CN207901188U - Multi-angle captures gripper - Google Patents
Multi-angle captures gripper Download PDFInfo
- Publication number
- CN207901188U CN207901188U CN201820279602.9U CN201820279602U CN207901188U CN 207901188 U CN207901188 U CN 207901188U CN 201820279602 U CN201820279602 U CN 201820279602U CN 207901188 U CN207901188 U CN 207901188U
- Authority
- CN
- China
- Prior art keywords
- crawl
- connecting rod
- fixed
- gripper
- captures
- 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 multi-angles to capture gripper.The direction of gripper can be realized by adjusting the mode of industrial robot, but the control for adjusting progress needed for industrial robot motion is complex, and required space is also larger.The utility model includes rack, drive component, transmission component and grabbing assembly.The grabbing assembly includes crawl frame, crawl motor, crawl screw rod, crawl nut, connecting rod, flipping block and corpus unguis.Transmission component includes shaft, rocker, first connecting rod and second connecting rod；Shaft support is in rack.One end of first connecting rod and second connecting rod is hinged with rocker；The other end of second connecting rod and crawl frame are hinged；Deflection sliding slot is offered on the other end of first connecting rod；It is fixed with traveller on the crawl frame；The traveller is located in deflection sliding slot；Rocker is fixed with shaft.The utility model can make corpus unguis around waiting for that grabbing workpiece rotates, and then from special angle grabbing workpiece.
Description
Technical field
The utility model belongs to gripper technical field, and in particular to a kind of multi-angle crawl gripper.
Background technology
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability.In modern production, industrial robot
It plays a very important role, especially end is equipped with the industrial robot of gripper, can capture a variety of different productions
Product have very strong flexibility in production.But it is moved although the gripper of existing industrial robot end installation completes crawl
Make, but need special angle that could stablize the workpiece of crawl such as cylindroid etc. (cylindroid needs are grabbed from short axle
Take), the adaptability of existing machinery pawl is relatively poor.Although the direction of gripper can be real by adjusting the mode of industrial robot
It is existing, but adjust that the control carried out needed for industrial robot motion is complex, and energy consumption is higher, required space also compared with
Greatly.Therefore in narrow space, the purpose of special angle clamping workpiece can not be realized by industrial robot motion sometimes.Cause
This, design one kind can adjust itself direction, particularly significant from the mechanical paw of special angle grabbing workpiece.
Invention content
The purpose of this utility model is to provide a kind of multi-angles to capture gripper.
The utility model multi-angle captures gripper, including rack, drive component, transmission component and grabbing assembly.It is described
Grabbing assembly include crawl frame, crawl motor, crawl screw rod, crawl nut, connecting rod, flipping block and corpus unguis.Described grabs
Take Screw rod bearings on crawl frame；Crawl screw rod is driven by crawl motor；The crawl nut constitutes sliding pair with crawl frame,
Screw pair is constituted with crawl screw rod；One end of two connecting rods is hinged with crawl nut, and the other end is interior with two flipping blocks
End is respectively articulated with；The middle part of two flipping blocks constitutes revolute pair with crawl frame, and outer end is fixed respectively with two corpus unguis；Capture frame
On be provided with arc convex；The arc chute opened up on arc convex and rack constitutes sliding pair.The transmission component includes
Shaft, rocker, first connecting rod and second connecting rod；The shaft support is in rack.The first connecting rod and second connecting rod
One end is hinged with rocker；The other end of second connecting rod and crawl frame are hinged；Deflection is offered on the other end of first connecting rod to slide
Slot；It is fixed with traveller on the crawl frame；The traveller is located in deflection sliding slot；Rocker is fixed with shaft；Shaft is by driving
Dynamic Component driver.
Further, two corpus unguis are arc-shaped, and recess portion is oppositely arranged.It is both provided with pressure on the inside of two corpus unguis
Sensor.
Further, the diameter of the traveller is equal to the groove width of deflection sliding slot.
Further, the corpus unguis is made of fixed column and four calvus；Four calvus are vertically arranged in order
Setting；Four calvus are fixed to each other by fixed column；Calvus is arc-shaped；Wherein the inner end of two panels calvus is turned over corresponding
Switch block is fixed.
Further, the drive component includes deflection motor, first pulley, the second belt wheel and transmission belt；Described
The output shaft of first pulley and deflection motor is fixed；Second belt wheel is fixed with shaft；First pulley is logical with the second belt wheel
Cross transmission band connection；The deflection motor is fixed on the rack.
Further, the crawl motor is fixed with crawl frame；One end of the crawl screw rod is defeated with crawl motor
Shaft is fixed.
Further, there are two the transmission component is total to；Distinguish at the both ends of rocker and shaft in two transmission components
It is fixed.
The utility model has an advantageous effect in that：
1, the utility model can make corpus unguis around waiting for that grabbing workpiece rotates, and then from special angle grabbing workpiece.
2, the utility model can complete the special angle crawl of workpiece in narrow space, corresponding crawl environment
It is more adaptable.
3, the corpus unguis of the utility model is greatly improved corpus unguis and is waited for grabbing workpiece using the connection design of multi-layer thin chip
Frictional force.
