CN203680294U - Manual trolley front grabbing mechanism - Google Patents
Manual trolley front grabbing mechanism Download PDFInfo
- Publication number
- CN203680294U CN203680294U CN201420074627.7U CN201420074627U CN203680294U CN 203680294 U CN203680294 U CN 203680294U CN 201420074627 U CN201420074627 U CN 201420074627U CN 203680294 U CN203680294 U CN 203680294U
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- hand
- gripper
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Abstract
The utility model discloses a manual trolley front grabbing mechanism which comprises a stretchable rod capable of being stretched front and back in a sliding mode. A hand grab supporting frame is fixedly installed at the front end of the stretchable rod, a lead screw pair for rotating to drive a hand grab to move is longitudinally assembled in the center of the hand grab supporting frame, the hand grab is at least provided with two grabbing claws extending in the periphery direction of the hand grab supporting frame to be used for grabbing an object in a matched mode, each grabbing claw is provided with a long-strip-shaped sliding groove, supporting rotating shafts matched with sliding hinges in the long-strip-shaped sliding grooves are correspondingly installed on the hand grab supporting frame, and a hand grab driving motor is installed on the hand grab supporting frame and drives the lead screw pair to drive the grabbing claws of the hand grab to slide towards the periphery of the hang grab supporting frame to be open to carry out grabbing with the supporting rotating shafts as fulcrums. The manual trolley front grabbing mechanism is nimble in motion, stable in performance, high in positioning accuracy and capable of meeting the requirement of robot hand claw grabbing carrying.
Description
Technical field
The utility model relates to Robotics field, particularly relates to the paw crawl technology that robot uses, specifically grasping mechanism before handcar.
Background technology
Along with the progress in epoch and scientific and technological development, many originally all replacement by robot by the work manually completing.Robot is a kind of installations that automatically perform work.It both can accept mankind's signal instruction, can move again the program of layout in advance, also can be according to the principle guiding principle action of formulating with artificial intelligence technology.Its task is to assist and to replace the mankind heavy, dangerous, poisonous or cannot work taken up.It is the parts for gripping workpiece or instrument that robot hand captures, and is one of most crucial place of whole robot.
Summary of the invention
Technical problem to be solved in the utility model is for above-mentioned prior art present situation, and provides a kind of and be active in one's movements, registration, can be engaged in grasping mechanism before the handcar of grasp handling operation.
The utility model solves the problems of the technologies described above adopted technical scheme: grasping mechanism before handcar, comprise the expansion link of energy front and back sliding extension, wherein: the front end of expansion link is installed with hand and grabs open-shelf, the center that hand grabs open-shelf is longitudinally fitted with rotating band and starts the moving lead screw pair of grasping operation, hand is grabbed at least to be had two and grabs open-shelf peripheral direction to hand and stretch and capture the gripper of object for matching, each gripper all has strip chute, correspondingly hand grabs the supporting revolving shaft coordinating with each strip chute slide hinge is installed in open-shelf, and hand grabs and in open-shelf, hand is installed and grabs drive motors, this hand is grabbed drive motors and is driven gripper that lead screw pair band starts to grab to grab open-shelf surrounding taking supporting revolving shaft as fulcrum to hand to slide and strut crawl.
For optimizing technique scheme, the measure of taking also comprises:
Above-mentioned hand grab open-shelf by a hexagonal top board and base plate and etc. the hand of the uniform support and connection of radian between top board and base plate grab distraction and form; The bottom that hand is grabbed distraction is shaped with the guide-localization notch that under shed passes for gripper, and supporting revolving shaft is fixedly mounted in this guide-localization notch.
The nut that above-mentioned lead screw pair comprises leading screw and coordinates with leading screw spiral; The center of top board and the center of base plate are shaped with respectively the locating hole coordinating with leading screw rotational support, and hand is grabbed and is fixedly mounted on nut.
The linkage block that is fixedly linked with nut and the gripper equipped with linkage block hinge are drawn together in above-mentioned hand packet capturing; The Circular measures such as linkage block are useful on the gripper locating slot of movable clamping gripper, and this gripper locating slot is fixedly coated with gripper rotating shaft, and the rear end of gripper is shaped with gripper rotating shaft and rotates and wear the shaft hole of joining.
The radians such as above-mentioned linkage block are shaped with three gripper locating slots, and two adjacent gripper locating slots are at a distance of 120 degree, and correspondingly hand gripping apparatus has three grippers, and hand grabs open-shelf to be had three hands and grab distraction.
