CN206445821U - A kind of mechanical gripper for breakable object - Google Patents
A kind of mechanical gripper for breakable object Download PDFInfo
- Publication number
- CN206445821U CN206445821U CN201621409602.3U CN201621409602U CN206445821U CN 206445821 U CN206445821 U CN 206445821U CN 201621409602 U CN201621409602 U CN 201621409602U CN 206445821 U CN206445821 U CN 206445821U
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- gripping
- motor
- rod
- supporting rod
- mechanical gripper
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Abstract
The utility model provides a kind of mechanical gripper for breakable object, it is characterised in that：Including support member, pickup folder and anti-aster；Support member includes top supporting rod, connecting rod and expansion link；The quantity of pickup folder is also two, bottom that is vertically symmetrical and being respectively arranged in connecting rod, including gripping support bar, leading screw, slide bar, mounting rod, gripping block；Anti- aster include gripping motor, gripping gear, sampling resistor, rotating speed control CPU, controllable silicon, test the speed Hall and magnetic number ring.The utility model can effectively prevent from causing the fragmentation of breakable object because chucking power is excessive while ensureing to grip all kinds of breakable object efficient stables, and structure is novel, easy to use, be adapted to promote.
Description
Technical field
The utility model belongs to capture apparatus field, and in particular to a kind of to be directed to what breakable object also be clamped effectively
Mechanical gripper.
Background technology
A large amount of robots are typically provided with automatic assembly line, realize to enter the article on streamline by robot
Row clamping, movement, can increase substantially the production efficiency of product, effectively reduce cost of labor.Although current robot energy
Precise positioning and clamping enough are carried out for article, but chucking power is uncontrollable, is easily caused the fragmentation of article, in particular for
Breakable object, is easily caused the increase of product cost.
Therefore, those skilled in the art institute urgent need to solve the problem when developing a kind of mechanical gripper for breakable object.
The content of the invention
To solve the above problems, the utility model discloses a kind of mechanical gripper for breakable object.
In order to achieve the above object, the utility model provides following technical scheme：
A kind of mechanical gripper for breakable object, it is characterised in that：Including support member, pickup folder and anti-aster；Support
Part includes top supporting rod, connecting rod and expansion link；Top supporting rod is vertically arranged；The quantity of connecting rod is two, the company of rotation
It is connected to the bottom of top supporting rod；The two ends of expansion link rotate with the middle part of two connecting rods be connected respectively；
The quantity of pickup folder is also two, bottom that is vertically symmetrical and being respectively arranged in connecting rod, including gripping support bar, silk
Thick stick, slide bar, mounting rod, gripping block；Support bar is gripped in the Y shape that Open Side Down, including turning end in direct rod shape and in opening
The connection end of the downward U-shape of mouth；The bottom of connecting rod is rotationally connected with the top of turning end, bottom is mutually fixed with connection end；Silk
The two ends of thick stick are rotationally connected with two middle side parts of connection end respectively, and the middle part of leading screw coordinates that to be provided with both sides screw thread oppositely arranged
Feed screw nut；The two ends of slide bar are rotationally connected with two side bottoms of connection end respectively；The quantity of mounting rod is two, on leading screw
Nut is symmetrical, and its top is sheathed on the surface of slide bar, and is engaged installation with the surface of leading screw, and the bottom of mounting rod is connected vertically
There is gripping block；Gripping block is from top to bottom provided with the groove that accommodates of column, and same gripping support bar close to top supporting rod side
On two gripping block one end close to each other as breakage-proof end, two corresponding gripping blocks are mutually leaned on two gripping support bars
Nearly one end is used as pinching end；
Anti- aster include gripping motor, gripping gear, sampling resistor, rotating speed control CPU, controllable silicon, test the speed Hall and
Magnetic number ring；Gripping motor is fixed on the surface of turning end straight down, and the bottom of its output shaft is fixed with travelling gear；Grip tooth
Wheel coordinates the surface for being installed on feed screw nut, and is meshed with travelling gear；Sampling resistor, rotation control CPU and controllable
In the electric motor loop of silicon series connection access gripping motor；Magnetic number ring is installed on the top of rotor in gripping motor；Test the speed Hall
It is fixed on by magnetic number ring, and is connected with rotating speed control CPU.
