CN204054075U - A kind of novel robot grabbing device - Google Patents

A kind of novel robot grabbing device Download PDF

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Publication number
CN204054075U
CN204054075U CN201420506640.5U CN201420506640U CN204054075U CN 204054075 U CN204054075 U CN 204054075U CN 201420506640 U CN201420506640 U CN 201420506640U CN 204054075 U CN204054075 U CN 204054075U
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CN
China
Prior art keywords
side link
clamping connection
pedestal
connection rod
rod set
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
Application number
CN201420506640.5U
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Chinese (zh)
Inventor
高洪
洪峥
方涛
文潇
樊海波
于滨
杨中杰
管翔
朱瑞
胡如方
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Anhui Polytechnic University
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Anhui Polytechnic University
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Priority to CN201420506640.5U priority Critical patent/CN204054075U/en
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Abstract

The utility model discloses a kind of novel robot grabbing device, comprise paw frame, the clamping connection rod set hinged with paw frame and be connected to drive it to make the power input module of oscillating motion with clamping connection rod set, clamping connection rod set is formed by three rod members are hinged successively, clamping connection rod set is at least provided with three groups and is uniformly distributed circumferentially in the outside of power input module, and power input module comprises the worm screw of rotary setting in paw frame and engages with it and the worm gear be fixedly connected with side link in clamping connection rod set.Robotic gripping device of the present utility model, paw frame arranges multiple clamping connection rod set match, by the driving of power input module, clamping connection rod set inwardly can be shunk grip objects or outwards open release object, thus the space object that can meet having special-shaped geometry captures requirement; This grabbing device compact conformation, can realize 3 clampings, more firm than 2 clampings, is particluarly suitable for the occasion that negative-pressure adsorption grasping means is difficult to implement.

