CN201376279Y - Tail-end actuator of robot - Google Patents
Tail-end actuator of robot Download PDFInfo
- Publication number
- CN201376279Y CN201376279Y CN200920041168U CN200920041168U CN201376279Y CN 201376279 Y CN201376279 Y CN 201376279Y CN 200920041168 U CN200920041168 U CN 200920041168U CN 200920041168 U CN200920041168 U CN 200920041168U CN 201376279 Y CN201376279 Y CN 201376279Y
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- CN
- China
- Prior art keywords
- finger
- robot
- motor
- worm
- finger seat
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model relates to a tail-end actuator of a robot, which comprises a main body (1), a motor (10), a finger seat (4) and a middle transmission link. The tail-end actuator of the robot is characterized in that the middle transmission link adopts a worm wheel and worm screw pair, wherein a worm screw (3) is directly connected with an output shaft of the motor (10); a worm wheel (7) and the finger seat (4) are combined into a whole; a worm wheel-finger seat combination body is symmetrically mounted on the main body (1) on two sides of the worm screw; a quick open-ended assembling and disassembling groove is formed on the finger seat (4); and fingers (6) are connected and tightened with the finger seat (4) through bolts (5). The utility model provides driving power by the motor, can directly utilize a power supply to work without the requirements of additional power sources, directly drives the finger seat to open and close by adopting the worm wheel and the worm screw and has a simple structure; in addition, the quick open-ended assembling and disassembling groove can realize quick assembly and disassembly of the fingers.
Description
Technical field
The utility model relates to a kind of end effector of robot, is a kind of employing motor-driven specifically, two finger clampers of worm and gear auxiliary driving.
Background technology
Industrial robot has obtained developing rapidly since the sixties in last century come out.Robot has become world today's frontier science and technology as a big branch of automatic field, and robot has been penetrated in production, service and the daily life.The research applicable cases of Robotics has become the important symbol of a national industrial automation level.In industrial robot uses, need to pass through end effector between robot and operand, generally being the robot finger comes excessively, different operands need dispose different fingers and realize grasping, therefore, end effector of robot becomes one of requisite auxiliary equipment of robot application.Present commercial end effector of robot mainly based on pneumatic and surge, has corresponding supporting air feed or feed flow requirement in the use.
Summary of the invention
The purpose of this utility model is to be robot finger's diversified requirement to end effector in using at present industrial robot, design a kind of simple in structure, easy for installation, and do not have electronic pair of finger clamper of special supporting requirement, thus realize the supporting efficiently requirement of economy.
The technical solution of the utility model is:
A kind of end effector of robot, comprise body 1, motor 10, finger block 4 and middle transmission link, ensconce in the body 1 in the motor 10, it is characterized in that described middle transmission link adopts worm couple, wherein worm screw 3 directly links to each other with the output shaft of motor 10, and worm gear 7 is combined into one worm gear with finger block 4--and finger block assembly symmetry is installed on the body of worm screw both sides, have quick loading and unloading groove on the finger block 4, finger 6 and 4 of finger blocks are fastenedly connected by screw 5.
The utlity model has following advantage:
1, the utility model adopts motor that driving power is provided, and can directly utilize power work, does not have extra power source requirement;
2, adopt the opening and closing of the direct transmission finger block of worm and gear, simple in structure;
3, open quick loading and unloading groove can be realized the quick loading and unloading pointed.
Description of drawings:
Fig. 1 is the main cutaway view of the utility model embodiment.
Fig. 2 is the sectional view of the utility model embodiment
The specific embodiment
Below in conjunction with drawings and Examples the utility model is further described.
A kind of end effector of robot, comprise body 1, motor 10, finger block 4 and middle transmission link, ensconce in the body 1 in the motor 10, it is characterized in that described middle transmission link adopts worm couple, wherein worm screw 3 directly links to each other with the output shaft of motor 10, and worm gear 7 is combined into one worm gear with finger block 4--and finger block assembly symmetry is installed on the body of worm screw both sides, have quick loading and unloading groove on the finger block 4, finger 6 and 4 of finger blocks are fastenedly connected by screw 5.
As shown in Figure 1 and Figure 2:
Motor 10 combines location and installation by himself end face seam with body 1, and by supporting screw that both are fastening, cooperates by cylinder on the motor output shaft transmission worm screw 3 is installed, and connects with the transmission moment of torsion by pin 2.Body 1 top has one and connects sipes, its symmetrical plane passes through motor shaft, be symmetrically installed with two finger blocks 4 at motor two side positions in the groove, have the center symmetrical channels at its thickness direction on the finger block 4, worm gear 7 is housed in the groove, and finger block 4 and worm gear 7 are combined into one by pin 8, bearing pin 9, finger block--worm gear zoarium is installed in the through slot of body 1 by pin 8, make and just in time normal engaged of worm and gear realize the opening and closing operation by motor-driven worm-drive worm gear drives finger block 4 like this.Have open quick loading and unloading groove on each finger block 4, when the operand change needed replacing to point 6, a little can take off finger as long as unscrew screw, and will be installed on the finger block fixing fast with the new finger of trip bolt.Whole finger is connected and installed by referring to the terminal faying face of seat bottom surface and robot manipulator.
Claims (1)
1, a kind of end effector of robot, comprise body (1), motor (10), finger block (4) and middle transmission link, it is characterized in that described middle transmission link adopts worm couple, wherein worm screw (3) directly links to each other with the output shaft of motor (10), worm gear (7) is combined into one with finger block (4), worm gear---finger block assembly symmetry is installed on the worm screw both sides bodies (1), have open quick loading and unloading groove on the described finger block (4), be fastenedly connected by screw (5) between finger (6) and finger block (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920041168U CN201376279Y (en) | 2009-04-08 | 2009-04-08 | Tail-end actuator of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920041168U CN201376279Y (en) | 2009-04-08 | 2009-04-08 | Tail-end actuator of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201376279Y true CN201376279Y (en) | 2010-01-06 |
Family
ID=41516377
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200920041168U Expired - Fee Related CN201376279Y (en) | 2009-04-08 | 2009-04-08 | Tail-end actuator of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201376279Y (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101890722A (en) * | 2010-06-03 | 2010-11-24 | 西北工业大学 | Novel three-degree-of-freedom (three-DOF) mechanical claw |
| CN102431037A (en) * | 2011-09-30 | 2012-05-02 | 孙衡 | Bearing classification mechanical paw |
| CN104209953A (en) * | 2014-07-15 | 2014-12-17 | 福州大学 | Robot electric gripper |
| CN105149836A (en) * | 2013-10-12 | 2015-12-16 | 浙江正泰电器股份有限公司 | Multi-layer manipulator and full-automatic welding system |
| WO2021107039A1 (en) * | 2019-11-29 | 2021-06-03 | シナノケンシ株式会社 | Robot hand |
| WO2021107071A1 (en) * | 2019-11-29 | 2021-06-03 | シナノケンシ株式会社 | Robot hand |
-
2009
- 2009-04-08 CN CN200920041168U patent/CN201376279Y/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101890722A (en) * | 2010-06-03 | 2010-11-24 | 西北工业大学 | Novel three-degree-of-freedom (three-DOF) mechanical claw |
| CN102431037A (en) * | 2011-09-30 | 2012-05-02 | 孙衡 | Bearing classification mechanical paw |
| CN105149836A (en) * | 2013-10-12 | 2015-12-16 | 浙江正泰电器股份有限公司 | Multi-layer manipulator and full-automatic welding system |
| CN105149836B (en) * | 2013-10-12 | 2017-03-29 | 浙江正泰电器股份有限公司 | Multi-layer mechanical arm and full-automatic welding system |
| CN104209953A (en) * | 2014-07-15 | 2014-12-17 | 福州大学 | Robot electric gripper |
| WO2021107039A1 (en) * | 2019-11-29 | 2021-06-03 | シナノケンシ株式会社 | Robot hand |
| WO2021107071A1 (en) * | 2019-11-29 | 2021-06-03 | シナノケンシ株式会社 | Robot hand |
| JP2021091083A (en) * | 2019-11-29 | 2021-06-17 | シナノケンシ株式会社 | Robot hand |
| JP2021091084A (en) * | 2019-11-29 | 2021-06-17 | シナノケンシ株式会社 | Robot hand |
| CN114364499A (en) * | 2019-11-29 | 2022-04-15 | 信浓绢糸株式会社 | Robot hand |
| US11691295B2 (en) | 2019-11-29 | 2023-07-04 | Shinano Kenshi Co., Ltd. | Robot hand |
| CN114364499B (en) * | 2019-11-29 | 2024-05-24 | 信浓绢糸株式会社 | Robot hand |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100106 Termination date: 20130408 |