The utility model provides a kind of mechanical gripper for breakable object, by support member, pickup folder and anti-aster group
Into.Wherein support member is made up of top supporting rod, connecting rod and expansion link, and top supporting rod is vertically arranged, and connecting rod selection is two
It is individual, top supporting rod bottom is rotationally connected with, expansion link two ends rotate with the middle part of two connecting rods be connected respectively, and the structure makes
Expansion link can by the flexible regulation for driving two connecting rod angulations, the change for the connecting rod low side height for being further,
Realize the lifting for being connected to connecting rod bottom pickup folder.Pickup folder in the utility model is by gripping support bar, leading screw, slide bar, peace
Fill bar and gripping block composition, wherein gripping support bar is in the Y shape that Open Side Down, from the turning end in direct rod shape and be open to
Under U-shaped connection end composition, be rotationally connected with connecting rod bottom at the top of turning end, to drive unitary rotation, bottom is with being connected
End is fixed；Leading screw and slide bar, which rotate to coordinate in the middle part of the middle part and bottom with connection end, leading screw respectively, is provided with both sides screw thread
Slide bar surface is sheathed at the top of oppositely arranged feed screw nut, mounting rod, and is engaged with leading screw installation, the structure causes two
The individual mounting rod being symmetrically installed can be relatively distant from or close, further under the rotary action of feed screw nut along slide bar
Gripping block is driven to be located remotely from each other or close, and two gripping blocks close to each other one on the same gripping support bar of the utility model
End is as breakage-proof end, and two grip two gripping block one end close to each other corresponding on support bars and are used as pinching end；Breakage-proof end
Can be close or remote by the rotation realization of feed screw nut, pinching end can then be realized close or remote by expansion link
From.
And in order to prevent breakage-proof end to be caught broken object, the utility model is additionally provided with anti-aster, by gripping motor, gripping tooth
Wheel, sampling resistor, rotating speed control CPU, controllable silicon, Hall and the magnetic number ring group of testing the speed into；Wherein sampling resistor, rotating speed control
In the electric motor loop of CPU and controllable silicon in serial connection access gripping motor, magnetic number ring is installed on the top of rotor in gripping motor
Portion, the Hall that tests the speed is fixed on by magnetic number ring, and is connected with rotating speed control CPU.Sampling resistor therein will grip the electricity of motor
Different size of current value is converted to corresponding magnitude of voltage in machine loop, and input to rotating speed controls CPU, and rotating speed control CPU will be by
The voltage analog of sampling resistor transmission is converted into corresponding digital quantity, controls the break-make of controllable silicon, so as to control to grip motor
Operation and stopping；Magnetic number ring in the utility model is installed on the top of rotor in gripping motor, with bore motor
Rotor is rotated together, and the Hall that tests the speed is fixed on by magnetic number ring, and is connected with rotating speed control CPU, Hall turning because of magnetic number ring of testing the speed
The change of movable property magnetisation pole, so as to judge that bore motor is in static or rotary state.When gripping motor is constantly in operation
During state, the magnitude of voltage on load condition, sampling resistor is kept to keep constant or become on the output shaft being connected with gripping motor
Change is smaller, and rotating speed control CPU control controllable silicons are remained on, the operating condition of retaining clip power taking machine；When breakage-proof end is mutual
Contact, or when all with being contacted by gripping thing, the load on gripping motor output shaft increases suddenly, the magnitude of voltage on sampling resistor
Also increase suddenly therewith, rotating speed control CPU control controllable silicon shut-offs, gripping motor is stopped, so as to realize to two breakage-proof ends
Geo-stationary, prevent to gripped object cause damage.
Preferably, also including fixing to clamp portion；Fixing to clamp portion includes silicon steel sheet, absorption iron plate, absorption wire, fixation
Clamp power supply and fix to clamp switch；Silicon steel sheet and absorption iron plate are individually fixed in the surface of two neighboring pinching end；Inhale
Attached wire uniform winding is connected to form loop in the surface of silicon steel sheet, and with fixing to clamp power supply；Switch is fixed to clamp with inhaling
Attached wire is engaged installation.
The utility model is additionally provided with the portion of fixing to clamp, the laminating for realizing two pinching ends, fixes to clamp portion by silicon steel
Piece, adsorb iron plate, adsorb wire, fix to clamp power supply and fix to clamp switch composition, wherein silicon steel sheet and absorption iron plate
Two clamping end surfaces are separately fixed at, absorption wire uniform winding is formed back on silicon steel sheet surface by fixing to clamp power supply
Road, the structure causes absorption wire when being powered, and electric current passes through silicon steel sheet, silicon steel sheet is produced strong magnetic field, will in contrast
The absorption iron plate answered tightly is adsorbed, so as to realize the absorption of two pinching ends, and only needs to less electric current, with regard to can reach compared with
Big absorption affinity, that is, reduce use cost, while can also improve using effect and safety in utilization.
