CN208629464U - A kind of gear-rack drive formula catching robot - Google Patents
A kind of gear-rack drive formula catching robot Download PDFInfo
- Publication number
- CN208629464U CN208629464U CN201821302935.5U CN201821302935U CN208629464U CN 208629464 U CN208629464 U CN 208629464U CN 201821302935 U CN201821302935 U CN 201821302935U CN 208629464 U CN208629464 U CN 208629464U
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- China
- Prior art keywords
- gripping finger
- gear
- rack gear
- rack
- mounting plate
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims abstract description 16
- 229910052782 aluminium Inorganic materials 0.000 claims abstract description 16
- 230000033001 locomotion Effects 0.000 claims abstract description 15
- 230000008878 coupling Effects 0.000 claims abstract description 9
- 238000010168 coupling process Methods 0.000 claims abstract description 9
- 238000005859 coupling reaction Methods 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 239000012636 effector Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model discloses a kind of gear-rack drive formula catching robot, belongs to Industrial Robot Technology field.The catching robot includes driving motor, motor mounting plate, shaft coupling, shaft, first gear, second gear, bearing block assembly, the first rack gear, the second rack gear, third rack gear, the 4th rack gear, the first sliding block, the second sliding block, third sliding block, Four-slider, the first gripping finger, the first gripping finger mounting plate, the second gripping finger, the second gripping finger mounting plate, third gripping finger, third gripping finger mounting plate, the 4th gripping finger, the 4th gripping finger mounting plate and aluminum profile mounting rack.Its working principle is that: when driving motor rotation, power is transmitted to shaft by shaft coupling, shaft drives first gear and second gear to rotate simultaneously, first gear drives the first rack gear and third rack gear to move in a straight line, second gear drives the second rack gear and the 4th rack gear to move in a straight line, to realize that four rack gears outwardly or inwardly do synchronous linear movement simultaneously, the synchronous radial motion of four gripping fingers is driven, realizes the various sizes of annular of crawl or square objects.
Description
Technical field:
The utility model belongs to Industrial Robot Technology field, and in particular to a kind of gear-rack drive formula crawl is mechanical
Hand, the manipulator pass through motor driven four to rack-and-pinion Synchronous Transmission, and then drive four fingers to synchronize and do radial motion, realize
Grab various sizes of object.According to the shape for being crawled object, the work side of four gripping fingers of arm end can be designed
It is a plane or an arc surface, can be applied to the annular or square objects of crawl larger size.
Background technique:
Manipulator is the end effector mechanism of robot, installs corresponding mechanical paw in robot end, can replace
Manual handling and stacking object, use manpower and material resources sparingly.Annular or square objects be it is relatively conventional in factory, such as tire, chest
Deng the utility model provides a kind of gear-rack drive formula catching robot, can grab the annular or rectangular object of larger size
Body uses manpower and material resources sparingly, and improves production efficiency.
Summary of the invention:
The purpose of the utility model is to provide a kind of gear-rack drive formula catching robot, which can be real
Now the annular of different sizes or square objects are grabbed.A kind of gear-rack drive formula provided by the utility model
Catching robot includes aluminum profile mounting rack 24, driving and transmission mechanism and executing agency.
The aluminum profile mounting rack 24 is a hollow rectangular-ambulatory-plane frame, by the reeded aluminum profile of 12 tools, angle
Connector and bolt are assembled, the rack as catching robot.
It is described driving with transmission mechanism include driving motor 1, motor mounting plate 2, shaft coupling 3, shaft 4, first gear 5,
Second gear 6, bearing block assembly 7, the first rack gear 8, the second rack gear 9, third rack gear 10, the 4th rack gear 11, the first sliding block 12,
Two sliding blocks 13, third sliding block 14 and Four-slider 15.The driving motor 1 is fixed by bolts on motor mounting plate 2, for crawl
Power is provided when annular or square objects.There is mounting hole on the motor mounting plate 2, can be connected by bolt and robot body
It connects.The output shaft fixed connection of one end of the shaft coupling 3 and the driving motor 1, the other end and shaft 4 of the shaft coupling 3 are solid
Even.The shaft 4 respectively with first gear 5, second gear 6 be connected, the first gear 5 respectively with the first rack gear 8, third tooth
Item 10 is meshed, and the direction of motion of first rack gear 8 is parallel with the direction of motion of third rack gear 10 and opposite；Second tooth
Wheel 6 is meshed with the second rack gear 9, the 4th rack gear 11 respectively, the direction of motion of second rack gear 9 and the movement of the 4th rack gear 11
Direction is parallel and opposite；First rack gear 8, the second rack gear 9, third rack gear 10 and the 4th rack gear 11 are successively at right angles arranged.
