CN203697022U - Delicate manipulator gripper - Google Patents

Delicate manipulator gripper Download PDF

Info

Publication number
CN203697022U
CN203697022U CN201320860049.5U CN201320860049U CN203697022U CN 203697022 U CN203697022 U CN 203697022U CN 201320860049 U CN201320860049 U CN 201320860049U CN 203697022 U CN203697022 U CN 203697022U
Authority
CN
China
Prior art keywords
movable rack
gear
pinion
tooth bar
joggle
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.)
Active
Application number
CN201320860049.5U
Other languages
Chinese (zh)
Inventor
万晓光
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SHANGHAI YINGSHENG MACHINERY Co Ltd
Original Assignee
SHANGHAI YINGSHENG MACHINERY Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by SHANGHAI YINGSHENG MACHINERY Co Ltd filed Critical SHANGHAI YINGSHENG MACHINERY Co Ltd
Priority to CN201320860049.5U priority Critical patent/CN203697022U/en
Application granted granted Critical
Publication of CN203697022U publication Critical patent/CN203697022U/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The utility model relates to the technical field of manipulators and particularly relates to a delicate manipulator gripper. The delicate manipulator gripper comprises a mounting base, wherein the mounting base is provided with an air cylinder, a piston rod of the air cylinder is connected with a double-sided-toothed rack, the double-sided-toothed rack is arranged along a first direction, teeth of a first side of the double-sided-toothed rack are in engaged connection with a first gear assembly, teeth of a second side of the double-sided-toothed rack are in engaged connection with a second gear assembly, the first gear assembly is in engaged connection with a first movable gear rack, the second gear assembly is in engaged connection with a second movable gear rack, both the first movable gear rack and the second movable gear rack are arranged along a second direction, the second direction and the first direction are vertical, the first movable gear rack is connected with a first gripping jaw, and the second movable gear rack is connected with a second gripping jaw. The delicate manipulator gripper provided by the utility model has the advantages of simple and compact structure, low cost, convenience in maintenance and use, wide scope of application and long working life.

Description

Exquisite mechanical arm holder
Technical field
The utility model relates to manipulator technical field, relates in particular to exquisite mechanical arm holder.
Background technology
Along with social development and progress, industrial robot is just progressively exhibited one's skill to the full in human society, industrial robot is mainly made up of similar people's hand and arm, with replace people in routine work by the heavy work that manually article is captured, put down, thereby realize mechanization and the automation of producing.And manipulator is as the machine that grasps workpiece, it has various structures form, such as clamp-type, holding type, absorbent-type etc.The kind of manipulator can be divided into fluid pressure type, pneumatic type, electrodynamic type, mechanical type etc. by type of drive; Can be divided into special manipulator, Unimate etc. by the scope of application; Can be divided into point position control manipulator, continuous path control manipulator etc. by movement locus.But in above-mentioned enumerated existing manipulator, its structure is all comparatively complicated, and assembling difficulty, not only causes production cost high, and follow-up maintenance and all very inconvenience of maintenance to manipulator.Therefore, industry is needed badly a kind of simple in structure, safeguard easy to use, with low cost, the manipulator of long working life.
Utility model content
The purpose of this utility model is to provide a kind of simple in structure for the deficiencies in the prior art, safeguard easy to use, with low cost, the exquisite mechanical arm holder of long working life.
For achieving the above object, exquisite mechanical arm holder of the present utility model, comprise mount pad, mount pad is provided with cylinder, the piston rod of described cylinder is connected with double cog tooth bar, double cog tooth bar is first direction setting, the first surface tooth of double cog tooth bar first gear assembly that has been connected with a joggle, second tooth of double cog tooth bar, second gear assembly that has been connected with a joggle, the first gear assembly first movable rack that has been connected with a joggle, the second gear assembly second movable rack that has been connected with a joggle, the first movable rack and the second movable rack are all second direction setting, second direction is mutually vertical with first direction, the first movable rack is connected with the first gripper jaw, the second movable rack connects the second gripper jaw.
Wherein, described the first gear assembly comprises the first pinion, first gear and the first rotating shaft, the first pinion and first gear are all socketed on the first rotating shaft, the first pinion is positioned at the top of first gear, the first surface tooth of the first pinion and double cog tooth bar is connected with a joggle, and first gear and the first movable rack are connected with a joggle; The second gear assembly comprises the second pinion, second largest gear and the second rotating shaft, the second pinion and second largest gear are all socketed on the second rotating shaft, the second pinion is positioned at the top of second largest gear, second tooth of the second pinion and double cog tooth bar is connected with a joggle, and second largest gear and the second movable rack are connected with a joggle.
Wherein, described mount pad offers tooth bar chute, and the first movable rack and the second movable rack are all slidably matched with tooth bar chute.
Wherein, between described the first movable rack and the second movable rack, be connected with Compress Spring.
Wherein, the cylinder body of described cylinder is connected with arm.
The beneficial effects of the utility model: exquisite mechanical arm holder of the present utility model, when work, the piston rod of cylinder stretches out, the double cog tooth bar being connected with piston rod moves forward, thereby drive the first gear assembly and the second gear assembly work that are connected with a joggle with double cog tooth bar, the first gear assembly and the second gear assembly drive respectively the first movable rack and the second movable rack to move towards contrary direction, and the direction that the first movable rack moves with the second movable rack is mutually vertical with the moving direction of double cog tooth bar, and then make the first movable rack be connected with the first gripper jaw to be connected the second gripper jaw with the second movable rack and to separate, in the time that needs clamp article, the piston rod of cylinder is return, can make the first gripper jaw and the second gripper jaw clamp article.Exquisite mechanical arm holder of the present utility model, simple and compact for structure, with low cost, safeguard easy to use, applied widely, long working life.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Reference numeral comprises:
10-mount pad, 11-tooth bar chute, 20-cylinder
32-the second tooth of 30-double cog tooth bar, 31-first surface tooth
40-the first gear assembly the 41-the first pinion 42-first gear
43-the first rotating shaft 50-the second gear assembly the 51-the second pinion
52-second largest gear 53-the second rotating shaft the 60-the first movable rack
70-the second movable rack 80-the first gripper jaw the 90-the second gripper jaw
100-Compress Spring, 110-arm.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is described in detail.
As shown in Figure 1, exquisite mechanical arm holder of the present utility model, comprise mount pad 10, mount pad 10 is provided with cylinder 20, the piston rod of described cylinder 20 is connected with double cog tooth bar 30, double cog tooth bar 30 is first direction setting, the first surface tooth 31 of double cog tooth bar 30 first gear assembly 40 that has been connected with a joggle, second tooth 32 of double cog tooth bar 30, second gear assembly 50 that has been connected with a joggle, the first gear assembly 40 first movable rack 60 that has been connected with a joggle, the second gear assembly 50 second movable rack 70 that has been connected with a joggle, the first movable rack 60 and the second movable rack 70 are all second direction setting, second direction is mutually vertical with first direction, the first movable rack 60 is connected with the first gripper jaw 80, the second movable rack 70 connects the second gripper jaw 90.