Preferably, being also equipped with angular adjustment motor at the top of top supporting rod；The output shaft edge of angular adjustment motor
The axial direction of top supporting rod is secured to vertically.
The utility model is also equipped with the angle that can be used for driving the utility model unitary rotation at the top of top supporting rod
Regulation motor is spent, to adjust the angle of pickup folder according to specific needs.
Preferably, the surface that leading screw is located at feed screw nut both sides is arranged with mounting groove；It is sheathed at the top of mounting rod
The surface of slide bar, and it is in mating connection with mounting groove.
Leading screw is located at feed screw nut both side surface and is arranged with mounting groove for bar to be fixedly mounted in the utility model,
Ensure feed screw nut when rotating, the mounting rod being fixed in mounting groove can be stably along sliding bar.
Preferably, angular adjustment motor and gripping motor are servomotor, and it is connected with servo-drive.
Angular adjustment motor in the utility model and gripping motor are selected as servomotor, and are respectively connected with and are watched
Clothes driving, the design make it that angular adjustment motor and gripping motor can be opened and closed in time according to actual needs.
Preferably, top supporting rod is hydraulic stem.
Top supporting rod selection is hydraulic stem in the utility model, is integrally lifted available for the utility model is driven.
Preferably, the surface at breakage-proof end is also pasted and has sponge plate.
The utility model is also fitted with sponge plate on the surface at breakage-proof end, can effectively prevent breakage-proof end in laminating to quilt
Gripping thing causes to damage.
The utility model compared with prior art, ensure all kinds of breakable object efficient stables are gripped while, Neng Gouyou
Effect prevents from causing the fragmentation of breakable object because chucking power is excessive, and structure is novel, easy to use, is adapted to promote.
Brief description of the drawings
Fig. 1, front view of the present utility model；
Fig. 2, side view of the present utility model；
The schematic diagram of anti-aster in Fig. 3, the utility model；
The schematic diagram in portion is fixed to clamp in Fig. 4, the utility model.
Reference numerals list：Top supporting rod 1, connecting rod 2, expansion link 3, gripping support bar 4, leading screw 5, slide bar 6, mounting rod
7th, gripping block 8, feed screw nut 9, gripping motor 10, gripping gear 11, sampling resistor 12, rotating speed control CPU13, controllable silicon 14,
Test the speed Hall 15, magnetic number ring 16, travelling gear 17, silicon steel sheet 18, absorption iron plate 19, absorption wire 20, fix to clamp power supply 21,
Fix to clamp switch 22, angular adjustment motor 23, sponge plate 24.
Embodiment
The technical scheme provided below with reference to specific embodiment the utility model is described in detail, it should be understood that following
Embodiment is merely to illustrate the utility model rather than limits scope of the present utility model.
It is front view of the present utility model as shown in Figure 1, the utility model is a kind of mechanical gripper for breakable object, bag
Include support member, pickup folder and anti-aster.
Support member includes top supporting rod 1, connecting rod 2 and expansion link 3；Top supporting rod 1 is hydraulic stem, top supporting rod
1 is vertically arranged, and the top of top supporting rod 1 is also equipped with angular adjustment motor 23；The output shaft edge top of angular adjustment motor 23
The axial direction of portion's support bar 1 is secured to vertically；The quantity of connecting rod 2 is two, is rotationally connected with the bottom of top supporting rod 1；
The two ends of expansion link 3 rotate with the middle part of two connecting rods 2 be connected respectively.
The quantity of pickup folder is also two, bottom that is vertically symmetrical and being respectively arranged in connecting rod 2, such as Fig. 2, including gripping branch
Strut 4, leading screw 5, slide bar 6, mounting rod 7, gripping block 8；Support bar 4 is gripped in the Y shape that Open Side Down, including turning in direct rod shape
Moved end and the connection end in the U-shape that Open Side Down；The bottom of connecting rod 2, bottom and company are rotationally connected with the top of turning end
End is connect mutually to fix；The two ends of leading screw 5 are rotationally connected with two middle side parts of connection end respectively, and the middle part of leading screw 5, which coordinates, is provided with two
The oppositely arranged feed screw nut 9 of side screw thread, the surface that leading screw 5 is located at the both sides of feed screw nut 9 is arranged with mounting groove；Slide bar 6
Two ends are rotationally connected with two side bottoms of connection end respectively；The quantity of mounting rod 7 is two, symmetrical on feed screw nut 9, and it is pushed up
Portion is sheathed on the surface of slide bar 6, and is engaged installation with mounting groove, and the bottom of mounting rod 7 is connected with gripping block 8 vertically；Gripping
Block 8 is from top to bottom provided with two folders on the groove that accommodates of column, and same gripping support bar 4 close to the side of top supporting rod 1
The one end close to each other of block 8 is taken as breakage-proof end, two grip two gripping block 8 one end close to each other corresponding on support bars 4
It is used as pinching end；Also paste and have sponge plate 24 in the surface at breakage-proof end.
