CN208163640U - A kind of rotatable mechanical gripper - Google Patents
A kind of rotatable mechanical gripper Download PDFInfo
- Publication number
- CN208163640U CN208163640U CN201820095892.1U CN201820095892U CN208163640U CN 208163640 U CN208163640 U CN 208163640U CN 201820095892 U CN201820095892 U CN 201820095892U CN 208163640 U CN208163640 U CN 208163640U
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- arc
- shaped connecting
- connecting arm
- mechanical gripper
- motor
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- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 230000001360 synchronised effect Effects 0.000 claims description 22
- 230000000149 penetrating effect Effects 0.000 claims description 6
- 229910001220 stainless steel Inorganic materials 0.000 claims description 5
- 239000010935 stainless steel Substances 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 230000033001 locomotion Effects 0.000 abstract description 7
- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical compound [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009851 ferrous metallurgy Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000009856 non-ferrous metallurgy Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 238000009827 uniform distribution Methods 0.000 description 1
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Abstract
Rotatable mechanical gripper provided by the utility model, the folding of handgrip is controlled by gear drive by folding motor driven, the rotation that mechanical gripper realizes 360 ° of any directions of handgrip is directly connected to by rotating electric machine, cooperate the linear movement of step motor control handgrip, mechanical mechanism very simple, and enrich the motion mode of mechanical gripper, expand the working space of mechanical gripper, the application range of mechanical gripper is expanded, the requirement under various working to mechanical gripper can effectively be met, and above structure arranges that its transmission parts is seldom, the failure rate of device can be effectively reduced, greatly promote the service life of mechanical gripper, the manufacturing cost of mechanical gripper is also greatly reduced simultaneously.
Description
Technical Field
The utility model relates to a mechanical tongs especially relates to a rotatable mechanical tongs.
Background
The mechanical gripper is an automatic operation device capable of simulating certain actions of human hands and arms, can grip and carry objects or operation tools according to fixed programs, and can complete various operations through corresponding program control, so that the mechanical gripper is widely applied to the industries of machine manufacturing, ferrous and non-ferrous metallurgy, power electronics, medical surgery and the like; the mechanical arm has flexibility and endurance superior to those of human arms, and along with rapid development of science and technology, the application of the mechanical gripper is more and more extensive, and the mechanical gripper is high-tech automatic production equipment developed in recent decades, can ensure the accuracy of operation and can complete the operation in various harsh environments. The mechanical gripper mainly comprises a hand part, an arm part and a driving mechanism, wherein the hand part is used for gripping a workpiece or a tool, and the mechanical gripper has various structural forms according to the shape, the size, the weight, the material and the operation requirement of the gripped object; the arm is used for guiding fingers to accurately grasp the workpiece and convey the workpiece to a required position; the driving mechanism is used for providing power for the hand and the arm.
Mechanical tongs among the prior art, often the structure is comparatively complicated, and the fault rate is higher, life is shorter, the motion mode is single, manufacturing cost is higher, and it is heavier to the economic burden of middle and small enterprise to be equipped with this kind of mechanical tongs, and often can not obtain good effect, but mechanical tongs is the essential equipment that realizes the automation of manufacturing process again, consequently, develops a simple structure, the fault rate is low, long service life, the motion mode is abundant, low in manufacturing cost's mechanical tongs becomes the technological problem that the trade awaits for urgent need to solve.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a rotatable mechanical tongs to solve among the prior art mechanical tongs structure complicated, life weak point, motion mode single, application scope is narrower, the high technical problem of manufacturing cost.
The utility model provides a rotatable mechanical gripper, which is characterized by comprising a conveying mechanism, a sliding block, a rotating motor and a gripper; wherein,
the sliding block is fixed on the conveying mechanism and can move along the conveying mechanism, and a through hole is formed in the sliding block;
the gripper comprises a base, a rotating motor connecting shaft, a first gripping part, a second gripping part and an opening and closing motor, wherein the first gripping part comprises a first arc-shaped connecting arm and a second arc-shaped connecting arm, the first arc-shaped connecting arm and the second arc-shaped connecting arm have the same radian, one end of the first arc-shaped connecting arm and one end of the second arc-shaped connecting arm are fixedly connected onto a first rotating shaft penetrating through the base, the other end of the first arc-shaped connecting arm and the other end of the second arc-shaped connecting arm are fixedly connected through a rib, one end of the first arc-shaped connecting arm connected with the first rotating shaft is provided with a first meshing part, and one end of the second arc-shaped connecting arm connected with the first rotating shaft is provided with a second meshing part; the second grabbing part comprises a third arc-shaped connecting arm and a fourth arc-shaped connecting arm, the third arc-shaped connecting arm and the fourth arc-shaped connecting arm have the same radian, one end of the third arc-shaped connecting arm and one end of the fourth arc-shaped connecting arm are fixedly connected onto a second rotating shaft penetrating through the base, the other end of the third arc-shaped connecting arm and the other end of the fourth arc-shaped connecting arm are fixedly connected through a rib, a third meshing part is arranged at one end, connected with the second rotating shaft, of the third arc-shaped connecting arm, and a fourth meshing part is arranged at one end, connected with the second rotating shaft, of the fourth arc-shaped connecting arm;
the first engaging portion engages with the third engaging portion, and the second engaging portion engages with the fourth engaging portion;
the opening and closing motor is arranged in the base and controls the opening and closing of the first grabbing part and the second grabbing part through the opening and closing motor;
the rotating motor connecting shaft is fixedly connected to the base, the rotating motor is fixed to the sliding block, and the output end of the rotating motor penetrates through a through hole in the sliding block to be fixedly connected with the rotating motor connecting shaft.
