CN207509254U - A kind of piston type multijaw end effector of robot - Google Patents
A kind of piston type multijaw end effector of robot Download PDFInfo
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- CN207509254U CN207509254U CN201721739861.7U CN201721739861U CN207509254U CN 207509254 U CN207509254 U CN 207509254U CN 201721739861 U CN201721739861 U CN 201721739861U CN 207509254 U CN207509254 U CN 207509254U
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- housing
- ratch
- gear
- rack
- sealing ring
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Abstract
The utility model discloses a kind of piston type multijaw end effector of robot, are related to robotic technology field.Piston is fixed by bolts with ratch and connects and composes driving mechanism, driving mechanism is mounted on the inside of housing, first sealing ring is installed between piston and housing, second sealing ring is installed between ratch and housing, shell end is equipped with rear cover, third sealing ring is installed between housing on the inside of rear cover, and clamp spring is installed between housing on the outside of rear cover, gear is mounted on gear shaft, the both ends of each gear shaft are respectively with a bearings in the inside of housing, housing end face is equipped with multigroup sliding rail, there are one rack-and-pinion slider modules for installation in every group of sliding rail, each gear part is engaged with ratch and its corresponding rack-and-pinion sliding block.Due to using unique ratch, and pass through the rack-and-pinion sliding block that gear passes motion to multiple directions, transmission torque is big, and synchronism is good；And gear shaft is supported by cylinder needle bearing, kinetic damping is small, and sport efficiency is high.
Description
Technical field
The utility model is related to a kind of piston type multijaw end effector of robot, belong to robotic technology field.
Background technology
With the continuous development of China's robotic technology field, the reliability of industrial robot crawl part increasingly by
The attention of user.Existing end effector of robot is mostly clamp type structure, wherein most end effector of robot crawls
Intensity is low, and crawl precision is insufficient and the synchronism of grasping movement is bad.
In view of the above shortcomings, to found a kind of piston type multijaw end effector of robot, the robot end
The long-term retentivity of precision of actuator motions is good, and sport efficiency is high, using unique ratch, and passes through gear and passes motion to
The rack-and-pinion sliding block of multiple directions transmits the advantage that torque is big, has the high synchronism of row high intensity, meets end effector of robot
Following development trend.
Utility model content
The purpose of this utility model is to provide a kind of piston type multijaw end effector of robot, to solve above-mentioned background
Technology there are the problem of.
To achieve the above object, the utility model provides following technical solution：A kind of piston type multijaw robot end holds
Row device includes piston 1, ratch 2, housing 3, the first sealing ring 4, the second sealing ring 5, rear cover 6, third sealing ring 7, clamp spring 8, tooth
Wheel 9, gear shaft 10, bearing 11, sliding rail 12, rack-and-pinion sliding block 13, cylindrical roller move guide rail 14 and precision adjusting screw 15, piston
1 is fixed by bolts with ratch 2 and connects and composes driving mechanism, and driving mechanism is mounted on the inside of housing 3, wherein piston 1 and shell
First sealing ring 4 between body 3 is installed, the second sealing ring 5 is installed between ratch 2 and housing 3,3 end of housing is equipped with rear cover 6,
Third sealing ring 7 between 6 inside of rear cover and housing 3 is installed, and clamp spring 8, gear 9 are installed between 6 outside of rear cover and housing 3
It is separately mounted on gear shaft 10, the quantity of gear 9 and gear shaft 10 is multiple, and the both ends of each gear shaft 10 are respectively with one
Bearing 11 is supported on the inside of housing 3, and 3 end face of housing is equipped with multigroup sliding rail 12, and there are one teeth for the interior installation of every group of sliding rail 12
Formula slider module, rack-and-pinion slider module are moved guide rail 14 and are formed by rack-and-pinion sliding block 13 and a pair of of cylindrical roller, each gear 9
All engaged with ratch 2 and its corresponding rack-and-pinion sliding block 13.
Preferably, the ratch 2 is multi-panel ratch, face Shuo Wei2-4 faces, and the 2 face number of ratch and gear 9 and
The number of gear shaft 10, the group number of sliding rail 12 are identical.
Preferably, there are two holes for 3 side of housing, lived by outputting and inputting fluid in the two holes
Plug drives ratch 2 to be moved between top dead-centre and bottom dead centre, wherein described outputs and inputs fluid as gas or liquid；
Preferably, the bearing 11 is the cylinder needle bearing that kinetic damping is small and sport efficiency is high.
Preferably, 3 side of housing is provided with precision adjusting screw 15, the precision adjusting screw 15 is used for
Adjustment rack-and-pinion sliding block 13 and cylindrical roller move the gap between guide rail 14, and rack-and-pinion sliding block 13 is synchronized with the movement as robot
The active of pawl crawl object is made.
Compared with prior art, the beneficial effects of the utility model are：Due to using unique ratch, and will by gear
Movement passes to the rack-and-pinion sliding block of multiple directions, and transmission torque is big, and synchronism is good；Gear shaft in the utility model is by cylinder
Needle bearing supports, and kinetic damping is small, and sport efficiency is high；In addition the rack-and-pinion slider module in the utility model is using adjustable
The cylindrical roller of internode gap moves guide rail, can pass through the precision of adjustment housings side when hand claw generates abrasion after prolonged use
Adjusting screw adjustment rack-and-pinion sliding block and cylindrical roller move the gap between guide rail so that the movement of hand claw still can keep high-precision
Degree.
Description of the drawings
Fig. 1 is the configuration schematic diagram of the utility model；
Fig. 2 is the utility model integral installation distribution structure schematic diagram；
Fig. 3 is the utility model internal structure sectional view；
Fig. 4 is the structure diagram of ratch in the utility model；
Fig. 5 is the configuration schematic diagram of embodiment in the utility model；
Fig. 6 is the integral installation distribution structure schematic diagram of embodiment in the utility model；
Fig. 7 is the internal structure sectional view of embodiment in the utility model；
Fig. 8 is the structure diagram of ratch in embodiment in the utility model.
In figure：Piston 1, ratch 2, housing 3, the first sealing ring 4, the second sealing ring 5, rear cover 6, third sealing ring 7, clamp spring
8th, gear 9, gear shaft 10, bearing 11, sliding rail 12, rack-and-pinion sliding block 13, cylindrical roller move guide rail 14 and precision adjusting screw 15.
Specific embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
It clearly and completely describes, it is clear that the described embodiments are only a part of the embodiments of the utility model rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without making creative work
All other embodiments obtained belong to the range of the utility model conservation.
- 4 are please referred to Fig.1, the utility model provides a kind of technical solution：A kind of piston type multijaw end effector of robot
Including piston 1, ratch 2, housing 3, the first sealing ring 4, the second sealing ring 5, rear cover 6, third sealing ring 7, clamp spring 8, gear 9,
Gear shaft 10, bearing 11, sliding rail 12, rack-and-pinion sliding block 13, cylindrical roller move guide rail 14 and precision adjusting screw 15, piston 1 with
Ratch 2, which is fixed by bolts, connects and composes driving mechanism, and driving mechanism is mounted on the inside of housing 3, wherein piston 1 and housing 3
Between the first sealing ring 4 is installed, the second sealing ring 5 is installed, 3 end of housing is equipped with rear cover 6, rear cover between ratch 2 and housing 3
Third sealing ring 7 between 6 insides and housing 3 is installed, and clamp spring 8 is installed between 6 outside of rear cover and housing 3, gear 9 is distinguished
On gear shaft 10, the quantity of gear 9 and gear shaft 10 is multiple, and the both ends of each gear shaft 10 are respectively with a bearing
11 are supported on the inside of housing 3, and 3 end face of housing is equipped with multigroup sliding rail 12, and there are one rack-and-pinions for the interior installation of every group of sliding rail 12
Slider module, rack-and-pinion slider module are moved guide rail 14 and are formed by rack-and-pinion sliding block 13 and a pair of of cylindrical roller, each gear 9 with
Ratch 2 and its corresponding rack-and-pinion sliding block 13 engage, wherein the ratch 2 is multi-panel ratch, face Shuo Wei2-4 faces, and it is described
2 face number of ratch it is identical with the group number of the number of gear 9 and gear shaft 10, sliding rail 12,3 side of housing there are two hole,
It is moved between top dead-centre and bottom dead centre by outputting and inputting fluid piston driving ratch 2 in the two holes, wherein institute
That states outputs and inputs fluid as gas or liquid, and the bearing 11 is the cylinder needle roller that kinetic damping is small and sport efficiency is high
Bearing, 3 side of housing are provided with precision adjusting screw 15.
The operation principle of this specific implementation：Fluid driven piston 1 is output and input by two holes on housing 3 first to transport
Dynamic, piston 1 drives the ratch 2 for being secured to connection for linear motion；Since ratch 2 is polyhedral structure, gear 9 is separately mounted to
On gear shaft 10, this gear shaft 10 is supported on a pair of bearings 11 inside housing 3, and 3 end face of housing is equipped with multigroup sliding rail 12, often
There are one rack-and-pinion slider modules for installation in group sliding rail 12, and rack-and-pinion slider module is by rack-and-pinion sliding block 13 and a pair of of cylindrical roller
Dynamic guide rail 14 forms, and each gear 9 is engaged with ratch 2 and its corresponding rack-and-pinion sliding block 13；Ratch 2 is for linear motion can band
The dynamic gear 9 engaged rotates, and the rotation of gear 9 can pass to the rack-and-pinion sliding block 13 engaged and make it in a pair of circle
Column roller moves to be slided in guide rail 14, and the precision adjusting screw 15 of 3 side of housing is used to adjust rack-and-pinion sliding block 13 and cylindrical roller
Gap between dynamic guide rail 14, being synchronized with the movement for rack-and-pinion sliding block 13 are made as robot in the active of pawl crawl object.