Description

A kind of novel robot grabbing device
Technical field
The utility model belongs to robotics, and specifically, the utility model relates to a kind of novel robot grabbing device.
Background technology
At present, along with space mechanism is learned and the fast development of Electromechanical Control technology, the application of robot in manufacturing industry is more and more extensive.For realizing the difference in functionality of robot, its end effector generally need be equipped with different special paws.Common negative-pressure adsorption-type robot hand requires high to crawled body surface, and the object for surface imperfection is difficult to capture, and is difficult to implement, limits robot application scope at unsafe conditions and extreme environment negative pressure fetching.
Utility model content
Be difficult to implement design and the outfit problem that robot captures executive system in negative-pressure adsorption grasping means to solve, the utility model provides a kind of novel robot grabbing device of space symmetr based on worm and gear and planar pivot four-bar mechanism combination, and guarantee to clamp when capturing firm.
To achieve these goals, the technical scheme that the utility model is taked is: a kind of novel robot grabbing device, comprise paw frame, the clamping connection rod set hinged with paw frame and be connected to drive it to make the power input module of oscillating motion with clamping connection rod set, clamping connection rod set is formed by three rod members are hinged successively, clamping connection rod set is at least provided with three groups and is uniformly distributed circumferentially in the outside of power input module, and power input module comprises the worm screw of rotary setting in paw frame and the worm gear be connected with worm engaging and with clamping connection rod set.
Described clamping connection rod set is connected with a described worm gear, all worm gears are uniformly distributed circumferentially outside described worm screw.
Described clamping connection rod set is provided with three groups altogether, and described worm gear is provided with three altogether.
Three rod members of described clamping connection rod set are outer side link, interior side link and supporting rod, one end and the described paw frame of outer side link and interior side link are hinged, the other end and supporting rod hinged, outer side link is positioned at the outside of side link, and described worm gear is connected with interior side link.
Described outer described paw frame comprises fixed base plate, described worm screw rotary setting on fixed base plate, described outer side link and described interior side link and fixed base plate hinged, described supporting rod parallels with fixed base plate.
Described outer side link is by first connecting rod axle rotary setting on the first pedestal and the second pedestal, and the first pedestal and the second pedestal are arranged on described fixed base plate, and the first pedestal and the second pedestal parallel.
Described first connecting rod axle is provided with the first projection, axis hole place on described first pedestal is provided with the first locating slot allowing the first projection embed, first pedestal is provided with the first cover plate for covering axis hole, and the first cover plate is provided with the second locating slot allowing the first projection embed.
Described interior side link is by second connecting rod axle rotary setting on two described second pedestals paralleled, and described worm gear is located on second connecting rod axle.
Described second connecting rod axle also first pedestal described with is connected, and described worm gear is between this first pedestal and described second pedestal.
Robotic gripping device of the present invention, match by arranging multiple clamping connection rod set in paw frame, clamping connection rod set inwardly can be shunk grip objects or outwards open release object under the driving effect of power input module, thus the space object that can meet having special-shaped geometry captures requirement; This grabbing device compact conformation, can realize 3 clampings, more firm than 2 clampings, is particluarly suitable for the occasion that negative-pressure adsorption grasping means is difficult to implement.Power input module adopts worm-and-wheel gear, first angular contact ball bearing and the second angular contact ball bearing axial location are adopted respectively to worm screw two ends, both limited moving axially of worm screw, and the axial force of worm screw can have been made again then born by paw frame, improve the bearing capacity of complete machine; Worm-drive simultaneously can have auto-lock function when its helical angle is less than equivalent friction angle, so, can guarantee that clamping is firm under complete machine clamping duty.
Accompanying drawing explanation
This description comprises the following drawings, shown content respectively:
Fig. 1 is the plan structure schematic diagram of robotic gripping device;
Fig. 2 be robotic gripping device look up structural representation;
Fig. 3 is the structural representation of paw frame;
Fig. 4 is the bottom view of paw frame;
Fig. 5 is the structural representation of worm screw;
Fig. 6 is the structural representation of first connecting rod axle;
Fig. 7 is the structural representation of second connecting rod axle;
Fig. 8 is the structural representation of the first cover plate;
Fig. 9 is the structural representation of the second cover plate;
Figure 10 is the structural representation of supporting rod;
Figure 11 is the structural representation of outer tie rod and interior side link;
Figure 12 is the structural representation of worm gear;
Be labeled as in figure:
1, paw frame; 11, clutch shaft bearing bore; 12, fixed base plate; 13, the first pedestal; 131, the first locating slot; 14, the second pedestal; 15, the second bearing saddle bore; 16, through hole; 17, boss;
2, connection rod set is clamped; 21, interior side link; 22, outer side link; 23, supporting rod;
