CN211073653U - Clamping manipulator for robot - Google Patents
Clamping manipulator for robot Download PDFInfo
- Publication number
- CN211073653U CN211073653U CN201921862674.7U CN201921862674U CN211073653U CN 211073653 U CN211073653 U CN 211073653U CN 201921862674 U CN201921862674 U CN 201921862674U CN 211073653 U CN211073653 U CN 211073653U
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- CN
- China
- Prior art keywords
- driving motor
- clamping part
- clamping
- robot
- knob handle
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- Expired - Fee Related
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Abstract
The utility model discloses a centre gripping manipulator for robot, driving motor is fixed in on the base plate, a driving motor output axle head is fixed in the worm, first hinge bar is fixed in first fan of tooth, the second hinge bar is fixed in second fan of tooth, first fan of tooth and second fan of tooth all articulate in the base plate through the round pin axle, first fan of tooth and second fan of tooth all engage in the worm, first hinge bar articulates in first clamping part, the second hinge bar articulates in the second clamping part, another output axle head of driving motor passes through screw connection in knob handle. The utility model discloses beneficial effect: the utility model discloses an output end of driving motor drives first sector gear and second sector gear respectively through the worm and rotates, and first sector gear and second sector gear drive first clamping part and second clamping part respectively, and then realize the centre gripping action; the other output shaft end of the driving motor is connected to the knob handle through a screw, the knob handle can manually drive the motor to rotate reversely and rotate positively, and then the clamping manipulator is loosened, reset and temporarily clamped manually.
Description
Technical Field
The utility model belongs to the technical field of the gripper mechanism technique of robot and specifically relates to a centre gripping manipulator for robot.
Background
Along with the development of science and technology, the industrial production level is greatly improved, wherein industrial robot uses more, each manufacturing and processing production trade all robot is more, the robot mainly utilizes the manipulator to accomplish work such as centre gripping, transposition and transport article and work piece, prior art's manipulator mainly utilizes driving motor drive, nevertheless in the work use, the damage or the inefficacy condition can appear in the difficult emergence of driving motor, because the meshing mode of adopting the worm between the holding frame of manipulator and driving motor's output, if damage or inefficacy in the clamping process like this, be difficult to automatic re-setting, only disassemble the manipulator and reset and loosen the centre gripping, influence work availability factor to a certain extent like this.
Therefore, it is necessary to provide a gripping robot arm for a robot to solve the above problems.
SUMMERY OF THE UTILITY MODEL
To the not enough of existence among the above-mentioned prior art, the utility model aims to provide a centre gripping manipulator for robot to solve above-mentioned problem.
A clamping manipulator for a robot comprises a first clamping part, a second clamping part, a first hinged rod, a second hinged rod, a base plate, a driving motor, a worm, first sector teeth, second sector teeth and a knob handle, wherein the driving motor is fixed on the base plate, one output shaft end of the driving motor is fixed on the worm, one end of the first hinged rod is fixed on the first sector teeth, one end of the second hinged rod is fixed on the second sector teeth, the first sector teeth and the second sector teeth are hinged on the base plate through a pin shaft, the first sector teeth and the second sector teeth are meshed with the worm, the other end of the first hinged rod is hinged on one end of the first clamping part, the other end of the second hinged rod is hinged on one end of the second clamping part, and the first clamping part is hinged on the base plate through a third hinged rod, the second clamping part is hinged to the base plate through a fourth hinged rod, and the other output shaft end of the driving motor is connected to the knob handle through a screw.
Preferably, the knob handle is provided at a circumferential portion thereof with a slip prevention strip.
The beneficial effects of the preferable technical scheme are as follows: the anti-slip strip plays the effect of increasing friction, the hand knob of being convenient for.
Preferably, one end of the knob handle is provided with an inner hexagonal groove.
The beneficial effects of the preferable technical scheme are as follows: if the locking torque of the driving motor is too large, and the knob handle is difficult to rotate by hands, the hexagonal wrench can be inserted into the inner hexagonal groove for rotating operation.
