CN208117883U - Robot gripper - Google Patents
Robot gripper Download PDFInfo
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- CN208117883U CN208117883U CN201820179261.8U CN201820179261U CN208117883U CN 208117883 U CN208117883 U CN 208117883U CN 201820179261 U CN201820179261 U CN 201820179261U CN 208117883 U CN208117883 U CN 208117883U
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- link
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- hinged
- clamping
- driving
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Abstract
The utility model discloses robot grippers, including mounting rack and two clamping units, mounting rack is disposed with driving device, clamping unit includes clamp structure, follower link component and drive connecting rod component, the other end of follower link component and mounting rack are hinged, and the other end of drive connecting rod component is arranged in the output end of driving device.The clamping unit of the utility model design can not only clamp the object of the shapes such as cuboid, but also can clamp the object with curve form such as cylinder；When clamping rectangular shape object, drive connecting rod component is considered as an entirety, and follower link component is considered as an entirety, and two clamping units are substantially four-bar mechanism, when clamping cylindrical object, drive connecting rod component, follower link component and clamp structure form six bar mechanism.The utility model can clamp object of different shapes, can be widely applied to robotic technology field.
Description
Technical field
The utility model relates to robotic technology fields, in particular to robot gripper.
Background technique
Robot industry development is rapid at present, and the demand to robot gripper is also increasingly urgent to.In existing robot gripper
In, it generallys use gear drive and realizes that double fastener refers to turning clamping and gear drives double leval jib to turning horizontal clamping.But when crawl
When irregular object, it is easy to because contact is uneven, limit is insufficient, frictional force not enough etc. reasons due to grab failure.
There are two types of modes for existing robot clamping device：1. a pair of engaged gears drives two bar finger movements, the disadvantage is that
The simple folding and unfolding campaign as scissors folding, narrow scope of application；2. a pair of engaged gears drives two groups of parallel double leval jibs
Finger movement, the disadvantage is that two finger intelligence keeping parallelisms or certain angle do clamping movement, when grabbing different shape object
Influence crawl efficiency.
Utility model content
The technical problem to be solved by the utility model is to provide robot grippers, take six-bar linkage clamping device, can be with
Adjust accordingly clamping device according to the difference of clamped body form, planar object as regular such as fixture when is flat
Row clamping, when clamping irregular curved face object, adjust automatically shape wraps up body surface.
Used technical solution to solve above-mentioned technical problem：
Robot gripper, including mounting rack and two clamping units, the mounting rack are disposed with driving device, the clamping
Unit includes clamp structure, the follower link component hinged with the clamp structure middle part and cuts with scissors with the clamp structure end
The drive connecting rod component connect, the other end and the mounting rack of the follower link component are hinged, the drive connecting rod component
The other end is arranged in the output end of the driving device.
Further, the follower link component include the seven-link assembly hinged with the mounting rack and with the clamp structure
The 8th hinged connecting rod, hinged between the seven-link assembly and the 8th connecting rod, two seven-link assemblies, two the 8th connecting rods and two
The region that clamp structure surrounds is clamping zone.
Further, the drive connecting rod component include the driving link being connect with the driving device output end and with the folder
The hinged fourth link of structure is held, it is hinged between the driving link and the fourth link.
Further, the bottom of the clamping zone is disposed with cushion block, and the cushion block is located at the top of the mounting rack.
Further, the hinge of the hinged place and/or the fourth link and clamp structure of the seven-link assembly and the 8th connecting rod
The place of connecing is disposed with torsional spring.
Further, the output end of the driving device is disposed at least a pair of engaged gears, and wherein driving wheel is arranged in institute
The output end of driving device is stated, one of driving link is arranged on driving wheel, another driving link is arranged on the driven wheel.
Further, the output end of the driving device controls driving wheel by shaft, and the quantity of the meshing gear is two
Right, two driving wheels are arranged in the both ends of the shaft.
Further, at least one U-type groove, each institute are disposed with along horizontal line in two opposite planes of two clamp structures
State the edge of plane where U-type groove both ends extend to.
Beneficial effect：The clamping unit of the utility model design can not only clamp the object of the shapes such as cuboid, but also can clamp
Cylinders etc. have the object of curve form；When clamping rectangular shape object, drive connecting rod component is considered as a drive connecting rod,
Follower link component is considered as a follower link, and two clamping units are substantially four-bar mechanism, main when clamping cylindrical object
Dynamic link assembly, follower link component and clamp structure form six bar mechanism, can grasp object；Follower link component and active
In link assembly, by installing torsional spring in hinged place respectively, so that when clamping rectangular shape object, drive connecting rod component group
At a drive connecting rod, follower link component forms a follower link.The utility model is compact-sized, can clamp different shape
Object, can be widely applied to robotic technology field.