When work, the piston rod of cylinder 20 stretches out, the double cog tooth bar 30 being connected with piston rod moves forward, thereby drive the first gear assembly 40 and the second gear assembly 50 that are connected with a joggle with double cog tooth bar 30 to work, the first gear assembly 40 and the second gear assembly 50 drive respectively the first movable rack 60 and the second movable rack 70 to move towards contrary direction, and the direction that the first movable rack 60 moves with the second movable rack 70 is mutually vertical with the moving direction of double cog tooth bar 30, and then make the first movable rack 60 be connected with the first gripper jaw 80 to be connected the second gripper jaw 90 with the second movable rack 70 and to separate, in the time that needs clamp article, the piston rod of cylinder 20 is return, can make the first gripper jaw 80 and the second gripper jaw 90 clamp article.Exquisite mechanical arm holder of the present utility model, simple and compact for structure, with low cost, safeguard easy to use, applied widely, long working life.
Certainly, in the technical program first holds jaw and the second gripper jaw 90 is symmetrical structure setting, its concrete shape can be designed to adapt with the profile of the article that are held, and the size of the power of clamping can regulate to meet applicable chucking power according to cylinder 20.
In the present embodiment, described the first gear assembly 40 comprises the first pinion 41, first gear 42 and the first rotating shaft 43, the first pinion 41 and first gear 42 are all socketed on the first rotating shaft 43, the first pinion 41 is positioned at the top of first gear 42, the first pinion 41 is connected with a joggle with the first surface tooth 31 of double cog tooth bar 30, and first gear 42 and the first movable rack 60 are connected with a joggle, the second gear assembly 50 comprises the second pinion 51, second largest gear 52 and the second rotating shaft 53, the second pinion 51 and second largest gear 52 are all socketed on the second rotating shaft 53, the second pinion 51 is positioned at the top of second largest gear 52, the second pinion 51 is connected with a joggle with second tooth 32 of double cog tooth bar 30, and second largest gear 52 and the second movable rack 70 are connected with a joggle, concrete, double cog tooth bar 30 moves to first direction, first flank of tooth and second is eaten face and is driven respectively the first pinion 41 and the second pinion 51 to rotate, the first pinion 41 and the first pinion 41 drive respectively the first rotating shaft 43 and the second rotating shaft 53 to rotate, the first rotating shaft 43 and the second rotating shaft 53 drive respectively first gear 42 and second largest gear 52 to rotate, because first gear 42 and second largest gear 52 are connected with a joggle with the first sliding rack and the second sliding rack respectively, be that first gear 42 and second largest gear 52 drive respectively the first sliding rack and the second movable rack 70 to move along contrary direction, and this contrary direction is all mutually vertical with the moving direction of double cog tooth bar 30, realize the first gripper jaw 80 and the second gripper jaw 90 are separated, in like manner, thereby the first gripper jaw 80 and the second gripper jaw 90 can be merged and clamp article, overall operation is simple, and clamping reliability is high, and parallel can make the amount of movement stroke of the first gripper jaw 80 and the second gripper jaw 90 large, can clamp larger article
In the present embodiment, described mount pad 10 offers tooth bar chute 11, the first movable racks 60 and the second movable rack 70 is all slidably matched with tooth bar chute 11, the first movable rack 60 and the second movable rack 70 move along contrary second direction under the driving of first gear 42 and second largest gear 52, for guaranteeing that the first movable rack 60 and the second movable rack 70 can move reposefully, the first movable rack 60 and the second movable rack 70 be arranged in the tooth bar chute 11 of mount pad 10 and be slidably matched with this tooth bar chute 11, can be always in the interior movement of tooth bar chute 11 in process that the first movable rack 60 and the second movable rack 70 move thereby can guarantee, mobile orientation determination there will not be deviation, guarantee mobile having good stability.
In the present embodiment, between described the first movable rack 60 and the second movable rack 70, be connected with Compress Spring 100; In the time that the piston of cylinder 20 is return, Compress Spring 100 also can recover deformation, pull the first sliding rack and the second sliding rack to draw close to middle part, further the first gripper jaw 80 and the second gripper jaw 90 are merged, can eliminate movement clearance, guarantee that the first gripper jaw 80 and the second gripper jaw 90 fully clamp article.
In the present embodiment, the cylinder body of described cylinder 20 is connected with arm 110; Arm 110 can be used for and the equipment connection that this mechanical arm holder is installed, can be by integral to this mechanical arm holder and device assembles.
Above content is only preferred embodiment of the present utility model, for those of ordinary skill in the art, according to thought of the present utility model, all will change in specific embodiments and applications, this description should not be construed as restriction of the present utility model.

