CN206029938U

CN206029938U - Novel industrial robot gripper

Info

Publication number: CN206029938U
Application number: CN201621048359.7U
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, its characterized in that has motor, rack, two gear arm and two fingers, and the output of motor is connected with the one end of rack and is driven the rack and removes, and two gear arm locate the both sides of rack respectively, gear arm have gear structure and with the linking arm that gear structure connects, gear structure and rack toothing are connected, and the tip of linking arm is articulated through the pivot with the tip of finger. The utility model discloses an advantage: 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 finger 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, tooth bar, two gear arms and two handss Refer to, the outfan of motor is 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, tooth The linking arm that wheel arm is had gear structure and is connected with the gear structure, gear structure are connected with tooth bar engagement, linking arm End be hinged by rotating shaft with the end of finger.

Preferably, also including base plate, gear structure is arranged on the base plate centrally through rotating shaft.

Preferably, also including a gripping arm, one end and the base plate of a gripping arm are hinged on base plate by rotating shaft, prop up the another of gripping arm One end is hinged on the middle part of finger by rotating shaft.

Preferably, the both sides of base plate are equipped with described gripping arm.

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 finger is wavy shape.

Preferably, the two ends and middle part of described gripping arm are provided with the installing hole for installing rotating shaft.

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 finger 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；

Backsight structural representations of the Fig. 3 for Fig. 1；

Fig. 4 is the structural representation of finger 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. 3, a kind of Novel industrial robot handgrip, it is characterised in that with motor 9, tooth bar 3, bottom 2, two gear arms 4 of plate and two fingers 8.Connected by connecting plate 7 between motor 9 and tooth bar, connecting plate 7 is by two sides The L-type structure of plate composition, the side plate of connecting plate 7 is connected with 9 outfan of motor by nut 12, another side plate of connecting plate 7 It is connected with tooth bar 3 by bolt assembly 11.Fluting is provided with another side plate, and fluting exists with certain length, therefore tooth bar 3 Link position on connecting plate 7 is adjustable.Motor 9 can be moved with carry-over bar 3.

Two gear arms 4 are respectively arranged on the both sides of tooth bar 3, and two fingers 8 are also respectively positioned at the both sides of tooth bar 3.With reference to Fig. 5 Shown, gear arm 4 has gear structure 41, and the linking arm 42 that is connected with the gear structure 41, gear structure 41 and tooth The engagement connection of bar 3, the end of linking arm 42 is hinged by rotating shaft 5 with the end of finger.The center of gear structure 41 also by turn Axle 5 is arranged on the base plate 2.

Also include a gripping arm 6, one end and the base plate of a gripping arm 6 are hinged on a base plate 2 by rotating shaft 5, prop up the another of gripping arm 6 End is hinged on the middle part of finger 8 by rotating shaft 5.Two gripping arms 6, two supports are equipped between each finger 8 and base plate 2 Arm 6 is respectively arranged on the both sides of base plate, and a gripping arm 6 for both sides is hinged with the two ends of rotating shaft respectively.The both ends for propping up gripping arm have use In the perforate for installing rotating shaft, equally, perforate also is provided with the middle part of a gripping arm 6, therefore, it can make middle part and the finger of a gripping arm Be hinged, reduce the spacing between the retaining part 81 of two fingers 8, the workpiece of small volume is captured beneficial to handgrip.

With reference to shown in Fig. 4, the retaining part 81 of finger 8 is wavy shape, can be more steady during folder with increasing friction force It is fixed.

During real work, the output power of motor 9 is alongst moved with carry-over bar 3 by connecting plate 7, and tooth bar 3 is moved When dynamic, gear arm 4 is driven to rotate around rotating shaft 5；Finger 8 with the hinge point with gripping arm 6 as fulcrum, in the band of gear arm 4 Dynamic lower rotation, a gripping arm 6 is with the hinge point with base plate 2 as fulcrum and supports finger 8, and two 8 move toward one anothers of finger are clamped Workpiece, dorsad moves, and 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 (9), tooth bar (3), two gear arms (4) and Two fingers (8), 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 tooth bar Both sides, gear arm has gear structure (41), and the linking arm (42) that is connected with the gear structure, gear structure and tooth Bar engagement connection, the end of linking arm is hinged by rotating shaft (5) with the end of finger.

2. a kind of Novel industrial robot handgrip according to claim 1, it is characterised in that also including base plate (2), gear Structure (41) centrally through rotating shaft be arranged on the base plate on.

3. a kind of Novel industrial robot handgrip according to claim 2, it is characterised in that also including a gripping arm (6), One end of gripping arm is hinged on base plate by rotating shaft with base plate, and the other end of a gripping arm is hinged on the middle part of finger by rotating shaft.

4. a kind of Novel industrial robot handgrip according to claim 3, it is characterised in that the both sides of base plate are all provided with State a gripping arm.

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 (7), 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 (81) of finger For wavy shape.

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