CN203765630U - Robot force adjustable grabbing grip - Google Patents
Robot force adjustable grabbing grip Download PDFInfo
- Publication number
- CN203765630U CN203765630U CN201320885624.7U CN201320885624U CN203765630U CN 203765630 U CN203765630 U CN 203765630U CN 201320885624 U CN201320885624 U CN 201320885624U CN 203765630 U CN203765630 U CN 203765630U
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- CN
- China
- Prior art keywords
- finger
- handgrip
- hinged
- servomotor
- robot
- 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 - Fee Related
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Abstract
The utility model discloses a robot force adjustable grabbing grip, comprising a grip assembly and a sleeve, wherein the upper end of the sleeve is fixedly provided with a servo motor which is connected with a lead screw, meanwhile, the grip assembly comprises at least two fingers, the inner sides of the upper ends of the fingers are hinged to the lower end of the sleeve, the outer sides of the upper ends of the fingers are hinged to connecting rods, the other ends of the connecting rods are hinged to nuts, the nuts are matched with the lead screw in a screwing manner, a pressure sensor is arranged on at least one finger, and the pressure sensor is connected to the servo motor through a driver. The robot force adjustable grabbing grip has the advantages of simple structure and adjustable grabbing force.
Description
Technical field
The present invention relates to robot accessory technical field, especially relate to a kind of robot dynamics adjustable grab and get handgrip.
Background technology
At present, robot captures with handgrip and mainly adopts robot arm to drive pneumatic or electric gripper, completes the motion of various requirement.In whole crawl motion process, crawl dynamics is uncontrollable, and possible commute crawled thing broken and easily deformation damages.
Summary of the invention
The object of this invention is to provide a kind of robot dynamics adjustable grab and get handgrip, it has simple in structure, and the adjustable feature of crawl dynamics.
The technical solution adopted in the present invention is: robot dynamics adjustable grab is got handgrip, comprise handgrip assembly, described robot dynamics adjustable grab is got handgrip and is also comprised overcoat, this outer set upper side is fixed with servomotor, this servomotor is connected with leading screw, simultaneously, this handgrip assembly comprises at least 2 fingers, the inner side, upper end of this finger is hinged in the lower end of this overcoat, the outside, upper end of this finger is hinged with connecting rod, the other end of this connecting rod is hinged with nut, and this nut and this leading screw threaded, and, at least 1 finger is provided with pressure inductor, this pressure inductor is connected to this servomotor by a driver.
Described servomotor connects this leading screw by a deceleration device.
The advantage that compared to the prior art the present invention had is: simple in structure, and crawl dynamics is adjustable.It is minimum that robot of the present invention dynamics adjustable grab is got handgrip used unit, thereby structure is comparatively simple.And, when handgrip assembly is caught workpiece, the power producing between finger and workpiece feeds back signal to driver by pressure inductor, when driver judgement power value is less than setting value, control this servomotor rotation and then rotate and drive finger clamping by leading screw, and stopping when power value reaches setting value.Equally, if the transient force value of grabbing workpiece is bigger than normal, handgrip loosens, and reach setting value stop.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described:
Fig. 1 is that the master of embodiments of the invention looks cutaway view.
In figure: 10, overcoat; 20, servomotor; 30, deceleration device; 40, leading screw; 50, handgrip assembly, 51, finger, 52, connecting rod, 53, nut; 60, pressure inductor; 70, driver.
The specific embodiment
Embodiment, as shown in Figure 1: robot dynamics adjustable grab is got handgrip, comprises handgrip assembly 50.Concretely, this robot dynamics adjustable grab is got handgrip and is also comprised overcoat 10, and these overcoat 10 upper ends are fixed with servomotor 20, and this servomotor 20 is connected with leading screw 40 by deceleration device 30.Obviously, this leading screw 40 is to downward-extension.Meanwhile, this handgrip assembly 50 comprises at least 2 fingers 51, and the inner side, upper end of this finger 51 is hinged in the lower end of this overcoat 10, outside, the upper end of this finger 51 is hinged with connecting rod 52, and the other end of this connecting rod 52 is hinged with nut 53.Obviously, under the effect of this finger 51 and this connecting rod 52, this nut 53 is non-rotatable.And, these nut 53 and these leading screw 40 threaded.And at least 1 finger 51 is provided with pressure inductor 60, this pressure inductor 60 is connected to this servomotor 20 by a driver 70.
Course of action of the present invention: when this handgrip assembly is caught workpiece, the power value of the chucking power of finger reaches driver by the pressure inductor on this finger.When this driver judges that power value is less than setting value, this servomotor drives after this leading screw rotation the drive by this nut to make the translation that makes progress of this nut, thereby this connecting rod pulls this finger, makes this finger increase chucking power, until power value stops while equaling to set value.Otherwise, when this driver judges that power value is greater than setting value, the drive by this nut after this servomotor drives this leading screw to counter-rotate makes the downward translation of this nut, thereby this connecting rod promotes this finger, make this finger reduce chucking power, until power value stops while equaling to set value.