Claims (5)

1. exquisite mechanical arm holder, comprise mount pad (10), mount pad (10) is provided with cylinder (20), it is characterized in that: the piston rod of described cylinder (20) is connected with double cog tooth bar (30), double cog tooth bar (30) is first direction setting, the first surface tooth (31) of double cog tooth bar (30) the first gear assembly (40) that has been connected with a joggle, second tooth (32) of double cog tooth bar (30) the second gear assembly (50) that has been connected with a joggle, the first gear assembly (40) the first movable rack (60) that has been connected with a joggle, the second gear assembly (50) the second movable rack (70) that has been connected with a joggle, the first movable rack (60) and the second movable rack (70) are all second direction setting, second direction is mutually vertical with first direction, the first movable rack (60) is connected with the first gripper jaw (80), the second movable rack (70) connects the second gripper jaw (90).
2. exquisite mechanical arm holder according to claim 1, it is characterized in that: described the first gear assembly (40) comprises the first pinion (41), first gear (42) and the first rotating shaft (43), the first pinion (41) and first gear (42) are all socketed on the first rotating shaft (43), the first pinion (41) is positioned at the top of first gear (42), the first pinion (41) is connected with a joggle with the first surface tooth (31) of double cog tooth bar (30), and first gear (42) is connected with a joggle with the first movable rack (60); The second gear assembly (50) comprises the second pinion (51), second largest gear (52) and the second rotating shaft (53), the second pinion (51) and second largest gear (52) are all socketed on the second rotating shaft (53), the second pinion (51) is positioned at the top of second largest gear (52), the second pinion (51) is connected with a joggle with second tooth (32) of double cog tooth bar (30), and second largest gear (52) is connected with a joggle with the second movable rack (70).
3. exquisite mechanical arm holder according to claim 1, is characterized in that: described mount pad (10) offers tooth bar chute (11), and the first movable rack (60) and the second movable rack (70) are all slidably matched with tooth bar chute (11).
4. exquisite mechanical arm holder according to claim 1, is characterized in that: between described the first movable rack (60) and the second movable rack (70), be connected with Compress Spring (100).
5. exquisite mechanical arm holder according to claim 1, is characterized in that: the cylinder body of described cylinder (20) is connected with arm (110).
CN201320860049.5U 2013-12-24 2013-12-24 Delicate manipulator gripper Active CN203697022U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320860049.5U CN203697022U (en) 2013-12-24 2013-12-24 Delicate manipulator gripper

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201320860049.5U CN203697022U (en) 2013-12-24 2013-12-24 Delicate manipulator gripper

Publications (1)

Publication Number Publication Date
CN203697022U true CN203697022U (en) 2014-07-09

Family

ID=51047518

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201320860049.5U Active CN203697022U (en) 2013-12-24 2013-12-24 Delicate manipulator gripper

Country Status (1)

Country Link
CN (1) CN203697022U (en)

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104326111A (en) * 2014-10-23 2015-02-04 苏州思莱特电子科技有限公司 Electronic product packaging machine clamping structure
CN104455027A (en) * 2014-12-02 2015-03-25 江阴吉爱倍万达精工有限公司 Rack drive type clamping mechanism
CN105009947A (en) * 2015-07-06 2015-11-04 浙江理工大学 Grafted seedling flexible clamping apparatus
CN105290305A (en) * 2015-11-11 2016-02-03 无锡市福克斯煤矿机械制造有限公司 Feeding and stacking limiting device for chain chaining and mixing mechanical arm
CN107068014A (en) * 2017-05-10 2017-08-18 南宁市益诚安防设备有限公司 A kind of advertising board fixer
CN107264255A (en) * 2017-05-10 2017-10-20 南宁景曜电子科技有限责任公司 A kind of new-energy automobile electrical storage device
CN107799033A (en) * 2017-05-10 2018-03-13 南宁市益诚安防设备有限公司 A kind of modified advertising board fixer
CN107791808A (en) * 2017-05-10 2018-03-13 南宁景曜电子科技有限责任公司 A kind of new new-energy automobile electrical storage device
CN107791807A (en) * 2017-05-10 2018-03-13 南宁景曜电子科技有限责任公司 A kind of modified new-energy automobile electrical storage device
CN109005985A (en) * 2018-07-16 2018-12-18 浙江理工大学 A kind of nonirrigated farmland nursery stock grafting machine
WO2019010805A1 (en) * 2017-07-13 2019-01-17 广州市赛康尼机械设备有限公司 Mechanical gripping jaw and gripping bar mechanism
CN110465828A (en) * 2019-08-11 2019-11-19 嘉兴勤慎智能技术有限公司 Industrial robot is used in a kind of handling