Above-mentioned hand is grabbed drive motors and is fixedly mounted on hand and grabs the upper surface of open-shelf top board, and leading screw grabs through top board and hand that drive motors is fixing to be equipped with mutually.
Above-mentioned hand grabs on the base plate of open-shelf corresponding the having of guide-localization notch that grabs out bar with every proficiency and is beneficial to the flexible gap slot of gripper.
Compared with prior art, the utility model grabs lead screw pair is installed in open-shelf at hand, and grab drive motors by hand and drive lead screw pair band to start to grab to move up and down, utilize hand to grab the active force that gripper slide hinge that open-shelf and hand grab forms simultaneously, gripper is produced to the motion of the motion Huo Xiang center contraction type of surrounding bracing type, thereby realize the crawl to workpiece or unclasp.The utility model is simple for structure, stable performance, be quick on the draw, and can meet robot and grab carrying demand.
Brief description of the drawings
Fig. 1 is perspective view of the present utility model;
Fig. 2 is the plan structure figure of Fig. 1;
Fig. 3 be Fig. 2 F-F to sectional structure chart.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiment of the present utility model is described in further detail.
Fig. 1 to Fig. 3 is structural representation of the present utility model.
Reference numeral is wherein: supporting revolving shaft A, gripper rotating shaft B, expansion link 1, hand grab that open-shelf 2, top board 21, base plate 22, gap slot 22a, hand grab that distraction 23, guide-localization notch 23a, hand grab 3, gripper 31, strip chute 31a, linkage block 32, gripper locating slot 32a, lead screw pair 4, leading screw 41, nut 42, hand are grabbed drive motors 5.
As shown in Figure 1 to Figure 3, grasping mechanism before handcar of the present utility model, comprise the expansion link 1 of energy front and back sliding extension, the front end of expansion link 1 is installed with hand and grabs open-shelf 2, the center that hand grabs open-shelf 2 is longitudinally fitted with rotating band starts to grab the lead screw pair 4 of 3 motions, hand is grabbed 3 and is at least had two and grab open-shelf 2 peripheral direction to hand and stretch and capture the gripper 31 of object for matching, each gripper 31 all has strip chute 31a, correspondingly hand grabs the supporting revolving shaft A coordinating with each strip chute 31a slide hinge is installed in open-shelf 2, and hand grabs and in open-shelf 2, hand is installed and grabs drive motors 5, this hand is grabbed drive motors 5 and is driven lead screw pair 4 band to start to grab 3 gripper 31 to grab open-shelf 2 surroundings taking supporting revolving shaft A as fulcrum to hand and slide and strut crawl.The utility model is a kind of graping chaw being applied in robot, and robot is a kind of installations that can automatically perform work.Robot hand is that whole robot realizes and captures the most crucial parts of function, and robot hand can be simulated people's hand and be grabbed function, replaces people to be engaged in that some are heavy, dangerous, the work in high-altitude.The utility model is provided with hand at the front end of expansion link 1 and grabs open-shelf 2, can utilize expansion link 1 to grab hand in open-shelf 2 and grab 3 and grab open-shelf 2 and be pushed to the position of appointment together with hand being arranged on hand, then grabbing drive motors 5 by hand drives lead screw pair 4 band to start to grab 3 to move up and down, recycling hand grabs open-shelf 2 and hand and grabs the active force that 3 gripper 31 slide hinges form, gripper 31 is produced to the motion of the motion Huo Xiang center contraction type of surrounding bracing type, thereby reach the object that captures or unclasp workpiece.The utility model is active in one's movements, stable performance, positioning precision are high, can meet the requirement of robot hand grasp handling.
In embodiment as shown in figures 1 and 3, hand grab open-shelf 2 by a hexagonal top board 21 and base plate 22 and etc. the hand of the uniform support and connection of radian between top board 21 and base plate 22 grab distraction 23 and form; Top board 21 and base plate 22 and hand are grabbed 23 1 of distractions and have the frame body of certain altitude.The bottom that hand is grabbed distraction 23 is shaped with the guide-localization notch 23a that under shed passes for gripper 31, guide-localization notch 23a has ensured when gripper 31 is flexible can not swing to both sides, and the guide-localization notch 23a that each hand of while is grabbed distraction 23 has also determined that corresponding gripper 31 hand of living in grabs the locus in open-shelf 2.Supporting revolving shaft A is fixedly mounted in this guide-localization notch 23a, and in the time that gripper 31 is made stretching motion, supporting revolving shaft A plays guide-localization effect, makes the move towards slip of gripper 31 along strip chute 31a.
