CN207495532U - A kind of robot gripper - Google Patents
A kind of robot gripper Download PDFInfo
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- CN207495532U CN207495532U CN201721699247.2U CN201721699247U CN207495532U CN 207495532 U CN207495532 U CN 207495532U CN 201721699247 U CN201721699247 U CN 201721699247U CN 207495532 U CN207495532 U CN 207495532U
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- block
- fixed block
- connecting rod
- clamping
- robot gripper
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- 230000007246 mechanism Effects 0.000 claims abstract description 49
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000000758 substrate Substances 0.000 description 14
- 238000010586 diagram Methods 0.000 description 8
- 239000012636 effector Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 241000599742 Cacopsylla fulguralis Species 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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Abstract
The utility model provides a kind of robot gripper,Including chassis,Driving mechanism and link mechanism,The driving mechanism is located at chassis center,Two parallel guide rails are arranged on the chassis of the driving mechanism both sides,The clamping piece being used cooperatively there are two being set on the guide rail,The clamping piece is slidably connected with guide rail,The link mechanism is set there are four first connecting rod and two second connecting rods,The first end of described two second connecting rods is corresponding with driving device respectively to be connected,First end of the second end of the second connecting rod respectively with two first connecting rods is connected by shaft,The second end of the first connecting rod is connected with corresponding clamping piece,The first end and/or second end of the shaft are equipped with follower,The one end of the follower far from shaft is equipped with the slideway base being connected with chassis,The slideway base is equipped with the sliding slot being used cooperatively with follower.The beneficial effects of the utility model are that the workpiece of two handgrip crawl rod classes is realized with a kind of rotary power, and stability is high.
Description
Technical field
The utility model is related to machinery automation processing technical field, specifically a kind of robot gripper.
Background technology
In robot transport operation technique, it is desirable that robot must stablize, reliably grabbing workpiece, and handgrip is exactly machine
Device people carry the operating mechanism of workpiece operation.In practical production operation, most of robot grippers are all by two
A power plant controls two handgrips, and to realize the workpiece of crawl rod class, the weight of such robot gripper is larger, so as to right
The load requirement of robot increases, and cost is caused to increase.
Invention content
The purpose of this utility model is the deficiency in order to solve above-mentioned technology, provides a kind of robot gripper, can be only
It can realize that two handgrips capture with a kind of rotary power, alleviate the weight of end effector of robot, alleviate machine
The load of people, so as to reduce cost.
The technical solution of the utility model is：
A kind of robot gripper, including chassis, driving mechanism and link mechanism, the driving mechanism is located at chassis centre bit
It puts, two parallel guide rails is arranged on the chassis of the driving mechanism both sides, set on the guide rail there are two being used cooperatively
Clamping piece, the clamping piece is slidably connected with guide rail, and the link mechanism is set there are four first connecting rod and two second connecting rods,
The first end of described two second connecting rods is corresponding with driving device respectively to be connected, the second end of the second connecting rod respectively with two
The first end of first connecting rod is connected by shaft, and the second end of the first connecting rod is connected with corresponding clamping piece, the shaft
First end and/or second end be equipped with follower, the one end of the follower far from shaft is equipped with the slideway base that is connected with chassis,
The slideway base is equipped with the sliding slot being used cooperatively with follower, and the follower is driven servo-actuated by driving device and link mechanism
Device in sliding slot along far from or direction back and forth movement close to guide rail, two clamping pieces on the guide rail pass through follower and company
Linkage changes the working condition of clamping and release.
The driving mechanism be equipped with spill spin block, the second connecting rod be curved arm rod, the first end of the second connecting rod with
Spill spin block, which corresponds to, to be connected.
The output shaft and spill spin block of the one kind of the driving mechanism for motor or rotary cylinder, the motor or rotary cylinder
Center is connected.
The clamping piece is equipped with sliding block, be clamped and connected block and clamping jaw, and the sliding block is slidably connected with guide rail, and the clamping connects
Block is connect as strip, the first end of the block that is clamped and connected is connected with sliding block, second end and the clamping jaw phase of the block that is clamped and connected
Even, the second end of the first connecting rod and the side of be clamped and connected block close to driving mechanism are vertically connected.
The clamping jaw inner surface is equipped at least two clamping faces, is connected between the adjacent clamping face into angle.
The clamping face is circular arc, and the interior circular diameter of clamping face is more than close to the circular arc at clamping jaw center close on the outside of clamping jaw
Interior circular diameter.
The inner surface of the clamping face be equipped with can Light deformation nonmetallic cushion block.
The robot gripper is equipped with sucking disc mechanism, and the sucking disc mechanism is equipped with sucker installing plate, the sucker installing plate
The side that guide rail is equipped with chassis is connected, and the outer surface of the sucker installing plate far from chassis is laid at least two electricity
Magnetic-disc.
Fixed block is equipped between the magnechuck and corresponding sucker installing plate, bottom surface and the sucker of the fixed block are installed
The outer surface of plate is connected, and the fixed block top surface is connected with magnechuck.
The fixed block is equipped with the first fixed block and the second fixed block, and the vertical section of first fixed block is rectangle, institute
The vertical section of the second fixed block is stated as right angled triangle, the bottom surface of first fixed block is connected with sucker installing plate, and described the
The top surface of one fixed block is connected with a right-angle side of the second fixed block, bevel edge and the magnechuck phase of second fixed block
Even.
The beneficial effects of the utility model are：It only can realize that two handgrips capture with a kind of rotary power, alleviate
The weight of end effector of robot alleviates the load of robot, so as to reduce cost；Rod class can be captured simultaneously
Workpiece and wheel disc type work, stability are high.
Description of the drawings
Fig. 1 is the structure diagram of the utility model；
Fig. 2 is the schematic elevation view of the utility model；
Fig. 3 is the schematic top plan view of the utility model；
Fig. 4 is Fig. 1 parts A enlarged diagrams；
Fig. 5 is the schematic rear view of the utility model；
Fig. 6 is the left view schematic diagram of the utility model；
Fig. 7 is that the right side of the utility model regards schematic diagram；
Fig. 8 is that the utility model clamping piece is in releasing orientation schematic diagram；
Fig. 9 is that the utility model clamping piece is in clamped condition schematic diagram；
Figure 10 is the structure diagram of the utility model fixed block；
Figure 11 is the structure diagram of the utility model clamping piece.
It is marked in figure：1. chassis, 2. driving mechanisms, 3. link mechanisms, 4. clamping pieces, 5. runner devices, 6. pressure sensings
Device, 7. sucking disc mechanisms, 8. connecting flanges, 11. substrates, 12. lateral frames, 13. guide rail installing plates, 14. guide rails, 21. spill spin blocks,
31. first connecting rod, 32. second connecting rods, 33. shafts, 34. followers, 41. sliding blocks, 42. are clamped and connected block, and 43. clamping jaws, 44. connect
Bar link block, 51. slideway shelfs, 52. slideway bases, 61. sensor stands, 71. sucker installing plates, 72. sucker fixed blocks, 73. electricity
Magnetic-disc, 431. first circular arcs, 432. second circular arcs, 433. third circular arcs, 434. first face directly, and 435. second face directly, and 521.
Sliding slot, 721. first fixed blocks, 722. second fixed blocks.
Specific embodiment
The utility model is described in further detail in the following with reference to the drawings and specific embodiments, to help the utility model is understood
Content.
Embodiment one
As Figure 1-10 shows, robot gripper includes chassis 1, driving mechanism 2 and link mechanism 3, and chassis 1 is equipped with substrate
11, substrate 11 is rectangle, and a plane of substrate 11 is set there are two parallel lateral frame 12, two 12 homonymies of lateral frame
Both ends are respectively equipped with two parallel guide rail installing plates 13, and guide rail installing plate 13 hangs down with surface of the lateral frame 12 far from substrate 11
Straight to be connected, guide rail installing plate 13 is equipped with guide rail 14.
It is set on guide rail 14 there are two the clamping piece 4 being used cooperatively, clamping piece 4 is equipped with sliding block 41, be clamped and connected block 42 and folder
Pawl 43, the sliding block 41 are slidably connected with guide rail 14, the block 42 that is clamped and connected be strip, the first end and cunning of the block 42 that is clamped and connected
Block 41 is connected, and the second end of the block 42 that is clamped and connected is connected with clamping jaw 43.
The block 42 that is clamped and connected is equipped with connecting rod link block 44 close to a side of driving mechanism, and connecting rod link block 44 is far from folder
The one end for holding link block 42 is connected with 31 corresponding end of first connecting rod.
43 inner surface of clamp hand is equipped at least two clamping faces, is connected between adjacent clamping face into angle.
Preferential, 43 inner surface of clamping jaw is equipped with 3 clamping faces, and 3 clamping faces are respectively the first circular arc 431, the second circular arc
432 and third circular arc 433, the second circular arc 432 be located between the first circular arc 431 and third circular arc 433, the first circular arc 431 and
The interior circular diameter of three-arc 433 is more than the interior circular diameter of the second circular arc 432.
