CN205148345U - Novel self -adaptation mechanical clamping hand claw - Google Patents
Novel self -adaptation mechanical clamping hand claw Download PDFInfo
- Publication number
- CN205148345U CN205148345U CN201520990238.3U CN201520990238U CN205148345U CN 205148345 U CN205148345 U CN 205148345U CN 201520990238 U CN201520990238 U CN 201520990238U CN 205148345 U CN205148345 U CN 205148345U
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- ambulatory splint
- screw nut
- mechanical grip
- new adaptive
- elastic rod
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Abstract
The utility model discloses a novel self -adaptation mechanical clamping hand claw, especially, can realize snatching the function of the multiple target and the irregularity body, by the mounting base, and a support, linear guide, the turnscrew, driving motor and activity splint are constituteed, install the unsteady elastic rod of array on the activity splint, the activity splint connect into to removing vicely through rail block and linear guide, driving motor turns into rotary motion through the turnscrew screw nut's linear motion, screw nut passes through the screw nut seat and is connected with the activity splint. Utilizing on the splint float elastic rod's adaptive characteristic of array, realizing picking the function, this hand claw simple structure, light in weight, clamping jaw have from adaptability, can pick multiple target, especially can be used to pick the anomalous work piece object of multiple surface profile, hand claw compatible good.
Description
Technical field
The utility model relates to a kind of NEW ADAPTIVE mechanical grip paw, especially can realize capturing plurality of target and irregularly shaped object function.
Background technology
Industrial robot paw is the important component part of robot system, is equivalent to two hands of people, is mainly used in gripping instrument or workpiece and operating, carries important operation n-back test.Conventional industrial robot's paw complex structure, weight is large, and captures target unification, along with the development of Flexible production and mixed production, need robot hand can be suitable for multiple crawl target, in addition, the irregular workpiece of some surface configurations is also difficult to use special fixture to clamp.Therefore be necessary to improve existing robot hand, realize the compatibility of paw.
Summary of the invention
The utility model is for the deficiencies in the prior art, provides a kind of NEW ADAPTIVE mechanical grip paw, can realize the function capturing plurality of target and irregularly shaped object, meet the compatibility of paw.
The utility model is technical solution problem employing technical scheme: a kind of NEW ADAPTIVE mechanical grip paw, comprise mounting base, support, line slideway, turn-screw, drive motors and ambulatory splint, it is characterized in that: described ambulatory splint is provided with array elastic floating elastic rod, ambulatory splint is connected to become moving sets by guide rail slide block and line slideway, convert rotational motion is the rectilinear motion of feed screw nut by turn-screw by drive motors, and feed screw nut is connected with ambulatory splint by feed screw nut seat.
Further, on mounting base with changing rifle dish or robot arm end output shaft flange installing plate.
Further, support adopts rectangular cross section aluminium alloy extrusions composition rectangular frame structure, and frame upper is connected with mounting base, and lower parallel is arranged and fixed two line slideways.
Further, every bar line slideway arranges two guide rail slide blocks, and guide rail slide block is fixedly connected with ambulatory splint, and ambulatory splint passes through slide block, horizontal slip on line slideway.
Further, arrange trapezoidal left-right turn-screw along on carriage center line, two feed screw nuts are connected with ambulatory splint by feed screw nut seat.
Further, trapezoidal screw end connects drive motors, and drive motors is Worm reduction motor.
Further, on ambulatory splint, arranged in arrays is floated elastic rod, and elastic rod end adopts ball header structure, and the other end, through spring, is connected with ambulatory splint rear end clamping plate lid.
The beneficial effects of the utility model are: structure is simple, and lightweight, jaw has adaptive ability, can capture plurality of target, and especially can be used for capturing kinds of surface workpiece object in irregular shape, the compatibility of paw is good.
Accompanying drawing explanation
Fig. 1 is the integral shaft mapping of the utility model structure.
Fig. 2 is the ambulatory splint structural map (locally) of the utility model structure.
In figure: 1. mounting base, 2. support, 3. line slideway, 4. turn-screw, 5. drive motors, 6. ambulatory splint, 601. leading-end clamps, 602. floating elastic rods, 603. rubber bulbs, 604. springs, 605. rear end clamping plate lids.