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104326111A (en) * 2014-10-23 2015-02-04 苏州思莱特电子科技有限公司 Electronic product packaging machine clamping structure
CN104455027A (en) * 2014-12-02 2015-03-25 江阴吉爱倍万达精工有限公司 Rack drive type clamping mechanism
CN105009947A (en) * 2015-07-06 2015-11-04 浙江理工大学 Grafted seedling flexible clamping apparatus
CN105290305A (en) * 2015-11-11 2016-02-03 无锡市福克斯煤矿机械制造有限公司 Feeding and stacking limiting device for chain chaining and mixing mechanical arm
CN105290305B (en) * 2015-11-11 2017-06-16 无锡市福克斯煤矿机械制造有限公司 Work out the feeding superposition stopping means of combination chain manipulator
CN107264255A (en) * 2017-05-10 2017-10-20 南宁景曜电子科技有限责任公司 A kind of new-energy automobile electrical storage device
CN107068014A (en) * 2017-05-10 2017-08-18 南宁市益诚安防设备有限公司 A kind of advertising board fixer
CN107799033A (en) * 2017-05-10 2018-03-13 南宁市益诚安防设备有限公司 A kind of modified advertising board fixer
CN107791808A (en) * 2017-05-10 2018-03-13 南宁景曜电子科技有限责任公司 A kind of new new-energy automobile electrical storage device
CN107791807A (en) * 2017-05-10 2018-03-13 南宁景曜电子科技有限责任公司 A kind of modified new-energy automobile electrical storage device
WO2019010805A1 (en) * 2017-07-13 2019-01-17 广州市赛康尼机械设备有限公司 Mechanical gripping jaw and gripping bar mechanism
CN109005985A (en) * 2018-07-16 2018-12-18 浙江理工大学 A kind of nonirrigated farmland nursery stock grafting machine
CN110465828A (en) * 2019-08-11 2019-11-19 嘉兴勤慎智能技术有限公司 Industrial robot is used in a kind of handling

Similar Documents

Publication Publication Date Title
CN203697022U (en) Delicate manipulator gripper
CN204997665U (en) Four degree of freedom low pressure electric appliances transfer robots
CN102672713B (en) Bionic manipulator
CN102909600B (en) Cantilever servo manipulator
CN203665529U (en) Mechanical arm with crossed and staggered mechanical fingers
CN204997674U (en) Three degree of freedom servo manipulators of transport circuit breaker
CN204546554U (en) The step-by-step movement press hand system of resilient clamp
CN203650540U (en) Mechanical arm clamping device
CN105291097A (en) Three-freedom-degree overturning robot
CN201253845Y (en) Pneumatic paw of industry robot
CN202742103U (en) Clamp for processing parts
CN110315522B (en) Industrial robot arm mechanism of buckling
CN204382271U (en) Manipulator
CN204414127U (en) A kind of assembly robot dynamics monitoring gripper
CN203495630U (en) Hydraulic driving type clamping device
CN204525485U (en) A kind of new mechanical arm
CN204054063U (en) A kind of can the Delta structure parallel manipulator of precision three-dimensional movement
CN203622000U (en) Clamping device provided with clamping jaws
CN203697020U (en) Screw feed manipulator
CN104875195A (en) Manipulator
CN106762930A (en) A kind of three-jaw cylinder
CN203712721U (en) Mechanical arm of air cylinder
CN204431242U (en) A kind of tetraxon transfer robot
CN106564066A (en) Double-toggle-joint, connecting rod, linear and parallel clamping and self-adapting type finger device of robot hand
CN207606563U (en) The CNC fixtures of fixed plastic material

Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant