CN206029936U

CN206029936U - Novel industrial robot gripper

Info

Publication number: CN206029936U
Application number: CN201621048356.3U
Authority: CN
Inventors: 王静娟
Original assignee: Shanghai Library Science And Education Instrument Co Ltd
Current assignee: Shanghai Library Science And Education Instrument Co Ltd
Priority date: 2016-09-08
Filing date: 2016-09-08
Publication date: 2017-03-22
Anticipated expiration: 2026-09-08

Abstract

The utility model discloses a novel industrial robot gripper, the motor has, the supporting arm, the bottom plate, the rack, two gear arm and two clamping jaws, the motor drives the rack and removes, two gear arm locate the both sides of rack respectively, gear arm has gear structure, and linking arm, gear structure and rack toothing are connected, gear structure installs on the bottom plate and can rotate round the pivot through the pivot, the tip of clamping jaw articulates on the bottom plate through the pivot, the one end of supporting arm is articulated with the tip of linking arm, the other end is articulated with the middle part of clamping jaw. The utility model discloses it is simple that handle structure grabs in gear drive's robot, and the flexibility is strong, the clamping -force degree is big and grasping speed is fast, can realize carrying on quick pick up and carrying out the centre gripping on robot quick travel in -process firm ground to the work piece to the work piece to effectively solve the matching problem of tongs and work piece, reduce production manufacturing cost, improve production efficiency. The tongs clamping jaw is adjustable simultaneously, and is applicable in picking the big or small work piece of different volumes.

Description

A kind of Novel industrial robot handgrip

Technical field

This utility model relates generally to robot correlative technology field, refers in particular to a kind of Novel industrial robot handgrip.

Background technology

Industrial robot be collection machinery, electronics, control, computer, sensor, the multidisciplinary advanced technology such as artificial intelligence and The important automated arm of the modern manufacturing industry of one, is characterized in that can complete various expected operations by programming appoints Business, has the advantage of people and machine on construction and performance concurrently.

Feeding handgrip promptly and accurately reliably can complete task under various operating modes, have wide city in industrial circle Field demand.In industrial automation production line, the feeding handgrip of robot may replace heavy hand labor, realize material The operation such as carrying, lathe loading and unloading and the assembling of whole machine, so as to reduce labor intensity, improve production efficiency and reduction are produced into This, can reach and ensure product quality and reliability, and energy saving and other effects.Mechanical paw is the crucial portion of industrial robot Part, due to differences such as the volume of workpiece, shapes, the paw supporting with robot there is also very big difference, accordingly, it would be desirable to according to will Ask and design simple structure, control reliability, the mechanical paw that motility is good, accuracy is high.

Utility model content

This utility model is solution existing issue, there is provided a kind of motility is strong, the robot gripper of clamping great efforts.

In order to reach the purpose of this utility model, technical scheme is as follows：

A kind of Novel industrial robot handgrip, it is characterised in that with motor, gripping arm, base plate, tooth bar, two gears Arm and two jaws, the outfan of motor are connected with one end of tooth bar and band carry-over bar movement, and two gear arms are respectively arranged on The both sides of tooth bar, the linking arm that gear arm is had gear structure and is connected with the gear structure, gear structure are nibbled with tooth bar Connection is closed, gear structure is arranged on base plate by rotating shaft and can be installed by rotating shaft around axis of rotation, the end of jaw On base plate and can be around the axis of rotation, one end of gripping arm be hinged, props up gripping arm by rotating shaft and the end of linking arm The other end by being hinged in the middle part of rotating shaft and jaw.

Preferably, also including cover plate, respectively positioned at the both sides of tooth bar, the two ends of rotating shaft are separately mounted to institute for base plate and cover plate State on base plate and cover plate.

Preferably, the both sides of base plate are equipped with described gripping arm, and a gripping arm is located at the outside of the jaw.

Preferably, the both ends of described gripping arm are provided with the installing hole for installing rotating shaft.

Preferably, the connecting plate also including L-type, the side plate of connecting plate is connected with motor output end, another side plate and tooth Bar connects.

Preferably, the retaining part of jaw is step shape.

This utility model has the advantage that：

The gear-driven robot gripper simple structure of this utility model, motility is strong, clamp great efforts and grasp speed Hurry up, be capable of achieving quickly to pick up workpiece and firmly clamp workpiece in the quick moving process of robot, from And the matching problem of effectively solving handgrip and workpiece, reduce manufacturing cost, improve production efficiency.Handgrip jaw can simultaneously Adjust, be applicable to capture the workpiece of different volumes size.

Description of the drawings

Structural representations of the Fig. 1 for Novel industrial robot handgrip；

Structural representations of the Fig. 2 for Fig. 1 main views；

Internal structure schematic diagrams of the Fig. 3 for Fig. 1；

Fig. 4 is the structural representation of jaw in Fig. 1；

Structural representations of the Fig. 5 for Fig. 1 middle gear arms；

Fig. 6 is the structural representation of rotating shaft in Fig. 1；

Fig. 7 is the structural representation of base plate in Fig. 1.