3, worm screw; 31, the first axle journal; 32, the first axle body; 33, the second axle journal; 34, the gear teeth;
4, worm gear;
5, first connecting rod axle; 51, the first projection; 52, the 3rd axle journal; 53, keyway;
6, second connecting rod axle; 61, the second projection; 62, the 4th axle journal; 63, keyway; 64, the second axle body; 65, the 5th axle journal; 66, keyway;
7, the first cover plate; 71, the second locating slot;
8, the second cover plate;
9, the first angular contact ball bearing; 10, the second angular contact ball bearing.
Detailed description of the invention
Contrast accompanying drawing below, by the description to embodiment, be described in further detail detailed description of the invention of the present utility model, object helps those skilled in the art to have more complete, accurate and deep understanding to design of the present utility model, technical scheme, and contribute to its enforcement.
As shown in Figures 1 to 12, a kind of novel robot grabbing device of the utility model, comprise paw frame 1, the clamping connection rod set 2 hinged with paw frame 1 and be connected to drive it to make the power input module of oscillating motion with clamping connection rod set 2, clamping connection rod set 2 is formed by three rod members are hinged successively, clamping connection rod set 2 is at least provided with three groups and is uniformly distributed circumferentially in the outside of power input module, and power input module comprises the worm screw 3 of rotary setting in paw frame 1 and engages with worm screw 3 and the worm gear 4 be connected with clamping connection rod set 2.Worm screw 3 is meshed with worm gear 4 formation worm-and-wheel gear, and worm screw 3 is for being connected with the power source of peripheral hardware, and the power source of peripheral hardware can be motor, and worm screw 3 can be connected with motor shaft.Worm screw 3 rotates, and drives worm gear 4 to rotate, thus makes clamping connection rod set 2 do oscillating traverse motion.
Specifically, paw frame 1 is as the basic component installing other parts, and it comprises a fixed base plate 12 and the boss 17 be located on fixed base plate 12.In the present embodiment, fixed base plate 12 is discoidal component, and its both ends of the surface are plane.Boss 17 is cylindrical, coaxial with fixed base plate 12.
The structure of worm screw 3 as shown in Figure 5, it is provided with successively the first axle journal 31, the first axle body 32 and the second axle journal 33 that diameter increases gradually, is also provided with the gear teeth 34 engaged with worm gear 4.First axle journal 31 installed the first angular contact ball bearing 9, first angular contact ball bearing 9 and form interference fit with the first axle journal 31, the second axle journal 33 installed the second angular contact ball bearing 10, second angular contact ball bearing 10 and form interference fit with the second axle journal 33.The corresponding fixed base plate 12 in paw frame 1 and boss 17 are provided with bearing saddle bore, as shown in Figure 3, paw frame 1 is provided with the installing hole for installing worm screw 3, this installing hole comprises clutch shaft bearing bore 11, through hole 16 and the second bearing saddle bore 15, through hole 16 is between clutch shaft bearing bore 11 and the second bearing saddle bore 15, and three is coaxial, clutch shaft bearing bore 11 extends vertically at the end face center of boss 17.First angular contact ball bearing 9 is arranged in clutch shaft bearing bore 11, and both form interference fits.Second angular contact ball bearing 10 is arranged in the second bearing saddle bore 15, and both form interference fits.The first axle body 32 is arranged in through hole 16, and both are matched in clearance, guarantees that worm screw 3 can be rotated smoothly.
In the present embodiment, clamping connection rod set 2 is provided with three groups altogether, and corresponding worm gear 4 is also provided with three, each clamping connection rod set 2 is connected to a worm gear 4, three worm gears 4 and is uniformly distributed circumferentially outside worm screw 3.Three groups of clamping connection rod set are mutually 120 ° and are uniformly distributed, and ensure that the direction of motion of three supporting rods 23 intersects at worm screw 3 axis or dispersed by worm screw 3 axis, to guarantee that clamping and positioning is accurate.
As depicted in figs. 1 and 2, three rod members of clamping connection rod set 2 are outer side link 22, interior side link 21 and supporting rod 23, one end of outer side link 22 and interior side link 21 and the fixed base plate 12 of paw frame 1 hinged, the other end and supporting rod 23 hinged, thus form four-bar mechanism with fixed base plate 12.Outer side link 22 is positioned at the outside of side link 21, and worm gear 4 is connected with interior side link 21, makes interior side link 21 as the driving member of clamping connection rod set 2, swings to drive whole clamping connection rod set 2.
As preferably, outer side link 22 parallels with interior side link 21 and both length is equal, and the length of outer side link 22 and interior side link 21 is longer, the length of supporting rod 23 is shorter, supporting rod 23 parallels with fixed base plate 12, thus each clamping connection rod set 2 can form parallelogram four-bar mechanism with fixed base plate 12, and outer side link 22 and interior side link 21 do oscillating motion, supporting rod 23 does translational motion, and supporting rod 23 is the components as gripping objects.