The bearing block assembly 7 is bolted on aluminum profile mounting rack 24, is used to support shaft 4.First rack gear 8 passes through
Bolt and the first sliding block 12 are connected, and second rack gear 9 is connected by bolt and the second sliding block 13, and the third rack gear 10 passes through
Bolt and third sliding block 14 are connected, and the 4th rack gear 11 is connected by bolt and Four-slider 15.First sliding block 12,
Two sliding blocks 13, third sliding block 14, Four-slider 15 can move in the groove of aluminum profile mounting rack 24.The first gear 5,
Two gears, 6 dimensional parameters are identical, first rack gear 8, the second rack gear 9, third rack gear 10,11 dimensional parameters phase of the 4th rack gear
Together.
The executing agency includes the first gripping finger 16, the first gripping finger mounting plate 17, the second gripping finger 18, the second gripping finger mounting plate
19, third gripping finger 20, third gripping finger mounting plate 21, the 4th gripping finger 22 and the 4th gripping finger mounting plate 23.The first gripping finger installation
Plate 17 is bolted on the first rack gear 8, and first gripping finger 16 is bolted on the first gripping finger mounting plate 17.
The second gripping finger mounting plate 19 is bolted on the second rack gear 9, and second gripping finger 18 is bolted on
On two gripping finger mounting plates 19.The third gripping finger mounting plate 21 is bolted on third rack gear 10, the third gripping finger
20 are bolted on third gripping finger mounting plate 21.The 4th gripping finger mounting plate 23 is bolted on the 4th rack gear
On 11, the 4th gripping finger 22 is bolted on the 4th gripping finger mounting plate 23.
First gripping finger 16, the second gripping finger 18, third gripping finger 20, the 4th gripping finger 22 work side be in same circle
On cylinder, first gripping finger 16, the second gripping finger 18, third gripping finger 20, the 4th gripping finger 22 end be in same plane.According to
According to the shape for being crawled object, the work side of four gripping fingers of arm end can be designed as plane or cambered surface.When driving electricity
When machine 1 rotates, four pairs of rack-and-pinion Synchronous Transmissions are driven by shaft 4, and then drive four gripping fingers to synchronize and do radial motion, it is real
Now grab various sizes of annular or square objects.
Detailed description of the invention:
Fig. 1: for a kind of structural schematic diagram of gear-rack drive formula catching robot of the utility model；
Fig. 2: for the structure enlargement diagram of the running part in the utility model catching robot；
Fig. 3: for the structural schematic diagram of the aluminum profile mounting rack in the utility model catching robot.
In figure: 1: driving motor；2: motor mounting plate；3: shaft coupling；4: shaft；5: first gear；6: second gear；7:
Bearing block assembly；8: the first rack gears；9: the second rack gears；10: third rack gear；11: the four rack gears；12: the first sliding blocks；13: the second
Sliding block；14: third sliding block；15: the Four-sliders；16: the first gripping fingers；17: the first gripping finger mounting plates；18: the second gripping fingers；19: the
Two gripping finger mounting plates；20: third gripping finger；21: third gripping finger mounting plate；22: the four gripping fingers；23: the four gripping finger mounting plates；24:
Aluminum profile mounting rack.
Specific embodiment:
A kind of gear-rack drive formula catching robot provided by the utility model, can be realized to different sizes
Annular or square objects are grabbed.The utility model catching robot includes aluminum profile mounting rack 24, driving and transmission mechanism
And executing agency.
When crawl annular or square objects, the driving motor 1 is driven utility model device by shaft coupling 3, shaft 4
Dynamic first gear 5 and second gear 6 rotate simultaneously；The first gear 5 drives the first rack gear 8 and third rack gear 10 outside simultaneously
Or inwardly move in a straight line, it is straight that the second gear 6 drives the second rack gear 9 and the 4th rack gear 11 inwardly or outwardly to do simultaneously simultaneously
Line movement, to realize that straight line is inwardly or outwardly done in the first rack gear 8, the second rack gear 9, third rack gear 10, the synchronization of the 4th rack gear 11
Movement, so that the first gripping finger 16, the second gripping finger 18, third gripping finger 20, the 4th gripping finger 22 be driven to synchronize and do radial motion, realization is grabbed
Take various sizes of annular or square objects.
Claims (1)
1. a kind of gear-rack drive formula catching robot, it is characterised in that the catching robot includes aluminum profile mounting rack
(24), driving and transmission mechanism and executing agency；The aluminum profile mounting rack (24) is hollow rectangular-ambulatory-plane frame, the aluminum profile
Mounting rack (24) is assembled by the reeded aluminum profile of 12 tools, angle connector and bolt, the aluminum profile mounting rack
It (24) is the rack of the catching robot；The driving includes driving motor (1), motor mounting plate (2), connection with transmission mechanism
Axis device (3), shaft (4), first gear (5), second gear (6), bearing block assembly (7), the first rack gear (8), the second rack gear
(9), third rack gear (10), the 4th rack gear (11), the first sliding block (12), the second sliding block (13), third sliding block (14) and the 4th are sliding
Block (15)；The driving motor (1) is fixed by bolts on the motor mounting plate (2), and the motor mounting plate (2) is equipped with
Mounting hole, the mounting hole can be connect by bolt with robot body；One end of the shaft coupling (3) and driving electricity
The output shaft fixed connection of machine (1), the other end of the shaft coupling (3) and the shaft (4) are connected, the shaft (4) respectively with institute
First gear (5) and the second gear (6) is stated to be connected, the first gear (5) respectively with first rack gear (8) and described
Third rack gear (10) is meshed, and the direction of motion of first rack gear (8) is parallel with the direction of motion of the third rack gear (10)
And on the contrary, the second gear (6) is meshed with second rack gear (9) and the 4th rack gear (11) respectively, described second
The direction of motion of rack gear (9) is parallel with the direction of motion of the 4th rack gear (11) and on the contrary, first rack gear (8), second
Successively at right angles arrangement, the bearing block assembly (7) pass through spiral shell for rack gear (9), third rack gear (10) and the 4th rack gear (11)
Bolt is fixed on the aluminum profile mounting rack (24), and the bearing block assembly (7) is used to support the shaft (4)；Described first
Rack gear (8) is connected by bolt and first sliding block (12), and second rack gear (9) passes through bolt and second sliding block
(13) it is connected, the third rack gear (10) is connected by bolt and the third sliding block (14), and the 4th rack gear (11) passes through
Bolt and the Four-slider (15) are connected, first sliding block (12), the second sliding block (13), third sliding block (14) and described the
Four-slider (15) can move in the groove of the aluminum profile mounting rack (24)；The first gear (5) and described the
The dimensional parameters of two gears (6) are identical, first rack gear (8), the second rack gear (9), third rack gear (10) and the 4th tooth
The dimensional parameters of item (11) are identical；The executing agency includes the first gripping finger (16), the first gripping finger mounting plate (17), the second gripping finger
(18), the second gripping finger mounting plate (19), third gripping finger (20), third gripping finger mounting plate (21), the 4th gripping finger (22) and the 4th folder
Refer to mounting plate (23), the first gripping finger mounting plate (17) is bolted on first rack gear (8), first folder
Refer to that (16) are bolted on the first gripping finger mounting plate (17), the second gripping finger mounting plate (19) is solid by bolt
It being scheduled on second rack gear (9), second gripping finger (18) is bolted on the second gripping finger mounting plate (19),
The third gripping finger mounting plate (21) is bolted on the third rack gear (10), and the third gripping finger (20) passes through spiral shell
Bolt is fixed on the third gripping finger mounting plate (21), and the 4th gripping finger mounting plate (23) is bolted on the described 4th
On rack gear (11), the 4th gripping finger (22) is bolted on the 4th gripping finger mounting plate (23)；First folder
Refer to that the work side of (16), the second gripping finger (18), third gripping finger (20) and the 4th gripping finger (22) is on same cylindrical surface,
First gripping finger (16), the second gripping finger (18), third gripping finger (20), the 4th gripping finger (22) end be in same plane,
First gripping finger (16), the second gripping finger (18), third gripping finger (20) and the 4th gripping finger (22) work side be plane
Or cambered surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821302935.5U CN208629464U (en) | 2018-08-14 | 2018-08-14 | A kind of gear-rack drive formula catching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821302935.5U CN208629464U (en) | 2018-08-14 | 2018-08-14 | A kind of gear-rack drive formula catching robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208629464U true CN208629464U (en) | 2019-03-22 |
Family
ID=65743003
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821302935.5U Withdrawn - After Issue CN208629464U (en) | 2018-08-14 | 2018-08-14 | A kind of gear-rack drive formula catching robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208629464U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108687790A (en) * | 2018-08-14 | 2018-10-23 | 安徽工业大学 | A kind of gear-rack drive formula catching robot |
| CN110170836A (en) * | 2019-06-25 | 2019-08-27 | 宁夏机械研究院股份有限公司 | A kind of double-station workpiece gripper device |
| CN116277099A (en) * | 2023-05-22 | 2023-06-23 | 季华实验室 | Under-actuated manipulator based on flexible rack transmission |
-
2018
- 2018-08-14 CN CN201821302935.5U patent/CN208629464U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108687790A (en) * | 2018-08-14 | 2018-10-23 | 安徽工业大学 | A kind of gear-rack drive formula catching robot |
| CN108687790B (en) * | 2018-08-14 | 2024-01-30 | 安徽工业大学 | Gear rack driving type grabbing manipulator |
| CN110170836A (en) * | 2019-06-25 | 2019-08-27 | 宁夏机械研究院股份有限公司 | A kind of double-station workpiece gripper device |
| CN110170836B (en) * | 2019-06-25 | 2024-02-27 | 宁夏机械研究院股份有限公司 | Double-station workpiece grabbing device |
| CN116277099A (en) * | 2023-05-22 | 2023-06-23 | 季华实验室 | Under-actuated manipulator based on flexible rack transmission |
| CN116277099B (en) * | 2023-05-22 | 2023-07-25 | 季华实验室 | Under-actuated manipulator based on flexible rack transmission |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190322 Effective date of abandoning: 20240130 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20190322 Effective date of abandoning: 20240130 |