CN206633037U - A kind of arm end grip device - Google Patents
A kind of arm end grip device Download PDFInfo
- Publication number
- CN206633037U CN206633037U CN201720328135.XU CN201720328135U CN206633037U CN 206633037 U CN206633037 U CN 206633037U CN 201720328135 U CN201720328135 U CN 201720328135U CN 206633037 U CN206633037 U CN 206633037U
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- sliding block
- gear
- pressing plate
- rack
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of arm end grip device, including substrate, the side of the substrate is provided with two parallel limited blocks, the sliding block of rectangular cross-section is provided between the limited block, and sliding block is strip structure, the sliding block is slidably connected with two limited blocks, the both sides of sliding block are separately installed with the first rack and the second rack, first gear and second gear are installed above substrate, the first gear and the first rack engaged transmission, the second gear and the second rack engaged transmission, the end face of first gear is rotatably connected to third connecting rod, first connecting rod is rotatably connected in the bar segment of the third connecting rod, the one end of the first connecting rod away from third connecting rod is rotatablely connected with sliding block, the end face of second gear is rotatably connected to fourth link, second connecting rod is rotatably connected in the bar segment of the fourth link.The utility model operation very flexibly, efficiently, improves the stability of gripping, it is possible to achieve flexibility gripping, ensure that the reliability of gripping.
Description
Technical field
It the utility model is related to manipulator technical field, more particularly to a kind of arm end grip device.
Background technology
Manipulator can imitate some holding functions of human hand and arm, object or operation are captured, carried by fixed routine
The automatic pilot of instrument.Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, and it can
Instead of the heavy labor of people to realize the mechanization of production and automation, can be operated under hostile environment to protect personal safety,
Thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Our common industrial robots are usually cantilevered, and cantilever is directly attached with fore paw by connecting rod,
Such connected mode is easily produced and rocked, and gripping is unstable, meanwhile, grip when in general manipulator captures is bigger, does not have
There is good shock-damping structure, so easily cause the phenomenon for being caught broken goods.
Utility model content
The purpose of this utility model is and a kind of arm end proposed in order to solve shortcoming present in prior art
Grip device.
To achieve these goals, the utility model employs following technical scheme：
A kind of arm end grip device, including substrate, the side of the substrate are provided with two parallel limited blocks,
The sliding block of rectangular cross-section is provided between the limited block, and sliding block is strip structure, the sliding block and two limited blocks are slided
Dynamic connection, the both sides of sliding block are separately installed with the first rack and the second rack, first gear and second are provided with above substrate
Gear, the first gear and the first rack engaged transmission, the second gear and the second rack engaged transmission, first gear
End face is rotatably connected to third connecting rod, and first connecting rod is rotatably connected in the bar segment of the third connecting rod, and the first connecting rod is remote
One end from third connecting rod is rotatablely connected with sliding block, and the end face of second gear is rotatably connected to fourth link, the fourth link
Bar segment on be rotatably connected to second connecting rod, the one end of the second connecting rod away from fourth link is rotatablely connected with sliding block, the 3rd
Be provided with the first pressing plate and the second pressing plate between connecting rod and fourth link, one end of first pressing plate and one end of the second pressing plate it
Between be rotatablely connected, the side of the first pressing plate is provided with the first screw rod, and first screw rod passes through the side wall of third connecting rod, the first spiral shell
The first spring is socketed with bar, the side of the second pressing plate is provided with the second screw rod, and second screw rod passes through the side of fourth link
Wall, second spring is socketed with the second screw rod.
Preferably, first rack and the second rack are arranged symmetrically on sliding block, first gear and second gear on
Sliding block is arranged symmetrically.
Preferably, the third connecting rod and fourth link are arranged symmetrically on sliding block, first connecting rod and second connecting rod on
Sliding block is arranged symmetrically.
Preferably, the structure and size all same of first pressing plate and the second pressing plate, the first pressing plate and the second pressing plate are in
Beveled structure, and the scope of knuckle is 120 degree to 150 degree.
Preferably, first spring is between third connecting rod and the first pressing plate, second spring be located at fourth link and
Between second pressing plate.
Preferably, it is mounted on nut on first screw rod and the second screw rod.
Compared with prior art, the beneficial effects of the utility model are：
Sliding block slides between limited block in the utility model, and sliding block drives first connecting rod and second connecting rod motion, simultaneously
By the first rack and the engaged transmission and the engaged transmission of the second rack and second gear of first gear, so as to drive first
Pressing plate and the second pressing plate realize folding and locking, and so as to realize the gripping to article, very flexibly, efficiently, gear engages for operation
Transmission, improves the stability of gripping, and gripping is very firm；By setting the first spring and second spring, it is possible to achieve flexible
Gripping, according to the characteristics of the goods of gripping, can be adjusted to the elastic force of spring by nut, ensure that the reliability of gripping.
Brief description of the drawings
Fig. 1 be the utility model proposes a kind of arm end grip device structural representation；
Fig. 2 be the utility model proposes a kind of arm end grip device location A schematic diagram.
In figure：1 first connecting rod, 2 third connecting rods, 3 first gears, 4 first racks, 5 substrates, 6 limited blocks, 7 sliding blocks, 9
Two gears, 10 fourth links, 11 second connecting rods, 12 first screw rods, 13 second screw rods, 14 first springs, 15 second springs, 16
One pressing plate, 17 second pressing plates.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.
Reference picture 1-2, a kind of arm end grip device, including substrate 5, the side of substrate 5 be provided with two it is parallel
Limited block 6, the sliding block 7 of rectangular cross-section is provided between limited block 6, and sliding block 7 be strip structure, sliding block 7 and two limit
Position block 6 is slidably connected, and the both sides of sliding block 7 are separately installed with the first rack 4 and the second rack 8, and the top of substrate 5 is provided with first
Gear 3 and second gear 9, the engaged transmission of 3 and first rack of first gear 4, the engaged transmission of 9 and second rack of second gear 8, the
The end face of one gear 3 is rotatably connected to third connecting rod 2, and first connecting rod 1 is rotatably connected in the bar segment of third connecting rod 2, and first connects
The one end of bar 1 away from third connecting rod 2 is rotatablely connected with sliding block 7, and the end face of second gear 9 is rotatably connected to fourth link 10, the
It is rotatably connected to second connecting rod 11 in the bar segment of double leval jib 10,7 turns of the one end of second connecting rod 11 away from fourth link 10 and sliding block
Dynamic connection, is provided with the first pressing plate 16 and the second pressing plate 17 between third connecting rod 2 and fourth link 10, one end of the first pressing plate 16 with
It is rotatablely connected between one end of second pressing plate 17, the side of the first pressing plate 16 is provided with the first screw rod 12, and the first screw rod 12 passes through
The side wall of third connecting rod 2, the first spring 14 is socketed with the first screw rod 12, the side of the second pressing plate 17 is provided with the second screw rod
13, the second screw rod 13 passes through the side wall of fourth link 10, is socketed with second spring 15 on the second screw rod 13, the first rack 4 and the
Two racks 8 are arranged symmetrically on sliding block 7, and first gear 3 and second gear 9 are arranged symmetrically on sliding block 7, third connecting rod 2 and
Double leval jib 10 is arranged symmetrically on sliding block 7, and first connecting rod 1 and second connecting rod 11 are arranged symmetrically on sliding block 7, the He of the first pressing plate 16
The structure and size all same of second pressing plate 17, the first pressing plate 16 and the second pressing plate 17 are in beveled structure, and the scope of knuckle is
120 degree to 150 degree, the first spring 14 is located between the pressing plate 16 of third connecting rod 2 and first, and second spring 15 is located at fourth link 10
And second between pressing plate 17, nut is mounted on the first screw rod 12 and the second screw rod 13.
Operation principle：During operation, sliding block 7 slides between limited block 6, and sliding block 7 drives first connecting rod 1 and second connecting rod 11
Motion, while the engagement for the engaged transmission and the second rack 8 and second gear 9 for passing through the first rack 4 and first gear 3 passes
Dynamic, so as to drive the first pressing plate 16 and the second pressing plate 17 to realize folding and locking, so as to realize the gripping to article, operation is very
Simply.
It is described above, the only preferable embodiment of the utility model, but the scope of protection of the utility model is not
This is confined to, any one skilled in the art is in the technical scope that the utility model discloses, according to this practicality
New technical scheme and its utility model design are subject to equivalent substitution or change, should all cover in protection model of the present utility model
Within enclosing.
