CN205415659U - Snatch mechanism, grabbing device and robot - Google Patents
Snatch mechanism, grabbing device and robot Download PDFInfo
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- CN205415659U CN205415659U CN201620108249.9U CN201620108249U CN205415659U CN 205415659 U CN205415659 U CN 205415659U CN 201620108249 U CN201620108249 U CN 201620108249U CN 205415659 U CN205415659 U CN 205415659U
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- grasping mechanism
- horizontal rotation
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- jaw
- installing plate
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Abstract
The utility model provides one kind is snatched the mechanism, grabbing device and robot, wherein, snatch the mechanism including the relative a pair of mounting panel that snatchs that sets up, snatch the driver, the swinging boom, and a pair of arm lock subassembly, snatch the driver including being fixed in the driver body that snatchs on the mounting panel and setting up the pivot on the driver body, the swinging boom include with pick relative this somatic part that sets up of mounting panel and along this somatic part orientation pick driver one side outstanding and with pivot fixed connection's intermediate junction portion, this butt clamp arm component sets up relatively. Wherein, the clamping jaw passes through spout and track structure sliding connection, and track structure has injectd the movement track of clamping jaw, makes the clamping jaw move for snatching the mounting panel along track structure to be linear motion, this movement track who makes the clamping part also is linear motion, makes the clamping jaw not have the difference in height in the state of centre gripping and state before the centre gripping, thereby has avoided the clamping jaw centre gripping not arrive the condition of the centre gripping equilibrium point of article.
Description
Technical field
This utility model belongs to robot field, particularly relates to a kind of grasping mechanism, the grabbing device with this grasping mechanism and robot.
Background technology
The actuating station of desktop type mechanical hand has the grasping mechanism for capturing object, and the jaw of grasping mechanism is typically to fold around a point of rotation, so, the movement locus of the clamping part of jaw is curve, certain difference in height is there is in the state before clamping in the clamping part causing jaw in the state of clamping, size for object to be held is less, and this difference in height can cause jaw can clamp less than object corresponding clipping equilibrium point, is unfavorable for gripping object.
In addition, grasping mechanism realizes the opening and closing of its jaw frequently with gear assembly, but for guarantee the properly functioning of gear member, needs to leave the free gap for engagement between the gear teeth of gear, certain displacement can occur between gear, and this causes jaw in use to there is certain rocking.
Utility model content
The purpose of this utility model is to overcome above-mentioned the deficiencies in the prior art, it is provided that a kind of grasping mechanism, it is intended to make the clamping part of jaw keep consistent in the state of clamping with the difference in height of the state before clamping, in order to gripping object.
This utility model is achieved in that a kind of grasping mechanism, including:
The a pair crawl installing plate being oppositely arranged；
Capturing driver, described crawl driver includes the actuator body being fixed on crawl installing plate described in one and is arranged at the rotating shaft in described actuator body；
Turning arm, described turning arm includes the body being oppositely arranged with described crawl installing plate and highlights along described body towards described crawl driver side and fix, with described rotating shaft, the middle interconnecting piece being connected；
A pair jig arm assembly, jig arm assembly is oppositely arranged by this, and each described jig arm assembly includes that the jaw for gripping objects, one end are articulated with on described turning arm and the other end is articulated with the connecting rod on described jaw and is installed on corresponding described crawl installing plate and so that described jaw slides relative to described crawl installing plate and realizes the guide rail structure opening or closing between described crawl installing plate and jaw.
Alternatively, described turning arm also includes being positioned at described middle interconnecting piece both sides and the side connecting portion hinged with described connecting rod one end, and the either side of described middle interconnecting piece is provided with at least one described side connecting portion.
Alternatively, the described side connecting portion of described middle interconnecting piece both sides is symmetrical arranged centered by described middle interconnecting piece.
Alternatively, each described guide rail structure includes the guide rail being fixedly installed on corresponding described crawl installing plate and is installed on described jaw and coordinates with described guide rail so that the guide that moves relative to described guide rail of described jaw, and described guide is provided with the chute coordinated with described slide.
Alternatively, described jaw includes the clamping connection portion with described rod hinge connection and extends for the clamping part capturing object along one end, described clamping connection portion.
Alternatively, each described jig arm assembly also includes detachably connected with described clamping part and for abutting the chuck of described object, the facing setting of chuck described in two.
