CN209504144U - A kind of cup grasping mechanism - Google Patents

A kind of cup grasping mechanism Download PDF

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Publication number
CN209504144U
CN209504144U CN201920034884.0U CN201920034884U CN209504144U CN 209504144 U CN209504144 U CN 209504144U CN 201920034884 U CN201920034884 U CN 201920034884U CN 209504144 U CN209504144 U CN 209504144U
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China
Prior art keywords
cup
crawl
grasping mechanism
conical surface
transmission component
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Active
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CN201920034884.0U
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Chinese (zh)
Inventor
杨帆
李科
张科
王燕波
邹河彬
王取
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Beijing Research Institute of Precise Mechatronic Controls
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Beijing Research Institute of Precise Mechatronic Controls
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Abstract

The utility model provides a kind of cup grasping mechanism, the grasping mechanism includes driving assembly, transmission component and gripper, the gripper includes two crawl sections being oppositely arranged, the crawl section is equipped with the conical surface, and the conical surface on two crawl sections is opposite, in crawl, the driving component provides driving force to the transmission component, and the transmission component, which drives described two crawl sections to move toward one another, clamps the appearance face contact of the conical surface and cup.Cup grasping mechanism provided by the embodiment of the utility model, by the way that the contact surface of crawl section and cup is designed to the small conical surface of the big lower end diameter of upper end diameter, crawl section provides upward support force to cup body, avoids the problem of only overcoming gravity to cause pressure excessive by extruding force, cup is easily caused to deform.

