CN207696529U - A kind of robot gripper of high security - Google Patents
A kind of robot gripper of high security Download PDFInfo
- Publication number
- CN207696529U CN207696529U CN201721887728.6U CN201721887728U CN207696529U CN 207696529 U CN207696529 U CN 207696529U CN 201721887728 U CN201721887728 U CN 201721887728U CN 207696529 U CN207696529 U CN 207696529U
- Authority
- CN
- China
- Prior art keywords
- handgrip
- mandril
- high security
- robot gripper
- 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
Links
Abstract
The utility model discloses a kind of robot gripper of high security, including organic frame, and it is set to the cylinder in rack, and connecting rod that is being set to cylinder one end and being fixedly connected with cylinder, the connecting rod lower end is provided with the live spindle being fixedly connected with the connecting rod, the live spindle lower end is provided with handgrip, and the handgrip upper end is provided with elastic rod, it is characterised in that：The elastic rod includes the mandril through handgrip, and it is set to the cap tube of mandril one end, and rubber block that is being set to the mandril other end and being fixedly connected with mandril, movable span is offered in the cap tube, and spring compatible with movable span size is provided in the movable span；The robot gripper of the modern high security can effectively capture the workpiece of various irregular shapes by the elastic rod being set on handgrip, to save production cost, have the advantages that simple in structure, applied widely, performance is high.
Description
Technical field
The utility model is related to a kind of robot grippers of high security.
Background technology
Today's society and step into mechanization production road, many factories all realize robot replace it is artificial make, and
In it is the most representative be exactly high security robot cleft hand, the grasping used in the robot cleft hand of existing high security
Device general structure is complex, causes the execution of multiple action links relatively complicated, and working efficiency is low, especially existing briquetting
Rod structure complexity and mostly rigid member, pressing package bag is difficult to when carrying out briquetting work.
Technology has solved above-mentioned ask disclosed in a kind of robot gripper structure of the application of Publication No. 202765855
Topic, including mechanical gripper holder, the robot gripper include double briquetting units；Double briquetting unit crossed-symmetrical settings exist
The both sides of mechanical gripper holder；The briquetting unit includes drive link, compression bar, cylinder, live spindle and bottom door；The cylinder
Bottom door is driven to be turned on and off after driving live spindle rotation；Described drive link one end and bottom door are socketed in live spindle, are passed
The lever other end is flexibly connected with compression bar；The compression bar is the arch compression bar of one or more layers structure.But the equipment has ignored,
During automated production, most of workpiece it is in irregular shape so that easy to produce and be not clamped during gripping
Situation, while if being directed to the dedicated robot gripper of workpiece setting of different shapes, mass production cost can be wasted, use pole
It is inconvenient.
Utility model content
In view of this, the utility model aim is to provide a kind of elastic rod by being set on handgrip, it can be effective
The workpiece for capturing various irregular shapes has simple in structure, applied widely, performance to save production cost
The robot gripper of high high security.
In order to solve the above-mentioned technical problem, the technical solution of the utility model is：A kind of robot gripper of high security,
Including organic frame, and the cylinder that is set in rack, and connecting rod that is being set to cylinder one end and being fixedly connected with cylinder,
The connecting rod lower end is provided with the live spindle being fixedly connected with the connecting rod, and the live spindle lower end is provided with handgrip, institute
It states handgrip upper end and is provided with elastic rod, it is characterised in that：The elastic rod includes the mandril through handgrip, and is set to mandril
The cap tube of one end, and rubber block that is being set to the mandril other end and being fixedly connected with mandril offer activity in the cap tube
Hole is provided with spring compatible with movable span size in the movable span.
Preferably, the mandril includes top bar, and be set to top bar tail end and be integrally formed with top bar
Stop block, and be set to stop block tail end and with the integrally formed top foot piece of stop block, the diameter of the stop block is big
In the diameter of top bar and top foot piece.
Preferably, the top bar is located in spring, the spring diameter is less than stop block diameter.
Preferably, the elastic rod is provided with more than one and is uniformly distributed in handgrip upper surface.
Preferably, live spindle upper end is provided with the drive link being fixedly connected with live spindle, the drive link upper end
It is provided with the compression bar being connect with drive link.