Alternatively, the second magnetic coupling that each described jig arm assembly also includes the first magnetic coupling being installed on described clamping part and is arranged on described chuck and is connected with described first magnetic coupling magnetic.
Alternatively, described clamping part offers the draw-in groove for housing described first magnetic connecting portion, and described chuck is provided with for fixing described second magnetic connecting portion the card convex with described card slot fit.
Alternatively, described grasping mechanism includes and captures installing plate described in one and be connected and for driving what described crawl installing plate horizontally rotated to horizontally rotate driving means.
Alternatively, described in horizontally rotate driving means and include horizontally rotating installing rack and be located at the horizontal rotation driver on described horizontal rotation installing rack, the outfan of described horizontal rotation driver is connected with described crawl installing plate by connecting shaft；
Described horizontal rotation driving means includes being located at the upper flange plate in described horizontal rotation installing rack and lower flange, described upper flange plate is fixing with the outfan of described horizontal rotation driver to be connected, described lower flange is fixing with described connecting shaft to be connected, and described upper flange plate is connected by the first securing member is fixing with described lower flange.
Alternatively, described horizontal rotation driving means also includes the annular table being located in described horizontal rotation installing rack, the two lateral walls of described horizontal rotation installing rack offers breach respectively, and described annular table is sheathed on the top of described connecting shaft and outside is connected to the lateral margin of described breach.
Alternatively, described horizontal rotation driver is steering wheel or motor, and described steering wheel or motor are located at the top ends of described horizontal rotation installing rack and are connected by the second securing member is fixing with described horizontal rotation installing rack.
This utility model provides a kind of robot, and including mechanical arm and the actuator that is connected to described mechanical arm tail end, this robot also includes that above-mentioned grasping mechanism, described grasping mechanism are installed in described actuator.
This utility model provides a kind of grabbing device, and including grasping mechanism, described grasping mechanism is the grasping mechanism as described in claim 6 to 8 any one, and described grabbing device also includes with described grasping mechanism with the use of for the storage rack depositing described chuck.
Wherein, each described jig arm assembly also includes detachably connected with described clamping part and for abutting the chuck of described object, the facing setting of chuck described in two.
Further, the second magnetic coupling that each described jig arm assembly also includes the first magnetic coupling being installed on described clamping part and is arranged on described chuck and is connected with described first magnetic coupling magnetic.
Further, described clamping part offers the draw-in groove for housing described first magnetic connecting portion, and described chuck is provided with for fixing described second magnetic connecting portion the card convex with described card slot fit.
Further, described chuck includes main part and is located at the fastener of described main part side；
Described storage rack includes base, and it is fixed on the locating piece on described base, described locating piece is provided with multiple and spaced set, being formed with the parking space for placing described main part described in adjacent two between locating piece, the top of described locating piece offers, for position, the stop groove inserted for described fastener at described parking space.
Further, two described parking spaces it are formed with described in adjacent two between locating piece.
This utility model also provides for a kind of robot, and including mechanical arm and the actuator that is connected to described mechanical arm tail end, this robot also includes that above-mentioned grabbing device, described grasping mechanism are installed in described actuator.
In this utility model, jaw is slidably connected with guide rail structure by chute, guide rail structure defines the movement locus of jaw, make jaw only along guide rail structure relative to capturing installing plate motion, and linearly move, this makes the movement locus of clamping part also be linear motion, make jaw there is not difference in height in the state of clamping with the state before clamping, thus avoid the jaw clamping situation less than the clipping equilibrium point of object.Additionally, being linked as between chuck, connecting rod and turning arm connects the structure that is articulated and connected in this utility model, and use the structure that is articulated and connected, make junction without reserved free gap, thus avoid jaw to rock.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in this utility model embodiment, the accompanying drawing used required in embodiment will be briefly described below, apparently, accompanying drawing in describing below is only embodiments more of the present utility model, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the overall structure schematic diagram of this utility model grasping mechanism；
Fig. 2 is the members decomposition texture schematic diagram of this utility model grasping mechanism；
Fig. 3 is the structural representation of storage rack in this utility model desktop type mechanical hand external member；
Fig. 4 is another part assembly decomposition texture schematic diagram of this utility model grasping mechanism.
Drawing reference numeral illustrates:
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, this utility model is further elaborated.