Specific embodiment

This utility model is further described with reference to embodiment, but protection domain of the present utility model not only office It is limited to embodiment.

With reference to shown in Fig. 1-Fig. 7, a kind of Novel industrial robot handgrip, it is characterised in that with motor 12, tooth bar 3, bottom Plate 2, cover plate, two 6, two gear arms 7 of gripping arm and two jaws 4.Connected by connecting plate 1 between motor 12 and tooth bar Connect, connecting plate 1 is the L-type structure being made up of two side plates, the side plate of connecting plate 1 is connected with motor output end by nut, Another side plate of connecting plate 1 is connected with tooth bar by bolt assembly.Another side plate of connecting plate 1 is provided with fluting, and fluting has Certain length, therefore link position of the tooth bar 3 on connecting plate is adjustable.Motor can be moved with carry-over bar.Base plate and cover plate point Not Wei Yu tooth bar 3 both sides, the two ends of rotating shaft 5 are separately mounted on the base plate and cover plate and are fixed by nut 9.

Two gear arms 7 are respectively arranged on the both sides of tooth bar 3, and two jaws 4 are also respectively positioned at the both sides of tooth bar 3.With reference to Fig. 5 Shown, gear arm 4 has gear structure 71, and the linking arm 72 that is connected with the gear structure 71, gear structure 71 and tooth The engagement connection of bar 3.

Gear structure 71 is arranged on base plate and can be rotated around rotating shaft 5 by rotating shaft 5.The end of jaw 4 is by turning Axle 5 is arranged on base plate and can be around axis of rotation.One end of gripping arm 6 is hinged by the end of rotating shaft 5 and linking arm 7, Prop up middle part of the other end of gripping arm 6 by rotating shaft 5 with jaw 4 to be hinged.

The both ends for propping up gripping arm have the perforate for installing rotating shaft.The both sides of base plate are equipped with described gripping arm, and The outside that gripping arm 6 is located at jaw 4 is propped up, the size of whole handgrip can be reduced.The middle part of bottom has the groove 21 for concaving into, After the outfan of motor is connected with connecting plate, fixed by screw bolt and nut, and connecting plate can be moved, groove 21 is provided Space needed for nut movement.

With reference to shown in Fig. 4, the retaining part 41 of jaw 4 is step shape, can be more steady during folder with increasing friction force It is fixed.

During real work, the output power of motor 12 is alongst moved by connecting plate band carry-over bar 3, and tooth bar 3 is moved When dynamic, gear arm 7 is driven to rotate around rotating shaft 5；Pull a gripping arm 6 to move when gear arm 7 is moved, pull when a gripping arm 6 is moved Jaw 4.Jaw 4 is rotated under the pulling of a gripping arm 6 with the hinge point with base plate and cover plate as fulcrum, and two jaws 8 are opposite Motion clamps workpiece, dorsad moves, puts down workpiece.

Finally it should be noted that：Above example only not limits this utility model and is retouched to illustrate this utility model The technical scheme stated, therefore, although this specification this utility model is had been carried out with reference to each above-mentioned embodiment it is detailed Illustrate, but, it will be understood by those within the art that, still this utility model can be modified or be equal to replace Change, and all are without departing from technical scheme and its improvement of spirit and scope of the present utility model, which all should cover new in this practicality In the right of type.

Claims

1. a kind of Novel industrial robot handgrip, it is characterised in that with motor (12), gripping arm (6), base plate (2), tooth bar (3), two gear arms (7) and two jaws (4), the outfan of motor are connected with one end of tooth bar and band carry-over bar movement, Two gear arms are respectively arranged on the both sides of tooth bar, and gear arm is had gear structure (71), and is connected with the gear structure Linking arm (72), gear structure are connected with tooth bar engagement, and gear structure is arranged on base plate by rotating shaft and can be around rotating shaft Rotate, the end of jaw is arranged on base plate by rotating shaft (5) and can be around the axis of rotation, and one end of a gripping arm passes through Rotating shaft and the end of linking arm are hinged, the other end of a gripping arm is by being hinged in the middle part of rotating shaft (5) and jaw.

2. a kind of Novel industrial robot handgrip according to claim 1, it is characterised in that also including cover plate, base plate and Respectively positioned at the both sides of tooth bar, the two ends of rotating shaft are separately mounted on the base plate and cover plate cover plate.

3. a kind of Novel industrial robot handgrip according to claim 2, it is characterised in that the both sides of base plate are all provided with A gripping arm is stated, and a gripping arm is located at the outside of the jaw.

4. a kind of Novel industrial robot handgrip according to claim 3, it is characterised in that the two of described gripping arm (6) End is provided with the installing hole for installing rotating shaft.

5. a kind of Novel industrial robot handgrip according to claim 1, it is characterised in that also including the connecting plate of L-type, The side plate of connecting plate is connected with motor output end, another side plate is connected with tooth bar.

6. a kind of Novel industrial robot handgrip according to claim 1, it is characterised in that the retaining part (41) of jaw For step shape.