CN206967512U - The end-effector of industrial robot - Google Patents
The end-effector of industrial robot Download PDFInfo
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- CN206967512U CN206967512U CN201720733423.3U CN201720733423U CN206967512U CN 206967512 U CN206967512 U CN 206967512U CN 201720733423 U CN201720733423 U CN 201720733423U CN 206967512 U CN206967512 U CN 206967512U
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- downside
- driving element
- connecting rod
- division board
- drive shaft
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Abstract
The utility model discloses the end-effector of industrial robot, including drive shaft, division board, driving element, drive link, follower link, translation finger, the division board is horizontal positioned, and the drive shaft is passed vertically through in the middle part of division board；The elongated platy structure of driving element, by being bent to form the isosceles trapezoid shape of no bottom at two, driving element is arranged on the downside of division board, and the upper bottom edge of driving element is connected with drive shaft lower end, and two hypotenuses of driving element have symmetrical hollow out position；Follower link has two pieces, and in long strip-board shape, the upper end of two pieces of follower links is connected on the downside of division board, and is symmetrically distributed in two both sides of the drive link away from drive shaft.The adsorbent equipment that the utility model is arranged on the downside of driving element upper bottom edge can be adsorbed by the upper surface of gripping object when finger gripping object is translated, it is achieved thereby that further ensure the stability of object in the handling process to being fixed by gripping object.
Description
Technical field
It the utility model is related to manipulator, and in particular to the end-effector of industrial robot.
Background technology
Manipulator is a kind of some holding functions that can imitate human hand and arm, to be captured by fixed routine, carry object
Or the automatic pilot of operation instrument.Manipulator is the industrial robot occurred earliest, and the modern machines occurred earliest
People, it can replace the heavy labor of people to be operated to realize the mechanization of production and automation under hostile environment to protect people
Body safety, thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.In in life, section now
Skill day crescent benefit progress under, robot and the maximum difference of arm for having the mankind are that flexibility ratio and resistance to dynamics.
Be exactly manipulator sharpest edges it is recursive do it is same action machinery will not always feel tired under normal circumstances.Machinery
The application of arm also will be more and more extensive, and manipulator is a kind of high-tech automatic producing device that recent decades grow up,
The ability to be fulfiled assignment in the accuracy and environment of operation.Wherein, plane parallel translation type clamp-type manipulator is mainly used in removing
The smooth object in surface is transported, plane translation type jaw type manipulator of the prior art is relied primarily on caused by the lateral extrusion of finger
The problem of vertical frictional force is fixed to being handled upside down object, existed is that body surface is excessively smooth, and its frictional force is smaller, it is impossible to
Object is carried out effectively to fix, easy generation bulk damage, is unfavorable for producing.
Utility model content
Technical problem to be solved in the utility model is that body surface is excessively smooth, and its frictional force is smaller, it is impossible to thing
Body carries out effectively fixed, and it is an object of the present invention to provide the end-effector of industrial robot, in the vertical direction increase external force, to object
Effectively fix, ensure transporting safely for object.
The utility model is achieved through the following technical solutions：
The end-effector of industrial robot, including drive shaft, division board, driving element, drive link, follower link,
Finger is translated, the division board is horizontal positioned, and the drive shaft is passed vertically through in the middle part of division board；The driving element is elongated
Platy structure, by being bent to form the isosceles trapezoid shape of no bottom at two, driving element is arranged on the downside of division board, driving
The upper bottom edge of element is connected with drive shaft lower end, and two hypotenuses of driving element have symmetrical hollow out position；Drive link has two pieces,
It is in long strip-board shape, the upper end of two pieces of drive links is connected on the downside of division board, and is symmetrically distributed in the both sides of drive shaft；It is described
The hollow out position of the hypotenuse of driving element two is connected with two drive links respectively by twisting pin；Follower link has two pieces, in length
Bar tabular, the upper end of two pieces of follower links is connected on the downside of division board, and is symmetrically distributed in two drive links away from drive shaft
Both sides；The translation finger has two, is symmetrically arranged at the both sides that drive shaft extends downwardly line, each translation finger
It is connected to the lower end of follower link and drive link in the same side, also, two drive links and two follower links two
Two is parallel, and two relative faces of translation finger are smooth, and are parallel to each other；The downside of the driving element upper bottom edge is set
There is adsorbent equipment.