In embodiment, please continue referring to Fig. 1 and Fig. 3, the nut 42 that lead screw pair 4 of the present utility model coordinates by leading screw 41 with leading screw 41 spirals forms; Nut 42 spirals are arranged on leading screw 41, in the time of leading screw 41 left rotation and right rotation, nut 42 can move up and down along leading screw 41, and the support that leading screw 41 can rotate is arranged on top board 21 and base plate 22, and top board 21 center and base plate 22 center are shaped with respectively the locating hole coordinating with leading screw 41 rotational support.Hand is grabbed 3 and is fixedly mounted on nut 42, and rotatablely moving of leading screw 41 converts moving up and down of nut 42 to, and the Sports band of nut 42 starts to grab the compound motion that 3 gripper 31 is done to stretch up and down.
In embodiment, hand is grabbed 3 and is comprised the linkage block 32 that is fixedly linked with nut 42 and the gripper 31 equipped with linkage block 32 hinges; Linkage block 32 Circular measures such as grade are useful on the gripper locating slot 32a of movable clamping gripper 31, and this gripper locating slot 32a is fixedly coated with gripper rotating shaft B, and the rear end of gripper 31 is shaped with gripper rotating shaft B and rotates and wear the shaft hole of joining.What gripper 31 and linkage block 32 can be rotated up and down by gripper rotating shaft B is hinged equipped, can improve like this sensitivity of gripper 31, prevents that gripper 31 is subject to torsion damage.
In embodiment, linkage block 32 radians such as grade are shaped with three gripper locating slot 32a, and two adjacent gripper locating slot 32a are at a distance of 120 degree, and correspondingly hand is grabbed 3 and had three grippers 31, and hand grabs open-shelf 2 to be had three hands and grab distraction 23.The utility model adopts 3 grippers 31 to coordinate bracing type grabbing workpiece, certainly also can increase as required.
In embodiment, hand is grabbed drive motors 5 and is fixedly mounted on hand and grabs the upper surface of open-shelf 2 top boards (21), and leading screw 41 grabs through top board 21 and hand that drive motors 5 is fixing to be equipped with mutually.Hand is grabbed drive motors 5 and is rotated with drive leading screw 41 for outputting power.
In embodiment, hand grabs on the base plate 22 of open-shelf 2 corresponding the having of guide-localization notch 23a that grabs out bar 23 with every proficiency and is beneficial to the flexible gap slot 22a of gripper 31.
As shown in Figure 1, operation principle of the present utility model is: when hand is grabbed drive motors energising when the positive hour hands of leading screw are rotated, leading screw drives nut to move down immediately, three grippers of linkage block promotion that are now fixed on nut outwards stretch and strut under the mating reaction of strip chute and supporting revolving shaft, realize the crawl of workpiece in kind.Otherwise, grab drive motors energising when leading screw is rotated backward when hand, leading screw drives nut to move up immediately, and now linkage block pulls three grippers along strip chute retraction, realizes unclasping of workpiece in kind.
Claims (7)
1. grasping mechanism before handcar, comprise the expansion link (1) of energy front and back sliding extension, it is characterized in that: the front end of described expansion link (1) is installed with hand and grabs open-shelf (2), the center that described hand grabs open-shelf (2) is longitudinally fitted with rotating band starts to grab the lead screw pair (4) of (3) motion, described hand is grabbed (3) and is at least had two and grab open-shelf (2) peripheral direction to hand and stretch and capture the gripper (31) of object for matching, gripper (31) described in each all has strip chute (31a), correspondingly described hand grabs the supporting revolving shaft (A) coordinating with strip chute (31a) slide hinge described in each is installed in open-shelf (2), and described hand grabs and in open-shelf (2), hand is installed and grabs drive motors (5), this hand is grabbed drive motors (5) and is driven gripper (31) that lead screw pair (4) band starts to grab (3) to grab the slip of open-shelf (2) surrounding as fulcrum to hand taking supporting revolving shaft (A) to strut crawl.
2. grasping mechanism before handcar according to claim 1, is characterized in that: described hand grab open-shelf (2) by a hexagonal top board (21) and a base plate (22) and etc. the hand of the uniform support and connection of radian between top board (21) and base plate (22) grab distraction (23) and form; The bottom that described hand is grabbed distraction (23) is shaped with the guide-localization notch (23a) that under shed passes for gripper (31), and described supporting revolving shaft (A) is fixedly mounted in this guide-localization notch (23a).
3. grasping mechanism before handcar according to claim 2, is characterized in that: the nut (42) that described lead screw pair (4) comprises leading screw (41) and coordinates with leading screw (41) spiral; The center of described top board (21) and the center of base plate (22) are shaped with respectively the locating hole coordinating with leading screw (41) rotational support, and described hand is grabbed (3) and is fixedly mounted on nut (42).