The internal circular surfaces of first circular arc 431, the second circular arc 432 and third circular arc 433 be equipped with can Light deformation non-metallic pad
Block can protect workpiece surface, while provide possibility for 3 self-locking of link mechanism.
First circular arc 431 and third circular arc 433 are used to clamp the stick class workpiece of major diameter, and the second circular arc 432 is used to clamp
The smaller stick class workpiece of diameter, by adjusting the relative position of connecting rod link block 44 and clamping jaw 43, without the clamping jaw more renewed, just
The operating mode of two kinds of workpiece can be switched, due to being that multi-section circular arc clamps, clamping jaw 43 is that face contacts with workpiece, ensure that clamping jaw
43 reliabilities clamped.
Driving mechanism 2 is located at 11 center of substrate, and driving mechanism 2 is equipped with fixed disc 21.
Link mechanism 3 is set there are four first connecting rod 31 and two second connecting rods 32, and the first end of two second connecting rods 32 is divided
It is not corresponding with the fixed disc of driving device 2 to be connected, the second end of second connecting rod 32 respectively with two first connecting rods 31 first
End is connected by shaft 33, and the second end of first connecting rod 31 is connected with the connecting rod link block 44 of corresponding clamping piece 4.
Preferential, second connecting rod 32 is curved arm rod.
More preferably, first connecting rod 31 is curved arm rod.
Two runner devices 5 are arranged between guide rail 14 and driving device 2, runner device 5 is equipped with slideway shelf 51, slideway
Frame 51 is vertically connected with a face of the lateral frame 12 far from substrate 11, and a face of the slideway shelf 51 far from substrate 11 is equipped with slideway base
52, slideway base 52 is equipped with sliding slot 521, and sliding slot 521 is used cooperatively with follower 34.
Preferably, follower 34 is camshaft bearing follower, and sliding slot 521 is elongate holes.
If shaft 33 is equipped with follower 34 close to one end of substrate 11, the slideway base 52 of runner device 5 is located at connecting rod machine
Structure 3 close to substrate 11 side corresponding position, if the one end of shaft 33 far from substrate 11 be equipped with follower 34, runner device 5
Slideway base 52 be located at side corresponding position of the link mechanism 3 far from substrate 11, also can be as needed, the both ends of shaft 33 difference
Follower 34 and slideway base 52 are set.
Follower 34 by driving device 2 and link mechanism 3 in sliding slot 521 along far from or close to the direction of guide rail 14 it is past
Return movement, two clamping jaws 43 on guide rail 14 pass through follower 34 and link mechanism 3 changes the work shape of 43 clamping and release of clamping jaw
State.
Driving mechanism 2 can be rotary cylinder, and rotary cylinder is equipped with rotating circular disk 22, rotating circular disk 22 and 21 phase of fixed disc
Even, 21 side of rotating circular disk is equipped with the pressure sensor 6 being connected with the lateral frame 12 of chassis 1, and pressure sensor 6 passes through sensor
Stent 61 is connected with lateral frame 12, and the pressure sensor 6 is connected with control system, and pressure sensor 6 is used to detect rotary pneumatic
The pressure value of cylinder, control system are equipped with setting value, and control system judges whether handgrip is safe according to setting value and pressure value.
Driving mechanism 2 is motor, and motor is equipped with motor output shaft, the motor output shaft and 21 center phase of fixed disc
Even.
Robot gripper is equipped with sucking disc mechanism 7, and sucking disc mechanism 7 is equipped with sucker installing plate 71, sucker installing plate 71 and chassis 1
A side equipped with guide rail 14 is connected, i.e. sucker installing plate 71 and outer surface of the guide rail installing plate 13 far from driving device 2
It is connected, outer surface of the installing plate 71 far from chassis 1 is laid at least two magnechucks 73.
Preferential, outer surface of the sucker installing plate 71 far from guide rail installing plate 13 is laid with three magnechucks 73.
Be equipped with sucker fixed block 72 between magnechuck 73 and corresponding sucker installing plate 71, the bottom surface of sucker fixed block 72 with
The outer surface of sucker installing plate 71 is connected, and 72 top surface of sucker fixed block is connected with magnechuck 72.
Preferential, sucker fixed block 72 is equipped with the first fixed block 721 and the second fixed block 722, and the first fixed block 721 is indulged
Section is rectangle, i.e. the first fixed block 721 is cylinder, and the vertical section of the second fixed block 722 is right angled triangle, and first fixes
The bottom surface of block 721 is connected with sucker installing plate 71, the top surface of the first fixed block 721 and a right-angle side of the second fixed block 722
It is connected, the bevel edge of the second fixed block 722 is connected with magnechuck 73.
