and the outer ring gear 16. Wherein, first straight gear 18 and ring gear 16 intermesh, and first straight gear 18 connects first vice motor 20, and second straight gear 19 and ring gear 17 intermesh, and second straight gear 19 connects second vice motor 21.
As shown in fig. 2 and 6, a motor mounting plate 22 is fixed to the back side of the main disk 2, and the main motor 15, the first sub motor 20, and the second sub motor 21 are fixed to the motor mounting plate 22 in a triangular distribution. Wherein, the main motor 15 is axially opposite to the screw 11, and the first auxiliary motor 20 and the second auxiliary motor 21 are respectively arranged at two sides of the axis of the screw 11.
As shown in connection with fig. 1, 7 and 8, the main jaw 6, the first auxiliary jaw 8 and the second auxiliary jaw 10 are similar in structure, taking the main jaw 6 as an example: the front end of the main support 5 is provided with a threaded hole, the rear end of the main clamping jaw 6 is provided with a threaded column, and the threaded column of the main clamping jaw 6 is connected in the threaded hole of the main support 5 through threads. An anti-skid block 23 is arranged at the front end of the main clamping jaw 6, and anti-skid blocks 24 are respectively arranged at the front ends of the first auxiliary clamping jaw 8 and the second auxiliary clamping jaw 10.
Working principle:
as shown in fig. 1, 2 and 7, the connection pump 1 is connected with a robot arm through a flange 26;
the main motor 15 drives the sliding block 13 to move along the sliding groove 201 through the screw transmission mechanism, so as to control the main clamping jaw 6 on the sliding block 13 to do linear motion and provide clamping force; the first auxiliary motor 20 and the second auxiliary motor 21 respectively drive the middle rotary ring 3 and the outer rotary ring 4 to do circular motion through a tooth transmission mechanism, so as to control the first auxiliary clamping jaw 8 and the second auxiliary clamping jaw 10 to do circular motion, thereby being convenient for adjusting the first auxiliary clamping jaw 8 and the second auxiliary clamping jaw 10 to proper positions so as to adapt to the grabbing of products with different shapes and sizes;
and in combination with the illustration of fig. 8, when the first auxiliary clamping jaw 8 and the second auxiliary clamping jaw 10 are adjusted to be in line with the main clamping jaw 6, the two-jaw type gripper can be used, and the product adaptability is wider.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (6)
1. An integrated gripper for a robot is disclosed,
the method is characterized in that:
comprises a main disc (2), wherein a connecting drawer (1) is fixed on the back side of the main disc (2);
an intermediate rotary ring (3) is rotatably arranged outside the main disc (2), and an outer rotary ring (4) is rotatably arranged outside the intermediate rotary ring (3);
a chute (201) penetrating through the main disc (2) is formed in the main disc (2), and a screw rod transmission mechanism is fixed on the back side of the main disc (2); the rear end of the main support (5) is connected with a screw transmission mechanism, the main support (5) passes through the sliding groove (201), and the front end of the main support (5) is connected with a main clamping jaw (6);
the back side of the middle rotary ring (3) is fixedly provided with a first tooth transmission mechanism for driving the middle rotary ring (3) to rotate, the front side of the middle rotary ring (3) is fixedly provided with a first auxiliary support (7), and the front end of the first auxiliary support (7) is connected with a first auxiliary clamping jaw (8);
the back side of the outer rotary ring (4) is fixedly provided with a second tooth transmission mechanism for driving the outer rotary ring (4) to rotate, the front side of the outer rotary ring (4) is fixedly provided with a second auxiliary support (9), and the front end of the second auxiliary support (9) is connected with a second auxiliary clamping jaw (10);
the first tooth transmission mechanism comprises an outer tooth ring (16) fixed on the back side of the middle rotary ring (3); the second tooth transmission mechanism comprises an inner gear ring (17) fixed on the back side of the outer layer rotary ring (4), and a gap is reserved between the inner gear ring (17) and the outer gear ring (16); a first spur gear (18) and a second spur gear (19) are arranged in the gap between the inner gear ring (17) and the outer gear ring (16);
the first straight gear (18) is meshed with the outer gear ring (16), and the first straight gear (18) is connected with a first auxiliary motor (20);
the second spur gear (19) is meshed with the inner gear ring (17), and the second spur gear (19) is connected with a second auxiliary motor (21);
when the first auxiliary clamping jaw (8) and the second auxiliary clamping jaw (10) are adjusted to be in line with the main clamping jaw (6), the robot integrated clamping hand is used as a two-jaw type clamping hand.
2. The integrated robot hand grip of claim 1, wherein: the screw transmission mechanism comprises a screw (11) parallel to a chute (201) of the main disc (2), two ends of the screw (11) are in rotary connection with an ear plate (12), and the ear plate (12) is fixed on the back side of the main disc (2); a sliding block (13) is mounted on the lead screw (11) in a matched manner through threaded connection; a threaded hole is formed in one side of the sliding block (13), and the rear end of the main support (5) is connected in the threaded hole of the sliding block (13) through threads;
one end of the screw rod (11) is connected with a main motor (15) through a pair of bevel gears (14).