Detailed description of the invention
Fig. 1 is the structure chart of robot gripper；
Fig. 2 is the main view of robot gripper；
Movement when Fig. 3 is robot gripper snatching cylindrical object；
Fig. 4 is movement when robot gripper grabs cuboid object；
Fig. 5 is the top view of torsional spring；
Fig. 6 is the main view of torsional spring.
Specific embodiment
The utility model is described further below with reference to Fig. 1 to Fig. 6.
Robot gripper, including mounting rack 6 and two clamping units, the clamping unit are arranged symmetrically, the mounting rack 6
It is disposed with driving device, the clamping unit includes clamp structure 1, the follower link group hinged with 1 middle part of clamp structure
Part and the drive connecting rod component hinged with 1 end of clamp structure.The other end of the follower link component and the peace
Shelve 6 hingedly, the other end of the drive connecting rod component is arranged in the output end of the driving device.
The follower link component includes the seven-link assembly 7 hinged with the mounting rack 6 and hinged with the clamp structure 1
The 8th connecting rod 8, it is hinged between the seven-link assembly 7 and the 8th connecting rod 8.The drive connecting rod component includes filling with the driving
The driving link 5 and the fourth link 4 hinged with the clamp structure 1, the driving link 5 for setting output end connection connect with the described 4th
It is hinged between bar 4.Each clamping unit can be considered a six bar mechanism.
The opposite plane of two clamp structures 1 is clamping working face, can be used for the object of the regular plane of fixture, such as
There are two in parallel to the object on opposite for prism or tool.At least one U is disposed with along horizontal line on each clamping working face
Type groove, the edge of clamping working face, can be used for clamping cable or stripe object, this reality where each U-type groove both ends extend to
It applies in example, the quantity of the U-type groove on each clamping working face is 1.Two seven-link assemblies, 7, two the 8th connecting rods 8 and two
The region that clamp structure 1 surrounds is clamping zone, can be used for clamping the object of irregular surface, such as the object that surface is cambered surface.
The bottom of the clamping zone is disposed with cushion block 16, and the cushion block 16 is located at the top of the mounting rack 6, and the cushion block 16
Between two seven-link assemblies 7.The upper end of the cushion block 16 is recessed arcwall face, can be held object with cushion block 16, then lead to
Two clamping units are crossed to be clamped.
The output end of the driving device is disposed at least a pair of engaged gears, and wherein driving wheel is arranged in the driving dress
The output end set, the output end drive driving wheel to rotate by shaft.One of driving link 5 is arranged on driving wheel, another
On the driven wheel, gear can drive driving link 5 in rotation and then push clamping unit a arrangement of driving link 5, and by nibbling
Closing gear can make the movement of two clamping units synchronous.In the present embodiment, in order to guarantee to make as far as possible symmetrical configuration and crawl object
Motion stability when body, the quantity of the meshing gear are two pairs, and two driving wheels are arranged in the both ends of the shaft.
The hinged place of the hinged place and/or the fourth link 4 and clamp structure 1 of the seven-link assembly 7 and the 8th connecting rod 8
It is disposed with torsional spring 9.In the present embodiment, hinged place, the fourth link 4 and the clamping of the seven-link assembly 7 and the 8th connecting rod 8 are tied
The hinged place of structure 1 is arranged with torsional spring 9, and the arrangement of two torsional springs 9 is identical, and the torsional spring 9 is substantially torsion spring.With the 7th
For the hinged place of connecting rod 7 and the 8th connecting rod 8,9 sets of the torsional spring is in the shaft of the hinged place, two extension ends of torsional spring 9
It is respectively held against the side of seven-link assembly 7 and the 8th connecting rod 8, the two sides are towards the clamping zone.Therefore robot gripper
When not working, by the effect of torsional spring 9, seven-link assembly 7 and the 8th connecting rod 8 is made to keep the state of straight connection.Equally, another
Torsional spring 9 makes fourth link 4 and clamp structure 1 keep the state of straight connection.
In this case, when the object of robot gripper clamping rectangular shape, driving link 5 and fourth link 4 it
Between do not relatively rotate, the two can be considered a drive connecting rod, and seven-link assembly 7 and the 8th connecting rod 8 can be considered a driven company
Bar, therefore the clamping unit can be considered the parallel four-bar linkage of standard, under the promotion of drive connecting rod, two clamp structures
1 clamps object.In the present embodiment, at this point, the driving link 5 is vertical with the axis of fourth link 4,7 He of seven-link assembly
The axis collinear of 8th connecting rod 8.When the object of robot gripper clamping cylindrical shape, driving link 5 and fourth link the 4, the 7th
It relatively rotates between connecting rod 7 and the 8th connecting rod 8, under the promotion of driving link 5, clamp structure 1, seven-link assembly 7 and
Eight connecting rods 8 are attached to side of the object and are clamped, this process can be considered the process of grasping.
The seven-link assembly 7 and the 8th connecting rod 8 are abutted in the end face of hinged place, when clamping the object of rectangular shape,
By the effect of torsional spring 9, two end faces are bonded, and backwards to the face of the clamping zone on seven-link assembly 7 and the 8th connecting rod 8 and hingedly
The transition position of the end face at place is right angle, therefore this transition right angle substantially has position-limiting action, can prevent seven-link assembly 7 and the 8th
Connecting rod 8 is further bent backwards to clamping zone under the action of torsional spring 9.Towards the clamping on seven-link assembly 7 and the 8th connecting rod 8
The transition position of the end face in the face and hinged place in region is fillet, when clamping the object of cylindrical shape, under the promotion of driving link 5,
Seven-link assembly 7 and the 8th connecting rod 8 can be bent to the clamping zone.
The embodiments of the present invention is explained in detail in conjunction with attached drawing above, but the utility model is not limited to
State embodiment, within the scope of knowledge possessed by those of ordinary skill in the art, can also do not depart from it is practical
Various changes can be made under the premise of novel objective.
Claims (8)
1. robot gripper, it is characterised in that：Including mounting rack (6) and two clamping units, the mounting rack (6) is disposed with drive
Dynamic device, the clamping unit include clamp structure (1), with follower link component hinged in the middle part of the clamp structure (1) with
And the hinged drive connecting rod component with the clamp structure (1) end, the other end of the follower link component and the installation
Hingedly, the other end of the drive connecting rod component is arranged in the output end of the driving device to frame (6).
2. robot gripper according to claim 1, it is characterised in that：The follower link component includes and the installation
The hinged seven-link assembly (7) of frame (6) and eightth connecting rod (8) hinged with the clamp structure (1), the seven-link assembly (7) and
It is hinged between 8th connecting rod (8), the area that two seven-link assemblies (7), two the 8th connecting rods (8) and two clamp structures (1) surround
Domain is clamping zone.
3. robot gripper according to claim 2, it is characterised in that：The drive connecting rod component includes and the driving
Device output end connection driving link (5) and the fourth link (4) hinged with the clamp structure (1), the driving link (5) with
It is hinged between the fourth link (4).
4. robot gripper according to claim 2, it is characterised in that：The bottom of the clamping zone is disposed with cushion block
(16), the cushion block (16) is located at the top of the mounting rack (6).
5. robot gripper according to claim 3, it is characterised in that：The seven-link assembly (7) and the 8th connecting rod (8)
The hinged place of hinged place and/or the fourth link (4) and clamp structure (1) is disposed with torsional spring (9).
6. robot gripper according to claim 3, it is characterised in that：The output end of the driving device is disposed at least
A pair of engaged gears, wherein driving wheel is arranged in the output end of the driving device, and one of driving link (5) is arranged in actively
On wheel, another driving link (5) is arranged on the driven wheel.
7. robot gripper according to claim 6, it is characterised in that：The output end of the driving device passes through shaft control
Driving wheel processed, the quantity of the meshing gear are two pairs, and two driving wheels are arranged in the both ends of the shaft.
8. robot gripper according to claim 1, it is characterised in that：Two opposite planes of two clamp structures (1)
On be disposed at least one U-type groove along horizontal line, the edge of plane where each U-type groove both ends extend to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820179261.8U CN208117883U (en) | 2018-02-01 | 2018-02-01 | Robot gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820179261.8U CN208117883U (en) | 2018-02-01 | 2018-02-01 | Robot gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208117883U true CN208117883U (en) | 2018-11-20 |
Family
ID=64206716
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820179261.8U Active CN208117883U (en) | 2018-02-01 | 2018-02-01 | Robot gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208117883U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161963A (en) * | 2018-02-01 | 2018-06-15 | 深圳市智能机器人研究院 | Robot gripper |
| CN110253615A (en) * | 2019-06-14 | 2019-09-20 | 中国地质大学（武汉） | One kind being used for equipotential damp type automatic shutter gripper |
| CN112628579A (en) * | 2019-10-09 | 2021-04-09 | 和硕联合科技股份有限公司 | Clamping device |
-
2018
- 2018-02-01 CN CN201820179261.8U patent/CN208117883U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161963A (en) * | 2018-02-01 | 2018-06-15 | 深圳市智能机器人研究院 | Robot gripper |
| CN110253615A (en) * | 2019-06-14 | 2019-09-20 | 中国地质大学（武汉） | One kind being used for equipotential damp type automatic shutter gripper |
| CN110253615B (en) * | 2019-06-14 | 2024-03-26 | 中国地质大学（武汉） | Damping type automatic opening and closing mechanical claw for equipotential |
| CN112628579A (en) * | 2019-10-09 | 2021-04-09 | 和硕联合科技股份有限公司 | Clamping device |
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