CN201361870Y

CN201361870Y - Gripper mechanical hand

Info

Publication number: CN201361870Y
Application number: CNU2008201550615U
Authority: CN
Inventors: 张辉; 宋又廉; 全玮; 王珅桦; 王艳君; 张佳青
Original assignee: Shanghai Dianji University
Current assignee: Shanghai Dianji University
Priority date: 2008-11-07
Filing date: 2008-11-07
Publication date: 2009-12-16
Anticipated expiration: 2018-11-07

Abstract

The utility model is a grasping manipulator, the manipulator is connected to the robot or the positioning and control device through the connecting seat, the groove in the middle and rear part of the manipulator is provided with a servo motor and a transmission gear; the rack part of the moving push rod is installed on the machine In the arm, the servo motor drives the transmission gear to rotate, and the transmission gear drives the moving push rod to move linearly, and drives the claws to follow. Under the limit of the rocker, the claws open; the reverse of the servo motor can make the claws close; The front end of the claw is equipped with a pressure piece, a switch push rod, a spring, and a travel switch. The pressure piece is connected with the claw and the switch push rod, and its swing is controlled by a spring. When the object to be grasped contacts the pressure piece, the pressure piece will swing , and push the switch push rod to move, and when it moves to a certain extent, the power supply of the servo motor will be cut off; the spring can realize the reset of the switch push rod; The device realizes automatic control.

Description

A kind of catching robot

[technical field]

The utility model relates to machinery manufacturing technology field, concrete is meant a kind of manipulator that grasps certain specific features.

[background technology]

Manipulator generally is the automatic pilot that grasps, carries some object or operate in order to by fixed routine, it can replace the people to carry out heavy, meticulous or uninteresting single work, with mechanization and the automation that realizes producing, or under hostile environment, carry out work to ensure workman's safety.

Manipulator is used as the attachment device of lathe or other machines usually, as the workpiece that on automatic machine tool or automatic assembly line, helps to load and unload and transmit, the work in-process heart is changed cutter or the like, and they generally do not have independently control device, and some manipulator then need directly be controlled by the people.

[utility model content]

The purpose of this utility model is to provide a kind of dynamo-electric combination, has the special-purpose catching robot of simple and easy automatic control function, and it can be in the extracting process, and especially when firmly grasping, automatic shutoff circuit finishes to grasp motion, realizes automation.

For achieving the above object, the technical scheme taked of the utility model is:

A kind of catching robot contains mechanical arm, mobile putter, servomotor (containing gearbox), travelling gear, claw, rocking bar, compressing tablet, switch push rod, spring, travel switch; Described mechanical arm is the round barrel shape structure, and afterbody has Connection Block, available be connected in robot or have on location and the micro-processor controlled device, and the postmedian of mechanical arm is provided with fluting, and servomotor and travelling gear are set in the groove; The front end of described mobile putter is a round bar, and the rear end is a tooth bar, and section of rack is installed in the hollow mechanical arm of tubbiness; Travelling gear cooperates with the output shaft of servomotor gearbox, and its gear cooperates with the tooth bar of mobile putter; Claw is hinged with mobile putter and rocking bar respectively; The front end outside of the rear end of rocking bar and mechanical arm is hinged, and the rear portion of front end and claw is hinged; The rotating band nutating gear of servomotor rotates, and the gear of travelling gear and the engagement of the tooth bar of mobile putter make the mobile putter straight line driven, and the rectilinear motion of mobile putter makes claw driven, and at spacing time of rocking bar, claw opens; The servomotor counter-rotating can make the claw closure.

Front end at described claw is provided with compressing tablet, switch push rod, spring, travel switch.

Described compressing tablet is made by the steel plate of bending, and the one end has installing hole, and is hinged with claw, and the other end cooperates with the cam of switch push rod; The spring control that the extreme position of compressing tablet swing is contacted with claw by tail end; One end of described switch push rod is that the circular arc end face contacts with compressing tablet, and the other end is connected with travel switch; One end of described spring contacts with claw, and the other end contacts with the switch push rod, to realize resetting of switch push rod.

After being grabbed object and compressing tablet contacted, make the compressing tablet swing, thereby the switch push rod is moved, when the switch push rod moves to a certain degree, will touch travel switch, thereby cut off the power supply of servomotor.

According to being grabbed the described spring that the required power difference of object is used different stiffness.

The shape of claw is determined according to the profile of certain certain objects of grab.

The mechanical linkage process of a kind of catching robot of the utility model is:

Microcomputer sends signal just changes servomotor, and the rotating band nutating gear of servomotor rotates, and the wheel and rack engagement makes the mobile putter straight line driven, and the rectilinear motion of mobile putter makes claw driven, and claw is subjected to the constraint of rocking bar again, thereby claw is opened; By the robot that is connected with mechanical arm or have the location and micro-processor controlled device position, after finish the location, microcomputer sends signal once more, make the servomotor counter-rotating, the claw closure is when the object that is grasped contacts with compressing tablet, compressing tablet is rotated, thereby the switch push rod is moved, will run into travel switch, thereby disconnect motor power when the switch push rod moves to certain position.The mobile constraint that is subjected to spring of push rod, thereby according to being grabbed the spring that the required power difference of object is used different stiffness.

Good effect of the present utility model is:

(1) a kind of brand-new electromechanics combination, catching robot simple in structure are provided.

(2) reliable operation is convenient to accurate control.

(3) the simple control device of the alternative pressure sensor of use is realized control automatically.

[description of drawings]

Accompanying drawing 1 is the structural representation of a kind of catching robot of the utility model;

Accompanying drawing 2 is the enlarged drawing of circle part in the accompanying drawing 1;

Accompanying drawing 3 is the open structural representation of a kind of catching robot claw of the utility model;

Accompanying drawing 4 is the structural representation of a kind of catching robot claw of the utility model closure;

Accompanying drawing 5 is the structural representation of mechanical arm and servomotor;

Accompanying drawing 6 is the structural representation of mobile putter;

Accompanying drawing 7 is the structural representation of claw;

Accompanying drawing 8 is the structural representation of switch push rod;

Accompanying drawing 9 is for grasping schematic diagram;

Label among the figure is respectively:

1, mechanical arm, 2, mobile putter, 3, servomotor (containing gearbox),

4, travelling gear, 5, claw, 6, rocking bar,

7, compressing tablet, 8, the switch push rod, 9, spring,

10, travel switch, 11, grabbed object.

[specific embodiment]

Provide the specific embodiment of a kind of catching robot of the utility model below in conjunction with accompanying drawing.

Referring to accompanying drawing 1.

A kind of catching robot contains mechanical arm 1, mobile putter 2, servomotor (containing gearbox) 3, travelling gear 4, claw 5, rocking bar 6, compressing tablet 7, switch push rod 8, spring 9, travel switch 10; Described mechanical arm 1 is the round barrel shape structure, and afterbody has Connection Block, available be connected in robot or have on location and the micro-processor controlled device, and the postmedian of mechanical arm 1 is provided with fluting, and servomotor 3 and travelling gear 4 (referring to accompanying drawing 4) are set in the groove; Described mobile putter 2 front ends are round bar, and the rear end is tooth bar (referring to an accompanying drawing 5), and section of rack is installed in the hollow mechanical arm of drum 1; Travelling gear 4 cooperates with the output shaft of servomotor 3 gearboxes, and its gear cooperates with the tooth bar of mobile putter 2; Claw 5 is hinged with mobile putter 2 and rocking bar 6 respectively; The front end outside of the rear end of rocking bar 6 and mechanical arm 1 is hinged, and the rear portion of front end and claw 5 is hinged; Claw 5 is made of at least three arc rod shaped structure, and its front end is provided with the hinged button (referring to accompanying drawing 6) that is connected with rocking bar 6 with mobile putter 2, and the shape of claw 5 also can be determined according to the resemblance of being grabbed object 11; The rotating band nutating gear 4 of servomotor 3 rotates, and the tooth bar of the gear of travelling gear 4 and mobile putter 2 meshes and makes mobile putter 2 rectilinear motions, and the rectilinear motion of mobile putter 2 makes claw 5 driven, and claw 5 opens under rocking bar 6 spacing; Otherwise the counter-rotating of servomotor 3 makes claw 5 closures.

Front end at claw 5 is provided with compressing tablet 7, switch push rod 8, spring 9, travel switch 10.

