CN207682403U

CN207682403U - A kind of mechanical paw

Info

Publication number: CN207682403U
Application number: CN201721552422.5U
Authority: CN
Inventors: 陶金京; 曾嫱; 李晓鹏; 潘群林
Original assignee: Xihua University
Current assignee: Xihua University
Priority date: 2017-11-20
Filing date: 2017-11-20
Publication date: 2018-08-03
Anticipated expiration: 2027-11-20

Abstract

The utility model discloses a kind of mechanical paws, including babinet, power plant, transmission device and crawl finger, the power plant is fixedly mounted on the babinet, the transmission device is mounted on the babinet, the power plant is connect with the transmission device, and the crawl finger mounted is on the transmission device.The utility model is simple in structure, and degree of regulation is high, can control finger synchronization and open or be closed, while stable movement, kinetic equation loss is smaller, and particularly suitable palletizing mechanical arm transports goods, and can also be applied to the fields such as mechanization and automated production, machine-building.

Description

A kind of mechanical paw

Technical field

The utility model is related to industrial robot field more particularly to a kind of mechanical paws.

Background technology

In recent years, as enterprise's production automation degree is higher and higher, the application of robot is more and more common, matched Robot hand also quickly grow.Paw is also referred to as grasping mechanism, typically by finger, transmission mechanism and driving mechanism group At, but existing mechanical paw mostly uses greatly two or more cylinders or hydraulic cylinder to directly control the opening of paw and close It closing, two cylinders or multi-cylinder may cause to drive asynchronous, and the finger so as to cause both sides cooperation cannot capture or decontrol simultaneously cargo, And the viscosity of oil can change with temperature, and so as to cause driveability variation and pressure loss in piping, cause hydraulic cylinder cannot Accurately control finger, in some instances it may even be possible to lead to falling for cargo；And gas has compressibility, the finger motion speed of air pressure driving Not easy to control, robust motion is poor, causes to capture inefficient.

Invention content

In view of the deficiencies of the prior art, the utility model provides a kind of simple in structure, and degree of regulation is high, can control finger It is synchronous to open or be closed, at the same stable movement, the smaller mechanical paw of kinetic equation loss.

In order to solve the above technical problems, the utility model adopts the following technical solution：A kind of mechanical paw, including babinet 1, Power plant 2, transmission device 3 and crawl finger 4, which is characterized in that the power plant 2 is fixedly mounted on the babinet 1, The power plant 2 is electric pushrod, and the transmission device 3 is mounted on the babinet 1, the power plant 2 and the biography Dynamic device 3 connects, and the crawl finger 4 is mounted on the transmission device 3, the babinet 1 including link 11, top plate 12, Sliding slot 13, foreboard 14 and side plate 15, the link 11 are fixedly connected on 12 top of the top plate, the link 11 and outside Mobile device connects, and to play the role of mobile entire mechanical paw, the sliding slot 13 is fixedly mounted under the top plate 12 Side, the sliding slot 13 are set as T-slot, and the foreboard 14 and 15 liang of the top plate 12 and the side plate are two interconnected, described Through-hole is provided on foreboard 14, there are two the side plates 15, is symmetrically connected to the both sides of the top plate 12, and each side plate 15 On open there are two through-hole, the crawl finger 4 includes right crawl finger 41 and left crawl finger 42, the right crawl finger 41 and There are two the left crawl finger 42 is equal.

Preferably, the transmission device 3 includes rack 31, gear A 32, driving shaft 33, bearing 34, gear B 35, gear C36 and driven shaft 37, one end of the rack 31 are connect with the power plant 2, and top is mounted on the sliding slot 13, described The top of rack 31 has small slide block outstanding, small slide block to be mounted in the T-slot of the sliding slot 13, and the gear A 32 fixes peace Mounted in the middle part of the driving shaft 33, the gear A 32 is engaged with the rack 31, and the bearing 34 is symmetrically mounted on the case On body 1, there are four the bearings 34, is separately mounted in four through-holes on two side plates 15, and the driving shaft 33 is logical The bearing 34 for crossing right is mounted on the babinet 1, and there are two the gear Bs 35, is symmetrically mounted on the driving shaft 33 Both ends, the right crawl finger 41 are symmetrically mounted on 33 both ends of the driving shaft, the axis that the driven shaft 37 passes through left It holds 34 to be mounted on the babinet 1, there are two the gear Cs 36, is symmetrically mounted on 37 both ends of the driven shaft, and in same The gear B 35 of side is intermeshed with the gear C 36, and the left crawl finger 42 is symmetrically mounted on 37 liang of the driven shaft End.

Advantageous effect：Using electric pushrod as power source, gear passes a kind of mechanical paw of the utility model as power Motivation structure, degree of regulation is high, can control finger synchronization and open or be closed, while kinetic equation loss is smaller, the utility model structure letter Single, stable movement, particularly suitable palletizing mechanical arm transports goods, and can also be applied to mechanization and automated production, machine-building Equal fields.

Description of the drawings

Fig. 1 is the structural schematic diagram of the utility model.

Fig. 2 is the right view of the utility model.

Fig. 3 is the A-A full sectional views of Fig. 2.

Fig. 4 is the fundamental diagram of the utility model crawl cargo.

Fig. 5 is the fundamental diagram that the utility model unclamps cargo.

In figure：1- babinets, 11- links, 12- top plates, 13- sliding slots, 14- foreboards, 15- side plates, 2- power plants, 3- Transmission device, 31- racks, 32- gear As, 33- driving shafts, 34- bearings, 35- gear Bs, 36- gear Cs, 37- driven shafts, 4- are grabbed Take finger.

Specific implementation mode

Below with reference to the embodiments and with reference to the accompanying drawing being further described in detail to the technical solution of the utility model.

Referring to Fig. 1 ~ 3, a kind of mechanical paw, including babinet 1, power plant 2, transmission device 3, crawl finger 4, it is described dynamic Power apparatus 2 is fixedly mounted on the babinet 1, and the babinet 1 is overall skeleton, is used to support the power plant 2 and described Transmission device 3, the power plant 2 are electric pushrod, and electric pushrod is easily controllable, can be that the transmission device 3 provides surely Fixed power, the power plant 2 are connect with external control device so that the speed and stroke of electric pushrod can be adjusted accurately Section, the transmission device 3 are mounted on the babinet 1, and the transmission device 3 uses gear drive, gear drive to have very high Precision so that the opening and closing of finger can be accurately controlled, and stable movement, and kinetic equation loss is small, the power plant 2 and institute The connection of transmission device 3 is stated, the crawl finger 4 is mounted on the transmission device 3, and the babinet 1 includes link 11, top plate 12, sliding slot 13, foreboard 14 and side plate 15, the link 11 are fixedly connected by welding above the top plate 12, the company Frame 11 is connect to connect with external mobile devices by through-hole bolt thereon, it is described to play the role of mobile entire paw Sliding slot 13 is fixedly connected by welding below the top plate 12, and the sliding slot 13 is set as T-slot, the foreboard 14 with it is described Top plate 12 and the side plate 15 are two interconnected by welding two, and through-hole is provided on the foreboard 14, and the power plant 2 is fixed On the through-hole of the foreboard 14, there are two the side plates 15, is symmetrically connected to the both sides of the top plate 12, and each institute It states and is opened on side plate 15 there are two through-hole, the crawl finger 4 includes right crawl finger 41 and left crawl finger 42, the right crawl There are two finger 41 and the left crawl finger 42 are equal.

Referring to Fig. 1 ~ 5, the transmission device 3 includes rack 31, gear A 32, driving shaft 33, bearing 34, gear B 35, tooth Wheel C36 and driven shaft 37, one end of the rack 31 are connected by screw with the power plant 2, and top is mounted on the cunning On slot 13, the top of the rack 31 has small slide block outstanding, small slide block to be mounted in the T-slot of the sliding slot 13 so that institute It states rack 31 and is parallel to the sliding slot 13 and move linearly, so that the rack 31 moves more steady, the gear A 32 It is fixedly mounted on the middle part of the driving shaft 33, the gear A 32 is engaged with the rack 31, thus by the straight of the rack 31 Line movement is changed into circular motion, and maintains very high transmission accuracy, and the bearing 34 is symmetrically mounted on the babinet 1, There are four the bearings 34, is separately mounted in four through-holes on two side plates 15, the driving shaft 33 passes through right The bearing 34 be mounted on the babinet 1 on, there are two the gear Bs 35, is symmetrically mounted on 33 both ends of the driving shaft, institute It states right crawl finger 41 and is symmetrically mounted on 33 both ends of the driving shaft, the driven shaft 37 is installed by the bearing 34 of left On the babinet 1, there are two the gear Cs 36, is symmetrically mounted on 37 both ends of the driven shaft, is in the gear of homonymy B35 is intermeshed with the gear C 36, and the gear B 35 and the gear C 36 are with model gear so that the tooth B35 is taken turns to rotate synchronously with the gear C 36, it is final real to drive the driving shaft 33 to be rotated synchronously with the driven shaft 37 The existing right crawl finger 41 and left 42 synchronizing close of crawl finger or opening, the left crawl finger 42 are symmetrically mounted on described 37 both ends of driven shaft.