Description of the drawings
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the stereogram of grabbing assembly in the utility model；
Fig. 3 is the kinematic sketch of grabbing assembly in the utility model；
Fig. 4 is the position view of arc convex and arc groove cooperation in the utility model；
Fig. 5 is the schematic diagram that grabbing assembly is deflected to side in the utility model；
Fig. 6 is the schematic diagram that grabbing assembly turns to that lateral deviation opposite with Fig. 5 in the utility model.
Specific implementation mode
Below in conjunction with attached drawing, the utility model is described in further detail.
As shown in Fig. 1,2,3 and 4, multi-angle captures gripper, including rack (not shown), drive component, transmission
Component and grabbing assembly.Grabbing assembly includes crawl frame 3, crawl motor 4, crawl screw rod 5, crawl nut 6, connecting rod 7, overturning
Block 8 and corpus unguis 9.Crawl motor 4 is fixed on crawl frame 3.Crawl screw rod 5 is supported on crawl frame 3.Capture one end of screw rod 5
It is fixed with the output shaft of crawl motor 4.It captures nut 6 and constitutes sliding pair with crawl frame 3, screw pair is constituted with crawl screw rod 5.Two
One end of root connecting rod 7 is hinged with crawl nut 6, and the inner end of the other end and two flipping blocks 8 is respectively articulated with.Two flipping blocks
8 middle part constitutes revolute pair with crawl frame 3, and outer end is fixed respectively with two corpus unguis 9.Two corpus unguis 9 are arc-shaped, and recessed
Portion is oppositely arranged.The inside of two corpus unguis 9 is both provided with pressure sensor.Corpus unguis 9 is made of fixed column and four calvus.Mutually
Four parallel calvus are arranged in order setting.Four calvus are fixed to each other by lower fixed column.Calvus is arc-shaped.Wherein two
The inner end of piece calvus is fixed with corresponding flipping block 8.It is provided with arc convex 16 on crawl frame 3.Arc convex 16 and rack
On the arc chute 17 that opens up constitute the sliding pair arcuately slided.
Transmission component includes shaft 2, rocker 15, first connecting rod 13 and second connecting rod 14.Shaft 2 is supported in rack.The
One end of one connecting rod 13 and second connecting rod 14 is hinged with rocker 15.The other end of second connecting rod 14 and crawl frame 3 are hinged.First
Deflection sliding slot is offered on the other end of connecting rod 13.It is fixed with a traveller on crawl frame 3.Traveller setting is in deflection sliding slot.
The diameter of traveller is equal to the groove width of deflection sliding slot.Traveller can with first connecting rod 13 relatively rotate and with 13 phase of first connecting rod
To sliding.First connecting rod 13, the articulated shaft axis of rocker 15 are parallel with second connecting rod 14, the articulated shaft axis of rocker 15 and do not weigh
It closes.The axis of traveller and second connecting rod, the crawl articulated shaft axis of frame are parallel and misaligned.There are two transmission component is total.Two
Rocker 15 and the both ends of shaft 2 in transmission component are fixed respectively.Drive component includes deflection motor 1, first pulley 10, second
Belt wheel 11 and transmission belt 12.Deflection motor 1 is fixed on the rack.First pulley 10 and the output shaft of deflection motor 1 are fixed.Second
Belt wheel 11 is fixed with shaft 2.First pulley 10 is connect with the second belt wheel 11 by transmission belt 12.
As it can be seen in figures 5 and 6, the rotation of deflection motor 1 can drive arc convex 16, arcuately slot slides, to realize crawl
Frame is rotated around the rotation axis of arc groove.Since crawl frame is the axis rotation outside paw, therefore corpus unguis can be realized around waiting for
The function of object rotation is captured, and then turns to the position for being suitble to crawl object in smaller space.
The operation principle that the multi-angle captures gripper is as follows：
Step 1: crawl motor 4 inverts so that two corpus unguis are flared to preset state.Drive of the rack in industrial robot
Dynamic lower reach is waited at grabbing workpiece so that two 9 rings of corpus unguis live to wait for grabbing workpiece.
Step 2: deflection motor 1 drive rocker 15 rotate so that two corpus unguis 9 around wait for grabbing workpiece rotate.
Step 3: after two corpus unguis 9 reach predeterminated position, deflection motor stalling, crawl motor 4 rotates forward, and two corpus unguis 9 close
It holds to and waits for grabbing workpiece.
Step 4: after the pressure that pressure sensor detects on two corpus unguis 9 reaches preset value, crawl motor 4 stalls, work
Industry robot motion takes article to be captured away.
Claims (7)
1. multi-angle captures gripper, including rack, drive component, transmission component and grabbing assembly；It is characterized in that：Described
Grabbing assembly includes crawl frame, crawl motor, crawl screw rod, crawl nut, connecting rod, flipping block and corpus unguis；The crawl
Screw rod bearings are on crawl frame；Crawl screw rod is driven by crawl motor；The crawl nut constitutes sliding pair with crawl frame, with
It captures screw rod and constitutes screw pair；One end of two connecting rods is hinged with crawl nut, the inner end of the other end and two flipping blocks
It is respectively articulated with；The middle part of two flipping blocks constitutes revolute pair with crawl frame, and outer end is fixed respectively with two corpus unguis；It captures on frame
It is provided with arc convex；The arc chute opened up on arc convex and rack constitutes sliding pair；The transmission component includes turning
Axis, rocker, first connecting rod and second connecting rod；The shaft support is in rack；The one of the first connecting rod and second connecting rod
End is hinged with rocker；The other end of second connecting rod and crawl frame are hinged；Deflection sliding slot is offered on the other end of first connecting rod；
It is fixed with traveller on the crawl frame；The traveller is located in deflection sliding slot；Rocker is fixed with shaft；Shaft is by driving group
Part drives.
2. multi-angle according to claim 1 captures gripper, it is characterised in that：Two corpus unguis are arc-shaped, and recessed
Portion is oppositely arranged；It is both provided with pressure sensor on the inside of two corpus unguis.
3. multi-angle according to claim 1 captures gripper, it is characterised in that：The diameter of the traveller is equal to deflection and slides
The groove width of slot.
4. multi-angle according to claim 1 captures gripper, it is characterised in that：The corpus unguis is by fixed column and four
Calvus forms；Four calvus are vertically arranged in order setting；Four calvus are fixed to each other by fixed column；Calvus is in circle
Arc；Wherein the inner end of two panels calvus is fixed with corresponding flipping block.
5. multi-angle according to claim 1 captures gripper, it is characterised in that：The drive component includes deflection electricity
Machine, first pulley, the second belt wheel and transmission belt；The output shaft of the first pulley and deflection motor is fixed；Described second
Belt wheel is fixed with shaft；First pulley is with the second belt wheel by being driven band connection；The deflection motor is fixed on the rack.
6. multi-angle according to claim 1 captures gripper, it is characterised in that：The crawl motor and crawl frame are solid
It is fixed；One end of the crawl screw rod and the output shaft of crawl motor are fixed.
7. multi-angle according to claim 1 captures gripper, it is characterised in that：There are two the transmission component is total；
The both ends of rocker and shaft in two transmission components are fixed respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820279602.9U CN207901188U (en) | 2018-02-28 | 2018-02-28 | Multi-angle captures gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820279602.9U CN207901188U (en) | 2018-02-28 | 2018-02-28 | Multi-angle captures gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207901188U true CN207901188U (en) | 2018-09-25 |
Family
ID=63560250
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820279602.9U Expired - Fee Related CN207901188U (en) | 2018-02-28 | 2018-02-28 | Multi-angle captures gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207901188U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108145730A (en) * | 2018-02-28 | 2018-06-12 | 浙江机电职业技术学院 | Multi-angle captures gripper and its grasping means |
-
2018
- 2018-02-28 CN CN201820279602.9U patent/CN207901188U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108145730A (en) * | 2018-02-28 | 2018-06-12 | 浙江机电职业技术学院 | Multi-angle captures gripper and its grasping means |
| CN108145730B (en) * | 2018-02-28 | 2024-03-12 | 浙江机电职业技术学院 | Multi-angle grabbing mechanical claw and grabbing method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105459095B (en) | Three-freedom-degree hybrid formula Omni-mobile transfer robot | |
| CN100410028C (en) | Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing | |
| CN106514681A (en) | Combined gripper for engine cylinder head | |
| CN100410029C (en) | Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing | |
| CN206029936U (en) | Novel industrial robot gripper | |
| CN106737600B (en) | A kind of seven freedom transfer robot containing ball-screw moving platform | |
| CN105619437B (en) | A kind of modularization two-freedom hand is grabbed | |
| CN111203868A (en) | Robot arm capable of taking workpiece quickly | |
| CN103203741B (en) | Three-degree-of-freedom parallel robot mechanism | |
| CN104772769A (en) | Robot gripper driven by gear | |
| CN207373169U (en) | A kind of four axis robot devices suitable for high temperature with high dust environment | |
| CN113183172A (en) | Variable-configuration under-actuated manipulator for fruit picking and using method thereof | |
| CN208614783U (en) | A kind of multi-functional carrying robot device | |
| CN207901188U (en) | Multi-angle captures gripper | |
| CN204604351U (en) | A kind of gear-driven robot gripper | |
| CN204431241U (en) | A kind of five spindle-type transfer robots | |
| CN207346752U (en) | A kind of gripper grabbing device | |
| CN104723324A (en) | Four-degree-of-freedom electric multi-joint mechanical arm | |
| CN206383134U (en) | A kind of wu-zhi-shan pig | |
| CN106002947B (en) | The transfer robot that a kind of slave arm homonymy arrangement free degree can reconstruct | |
| CN108145730A (en) | Multi-angle captures gripper and its grasping means | |
| CN107662200A (en) | It is a kind of suitable for four axis robot devices of high temperature with high dust environment and its application | |
| CN204770979U (en) | Last unloader of gear -hobbing machine | |
| CN214264819U (en) | Stud processing combined machine tool | |
| CN204431242U (en) | A kind of tetraxon transfer robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180925 Termination date: 20210228 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |