CN208051943U - A kind of robot carrying handgrip - Google Patents
A kind of robot carrying handgrip Download PDFInfo
- Publication number
- CN208051943U CN208051943U CN201721677373.8U CN201721677373U CN208051943U CN 208051943 U CN208051943 U CN 208051943U CN 201721677373 U CN201721677373 U CN 201721677373U CN 208051943 U CN208051943 U CN 208051943U
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- fixed
- handgrip
- gear
- cam
- movable plate
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Abstract
The utility model belongs to robot field more particularly to handgrip is carried by a kind of robot, it is characterised in that：The piston rod head of the cylinder is connect with movable plate drives movable plate to move horizontally, and described two claws one are mobile claw, and one is stationary jaw；The lower part of described two claws is both provided with cavity, spring, telescopic mast is both provided in the cavity, the tail portion of the telescopic mast is connect with spring and its head is set to across through-hole outside claw；Both ends at the top of the fixed seat are each to fix a vertical lift lever, the top horizontal of the two panels fixed plate is provided with first rotating shaft, the wheel shaft of the cam is fixed in first rotating shaft, the smaller one end of the cam diameter is provided with the second horizontal shaft, the both ends of second shaft are respectively arranged in a lift lever and can occur with lift lever relative rotation, and the actuating unit band moving cam is rotated around first rotating shaft.It can be used for gripping the material for dimensionally having slight difference and be not easy to skid.
Description
Technical field
The utility model belongs to robot field more particularly to handgrip is carried by a kind of robot.
Background technology
In the industrial production, along with the rapid development of automation, the application of robot is more and more.Robot is being carried
It needs to capture material by handgrip during material, existing handgrip generally comprises two claws and cylinder, controls by cylinder
The spacing of two claws realizes clamping and releasing for material by the spacing variation of claw.Due to claw lower end and it is crawled object
The contact surface of material is plane, is influenced by material its own gravity, and claw is easy to skid during capturing material；In addition, two
The variation of spacing is controlled by cylinder between a claw, and the flexible stroke of cylinder is fixed, i.e. the variation of spacing between two claws
Value is fixed, even if the similar product of different model dimensionally only exists smaller difference, it is also necessary to the handgrip more renewed, otherwise
Material deformation or the situations such as fall can occur because the dynamics of clamping is excessive or too small.
206029938 U of Chinese patent CN provide a kind of Novel industrial robot handgrip, which is characterized in that have gas
Cylinder, rack, two gear arms and two fingers, one end connection of the output end and rack of cylinder are simultaneously moved, two with carry-over bar
A gear arm is respectively arranged on the both sides of rack, the linking arm that gear arm has gear structure and connect with the gear structure,
It is hinged by shaft that gear structure engages connection, the end of linking arm and the end of finger with rack.This robot gripper
Corrugated curved surface has been made in finger, and claw is not easy to skid during capturing material, but spacing between two claws
Changing value is still only controlled by cylinder, and the changing value of spacing is still fixed between two claws, and the size for gripping material has slightly
Variation, this handgrip i.e. can not use, therefore, it is necessary to be improved to the prior art.
Utility model content
The utility model for claw skid during capturing material and two claws between spacing can not finely tune
Technical problem provides a kind of robot carrying handgrip.
Technical solution used by the utility model is：
A kind of robot carrying handgrip, including two claws, cylinder, fixed seats, the cylinder are fixed in fixed seat,
It is characterized in that：Further include movable plate, the fixed plate of the vertically symmetrical setting of two panels, the cam, the actuating unit that are vertically arranged, the gas
The piston rod head of cylinder is connect with movable plate drives movable plate to move horizontally, and described two claws one are to move claw, one
For stationary jaw, the stationary jaw is fixed on the lower section of fixed seat, and the mobile claw is fixed in the lower section of movable plate；
The lower part of described two claws is both provided with cavity, be both provided on the surface of described two claws gripping materials with
The through-hole that cavity communicates is both provided with spring, telescopic mast in the cavity, and the tail portion of the telescopic mast is connect with spring and its head
Portion is set to across through-hole outside claw；
Both ends at the top of the fixed seat are each to fix a vertical lift lever, and the top horizontal of the two panels fixed plate is set
It is equipped with first rotating shaft, the wheel shaft of the cam is fixed in first rotating shaft, and the smaller one end of the cam diameter is provided with level
The second shaft, the both ends of second shaft are respectively arranged in a lift lever and relative rotation can occur with lift lever,
The actuating unit band moving cam is rotated around first rotating shaft, the height of the lift lever>The height of fixed plate and the height of cam
The sum of degree.