Preferably, another output shaft end of driving motor is provided with the hexagonal axle, another tip of knob handle set up with the hexagonal section of thick bamboo that the hexagonal axle cooperation is connected.
The beneficial effects of the preferable technical scheme are as follows: the hexagonal shaft is connected with the hexagonal cylinder in a matching way, and the other output shaft end of the driving motor is conveniently connected with the knob handle in a matching way.
Preferably, the other end of the first clamping part is connected with a first clamping head, and the other end of the second clamping part is connected with a second clamping head.
The beneficial effects of the preferable technical scheme are as follows: the first and second gripping heads are used to grip small block-like objects.
Preferably, a plurality of anti-slip grooves are arranged on the inner sides of the first clamping part and the second clamping part.
The beneficial effects of the preferable technical scheme are as follows: first clamping part and second clamping part are used for the big column article of centre gripping and work piece, and the antiskid groove plays antiskid, increases centre gripping fastening effect.
Preferably, the inner sides of the first clamping head and the second clamping head are both provided with sawtooth grooves.
The beneficial effects of the preferable technical scheme are as follows: the sawtooth grooves play a role in increasing friction force and anti-skidding effect and improving clamping and fastening effect.
Compared with the prior art, the utility model discloses beneficial effect: the utility model comprises a first clamping part, a second clamping part, a driving motor, a worm, a first sector gear, a second sector gear and a knob handle, wherein an output end of the driving motor drives the first sector gear and the second sector gear to rotate respectively through the worm, and the first sector gear and the second sector gear drive the first clamping part and the second clamping part respectively, thereby realizing the clamping action; the other output shaft end of the driving motor is connected to the knob handle through a screw, the knob handle can manually drive the motor to rotate reversely and rotate positively, and further the clamping manipulator can be loosened, reset and temporarily clamped through manual operation, so that the use efficiency is prevented from being influenced to a great extent.
Drawings
Fig. 1 is a structural diagram of a clamping manipulator for a robot provided by the present invention;
FIG. 2 is a structural diagram of the base plate of the present invention mounted on the robot arm;
FIG. 3 is a connecting structure of the driving motor and the worm according to the present invention;
FIG. 4 is a structural view of the knob handle of the present invention;
fig. 5 is a left side view of the knob handle of the present invention;
fig. 6 is a right side view of the knob handle of the present invention;
fig. 7 is a structural view of a first clamping portion of the present invention;
FIG. 8 is a structural view of a second holding portion of the present invention;
FIG. 9 is a view showing a state of holding a columnar object according to the present invention;
fig. 10 is a view showing a state of holding a block-shaped object according to the present invention.
Reference numbers in the figures: 1. a substrate; 2. a drive motor; 3. a worm; 4. a first sector gear; 5. a second sector gear; 6. a first clamping portion; 7. a second clamping portion; 8. a first hinge lever; 9. a second hinge lever; 10. a third hinge rod; 11. a fourth hinge lever; 12. a knob handle; 13. a first gripping head; 14. a second gripping head; 15. a hexagonal wrench; 16. an anti-slip groove; 17. a sawtooth groove; 18. a hexagonal shaft; 19. a hexagonal cylinder; 20. anti-slip strips; 21. an inner hexagonal groove; 22. a mechanical arm; 23. a columnar object; 24. a block-shaped object; 25. and (7) a pin shaft.
