CN208880758U - Robot claw - Google Patents
Robot claw Download PDFInfo
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- CN208880758U CN208880758U CN201821701171.7U CN201821701171U CN208880758U CN 208880758 U CN208880758 U CN 208880758U CN 201821701171 U CN201821701171 U CN 201821701171U CN 208880758 U CN208880758 U CN 208880758U
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Abstract
The utility model belongs to robot field, it is related to a kind of robot claw, it include: exchange seat, pedestal, transmission arm, transmission device, hold assembly and control device, using Split gear structure, plane bearing is set on gear, each component by ship and resell on another market+bearing mode is connected, the connection of hold assembly bilayer, the precision that claw closes up angle is improved, crawl is more stable, will not pine when grabbing weight.Further, using clamping class and absorption class robot the advantages of, adsorbent equipment is added, versatility is stronger, and it is longer to transport stroke.On the one hand adsorbent equipment is arranged on robot claw can cooperate hold assembly to adsorb clamped article, increase anchor point to clamped article in this way, and it is farther to transport the distance that distance is transported relative to single hold assembly clamping article to article；On the other hand, absorption transport can be carried out to the article of unsuitable clamping, increases the adaptation range of robot claw, versatility is stronger.
Description
Technical field
The utility model belongs to robot field, is related to a kind of robot claw.
Background technique
The quality that robot hand completes task to entire robot plays key effect, it is directly related to clamping workpiece
When positioning accuracy, chucking power size etc..Robot hand is one of key components and parts of robot hand, it be robot with
The final tache and execution unit of environmental interaction, the superiority and inferiority of performance largely determine the property of entire robot
Energy.
Currently, on the one hand robot claw is much to realize clamping and release with finger cylinder, crawl precision is not high, grabs
Power taking is inadequate；On the other hand, can only often catch it is one or more of shape, size, in terms of similar in workpiece, it is a kind of
Robot claw can only execute a kind of job task, poor universality, and clamp and position only one, and stroke is short.
Utility model content
To solve technical problem present in the prior art, the utility model provides a kind of robot claw, using fission
Gear structure, is arranged plane bearing on gear, each component by ship and resell on another market+bearing mode is connected, the connection of hold assembly bilayer mentions
High claw closes up the precision of angle, grab it is more stable, will not pine when grabbing weight.
The utility model adopts the following technical solution:
A kind of robot claw, comprising: exchange seat, pedestal, transmission arm, transmission device, hold assembly and control device.It hands over
The part that exchanges to match on seat and robot arm is changed to connect；It exchanges seat and is equipped with pedestal, transmission arm, transmission device, clamping part
Part and control device are connected on pedestal by direct or indirect mode, and transmission device is connected with transmission arm, and control passes
The movement of swing arm, transmission arm are connected with hold assembly, and control device is connected with transmission arm, transmission device and hold assembly.
Transmission device includes: gear, first ship and resell on another market, the 4th ships and resell on another market, plane bearing, steering engine and gland.Transmission arm and gear
Connection, transmission arm is by gear come driving torque；Gear is shipped and resell on another market by first, the 4th ship and resell on another market be connected in a manner of bearing pedestal it
On；Gland is covered on gear.
Transmission arm includes the first joint and second joint, and the first joint is master arm, and second joint is slave arm, and first closes
One end of section and second joint is connect with transmission device respectively, and the other end is connect with hold assembly respectively.
Further, gear and transmission arm use separate structure, i.e., gear is with the first joint, second joint using seperated knot
Structure；Respectively there is a plane bearing on gear；First ship and resell on another market with the 4th ship and resell on another market on be respectively equipped with bearing；Steering engine is equipped with electronic installation
Plate is equipped with power supply on electronic mounting plate.
Hold assembly includes: third joint, the 4th joint and the 5th joint.Third joint and the 4th joint are used to holdfast
Body enables third joint grip objects parallel with the 4th joint, the bottom end in third joint and the first joint by the 5th joint
One end shipped and resell on another market by third and be connected in a manner of bearing, the top in third joint is fixture block, the bottom end and second in the 4th joint
The one end in joint is shipped and resell on another market by third to be connected in a manner of bearing, and the top in the 4th joint is fixture block；The one end in the 5th joint point
Do not ship and resell on another market by second and be connected in a manner of bearing with third joint, the 4th joint, the other end by ship and resell on another market in a manner of bearing with
Pedestal is connected.
Further, the 5th joint uses parallel double-layer structure.
Further, fixture block is made of flexible polyurethane material, is arranged in the arc-shaped.
Preferably, a kind of robot claw further includes adsorbent equipment, and adsorbent equipment is connected by direct or indirect mode
On pedestal.Adsorbent equipment includes positioning seat, sucker disk seat and vacuum chuck, and sucker disk seat is connected with vacuum chuck, by fixed
Sucker disk seat and vacuum chuck positioning are placed on pedestal by position seat, mountable one or more adsorbent equipment on pedestal.
The utility model has the following beneficial effects:
(1) gear and the first joint, second joint use separate structure, solve conjoined structure integrated molding, bad to add
Work, the big problem of difficulty of processing, the separate structure of the utility model can be made a wholecircle, and processing cost is low, improve processing
Precision, to improve the precision that claw closes up angle.