3. The integrated robot hand grip of claim 2, wherein: a motor mounting plate (22) is fixed on the back side of the main disk (2), and the main motor (15), the first auxiliary motor (20) and the second auxiliary motor (21) are fixed on the motor mounting plate (22) in a triangular distribution mode; the main motor (15) is axially opposite to the screw (11), and the first auxiliary motor (20) and the second auxiliary motor (21) are respectively arranged at two sides of the axis of the screw (11).
4. The integrated robot hand grip of claim 1, wherein: the front end of the main support (5) is provided with a threaded hole, the rear end of the main clamping jaw (6) is provided with a threaded column, and the main clamping jaw (6) is connected with the main support (5) through threads; the front end of the main clamping jaw (6) is provided with an anti-skid block (23).
5. The integrated robot hand grip of claim 4, wherein: the front ends of the first auxiliary clamping jaw (8) and the second auxiliary clamping jaw (10) are provided with an anti-skid sleeve (24).
6. The integrated robot hand grip of claim 1, wherein: the back side of the main disc (2) is fixedly provided with a support (25), the connecting drawer (1) is fixed on the support (25), and one end, far away from the support (25), of the connecting drawer (1) is fixedly provided with a flange (26).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310546390.1A CN116372969B (en) | 2023-05-15 | 2023-05-15 | Integrated tongs of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310546390.1A CN116372969B (en) | 2023-05-15 | 2023-05-15 | Integrated tongs of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116372969A CN116372969A (en) | 2023-07-04 |
| CN116372969B true CN116372969B (en) | 2023-10-31 |
Family
ID=86980846
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310546390.1A Active CN116372969B (en) | 2023-05-15 | 2023-05-15 | Integrated tongs of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116372969B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3521821A1 (en) * | 1985-06-19 | 1987-01-02 | Gildemeister Ag | WORKPIECE HANDLING DEVICE WITH AUTOMATIC GRIPPER CHANGE |
| CN205129884U (en) * | 2015-11-16 | 2016-04-06 | 哈尔滨泓鑫数控机电工程有限公司 | Servosyn anchor clamps |
| CN110666823A (en) * | 2019-10-10 | 2020-01-10 | 南京荧河谷科技有限公司 | Clamping mechanism capable of adjusting direction of clamping jaw |
| CN112008749A (en) * | 2020-09-01 | 2020-12-01 | 钱海兰 | Industrial robot tongs |
| CN212471540U (en) * | 2020-05-06 | 2021-02-05 | 吉林省中祥电子科技工程有限公司 | Clamping jaw |
| KR102268780B1 (en) * | 2020-03-02 | 2021-06-23 | 한양대학교 에리카산학협력단 | Rotating gripper |
| CN113199495A (en) * | 2021-07-07 | 2021-08-03 | 江苏三铭智达科技有限公司 | Rescue robot with adjustable clamping jaw position |
| CN114872077A (en) * | 2022-07-06 | 2022-08-09 | 广东顺力智能物流装备股份有限公司 | Robot gripper for logistics sorting |
| CN217894471U (en) * | 2022-07-05 | 2022-11-25 | 哈工共哲机器人再制造(安阳)有限公司 | Multifunctional robot palletizer gripper |
-
2023
- 2023-05-15 CN CN202310546390.1A patent/CN116372969B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3521821A1 (en) * | 1985-06-19 | 1987-01-02 | Gildemeister Ag | WORKPIECE HANDLING DEVICE WITH AUTOMATIC GRIPPER CHANGE |
| CN205129884U (en) * | 2015-11-16 | 2016-04-06 | 哈尔滨泓鑫数控机电工程有限公司 | Servosyn anchor clamps |
| CN110666823A (en) * | 2019-10-10 | 2020-01-10 | 南京荧河谷科技有限公司 | Clamping mechanism capable of adjusting direction of clamping jaw |
| KR102268780B1 (en) * | 2020-03-02 | 2021-06-23 | 한양대학교 에리카산학협력단 | Rotating gripper |
| CN212471540U (en) * | 2020-05-06 | 2021-02-05 | 吉林省中祥电子科技工程有限公司 | Clamping jaw |
| CN112008749A (en) * | 2020-09-01 | 2020-12-01 | 钱海兰 | Industrial robot tongs |
| CN113199495A (en) * | 2021-07-07 | 2021-08-03 | 江苏三铭智达科技有限公司 | Rescue robot with adjustable clamping jaw position |
| CN217894471U (en) * | 2022-07-05 | 2022-11-25 | 哈工共哲机器人再制造(安阳)有限公司 | Multifunctional robot palletizer gripper |
| CN114872077A (en) * | 2022-07-06 | 2022-08-09 | 广东顺力智能物流装备股份有限公司 | Robot gripper for logistics sorting |
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| Publication number | Publication date |
|---|---|
| CN116372969A (en) | 2023-07-04 |
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