Further include sliding bar, the recess for accommodating movable plate, the fixation of the sliding bar level are provided in the fixed seat
In recess, the outside that the movable plate is sleeved on sliding bar is slided along sliding bar level.
The cylinder is fixed in recess.
The fixed plate is L-shaped.
The actuating unit includes motor, lower gear, gear, and the motor is fixed in fixed plate and its output shaft band
Dynamic lower gear rotation, the axis of the gear are fixed in first rotating shaft, and the lower gear is sequentially connected with gear.
It is sequentially connected by intermediate gear between the lower gear and gear.
The diameter of the telescopic mast tail portion is more than the diameter of flexible post head.
The head of the telescopic mast is enclosed with silica gel sheath, and the outer diameter of the silica gel sheath is less than the outer diameter of through-hole.
The beneficial effects of the utility model are：
1, material is clamped using the flexible post head of two claws in the utility model, since telescopic mast can be in cavity
External extension can finely tune spacing between two claws, therefore, can be used for gripping the material for dimensionally having slight difference, with card
Pawl lower end is made plane and is compared, and due to being contacted with material by the head of multiple telescopic masts, can preferably match with the surface of material
It closes, prevents from skidding；
2, traditional claw is movable, and shaft or connecting joint are more on claw, the claw in the utility model
One is designed as the mobile claw controlled by cylinder, and one is designed as stationary jaw, and structure is simpler, and maintenance and maintenance are more
Add conveniently；
3, traditional handgrip only has the function of to grab object, is unable to the position of handling material, it is necessary to connect additional telescopic arm or
Person's rotating arm is larger to realize the transfer of material, telescopic arm or rotating arm volume；The utility model is driven using cam rotation
Fixed seat Integral swinging, converts the site of material, and the position of handling material reconnects telescopic arm or rotating arm etc. without additional
Structure, simple in structure, compact；
4, the height of lift lever>The sum of the height of fixed plate and the height of cam, avoid fixed seat during the motion with
Fixed plate collides, the safety higher used；
5, the recess for accommodating movable plate, cylinder is provided in fixed seat, movable plate is mounted in recess, enhances whole U.S.
See property and save making raw material；
6, the setting of sliding bar makes movable plate be moved horizontally along fixed track in moving process, will not downward shift,
Two claw contrapositions are more accurate, are not in inconsistent phenomenon, convenient for clamping material；
7, actuating unit is simple in structure, is easy to make；
8, the head of telescopic mast is enclosed with silica gel sheath, and silica gel sheath prevents telescopic mast and material directly contact, in clamping material
During not will produce abrasion.
Description of the drawings
Fig. 1 is the schematic cross-sectional view of the utility model；
Fig. 2 is the external structure schematic diagram of the utility model；
Fig. 3 is the fixed seat structure schematic diagram of the utility model；
Fig. 4 is the mobile claw structural schematic diagram of the utility model.
Specific implementation mode
The utility model is described in further detail below in conjunction with the accompanying drawings：
In figure, 1- cylinders, 2- fixed seats, 3- movable plates, 4- fixed plates, 5- cams, 6- movement claws, 7- stationary jaws,
8- cavitys, 9- through-holes, 10- springs, 11- telescopic masts, 12- lift levers, 13- first rotating shafts, the second shafts of 14-, 15- sliding bars,
16- recesses, 17- motors, 18- lower gears, 19- gears, 20- intermediate gears, 21- silica gel sheaths.
Embodiment
As shown in Figs. 1-2, handgrip, including two symmetrical claws, cylinder 1, fixed seats 2, cylinder 1 are carried by a kind of robot
It is fixed in fixed seat 2 by the way that bolt is horizontal；
It further includes movable plate 3, the fixed plate 4 of the vertically symmetrical setting of two panels, the cam that is vertically arranged that handgrip is carried by robot
5, actuating unit；
The piston rod head of cylinder 1 is fastened by bolts together with movable plate 3, and cylinder 1 drives movable plate 3 is horizontal to move
It is dynamic；
Two claws one are mobile claw 6, and one is stationary jaw 7, and stationary jaw 7 is bolted on fixation
The lower section of seat 2, mobile claw 6 are bolted on the lower section of movable plate 3；
The lower part of two claws is provided with horizontal cylindrical cavity 8, is provided on the surface of two claw gripping materials
The through-hole 9 communicated with respective cavity 8, being horizontally arranged in cavity 8 has spring 10, telescopic mast 11, the rear end of spring 10 to be close to cavity 8
Inner wall, the tail portion of telescopic mast 11 are fit together or are fastened by bolts together with the front end of spring 10, telescopic mast 11
Head is exposed at across through-hole 9 outside claw, and when material is not clamped in claw, spring 10 is the state compressed slightly, when claw presss from both sides
When holding material, spring 10 further compresses；
The diameter of 11 tail portion of telescopic mast is more than the diameter on 11 head of telescopic mast, and the diameter of cavity 8 is slightly larger than 11 tail of telescopic mast
The diameter in portion enables telescopic mast 11 flexibly to be moved inside and outside cavity 8, and then makes the length of the head exposing claw of telescopic mast 11
It changes；
For the ease of installing spring 10, telescopic mast 11 in cavity, two claws are respectively made by two panels sheet body, two panels piece
Half of the internal corresponding position respectively with cavity 8, two panels sheet body is next by bolt lock, can form entire cavity 8；
The both ends at the top of fixed seat 2 are each to fix a vertical lift lever 12, the cross section of lift lever 12 be it is round or
Rectangle；
The top horizontal of two panels fixed plate 4 is equipped with first rotating shaft 13, and specific mounting means is：In two panels fixed plate 4
A trepanning is respectively opened at top, is respectively inserted in corresponding trepanning after the upper anti-abrasion pad of the both ends of first rotating shaft 13 set, anti-abrasion pad with
There are there are gaps between gap or anti-abrasion pad and trepanning between first rotating shaft 13, the both ends of first rotating shaft 13 is allow to exist
Flexible rotating in trepanning；Bearing can also be installed in trepanning, the both ends of first rotating shaft 13 are mounted in bearing, make first turn
The both ends of axis 13 rotate in bearing, and installation bearing is primarily to reduce the abrasion of axis；
The mode that the wheel shaft of cam 5 is bolted or welds is fixed in first rotating shaft 13, and 5 diameter of cam is smaller
The trepanning of tip end, the second horizontal shaft 14 is applied in the tip end trepanning of cam 5, and the second shaft 14 connects with cam 5
Contact portion position is fastened by bolts together, and relative rotation does not occur between the second shaft 14 and cam 5；
Respectively setting is interior in a lift lever 12 and relative rotation can occur with lift lever 12 at the both ends of second shaft 14, and two
Root lift lever 12 and the specific mounting means of the second shaft 14 are：A trepanning is respectively opened in the top of two lift levers 12, the
The both ends of two shafts 14 are respectively inserted in after putting on anti-abrasion pad in the trepanning of corresponding lift lever 12, between anti-abrasion pad and the second shaft 14
There are there are gap, allow the both ends of the second shaft 14 flexible rotating in trepanning between gap or anti-abrasion pad and trepanning；
Bearing can also be installed in the trepanning of lift lever 12, the both ends of the second shaft 14 are mounted in bearing, the second shaft 14 is made
Both ends rotated in bearing, installation bearing primarily to reduce axis abrasion；
Actuating unit band moving cam 5 is rotated around first rotating shaft 13, the height of lift lever 12>The height of fixed plate 4 with it is convex
The sum of the height of wheel 5；
It further includes sliding bar 15 that handgrip is carried by robot, and the recess 16 for accommodating movable plate 3, sliding bar are provided in fixed seat 2
15 both ends are fixed on by the way that bolt is horizontal in recess 16, and the outside that movable plate 3 is sleeved on sliding bar 15 is horizontal along sliding bar 15
Sliding, the surface of sliding bar 15 can cover one layer of anti-abrasion pad, to reduce abrasion of the movable plate 3 when being slided on sliding bar 15；
Cylinder 1 is horizontal to be fixed in recess 16, is supplied by air compressor, specific line connection is compared with skill
Art, details are not described herein again；
Fixed plate 4 is L-shaped, and mounting hole is opened in fixed plate 4, and robot can be carried handgrip by installation bolt in mounting hole
It is installed in robot；
Actuating unit includes motor 17, lower gear 18, gear 19, motor 17 be secured by bolts in fixed plate 4 and
Its output shaft drives lower gear 18 to rotate, and the axis of gear 19 is fixed in by bolt in first rotating shaft 13, lower gear 18 with
It can be sequentially connected by way of directly engaging between gear 19；If limited by installation space, lower gear 18 with it is upper
Intermediate gear 20 can also be increased between gear 19,20 wheel shaft of intermediate gear is fixed in fixed plate 4, and intermediate gear 20 leads to respectively
The mode directly engaged with lower gear 18, gear 19 is crossed to be sequentially connected；
The head of telescopic mast 11 is enclosed with silica gel sheath 21, and the outer diameter of silica gel sheath 21 is less than the outer diameter of through-hole 9；
Motor 17 uses stepper motor, stepper motor to pass through commercially available table program controller with cylinder 1 in the utility model
TPC8-8TD is controlled, and table program controller TPC8-8TD has the function of the mixing control of cylinder stepper motor, table program controller
The circuit connecting mode of TPC8-8TD and power supply, stepper motor and cylinder is compared with technology, and details are not described herein again.
Operation principle
Handgrip is carried at work by robot, and motor 17 drives lower gear 18 to rotate, and lower gear 18 is by way of engagement
It directly drives gear 19 or drives gear 19 to rotate indirectly by intermediate gear 20, and then make the rotation of first rotating shaft 13 simultaneously
Make the rotation in two fixed plates 4 respectively of its both ends, when first rotating shaft 13 rotates, band moving cam 5 is centered on first rotating shaft 13
It is rotated in plummet face, with viewing angle shown in Fig. 2, the direction of rotation of cam 5 is that counterclockwise, cam 5 is turning
Drive the second shaft 14 in plummet face to move in a circle centered on first rotating shaft 13 during dynamic, the both ends of the second shaft 14
Corresponding rotation occurs in lift lever 12；
When cam 5 moves to position shown in Fig. 2, the spacing between mobile claw 6 and stationary jaw 7 is maximum and falls
The both sides of material, cylinder 1 drive movable plate 3 between 1 direction of cylinder movement, mobile claw 6 and stationary jaw 7
Material is clamped away from diminution；
Then cam 5 continues to rotate counterclockwise, and lift lever 12 drives fixed seat 2 to move up, and material moves up the former placement position of disengaging
Point simultaneously moves in a circle under the drive of lift lever 12；When the smaller tip end of 5 diameter of cam is in peak, lift lever 12
Highest point is moved to, when the smaller tip end of 5 diameter of cam is in minimum point, lift lever 12 moves to lowest point, is being promoted
During bar 12 moves between highest point and minimum point, material reaches new placement site, and cylinder 1 drives movable plate 3 to remote
It is moved from 1 direction of cylinder, material is discharged into new placement site by the spacing increase between mobile claw 6 and stationary jaw 7；So
Cam 5 continues to rotate counterclockwise to position shown in Fig. 2 afterwards, and mobile claw 6 grabs the next material of gripping with stationary jaw 7；
The cavity 8 that spring 10 and telescopic mast 11 are accommodated due to being provided in the inside of two claws, when two claws capture
When material, after the head of telescopic mast 11 is by the extruding of material, in a part of retraction claw cavity 8 of telescopic mast 11 and bullet is compressed
Spring 10, under the action of 10 elastic force of spring, 11 head of telescopic mast of two claws clamps material；Since telescopic mast 11 can be in sky
External extension in chamber 8 can finely tune spacing between two claws, therefore, can be used for gripping the material for dimensionally having slight difference,
Compared with plane is made in claw lower end, due to being contacted with material by the head of multiple telescopic masts 11, the head of each telescopic mast 11
The length that claw is stretched out in portion identical can also be different, and can prevent from skidding preferably with the surface engagement of material.
1 embodiment of the utility model is described in detail above, but the content is only the utility model
Preferred embodiment should not be considered as limiting the scope of the present invention.It is all to be made according to application scope of the utility model
All the changes and improvements etc., should all still belong within the patent covering scope of the utility model.
Claims (8)
1. handgrip is carried by a kind of robot, including two claws, cylinder, fixed seats, the cylinder are fixed in fixed seat, special
Sign is：Further include movable plate, the fixed plate of the vertically symmetrical setting of two panels, the cam, the actuating unit that are vertically arranged, the cylinder
Piston rod head connect with movable plate movable plate driven to move horizontally, described two claws one are mobile claw, and one is
Stationary jaw, the stationary jaw are fixed on the lower section of fixed seat, and the mobile claw is fixed in the lower section of movable plate；
The lower part of described two claws is both provided with cavity, is both provided on the surface of described two claws gripping materials and cavity
The through-hole communicated is both provided with spring, telescopic mast in the cavity, and the tail portion of the telescopic mast is connect with spring and its head is worn
Through-hole is crossed to be set to outside claw；
Both ends at the top of the fixed seat are each to fix a vertical lift lever, and the top horizontal of the two panels fixed plate is provided with
The wheel shaft of first rotating shaft, the cam is fixed in first rotating shaft, and the smaller one end of the cam diameter is provided with horizontal
The both ends of two shafts, second shaft are respectively arranged in a lift lever and can occur with lift lever relative rotation, described
Actuating unit band moving cam is rotated around first rotating shaft, the height of the lift lever>The height of fixed plate and the height of cam it
With.
2. handgrip is carried by a kind of robot according to claim 1, it is characterised in that：Further include sliding bar, the fixation
The recess for accommodating movable plate is provided on seat, the sliding bar is horizontal to be fixed in recess, and the movable plate is sleeved on sliding bar
Outside along sliding bar level slide.
3. handgrip is carried by a kind of robot according to claim 2, it is characterised in that：The cylinder is fixed in recess.
4. handgrip is carried by a kind of robot according to claim 1, it is characterised in that：The fixed plate is L-shaped.
5. handgrip is carried by a kind of robot according to claim 1, it is characterised in that：The actuating unit include motor,
Lower gear, gear, the motor is fixed in fixed plate and its output shaft drives lower gear rotation, the axis of the gear
It is fixed in first rotating shaft, the lower gear is sequentially connected with gear.
6. handgrip is carried by a kind of robot according to claim 5, it is characterised in that：Between the lower gear and gear
It is sequentially connected by intermediate gear.
7. handgrip is carried by a kind of robot according to claim 1, it is characterised in that：The diameter of the telescopic mast tail portion is big
In the diameter of flexible post head.
8. handgrip is carried by a kind of robot according to claim 1, it is characterised in that：The head of the telescopic mast is enclosed with
Silica gel sheath, the outer diameter of the silica gel sheath are less than the outer diameter of through-hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721677373.8U CN208051943U (en) | 2017-12-06 | 2017-12-06 | A kind of robot carrying handgrip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721677373.8U CN208051943U (en) | 2017-12-06 | 2017-12-06 | A kind of robot carrying handgrip |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208051943U true CN208051943U (en) | 2018-11-06 |
Family
ID=63998014
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721677373.8U Expired - Fee Related CN208051943U (en) | 2017-12-06 | 2017-12-06 | A kind of robot carrying handgrip |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208051943U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109607177A (en) * | 2019-01-16 | 2019-04-12 | 太原科技大学 | A kind of high serious forgiveness handling device of low flexibility for realizing intelligent storage |
-
2017
- 2017-12-06 CN CN201721677373.8U patent/CN208051943U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109607177A (en) * | 2019-01-16 | 2019-04-12 | 太原科技大学 | A kind of high serious forgiveness handling device of low flexibility for realizing intelligent storage |
| CN109607177B (en) * | 2019-01-16 | 2023-11-10 | 太原科技大学 | Low-flexibility high-fault-tolerance carrying device for realizing intelligent storage |
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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 |
Granted publication date: 20181106 Termination date: 20201206 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |