CN207888681U - A kind of gripper structure - Google Patents
A kind of gripper structure Download PDFInfo
- Publication number
- CN207888681U CN207888681U CN201721844397.8U CN201721844397U CN207888681U CN 207888681 U CN207888681 U CN 207888681U CN 201721844397 U CN201721844397 U CN 201721844397U CN 207888681 U CN207888681 U CN 207888681U
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- CN
- China
- Prior art keywords
- gripper
- worm
- mounting bracket
- driving mechanism
- motor
- Prior art date
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Abstract
The utility model is related to robotic technology fields, disclose a kind of gripper structure, the arm structure for being installed on robot comprising：The driving mechanism that mounting bracket, two gripper jaw, the gripper jaws of driving two for being rotationally connected with the mounting bracket rotate, the driving mechanism drives two gripper jaw rotations with opposite opening or closes up, and forms the crawl section that can capture article when two gripper jaws close up between two gripper jaws.The beneficial effects of the utility model are：Driving mechanism can be utilized to drive two gripper jaw rotations to capture or unclamp bottle, simple in structure and flexible in operation, then a series of actions for coordinating the arm structure of robot that pouring can be completed.
Description
Technical field
The utility model is related to robotic technology fields, more particularly to a kind of gripper structure.
Background technology
Mechanical automation is the development trend of mankind's activity.Robot is a kind of installations of automatic execution work,
For assisting or replacing human work, mankind commander can be not only received, but also the program of advance layout can be run, it can also basis
Principle program action formulated with artificial intelligence technology.
Currently, there is a kind of performance robot on the market, for serving the tea or pouring, but the robot is lacked there are following
Point：
1, efficiency is low：First, automatic tea-making machine or automatic drinks machine can not be detached from, robot must a pipe in tow
Road is walked, and an automatic tea-making machine or automatic drinks machine is occupied in work, and robot ambulation is slow, efficiency and its low,
It even lower than manually serves the tea water or drinks；
2, R＆D costs are high：Robot whole body lower articular very multiform is mainly walked using apery type at burden, is given
R＆D costs are increased in control algolithm.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, a kind of gripper structure are provided, for being installed on machine
On the arm structure of device people, bottle can be captured, to which tie arm structure completes pouring action.
To achieve the goals above, the utility model provides a kind of gripper structure, the arm for being installed on robot
In structure, including：Mounting bracket, two two gripper jaw, driving gripper jaws for being rotationally connected with the mounting bracket
The driving mechanism of rotation, the driving mechanism drive two gripper jaw rotations with opposite opening or close up, two folders
Hold the crawl section for being formed between two gripper jaws when pawl closes up and capable of capturing article.
Preferably, the driving mechanism includes the motor being installed on the arm structure of the robot, described
The output shaft of motor is connected with worm gear mechanism, and the worm screw of the worm gear mechanism and the output shaft of the motor fix company
Connect, the worm gear mechanism include two worm gears, two worm gears be distributed in the both sides of the worm screw and with the snail
Bar engages, and two worm gear difference fixing sleeves are set to the shaft of two gripper jaws.
Preferably, the diameter of two worm gears is equal.
Preferably, offer axle bearing mount portion in the mounting bracket, the worm screw far from the motor one
End is installed in by bearing in the axle bearing mount portion.
Preferably, the opposite side of two gripper jaws offers arc-shaped groove, two folders
Pawl is held with respect to when closing up, two grooves constitute the circular crawl sections.
Preferably, two opposite sides of the gripper jaw are both provided with rubber pad.
The utility model provides a kind of gripper structure, including two gripper jaws being rotationally connected in mounting bracket,
Driving mechanism drives two gripper jaw rotations with opposite opening or closes up, and is formed and is grabbed between two gripper jaws when closing up
Portion is taken to capture bottle, then a series of pouring action can be completed in tie arm structure motion.
Description of the drawings
Fig. 1 is a kind of axonometric drawing of gripper structure in the utility model embodiment；
Fig. 2 is the structural schematic diagram that a kind of gripper structure after mounting bracket is removed in Fig. 1.
In figure, 10, mounting bracket；11, axle bearing mount portion；20, gripper jaw；21, crawl section；211, groove；30, driving machine
Structure；31, motor；32, worm gear mechanism；321, worm screw；322, worm gear；40, rubber pad.
Specific implementation mode
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Embodiment is not intended to limit the scope of the present invention for illustrating the utility model.
As shown in Figure 1, a kind of gripper structure of the preferred embodiment in the utility model, the arm for being installed on robot
In structure comprising：Two gripper jaw 20 that mounting bracket 10, two is rotationally connected with the mounting bracket 10, driving institutes
State the driving mechanism 30 of the rotation of gripper jaw 20, the driving mechanism 30 drive the rotation of two gripper jaws 20 with opposite opening or
Close up, forms the crawl section 21 that can capture article when two gripper jaws 20 close up between two gripper jaws 20.Institute
It states gripper structure and is mainly used in robot for pouring, be used for the crawl of bottle, the first driving of driving mechanism 30 two
20 opposite openings are grabbed in a clamping, and wine bottle is placed among two gripper jaws 20, is then closed up relatively again and is captured wine
Bottle bottleneck, after a series of actions for completing pouring, two gripper jaws 20 are opened again to unclamp the bottle.Utilize manipulator
Bottle is captured, existing robot pouring can be replaced to need to arrange that the mode of pipeline, pouring are cleverer in robot in the process
It is living and simple in structure.