Claims (6)
1. a kind of arm end grip device, including substrate (5), it is characterised in that the side of the substrate (5) is provided with two
The parallel limited block of bar (6), the sliding block (7) of rectangular cross-section is provided between the limited block (6), and sliding block (7) is strip
Structure, the sliding block (7) are slidably connected with two limited blocks (6), the both sides of sliding block (7) be separately installed with the first rack (4) and
Second rack (8), first gear (3) and second gear (9), the first gear (3) and first are installed above substrate (5)
Rack (4) engaged transmission, the second gear (9) and the second rack (8) engaged transmission, the end face of first gear (3), which rotates, to be connected
Third connecting rod (2) is connected to, first connecting rod (1), the first connecting rod (1) are rotatably connected in the bar segment of the third connecting rod (2)
One end away from third connecting rod (2) is rotatablely connected with sliding block (7), and the end face of second gear (9) is rotatably connected to fourth link
(10) second connecting rod (11), is rotatably connected in the bar segment of the fourth link (10), the second connecting rod (11) is away from the 4th
One end of connecting rod (10) is rotatablely connected with sliding block (7), and the first pressing plate (16) is provided between third connecting rod (2) and fourth link (10)
With the second pressing plate (17), it is rotatablely connected between one end of first pressing plate (16) and one end of the second pressing plate (17), the first pressure
The side of plate (16) is provided with the first screw rod (12), and first screw rod (12) passes through the side wall of third connecting rod (2), the first screw rod
(12) the first spring (14) is socketed with, the side of the second pressing plate (17) is provided with the second screw rod (13), second screw rod
(13) side wall of fourth link (10) is passed through, second spring (15) is socketed with the second screw rod (13).
A kind of 2. arm end grip device according to claim 1, it is characterised in that first rack (4) and
Second rack (8) is arranged symmetrically on sliding block (7), and first gear (3) and second gear (9) are arranged symmetrically on sliding block (7).
A kind of 3. arm end grip device according to claim 1, it is characterised in that the third connecting rod (2) and
Fourth link (10) is arranged symmetrically on sliding block (7), and first connecting rod (1) and second connecting rod (11) are arranged symmetrically on sliding block (7).
A kind of 4. arm end grip device according to claim 1, it is characterised in that first pressing plate (16) and
The structure and size all same of second pressing plate (17), the first pressing plate (16) and the second pressing plate (17) are in beveled structure, and knuckle
Scope is 120 degree to 150 degree.
A kind of 5. arm end grip device according to claim 1, it is characterised in that the first spring (14) position
Between third connecting rod (2) and the first pressing plate (16), second spring (15) be located at fourth link (10) and the second pressing plate (17) it
Between.
A kind of 6. arm end grip device according to claim 1, it is characterised in that first screw rod (12) and
Second screw rod is mounted on nut on (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720328135.XU CN206633037U (en) | 2017-03-28 | 2017-03-28 | A kind of arm end grip device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720328135.XU CN206633037U (en) | 2017-03-28 | 2017-03-28 | A kind of arm end grip device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206633037U true CN206633037U (en) | 2017-11-14 |
Family
ID=60259581
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720328135.XU Expired - Fee Related CN206633037U (en) | 2017-03-28 | 2017-03-28 | A kind of arm end grip device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206633037U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623861A (en) * | 2019-01-30 | 2019-04-16 | 郑州莱发科技有限公司 | A kind of flexible grabbing device |
| CN110641161A (en) * | 2019-09-25 | 2020-01-03 | 杭州吉锦图文设计有限公司 | Access control card manufacturing device for internet industry |
| CN111778891A (en) * | 2020-06-24 | 2020-10-16 | 湖州前锋机械配件厂 | Road cone batch stacking device convenient to operate and used for road machinery |
| CN111791010A (en) * | 2020-09-09 | 2020-10-20 | 湖南高福星智能科技有限公司 | Welding equipment for machine manufacturing |
-
2017
- 2017-03-28 CN CN201720328135.XU patent/CN206633037U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623861A (en) * | 2019-01-30 | 2019-04-16 | 郑州莱发科技有限公司 | A kind of flexible grabbing device |
| CN110641161A (en) * | 2019-09-25 | 2020-01-03 | 杭州吉锦图文设计有限公司 | Access control card manufacturing device for internet industry |
| CN111778891A (en) * | 2020-06-24 | 2020-10-16 | 湖州前锋机械配件厂 | Road cone batch stacking device convenient to operate and used for road machinery |
| CN111791010A (en) * | 2020-09-09 | 2020-10-20 | 湖南高福星智能科技有限公司 | Welding equipment for machine manufacturing |
| CN111791010B (en) * | 2020-09-09 | 2020-12-01 | 湖南高福星智能科技有限公司 | Welding equipment for machine manufacturing |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20171114 Termination date: 20180328 |