Description

A kind of cup grasping mechanism
Technical field
The utility model relates to a kind of cup grasping mechanisms, belong to manipulator technical field.
Background technique
With the continuous promotion of China's robot technology, robot market is also being gradually expanded, more and more robots Appear in the fields such as industry, service, family and space.Manipulator is also obtained as executing agency essential in robot Sufficient development.
Common mechanical gripping mechanism can be divided mainly into pneumatic, electronic and three kinds of Dextrous Hand on industrial machinery arm.Pneumatically grab It is simple, at low cost to take mechanism light, structure, but needs to be equipped with gas source and tracheae, tracheae is often arranged on the outside of mechanical arm, There are the hidden danger of interference.Usually pneumatic grasping mechanism only has 2,3 stations, and air pressure can not be adjusted, and it is different cannot to complete crawl The task of size, different weight object.The electronic grasping mechanism for being commonly used in crawl cup includes sequentially connected driving group Part, transmission component and gripper, the gripper are usually fixing tool or this be oppositely arranged two for being suitable for specific cup type Finger-action tool.Existing tooling formula gripper is not able to satisfy the crawl to different model cup, and finger-like gripper only leans on rubbing for perpendicular It wipes power and grabs cup, need to provide biggish extruding force to cup, easily lead to the deformation such as dixie cup, flexible plastic cup.
Summary of the invention
The technology of the utility model solves the problems, such as: overcoming the deficiencies of the prior art and provide a kind of cup grasping mechanism, leads to It crosses and the contact surface of crawl section and cup is designed to the small conical surface of the big lower end diameter of upper end diameter, crawl section provides upward to cup body Support force, avoid the problem of only overcoming gravity to cause pressure excessive by extruding force, cup is easily caused to deform.
The technical solution of the utility model is:
A kind of cup grasping mechanism, including driving assembly, transmission component and gripper, the gripper include two be oppositely arranged A crawl section, the crawl section is equipped with the conical surface, and the conical surface on two crawl sections is opposite, and the driving component is for giving The transmission component provides driving force, the transmission component for drive described two crawl section relative motions make the conical surface with The appearance face contact of cup clamps.
In an alternative embodiment, the cone angle of the conical surface is 10~16 °.
In an alternative embodiment, with elastic glue-line on the conical surface.
In an alternative embodiment, the elasticity glue-line is the blown rubber of 2~3mm thickness.
In an alternative embodiment, in seized condition, the conical surface is coaxial for described two crawl sections, and two crawl sections First end between form the first notch, the corresponding central angle of first notch is 90~110 °, two crawl sections Second end forms the second notch, and the corresponding central angle of second notch is 30~40 °.
In an alternative embodiment, the driving component includes motor, lead screw and feed screw nut, described in the motor drives Lead screw rotation, the feed screw nut are connect with the transmission component, to drive the transmission component to move.
In an alternative embodiment, the cup grasping mechanism further includes optoelectronic switch and controller, and the photoelectricity is opened It closes for sending trigger signal to the controller when the feed screw nut is located within the scope of predeterminated position, the controller is used Predeterminated position is returned in controlling the feed screw nut according to the trigger signal.
In an alternative embodiment, the cup grasping mechanism, further includes pedestal, and the motor is fixed on the pedestal On, the lead screw is arranged on the central axes of the pedestal, and the transmission component includes with the central axes for symmetrical axial symmetry Two groups of parallel―ordinal shift structures being arranged, two groups of parallel―ordinal shift structures are corresponded with two crawl sections, are used for The corresponding crawl section and the pedestal are connected, the parallel―ordinal shift structure is connect by connecting rod with the feed screw nut, And push the crawl section mobile under the drive of the feed screw nut.
In an alternative embodiment, in a pair of of parallel bar in the parallel―ordinal shift structure, one and the crawl section It is fixedly connected, another is rotatablely connected with the pedestal, one in another pair parallel bar in the parallel―ordinal shift structure Middle part is fixedly connected with the connecting rod, and the connecting rod and the pedestal are rotatablely connected.
In an alternative embodiment, the parallel―ordinal shift structure is realized and is rotatablely connected by pin shaft and other each components, Nonmetallic collar is arranged on the pin shaft, the nonmetallic collar Internal and external cycle is interference fit.
The utility model has the beneficial effect that compared with prior art
(1) cup grasping mechanism provided by the embodiment of the utility model, by designing the contact surface of crawl section and cup At the small conical surface of the big lower end diameter of upper end diameter, crawl section provides upward support force to cup body, avoids only overcoming by extruding force The problem of gravity causes pressure excessive, and cup is easily caused to deform;
(2) normal pressure of coefficient of friction, less crawl cup can either be increased by the way that elastic glue-line is arranged, further avoided Cup deformation, and can be deformed by elastic layer, change the cone angle of cambered surface inside crawl section, in a certain range to adapt to difference The cup of cone angle;
The angular compliance of (3) first notches and the second notch can either guarantee that cup successfully penetrates two from the first notch In the space that a crawl section is formed, and it is avoided that due to the smaller caused shaking of cup in vertical plane of conical surface radian.
Detailed description of the invention
Fig. 1 provides a kind of cup grasping mechanism stereoscopic schematic diagram for the utility model embodiment (reverse side is seen);
Fig. 2 is signal of the cup grasping mechanism provided by the embodiment of the utility model when crawl section is in seized condition Figure, wherein a is when not grabbing cup, when figure b is crawl cup;
Fig. 3 is cup grasping mechanism provided by the embodiment of the utility model when two crawl sections are in relative distance minimum Schematic diagram;
Fig. 4 is cup grasping mechanism provided by the embodiment of the utility model when two crawl sections are in relative distance maximum Schematic diagram;
Fig. 5 is connection frame schematic diagram provided by the embodiment of the utility model;
Fig. 6 is crawl section structural schematic diagram provided by the embodiment of the utility model.
Specific embodiment
With reference to the accompanying drawing and example elaborates to the utility model.
As shown in figures 1-4, the utility model embodiment provides a kind of cup grasping mechanism, including driving assembly, transmission Component and gripper, the gripper include two crawl sections 11 being oppositely arranged, as shown in fig. 6, the crawl section 11 is equipped with cone Face a, and the conical surface a on two crawl sections 11 is opposite, in crawl, the driving component provides drive to the transmission component Power, the transmission component drive that described two crawl sections 11 move toward one another or back movement makes the appearance of the conical surface and cup Face contact clamps.
