CN208529115U - A kind of Combined flat ejector half gripper clamping device - Google Patents
A kind of Combined flat ejector half gripper clamping device Download PDFInfo
- Publication number
- CN208529115U CN208529115U CN201820441426.4U CN201820441426U CN208529115U CN 208529115 U CN208529115 U CN 208529115U CN 201820441426 U CN201820441426 U CN 201820441426U CN 208529115 U CN208529115 U CN 208529115U
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- connecting rod
- motor
- block
- gripper
- clamping device
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Abstract
The utility model discloses a kind of Combined flat ejector half gripper clamping device, including driving mechanism and grasping mechanism, driving mechanism includes motor, motor mounting block, bearing, pushing block, screw rod, sensor board, first connecting rod, porous connecting rod, second connecting rod etc..Motor mounting block is fixedly connected with motor, pedestal respectively, and bearing is mounted in connecting rod mounting base, and motor is connected with motor output shaft, and motor output shaft is fixedly connected with screw rod, and screw rod and the pushing block constitute screw pair；Porous connecting rod and the second connecting rod constitute parallelogram mechanism, and when motor output shaft rotation, the drive of the straight line parallelogram mechanism is realized the steady reliable parallel clamping object in gripper crawl position by pushing block.The utility model clamping device realizes the interchangeable finger tip block by replacing different structure form to grab object of different shapes, and installation site realizes that gripper grabs the adjusting of range when gripper can be coupled by adjusting connecting rod with porous connecting rod when coming into operation.
Description
Technical field
The utility model relates to robot fields, and in particular to a kind of Combined flat ejector half gripper clamping device.
Background technique
Robot is generally all made of operating system, drive system and control system.Operating system includes that end executes
Device and wrist, arm and fuselage etc..End effector is the direct device for executing work, it is to the operation function for expanding robot
Energy, application range and raising working efficiency all have a great impact, therefore have to the research of end effector of robot important
Meaning.Currently, translational type gripper finger tip position often only has a kind of structure, a kind of crawl pair of fixed shape can only be adapted to
As when encountering the crawl object of other shapes, whole device must be replaced, and in addition often crawl range is unadjustable, cannot
It enough adapts to the limitation of working space size range and different size ranges is carried out with variable adjusting, it is multiple further for some shapes
Miscellaneous object can't be grabbed reliably, thus it is necessary to improve to existing translational type gripper, be realized to difference
The compatibility of gripper is realized in the crawl of object.
Utility model content
In order to solve above-mentioned defect existing in the prior art, the utility model proposes a kind of Combined flat ejector half grippers
Clamping device, gripper have the regulating power of crawl range, and user can be adjusted according to their own needs, for a variety of
Working environment.
Its technical solution includes:
A kind of Combined flat ejector half gripper clamping device, including driving mechanism and grasping mechanism, it is characterised in that: the drive
Motivation structure includes motor, motor mounting block, bearing, pushing block, screw rod, sensor board, first connecting rod, porous connecting rod, second connecting rod,
Connecting rod mounting base and pedestal, the motor mounting block are fixedly connected with motor, pedestal respectively, and the bearing is mounted on the connecting rod
In mounting base, the motor is connected with motor output shaft, and the motor output shaft is fixedly connected with the screw rod, the screw rod with
The pushing block constitutes screw pair；
The porous connecting rod and the second connecting rod constitute parallelogram mechanism, when motor output shaft rotation, pushing block
By the drive of the straight line parallelogram mechanism, the steady reliable parallel clamping object in gripper crawl position is realized；
The grasping mechanism includes hand end block, dual-wedge and interchangeable finger tip block, the hand end block and the interchangeable finger tip
Block is connected by the dual-wedge, and the porous connecting rod and second connecting rod pass through third fixed pin and hand end in length direction one end
Block connection, the other end by the first fixed pin be connected to described in connecting rod mounting base on, the first connecting rod both ends respectively with
Pushing block is connected with porous connecting rod.
As a preferred embodiment of the utility model, the sensor board is arranged in the connecting rod mounting base.
As another preferred embodiment of the utility model, the first connecting rod both ends pass through second fixed pin point
It is not connect with pushing block and porous connecting rod.
The utility model bring advantageous effects are as follows:
Compared with prior art, the utility model Combined flat ejector half gripper clamping device realizes different by replacement
The interchangeable finger tip block of structure type grabs object of different shapes, secondly gripper when coming into operation can by adjust connecting rod with
Installation site realizes the adjusting of gripper crawl range when porous connecting rod is coupled.In addition, the method for also using worm drive, makes to go smoothly
The crawl of pawl clamps more reliable when object.
Detailed description of the invention
The utility model is described further with reference to the accompanying drawing:
Fig. 1 is the structural schematic diagram of the utility model Combined flat ejector half gripper clamping device；
Fig. 2 is the exploded view of the utility model Combined flat ejector half gripper clamping device；
In figure, 1. fastening bolts, 2. first fixed pins, 3. second fixed pins, 4. third fixed pins, 5. hand end blocks, 6. pairs
Voussoir, 7. interchangeable finger tip blocks, 8. pushing blocks, 9. screw rods, 10. sensor boards, 11. first connecting rods, 12. porous connecting rods, 13. second connect
Bar, 14. connecting rod mounting bases, 15 pedestals, 16. motors, 17. motor mounting blocks, 18. bearings.
Specific embodiment
The utility model proposes a kind of Combined flat ejector half gripper clamping device, the advantages of in order to make the utility model,
Technical solution is clearer, clear, elaborates combined with specific embodiments below to the utility model.
Referring to figs. 1 and 2, a kind of Combined flat ejector half gripper clamping device of the utility model, including fastening bolt
1, the 2, second fixed pin of the first fixed pin (long fixed pin) (short fixed pin) 3, third fixed pin (middle fixed pin) 4, hand end block 5,
Dual-wedge 6, interchangeable finger tip block 7, pushing block 8, screw rod 9, sensor board 10, first connecting rod (small rod) 11, porous connecting rod 12, second
Connecting rod (long connecting rod) 13, connecting rod mounting base 14, pedestal 15, motor 16, motor mounting block 17, bearing 18.
Motor 16 is connected with motor output shaft, which is directly fixedly connected with screw rod 9, screw rod 9 and 8 structure of pushing block
At screw pair, when motor output shaft rotation, parallel four side that pushing block 8 is made of the drive of straight line porous connecting rod with long connecting rod
Shape mechanism realizes the steady reliable parallel clamping object in gripper crawl position.Wherein, gripper crawl position by interchangeable finger tip block with
Hand end block is connected using dual-wedge, as long as passing through the interchangeable finger tip block of replacement different structure form in use, so that it may facilitate reality
Now to the crawl of different shape object.
It is likely to occur limiting situation for gripper working space, the installation that can be connect by adjusting small rod with porous connecting rod
Position, realizes the adjusting of gripper crawl maximum magnitude, and gripper crawl range has certain regulating power, the good compatibility of gripper.Separately
Outside in view of pushing block movement is it is possible that the possibility screwed out, installs in connecting rod and be mounted with sensor board 10, user can be with
Installation site sensor is limited.In addition, porous connecting rod and long connecting rod pass through middle fixed pin and hand end in length direction one end
Block is connected, and the other end is connected in connecting rod mounting base by long fixed pin, small rod both ends with short fixed pin respectively with pushing block
Link with porous connecting rod；Motor mounting block is fixedly connected by fastening bolt with pedestal, also by pedestal and the fixed company of connecting rod mounting base
It connects, is also fixedly connected with motor with motor mounting block, bearing is placed in connecting rod mounting base.
The substantially working principle of the utility model Combined flat ejector half gripper clamping device are as follows:
Its pedestal of clamping device is mounted on industrial robot terminal position in actual operation；When its work, with
Motor output shaft rotates, and the pushing block on screw rod reliable will smoothly drive grasping mechanism realization grab by parallelogram mechanism
Take or decontrol object；Furthermore, it is necessary to only need to change hand end block when grabbing different shape object；When working range by limited time, only need
Adjust small rod and porous connecting rod installation site.
It is whole that the utility model Combined flat ejector half gripper clamping device mainly solves robot crawl irregularly shaped object
Replace paw device problem.
The part that do not address in the utility model uses or uses for reference prior art and can be realized.
Although more herein used the terms such as the first fixed pin, the second fixed pin, interchangeable finger tip block, simultaneously
A possibility that being not excluded for using other terms, what those skilled in the art did these terms under the enlightenment of the utility model
Simple replacement, should be covered by the scope of the present utility model within.
Claims (3)
1. a kind of Combined flat ejector half gripper clamping device, including driving mechanism and grasping mechanism, it is characterised in that: the driving
Mechanism includes motor, motor mounting block, bearing, pushing block, screw rod, sensor board, first connecting rod, porous connecting rod, second connecting rod, is connected
Bar mounting base and pedestal, the motor mounting block are fixedly connected with motor, pedestal respectively, and the bearing is mounted on the connecting rod peace
It fills on seat, the motor is connected with motor output shaft, and the motor output shaft is fixedly connected with the screw rod, the screw rod and institute
It states pushing block and constitutes screw pair；
The porous connecting rod and the second connecting rod constitute parallelogram mechanism, and when motor output shaft rotation, pushing block will be straight
The drive of the line parallelogram mechanism realizes the steady reliable parallel clamping object in gripper crawl position；
The grasping mechanism includes hand end block, dual-wedge and interchangeable finger tip block, and the hand end block and the interchangeable finger tip block are logical
The dual-wedge connection is crossed, the porous connecting rod and second connecting rod are connected in length direction one end by third fixed pin and hand end block
Connect, the other end is connected in the connecting rod mounting base by the first fixed pin, the first connecting rod both ends respectively with pushing block
It is connected with porous connecting rod.
2. a kind of Combined flat ejector half gripper clamping device according to claim 1, it is characterised in that: the sensor
Plate is arranged in the connecting rod mounting base.
3. a kind of Combined flat ejector half gripper clamping device according to claim 1, it is characterised in that: described first connects
Bar both ends are provided with the second fixed pin, are connect respectively with pushing block and porous connecting rod by second fixed pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820441426.4U CN208529115U (en) | 2018-03-30 | 2018-03-30 | A kind of Combined flat ejector half gripper clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820441426.4U CN208529115U (en) | 2018-03-30 | 2018-03-30 | A kind of Combined flat ejector half gripper clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208529115U true CN208529115U (en) | 2019-02-22 |
Family
ID=65396564
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820441426.4U Expired - Fee Related CN208529115U (en) | 2018-03-30 | 2018-03-30 | A kind of Combined flat ejector half gripper clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208529115U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972589A (en) * | 2018-09-13 | 2018-12-11 | 南京工程学院 | A kind of pick-and-place robot device and its working method |
| CN110451253A (en) * | 2019-09-04 | 2019-11-15 | 厦门宏泰科技研究院有限公司 | A kind of circuit board automatic moving loader |
| CN110683349A (en) * | 2019-12-10 | 2020-01-14 | 湖南生物机电职业技术学院 | Self-discharging manipulator |
| CN111347451A (en) * | 2020-03-10 | 2020-06-30 | 北京全路通信信号研究设计院集团有限公司 | Clamp suitable for rod-shaped poking type mistaken touch preventing switch |
| CN113334421A (en) * | 2021-06-08 | 2021-09-03 | 浙江工业大学 | Three-claw type mechanical claw structure with reliable clamping |
| CN113618772A (en) * | 2021-08-24 | 2021-11-09 | 浙江工业大学 | Double-thread mechanical claw reliable in clamping |
| CN114056654A (en) * | 2021-11-16 | 2022-02-18 | 广东水利电力职业技术学院（广东省水利电力技工学校） | Device and method for directionally arranging and grabbing elliptic fruits |
| CN115610660A (en) * | 2022-11-14 | 2023-01-17 | 国网上海市电力公司 | Mechanical arm of uninstallation carry equipment and unmanned aerial vehicle who contains this arm |
-
2018
- 2018-03-30 CN CN201820441426.4U patent/CN208529115U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972589A (en) * | 2018-09-13 | 2018-12-11 | 南京工程学院 | A kind of pick-and-place robot device and its working method |
| CN108972589B (en) * | 2018-09-13 | 2021-07-27 | 南京工程学院 | Grabbing and releasing robot device and working method thereof |
| CN110451253A (en) * | 2019-09-04 | 2019-11-15 | 厦门宏泰科技研究院有限公司 | A kind of circuit board automatic moving loader |
| CN110683349A (en) * | 2019-12-10 | 2020-01-14 | 湖南生物机电职业技术学院 | Self-discharging manipulator |
| CN111347451A (en) * | 2020-03-10 | 2020-06-30 | 北京全路通信信号研究设计院集团有限公司 | Clamp suitable for rod-shaped poking type mistaken touch preventing switch |
| CN111347451B (en) * | 2020-03-10 | 2022-04-08 | 北京全路通信信号研究设计院集团有限公司 | Clamp suitable for rod-shaped poking type mistaken touch preventing switch |
| CN113334421A (en) * | 2021-06-08 | 2021-09-03 | 浙江工业大学 | Three-claw type mechanical claw structure with reliable clamping |
| CN113618772A (en) * | 2021-08-24 | 2021-11-09 | 浙江工业大学 | Double-thread mechanical claw reliable in clamping |
| CN113618772B (en) * | 2021-08-24 | 2024-05-28 | 浙江工业大学 | Double-threaded rod mechanical claw with reliable clamping |
| CN114056654A (en) * | 2021-11-16 | 2022-02-18 | 广东水利电力职业技术学院（广东省水利电力技工学校） | Device and method for directionally arranging and grabbing elliptic fruits |
| CN114056654B (en) * | 2021-11-16 | 2023-08-04 | 广东水利电力职业技术学院（广东省水利电力技工学校） | Oval fruit directional arrangement grabbing device and method |
| CN115610660A (en) * | 2022-11-14 | 2023-01-17 | 国网上海市电力公司 | Mechanical arm of uninstallation carry equipment and unmanned aerial vehicle who contains this arm |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190222 Termination date: 20200330 |
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| CF01 | Termination of patent right due to non-payment of annual fee |