Further, the transfer mechanism includes: the synchronous device comprises a stepping motor, a first synchronous wheel, a second synchronous wheel and a synchronous belt, wherein the first synchronous wheel is sleeved at the output end of the stepping motor, the first synchronous wheel is connected with the second synchronous wheel through the synchronous belt, and a sliding block is fixed on the synchronous belt.
Further, a plurality of ribs are arranged between the first arc-shaped connecting arm and the second arc-shaped connecting arm.
Further, a plurality of ribs are arranged between the third arc-shaped connecting arm and the fourth arc-shaped connecting arm.
Furthermore, a first gear is sleeved on the output end of the opening and closing motor, a second gear is sleeved on the first rotating shaft, and the first gear and the second gear are in meshing transmission.
Further, the transmission ratio of the first gear to the second gear is 5: 1-10: 1.
Furthermore, the first gear is fixed with the output end of the opening and closing motor through key connection.
Further, the rotating motor is fixed on the slider through a bolt.
Further, the output end of the rotating motor is connected with the rotating motor connecting shaft through a flange.
Furthermore, the first arc-shaped connecting arm, the second arc-shaped connecting arm, the third arc-shaped connecting arm and the fourth arc-shaped connecting arm are all made of stainless steel.
The rotatable mechanical gripper is driven by the opening and closing motor to control the opening and closing of the gripper through gear transmission, the rotating motor is directly connected with the mechanical gripper to realize 360-degree rotation of the gripper in any direction, the linear movement of the gripper is controlled by matching with the stepping motor, the mechanical mechanism is very simple, the motion modes of the mechanical gripper are enriched, the working space of the mechanical gripper is enlarged, the application range of the mechanical gripper is expanded, the requirements on the mechanical gripper under various working conditions can be effectively met, the number of transmission parts of the mechanical gripper is small due to the structural arrangement, the failure rate of the mechanical gripper can be effectively reduced, the service life of the mechanical gripper is greatly prolonged, and meanwhile, the manufacturing cost of the mechanical gripper is greatly reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic view of a rotatable mechanical gripper according to one embodiment of the present invention;
FIG. 2 is an exploded schematic view of the rotatable mechanical grip provided in FIG. 1;
fig. 3 is an exploded schematic view of the opening and closing motor, the first gear, the second gear, and the first rotating shaft according to one embodiment of the present invention.
Reference numerals:
1-a slide block; 2-a first arc-shaped connecting arm; 3-a second arc-shaped connecting arm; 4-ribs; 5-a first engagement; 6-a third engagement portion; 7-a first rotating shaft; 8-a second rotating shaft; 9-a third arcuate link arm; 10-a fourth arc-shaped connecting arm; 11-a base; 12-a stepper motor; 13-a first synchronizing wheel; 14-a second synchronizing wheel; 15-synchronous belt; 16-a rotating electrical machine; 17-a rotating electrical machine connecting shaft; 18-a via hole; 19-a switching motor; 20-a first gear; 21-second gear.
Detailed Description
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Fig. 1 is a schematic view of a rotatable mechanical gripper according to one embodiment of the present invention; FIG. 2 is an exploded schematic view of the rotatable mechanical grip provided in FIG. 1; fig. 3 is an exploded schematic view of the opening and closing motor, the first gear, the second gear, and the first rotating shaft according to one embodiment of the present invention.