Based on the above-mentioned technical proposal, with reference to shown in Fig. 2, a kind of gripper structure, the driving machine are provided in the present embodiment
Structure 30 includes the motor 31 being installed on the arm structure of the robot, and the output shaft of the motor 31 is connected with worm and gear
The worm screw 321 of mechanism 32, the worm gear mechanism 32 is fixedly connected with the output shaft of the motor 31, the worm and gear machine
Structure 32 includes two worm gears 322, and two worm gears 322 are distributed in the both sides of the worm screw 321 and are nibbled with the worm screw 321
It closes, two worm gears 322 are distinguished fixing sleeve and are set in the shaft of two gripper jaws 20.Worm gear mechanism 32 has certainly
The function of lock, after capturing bottle, as long as motor 31 stops operating, opposite turn will not occur again for two gripper jaws 20
It is dynamic, to ensure the reliability of crawl.
Specifically, the diameter of two worm gears 322 is equal, to ensure the velocity of rotation phase of two gripper jaws 20
Together, preferably grasping movement is completed in cooperation.
In the present embodiment, in order to make worm and gear move 32 during it is more stable, reduce vibration, it is preferable that the peace
Axle bearing mount portion 11 is offered on dress holder 10,31 one end of the worm screw 321 far from the motor are installed in institute by bearing
It states in axle bearing mount portion 11, the bearing and axle bearing mount portion 11 are not shown in the example shown.
Preferably, the opposite side of two gripper jaws 20 offers arc-shaped groove 211, two clampings
When pawl 20 closes up relatively, two grooves 211 constitute the circular crawl section 21.The inner surface configuration of the crawl section 21
The outer surface profile for coordinating bottle bottleneck, can more stably capture bottle.Illustratively, described to grab for bottle of holding with a firm grip
It is 5 ㎜ -10 ㎜ to take the height in portion 21.
In the present embodiment, in order to make the frictional force of reduction contact surface, to more stably capture bottle, two clampings
The opposite side of pawl 20 is both provided with rubber pad 40, and the rubber pad 40 is not shown in the example shown.
To sum up, the utility model embodiment provides a kind of gripper structure, including is rotationally connected in mounting bracket 10
Two gripper jaws 20, driving mechanism 30 drives the rotation of two gripper jaws 20 with opposite opening or closes up, two when closing up
Crawl section 21 is formed between the gripper jaw 20 to capture bottle, then coordinates the arm structure of robot to move and a system can be completed
The pouring of row acts.This gripper is simple in structure, and can reliablely and stablely capture bottle.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, without deviating from the technical principle of the utility model, several improvement and replacement can also be made, these change
The scope of protection of the utility model is also should be regarded as into replacement.
Claims (6)
1. a kind of gripper structure, the arm structure for being installed on robot, which is characterized in that including：Mounting bracket, two
The driving mechanism that a gripper jaw for being rotationally connected with the mounting bracket, the gripper jaw of driving two rotate, the driving
Mechanism drives two gripper jaw rotations with opposite opening or closes up, two gripper jaws when two gripper jaws close up
Between formed and can capture the crawl section of article.
2. gripper structure as described in claim 1, which is characterized in that the driving mechanism includes being installed on the robot
Arm structure on motor, the output shaft of the motor is connected with worm gear mechanism, the worm screw of the worm gear mechanism
It is fixedly connected with the output shaft of the motor, the worm gear mechanism includes two worm gears, and two worm gears are distributed in institute
It states the both sides of worm screw and is engaged with the worm screw, two worm gear difference fixing sleeves are set to turn of two gripper jaws
Axis.
3. gripper structure as claimed in claim 2, which is characterized in that the diameter of two worm gears is equal.
4. gripper structure as claimed in claim 2, which is characterized in that axle bearing mount portion is offered in the mounting bracket,
The one end of the worm screw far from the motor is installed in by bearing in the axle bearing mount portion.
5. gripper structure as described in claim 1, which is characterized in that two opposite sides of the gripper jaw offer
Arc-shaped groove, when two gripper jaws close up relatively, two grooves constitute the circular crawl sections.
6. the gripper structure as described in any one of claim 1-5, which is characterized in that two gripper jaws it is opposite one
Side is both provided with rubber pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721844397.8U CN207888681U (en) | 2017-12-23 | 2017-12-23 | A kind of gripper structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721844397.8U CN207888681U (en) | 2017-12-23 | 2017-12-23 | A kind of gripper structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207888681U true CN207888681U (en) | 2018-09-21 |
Family
ID=63549679
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721844397.8U Expired - Fee Related CN207888681U (en) | 2017-12-23 | 2017-12-23 | A kind of gripper structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207888681U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107856051A (en) * | 2017-12-23 | 2018-03-30 | 华南理工大学广州学院 | A kind of gripper structure |
| CN112407281A (en) * | 2020-11-16 | 2021-02-26 | 江苏锦程航空科技有限公司 | Can snatch unmanned aerial vehicle |
| CN112427996A (en) * | 2020-09-27 | 2021-03-02 | 杭州佳菱机械制造有限公司 | Intelligent flexible processing equipment for precision parts |
-
2017
- 2017-12-23 CN CN201721844397.8U patent/CN207888681U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107856051A (en) * | 2017-12-23 | 2018-03-30 | 华南理工大学广州学院 | A kind of gripper structure |
| CN112427996A (en) * | 2020-09-27 | 2021-03-02 | 杭州佳菱机械制造有限公司 | Intelligent flexible processing equipment for precision parts |
| CN112407281A (en) * | 2020-11-16 | 2021-02-26 | 江苏锦程航空科技有限公司 | Can snatch unmanned aerial vehicle |
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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: 20180921 Termination date: 20201223 |