(2) the 5th joints use parallel double-layer structure, compare single layer, and the crawl of the utility model double-layer structure is more stable,
It will not pine when grabbing weight.
(3) fixture block is made of flexible polyurethane material, is arranged in the arc-shaped, it is therefore an objective to increase frictional force, when clamping does not damage
Bad object.
(4) further, using clamping class and absorption class robot the advantages of, the two is used in combination, versatility is more
By force, it is longer to transport stroke.Adsorbent equipment is set on robot claw, on the one hand hold assembly can be cooperated to clamped object
Product are adsorbed, and increase anchor point to clamped article in this way, are transported distance to article and are clamped relative to single hold assembly
The distance of goods transportation is farther；On the other hand, absorption transport can be carried out to the article of unsuitable clamping, increases robot claw
Adaptation range, versatility is stronger.
(5) clamped position is controlled with steering engine, can arbitrarily positioned, versatile, accurate positioning.
Detailed description of the invention
Fig. 1 is one of robot jaw structure schematic diagram of the utility model；
Fig. 2 is the two of the robot jaw structure schematic diagram of the utility model；
Fig. 3 is the three of the robot jaw structure schematic diagram of the utility model；
In figure, 1, pedestal；2, the first joint；3, second joint；4, third joint；5, the 4th joint；6, the 5th joint；7,
Gear；8, it first ships and resell on another market；9, it second ships and resell on another market；10, third is shipped and resell on another market；11, it the 4th ships and resell on another market；12, positioning seat；13, sucker disk seat；14, true
Suction disk；15, fixture block；16, gland；17, motor mounting plate；18, plane bearing；19, steering engine；20, fast exchange seat.
Specific embodiment
The utility model is described in further detail below by specific embodiment, but the implementation of the utility model
Mode is simultaneously not so limited to this.
The utility model relates to a kind of robot claws, as shown in Figure 1-3, include fast exchange seat 20, pedestal 1, transmission
Arm, transmission device, hold assembly, control device and adsorbent equipment.By on fast exchange seat 20 (mother) and robot arm
Fast exchange part (public affairs) quickly connects；The fast exchange seat is equipped with pedestal 1, and the first joint 2 above pedestal is master arm,
It is connect with transmission device；Second joint 3 is slave arm；First joint and second joint by gear 7 come driving torque, on gear
Respectively there is a plane bearing 18, to increase the axial force in the first joint, second joint, gland 16 is connect with pedestal, to give
Give the axial force that plane bearing is born；Third joint 4 and the 4th joint 5 are used to grip objects, make the by the 5th joint 6
It three joints being capable of parallel grip objects with the 4th joint；Fixture block 15 on third joint and the 4th joint is flexible polyurethane material,
Purpose is to increase frictional force.
Transmission arm, transmission device, hold assembly, control device and adsorbent equipment are connected to by direct or indirect mode
On pedestal 1, transmission device is connected with transmission arm, controls the movement of transmission arm, and transmission arm is connected with hold assembly, control
Device processed is connected with transmission arm, transmission device, hold assembly and adsorbent equipment, cooperates for controlling corresponding component.
Transmission arm includes the first joint 2 and second joint 3, and the first joint is master arm, and second joint is slave arm, and first
Joint and one end of second joint are connect with transmission device respectively, and the other end is connect with hold assembly respectively.
As shown in figure 3, transmission device includes: gear 7, first ships and resell on another market and the 8, the 4th ship and resell on another market 11, plane bearing 18, steering engine 19
With gland 16.First joint and second joint are connect with gear 7, and the first joint and second joint are by gear come driving torque；
Gear is shipped and resell on another market by first, the 4th is shipped and resell on another market and be connected on pedestal in a manner of bearing；Gland 16 is covered on gear, with pedestal
Connection, to give the axial force that plane bearing is born.
Further, gear and the first joint, second joint use separate structure, solve conjoined structure integrated molding,
Bad processing, the big problem of difficulty of processing, the separate structure of the utility model can be made a wholecircle, and processing cost is low, mentions
The precision of height processing, to improve the precision that claw closes up angle.
Further, respectively there is a plane bearing 18 on gear, to increase the axial force in the first joint, second joint.
Further, steering engine is equipped with motor mounting plate 17, is equipped with power supply on motor mounting plate.
Further, first ship and resell on another market with the 4th ship and resell on another market on be respectively equipped with bearing, to improve the precision for closing up angle.
Hold assembly includes: third joint 4, the 4th joint 5 and the 5th joint 6.Third joint and the 4th joint are used to press from both sides
Tight object enables third joint grip objects parallel with the 4th joint, the bottom end in third joint and first by the 5th joint
The one end in joint is shipped and resell on another market by third 10 to be connected, and the top in third joint is fixture block 15, and the bottom end in the 4th joint is closed with second
One end of section is shipped and resell on another market by third 10 to be connected, and the top in the 4th joint is fixture block 15；The one end in the 5th joint 6 respectively with third
Joint, the 4th joint are shipped and resell on another market by second 9 to be connected, and the other end is connected by shipping and reselling on another market with pedestal.