More preferably, the diameter phase of the first fixed block 721 of a right-angle side and corresponding connection for the second fixed block 722
Another right-angle side Deng, the second fixed block 722 is located at the position far from 71 center of sucker installing plate, is inhaled convenient for magnechuck 73
The wheel disc type work that center is taken to protrude.
Substrate 11 is equipped with connecting flange 8 far from 12 1 faces of lateral frame, and connecting flange 8 is connected with robot arm.
Substrate 11, first connecting rod 31, second connecting rod 32, be clamped and connected block 42 and slideway shelf 51 are equipped with hole, and hole is for subtracting
The load of light robot, lateral frame 12 use aluminium section bar.
As shown in Figure 8 and Figure 9, the fixed discs 21 that are driven by driving mechanism 2 of circle O, circle O be equipped with center line IJ with
KL, AC, BD be second connecting rod 32, CE, CF, DG, DH be first connecting rod 31, when AOB is rotated clockwise around O points, ∠ BAC with
∠ ABD become smaller, and 2 points of C, D is moved close to O points, and the distance between EF and GH become smaller, i.e., two on guide rail clamping jaw 43 is in folder
Tight state is so as to clamping workpiece；When AOB rotates counterclockwise around O points, ∠ BAC and ∠ ABD become larger, and 2 points of C, D is transported far from O points
Dynamic, point the distance between EF and GH become larger, i.e., two clamping jaws 43 on guide rail 14 open to unclamp workpiece.
When two matched clamping pieces are in clamped condition, ∠ BAC and ∠ ABD are smaller, and driving mechanism 2 clamps workpiece and needs
The power wanted is smaller.
Preferential, when ∠ BAC and ∠ ABD are spent close to O, i.e. when point B and point I coincidences and point A and point J are overlapped, EF and GH
Distance change to minimum from big, driving mechanism 2 only needs the power of very little that the clamping jaw 43 of clip 4 can be kept to be in clamp shape
State.
When second connecting rod AC and BD is crank arm, point A can be made to turn to below IOJ and B points are turned to above IOJ, EF and GH
Distance become larger from small.
It is rotated clockwise when AOB continues around O points, then EF distances can become larger.In second connecting rod AC for when cranking arm, A points are just
The lower section of IJ can be turned to, in the nonmetallic extrudable distance range of 43 clamping face of clamping jaw, when A points are below IJ, workpiece is certainly
EF can be made to have a movement tendency of opening again, and EF opens, AOB can be made to continue clockwise movement, AC and BD two on robot gripper
Machinery positioning cannot rotate clockwise a second connecting rod 32, form a kind of self-locking pattern at this time, more ensure that work
Part captures reliable and stable.
Preferential, angular range is 5 °~-2 ° between AO and OJ, and angular range is 178 °~185 ° between BO and OI, i.e.,
Towards changing hands direction, the first end of left side second connecting rod 32 is to 21 center of spill spin block and the X-axis angular range of spill spin block 21
178 °~185 °, the first end of right side second connecting rod 32 is 5 °~-2 ° with the X-axis angular range of spill spin block 21.
Embodiment two
Embodiment two and the structure of embodiment one are essentially identical, and something in common repeats no more, below to their difference
Place illustrates.As shown in figure 11,43 inner surface of clamping jaw of clamping piece 4 is set there are two clamping face, and two clamping faces are respectively the
One, which faces 434 and second directly, faces 435 directly, and first, which faces 434 directly, faces 435 one-tenth angle transition directly with second and be connected.
It is preferential, first face directly 434 and second face 435 directly between angle be 90 degree.
It is referred to it should be noted that middle word "front", "rear", "left", "right", the "up" and "down" used is described above
Direction in attached drawing, word " interior " and " outer " are referred respectively to towards or away from the direction of particular elements geometric center.
Only as described above, only specific embodiment of the utility model, when the utility model cannot be limited with this
The range of implementation, therefore the displacement of its equivalent assemblies or the equivalent variations made according to the utility model patent protection domain and modification,
It all should still belong to the scope that the utility model claims book is covered.
Claims (10)
1. a kind of robot gripper, it is characterised in that：Including chassis, driving mechanism and link mechanism, the driving mechanism is located at
Chassis center, two parallel guide rails are arranged on the chassis of the driving mechanism both sides, and the guide rail is equipped with two
A clamping piece being used cooperatively, the clamping piece are slidably connected with guide rail, and the link mechanism is set there are four first connecting rod and two
A second connecting rod, the first end of described two second connecting rods is corresponding with driving device respectively to be connected, and the second of the second connecting rod
The first end respectively with two first connecting rods is held to be connected by shaft, the second end of the first connecting rod and corresponding clamping piece phase
Even, the first end and/or second end of the shaft are equipped with follower, and the one end of the follower far from shaft is equipped with and chassis phase
Slideway base even, the slideway base are equipped with the sliding slot being used cooperatively with follower, and the follower passes through driving device and connecting rod
Mechanism in sliding slot along far from or direction back and forth movement close to guide rail, two clamping pieces on the guide rail by follower and
Link mechanism changes the working condition of clamping and release.
2. robot gripper according to claim 1, it is characterised in that：The driving mechanism is equipped with spill spin block, and described the
Two connecting rods are curved arm rod, and the first end of the second connecting rod is corresponding with spill spin block to be connected.
3. robot gripper according to claim 2, it is characterised in that：The driving mechanism is motor or rotary cylinder
The output shaft of one kind, the motor or rotary cylinder is connected with spill spin block center.
4. according to the robot gripper described in claim 1-3 any one, it is characterised in that：The clamping piece be equipped with sliding block,
Be clamped and connected block and clamping jaw, and the sliding block is slidably connected with guide rail, and the block that is clamped and connected is strip, the block that is clamped and connected
First end be connected with sliding block, the second end of the block that is clamped and connected is connected with clamping jaw, the second end and folder of the first connecting rod
The side for holding link block close to driving mechanism is vertically connected.
5. robot gripper according to claim 4, it is characterised in that：The clamping jaw inner surface is equipped at least two clampings
Face is connected into angle between the adjacent clamping face.
6. robot gripper according to claim 5, it is characterised in that：The clamping face is circular arc, close to clamping jaw outside
The interior circular diameter of clamping face is more than the interior circular diameter close to the circular arc at clamping jaw center.
7. robot gripper according to claim 6, it is characterised in that：The inner surface of the clamping face is equipped with can Light deformation
Nonmetallic cushion block.
8. robot gripper according to claim 4, it is characterised in that：The robot gripper is equipped with sucking disc mechanism, institute
Sucking disc mechanism is stated equipped with sucker installing plate, the side that the sucker installing plate is equipped with guide rail with chassis is connected, the sucker
Outer surface of the installing plate far from chassis is laid at least two magnechucks.
9. robot gripper according to claim 8, it is characterised in that：The magnechuck and corresponding sucker installing plate it
Between be equipped with fixed block, the bottom surface of the fixed block is connected with the outer surface of sucker installing plate, the fixed block top surface and electromagnetism suction
Disk is connected.
10. robot gripper according to claim 9, it is characterised in that：The fixed block is equipped with the first fixed block and the
Two fixed blocks, the vertical section of first fixed block is rectangle, and the vertical section of second fixed block is right angled triangle, described
The bottom surface of first fixed block is connected with sucker installing plate, the top surface of first fixed block and a right-angle side of the second fixed block
It is connected, the bevel edge of second fixed block is connected with magnechuck.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721699247.2U CN207495532U (en) | 2017-12-08 | 2017-12-08 | A kind of robot gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721699247.2U CN207495532U (en) | 2017-12-08 | 2017-12-08 | A kind of robot gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207495532U true CN207495532U (en) | 2018-06-15 |
Family
ID=62509308
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721699247.2U Active CN207495532U (en) | 2017-12-08 | 2017-12-08 | A kind of robot gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207495532U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107838938A (en) * | 2017-12-08 | 2018-03-27 | 威海科莱默自动化设备有限公司 | A kind of robot gripper |
-
2017
- 2017-12-08 CN CN201721699247.2U patent/CN207495532U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107838938A (en) * | 2017-12-08 | 2018-03-27 | 威海科莱默自动化设备有限公司 | A kind of robot gripper |
| CN107838938B (en) * | 2017-12-08 | 2024-04-12 | 威海科莱默自动化设备股份有限公司 | Robot gripper |
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| GR01 | Patent grant | ||
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| CP01 | Change in the name or title of a patent holder |
Address after: 264424 no.426, Mishan village, Mishan town, Wendeng District, Weihai City, Shandong Province Patentee after: Weihai kelaimer automation equipment Co.,Ltd. Address before: 264424 no.426, Mishan village, Mishan town, Wendeng District, Weihai City, Shandong Province Patentee before: WEIHAI KELAIMO AUTOMATION EQUIPMENT CO.,LTD. |