As shown in Figure 2, the outer side link 22 of each clamping connection rod set 2 is by first connecting rod axle 5 rotary setting on the first pedestal 13 and the second pedestal 14, and the first pedestal 13 and the second pedestal 14 are arranged on fixed base plate 12, and the first pedestal 13 and the second pedestal 14 parallel.The axis of first connecting rod axle 5 parallels with the end face of fixed base plate 12, the structure of first connecting rod axle 5 as shown in Figure 6, first connecting rod axle 5 is provided with first projection 51, this first projection 51 is the annulus block radially protruding and extend along whole circumference, first pedestal 13 is as positioning pedestal, the periphery at the axis hole place on the first pedestal 13 is provided with the first locating slot 131 allowing the first projection 51 embed, axis hole on first pedestal 13 is the semicircle orifice arranged at the end face of the first pedestal 13, first locating slot 131 for radian be the deep-slotted chip breaker of 180 degree, corresponding the first cover plate 7 be provided with on the first pedestal 13 for covering axis hole, the structure of the first cover plate 7 as shown in Figure 8, the periphery at the axis hole place on the first cover plate 7 is also provided with the second locating slot 71 allowing the first projection 51 embed, second locating slot 71 for radian be the deep-slotted chip breaker of 180 degree, the aligned in position of the first locating slot 131 and the second locating slot 71 and both match, first projection 51 embeds in the first locating slot 131 and the second locating slot 71, first connecting rod axle 5 is able in the axial direction spacing.First cover plate 7 is by being bolted on the first pedestal 13.The axis hole that the 3rd axle journal 52 on first connecting rod axle 5 is arranged through outer side link 22 end, keyway 53 is provided with on the surface of the 3rd axle journal 52, for fitting key, the shaft hole inner wall of corresponding side link outside 22 is also provided with the keyway allowing key embed, first connecting rod axle 5 is connected with outer side link 22 by key, guarantees that outer side link 22 obtains reliable and stable support.
The structure of the second pedestal 14 and the structure of the first pedestal 13 similar, but the second pedestal 14 does not arrange locating slot, the end face of the second pedestal 14 is provided with semicircular axis hole, corresponding the second cover plate 8 be provided with on the second pedestal 14 for covering axis hole, the structure of the second cover plate 8 as shown in Figure 9, second cover plate 8 is also provided with semicircular axis hole, and with the axis hole aligned in position on the second pedestal 14.
As shown in Figure 2, the interior side link 21 of each clamping connection rod set 2 on two the second pedestals 14 paralleled, the second pedestal 14 is provided with the second cover plate 8 by second connecting rod axle 6 rotary setting.Worm gear 4 is located at the end of second connecting rod axle 6, and second connecting rod axle 6 is also connected with first pedestal 13, and namely second connecting rod axle 6 is supported on two the second pedestals 14 and first pedestal 13, and worm gear 4 is between this first pedestal 13 and second pedestal 14.The axis of second connecting rod axle 6 parallels with the axis of first connecting rod axle 5, the structure of second connecting rod axle 6 as shown in Figure 7, the end of second connecting rod axle 6 is provided with second projection 61, this second projection 61 is the annulus block radially protruding and extend along whole circumference, identical with the shape of the first projection 51, second projection 61 is also for embedding in the first locating slot 131 on the first pedestal 13 and the second locating slot 71 on the first cover plate 7, making second connecting rod axle 6 be able in the axial direction spacing.For installing worm gear 4 during the 4th axle journal 62 place on second connecting rod axle 6,4th axle journal 62 is adjacent with the second projection 61, and the surface of the 4th axle journal 62 is provided with keyway 63, for fitting key, worm gear 4 is connected with second connecting rod axle 6 by key, guarantees that worm gear 4 can drive second connecting rod axle 6 synchronous axial system.The second axle body 64 on second connecting rod axle 6 is through the axis hole on the second pedestal 14, the axis hole that four or five axle journals on second connecting rod axle 6 are arranged through interior side link 21 end, keyway 66 is provided with on the surface of the 5th axle journal 65, for fitting key, the corresponding shaft hole inner wall at interior side link 21 is also provided with the keyway allowing key embed, second connecting rod axle 6 is connected with interior side link 21 by key, guarantees that second connecting rod axle 6 can drive interior side link 21 synchronous hunting.
The course of work of the robotic gripping device combined based on worm-drive and hinge four-bar is: worm screw 3 can be driven by motor and speed reducer, by worm screw 3 to engage with worm gear 4 drive to be connected with it in side link 21 move, three groups of parallel-crank mechanisms move thereupon; By the rotating of worm screw 3, realize the clamping of supporting rod 23 and unclamp.
The robotic gripping device of said structure is by arranging three groups of clamping connection rod set 2, thus 3 clampings can be realized, the principle of a plane is become based on 3, clamping is more firm compared with 2 clampings, if coordinate the clamping matched design of the bare terminal end of each supporting rod 23, the location completely of grasping part object can be realized.Robot grabbing device is applicable to the occasion being difficult to enforcement in negative-pressure adsorption grasping means, and the space object that can meet having special-shaped geometry captures, and can complete crawl task reliably smoothly.This device adopts space symmetr design to make compact conformation, utilizes the latching characteristics of Worm Wheel System firm to guarantee clamping.
Below by reference to the accompanying drawings the utility model is exemplarily described.Obviously, the utility model specific implementation is not subject to the restrictions described above.As long as have employed the improvement of the various unsubstantialities that method of the present utility model is conceived and technical scheme is carried out; Or without improvement, above-mentioned design of the present utility model and technical scheme directly applied to other occasion, all within protection domain of the present utility model.

Claims (10)

1. a novel robot grabbing device, it is characterized in that: comprise paw frame, the clamping connection rod set hinged with paw frame and be connected to drive it to make the power input module of oscillating motion with clamping connection rod set, clamping connection rod set is formed by three rod members are hinged successively, clamping connection rod set is at least provided with three groups and is uniformly distributed circumferentially in the outside of power input module, and power input module comprises the worm screw of rotary setting in paw frame and the worm gear be connected with worm engaging and with clamping connection rod set.
2. novel robot grabbing device according to claim 1, is characterized in that: described clamping connection rod set is connected with a described worm gear, all worm gears are uniformly distributed circumferentially outside described worm screw.
3. novel robot grabbing device according to claim 1 and 2, is characterized in that: described clamping connection rod set is provided with three groups altogether, and described worm gear is provided with three altogether.
4. novel robot grabbing device according to claim 3, it is characterized in that: three rod members of described clamping connection rod set are outer side link, interior side link and supporting rod, one end and the described paw frame of outer side link and interior side link are hinged, the other end and supporting rod hinged, outer side link is positioned at the outside of side link, and described worm gear is connected with interior side link.
5. novel robot grabbing device according to claim 4, is characterized in that: described outer side link parallels with described interior side link and length is equal.
6. novel robot grabbing device according to claim 5, it is characterized in that: described paw frame comprises fixed base plate, described worm screw rotary setting on fixed base plate, described outer side link and described interior side link and fixed base plate hinged, described supporting rod parallels with fixed base plate.
7. novel robot grabbing device according to claim 6, it is characterized in that: described outer side link passes through first connecting rod axle rotary setting on the first pedestal and the second pedestal, first pedestal and the second pedestal are arranged on described fixed base plate, and the first pedestal and the second pedestal parallel.
8. novel robot grabbing device according to claim 7, it is characterized in that: described first connecting rod axle is provided with the first projection, axis hole place on described first pedestal is provided with the first locating slot allowing the first projection embed, first pedestal is provided with the first cover plate for covering axis hole, and the first cover plate is provided with the second locating slot allowing the first projection embed.
9. novel robot grabbing device according to claim 8, is characterized in that: described interior side link is by second connecting rod axle rotary setting on two described second pedestals paralleled, and described worm gear is located on second connecting rod axle.
10. novel robot grabbing device according to claim 9, is characterized in that: described second connecting rod axle also first pedestal described with is connected, and described worm gear is between this first pedestal and described second pedestal.
CN201420506640.5U 2014-09-03 2014-09-03 A kind of novel robot grabbing device Expired - Fee Related CN204054075U (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105128025A (en) * 2015-09-25 2015-12-09 杭州科益生物科技有限公司 Manipulator of tire repair machine and mechanical gripper provided with driving device and applied to manipulator
CN105563511A (en) * 2016-01-18 2016-05-11 苏州艾力光电科技有限公司 Multi-claw mechanical arm
CN107098159A (en) * 2017-06-24 2017-08-29 安徽海之纳科技有限公司 A kind of new-energy automobile special tyre embryo intelligent grabbing device
CN113719703A (en) * 2021-07-30 2021-11-30 国网山东省电力公司菏泽市定陶区供电公司 Large-scale machinery nearly electric early warning device
CN118456486A (en) * 2024-07-12 2024-08-09 宁波大学 High-adaptability gripping mechanism

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105128025A (en) * 2015-09-25 2015-12-09 杭州科益生物科技有限公司 Manipulator of tire repair machine and mechanical gripper provided with driving device and applied to manipulator
CN105563511A (en) * 2016-01-18 2016-05-11 苏州艾力光电科技有限公司 Multi-claw mechanical arm
CN107098159A (en) * 2017-06-24 2017-08-29 安徽海之纳科技有限公司 A kind of new-energy automobile special tyre embryo intelligent grabbing device
CN107098159B (en) * 2017-06-24 2018-12-11 潘春燕 A kind of new-energy automobile special tyre embryo intelligent grabbing device
CN113719703A (en) * 2021-07-30 2021-11-30 国网山东省电力公司菏泽市定陶区供电公司 Large-scale machinery nearly electric early warning device
CN113719703B (en) * 2021-07-30 2023-02-03 国网山东省电力公司菏泽市定陶区供电公司 Large-scale machinery nearly electric early warning device
CN118456486A (en) * 2024-07-12 2024-08-09 宁波大学 High-adaptability gripping mechanism

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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: 20141231

Termination date: 20150903

EXPY Termination of patent right or utility model