Driving assembly provided by the embodiment of the utility model may include the driving assemblies such as servo motor, stepper motor, this Utility model is not construed as limiting;The transmission component may include parallel―ordinal shift drive mechanism, Lead screw transmission structure, gear drive Structure etc., the utility model is not construed as limiting;The cup is preferably the small taper type cup of the big bottom diameter of upper end opening diameter, Cup of the more preferable opening without flanging.
In the initial state, two crawl sections are opened, and are in relative distance maximum (as shown in Figure 4) or biggish position, When crawl, two crawl sections are moved toward one another, and relative distance reduces until the conical surface of crawl section holds the outer surface of cup tightly.Alternatively, In the initial state, two crawl sections are in the minimum or smaller position (as shown in Figure 3) of relative distance, and when crawl, two are grabbed Portion's back movement is taken, relative distance reduces until the conical surface of crawl section can hold the outer surface of cup tightly.
Cup grasping mechanism provided by the embodiment of the utility model, by the way that the contact surface of crawl section and cup to be designed to The conical surface for holding the big lower end diameter of diameter small, crawl section provides upward support force to cup body, avoids only overcoming gravity by extruding force The problem of causing pressure excessive, cup is easily caused to deform.Cup grasping mechanism provided by the utility model can load 1Kg load (1L water) and guarantee that dixie cup will not shrivel, does not have obvious deformation.
Specifically, the cone angle of the conical surface is 10~16 °, to adapt to most cone cylinder type cups on the market.
Further, can either be increased with elastic glue-line (not shown) by the way that elastic glue-line is arranged on the conical surface The normal pressure of big coefficient of friction, less crawl cup further avoids cup deformation, and can deform by elastic layer, one The cone angle for changing cambered surface inside crawl section in range is determined, to adapt to the cup of different cone angle.
In an alternative embodiment, the elasticity glue-line is the blown rubber of 2~3mm thickness.
As shown in Fig. 2, in seized condition, the conical surface is coaxial, and two for described two crawl sections 11 in an alternative embodiment Form the first notch between the first end of a crawl section, the corresponding central angle alpha of first notch is 90~110 °, two The second end of the crawl section forms the second notch, and the corresponding central angle β of second notch is 30~40 °, described when crawl Cup is horizontal through first notch.The angular compliance can either guarantee that cup successfully penetrates two from the first notch and grabs In the space for taking portion to be formed, and it is avoided that due to the smaller caused shaking of cup in vertical plane of conical surface radian.
Specifically, as shown in Figures 2 and 3, the driving component includes motor 1, lead screw 12 and feed screw nut 2, the motor 1 The lead screw 12 is driven to rotate, the feed screw nut 2 is connect with the transmission component, to drive the transmission component to move.Tool Body, in the utility model embodiment, feed screw nut 2 is rotatablely connected by adapter 9 and transmission component.The driving mechanism volume It is small, light-weight.
Further, the cup grasping mechanism, further includes optoelectronic switch 3 and controller (not shown), described Optoelectronic switch is used to send trigger signal, the control to the controller when the feed screw nut is located within the scope of predeterminated position Device processed, which is used to control the feed screw nut according to the trigger signal, returns to predeterminated position.Specifically, controller passes through control step Control feed screw nut movement is formed into motor.Specifically, as shown in figure 3, in the utility model embodiment, by feed screw nut Sheet metal 10 is set on 2, in predeterminated position setting optoelectronic switch 3 when sheet metal 10 enters in the induction region of optoelectronic switch 3, Optoelectronic switch sends trigger signal.The absolute location information of crawl section, generation are obtained by using optoelectronic switch and controller cooperation The higher absolute encoder of price has been replaced, cost has been saved.
Specifically, the controller is used to judge whether the feed screw nut is located at predeterminated position according to the trigger signal In range, moved if so, controlling the feed screw nut to the direction close to the crawl section, until leaving the predeterminated position Then range certain distance controls the feed screw nut and moves to the position far from the crawl section, until detecting the light Establish the rising edge of OFF signal by cable;It is moved if it is not, then controlling the feed screw nut to the position far from the crawl section, until detection To the rising edge of the photoelectric switching signal.This method ensures that direction of motion when detecting memorial tablet is consistent, eliminates lead screw return difference It influences.
Further, the cup grasping mechanism further includes pedestal 5, and the motor 1 is fixed on the pedestal 5, institute It states lead screw 12 to be arranged on the central axes of the pedestal 5, it is that symmetrical axial symmetry is set that the transmission component, which includes with the central axes, The two groups of parallel―ordinal shift structures 7 set, two groups of parallel―ordinal shift structures 7 and two crawl sections 11 correspond, and use In connecting the corresponding crawl section 11 and the pedestal 5, the parallel―ordinal shift structure 7 passes through connecting rod and the feed screw nut 2 connections, and push the crawl section 11 mobile under the drive of the feed screw nut 2.The transmission component structure is simple, reliability It is high.Specifically, as shown in Fig. 2, one is integrally formed with crawl section 11 in the short parallel bar of a pair in parallel―ordinal shift structure 7, Another and pedestal 5 are integrally formed, the both ends of the long parallel bar of a pair in parallel―ordinal shift structure 7 pass through respectively pin shaft with it is described Short parallel bar rotation connection, and connect by pin shaft with the link rotatable in the middle part of one of them long parallel bar, the present embodiment In, the nonmetallic collar of hollow cylindrical (self-lubricating materials such as polyurethane collar), nonmetallic collar Internal and external cycle are arranged on pin shaft It is interference fit.The structure can reduce friction and avoid crawl caused by stuck in rotation process and clearance fit Portion is loose, shakes, and position is caused to have relatively large deviation.
Further, in the utility model embodiment, to be easily installed motor and convenient for connecting grasping mechanism and mechanical arm It connects, as shown in figure 3, the utility model additionally provides connection frame 4 and connection board 6, as shown in figures 2 and 5, connection frame 4 is one end The rectangular frame structure of opening, open end are connect with pedestal 5, and motor is mounted in frame, and one end opposite to the open end is equipped with gap B, the gap realize that, in subsequent mechanical arm internal wiring, the end plate is used to connect with mechanical arm for drawing the connecting lines such as motor It connects.
The above, only one specific embodiment of the utility model, but the protection scope of the utility model not office It is limited to this, anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in Change or replacement should be covered within the scope of the utility model.
The utility model unspecified part belongs to common sense well known to those skilled in the art.