The utility model is further understood for the ease of technical staff, with reference to specific embodiment and this reality of Fig. 1 ~ 5 pair It is elaborated with the novel course of work.For the utility model when capturing cargo, external control system first controls power plant 2 Push rod inwardly retract, band carry-over bar 31 be moved to the left along sliding slot 13 so that gear A 32 rotates counterclockwise, in rack During 31 are moved to the left, the small slide block on rack 31 slides in sliding slot 13 so that rack 31 can be parallel to sliding slot 13 It moves in a straight line, so that the movement of rack 31 is more steady, when gear A 32 rotates counterclockwise, the driving shaft of right can be driven 33 bearing 34 around right rotates counterclockwise, and the gear B 35 and right crawl finger 41 to drive right rotate counterclockwise, from And realize that right crawl finger 41 is flared out, and when gear B 35 of right rotates counterclockwise, can drive the gear of left simultaneously C36 is rotated clockwise so that bearing 34 of the driven shaft 37 of left around left rotates clockwise, to drive left crawl finger 42 rotate clockwise, and finally realize right crawl finger 41 and left crawl finger 42 while opening, wait for that right crawl finger 41 and a left side are grabbed When taking finger 42 while opening up into certain angle, it is appropriate to cargo that external mobile devices by link 11 move entire paw Position, then, the push rod that external control system controls power plant 2 are protruding, to drive other parts counter motion, by It can be accurately controlled in the speed of electric pushrod and displacement so that right crawl finger 41 and left crawl finger 42 can be accurate simultaneously It being closed into suitable angle and captures cargo, final external mobile devices control entire paw and shift cargo, in transfer process, Since transmission device is gear drive, transmission accuracy is very high so that kinetic equation loss is smaller, is easy to accurately adjust crawl finger 4 Opening and closure, and ensure that cargo is not easy to fall, improve crawl efficiency.

Specific embodiment is to be not intended as one kind to the utility model right to be more clearly understood that the utility model Limitation, without departing from the purpose of the present invention, can there is various variations, all these to the field skill Obviously modification is included within the scope of the utility model art personnel.

Claims

1. a kind of mechanical paw, including babinet（1）, power plant（2）, transmission device（3）With crawl finger（4）, feature exists In the power plant（2）It is fixedly mounted on the babinet（1）On, the transmission device（3）Mounted on the babinet（1）On, The power plant（2）With the transmission device（3）Connection, the crawl finger（4）Mounted on the transmission device（3）On, The babinet（1）Including link（11）, top plate（12）, sliding slot（13）, foreboard（14）And side plate（15）, the link（11） It is fixedly connected on the top plate（12）Top, the sliding slot（13）It is fixedly connected on the top plate（12）Lower section, the foreboard （14）With the top plate（12）With the side plate（15）Two is two interconnected, the side plate（15）There are two, it is symmetrically connected to institute State top plate（12）Both sides, the crawl finger（4）Including right crawl finger（41）With left crawl finger（42）, the right crawl Finger（41）With the left crawl finger（42）There are two.

2. a kind of mechanical paw according to claim 1, which is characterized in that the transmission device（3）Including rack（31）、 Gear A（32）, driving shaft（33）, bearing（34）, gear B（35）, gear C（36）And driven shaft（37）, the rack（31）'s One end and the power plant（2）Connection, top are mounted on the sliding slot（13）On, the gear A（32）It is fixedly mounted on institute State driving shaft（33）Middle part, the bearing（34）It is symmetrically mounted on the babinet（1）On, the driving shaft（33）Pass through right The bearing（34）Mounted on the babinet（1）On, the gear B（35）There are two, it is symmetrically mounted on the driving shaft （33）Both ends, the right crawl finger（41）It is symmetrically mounted on the driving shaft（33）Both ends, the driven shaft（37）Pass through a left side The bearing of side（34）Mounted on the babinet（1）On, the gear C（36）There are two, it is symmetrically mounted on the driven shaft （37）Both ends, the left crawl finger（42）It is symmetrically mounted on the driven shaft（37）Both ends.