CN207326987U - A kind of bar clamps robot arm - Google Patents
A kind of bar clamps robot arm Download PDFInfo
- Publication number
- CN207326987U CN207326987U CN201721057839.4U CN201721057839U CN207326987U CN 207326987 U CN207326987 U CN 207326987U CN 201721057839 U CN201721057839 U CN 201721057839U CN 207326987 U CN207326987 U CN 207326987U
- Authority
- CN
- China
- Prior art keywords
- trapezoid block
- spring
- lock tube
- piston rod
- driving cylinder
- 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 bar to clamp robot arm, including bearing seat, drive cylinder, gripper jaw, shaft, tension spring, spring, spacing lock tube and trapezoid block, two gripper jaws correspond to rotational installation bearing seat front end by shaft, and the both ends of tension spring are connected respectively two gripper jaw rear ends, two gripper jaw rear ends form inner small and outside big sector region, the both ends of the spring are respectively acting on trapezoid block and the piston rod for driving cylinder, the spacing lock tube socket is installed on the piston rod of driving cylinder, and the piston rod front end of driving cylinder is provided with and the matched limit protrusion of spacing lock tube, the spacing lock tube is also fixedly mounted on trapezoid block outer end.By setting piston rod to compress spring, can avoid because of chucking power tension and caused by billet surface damage, can also avoid at the same time because chucking power deficiency and caused by the phenomenon that loosens of bar, generally speaking robot arm can be by the grasping force control of gripper jaw in the reasonable scope, to ensure the quality of product.
Description
Technical field：
The utility model belongs to intelligent automation robot device's technical field, and machine is clamped more particularly, to a kind of bar
Human arm.
Background technology：
Robot (Robot) is the installations of automated execution work.It can not only receive mankind commander, but also can run
The program of advance layout, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work.Bar clamping is one of important application of robot arm, the gripper jaw of current robot arm
If clamping force adjusts tension and is easily damaged billet surface, if insufficient clamping force and be easy to cause bar and loosen, and clamping force
Critical value be generally difficult to adjust, even if carry out accurately adjust after, after a number of uses, its clamping force can still change.
Utility model content：
Technical problem to be solved in the utility model is：A kind of cushioning effect using spring is provided, can avoid clamping
The too tight or too loose robot arm of the chucking power of pawl.
In order to solve the above-mentioned technical problem, the utility model is achieved through the following technical solutions：A kind of bar clamping
Robot arm, including bearing seat, driving cylinder, gripper jaw, shaft, tension spring, spring, spacing lock tube and trapezoid block, two folders
Hold pawl and rotational installation bearing seat front end is corresponded to by shaft, and the both ends of tension spring are connected respectively after two gripper jaws
End, two gripper jaw rear ends form inner small and outside big sector region, after the cylinder body of the driving cylinder is fixedly mounted on bearing seat
End, the shape of the trapezoid block and the shape of sector region are correspondingly arranged, and the outer end of the trapezoid block sets mounting hole, the bullet
In the mounting hole of the piston rod outer end that is placed in trapezoid block of spring and driving cylinder, the both ends of the spring are respectively acting on trapezoidal
On the piston rod of block and driving cylinder, the spacing lock tube socket is installed on the piston rod of driving cylinder, and drives cylinder
Piston rod front end is provided with also to be fixedly mounted on outside trapezoid block with the matched limit protrusion of spacing lock tube, the spacing lock tube
End.
Preferably, being connected through a screw thread mode between the spacing lock tube trapezoid block installs fixation.
Preferably, the tension spring is mounted by means of bolts on gripper jaw, and the bolt passes through waist-shaped hole knot
Structure is installed on gripper jaw.
Preferably, being provided with catch between the spring and trapezoid block, adjusting screw rod is additionally provided with the trapezoid block,
The top of the adjusting screw rod is against on the catch between spring and trapezoid block.
Compared with prior art, the usefulness of the utility model is：By set piston rod compress spring, can avoid because
Chucking power tension and cause billet surface to damage, while can also avoid because chucking power deficiency and caused by the phenomenon that loosens of bar, always
For robot arm can be by the grasping force control of gripper jaw in the reasonable scope, to ensure the quality of product.
Brief description of the drawings：
The utility model is further illustrated below in conjunction with the accompanying drawings.
Fig. 1 is the structure diagram of the utility model.
Embodiment：
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments：
A kind of bar clamping robot arm as shown in Figure 1, including bearing seat 1, driving cylinder 2, gripper jaw 3, shaft 4,
Tension spring 5, spring 6, spacing lock tube 8 and trapezoid block 9, two gripper jaws 3 correspond to 1 front end of rotational installation bearing seat by shaft 4, and
And the both ends of tension spring 5 are connected respectively and form inner small and outside big sector in two 3 rear ends of gripper jaw, two 3 rear ends of gripper jaw
Region 31, the cylinder body of the driving cylinder 2 are fixedly mounted on 1 rear end of bearing seat, shape and the sector region 31 of the trapezoid block 9
Shape be correspondingly arranged, the outer end of the trapezoid block 9 sets mounting hole, and the piston rod of the spring 6 and driving cylinder 2 is placed in
In the mounting hole of the outer end of trapezoid block 9, the both ends of the spring 6 are respectively acting on trapezoid block 9 and drive the piston rod of cylinder 2
On, spacing lock tube 8 socket is installed on the piston rod of driving cylinder 2, and drive cylinder 2 piston rod front end be provided with
Spacing 8 matched limit protrusion of lock tube, the spacing lock tube 8 are also fixedly mounted on 9 outer end of trapezoid block, when gripper jaw 3 is complete
After clamping, the piston rod of driving cylinder 2 can still carry out trace movement, drive the piston rod of cylinder 2 to overcome the bullet of spring 6 at this time
Power, spring 6 is compressed, and then avoids situation about being damaged caused by clamping force is to billet surface.
As preferable mounting means between spacing 8 trapezoid block 9 of lock tube, pass through spiral shell between spacing 8 trapezoid block 9 of lock tube
The installation of line connection mode is fixed.
In practical applications, the pulling force of tension spring 5 is adjusted for the ease of operating personnel, the tension spring 5 passes through bolt
It is fixedly mounted on gripper jaw 3, and the bolt is installed on gripper jaw 3 by waist-shaped hole structure.
In addition, the elastic force of spring 6 is adjusted for the ease of operating personnel, set between the spring 6 and trapezoid block 9
Have catch, be additionally provided with adjusting screw rod 7 on the trapezoid block 9, the top of the adjusting screw rod 7 be against spring 6 and trapezoid block 9 it
Between catch on.
It is emphasized that：It is obvious to a person skilled in the art that the utility model is not limited to above-mentioned exemplary reality
The details of example is applied, and in the case of the spirit or essential attributes without departing substantially from the utility model, can be with other specific shapes
Formula realizes the utility model.Therefore, in all respects, the embodiments should be taken as exemplary, and it is non-limit
Property processed, the scope of the utility model is indicated by the appended claims rather than the foregoing description, will in right it is intended that will fall
Ask that all changes that come within the meaning and range of equivalency of the claim are therefore intended to be embraced therein.Should not will be any in claim
Reference numeral is considered as the involved claim of limitation.
Claims (4)
1. a kind of bar clamps robot arm, it is characterised in that：Including bearing seat (1), driving cylinder (2), gripper jaw (3),
Shaft (4), tension spring (5), spring (6), spacing lock tube (8) and trapezoid block (9), two gripper jaws (3) turn by the way that shaft (4) is corresponding
Dynamic installation bearing seat (1) front end, and the both ends of tension spring (5) are connected respectively in two gripper jaw (3) rear ends, two clampings
Pawl (3) rear end forms inner small and outside big sector region (31), and the cylinder body of the driving cylinder (2) is fixedly mounted on bearing seat (1)
Rear end, the shape and the shape of sector region (31) of the trapezoid block (9) are correspondingly arranged, and the outer end of the trapezoid block (9) is set
In the mounting hole for the outer end that the piston rod of mounting hole, the spring (6) and driving cylinder (2) is placed in trapezoid block (9), the bullet
The both ends of spring (6) are respectively acting on trapezoid block (9) and the piston rod for driving cylinder (2), spacing lock tube (8) the socket installation
Driving cylinder (2) piston rod on, and drive cylinder (2) piston rod front end be provided with it is matched with spacing lock tube (8)
Limit protrusion, the spacing lock tube (8) are also fixedly mounted on trapezoid block (9) outer end.
2. bar according to claim 1 clamps robot arm, it is characterised in that：Spacing lock tube (8) trapezoid block
(9) mode is connected through a screw thread between fixation is installed.
3. bar according to claim 1 clamps robot arm, it is characterised in that：The tension spring (5) is consolidated by bolt
Dingan County is on gripper jaw (3), and the bolt is installed on gripper jaw (3) by waist-shaped hole structure.
4. bar according to claim 1 clamps robot arm, it is characterised in that：The spring (6) and trapezoid block (9)
Between be provided with catch, adjusting screw rod (7) is additionally provided with the trapezoid block (9), the top of the adjusting screw rod (7) is against bullet
On catch between spring (6) and trapezoid block (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721057839.4U CN207326987U (en) | 2017-08-23 | 2017-08-23 | A kind of bar clamps robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721057839.4U CN207326987U (en) | 2017-08-23 | 2017-08-23 | A kind of bar clamps robot arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207326987U true CN207326987U (en) | 2018-05-08 |
Family
ID=62374185
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721057839.4U Expired - Fee Related CN207326987U (en) | 2017-08-23 | 2017-08-23 | A kind of bar clamps robot arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207326987U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015738A (en) * | 2018-09-20 | 2018-12-18 | 哈尔滨理工大学 | A kind of clamping jaw functioning cell for boom crawl |
| CN109258101A (en) * | 2018-11-05 | 2019-01-25 | 汕头大学 | A kind of multi-purpose excitation type fruit picker |
| CN110405666A (en) * | 2019-08-27 | 2019-11-05 | 苏州工业职业技术学院 | A kind of limit clamp with positioning clamping function |
| CN111055298A (en) * | 2019-12-03 | 2020-04-24 | 红塔烟草(集团)有限责任公司 | Clamping trigger device |
-
2017
- 2017-08-23 CN CN201721057839.4U patent/CN207326987U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015738A (en) * | 2018-09-20 | 2018-12-18 | 哈尔滨理工大学 | A kind of clamping jaw functioning cell for boom crawl |
| CN109015738B (en) * | 2018-09-20 | 2021-07-09 | 哈尔滨理工大学 | Clamping jaw functional cell for grabbing truss rod |
| CN109258101A (en) * | 2018-11-05 | 2019-01-25 | 汕头大学 | A kind of multi-purpose excitation type fruit picker |
| CN109258101B (en) * | 2018-11-05 | 2024-03-19 | 汕头大学 | Multipurpose vibration excitation type fruit picking device |
| CN110405666A (en) * | 2019-08-27 | 2019-11-05 | 苏州工业职业技术学院 | A kind of limit clamp with positioning clamping function |
| CN111055298A (en) * | 2019-12-03 | 2020-04-24 | 红塔烟草(集团)有限责任公司 | Clamping trigger device |
| CN111055298B (en) * | 2019-12-03 | 2020-11-17 | 红塔烟草(集团)有限责任公司 | Clamping trigger device |
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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: 20180508 Termination date: 20180823 |