Below by way of detailed description of the invention, and by reference to the accompanying drawings the utility model is further illustrated.
Detailed description of the invention
See Fig. 1, a kind of NEW ADAPTIVE mechanical grip paw, comprise mounting base 1, support 2, line slideway 3, turn-screw 4, drive motors 5 and ambulatory splint 6, ambulatory splint 6 is provided with array to float elastic rod 602, ambulatory splint 6 is connected to become moving sets by guide rail slide block and line slideway 3, convert rotational motion is the rectilinear motion of feed screw nut by turn-screw 4 by drive motors 5, and feed screw nut is connected with ambulatory splint by feed screw nut seat.
As shown in Figure 2, described ambulatory splint, comprises leading-end clamp 601, and float elastic rod 602, rubber bulb 603, spring 604, and rear end clamping plate lid 605 forms, elastic rod distribution in array on leading-end clamp of floating.
Specific works process of the present utility model is as follows:
(1) first the distance between two ambulatory splints 6 is adjusted to the length being greater than object to be captured by drive motors, and that is, two ambulatory splints can not encounter object to be captured in the process moved down;
(2) then retaining paw, to waiting to capture directly over object, then to move down by whole manipulator motion directly over object to be captured, and when touching object placed side bottom ambulatory splint, manipulator stops moving down;
(3) drive motors 5 rotates backward, and is converted into two panels ambulatory splint 6 move toward one another simultaneously by turn-screw 4;
(4) when arranged in arrays on ambulatory splint 6 floating elastic rod 602 with clamping plate move to contact with profiling object surface time, floating elastic rod 602 can automatically according to profiling object surface shape, the floating elastic rod 602 first touched with profiling object surface compresses under spring 604 acts on, and relies on spring 604 rebound effect power to contact with profiling object surface all the time.According to different profiling object surface shapes, the float deformation extent of the spring 604 on elastic rod of array is different, form self adaptation effect, thus form reasonable contact with body surface, reach the function of gripping irregular surface shaped objects, simultaneously, ambulatory splint 6 elastic rod 602 that floats can also become the cross-brace of object, and play the function of Anti-fall, elastic rod 602 end that floats adopts rubber bulb 603, while increasing friction force, also reduce the damage to body surface.
Claims (7)
1. a NEW ADAPTIVE mechanical grip paw, comprise mounting base, support, line slideway, turn-screw, drive motors and ambulatory splint, it is characterized in that: described ambulatory splint is provided with array and floats elastic rod, ambulatory splint is connected to become moving sets by guide rail slide block and line slideway, convert rotational motion is the rectilinear motion of feed screw nut by turn-screw by drive motors, and feed screw nut is connected with ambulatory splint by feed screw nut seat.
2. NEW ADAPTIVE mechanical grip paw according to claim 1, is characterized in that: with changing rifle dish or robot arm end output shaft flange installing plate on mounting base.
3. NEW ADAPTIVE mechanical grip paw according to claim 1, is characterized in that: support adopts rectangular cross section aluminium alloy extrusions composition rectangular frame structure, and frame upper is connected with mounting base, and lower parallel is arranged and fixed two line slideways.
4. NEW ADAPTIVE mechanical grip paw according to claim 1, is characterized in that: every bar line slideway arranges two guide rail slide blocks, and guide rail slide block is fixedly connected with ambulatory splint, and ambulatory splint passes through slide block, horizontal slip on line slideway.
5. NEW ADAPTIVE mechanical grip paw according to claim 1, is characterized in that: arrange trapezoidal left-right turn-screw along on carriage center line, and two feed screw nuts are connected with ambulatory splint by feed screw nut seat.
6. NEW ADAPTIVE mechanical grip paw according to claim 1, is characterized in that: trapezoidal screw end connects drive motors, and drive motors is Worm reduction motor.