A hollow connecting pole is provided with the utility model, on the upside of division board, drive shaft is arranged on connecting pole
In boring, drive shaft passes through division board, can be carried out in the presence of driving force in the inside of division board and connecting pole
Lower movement, moving up and down for drive shaft have just driven moving up and down for driving element；The hollow out position of two hypotenuses of driving element
It is attached by twisting pin and the drive link of both sides, driving element moves up and down, and forces strand pin to be produced in hollow out position
Slide, and the cavity that hollow out position is formed is not vertical or horizontal, therefore the track that can cause to twist pin motion is the center of circle
The arching trajectory on the upside of pin horizontal plane is being twisted, is thus forcing drive link using the tie point of drive link and separation layer as the center of circle
Circular motion is carried out, also, drive link under vertical state is all parallel with follower link, the motion of drive link also can
Follower link motion is driven, and in motion process, drive link is all parallel with follower link, thus, translates finger
Also due to the motion of drive link and follower link is swung, the lower end of drive link and follower link be all the time with
Plane-parallel, two relative faces of translation finger remain parallel, so as to realize the function of gripping object；It is arranged on driving
The adsorbent equipment of the downside of element upper bottom edge can be adsorbed by the upper table of gripping object when finger gripping object is translated
Face, it is achieved thereby that further ensureing the stability of object in the handling process to being fixed by gripping object.
Further, adsorbent equipment includes upside connecting rod, spring, downside connecting rod and sucker, the upper end of the upside connecting rod
The downside of driving element upper bottom edge is fixedly connected on, the upper end of downside connecting rod is socketed in the inside of upside connecting rod, downside connecting rod
Lower end is connected to the top of sucker；The spring is socketed in the outer surface of upside connecting rod and downside connecting rod, and the upside of spring is fixed
In the downside of driving element upper bottom edge, the top of sucker is fixed on the downside of spring.
Downside connecting rod is socketed in the middle part of the lower end of upside connecting rod, and upside connecting rod is hollow sleeve, and downside connecting rod is solid
, downside connecting rod can stretch above and below the inside of upside connecting rod.When translation finger is placed on the both side surface of held object,
Drive rod pushes, and upside connecting rod can bear a pressure with downside connecting rod, force sucker suction in the surface of held object, bullet
Spring can buffer during this time, prevent drive rod from declining excessive, and the strength for causing upside connecting rod and downside connecting rod to bear is excessive
And damage, when drive rod is lifted up, translation finger applies the extruding force of horizontal direction to held object, while carries upwards
Rise, upside connecting rod and downside connecting rod are by the pulling force of vertical direction, and now, spring is to prevent, object is in finger is translated
Slide apart from it is excessive when, upside connecting rod and downside connecting rod endurance are excessive, the situation hair for causing connecting rod and sucker to damage
It is raw.Sucker suction makes held object in the vertical direction add the pulling force of a sucker, ensure that object in body surface
Transport safely.
Further, distance nearest between equal to two translation fingers of the diameter of sucker.Such distance, which is set, to be caused
Sucker reaches maximum magnitude adsorption area, while is not present and conflicts between sucker and translation finger.
Further, the both ends of drive link and follower link are attached by bearing with corresponding part.Bearing
The frictional force connected between drive link, follower link and separation layer, translation finger can be reduced, reduce what drive shaft was exported
Driving force, the service life of prolonged mechanical hand.
Further, the angular range between the hypotenuse of driving element and upper bottom edge is 110 °~160 °.
The utility model compared with prior art, has the following advantages and advantages：
1st, the utility model is arranged on the adsorbent equipment of the downside of driving element upper bottom edge in translation finger gripping object
When can adsorb by the upper surface of gripping object, it is achieved thereby that further ensureing being fixed by gripping object
The stability of object in the handling process；
2nd, the utility model is attached at the both ends of drive link and follower link by bearing with corresponding part,
Bearing can reduce the frictional force connected between drive link, follower link and separation layer, translation finger, and it is defeated to reduce drive shaft institute
The driving force gone out, the service life of prolonged mechanical hand.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding the utility model embodiment, forms the one of the application
Part, the restriction to the utility model embodiment is not formed.In the accompanying drawings：
Fig. 1 is the utility model structure diagram；
Fig. 2 is the utility model adsorbent equipment schematic diagram.
Mark and corresponding parts title in accompanying drawing：
1- drive shafts, 2- division boards, 3- bearings, 4- driving elements, 5- drive links, 6- follower links, 7- adsorbent equipments,
8- translates finger, 71- upsides connecting rod, 72- springs, 73- downsides connecting rod, 74- suckers.
Embodiment
For the purpose of this utility model, technical scheme and advantage is more clearly understood, with reference to embodiment and accompanying drawing,
The utility model is described in further detail, and exemplary embodiment of the present utility model and its explanation are only used for explaining this
Utility model, it is not intended as to restriction of the present utility model.
Embodiment
As depicted in figs. 1 and 2, the end-effector of industrial robot, including drive shaft 1, division board 2, driving element 4,
Drive link 5, follower link 6, translation finger 8, the division board 2 is horizontal positioned, and the drive shaft 1 passes vertically through division board 2
Middle part；The 4 elongated platy structure of driving element, by being bent to form the isosceles trapezoid shape of no bottom at two, drive
Dynamic element 4 is arranged on the downside of division board 2, and the upper bottom edge of driving element 4 is connected with the lower end of drive shaft 1,4 two hypotenuses of driving element
There is symmetrical hollow out position；Drive link 5 has two pieces, is connected to division board in long strip-board shape, the upper end of two pieces of drive links 5
2 downsides, and it is symmetrically distributed in the both sides of drive shaft 1；The hollow out position of described 4 liang of hypotenuses of driving element is by twisting pin respectively with two
Individual drive link 5 connects；Follower link 6 has two pieces, is connected to division board 2 in long strip-board shape, the upper end of two pieces of follower links 6
Downside, and it is symmetrically distributed in two both sides of the drive link 5 away from drive shaft 1；The translation finger 8 has two, respectively symmetrically
The both sides that drive shaft 1 extends downwardly line are arranged on, each translation finger 8 is connected to the follower link 6 in the same side and driven
The lower end of dynamic connecting rod 5, also, two drive links 5 and two follower links 6 are parallel two-by-two, the relative face of two translation fingers 8
It is smooth, and is parallel to each other；Adsorbent equipment 7 is provided with the downside of the upper bottom edge of driving element 4.
Adsorbent equipment 7 includes upside connecting rod 71, spring 72, downside connecting rod 73 and sucker 74, the upside connecting rod 71 it is upper
End is fixedly connected on the downside of the upper bottom edge of driving element 4, and the upper end of downside connecting rod 73 is socketed in the inside of upside connecting rod 71, downside
The lower end of connecting rod 73 is connected to the top of sucker 74；The spring 72 is socketed in the appearance of upside connecting rod 71 and downside connecting rod 73
Face, the upside of spring 72 are fixed on the downside of the upper bottom edge of driving element 4, and the downside of spring 72 is fixed on the top of sucker 74.
Nearest distance between equal to two translation fingers 8 of the diameter of sucker 72.
The both ends of drive link 5 and follower link 6 are attached by bearing 3 with corresponding part.
Angular range between the hypotenuse of driving element 4 and upper bottom edge is 135 °.
Above-described embodiment, the purpose of this utility model, technical scheme and beneficial effect are entered
One step describes in detail, should be understood that and the foregoing is only specific embodiment of the present utility model, is not used to limit
Determine the scope of protection of the utility model, it is all within the spirit and principles of the utility model, any modification for being made, equally replace
Change, improve, should be included within the scope of protection of the utility model.
Claims (5)
1. the end-effector of industrial robot, it is characterised in that including drive shaft (1), division board (2), driving element (4),
Drive link (5), follower link (6), translation finger (8), the division board (2) is horizontal positioned, and the drive shaft (1) is worn vertically
Cross in the middle part of division board (2)；The elongated platy structure of the driving element (4), by being bent to form no bottom at two
Isosceles trapezoid shape, driving element (4) are arranged on the downside of division board (2), upper bottom edge and drive shaft (1) lower end of driving element (4)
Connection, (4) two hypotenuses of driving element have symmetrical hollow out position；Drive link (5) has two pieces, in long strip-board shape, two pieces
The upper end of drive link (5) is connected on the downside of division board (2), and is symmetrically distributed in the both sides of drive shaft (1)；The driving element
The hollow out position of (4) two hypotenuses is connected with two drive links (5) respectively by twisting pin；Follower link (6) has two pieces, in length
Bar tabular, the upper end of two pieces of follower links (6) is connected on the downside of division board (2), and it is remote to be symmetrically distributed in two drive links (5)
From the both sides of drive shaft (1)；The translation finger (8) has two, is symmetrically arranged at drive shaft (1) and extends downwardly the two of line
Side, each translation finger (8) are connected to the lower end of follower link (6) and drive link (5) in the same side, also, two
Individual drive link (5) and two follower links (6) are parallel two-by-two, and two relative faces of translation finger (8) are smooth, and phases
It is mutually parallel；Adsorbent equipment (7) is provided with the downside of driving element (4) upper bottom edge.
2. the end-effector of industrial robot according to claim 1, it is characterised in that adsorbent equipment (7) bag
Upside connecting rod (71), spring (72), downside connecting rod (73) and sucker (74), the upper end of the upside connecting rod (71) is included to be fixedly connected
In the downside of driving element (4) upper bottom edge, the upper end of downside connecting rod (73) is socketed in the inside of upside connecting rod (71), downside connecting rod
(73) lower end is connected to the top of sucker (74)；The spring (72) is socketed in upside connecting rod (71) and downside connecting rod (73)
Outer surface, the downside of driving element (4) upper bottom edge is fixed on the upside of spring (72), and spring is fixed on sucker on the downside of (72)
(74) top.
3. the end-effector of industrial robot according to claim 2, it is characterised in that the diameter of the sucker (74)
Nearest distance between equal to two translation fingers (8).
4. the end-effector of industrial robot according to claim 1, it is characterised in that the drive link (5) and
The both ends of follower link (6) are attached by bearing (3) with corresponding part.
5. the end-effector of industrial robot according to claim 1, it is characterised in that the driving element (4)
Angular range between hypotenuse and upper bottom edge is 110 °~160 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720733423.3U CN206967512U (en) | 2017-06-22 | 2017-06-22 | The end-effector of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720733423.3U CN206967512U (en) | 2017-06-22 | 2017-06-22 | The end-effector of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206967512U true CN206967512U (en) | 2018-02-06 |
Family
ID=61408824
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720733423.3U Active CN206967512U (en) | 2017-06-22 | 2017-06-22 | The end-effector of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206967512U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048974A (en) * | 2018-09-30 | 2018-12-21 | 芜湖顺威精密塑料有限公司 | A kind of flabellum clamping tooling |
| CN113400331A (en) * | 2021-05-17 | 2021-09-17 | 山东伟豪思智能仓储装备有限公司 | Automatic snatch mechanism |
-
2017
- 2017-06-22 CN CN201720733423.3U patent/CN206967512U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048974A (en) * | 2018-09-30 | 2018-12-21 | 芜湖顺威精密塑料有限公司 | A kind of flabellum clamping tooling |
| CN113400331A (en) * | 2021-05-17 | 2021-09-17 | 山东伟豪思智能仓储装备有限公司 | Automatic snatch mechanism |
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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: 20181024 Address after: 211100 Jiangsu province Nanjing Jiangning District Heng Xi Street Heng River Community Jiang Lin primary school Patentee after: Nanjing Fang Norte Robot Technology Co., Ltd. Address before: 610000 2205, 22 building, 2 138 Tianfu two street, hi tech Zone, Chengdu, Sichuan. Patentee before: Chengdu Zhongzhi excellent education Consulting Co. Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190927 Address after: 211100 Lishui Economic Development Zone, Nanjing City, Jiangsu Province Patentee after: Nanjing Appton Automation System Co., Ltd. Address before: 211100 Jiangsu province Nanjing Jiangning District Heng Xi Street Heng River Community Jiang Lin primary school Patentee before: Nanjing Fang Norte Robot Technology Co., Ltd. |
|
| TR01 | Transfer of patent right |