(referring to accompanying drawing 7) described compressing tablet 7 is made by the steel plate of bending, and the one end has installing hole, and is hinged with claw 5, and the other end cooperates with the cam of switch push rod 8; Spring 8 controls that the extreme position of compressing tablet 7 swings is contacted with claw 5 by tail end; One end of described switch push rod 8 is that the circular arc end face contacts with compressing tablet 7, and the other end is connected with travel switch 10; (referring to accompanying drawing 8) contacted with compressing tablet 7 when grabbing object 11, makes compressing tablet 7 produce swing, thereby switch push rod 8 is moved, and will touch travel switch 10 when switch push rod 8 moves to a certain degree, thereby cut off the power supply of servomotor 3; One end of spring 9 contacts with claw 5, and the other end contacts with switch push rod 8, to realize resetting of switch push rod 8.Can use the spring 9 of different stiffness according to being grabbed different power that object 11 produced.

Referring to accompanying drawing 2.

A kind of catching robot of the utility model sends signal by microcomputer is just changeing servomotor (containing gearbox) 3, the rotating band nutating gear 4 of servomotor 3 rotates, travelling gear 4 promotes mobile putter 2 rectilinear motions by the engagement with mobile putter 2 tooth bars, the rectilinear motion of mobile putter 2 drives claw 5, slowly opens at the spacing claw 5 down of rocking bar 6.

Referring to accompanying drawing 3.

After (explanation of continuous accompanying drawing 2) claw 5 slowly opens and finishes the location, send signal once more by microcomputer, make servomotor (containing gearbox) 3 counter-rotatings, mobile putter 2 drives claw 5 rectilinear motions, and is slowly closed at the spacing claw 5 down of rocking bar 6.

The circuit control section of a kind of catching robot of the utility model is made up of travel switch 10 and microcomputer (not shown).Microcomputer sends signal is just changeing servomotor 3, the rotating band nutating gear 4 of servomotor 3 rotates, travelling gear 4 makes mobile putter 2 rectilinear motions with the tooth bar engagement of mobile putter 2, the rectilinear motion of mobile putter 2 makes claw 5 driven, claw 5 is subjected to the spacing of rocking bar 6 again, thereby claw 5 is opened; By the robot that is connected with mechanical arm 1 or have the location and micro-processor controlled device position, after finish the location, microcomputer sends signal once more, make servomotor 2 counter-rotatings, claw 5 closures are contacted with compressing tablet 7 when grabbing object 11, make compressing tablet 7 swings, thereby switch push rod 8 is moved, after switch push rod 8 moves to a certain degree, will touch travel switch 10, thereby disconnect the power supply of servomotor 2.The extracting process is finished.

Claims

1, a kind of catching robot, contain mechanical arm, mobile putter, contain servomotor, travelling gear, claw, rocking bar, compressing tablet, switch push rod, spring, the travel switch of gearbox, it is characterized in that, described mechanical arm is a barrel-like structure, afterbody has Connection Block, available be connected in robot or have on location and the micro-processor controlled device, the postmedian of mechanical arm is provided with fluting, and servomotor and travelling gear are set in the groove; The front end of described mobile putter is a round bar, and the rear end is a tooth bar, and section of rack is installed in the hollow mechanical arm of tubbiness; Travelling gear cooperates with the output shaft of servomotor gearbox, and its gear cooperates with the tooth bar of mobile putter; Claw is hinged with mobile putter and rocking bar respectively; The front end outside of the rear end of rocking bar and mechanical arm is hinged, and the rear portion of front end and claw is hinged; The rotating band nutating gear of servomotor rotates, and the gear of travelling gear makes the mobile putter straight line driven with the engagement of the tooth bar of mobile putter, and the rectilinear motion of mobile putter makes claw driven, and at rocking bar spacing time opened claw; Otherwise the servomotor counter-rotating can make the claw closure.

2, according to the described a kind of catching robot of claim 1, it is characterized in that, be provided with compressing tablet, switch push rod, spring, travel switch at the front end of described claw.

3, according to the described a kind of catching robot of claim 2, it is characterized in that described compressing tablet is made by the steel plate of bending, the one end has installing hole, and is hinged with claw, and the other end cooperates with the cam of switch push rod; The spring control that the extreme position of compressing tablet swing is contacted with claw by tail end; One end of described switch push rod is that the circular arc end face contacts with compressing tablet, and the other end is connected with travel switch; One end of described spring contacts with claw, and the other end contacts with the switch push rod, to realize resetting of switch push rod.