Detailed Description
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
As shown in fig. 1 and fig. 2 to 10, a clamping manipulator for a robot includes a first clamping portion 6, a second clamping portion 7, a first hinge rod 8, a second hinge rod 9, a base plate 1, a driving motor 2, a worm 3, a first sector gear 4, a second sector gear 5 and a knob handle 12, wherein the driving motor 2 is fixed on the base plate 1, an output shaft end of the driving motor 2 is fixed on the worm 3, one end of the first hinge rod 8 is fixed on the first sector gear 4, one end of the second hinge rod 9 is fixed on the second sector gear 5, the first sector gear 4 and the second sector gear 5 are hinged on the base plate 1 through a pin 25, the first sector gear 4 and the second sector gear 5 are both meshed with the worm 3, the other end of the first hinge rod 8 is hinged on one end of the first clamping portion 6, the other end of the second hinge rod 9 is hinged on one end of the second clamping portion 7, the first clamping part 6 is hinged to the base plate 1 through a third hinged rod 10, the second clamping part 7 is hinged to the base plate 1 through a fourth hinged rod 11, and the other output shaft end of the driving motor 2 is connected to a knob handle 12 through a screw.
Further, the knob handle 12 is provided at a circumferential portion thereof with a slip prevention strip 20.
The beneficial effects of the further technical scheme are that: the anti-slip strips 20 play a role in increasing friction and facilitating the turning of hands.
Further, an inner hexagonal groove 21 is formed at one end of the knob handle 12.
The beneficial effects of the further technical scheme are that: if the driving motor 2 has too large locking torque and it is difficult to turn the knob handle 12 by hand, the hexagonal wrench 15 can be inserted into the internal hexagonal groove 21 to perform a turning operation.
Further, another output shaft end of the driving motor 2 is provided with a hexagonal shaft 18, and another end of the knob handle 12 is provided with a hexagonal cylinder 19 which is in fit connection with the hexagonal shaft 18.
The beneficial effects of the further technical scheme are that: the hexagonal shaft 18 is connected with the hexagonal cylinder 19 in a matching way, so that the other output shaft end of the driving motor 2 is conveniently connected with the knob handle 12 in a matching way.
Further, the other end of the first clamping part 6 is connected with a first clamping head 13, and the other end of the second clamping part 7 is connected with a second clamping head 14.
The beneficial effects of the further technical scheme are that: the first gripping head 13 and the second gripping head 14 are used for gripping small block-shaped objects 24.
Further, a plurality of anti-slip grooves 16 are arranged on the inner sides of the first clamping part 6 and the second clamping part 7.
The beneficial effects of the further technical scheme are that: the first clamping part 6 and the second clamping part 7 are used for clamping a large columnar object 23, and the anti-slip grooves 16 play a role in anti-slip and increase the clamping and fastening effects.
Further, the inner sides of the first clamping head 13 and the second clamping head 14 are both provided with a sawtooth groove 17.
The beneficial effects of the further technical scheme are that: the sawtooth grooves 17 play a role in increasing friction force and anti-skidding effect and improving clamping and fastening effect.
Compared with the prior art, the utility model discloses beneficial effect: the utility model comprises a first clamping part 6, a second clamping part 7, a driving motor 2, a worm 3, a first sector gear 4, a second sector gear 5 and a knob handle 12, wherein an output end of the driving motor 2 drives the first sector gear 4 and the second sector gear 5 to rotate respectively through the worm 3, and the first sector gear 4 and the second sector gear 5 drive the first clamping part 6 and the second clamping part 7 respectively, so as to realize clamping action; another output shaft end of driving motor 2 passes through screwed connection in knob handle 12, and knob handle 12 can manually drive 2 reversal and corotation of driving motor, and then manual operation resets and presss from both sides the interim clamp tightly to loosening of clamping manipulator, has avoided dismantling clamping manipulator because driving motor 2 damages or became invalid, and then does not influence work efficiency.
The working principle is as follows: the clamping manipulator is arranged on a mechanical arm 22 of the robot, during clamping, a driving motor 2 starts to work, the driving motor 2 drives a worm 3 to rotate, the worm 3 drives a first sector gear 4 and a second sector gear 5 to rotate, and the first sector gear 4 and the second sector gear 5 respectively drive a first clamping part 6 and a second clamping part 7 so as to clamp a workpiece; after clamping is finished, the motor 2 is driven to rotate reversely, and then the worm 3 drives the first sector gear 4 and the second sector gear 5 to rotate, so that the first clamping part 6 and the second clamping part 7 are driven to reset and loosen; if the driving motor 2 is damaged or fails in the clamping process, the knob handle 12 can be used for driving the driving motor 2 to rotate, and the temporary clamping effect is achieved; if the driving motor 2 is damaged or fails in the resetting and loosening process, the knob handle 12 can be used for driving the driving motor 2 to rotate reversely, and driving the first clamping part 6 and the second clamping part 7 to reset and loosen.
The above only is the preferred embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structures or equivalent flow changes made by the contents of the specification and the drawings, or directly or indirectly applied to other related technical fields, are included in the same way in the protection scope of the present invention.
Claims (7)
1. A centre gripping manipulator for robot which characterized in that: comprises a first clamping part (6), a second clamping part (7), a first hinged rod (8), a second hinged rod (9), a base plate (1), a driving motor (2), a worm (3), first sector teeth (4), second sector teeth (5) and a knob handle (12), wherein the driving motor (2) is fixed on the base plate (1), one output shaft end of the driving motor (2) is fixed on the worm (3), one end of the first hinged rod (8) is fixed on the first sector teeth (4), one end of the second hinged rod (9) is fixed on the second sector teeth (5), the first sector teeth (4) and the second sector teeth (5) are hinged on the base plate (1) through a pin shaft (25), the first sector teeth (4) and the second sector teeth (5) are both meshed with the worm (3), and the other end of the first clamping part (6) is arranged at the other end of the first hinged rod (8), the other end of the second hinged rod (9) is hinged to one end of the second clamping portion (7), the first clamping portion (6) is hinged to the base plate (1) through a third hinged rod (10), the second clamping portion (7) is hinged to the base plate (1) through a fourth hinged rod (11), and the other output shaft end of the driving motor (2) is connected to the knob handle (12) through a screw.
2. A gripping manipulator according to claim 1 for a robot, characterized in that: the circumference part of the knob handle (12) is provided with an anti-slip strip (20).
3. A gripping manipulator according to claim 1 for a robot, characterized in that: an inner hexagonal groove (21) is formed in one end of the knob handle (12).
4. A gripping manipulator according to claim 1 for a robot, characterized in that: another output shaft end of driving motor (2) is provided with hexagonal axle (18), another tip setting of knob handle (12) with hexagonal section of thick bamboo (19) that hexagonal axle (18) cooperation is connected.
5. A gripping manipulator according to claim 1 for a robot, characterized in that: the other end of the first clamping part (6) is connected with a first clamping head (13), and the other end of the second clamping part (7) is connected with a second clamping head (14).
6. A gripping robot as claimed in claim 5, characterized in that: the inner sides of the first clamping part (6) and the second clamping part (7) are provided with a plurality of anti-skidding grooves (16).
7. A gripping manipulator according to claim 6 for a robot, characterized in that: the inner sides of the first clamping head (13) and the second clamping head (14) are both provided with sawtooth grooves (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921862674.7U CN211073653U (en) | 2019-10-31 | 2019-10-31 | Clamping manipulator for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921862674.7U CN211073653U (en) | 2019-10-31 | 2019-10-31 | Clamping manipulator for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211073653U true CN211073653U (en) | 2020-07-24 |
Family
ID=71623432
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921862674.7U Expired - Fee Related CN211073653U (en) | 2019-10-31 | 2019-10-31 | Clamping manipulator for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211073653U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114715659A (en) * | 2022-04-27 | 2022-07-08 | 郑州科慧科技股份有限公司 | Reciprocating motion mechanism |
-
2019
- 2019-10-31 CN CN201921862674.7U patent/CN211073653U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114715659A (en) * | 2022-04-27 | 2022-07-08 | 郑州科慧科技股份有限公司 | Reciprocating motion mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| 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: 20200724 Termination date: 20211031 |