Preferably, the handgrip lower end has been provided with and the integrally formed claw hook of handgrip, the claw hook upper surface setting
Have and the integrally formed anti-slip tank of claw hook.
The utility model has the technical effect that following aspect：Due to the elastic rod being set on handgrip so that grab
Hand is contacted by the rubber block of mandril one end with the surface for being grabbed object so that mandril passes through compression when grasping workpiece
Spring in cap tube is retracted into cap tube, and spring can also generate mandril the active force of one negative direction, make while shrinking
Mandril can not only coincide the workpiece of various irregular shapes, while can also firmly be connected on the surface of workpiece, energy
Enough workpiece for effectively capturing various irregular shapes, to save production cost, have it is simple in structure, applied widely,
The high advantage of performance.
Description of the drawings
Fig. 1 is a kind of overall structure diagram of the robot gripper of high security of the utility model；
Fig. 2 is the sectional view of elastic rod in a kind of robot gripper of high security of the utility model；
Fig. 3 is the sectional view of mandril in a kind of robot gripper of high security of the utility model.
Specific implementation mode
Below in conjunction with attached drawing, specific embodiment of the present utility model is described in further detail, so that the utility model skill
Art scheme is more readily understood and grasps.
In the present embodiment, it is to be understood that term " centre ", "upper", "lower", " top ", " right side ", " left end ",
" top ", " back side ", " middle part ", etc. instructions orientation or positional relationship be based on the orientation or positional relationship shown in the drawings, only
It is of the invention for ease of description, does not indicate or imply the indicated device or element must have a particular orientation, with spy
Fixed azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, the connection between component or fixed form if not otherwise specified in this embodiment, connection or solid
Determine mode can be fixed by bolt commonly used in the prior art or pin fix or axis pin connection etc. modes, therefore, this
It is not described in detail in embodiment.
A kind of robot gripper of high security, as shown in Figs. 1-3, including organic frame 1, and be set in rack 1 and
With the bolted cylinder 2 of rack, and be set to 2 one end of cylinder and with 2 bolted connecting rod 3 of cylinder, the connection
3 lower end of bar is provided with the live spindle 4 being flexibly connected with connecting rod 3, and 4 upper end of live spindle is provided with and 4 activity of live spindle
The drive link 6 of connection, 6 upper end of the drive link are provided with and 6 bolted compression bar 7 of drive link, 4 lower end of the live spindle
Be provided with the handgrip 5 being flexibly connected with live spindle, 5 lower end of the handgrip be provided with 5 integrally formed claw hook 52 of handgrip,
52 upper surface of the claw hook is provided with and 52 integrally formed anti-slip tank 521 of claw hook, in the present invention, the model of cylinder 2
For " MDB1B63-200 "
5 upper end of the handgrip is provided with the elastic rod 51 being flexibly connected with handgrip, the setting of the elastic rod 51 there are one with
Above and it is uniformly distributed in 5 upper surface of handgrip, the elastic rod 51 includes the mandril 511 through handgrip 5, the mandril 511
Include top bar 5111, and be set to top 5111 tail end of bar and with top 5111 integrally formed stop block 5112 of bar,
And be set to 5112 tail end of stop block and with 5112 integrally formed top foot piece 5113 of stop block, the stop block 5112 it is straight
Diameter is all higher than top bar 5111 and pushes up the diameter of foot piece 5113, and the top bar 5111 is located in spring 515, the mandril 511
One end be provided with 511 bolted cap tube 512 of mandril, offer movable span 514, the movable span in the cap tube 512
Spring 515 compatible with 514 size of movable span is provided in 514,515 diameter of the spring is less than 5112 diameter of stop block,
511 other end of the mandril is provided with and 511 bolted rubber block 513 of mandril.
Principle explanation：In use, first by the opening cylinder 2 in rack 1 so that cylinder 2 drives connecting rod 3 to move, even
Extension bar 3 has also driven the movement of handgrip 5 while moving so that and two handgrips 5 are located at the left and right sides for waiting for grabbing workpiece,
And close up to direction close towards each other, when the elastic rod 51 on two handgrips 5 is connected to the left and right ends of workpiece respectively,
The elasticity of spring can be utilized, it is ensured that multiple elastic rods 51 can not only coincide the workpiece of various irregular shapes, while may be used also
To be firmly connected on the surface of workpiece, workpiece is moved to precalculated position by last robot gripper.
The utility model has the technical effect that following aspect：Due to the elastic rod being set on handgrip so that grab
Hand is contacted by the rubber block of mandril one end with the surface for being grabbed object so that mandril passes through compression when grasping workpiece
Spring in cap tube is retracted into cap tube, and spring can also generate mandril the active force of one negative direction, make while shrinking
Mandril can not only coincide the workpiece of various irregular shapes, while can also firmly be connected on the surface of workpiece, energy
Enough workpiece for effectively capturing various irregular shapes, to save production cost, have it is simple in structure, applied widely,
The high advantage of performance.
Certainly, the representative instance of above only the utility model, in addition to this, the utility model can also have other a variety of
Specific implementation mode, all technical solutions formed using equivalent substitution or equivalent transformation all fall within the requires of the utility model protection
Within the scope of.
Claims (6)
1. a kind of robot gripper of high security, including organic frame, and the cylinder that is set in rack, and it is set to cylinder one
Connecting rod that is holding and being fixedly connected with cylinder, the connecting rod lower end are provided with the live spindle being fixedly connected with the connecting rod,
The live spindle lower end is provided with handgrip, and the handgrip upper end is provided with elastic rod, it is characterised in that：The elastic rod includes
Through the mandril of handgrip, and be set to the cap tube of mandril one end, and be set to the mandril other end and be fixedly connected with mandril
Rubber block, offer movable span in the cap tube, spring compatible with movable span size be provided in the movable span.
2. a kind of robot gripper of high security as described in claim 1, it is characterised in that：The mandril includes top
Bar, and be set to top bar tail end and with top the integrally formed stop block of bar, and be set to stop block tail end and with only
The diameter of the integrally formed top foot piece of block, the stop block is all higher than top bar and pushes up the diameter of foot piece.
3. a kind of robot gripper of high security as claimed in claim 2, it is characterised in that：The top bar is located at spring
Interior, the spring diameter is less than stop block diameter.
4. a kind of robot gripper of high security as described in claim 1, it is characterised in that：The elastic rod is provided with one
More than a and it is uniformly distributed in handgrip upper surface.
5. a kind of robot gripper of high security as described in claim 1, it is characterised in that：Live spindle upper end is provided with
The drive link being fixedly connected with live spindle, the drive link upper end are provided with the compression bar being connect with drive link.
6. a kind of robot gripper of high security as described in claim 1, it is characterised in that：The handgrip lower end is provided with
Have and is provided with and the integrally formed anti-slip tank of claw hook with the integrally formed claw hook of handgrip, the claw hook upper surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721887728.6U CN207696529U (en) | 2017-12-27 | 2017-12-27 | A kind of robot gripper of high security |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721887728.6U CN207696529U (en) | 2017-12-27 | 2017-12-27 | A kind of robot gripper of high security |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207696529U true CN207696529U (en) | 2018-08-07 |
Family
ID=63030052
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721887728.6U Expired - Fee Related CN207696529U (en) | 2017-12-27 | 2017-12-27 | A kind of robot gripper of high security |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207696529U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109397278A (en) * | 2018-12-07 | 2019-03-01 | 苑航 | Imitative hedgehog magnetic drives bar ball adaptive robot arm device |
| CN109648588A (en) * | 2019-01-18 | 2019-04-19 | 浙江工业大学 | Portable handling machinery handgrip |
-
2017
- 2017-12-27 CN CN201721887728.6U patent/CN207696529U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109397278A (en) * | 2018-12-07 | 2019-03-01 | 苑航 | Imitative hedgehog magnetic drives bar ball adaptive robot arm device |
| CN109397278B (en) * | 2018-12-07 | 2023-09-12 | 苑航 | Hedgehog-like magnetic driving rod ball self-adaptive robot hand device |
| CN109648588A (en) * | 2019-01-18 | 2019-04-19 | 浙江工业大学 | Portable handling machinery handgrip |
| CN109648588B (en) * | 2019-01-18 | 2020-06-30 | 浙江工业大学 | Portable carrying mechanical gripper |
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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: 20180807 Termination date: 20191227 |