In this utility model embodiment, the XYZ rectangular coordinate system definition according to being set up in Fig. 1 and Fig. 3: the side being positioned at X-axis positive direction is defined as front, and the side being positioned at X-axis negative direction is defined as rear；The side being positioned at Y-axis positive direction is defined as left, and the side being positioned at Y-axis negative direction is defined as right；The side being positioned at Z axis positive direction is defined as top, and the side being positioned at Z axis negative direction is defined as lower section.
This utility model embodiment provides a kind of grasping mechanism.
As depicted in figs. 1 and 2, this grasping mechanism includes a pair crawl installing plate 10 being oppositely arranged, captures driver 20, turning arm 30 and a pair jig arm assembly 40, and two jig arm assemblies 40 are oppositely arranged.
In the present embodiment, two capture installing plate 10 is oppositely arranged and is mutually permanently connected, and certain two capture two opposite segments that installing plate 10 can also be frame structure, in order to support and connect crawl driver 20 and jig arm assembly 40.Capture driver 20 and include the actuator body 21 being fixed on a crawl installing plate 10 and the rotating shaft 22 being arranged in actuator body 21.Preferably, this crawl driver 20 can be steering wheel, motor or servomotor etc..Actuator body 21 is fixed on crawl installing plate 10 and rotating shaft 22 through crawl installing plate 10 to be connected with turning arm 30, and in the present embodiment, actuator body 21 can be releasably attached to capture on installing plate 10 by bolt, it is simple to installation and removal.Turning arm 30 includes and captures prominent towards crawl driver 20 side and fixing with rotating shaft 22 middle interconnecting piece 32 being connected of body 31 and extension body portion 31 that installing plate 10 is oppositely arranged.In the present embodiment, body 31 is strip, to drive the jig arm assembly 40 at two ends to move.In the present embodiment, middle interconnecting piece 32 offers and the axis hole of rotating shaft 22 secure fit, and certainly, in other are implemented, middle interconnecting piece 32 can also be affixed directly to rotating shaft 22 by bolt.Each jig arm assembly 40 includes the jaw 41 for gripping objects, one end are articulated with on turning arm 30 and the other end is articulated with on jaw 41 connecting rod 42 and is installed on and corresponding capture on installing plate 10 and capturing between installing plate 10 and jaw 41 so that jaw 41 slides and realizes the guide rail structure 43 opening or closing relative to capturing installing plate 10.In this embodiment, each jig arm assembly 40 lays respectively between turning arm 30 and corresponding crawl installing plate 10, namely each jig arm assembly 40 is positioned at the opposite sides of turning arm 30.In other embodiments, each jig arm assembly 40 is positioned at the same side of turning arm 30, is as the criterion with gripping objects gripping.
During work, start and capture driver 20, actuator body 21 drives rotating shaft 22 to rotate, it is connected that arm 30 is rotated rotates by rotating shaft 22 and middle interconnecting piece 32 is fixing, and driven the jaw 41 being articulated with on connecting rod 42 to move along guide rail structure 43 relative to capturing installing plate 10 by turning arm 30, make two jaw 41 phases close or deviate from.Wherein, as in figure 2 it is shown, turning arm 30 rotates toward A direction, two jaw 41 phases are close to capture object, and turning arm 30 rotates toward B direction, and two jaw 41 phases deviate from discharge object or prepare gripping object.
Understand based on said structure, in this utility model, jaw 41 is slidably connected with guide rail structure 43 by chute, guide rail structure 43 defines that the motion of jaw 41 is fixed, jaw 41 is made to move relative to capturing installing plate 10 only along guide rail structure 43, and linearly move, this makes the movement locus of clamping part 412 also be linear motion so that jaw 41 does not exist difference in height in the state of clamping in the state before clamping, thus avoids jaw 41 and clamp the situation of the clipping equilibrium point less than object.Additionally, the connection between chuck 50, connecting rod 42 and turning arm 30 is the structure that is articulated and connected in this utility model, and uses and be articulated and connected structure, make junction without reserved free gap, thus avoid jaw 41 to rock.
In above-mentioned, two guide rail structures 43 lay respectively between turning arm 30 and corresponding crawl installing plate 10.