As shown in fig. 1, fig. 2, and fig. 3, the present embodiment provides a rotatable mechanical gripper, which includes a conveying mechanism, a slider 1, a rotating motor 16, and a gripper, wherein:
the conveying mechanism comprises a stepping motor 12, a first synchronizing wheel 13, a second synchronizing wheel 14 and a synchronous belt 15, wherein the first synchronizing wheel 13 is sleeved at the output end of the stepping motor 12, the first synchronizing wheel 13 and the second synchronizing wheel 14 are connected through the synchronous belt 15, a sliding block 1 is fixed on the synchronous belt 15, and the sliding block 1 can move along the moving direction of the synchronous belt 15 under the driving of the stepping motor 12;
the gripper comprises a base 11, a rotating motor connecting shaft 17, a first gripping part, a second gripping part and an opening and closing motor 19, wherein the first gripping part comprises a first arc-shaped connecting arm 2 and a second arc-shaped connecting arm 3, the first arc-shaped connecting arm 2 and the second arc-shaped connecting arm 3 have the same radian, one end of the first arc-shaped connecting arm 2 and one end of the second arc-shaped connecting arm 3 are fixedly connected onto a first rotating shaft 7 penetrating through the base 11, the other end of the first arc-shaped connecting arm 2 and the other end of the second arc-shaped connecting arm 3 are fixedly connected through a rib 4, one end of the first arc-shaped connecting arm 2 connected with the first rotating shaft 7 is provided with a first engaging part 5, and one end of the second arc-shaped connecting arm 3 connected with the first rotating shaft 7 is provided with a second engaging part; the second grabbing part comprises a third arc-shaped connecting arm 9 and a fourth arc-shaped connecting arm 10, the third arc-shaped connecting arm 9 and the fourth arc-shaped connecting arm 10 have the same radian, one end of the third arc-shaped connecting arm 9 and one end of the fourth arc-shaped connecting arm 10 are fixedly connected onto a second rotating shaft 8 penetrating through a base 11, the other end of the third arc-shaped connecting arm 9 and the other end of the fourth arc-shaped connecting arm 10 are fixedly connected through a rib 4, one end, connected with the second rotating shaft 8, of the third arc-shaped connecting arm 9 is provided with a third meshing part 6, and one end, connected with the second rotating shaft 8, of the fourth arc-shaped connecting arm 10 is provided with a fourth meshing part; the first engaging portion 5 engages with the third engaging portion 6, and the second engaging portion engages with the fourth engaging portion;
a plurality of ribs 4 are arranged between the first arc-shaped connecting arm 2 and the second arc-shaped connecting arm 3; a plurality of ribs 4 are arranged between the third arc-shaped connecting arm 9 and the fourth arc-shaped connecting arm 10;
the opening and closing motor 19 is arranged in the base 11, a first gear 20 is sleeved on the output end of the opening and closing motor 19, a second gear 21 is sleeved on the first rotating shaft 7, and the first gear 20 and the second gear 21 are in meshing transmission; the first arc-shaped connecting arm 2 and the second arc-shaped connecting arm 3 which are arranged on the first rotating shaft 7 are driven by the rotation of the opening and closing motor 19, the third arc-shaped connecting arm 9 is driven by the third engaging part 6 which is engaged with the first engaging part 5, and the fourth arc-shaped connecting arm 10 is driven by the fourth engaging part which is engaged with the second engaging part, so that the opening and closing of the first grabbing part and the second grabbing part are controlled;
the slider 1 is provided with a through hole 18, the rotating motor connecting shaft 17 is fixedly connected to the base 11, the rotating motor 16 is fixed to the slider 1, and the output end of the rotating motor 16 penetrates through the through hole 18 in the slider 1 and is fixedly connected with the rotating motor connecting shaft 17.
Preferably, the transmission ratio of the first gear and the second gear is adjusted according to the rotating speed of the opening and closing motor, the requirement on the opening and closing speed of the hand grab and the requirement on the gripping force of the hand grab, and the transmission ratio of the first gear and the second gear is preferably 5: 1-10: 1.
As the preferred technical scheme, the first gear is fixed with the output end of the opening and closing motor through key connection, the key connection is convenient to disassemble and assemble, the connection reliability is high, the stress concentration is small, the service life is long, and the cost is low.
As the preferred technical scheme, the rotating motor is fixed on the sliding block through bolts, and the bolts are connected to be low in cost, convenient to disassemble and rotate, high in reliability and easy to assemble.
As the preferred technical scheme, the output end of the rotating motor is connected with the rotating motor connecting shaft through the flange, the flange is high in connection reliability and beneficial to uniform distribution of stress, and the connecting mode is low in cost and easy to assemble.
As an optimized technical scheme, the first arc-shaped connecting arm, the second arc-shaped connecting arm, the third arc-shaped connecting arm and the fourth arc-shaped connecting arm are all made of stainless steel, the rib is also made of stainless steel, the connecting arms and the rib are made of stainless steel, the gripper can have excellent strength, attractive appearance and clean appearance, and the application range of the mechanical gripper is greatly expanded.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. A rotatable mechanical gripper is characterized by comprising a conveying mechanism, a sliding block, a rotating motor and a gripper; wherein,
the sliding block is fixed on the conveying mechanism and can move along the conveying mechanism, and a through hole is formed in the sliding block;
the gripper comprises a base, a rotating motor connecting shaft, a first gripping part, a second gripping part and an opening and closing motor, wherein the first gripping part comprises a first arc-shaped connecting arm and a second arc-shaped connecting arm, the first arc-shaped connecting arm and the second arc-shaped connecting arm have the same radian, one end of the first arc-shaped connecting arm and one end of the second arc-shaped connecting arm are fixedly connected onto a first rotating shaft penetrating through the base, the other end of the first arc-shaped connecting arm and the other end of the second arc-shaped connecting arm are fixedly connected through a rib, one end of the first arc-shaped connecting arm connected with the first rotating shaft is provided with a first meshing part, and one end of the second arc-shaped connecting arm connected with the first rotating shaft is provided with a second meshing part; the second grabbing part comprises a third arc-shaped connecting arm and a fourth arc-shaped connecting arm, the third arc-shaped connecting arm and the fourth arc-shaped connecting arm have the same radian, one end of the third arc-shaped connecting arm and one end of the fourth arc-shaped connecting arm are fixedly connected onto a second rotating shaft penetrating through the base, the other end of the third arc-shaped connecting arm and the other end of the fourth arc-shaped connecting arm are fixedly connected through a rib, a third meshing part is arranged at one end, connected with the second rotating shaft, of the third arc-shaped connecting arm, and a fourth meshing part is arranged at one end, connected with the second rotating shaft, of the fourth arc-shaped connecting arm;
the first engaging portion engages with the third engaging portion, and the second engaging portion engages with the fourth engaging portion;
the opening and closing motor is arranged in the base and controls the opening and closing of the first grabbing part and the second grabbing part through the opening and closing motor;
the rotating motor connecting shaft is fixedly connected to the base, the rotating motor is fixed to the sliding block, and the output end of the rotating motor penetrates through a through hole in the sliding block to be fixedly connected with the rotating motor connecting shaft.
2. A rotatable mechanical gripper according to claim 1 wherein said transfer mechanism comprises: the synchronous device comprises a stepping motor, a first synchronous wheel, a second synchronous wheel and a synchronous belt, wherein the first synchronous wheel is sleeved at the output end of the stepping motor, the first synchronous wheel is connected with the second synchronous wheel through the synchronous belt, and a sliding block is fixed on the synchronous belt.
3. A rotatable mechanical gripper according to claim 1 wherein a plurality of ribs are provided between the first and second arcuate link arms.
4. A rotatable mechanical gripper according to claim 1 wherein a plurality of ribs are provided between the third arcuate link arm and the fourth arcuate link arm.
5. The rotatable mechanical gripper as claimed in claim 1, wherein the output end of the switching motor is sleeved with a first gear, the first rotating shaft is sleeved with a second gear, and the first gear and the second gear are in meshing transmission.
6. The rotatable mechanical gripper of claim 5, wherein the first gear and the second gear have a gear ratio of 5:1 to 10: 1.
7. The rotatable mechanical gripper of claim 6, wherein the first gear is keyed to the output of the opening and closing motor.
8. A rotatable mechanical gripper as claimed in claim 1 wherein said rotating motor is bolted to the slide.
9. A rotatable mechanical gripper according to claim 1 characterised in that the output of the rotating motor is flanged to the rotating motor connection shaft.
10. A rotatable mechanical hand grip according to any one of claims 1 to 9 wherein the first, second, third and fourth arcuate link arms are of stainless steel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820095892.1U CN208163640U (en) | 2018-01-21 | 2018-01-21 | A kind of rotatable mechanical gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820095892.1U CN208163640U (en) | 2018-01-21 | 2018-01-21 | A kind of rotatable mechanical gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208163640U true CN208163640U (en) | 2018-11-30 |
Family
ID=64387494
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820095892.1U Expired - Fee Related CN208163640U (en) | 2018-01-21 | 2018-01-21 | A kind of rotatable mechanical gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208163640U (en) |
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2018
- 2018-01-21 CN CN201820095892.1U patent/CN208163640U/en not_active Expired - Fee Related
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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: 20181130 Termination date: 20220121 |