CN208305062U - A kind of Pneumatic flexible rotor gripper structure - Google Patents

A kind of Pneumatic flexible rotor gripper structure Download PDF

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Publication number
CN208305062U
CN208305062U CN201820883886.2U CN201820883886U CN208305062U CN 208305062 U CN208305062 U CN 208305062U CN 201820883886 U CN201820883886 U CN 201820883886U CN 208305062 U CN208305062 U CN 208305062U
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CN
China
Prior art keywords
plate
fixed
mounting plate
cursor
welded
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Expired - Fee Related
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CN201820883886.2U
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Chinese (zh)
Inventor
顾汉杰
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Zhejiang Shuren University
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Zhejiang Shuren University
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Priority to CN201820883886.2U priority Critical patent/CN208305062U/en
Application granted granted Critical
Publication of CN208305062U publication Critical patent/CN208305062U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a kind of Pneumatic flexible rotor gripper structures, including top plate, top plate lower surface two sides are welded with fixed plate, one piece of fixed plate is equipped with driving motor, and the output shaft of driving motor is connected with screw rod, one end of screw rod is rotatably installed in another piece of fixed plate, screw block is threaded on screw rod, the first mounting plate is welded with below screw block, first mounting plate lower surface two sides is welded with connecting plate, one end of two pieces of connecting plates is fixed with same horizontally disposed second mounting plate, air pump is fixed between two pieces of connecting plates, tee tube is connected on the gas outlet of air pump, and the both ends of tee tube are respectively connected with bourdon tube.The utility model structure is simple, novel in design, reduces the control difficulty during crawl, has good safety, and simple to operate, high degree of automation mitigates the burden of staff, improves the reliability of task, be worthy to be popularized.

Description

A kind of Pneumatic flexible rotor gripper structure
Technical field
The utility model relates to robotic technology field more particularly to a kind of Pneumatic flexible rotor gripper structures.
Background technique
During grabbing object frangible or in irregular shape, in order to avoid the damage to these objects and guarantee success Crawl, it is often necessary to which the displacement of accurate control robot hand and grasp force still control not only the accurate of robot hand Control difficulty is increased, and greatly improves the cost of crawl, so that this kind of robot hand be made to lead in agricultural, industry etc. Domain is difficult to be widely applied.In order to solve this problem, several researchers have proposed using flexible structure rod piece robot hand, This kind of robot hand realizes the buffering during the flexibility and crawl of robot hand, drop by the flexible deformation of structural member A possibility that during low crawl to physical damage, but since the flexible deformation of structural member is that nonlinear large deflection becomes Shape is accurately calculated and is controlled in real time therefore, it is difficult to realize.
Utility model content
Purpose of the utility model is to solve disadvantages existing in the prior art, and a kind of Pneumatic flexible machine proposed Device manpower pawl structure.
To achieve the goals above, the utility model adopts the technical scheme that
A kind of Pneumatic flexible rotor gripper structure, including top plate, top plate lower surface two sides are welded with fixed plate, One piece of fixed plate is equipped with driving motor, and the output shaft of driving motor is connected with screw rod, and one end of screw rod is rotatably installed in separately In one piece of fixed plate, it is threaded with screw block on screw rod, is welded with the first mounting plate below screw block, under the first mounting plate Surface two sides are welded with connecting plate, and one end of two pieces of connecting plates is fixed with same horizontally disposed second mounting plate, and two pieces It is fixed with air pump between connecting plate, tee tube is connected on the gas outlet of air pump, and the both ends of tee tube are respectively connected with bourdon tube, Second mounting plate lower surface two sides is provided with fixed arm, and one end of fixed arm is provided with cursor, one end setting of cursor There is fixture block, the middle position of the second mounting plate lower surface is equipped with cylinder, and the piston rod of cylinder is equipped with movable plate, movable plate Two sides are hinged with connecting rod, and one end of connecting rod is hinged on cursor, and fixture block is hollow structure, and is provided in fixture block Air bag.
Preferably, the lower surface of the top plate is provided with sliding slot along its length, and sliding slot is located at the surface of screw rod, silk Mother tuber matches with chute size, and screw block is slidably connected with sliding slot.
Preferably, one end of the fixed arm is welded on the second mounting plate, and fixed arm it is mutually close with cursor one End rotation connection.
Preferably, the cursor is hollow structure, and bourdon tube runs through connecting plate and cursor far from one end of tee tube That gos deep into fixture block is internally connected with air bag.
Preferably, the fixture block is made of silica gel material, and anti-skid chequer is provided on the side wall of fixture block.
Preferably, the fixed arm and cursor are stainless steel alloy material, and fixed arm is inclined at the second peace In loading board.
Compared with prior art, the utility model has the beneficial effects that
1, apparatus structure is simple, novel in design, and fixture block is made of silica gel material, not only can guarantee close when air bag is inflated Closing property increases the frictional force between crawl target, prevents target from sliding, and due to the elastic buffer of silica gel structure itself spy Point, so that fixture block has good safety when grabbing frangible object, and when grabbing object in irregular shape with good Good flexible adaptivity reduces the control difficulty during crawl;
2, start cylinder, shrink the piston rod of cylinder, movable plate moves up, and then drives cursor by connecting rod Rotation, is clamped target using fixture block, while controlling driving motor rotates screw rod, is pacified by the mobile drive first of screw block Loading board is mobile, and sliding slot plays the role of limit to screw block, prevents screw block from rotating, simple to operate, high degree of automation, The burden for mitigating staff, improves the reliability of task, is made up of stainless steel material, so that total quality is light, be fabricated to This is low.
The utility model structure is simple, novel in design, reduces the control difficulty during crawl, has good safety Property, simple to operate, high degree of automation mitigates the burden of staff, improves the reliability of task, is worthy to be popularized.
Detailed description of the invention
Fig. 1 be the utility model proposes a kind of Pneumatic flexible rotor gripper structure structural schematic diagram;
Fig. 2 be the utility model proposes a kind of Pneumatic flexible rotor gripper structure cursor and fixture block section view Figure;
Fig. 3 be the utility model proposes a kind of Pneumatic flexible rotor gripper structure top plate side view.
In figure: 1 top plate, 2 fixed plates, 3 driving motors, 4 screw rods, 5 screw blocks, 6 first mounting plates, 7 connecting plates, 8 second Mounting plate, 9 air pumps, 10 tee tubes, 11 bourdon tubes, 12 fixed arms, 13 cursors, 14 fixture blocks, 15 cylinders, 16 movable plates, 17 connect Extension bar, 18 air bags.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.
Referring to Fig.1-3, a kind of Pneumatic flexible rotor gripper structure, including top plate 1,1 lower surface two sides of top plate are welded There is a fixed plate 2, one piece of fixed plate 2 is equipped with driving motor 3, and the output shaft of driving motor 3 is connected with screw rod 4, and the one of screw rod 4 End is rotatably installed in another piece of fixed plate 2, screw block 5 is threaded on screw rod 4, the lower surface of top plate 1 is along its length It is provided with sliding slot, and sliding slot is located at the surface of screw rod 4, screw block 5 matches with chute size, and screw block 5 and sliding slot are sliding Dynamic connection, the lower section of screw block 5 are welded with the first mounting plate 6, and 6 lower surface two sides of the first mounting plate are welded with connecting plate 7, and two One end of block connecting plate 7 is fixed with same horizontally disposed second mounting plate 8, is fixed with air pump 9 between two pieces of connecting plates 7, Tee tube 10 is connected on the gas outlet of air pump 9, and the both ends of tee tube 10 are respectively connected with bourdon tube 11, under the second mounting plate 8 Surface two sides are provided with fixed arm 12, and one end of fixed arm 12 is provided with cursor 13, and one end of fixed arm 12 is welded on On two mounting plates 8, and fixed arm 12 is rotatablely connected with the mutually close one end of cursor 13, and one end of cursor 13 is provided with fixture block 14, the middle position of 8 lower surface of the second mounting plate is equipped with cylinder 15, and fixed arm 12 and cursor 13 are stainless steel alloy material Material, and fixed arm 12 is inclined on the second mounting plate 8, the piston rod of cylinder 15 is equipped with movable plate 16, movable plate 16 Two sides are hinged with connecting rod 17, and one end of connecting rod 17 is hinged on cursor 13, and fixture block 14 is hollow structure, and fixture block Air bag 18 is provided in 14, cursor 13 is hollow structure, and the one end of bourdon tube 11 far from tee tube 10 is through connecting plate 7 and turns What swing arm 13 goed deep into fixture block 14 is internally connected with air bag 18, and fixture block 14 is made of silica gel material, and is arranged on the side wall of fixture block 14 There is anti-skid chequer, the utility model structure is simple, and it is novel in design, the control difficulty during crawl is reduced, there is good peace Quan Xing, simple to operate, high degree of automation mitigate the burden of staff, improve the reliability of task, are worthy to be popularized.
Working principle: when needing to clamp target product, top plate 1 is mounted on vehicle by the lower section that target product is moved to Between lifting device on, change the height of whole device, after being adjusted to suitable height, open cylinder 15, make the work of cylinder 15 Stopper rod is shunk, and movable plate 16 moves up, and is then driven cursor 13 to rotate by connecting rod 17, is pressed from both sides target using fixture block 14 It takes, for irregular product, booster air pump 9 is the inflation of air bag 18 by bourdon tube 11, adapts to unused product, has good Good safety, fixture block 14 are made of silica gel material, not only can guarantee airtightness when air bag inflation, are increased and crawl target Between frictional force, prevent target from sliding, and due to the elastic buffer feature of silica gel structure itself, after having clamped product, control Driving motor 3 processed rotates screw rod 4, and mobile by the first mounting plate of mobile drive 6 of screw block 5, sliding slot plays screw block The effect of limit, prevents screw block 5 from rotating, and safety is higher.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not It is confined to this, anyone skilled in the art is within the technical scope disclosed by the utility model, practical according to this Novel technical solution and its utility model design are subject to equivalent substitution or change, should all cover the protection model in the utility model Within enclosing.

Claims (6)

1. a kind of Pneumatic flexible rotor gripper structure, including top plate (1), which is characterized in that top plate (1) the lower surface two sides It is welded with fixed plate (2), one piece of fixed plate (2) is equipped with driving motor (3), and the output shaft of driving motor (3) is connected with Screw rod (4), one end of screw rod (4) are rotatably installed on another piece of fixed plate (2), and screw rod is threaded with screw block on (4) (5), it is welded with the first mounting plate (6) below screw block (5), the first mounting plate (6) lower surface two sides are welded with connecting plate (7), one end of two pieces of connecting plates (7) is fixed with same horizontally disposed second mounting plate (8), between two pieces of connecting plates (7) It is fixed with air pump (9), is connected on the gas outlet of air pump (9) tee tube (10), and the both ends of tee tube (10) are respectively connected with bullet Reed pipe (11), the second mounting plate (8) lower surface two sides are provided with fixed arm (12), and one end of fixed arm (12) is provided with rotation Arm (13), one end of cursor (13) are provided with fixture block (14), and the middle position of the second mounting plate (8) lower surface is equipped with cylinder (15), the piston rod of cylinder (15) is equipped with movable plate (16), and the two sides of movable plate (16) are hinged with connecting rod (17), and even One end of extension bar (17) is hinged on cursor (13), and fixture block (14) is hollow structure, and is provided with air bag in fixture block (14) (18)。
2. a kind of Pneumatic flexible rotor gripper structure according to claim 1, which is characterized in that the top plate (1) Lower surface is provided with sliding slot along its length, and sliding slot is located at the surface of screw rod (4), screw block (5) and chute size phase Match, and screw block (5) is slidably connected with sliding slot.
3. a kind of Pneumatic flexible rotor gripper structure according to claim 1, which is characterized in that the fixed arm (12) One end be welded on the second mounting plate (8), and the mutually close one end of fixed arm (12) and cursor (13) is rotatablely connected.
4. a kind of Pneumatic flexible rotor gripper structure according to claim 1, which is characterized in that the cursor (13) For hollow structure, fixture block is goed deep into through connecting plate (7) and cursor (13) in the one end of bourdon tube (11) far from tee tube (10) (14) be internally connected with air bag (18).
5. a kind of Pneumatic flexible rotor gripper structure according to claim 1, which is characterized in that the fixture block (14) is Silica gel material is made, and is provided with anti-skid chequer on the side wall of fixture block (14).
6. a kind of Pneumatic flexible rotor gripper structure according to claim 1, which is characterized in that the fixed arm (12) It is stainless steel alloy material with cursor (13), and fixed arm (12) is inclined on the second mounting plate (8).
CN201820883886.2U 2018-06-08 2018-06-08 A kind of Pneumatic flexible rotor gripper structure Expired - Fee Related CN208305062U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201820883886.2U CN208305062U (en) 2018-06-08 2018-06-08 A kind of Pneumatic flexible rotor gripper structure

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201820883886.2U CN208305062U (en) 2018-06-08 2018-06-08 A kind of Pneumatic flexible rotor gripper structure

Publications (1)

Publication Number Publication Date
CN208305062U true CN208305062U (en) 2019-01-01

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201820883886.2U Expired - Fee Related CN208305062U (en) 2018-06-08 2018-06-08 A kind of Pneumatic flexible rotor gripper structure

Country Status (1)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110625641A (en) * 2019-10-08 2019-12-31 何泽梁 Pneumatic control equipment of flexible hand claw of multi-sensing robot
CN111469151A (en) * 2020-04-21 2020-07-31 桑配青 Clamping device and clamping method
CN113400331A (en) * 2021-05-17 2021-09-17 山东伟豪思智能仓储装备有限公司 Automatic snatch mechanism

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110625641A (en) * 2019-10-08 2019-12-31 何泽梁 Pneumatic control equipment of flexible hand claw of multi-sensing robot
CN111469151A (en) * 2020-04-21 2020-07-31 桑配青 Clamping device and clamping method
CN111469151B (en) * 2020-04-21 2021-11-19 桑配青 Clamping device and clamping method
CN113400331A (en) * 2021-05-17 2021-09-17 山东伟豪思智能仓储装备有限公司 Automatic snatch mechanism

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GR01 Patent grant
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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: 20190101

Termination date: 20190608