7. NEW ADAPTIVE mechanical grip paw according to claim 1, is characterized in that: on ambulatory splint, arranged in arrays is floated elastic rod, and elastic rod end adopts ball header structure, and the other end, through spring, is connected with ambulatory splint rear end clamping plate lid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520990238.3U CN205148345U (en) | 2015-12-03 | 2015-12-03 | Novel self -adaptation mechanical clamping hand claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520990238.3U CN205148345U (en) | 2015-12-03 | 2015-12-03 | Novel self -adaptation mechanical clamping hand claw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205148345U true CN205148345U (en) | 2016-04-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520990238.3U Expired - Fee Related CN205148345U (en) | 2015-12-03 | 2015-12-03 | Novel self -adaptation mechanical clamping hand claw |
Country Status (1)
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| CN (1) | CN205148345U (en) |
Cited By (35)
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|---|---|---|---|---|
| CN105904454A (en) * | 2016-06-12 | 2016-08-31 | 浙江工业大学 | Grabbing manipulator |
| CN106003128A (en) * | 2016-07-29 | 2016-10-12 | 苏州高通机械科技有限公司 | Mechanical arm capable of automatically being closed |
| CN106423343A (en) * | 2016-08-31 | 2017-02-22 | 苏州兴亚净化工程有限公司 | Clean operation platform with detachable placement discs |
| CN106423336A (en) * | 2016-08-31 | 2017-02-22 | 苏州兴亚净化工程有限公司 | Clean sampling device with universal containing disc |
| CN106625747A (en) * | 2016-10-28 | 2017-05-10 | 东莞丰卓机电设备有限公司 | Elastic gripper of robot |
| CN107042526A (en) * | 2017-03-28 | 2017-08-15 | 江阴兴澄特种钢铁有限公司 | A kind of general-purpose manipulator for capturing steel |
| CN107285027A (en) * | 2017-08-04 | 2017-10-24 | 芜湖挺优机电技术有限公司 | A kind of Pneumatic clamping device with high applicability |
| CN107601034A (en) * | 2017-10-23 | 2018-01-19 | 惠州市齐力光电科技有限公司 | A kind of manipulator mechanism applied to LED automated productions |
| CN107598953A (en) * | 2017-11-06 | 2018-01-19 | 重庆大学 | A kind of discrete type clamping device of adaptivity |
| CN107696044A (en) * | 2017-09-25 | 2018-02-16 | 香港中文大学（深圳） | A kind of climbing manipulator |
| CN108015590A (en) * | 2018-01-29 | 2018-05-11 | 钦州学院 | Pneumatic clamping clamping mechanism |
| CN108285047A (en) * | 2017-12-30 | 2018-07-17 | 芜湖瑞思机器人有限公司 | A kind of disk loading system and its application method of steamed bun |
| CN108326884A (en) * | 2018-04-28 | 2018-07-27 | 哈尔滨若朋机器人有限责任公司 | A kind of manipulator and control method |
| CN108942886A (en) * | 2018-07-24 | 2018-12-07 | 哈尔滨工程大学 | A kind of underwater robot flexible grabbing device and its method |
| CN109018508A (en) * | 2018-10-27 | 2018-12-18 | 谢森涛 | A kind of suction device of automatic boxing machine |
| CN109249414A (en) * | 2018-11-13 | 2019-01-22 | 哈尔滨理工大学 | A kind of robot device for changing clamping shape |
| CN109444449A (en) * | 2018-12-14 | 2019-03-08 | 贵州大学 | A kind of high throughput droplet array microfluid spot sample device |
| CN109916466A (en) * | 2019-03-05 | 2019-06-21 | 广州能源检测研究院 | It is a kind of to examine and determine or calibrate tested flowmeter installation centralising device |
| CN110293573A (en) * | 2019-06-24 | 2019-10-01 | 盐城永鑫机械有限公司 | A kind of heavy castings clamping device and clamp method |
| CN110303490A (en) * | 2019-07-27 | 2019-10-08 | 南京昱晟机器人科技有限公司 | A kind of industrial robot grabbing device and method |
| CN110606315A (en) * | 2019-10-14 | 2019-12-24 | 南京翌星自动化系统有限公司 | Air-land amphibious carrying equipment assembly |
| CN110696020A (en) * | 2019-09-05 | 2020-01-17 | 上海大学 | Self-adaptive underactuated manipulator |
| CN110802618A (en) * | 2019-10-10 | 2020-02-18 | 湖南东创智能装备有限公司 | Floating gripper |
| CN111331587A (en) * | 2020-03-20 | 2020-06-26 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Self-adaptive robot hand device for grabbing sliding rod by driving expansion of tendon rope |
| CN112047095A (en) * | 2020-07-31 | 2020-12-08 | 南京昱晟机器人科技有限公司 | Multi-dimensional self-limiting type gripping device for automatic production based on small workpieces |
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| CN113187223A (en) * | 2021-04-15 | 2021-07-30 | 浙江信宇建设集团有限公司 | Template device of mirror surface bare concrete beam column and construction method thereof |
| CN113247639A (en) * | 2021-06-24 | 2021-08-13 | 武汉喆雯城配物流有限公司 | Intelligent stacking machine and stacking method for producing paper-plastic open bags |
| CN113580187A (en) * | 2021-09-10 | 2021-11-02 | 长春工业大学 | Six-rod automatic centering clamping manipulator |
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| CN113733139A (en) * | 2021-09-30 | 2021-12-03 | 广州海洋地质调查局 | Manipulator for underwater operation |
| CN114683078A (en) * | 2020-12-29 | 2022-07-01 | 新兴重工湖北三六一一机械有限公司 | Adjustable follow-up pneumatic clamp |
| CN115026860A (en) * | 2022-08-09 | 2022-09-09 | 陕西清腾畅建筑工程有限公司 | Mechanical arm for electrical installation |
| CN115922761A (en) * | 2022-12-28 | 2023-04-07 | 上海航天控制技术研究所 | Magnetic control variable-configuration array self-sensing space adhesion gripping device |
| CN116214552A (en) * | 2022-12-16 | 2023-06-06 | 吉林化工学院 | Mechanical manufacturing grabbing device |
-
2015
- 2015-12-03 CN CN201520990238.3U patent/CN205148345U/en not_active Expired - Fee Related
Cited By (45)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105904454A (en) * | 2016-06-12 | 2016-08-31 | 浙江工业大学 | Grabbing manipulator |
| CN106003128A (en) * | 2016-07-29 | 2016-10-12 | 苏州高通机械科技有限公司 | Mechanical arm capable of automatically being closed |
| CN106423343A (en) * | 2016-08-31 | 2017-02-22 | 苏州兴亚净化工程有限公司 | Clean operation platform with detachable placement discs |
| CN106423336A (en) * | 2016-08-31 | 2017-02-22 | 苏州兴亚净化工程有限公司 | Clean sampling device with universal containing disc |
| CN106423343B (en) * | 2016-08-31 | 2018-12-14 | 苏州兴亚净化工程有限公司 | A kind of clean station with detachable holding tray |
| CN106423336B (en) * | 2016-08-31 | 2018-12-14 | 苏州兴亚净化工程有限公司 | Clean sampling apparatus with general-purpose holding tray |
| CN106625747A (en) * | 2016-10-28 | 2017-05-10 | 东莞丰卓机电设备有限公司 | Elastic gripper of robot |
| CN107042526A (en) * | 2017-03-28 | 2017-08-15 | 江阴兴澄特种钢铁有限公司 | A kind of general-purpose manipulator for capturing steel |
| CN107285027A (en) * | 2017-08-04 | 2017-10-24 | 芜湖挺优机电技术有限公司 | A kind of Pneumatic clamping device with high applicability |
| CN107696044A (en) * | 2017-09-25 | 2018-02-16 | 香港中文大学（深圳） | A kind of climbing manipulator |
| CN107601034A (en) * | 2017-10-23 | 2018-01-19 | 惠州市齐力光电科技有限公司 | A kind of manipulator mechanism applied to LED automated productions |
| CN107598953A (en) * | 2017-11-06 | 2018-01-19 | 重庆大学 | A kind of discrete type clamping device of adaptivity |
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| CN108942886A (en) * | 2018-07-24 | 2018-12-07 | 哈尔滨工程大学 | A kind of underwater robot flexible grabbing device and its method |
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| CN109018508A (en) * | 2018-10-27 | 2018-12-18 | 谢森涛 | A kind of suction device of automatic boxing machine |
| CN109249414A (en) * | 2018-11-13 | 2019-01-22 | 哈尔滨理工大学 | A kind of robot device for changing clamping shape |
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| CN109916466B (en) * | 2019-03-05 | 2020-08-04 | 广州能源检测研究院 | Verification or calibration to be detected flowmeter installation centering device |
| CN110293573A (en) * | 2019-06-24 | 2019-10-01 | 盐城永鑫机械有限公司 | A kind of heavy castings clamping device and clamp method |
| CN110303490A (en) * | 2019-07-27 | 2019-10-08 | 南京昱晟机器人科技有限公司 | A kind of industrial robot grabbing device and method |
| CN110303490B (en) * | 2019-07-27 | 2021-01-15 | 南京昱晟机器人科技有限公司 | Grabbing device and method for industrial robot |
| CN110696020A (en) * | 2019-09-05 | 2020-01-17 | 上海大学 | Self-adaptive underactuated manipulator |
| CN110802618A (en) * | 2019-10-10 | 2020-02-18 | 湖南东创智能装备有限公司 | Floating gripper |
| CN110606315A (en) * | 2019-10-14 | 2019-12-24 | 南京翌星自动化系统有限公司 | Air-land amphibious carrying equipment assembly |
| CN111331587A (en) * | 2020-03-20 | 2020-06-26 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Self-adaptive robot hand device for grabbing sliding rod by driving expansion of tendon rope |
| CN112047095A (en) * | 2020-07-31 | 2020-12-08 | 南京昱晟机器人科技有限公司 | Multi-dimensional self-limiting type gripping device for automatic production based on small workpieces |
| CN114683078A (en) * | 2020-12-29 | 2022-07-01 | 新兴重工湖北三六一一机械有限公司 | Adjustable follow-up pneumatic clamp |
| CN112845295A (en) * | 2020-12-31 | 2021-05-28 | 上海麦景广告有限公司 | Auto-parts belt cleaning device with environmental protection and saving function |
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| CN113187223A (en) * | 2021-04-15 | 2021-07-30 | 浙江信宇建设集团有限公司 | Template device of mirror surface bare concrete beam column and construction method thereof |
| CN113247639A (en) * | 2021-06-24 | 2021-08-13 | 武汉喆雯城配物流有限公司 | Intelligent stacking machine and stacking method for producing paper-plastic open bags |
| CN113580187A (en) * | 2021-09-10 | 2021-11-02 | 长春工业大学 | Six-rod automatic centering clamping manipulator |
| CN113733139A (en) * | 2021-09-30 | 2021-12-03 | 广州海洋地质调查局 | Manipulator for underwater operation |
| CN113733139B (en) * | 2021-09-30 | 2022-09-30 | 广州海洋地质调查局 | Manipulator for underwater operation |
| CN113634679B (en) * | 2021-10-15 | 2021-12-24 | 广东亮硕门窗科技有限公司 | Bending device for door frame production |
| CN113634679A (en) * | 2021-10-15 | 2021-11-12 | 广东亮硕门窗科技有限公司 | Bending device for door frame production |
| CN115026860A (en) * | 2022-08-09 | 2022-09-09 | 陕西清腾畅建筑工程有限公司 | Mechanical arm for electrical installation |
| CN115026860B (en) * | 2022-08-09 | 2022-11-04 | 陕西清腾畅建筑工程有限公司 | Mechanical arm for electrical installation |
| CN116214552A (en) * | 2022-12-16 | 2023-06-06 | 吉林化工学院 | Mechanical manufacturing grabbing device |
| CN116214552B (en) * | 2022-12-16 | 2023-08-04 | 吉林化工学院 | Mechanical manufacturing grabbing device |
| CN115922761A (en) * | 2022-12-28 | 2023-04-07 | 上海航天控制技术研究所 | Magnetic control variable-configuration array self-sensing space adhesion gripping device |
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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: 20160413 Termination date: 20161203 |