Further, the 5th joint uses parallel double-layer structure, compares single layer structure, and the utility model double-layer structure is grabbed
Take it is more stable, grab weight when will not pine.
Further, fixture block uses flexible polyurethane material, is arranged in the arc-shaped, it is therefore an objective to increase frictional force, when clamping not
Damage object.
Further, second ship and resell on another market with third ship and resell on another market on be respectively equipped with bearing, to improve the precision for closing up angle.
Adsorbent equipment is connected on pedestal by direct or indirect mode.Adsorbent equipment includes positioning seat 12, sucker
Seat 13 and vacuum chuck 14, sucker disk seat is connected with vacuum chuck, is placed in sucker disk seat and vacuum chuck positioning by positioning seat
On pedestal.According to demand, the mountable one or more adsorbent equipment on pedestal, to improve adsorption effect.Adsorbent equipment one
Aspect can cooperate hold assembly to adsorb clamped article, increase anchor point to clamped article in this way, right
It is farther relative to the distance of single hold assembly clamping goods transportation that article transports distance；It on the other hand, can be to unsuitable clamping
Article carries out absorption transport, increases the adaptation range of robot claw, and versatility is stronger.
Further, the sensor for detecting the location of workpiece is additionally provided on robot claw.
Above-described embodiment is the preferable embodiment of the utility model, but the embodiments of the present invention is not by above-mentioned
The limitation of embodiment, it is made under other any spiritual essence and principles without departing from the utility model to change, modify, replacing
In generation, simplifies combination, should be equivalent substitute mode, is included within the protection scope of the utility model.
Claims (10)
1. a kind of robot claw, comprising: exchange seat, pedestal, transmission arm, transmission device, hold assembly and control device；Exchange
Seat exchanges part connection with what is matched on robot arm；It exchanges seat and is equipped with pedestal, transmission arm, transmission device, hold assembly
It is connected on pedestal with control device by direct or indirect mode, transmission device is connected with transmission arm, control transmission
The movement of arm, transmission arm are connected with hold assembly, and control device is connected with transmission arm, transmission device and hold assembly,
It is characterized in that, the transmission device includes: gear, first ship and resell on another market, the 4th ships and resell on another market, plane bearing, steering engine and gland；Transmission arm with
Gear connection, transmission arm is by gear come driving torque；Gear is shipped and resell on another market by first, the 4th is shipped and resell on another market and be connected to bottom in a manner of bearing
On seat；Gland is covered on gear.
2. robot claw according to claim 1, which is characterized in that gear and transmission arm use separate structure.
3. robot claw according to claim 1 or 2, which is characterized in that the transmission arm includes the first joint and the
Two joints, the first joint are master arm, and second joint is slave arm, and one end of the first joint and second joint is filled with transmission respectively
Connection is set, the other end is connect with hold assembly respectively.
4. robot claw according to claim 3, which is characterized in that gear is equipped with a plane bearing.
5. according to claim 1, robot claw described in any one of 2,4, which is characterized in that the hold assembly includes:
Third joint, the 4th joint and the 5th joint, the bottom end in third joint, which is shipped and resell on another market with the one end in the first joint by third, to be connected,
The front end in third joint is fixture block, and the bottom end in the 4th joint, which is shipped and resell on another market with one end of second joint by third, to be connected, and the 4th closes
The front end of section is fixture block, and the one end in the 5th joint is shipped and resell on another market with third joint, the 4th joint by second respectively to be connected, the other end
It is connected by shipping and reselling on another market with pedestal.
6. robot claw according to claim 5, which is characterized in that the 5th joint is using the parallel double-deck knot
Structure.
7. robot claw according to claim 5, which is characterized in that the fixture block is made of flexible polyurethane material.
8. robot claw according to claim 5, which is characterized in that the fixture block setting is in the arc-shaped.
9. according to claim 1, robot claw described in any one of 2,4,6,7,8, which is characterized in that the robot pawl
Son further includes one or more adsorbent equipments, and adsorbent equipment is connected with control device.
10. robot claw according to claim 9, it is characterised in that: the adsorbent equipment includes positioning seat, sucker disk seat
And vacuum chuck, sucker disk seat are connected with vacuum chuck, by positioning seat by sucker disk seat and vacuum chuck positioning be placed in pedestal it
On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821701171.7U CN208880758U (en) | 2018-10-19 | 2018-10-19 | Robot claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821701171.7U CN208880758U (en) | 2018-10-19 | 2018-10-19 | Robot claw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208880758U true CN208880758U (en) | 2019-05-21 |
Family
ID=66516633
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821701171.7U Active CN208880758U (en) | 2018-10-19 | 2018-10-19 | Robot claw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208880758U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110394785A (en) * | 2019-07-17 | 2019-11-01 | 浙江海洋大学 | A kind of sorting aquatic products grabbing device |
-
2018
- 2018-10-19 CN CN201821701171.7U patent/CN208880758U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110394785A (en) * | 2019-07-17 | 2019-11-01 | 浙江海洋大学 | A kind of sorting aquatic products grabbing device |
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