CN202155877U - Gripper of industrial robot - Google Patents
Gripper of industrial robot Download PDFInfo
- Publication number
- CN202155877U CN202155877U CN2011202174762U CN201120217476U CN202155877U CN 202155877 U CN202155877 U CN 202155877U CN 2011202174762 U CN2011202174762 U CN 2011202174762U CN 201120217476 U CN201120217476 U CN 201120217476U CN 202155877 U CN202155877 U CN 202155877U
- Authority
- CN
- China
- Prior art keywords
- forearm
- handgrip
- postbrachium
- connecting rod
- jointed shaft
- Prior art date
- 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 - Lifetime
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Abstract
The utility model relates to a gripper of an industrial robot, which comprises a front arm and a rear arm, wherein the front arm and the rear arm are articulated by a gripper articulating shaft; a limiting structure is arranged between the front arm and the rear arm, so that the front arm has a first position where the central axis of the front arm is parallel to the central axis of the rear arm and a second position where the central axis of the front arm is perpendicular to the central axis of the rear arm; and the gripper of the industrial robot is further provided with an arm bending and unbending driving and a locking mechanism. The gripper of the industrial robot not only can freely bend and stretch, but also can be locked without displacement respectively at an unbent state and a bent state.
Description
Technical field
The utility model relates to a kind of industrial robot handgrip, particularly relates to a kind of elbow joint, crooked industrial robot handgrip of ability of having.
Background technology
Along with science and technology development, increasing industrial robot has appearred.These industrial robots are used in fields such as automobile making, cutting, deburring, mould spraying, grinding and polishing, material handling, packing and tray stackings widely.Particularly to the work of some repetitive, the use of robot has reduced working strength of workers widely, has improved operating efficiency and product quality.Present industrial robot generally includes base, following mechanical arm and last mechanical arm and control module.Base is provided with turntable, and following mechanical arm is installed on the turntable, and following mechanical arm and last mechanical arm are hinged.The front end of last mechanical arm can move in or out under control module control, and following mechanical arm and last mechanical arm can be done three-dimensional motion under the drive of turntable.When concrete the application, the last mechanical arm front end of industrial robot also can be installed mechanical handgrip, in order to grabbing workpiece, like the industrial robot polishing machine.Mechanical handgrip on the last mechanical arm front end of industrial robot polishing machine can be caught the central shaft rotation of workpiece around self, and the surface of workpiece is polished.But the existing mechanical handgrip all can only be around an axis rotation; Like this, need the workpiece of multi-angle polishing for some, industrial robot need compare complicated course of action when it is adjusted to suitable machined surface; Cause control complicated, operating efficiency descends.In order to address this problem; One of them good scheme is exactly a kind of elbow joint, crooked industrial robot handgrip of ability of having of design; Can simplify the course of action that industrial robot is adjusted to suitable machined surface greatly like this, control program is also greatly simplified, and operating efficiency can improve.But the never concrete for a long time reason of using is to fail to design a kind of can bending and stretching freely, again can be respectively stretch with crooked state under locking be not shifted.
Summary of the invention
The purpose of the utility model is for the deficiency that overcomes prior art a kind of elbow joint, crooked industrial robot handgrip of ability of having to be provided.
For realizing above-mentioned purpose; The utility model provides following technical scheme: a kind of industrial robot handgrip; It is characterized in that: said robot handgrip comprises forearm and the postbrachium that split is provided with; The rear end of said forearm and postbrachium front end are hinged through the handgrip jointed shaft; The central shaft of handgrip jointed shaft and said forearm and postbrachium is perpendicular; Be provided with position limiting structure between said forearm and the postbrachium and make forearm have primary importance and the forearm central shaft and the perpendicular second place of postbrachium central shaft that a forearm central shaft and postbrachium central shaft parallel, said industrial robot handgrip also is provided with right and wrong arm and drives and locking mechanism, said right and wrong arm drives and locking mechanism comprise one can be along the straight-line pull bar of postbrachium central axes direction and driving mechanism and plane two linkages; Connecting rod link axle in two linkages of said plane is arranged on the forearm articulated section; Said connecting rod link axle is parallel with the handgrip jointed shaft, and the end of the first connecting rod in two linkages of said plane and pull bar location are hinged, and the end of said second connecting rod places one section gathering sill slidably; Said gathering sill is consistent with the direction and the pull bar direction of motion; Said connecting rod link axle is in the opposite side with respect to the forearm bending direction of line between pin joint and the handgrip jointed shaft center of first connecting rod and pull bar, and said gathering sill is in connecting rod link axle and the handgrip jointed shaft line of centres outside with respect to the connecting rod link axle, and said plane two linkages are provided with the end that return unit makes said second connecting rod and have a power that slides to gathering sill near handgrip jointed shaft one end; When said forearm is in primary importance, the center line of said second connecting rod and pull bar axis normal.
Adopt technique scheme; Because the opposite side with respect to the forearm bending direction of line between the pin joint that the connecting rod link axle of industrial robot handgrip is in first connecting rod and pull bar and the handgrip jointed shaft center is when pushing away before the driving pull bar, owing to having the arm of force between connecting rod link axle and the handgrip jointed shaft center; Pushing away before the pull bar through first connecting rod puts the forearm bending in place; After current brachiocylloosis puts in place, if when having reverse external force to act on forearm, because first connecting rod is a rigidity; Under the situation that pull bar is not retreated, forearm can't reach the locking purpose around the reverse rotation of handgrip jointed shaft; Under the forearm case of bending; When the pull bar post-tensioning, will drive the forearm reverse rotation through first connecting rod and stretch, when reverse rotation stretch put in place after; Act on when desiring to make it crooked on the forearm if any external force; Owing to the center line and the pull bar axis normal of said second connecting rod and withstand on the gathering sill end and make forearm to reach the locking purpose,, forearm pushes away before needing when crooked, drive pull bar around the reverse rotation of handgrip jointed shaft; Make said second connecting rod end slide to the other end, push away before the pull bar that through first connecting rod the forearm bending is put in place.So the utility model industrial robot handgrip can bend and stretch freely, again can be respectively stretch with crooked state under locking be not shifted.
Below in conjunction with accompanying drawing and specific embodiment the utility model is described further.
Description of drawings
Fig. 1 is the utility model specific embodiment straight configuration structure cutaway view;
Fig. 2 is the utility model specific embodiment case of bending structure cutaway view;
Fig. 3 is Fig. 1 A-A cutaway view.
The specific embodiment
The industrial robot handgrip comprises the forearm 2 and postbrachium 1 that split is provided with, and the rear end of said forearm 2 and postbrachium 1 front end are hinged through handgrip jointed shaft 3, and handgrip jointed shaft 3 is perpendicular with the central shaft of said forearm 2 and postbrachium 1.Said handgrip jointed shaft mount pad is provided with pair of vertical postbrachium riser 101 forward; Be provided with pair of vertical forearm riser 201 backward on the rear end of said forearm 2 equally; Forearm riser 201 is provided with axis hole with postbrachium riser 101; The axis hole that handgrip jointed shaft 3 passes on forearm riser 201 and the postbrachium riser 101 makes forearm 2 and postbrachium 1 hinged; Be provided with piston 103 in the straight-cylinder body 102 of said postbrachium 1; Outer sleeve body 103 is provided with the air flue two ends of UNICOM to straight-cylinder body 102 inner chambers respectively with straight-cylinder body 102 walls, and the piston rod 104 of said piston 105 stretches out from front end and constitutes said pull bar and driving mechanism thereof, and said handgrip jointed shaft mount pad also is provided with the said forearm 2 of stop limits in the rotational trajectory of forearm 2 the anglec of rotation constitutes position limiting structure.Like Fig. 1, shown in 2; In this specific embodiment; Forearm 2 is advisable with cylindric with postbrachium 1 integral body, and postbrachium 1 comprises tubular outer sleeve body 103, cylindrical straight cylinder body 102, is arranged on the piston rod 104 in the straight-cylinder body 102 and is fixed on the handgrip jointed shaft mount pad 100 on straight-cylinder body 102 front ends in this specific embodiment, and outer sleeve body 103 two ends are provided with bearing; Straight-cylinder body 102 is fixed on and can be rotatably set on the bearing in the outer sleeve body 103; The bottom of handgrip jointed shaft mount pad 100 and straight-cylinder body 102 ends match and constitute the end cap of straight-cylinder body 102, and outer sleeve body 103 is provided with the air flue two ends of UNICOM to straight-cylinder body 102 inner chambers respectively with straight-cylinder body 102 walls, and bottom centre is provided with piston rod 104 perforation; Piston rod 104 is to pass the piston rod perforation to constitute pull bar and driving mechanism thereof from front end; Said handgrip jointed shaft mount pad 100 lower surface are arranged with pair of vertical postbrachium riser 101 forward, and postbrachium riser 101 is preferably near the circumferential edges setting, and the centre can make things convenient for the installation of plane two connecting rods 4.In order to accomplish clamping action to workpiece; Said forearm 2 comprises chuck pneumatic actuating device and the cartridge device that is made up of a chuck cylinder body 202 and chuck piston 203; Chuck cylinder body 202 sidewalls are provided with respectively and the inner chamber air flue of two ends UNICOM up and down; The diameter of chuck cylinder body 202 is slightly less than straight-cylinder body 102; Basically equal two distances between the postbrachium riser 101; The rear end of said forearm 2 is to be provided with pair of vertical forearm riser 201 backward on chuck cylinder body 202 rear end faces equally, and correspondence position is provided with axis hole on forearm riser 201 and the postbrachium riser 101, and the axis hole that handgrip jointed shaft 3 passes on forearm riser 201 and the postbrachium riser 101 makes forearm 2 and postbrachium 1 hinged; Handgrip jointed shaft 3 is perpendicular with the central shaft of forearm 2 and postbrachium 1; Be provided with position limiting structure between said forearm 2 and the postbrachium 1 and make forearm 2 have primary importance (straight configuration) and forearm 2 central shafts and the perpendicular second place (case of bending) of postbrachium 1 central shaft that forearm 2 central shafts and postbrachium 1 central shaft parallel, said forearm 2 and postbrachium 1 be arranged on primary importance (straight configuration) time, its central axis is preferably coincidence.In order to drive handgrip and the reliability that improves handgrip; Said industrial robot handgrip also is provided with right and wrong arm and drives and locking mechanism; Said right and wrong arm drives and locking mechanism comprise one can be along the postbrachium straight-line pull bar of 1 central axes direction and driving mechanism and plane two connecting rods 4 mechanisms; Shown in Fig. 1-3; In this specific embodiment; Pull bar is made up of the piston rod 104 that stretches out from straight-cylinder body 102 front ends, and said plane two connecting rods, 4 mechanisms are made up of through connecting rod link axle 403 is hinged an end of the first connecting rod 401 of one section arc and second connecting rod 402, and the radian of first connecting rod 401 and connecting rod link axle 403 diameters match; Second connecting rod 402 can be straight; First connecting rod 401 adopts arcs to help forearm 2 and obtains bigger angle of bend, and the connecting rod link axle 403 in two connecting rods, 4 mechanisms of said plane is arranged on forearm 2 articulated sections and promptly closes on handgrip jointed shaft 3, and connecting rod link axle 403 is fixed on the forearm riser 201 in this specific embodiment; Said connecting rod link axle 403 is parallel with handgrip jointed shaft 3; The end of the first connecting rod 401 in two linkages 4 of said plane and pull bar are that piston rod 104 location are hinged, and the concave side of first connecting rod 401 is towards handgrip jointed shaft 3, and the end of said second connecting rod 402 places one section gathering sill 5 slidably; Said gathering sill 5 is consistent with the direction and the pull bar direction of motion; Said connecting rod link axle 403 is in the opposite side with respect to forearm 2 bending directions of line between pin joint and handgrip jointed shaft 3 centers of first connecting rod 401 and pull bar, and when forearm 2 was in primary importance (straight configuration), said connecting rod link axle 403 positions were between the pin joint and handgrip jointed shaft 3 centers of pull bar; Said gathering sill 5 is in the connecting rod link axle 403 and the outside of handgrip jointed shaft 3 lines of centres with respect to connecting rod link axle 403; Said plane two connecting rods, 4 mechanisms are provided with the end that return unit 404 makes said second connecting rod 402 and have a power that slides to gathering sill 5 near handgrip jointed shaft 3 one ends, and the position of said gathering sill 5 will be satisfied when forearm 2 is in primary importance (straight configuration), and the center line of said second connecting rod 402 and pull bar are piston rod 104 axis normal.Said return unit 404 is made up of torsion spring, is set on the connecting rod link axle 403.As shown in Figure 2; Locate reliably in order to make forearm 2; Between forearm 2 and postbrachium 1, being provided with position limiting structure makes forearm 2 have the anglec of rotation position limiting structure of the perpendicular second place of primary importance that forearm 2 central shafts and postbrachium 1 central shaft parallel and forearm 2 central shafts and postbrachium 1 central shaft; In this specific embodiment; Two ends between two postbrachium risers 101 vertically are provided with two highly different big blocks 6 respectively and constitute position limiting structure with little block 7; Big block 6 and little block 7 are in the rotational trajectory of forearm 2, and big block 6 highly satisfies and when forearm 2 is in primary importance (straight configuration), just in time is against on forearm 2 end faces, and little block 7 highly satisfies when forearm 2 is in the second place (90 ° of states of bending) time and just in time is against on forearm 2 sidewalls.The gathering sill 5 of this specific embodiment is arranged on the big block 6, gathering sill 5 and piston rod line parallel.
Cartridge device can be provided with according to the structure of concrete workpiece; This specific embodiment is to be example with the industrial robot handgrip that tap carried out polishing operation; Cartridge device comprises strut 205 and strut accommodating member 206; Said strut accommodating member 206 is hollow tubular, and strut accommodating member 206 leading portion diameters cooperate with faucet valve core cavity volume diametric clearance, and sidewall part vertically opens wide; The bottom is provided with flange arrangement and is fixedly connected with chuck cylinder body 202 end caps; Said strut 205 front ends are to the bending of bending open side, and said strut 205 kinks are provided with bearing pin 207 said strut 205 is arranged in the strut accommodating member 206, and said strut 205 ends are provided with the skewed slot 208 with strut 205 axes intersect; Said chuck piston rod 204 ends be provided with round pin 209 and skewed slot 208 movable cooperate to constitute link, and to form one be the leverage of fulcrum with said bearing pin 207.
Claims (3)
1. industrial robot handgrip; It is characterized in that: said robot handgrip comprises forearm and the postbrachium that split is provided with; The rear end of said forearm and postbrachium front end are hinged through the handgrip jointed shaft; The central shaft of handgrip jointed shaft and said forearm and postbrachium is perpendicular; Being provided with position limiting structure between said forearm and the postbrachium makes forearm have primary importance and the forearm central shaft and the perpendicular second place of postbrachium central shaft that a forearm central shaft and postbrachium central shaft parallel; Said industrial robot handgrip also is provided with right and wrong arm and drives and locking mechanism; Said right and wrong arm drives and locking mechanism comprise one can be along the straight-line pull bar of postbrachium central axes direction and driving mechanism and plane two linkages, the connecting rod link axle in two linkages of said plane is arranged on the forearm articulated section, said connecting rod link axle is parallel with the handgrip jointed shaft; The end of the first connecting rod in two linkages of said plane and pull bar location are hinged; The end of said second connecting rod places one section gathering sill slidably, and said gathering sill is consistent with the direction and the pull bar direction of motion, and said connecting rod link axle is in the opposite side with respect to the forearm bending direction of line between pin joint and the handgrip jointed shaft center of first connecting rod and pull bar; Said gathering sill is in connecting rod link axle and the handgrip jointed shaft line of centres outside with respect to the connecting rod link axle; Said plane two linkages are provided with the end that return unit makes said second connecting rod and have a power that slides to gathering sill near handgrip jointed shaft one end, when said forearm is in primary importance, and the center line of said second connecting rod and pull bar axis normal.
2. industrial robot handgrip according to claim 1; It is characterized in that: said postbrachium comprises the tubular outer sleeve body, can be rotatably set in cylindrical straight cylinder body in the outer sleeve body, be arranged on the piston rod in the straight-cylinder body and be fixed on the handgrip jointed shaft mount pad on the straight-cylinder body front end; Said handgrip jointed shaft mount pad is provided with pair of vertical postbrachium riser forward; Be provided with pair of vertical forearm riser backward on the rear end of said forearm equally; Forearm riser and postbrachium riser are provided with axis hole; The handgrip jointed shaft passes axis hole on forearm riser and the postbrachium riser makes forearm and postbrachium hinged, is provided with piston in the straight-cylinder body of said postbrachium, and outer sleeve body and straight-cylinder body wall are provided with the air flue two ends of UNICOM to straight-cylinder intracoelomic cavity respectively; The piston rod of said piston stretches out from front end and constitutes said pull bar and driving mechanism thereof, and said handgrip jointed shaft mount pad also is provided with the said forearm of stop limits in the rotational trajectory of forearm the anglec of rotation constitutes position limiting structure.
3. industrial robot handgrip according to claim 2; It is characterized in that: said forearm comprises chuck pneumatic actuating device and the cartridge device that is made up of a chuck cylinder body and chuck piston; Said cartridge device comprises strut and strut accommodating member, and said strut accommodating member is hollow tubular, and sidewall part vertically opens wide; The bottom is fixedly connected with the chuck cylinder body; Said strut front end is to the bending of bending open side, and said strut kink is provided with bearing pin said strut is arranged in the strut accommodating member, and said strut end is provided with the skewed slot with the strut axes intersect; Said chuck piston rod end be provided with round pin and skewed slot movable cooperates to constitute link, and to form one be the leverage of fulcrum with said bearing pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202174762U CN202155877U (en) | 2011-06-24 | 2011-06-24 | Gripper of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202174762U CN202155877U (en) | 2011-06-24 | 2011-06-24 | Gripper of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202155877U true CN202155877U (en) | 2012-03-07 |
Family
ID=45763524
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011202174762U Expired - Lifetime CN202155877U (en) | 2011-06-24 | 2011-06-24 | Gripper of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202155877U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102248541A (en) * | 2011-06-24 | 2011-11-23 | 浙江金石家居用品有限公司 | Industrial robot hand grip |
| CN103862360A (en) * | 2014-03-27 | 2014-06-18 | 福建明鑫机器人科技有限公司 | Precise robot flexible floating grinding system |
| CN107949459A (en) * | 2015-09-07 | 2018-04-20 | Ntn株式会社 | Using the multiple working device of connecting rod operation device |
-
2011
- 2011-06-24 CN CN2011202174762U patent/CN202155877U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102248541A (en) * | 2011-06-24 | 2011-11-23 | 浙江金石家居用品有限公司 | Industrial robot hand grip |
| CN102248541B (en) * | 2011-06-24 | 2013-12-11 | 温州金石机器人科技有限公司 | Industrial robot hand grip |
| CN103862360A (en) * | 2014-03-27 | 2014-06-18 | 福建明鑫机器人科技有限公司 | Precise robot flexible floating grinding system |
| CN103862360B (en) * | 2014-03-27 | 2016-08-24 | 福建明鑫机器人科技有限公司 | Precision machinery people's flexibility floating grinding system |
| CN107949459A (en) * | 2015-09-07 | 2018-04-20 | Ntn株式会社 | Using the multiple working device of connecting rod operation device |
| CN107949459B (en) * | 2015-09-07 | 2021-02-12 | Ntn株式会社 | Combined working device using connecting rod operating device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120307 Effective date of abandoning: 20131211 |
|
| RGAV | Abandon patent right to avoid regrant |