The foregoing is only the preferred embodiments of the present invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or conversion of equivalent flow process that utilizes description of the present invention and accompanying drawing content to do; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (2)
1. robot dynamics adjustable grab is got handgrip, comprise handgrip assembly (50), it is characterized in that: described robot dynamics adjustable grab is got handgrip and also comprised overcoat (10), this overcoat (10) upper end is fixed with servomotor (20), this servomotor (20) is connected with leading screw (40), simultaneously, this handgrip assembly (50) comprises at least 2 fingers (51), the inner side, upper end of this finger (51) is hinged in the lower end of this overcoat (10), the outside, upper end of this finger (51) is hinged with connecting rod (52), the other end of this connecting rod (52) is hinged with nut (53), and this nut (53) and this leading screw (40) threaded, and, at least 1 finger (51) is provided with pressure inductor (60), this pressure inductor (60) is connected to this servomotor (20) by a driver (70).
2. robot according to claim 1 dynamics adjustable grab is got handgrip, it is characterized in that: described servomotor (20) connects this leading screw (40) by a deceleration device (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320885624.7U CN203765630U (en) | 2013-12-31 | 2013-12-31 | Robot force adjustable grabbing grip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320885624.7U CN203765630U (en) | 2013-12-31 | 2013-12-31 | Robot force adjustable grabbing grip |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203765630U true CN203765630U (en) | 2014-08-13 |
Family
ID=51282872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320885624.7U Expired - Fee Related CN203765630U (en) | 2013-12-31 | 2013-12-31 | Robot force adjustable grabbing grip |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203765630U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104476555A (en) * | 2014-11-21 | 2015-04-01 | 成都格瑞思文化传播有限公司 | Log grapple |
| CN104967049A (en) * | 2015-06-29 | 2015-10-07 | 国家电网公司 | Insulator string pushing terminal |
| CN105459124A (en) * | 2015-12-14 | 2016-04-06 | 刘永风 | Deep well rescue device |
| CN105710892A (en) * | 2016-03-24 | 2016-06-29 | 青岛黄海学院 | Mechanical arm device of automatic device |
| WO2017173697A1 (en) * | 2016-04-09 | 2017-10-12 | 深圳市兼明科技有限公司 | Control method for conductive sponge-based robot fingers |
| WO2018054033A1 (en) * | 2016-09-20 | 2018-03-29 | 上海未来伙伴机器人有限公司 | Unmanned aerial vehicle light gripper |
| CN108127666A (en) * | 2017-12-29 | 2018-06-08 | 深圳市越疆科技有限公司 | A kind of grasping means of mechanical arm, system and mechanical arm |
| CN109044832A (en) * | 2018-07-26 | 2018-12-21 | 李令锋 | A kind of staight shank medicine pot auxiliary holding handheld device |
| CN110281463A (en) * | 2019-06-25 | 2019-09-27 | 厦门海昕工贸有限公司 | A kind of artificial intelligence production equipment that vacuum interrupter is encapsulated |
-
2013
- 2013-12-31 CN CN201320885624.7U patent/CN203765630U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104476555A (en) * | 2014-11-21 | 2015-04-01 | 成都格瑞思文化传播有限公司 | Log grapple |
| CN104967049A (en) * | 2015-06-29 | 2015-10-07 | 国家电网公司 | Insulator string pushing terminal |
| CN105459124A (en) * | 2015-12-14 | 2016-04-06 | 刘永风 | Deep well rescue device |
| CN105710892A (en) * | 2016-03-24 | 2016-06-29 | 青岛黄海学院 | Mechanical arm device of automatic device |
| WO2017173697A1 (en) * | 2016-04-09 | 2017-10-12 | 深圳市兼明科技有限公司 | Control method for conductive sponge-based robot fingers |
| WO2018054033A1 (en) * | 2016-09-20 | 2018-03-29 | 上海未来伙伴机器人有限公司 | Unmanned aerial vehicle light gripper |
| CN108127666A (en) * | 2017-12-29 | 2018-06-08 | 深圳市越疆科技有限公司 | A kind of grasping means of mechanical arm, system and mechanical arm |
| CN109044832A (en) * | 2018-07-26 | 2018-12-21 | 李令锋 | A kind of staight shank medicine pot auxiliary holding handheld device |
| CN109044832B (en) * | 2018-07-26 | 2020-08-18 | 李令锋 | Auxiliary handle holding equipment for straight-handle medicine pot |
| CN111743771A (en) * | 2018-07-26 | 2020-10-09 | 李令锋 | Auxiliary handle holding equipment for straight-handle medicine pot and using method |
| CN111743771B (en) * | 2018-07-26 | 2022-01-07 | 陈守中 | Auxiliary handle holding equipment for straight-handle medicine pot and using method |
| CN110281463A (en) * | 2019-06-25 | 2019-09-27 | 厦门海昕工贸有限公司 | A kind of artificial intelligence production equipment that vacuum interrupter is encapsulated |
| CN110281463B (en) * | 2019-06-25 | 2021-11-09 | 厦门海昕工贸有限公司 | Artificial intelligence production facility of vacuum interrupter rubber coating |
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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 |
Granted publication date: 20140813 Termination date: 20141231 |
|
| EXPY | Termination of patent right or utility model |