4. grasping mechanism before handcar according to claim 3, is characterized in that: described hand is grabbed (3) and comprised the linkage block (32) that is fixedly linked with nut (42) and the gripper (31) equipped with linkage block (32) hinge; The Circular measures such as described linkage block (32) are useful on the gripper locating slot (32a) of movable clamping gripper (31), this gripper locating slot (32a) is fixedly coated with gripper rotating shaft (B), and the rear end of described gripper (31) is shaped with gripper rotating shaft (B) and rotates and wear the shaft hole of joining.
5. grasping mechanism before handcar according to claim 4, it is characterized in that: the radians such as described linkage block (32) are shaped with three gripper locating slots (32a), two adjacent described gripper locating slots (32a) are at a distance of 120 degree, correspondingly described hand is grabbed (3) and is had three grippers (31), and described hand grabs open-shelf (2) to be had three hands and grab distraction (23).
6. grasping mechanism before handcar according to claim 5, it is characterized in that: described hand is grabbed drive motors (5) and be fixedly mounted on hand and grab the upper surface of open-shelf (2) top board (21), described leading screw (41) grabs through top board (21) and hand that drive motors (5) is fixing to be equipped with mutually.
7. grasping mechanism before handcar according to claim 6, is characterized in that: described hand grabs upper corresponding the having of guide-localization notch (23a) of grabbing distraction (23) with the hand described in each of the base plate (22) of open-shelf (2) and is beneficial to the flexible gap slot (22a) of gripper (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420074627.7U CN203680294U (en) | 2014-02-21 | 2014-02-21 | Manual trolley front grabbing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420074627.7U CN203680294U (en) | 2014-02-21 | 2014-02-21 | Manual trolley front grabbing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203680294U true CN203680294U (en) | 2014-07-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420074627.7U Expired - Fee Related CN203680294U (en) | 2014-02-21 | 2014-02-21 | Manual trolley front grabbing mechanism |
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| Country | Link |
|---|---|
| CN (1) | CN203680294U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104890003A (en) * | 2015-06-16 | 2015-09-09 | 河北工业大学 | Three-claw gripping device |
| CN107199552A (en) * | 2017-07-21 | 2017-09-26 | 连雪芳 | A kind of single-power input is double acting to make output industrial machinery arm |
| CN108789468A (en) * | 2018-07-11 | 2018-11-13 | 戴小红 | A kind of mechanical grip for machine-building |
| CN109551473A (en) * | 2018-11-09 | 2019-04-02 | 双钱集团（江苏）轮胎有限公司 | What a kind of tire production used grabs clamp device |
| CN110342249A (en) * | 2019-08-13 | 2019-10-18 | 广西科技大学 | A kind of arm end executing agency of high-precise synchronization crawl |
| CN111473990A (en) * | 2020-03-12 | 2020-07-31 | 山东东山古城煤矿有限公司 | Automatic control coal quality sampling system for underground transportation |
| CN115383782A (en) * | 2022-09-27 | 2022-11-25 | 陕西法士特齿轮有限责任公司 | Robot paw suitable for shell parts and using method thereof |
-
2014
- 2014-02-21 CN CN201420074627.7U patent/CN203680294U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104890003A (en) * | 2015-06-16 | 2015-09-09 | 河北工业大学 | Three-claw gripping device |
| CN107199552A (en) * | 2017-07-21 | 2017-09-26 | 连雪芳 | A kind of single-power input is double acting to make output industrial machinery arm |
| CN108789468A (en) * | 2018-07-11 | 2018-11-13 | 戴小红 | A kind of mechanical grip for machine-building |
| CN109551473A (en) * | 2018-11-09 | 2019-04-02 | 双钱集团（江苏）轮胎有限公司 | What a kind of tire production used grabs clamp device |
| CN110342249A (en) * | 2019-08-13 | 2019-10-18 | 广西科技大学 | A kind of arm end executing agency of high-precise synchronization crawl |
| CN111473990A (en) * | 2020-03-12 | 2020-07-31 | 山东东山古城煤矿有限公司 | Automatic control coal quality sampling system for underground transportation |
| CN111473990B (en) * | 2020-03-12 | 2023-05-23 | 山东东山古城煤矿有限公司 | Automatic control coal sampling system for underground transportation |
| CN115383782A (en) * | 2022-09-27 | 2022-11-25 | 陕西法士特齿轮有限责任公司 | Robot paw suitable for shell parts and using method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140702 Termination date: 20160221 |