As depicted in figs. 1 and 2, turning arm 30 also includes being positioned at middle interconnecting piece 32 both sides and for the side connecting portion 33 hinged with connecting rod 42 one end, and the either side of middle interconnecting piece 32 is provided with at least one side connecting portion 33.The quantity of side connecting portion 33 can be 2 or more than 2, based on this structure, connecting rod 42 is articulated with on the side connecting portion 33 of diverse location on body 31, according to lever principle, this changes the direction to jaw 41 driving force and the point of application, and then changes between two jaws 41 mutually near the minimum distance that can arrive, and to deviating from the minimum distance that can reach, so, by the adjustment to connecting rod 42 with turning arm 30 position, have adjusted jaw 41 can the angular range of opening and closing.The quantity of side connecting portion 33 can be 1, i.e. jaw 41 immobilizes relative to the position of body 31.
As depicted in figs. 1 and 2, the side connecting portion 33 of middle interconnecting piece 32 both sides is symmetrical arranged centered by middle interconnecting piece 32.So, in driving turning arm 30 rotation process, be conducive to equalizing the stress of rotating shaft 22 both sides.
Further, each guide rail structure 43 includes being fixedly installed in the corresponding guide rail 431 captured on installing plate 10 and is installed on jaw 41 and coordinates with guide rail 431 so that the guide 432 that moves relative to guide rail 431 of jaw 41, and guide 432 is provided with the chute being slidably matched with guide rail 431.Coordinated with guide rail 431 by chute so that jaw 41 moves linearly relative to capturing installing plate 10, thus strengthen stability and the flatness that jaw 41 moves.
In this utility model, jaw 41 includes the clamping connection portion 411 hinged with connecting rod 42 and extends for the clamping part 412 capturing object along one end, clamping connection portion 411.Drive opening or closing of clamping part 412 by rotating of connecting rod 42, thus realize the gripping to object and release.
In this utility model, for abutting the clamping end face (not marking in figure) of object when clamping part 412 is included in gripping objects, bare terminal end mask has anti-skid structure, to improve the grasping effect of grasping mechanism.
As depicted in figs. 1 and 2, each jig arm assembly 40 also includes detachably connected with clamping part 412 and for abutting the chuck 50 of object, the two facing settings of chuck 50.By chuck 50 is removably connected on clamping part 412, in order to according to the more preferable chuck of the concrete shape of object to be held 50.
Further, the second magnetic coupling (not shown) that each jig arm assembly 40 also includes the first magnetic coupling 61 being installed on clamping part 412 and is arranged on chuck 50 and is connected with the first magnetic coupling 61 magnetic.Connected by the first magnetic coupling 61 and the second magnetic coupling magnetic, to realize connecting simply, effect efficiently, be conducive to improving joint efficiency.In the present embodiment, the first magnetic coupling 61 is Magnet, and the second magnetic coupling is iron block, or, the first magnetic coupling 61 is iron block, and the second magnetic coupling is Magnet.Certainly, the first magnetic coupling 61 and the second magnetic coupling can be other arbitrarily can the object of mutual magnetic, be not limited to this.
Further, clamping part 412 offers draw-in groove 4121, and chuck 50 is convexly equipped with the card convex 501 coordinated with draw-in groove 4121, and the first magnetic coupling 61 is located at draw-in groove 4121, and the second magnetic coupling is located at card convex 501.So, during by chuck 50 assembly connection to clamping part 412, only need to can realize the connection of chuck 50 and clamping part 412 by card convex 501 under draw-in groove 4121, and the magneticaction attracted each other between the first magnetic coupling 61 and the second magnetic coupling.
As shown in Figure 1, Figure 2 and Figure 4, grasping mechanism includes horizontally rotating driving means 80, horizontally rotating driving means 80 to include horizontally rotating installing rack 81 and being located at the horizontal rotation driver 82 on horizontal rotation installing rack 81, the outfan of horizontal rotation driver 82 captures installing plate 11 by connecting shaft 86 with one and is connected.The outfan of mean level rotating driver 82 is shaft-like, and connecting shaft 86 is also shaft-like, the connection stability to be guaranteed between shaft-like part and shaft-like part, not only needs to consider the most conveniently to carry out assembly operation when connecting, it is also contemplated that the stability after connection.In the present embodiment, first pass through upper flange plate 83 to be connected with the outfan of horizontal rotation driver 82, it is connected with connecting shaft 86 by lower flange 84 again, upper flange plate 83 all can use axis hole interference fit to connect with the connection of the outfan of horizontal rotation driver 82 and the connection of lower flange 84 and connecting shaft 86, finally by the first securing member 831, upper flange plate 83 and lower flange 84 are locked, thus complete the drive connection of outfan and the connecting shaft 86 horizontally rotating driver 82, realize when horizontally rotating driver 82 and starting, connecting shaft 86 is driven to rotate by outfan, final realization drives sucker with connecting shaft 86 for axially rotating.So, horizontally rotate driver and capture installing plate 10 by driving and drive crawl driver 20, turning arm 30 and jig arm assembly 40 integral level to rotate, based on this, object can be horizontally rotated, thus adjust putting of object.
Further, horizontal rotation driving means 80 also includes the annular table 85 being located in horizontal rotation installing rack 81, the two lateral walls of horizontal rotation installing rack 81 offers breach 811 respectively, and annular table 85 is sheathed on the top of connecting shaft 86 and outside is connected to the lateral margin of breach 811.So, when horizontally rotating driver 82 drive connection axle 86 and rotating, annular table 85 can play the effect preventing horizontally rotating installing rack 81 shake, it is ensured that the accuracy of crawl.
In the present embodiment, horizontal rotation driver 82 is that steering wheel or motor, steering wheel or motor are located at the top ends of horizontal rotation installing rack 81 and are connected by the second securing member 821 is fixing with horizontal rotation installing rack.Concrete, the top end face of horizontal rotation installing rack 81 will be locked at as the steering wheel horizontally rotating driver 82 or motor by the second securing member 821, it is easy to accomplish, facilitate the stability after mounting or dismounting, and installation to access guarantee.During it should be noted that steering wheel or motor are as horizontal rotation driver 82, the output shaft of steering wheel or motor is the outfan of horizontal rotation driver 82.
The robot that this utility model embodiment provides includes mechanical arm, the actuator being connected to mechanical arm tail end and grasping mechanism, and grasping mechanism is installed in actuator.Grasping mechanism in the present embodiment has identical structure with the grasping mechanism in the various embodiments described above, and role is identical, does not repeats.
This utility model embodiment also proposes a kind of grabbing device, participate in shown in Fig. 1 to Fig. 3, grabbing device includes grasping mechanism, the concrete structure of grasping mechanism is with reference to above-described embodiment, owing to this grasping mechanism have employed whole technical schemes of above-mentioned all embodiments, having all beneficial effects that the technical scheme of above-described embodiment is brought the most equally, this is no longer going to repeat them.
In this utility model, grabbing device also includes with grasping mechanism with the use of for depositing the storage rack 70 of multiple chuck 50, and the plurality of chuck 50 can be the chuck 50 of shape, to adapt to difform object to be held.
Further, as shown in Figure 3, chuck 50 includes main part 51 and is located at the fastener 52 of main part 51 side, and storage rack 70 includes base 71, and the locating piece 72 being fixed on base 71, locating piece 72 is provided with multiple and spaced set, is formed with the parking space 701 for placing main part 51 between adjacent two locating pieces 72, and the top of locating piece 72 offers, for position, the stop groove 721 inserted for fastener 52 at parking space 701.Based on this, during unloading chuck 50, mechanical hand the chuck 50 on grasping mechanism is placed into the relevant position of storage rack 70, now, mechanical hand drives grasping mechanism to lateral movement again, and chuck 50 drops down onto on storage rack 70 therewith, it is not necessary to workman the most manually takes off chuck 50；And during loading chuck 50, contrary operation aforementioned process.
Further, as it is shown on figure 3, be formed with two parking spaces 701 between adjacent two locating pieces 72.So, during unloading chuck 50, first by indirect to two parking spaces 701 of the Indirect method of two jaws 41 on grasping mechanism, secondly by mechanical hand, the chuck 50 on grasping mechanism is placed into the relevant position of storage rack 70, finally captures driver 20 and drive two jaws 41 to open；And during loading chuck 50, contrary operation aforementioned process.
The robot that this utility model embodiment provides includes mechanical arm, the actuator being connected to mechanical arm tail end and above-mentioned grabbing device, and grasping mechanism is installed in actuator.Grabbing device and grasping mechanism in the present embodiment have identical structure with the grabbing device in the various embodiments described above and grasping mechanism, and role is identical, does not repeats.
These are only preferred embodiment of the present utility model, not in order to limit this utility model, all any amendment, equivalent or improvement etc. made within spirit of the present utility model and principle, within should be included in protection domain of the present utility model.
Claims (17)
1. a grasping mechanism, it is characterised in that including:
The a pair crawl installing plate being oppositely arranged；
Capturing driver, described crawl driver includes the actuator body being fixed on crawl installing plate described in one and is arranged at the rotating shaft in described actuator body；
Turning arm, described turning arm includes the body being oppositely arranged with described crawl installing plate and highlights along described body towards described crawl driver side and fix, with described rotating shaft, the middle interconnecting piece being connected；
A pair jig arm assembly, jig arm assembly is oppositely arranged by this, and each described jig arm assembly includes that the jaw for gripping objects, one end are articulated with on described turning arm and the other end is articulated with the connecting rod on described jaw and is installed on corresponding described crawl installing plate and so that described jaw slides relative to described crawl installing plate and realizes the guide rail structure opening or closing between described crawl installing plate and jaw.
2. grasping mechanism as claimed in claim 1, it is characterized in that, described turning arm also includes being positioned at described middle interconnecting piece both sides and the side connecting portion hinged with described connecting rod one end, and the either side of described middle interconnecting piece is provided with at least one described side connecting portion.
3. grasping mechanism as claimed in claim 2, it is characterised in that the described side connecting portion of described middle interconnecting piece both sides is symmetrical arranged centered by described middle interconnecting piece.
4. grasping mechanism as claimed in claim 1, it is characterized in that, each described guide rail structure includes the guide rail being fixedly installed on corresponding described crawl installing plate and is installed on described jaw and coordinates with described guide rail so that the guide that moves relative to described guide rail of described jaw, and described guide is provided with the chute coordinated with described slide.
5. grasping mechanism as claimed in claim 1, it is characterised in that described jaw includes the clamping connection portion with described rod hinge connection and extends for the clamping part capturing object along one end, described clamping connection portion.
6. grasping mechanism as claimed in claim 5, it is characterised in that each described jig arm assembly also includes detachably connected with described clamping part and for abutting the chuck of described object, the facing setting of chuck described in two.
7. grasping mechanism as claimed in claim 6, it is characterised in that the second magnetic coupling that each described jig arm assembly also includes the first magnetic coupling being installed on described clamping part and is arranged on described chuck and is connected with described first magnetic coupling magnetic.
8. grasping mechanism as claimed in claim 7, it is characterised in that described clamping part offers the draw-in groove for housing described first magnetic connecting portion, and described chuck is provided with for fixing described second magnetic connecting portion the card convex with described card slot fit.
9. as claimed in any of claims 1 to 8 in one of claims grasping mechanism, it is characterised in that described grasping mechanism includes being connected with described crawl installing plate and for driving what described crawl installing plate horizontally rotated to horizontally rotate driving means.
10. grasping mechanism as claimed in claim 9, it is characterized in that, described horizontally rotating driving means and include horizontally rotating installing rack and be located at the horizontal rotation driver on described horizontal rotation installing rack, the outfan of described horizontal rotation driver is connected with crawl installing plate described in by connecting shaft；
Described horizontal rotation driving means includes being located at the upper flange plate in described horizontal rotation installing rack and lower flange, described upper flange plate is fixing with the outfan of described horizontal rotation driver to be connected, described lower flange is fixing with described connecting shaft to be connected, and described upper flange plate is connected by the first securing member is fixing with described lower flange.
11. grasping mechanisms as claimed in claim 9, it is characterized in that, described horizontal rotation driving means also includes the annular table being located in described horizontal rotation installing rack, the two lateral walls of described horizontal rotation installing rack offers breach respectively, and described annular table is sheathed on the top of described connecting shaft and outside is connected to the lateral margin of described breach.
12. grasping mechanisms according to claim 9, it is characterized in that, described horizontal rotation driver is steering wheel or motor, and described steering wheel or motor are located at the top ends of described horizontal rotation installing rack and are connected by the second securing member is fixing with described horizontal rotation installing rack.
13. robots, including mechanical arm and the actuator that is connected to described mechanical arm tail end, it is characterised in that also include that grasping mechanism as described in any one in claim 1 to 12, described grasping mechanism are installed in described actuator.
14. 1 kinds of grabbing devices, including grasping mechanism, it is characterised in that described grasping mechanism is the grasping mechanism as described in claim 6 to 8 any one, and described grabbing device also includes with described grasping mechanism with the use of for the storage rack depositing described chuck.
15. grabbing devices as claimed in claim 14, it is characterised in that described chuck includes main part and is located at the fastener of described main part side；
Described storage rack includes base, and it is fixed on the locating piece on described base, described locating piece is provided with multiple and spaced set, being formed with the parking space for placing described main part described in adjacent two between locating piece, the top of described locating piece offers, for position, the stop groove inserted for described fastener at described parking space.
16. grabbing devices as claimed in claim 15, it is characterised in that be formed with two described parking spaces described in adjacent two between locating piece.
17. robots, including mechanical arm and the actuator that is connected to described mechanical arm tail end, it is characterised in that also include that grabbing device as described in any one in claim 14 to 16, described grasping mechanism are installed in described actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620108249.9U CN205415659U (en) | 2016-02-02 | 2016-02-02 | Snatch mechanism, grabbing device and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620108249.9U CN205415659U (en) | 2016-02-02 | 2016-02-02 | Snatch mechanism, grabbing device and robot |
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| CN205415659U true CN205415659U (en) | 2016-08-03 |
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| CN201620108249.9U Active CN205415659U (en) | 2016-02-02 | 2016-02-02 | Snatch mechanism, grabbing device and robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107150994A (en) * | 2017-04-28 | 2017-09-12 | 西安交通大学 | A kind of end effector for automobile fuel filler machine people |
| CN108480960A (en) * | 2018-05-29 | 2018-09-04 | 宁波图锐自动化设备有限公司 | A kind of liquid crystal display connector is to plugging in machine |
| CN108745443A (en) * | 2018-07-26 | 2018-11-06 | 山东华盛天同标准技术服务有限公司 | A kind of automatically controlled rack for test tube |
| CN108789473A (en) * | 2018-08-09 | 2018-11-13 | 华南理工大学广州学院 | Adjustable mechanical grabbing device |
| CN110788878A (en) * | 2019-12-03 | 2020-02-14 | 无锡奥普特自动化技术有限公司 | Lens clamping device |
| CN111300464A (en) * | 2020-03-13 | 2020-06-19 | 三峡大学 | Synchronous clamping mechanism based on connecting rod and operation method |
| CN113866912A (en) * | 2021-08-27 | 2021-12-31 | 北京瑞祺皓迪技术股份有限公司 | Network wiring device |
| CN117049156A (en) * | 2023-09-12 | 2023-11-14 | 深圳市晶新科技有限公司 | Automatic stacking equipment for large-batch packaging bags |
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2016
- 2016-02-02 CN CN201620108249.9U patent/CN205415659U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107150994A (en) * | 2017-04-28 | 2017-09-12 | 西安交通大学 | A kind of end effector for automobile fuel filler machine people |
| CN108480960A (en) * | 2018-05-29 | 2018-09-04 | 宁波图锐自动化设备有限公司 | A kind of liquid crystal display connector is to plugging in machine |
| CN108745443A (en) * | 2018-07-26 | 2018-11-06 | 山东华盛天同标准技术服务有限公司 | A kind of automatically controlled rack for test tube |
| CN108789473A (en) * | 2018-08-09 | 2018-11-13 | 华南理工大学广州学院 | Adjustable mechanical grabbing device |
| CN110788878A (en) * | 2019-12-03 | 2020-02-14 | 无锡奥普特自动化技术有限公司 | Lens clamping device |
| CN111300464A (en) * | 2020-03-13 | 2020-06-19 | 三峡大学 | Synchronous clamping mechanism based on connecting rod and operation method |
| CN113866912A (en) * | 2021-08-27 | 2021-12-31 | 北京瑞祺皓迪技术股份有限公司 | Network wiring device |
| CN113866912B (en) * | 2021-08-27 | 2022-06-24 | 北京瑞祺皓迪技术股份有限公司 | Network wiring device |
| CN117049156A (en) * | 2023-09-12 | 2023-11-14 | 深圳市晶新科技有限公司 | Automatic stacking equipment for large-batch packaging bags |
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