Such as Fig. 3, anti-aster includes gripping motor 10, gripping gear 11, sampling resistor 12, rotating speed control CPU13, controllable silicon
14th, test the speed Hall 15 and magnetic number ring 16；Gripping motor 10 is fixed on the surface of turning end, the bottom of its output shaft straight down
It is fixed with travelling gear 17；Gripping gear 11 coordinates the surface for being installed on feed screw nut 9, and is meshed with travelling gear 17；
In the electric motor loop of sampling resistor 12, rotation control CPU13 and the series connection access gripping motor 10 of controllable silicon 14；Magnetic number ring 16 is pacified
Top loaded on rotor in gripping motor 10；The Hall 15 that tests the speed is fixed on by magnetic number ring 16, and controls CPU13 phases with rotating speed
Even.
Also include fixing to clamp portion；Such as Fig. 4, the portion of fixing to clamp include silicon steel sheet 18, absorption iron plate 19, absorption wire 20,
Fix to clamp power supply 21 and fix to clamp switch 22；Silicon steel sheet 18 and absorption iron plate 19 are individually fixed in two neighboring clamping
The surface at end；The absorption uniform winding of wire 20 is connected to form loop in the surface of silicon steel sheet 18, and with fixing to clamp power supply 21；
Fix to clamp switch 22 and be engaged installation with absorption wire 20.
Above angular adjustment motor 23 and gripping motor 10 are servomotor, and are connected with servo-drive.
It is last it should be noted that above example is only to illustrate the technical solution of the utility model and non-limiting skill
Art scheme, it will be understood by those within the art that, those are modified or waited to the technical solution of the utility model
With replacing, without departing from the objective and scope of the technical program, it all should cover among right of the present utility model.
Claims (7)
1. a kind of mechanical gripper for breakable object, it is characterised in that：Including support member, pickup folder and anti-aster；The branch
Support member includes top supporting rod（1）, connecting rod（2）And expansion link（3）；The top supporting rod（1）It is vertically arranged；The connecting rod
（2）Quantity be two, be rotationally connected with top supporting rod（1）Bottom；The expansion link（3）Two ends respectively with two
Connecting rod（2）Middle part rotate connection；
The quantity of the pickup folder is also two, vertically symmetrical and be respectively arranged in connecting rod（2）Bottom, including gripping support bar
（4）, leading screw（5）, slide bar（6）, mounting rod（7）, gripping block（8）；The gripping support bar（4）In the Y shape that Open Side Down, including
Turning end in direct rod shape and the connection end in the U-shape that Open Side Down；Connecting rod is rotationally connected with the top of the turning end
（2）Bottom, bottom is mutually fixed with connection end；The leading screw（5）Two ends be rotationally connected with two middle side parts of connection end respectively,
Leading screw（5）Middle part coordinate screw thread oppositely arranged feed screw nut in both sides is installed（9）；The slide bar（6）Two ends turn respectively
Dynamic two side bottoms for being connected to connection end；The mounting rod（7）Quantity be two, on feed screw nut（9）Symmetrically, its top
It is sheathed on slide bar（6）Surface, and and leading screw（5）Surface be engaged installation, mounting rod（7）Bottom be connected with gripping vertically
Block（8）；The gripping block（8）Close to top supporting rod（1）Side is from top to bottom provided with the groove that accommodates of column, and same gripping
Support bar（4）On two gripping blocks（8）One end close to each other is used as breakage-proof end, two gripping support bars（4）It is upper corresponding
Two gripping blocks（8）One end close to each other is used as pinching end；
The anti-aster includes gripping motor（10）, gripping gear（11）, sampling resistor（12）, rotating speed control CPU（13）, it is controllable
Silicon（14）, test the speed Hall（15）And magnetic number ring（16）；The gripping motor（10）The surface of turning end is fixed on straight down,
The bottom of its output shaft is fixed with travelling gear（17）；The gripping gear（11）Cooperation is installed on feed screw nut（9）Surface,
And with travelling gear（17）It is meshed；The sampling resistor（12）, rotate control CPU（13）And controllable silicon（14）Series connection
Enter to grip motor（10）Electric motor loop in；The magnetic number ring（16）It is installed on gripping motor（10）The top of middle rotor；
The Hall that tests the speed（15）It is fixed on magnetic number ring（16）Side, and control CPU with rotating speed（13）It is connected.