Embodiment
The face number of ratch 2 is 4 faces, as viewed in figures 5-8, gear 9 and tooth in this piston type multijaw end effector of robot
The number of wheel shaft 10 is 4, the group number of sliding rail 12 is four groups, and fluid driven is output and input by two holes on housing 3
Piston 1 moves, and piston 1 drives the four sides ratch 2 for being secured to connection for linear motion；Four gears 9 are separately mounted to four
On gear shaft 10, this four gear shafts 10 are supported on a pair of bearings 11 inside housing 3, and 3 end face of housing is equipped with four groups of sliding rails
12, the interior installation of every group of sliding rail 12 there are one rack-and-pinion slider module, by rack-and-pinion sliding block 13 and a pair justified by rack-and-pinion slider module
Column roller moves guide rail 14 and forms, and each gear 9 is engaged with ratch 2 and its corresponding rack-and-pinion sliding block 13；Four sides ratch 2 is made directly
Line movement can drive four gears 9 engaged to rotate, and the rotation of four gears 9 can pass to the rack-and-pinion engaged and slide
Block 13 simultaneously makes it be slided in a pair of of cylindrical roller moves guide rail 14, and the precision adjusting screw 15 of 3 side of housing is used to adjust rack
Formula sliding block 13 and cylindrical roller move the gap between guide rail 14, and four being synchronized with the movement for rack-and-pinion sliding block 13 are grabbed as robot hand
The active of object is taken to make.
While there has been shown and described that the embodiment of the utility model, for the ordinary skill in the art,
It is appreciated that can these embodiments be carried out with a variety of variations in the case of the principle and spirit for not departing from the utility model, repaiied
Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.
Claims (5)
1. a kind of piston type multijaw end effector of robot, it is characterised in that：It includes piston (1), ratch (2), housing
(3), the first sealing ring (4), the second sealing ring (5), rear cover (6), third sealing ring (7), clamp spring (8), gear (9), gear shaft
(10), bearing (11), sliding rail (12), rack-and-pinion sliding block (13), cylindrical roller move guide rail (14) and precision adjusting screw (15), living
Plug (1) is fixed by bolts with ratch (2) and connects and composes driving mechanism, and driving mechanism is mounted on the inside of housing (3), wherein living
The first sealing ring (4) is installed between plug (1) and housing (3), the second sealing ring (5), shell are installed between ratch (2) and housing (3)
Body (3) end is equipped with rear cover (6), and third sealing ring (7), and rear cover (6) are equipped between housing (3) on the inside of rear cover (6)
Clamp spring (8) is installed, gear (9) is on gear shaft (10), gear (9) and gear shaft (10) between outside and housing (3)
Quantity to be multiple, the both ends of each gear shaft (10) are supported on the inside of housing (3), housing with a bearing (11) respectively
(3) end face is equipped with multigroup sliding rail (12), and there are one rack-and-pinion slider module, rack-and-pinion sliding blocks for the interior installation of every group of sliding rail (12)
Module is moved guide rail (14) and is formed by rack-and-pinion sliding block (13) and a pair of of cylindrical roller, each gear (9) and ratch (2) and its right
Rack-and-pinion sliding block (13) engagement answered.
2. a kind of piston type multijaw end effector of robot according to claim 1, it is characterised in that：The ratch
(2) it is multi-panel ratch, face Shuo Wei2-4 faces, and number, the cunning of the face number of the ratch (2) and gear (9) and gear shaft (10)
The group number of rail (12) is identical.
3. a kind of piston type multijaw end effector of robot according to claim 1, it is characterised in that：The housing
(3) side outputs and inputs fluid there are two hole in two holes, wherein described outputs and inputs fluid as gas or liquid.
4. a kind of piston type multijaw end effector of robot according to claim 1, it is characterised in that：The bearing
(11) it is cylinder needle bearing.
5. a kind of piston type multijaw end effector of robot according to claim 1, it is characterised in that：The housing
(3) side is provided with precision adjusting screw (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721739861.7U CN207509254U (en) | 2017-12-07 | 2017-12-07 | A kind of piston type multijaw end effector of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721739861.7U CN207509254U (en) | 2017-12-07 | 2017-12-07 | A kind of piston type multijaw end effector of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207509254U true CN207509254U (en) | 2018-06-19 |
Family
ID=62543953
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721739861.7U Active CN207509254U (en) | 2017-12-07 | 2017-12-07 | A kind of piston type multijaw end effector of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207509254U (en) |
-
2017
- 2017-12-07 CN CN201721739861.7U patent/CN207509254U/en active Active
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