Claims (10)

1. a kind of cup grasping mechanism, including driving assembly, transmission component and gripper, which is characterized in that the gripper includes phase To two crawl sections of setting, the crawl section is equipped with the conical surface, and the conical surface on two crawl sections is opposite, the driving Component is used to provide driving force to the transmission component, and the transmission component is for driving described two crawl section relative motions to make The appearance face contact of the conical surface and cup clamps.
2. cup grasping mechanism according to claim 1, which is characterized in that the cone angle of the conical surface is 10~16 °.
3. cup grasping mechanism according to claim 1, which is characterized in that with elastic glue-line on the conical surface.
4. cup grasping mechanism according to claim 3, which is characterized in that the elasticity glue-line is the foaming of 2~3mm thickness Rubber.
5. cup grasping mechanism according to claim 1, which is characterized in that described two crawl sections in seized condition, The conical surface is coaxial, and the first notch is formed between the first end of two crawl sections, and the corresponding central angle of first notch is 90~110 °, the second end of two crawl sections forms the second notch, and the corresponding central angle of second notch is 30~ 40°。
6. described in any item cup grasping mechanisms according to claim 1~5, which is characterized in that the driving component includes electricity Machine, lead screw and feed screw nut, the motor drive the lead screw rotation, and the feed screw nut is connect with the transmission component, with The transmission component is driven to move.
7. cup grasping mechanism according to claim 6, which is characterized in that it further include optoelectronic switch and controller, it is described Optoelectronic switch is used to send trigger signal, the control to the controller when the feed screw nut is located within the scope of predeterminated position Device processed, which is used to control the feed screw nut according to the trigger signal, returns to predeterminated position.
8. cup grasping mechanism according to claim 6, which is characterized in that further include pedestal, the motor is fixed on institute It states on pedestal, the lead screw is arranged on the central axes of the pedestal, and it is symmetrical that the transmission component, which includes with the central axes, Two groups of parallel―ordinal shift structures of axial symmetry setting, two groups of parallel―ordinal shift structures and two crawl sections one are a pair of It answers, for connecting the corresponding crawl section and the pedestal, the parallel―ordinal shift structure passes through connecting rod and the lead screw spiral shell Mother's connection, and push the crawl section mobile under the drive of the feed screw nut.
9. cup grasping mechanism according to claim 8, which is characterized in that a pair in the parallel―ordinal shift structure is flat In row bar, one is fixedly connected with the crawl section, another is fixedly connected with the pedestal, in the parallel―ordinal shift structure Another pair parallel bar in one middle part connect with the link rotatable, the connecting rod and the pedestal rotation connection.
10. cup grasping mechanism according to claim 9, which is characterized in that the parallel―ordinal shift structure passes through pin shaft It realizes and is rotatablely connected with other each components, be arranged with nonmetallic collar on the pin shaft, the nonmetallic collar Internal and external cycle is Interference fit.
CN201920034884.0U 2019-01-09 2019-01-09 A kind of cup grasping mechanism Active CN209504144U (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110950060A (en) * 2019-11-29 2020-04-03 嘉善盛立服饰辅料厂(普通合伙) Mechanical hand for zinc alloy die-casting device
CN113500621A (en) * 2021-07-26 2021-10-15 淮阴工学院 Clamping device and method for controlling clamping force on workpiece by linear motor
CN113858225A (en) * 2021-09-25 2021-12-31 王宝印 Environment emergency monitoring and sampling robot, system and use method thereof
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
CN117169487A (en) * 2023-11-03 2023-12-05 山东康华生物医疗科技股份有限公司 Reaction cup grabbing and moving mechanism

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110950060A (en) * 2019-11-29 2020-04-03 嘉善盛立服饰辅料厂(普通合伙) Mechanical hand for zinc alloy die-casting device
CN113500621A (en) * 2021-07-26 2021-10-15 淮阴工学院 Clamping device and method for controlling clamping force on workpiece by linear motor
CN113858225A (en) * 2021-09-25 2021-12-31 王宝印 Environment emergency monitoring and sampling robot, system and use method thereof
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
CN117169487A (en) * 2023-11-03 2023-12-05 山东康华生物医疗科技股份有限公司 Reaction cup grabbing and moving mechanism
CN117169487B (en) * 2023-11-03 2024-01-23 山东康华生物医疗科技股份有限公司 Reaction cup grabbing and moving mechanism

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