2. a kind of mechanical gripper for breakable object according to claim 1, it is characterised in that：Also include fixing to clamp
Portion；The portion of fixing to clamp includes silicon steel sheet（18）, absorption iron plate（19）, absorption wire（20）, fix to clamp power supply（21）With
And fix to clamp switch（22）；The silicon steel sheet（18）And absorption iron plate（19）It is individually fixed in the table of two neighboring pinching end
Face；The absorption wire（20）Uniform winding is in silicon steel sheet（18）Surface, and with fixing to clamp power supply（21）It is connected to form
Loop；It is described to fix to clamp switch（22）With absorption wire（20）It is engaged installation.
3. a kind of mechanical gripper for breakable object according to claim 1, it is characterised in that：The top supporting rod
（1）Top be also equipped with angular adjustment motor（23）；The angular adjustment motor（23）Output shaft along top supporting rod（1）
Axial direction be secured to vertically.
4. a kind of mechanical gripper for breakable object according to claim 1, it is characterised in that：The leading screw（5）It is located at
Feed screw nut（9）The surface of both sides is arranged with mounting groove；The mounting rod（7）Top be sheathed on slide bar（6）Surface, and
It is in mating connection with mounting groove.
5. a kind of mechanical gripper for breakable object according to claim 3, it is characterised in that：The angular adjustment motor
（23）And gripping motor（10）It is servomotor, and is connected with servo-drive.
6. a kind of mechanical gripper for breakable object according to claim 1, it is characterised in that：The top supporting rod
（1）For hydraulic stem.
7. a kind of mechanical gripper for breakable object according to claim 1, it is characterised in that：The surface at the breakage-proof end
Also paste and have sponge plate（24）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621409602.3U CN206445821U (en) | 2016-12-21 | 2016-12-21 | A kind of mechanical gripper for breakable object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621409602.3U CN206445821U (en) | 2016-12-21 | 2016-12-21 | A kind of mechanical gripper for breakable object |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206445821U true CN206445821U (en) | 2017-08-29 |
Family
ID=59673189
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621409602.3U Expired - Fee Related CN206445821U (en) | 2016-12-21 | 2016-12-21 | A kind of mechanical gripper for breakable object |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206445821U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107645143A (en) * | 2017-11-16 | 2018-01-30 | 山西立博线缆有限公司 | A kind of draw-gear for cable laying |
| CN108891089A (en) * | 2018-07-15 | 2018-11-27 | 江苏宇驰包装股份有限公司 | Automatic moving edgefolding device for packaging bag |
| CN109605282A (en) * | 2019-01-14 | 2019-04-12 | 中国长江电力股份有限公司 | A kind of removable centre-of-gravity thyristor component upkeep operation vehicle and application method |
| CN114167251A (en) * | 2021-11-23 | 2022-03-11 | 富芯微电子有限公司 | Silicon controlled rectifier conduction time testing arrangement |
-
2016
- 2016-12-21 CN CN201621409602.3U patent/CN206445821U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107645143A (en) * | 2017-11-16 | 2018-01-30 | 山西立博线缆有限公司 | A kind of draw-gear for cable laying |
| CN107645143B (en) * | 2017-11-16 | 2023-12-12 | 山西立博线缆有限公司 | Traction device for cable laying |
| CN108891089A (en) * | 2018-07-15 | 2018-11-27 | 江苏宇驰包装股份有限公司 | Automatic moving edgefolding device for packaging bag |
| CN109605282A (en) * | 2019-01-14 | 2019-04-12 | 中国长江电力股份有限公司 | A kind of removable centre-of-gravity thyristor component upkeep operation vehicle and application method |
| CN109605282B (en) * | 2019-01-14 | 2023-09-15 | 中国长江电力股份有限公司 | Movable gravity center type thyristor assembly overhauling operation vehicle and using method |
| CN114167251A (en) * | 2021-11-23 | 2022-03-11 | 富芯微电子有限公司 | Silicon controlled rectifier conduction time testing arrangement |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20171013 Address after: Wuzhong Economic Development Zone in Suzhou City, Jiangsu Province, the River Street 215000 tower rhyme Road No. 188 building 13 floor tower rhyme Patentee after: Suzhou Ott Mason automation equipment R & D Co., Ltd. Address before: 224399 room 168, 1702 science and technology building, sunshine road, Sheyang Economic Development Zone, Yancheng City, Jiangsu Patentee before: Jiangsu DeRo Intelligent Technologies Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170829 Termination date: 20171221 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |