CN212218522U

CN212218522U - Robot gripping device

Info

Publication number: CN212218522U
Application number: CN201922382501.1U
Authority: CN
Inventors: 张焜; 罗洋洋; 王旭东
Original assignee: Pingdingshan Hengchuang Intelligent Equipment Technology Co ltd
Current assignee: Pingdingshan Hengchuang Intelligent Equipment Technology Co ltd
Priority date: 2019-12-26
Filing date: 2019-12-26
Publication date: 2020-12-25
Anticipated expiration: 2029-12-26

Abstract

The utility model discloses a robot gripping device relates to robot gripping device technical field, specifically is a robot gripping device, the on-line screen storage device comprises a base, the first hydraulic stem of last fixed surface of base is connected with, the upper end of first hydraulic stem is provided with the support frame, it has the second hydraulic stem to peg graft in the inside of support frame, the first support seat of inboard fixedly connected with of second connecting rod, the bottom fixedly connected with spliced pole of third hydraulic stem, the inboard fixedly connected with clamping device of clamping jaw. This grabbing device of robot through the setting of first hydraulic stem, second hydraulic stem and third hydraulic stem, has reached and has mentioned heavier article and the purpose that the too big gravity that prevents the clamping jaw to bear leads to coming off, through first telescopic link and second telescopic link, makes the length of clamping jaw change, has reached the purpose that facilitates the use and application range are wide, through clamping device's setting, has reached the purpose of protection article safety when snatching.

Description

Robot gripping device

Technical Field

The utility model relates to a robot grabbing device technical field specifically is a robot grabbing device.

Background

Robots (Robot) are machine devices that automatically perform work, including all machines that simulate human behavior or thought and other creatures (e.g., Robot dogs, Robot cats, etc.). There are also a number of taxonomies and controversy over the definition of robots in the narrow sense, and some computer programs are even referred to as robots. In modern industry, robots refer to man-made machines capable of automatically performing tasks to replace or assist human work, and are typically electromechanical devices, controlled by computer programs or electronic circuits. It is a product of advanced integrated control theory, mechano-electronics, computers, materials and bionics. Has important application in the fields of industry, medicine, agriculture, construction industry and even military affairs. The concept of robots has gradually approached agreement internationally. Generally, people can accept the statement that a robot is a machine which realizes various functions by means of self power and control capacity. The united nations standardization organization adopted the definition given by the american society for robotics to be: "a programmable and multifunctional manipulator; or a specialized system with computer-alterable and programmable acts for performing different tasks. "it can bring many conveniences to human beings. The robot generally comprises an actuating mechanism, a driving device, a detection device, a control system, a complex machine and the like. The executing mechanism is a robot body, and the arm part of the executing mechanism generally adopts a spatial open-chain link mechanism, wherein a kinematic pair (a revolute pair or a revolute pair) is often called a joint, and the number of joints is usually the degree of freedom of the robot. The robot actuator may be classified into rectangular coordinate type, cylindrical coordinate type, polar coordinate type, joint coordinate type, and the like according to the joint configuration type and the motion coordinate type. For anthropomorphic purposes, the relevant parts of the robot body are often referred to as the base, waist, arm, wrist, hand (gripper or end effector), walking part (for mobile robots), and the like

The existing robot gripping device has the defects that the weight is easy to fall off when being gripped, the supporting effect is poor, and only objects with limited sizes can be gripped, so that overlarge objects cannot be gripped.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

Not enough to prior art, the utility model provides a robot gripping device has solved the problem of proposing among the above-mentioned background art.

(II) technical scheme

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: a robot gripping device comprises a base, wherein the upper surface of the base is fixedly connected with a first hydraulic rod, the upper end of the first hydraulic rod is provided with a support frame, the upper end of the support frame is rotationally connected with a first connecting rod through a first connecting shaft, a second hydraulic rod is inserted in the support frame, one end of the first connecting rod is rotatably connected with a second connecting rod through a second connecting shaft, the inner side of the second connecting rod is fixedly connected with a first supporting seat, one end of the second connecting rod is rotatably connected with a fixing plate through a third rotating shaft, the surface of the fixed plate is fixedly connected with a second supporting seat, the interior of the second supporting seat is fixedly connected with a third hydraulic rod through a pin shaft, the bottom of the third hydraulic rod is fixedly connected with a connecting column, the lower part of the connecting column is provided with two clamping jaws, and the inner sides of the clamping jaws are fixedly connected with a clamping device.

Optionally, a groove is formed in the bottom of the support frame, and an inner top wall of the groove is fixedly connected with the upper end of the first hydraulic rod. The inside of the first supporting seat is rotatably connected with the upper end of the second hydraulic rod through a pin shaft.

Optionally, the first connecting rod is straight-groove-shaped, a groove is formed in the bottom of the fixing plate, the lower end of the base is fixedly connected with a loading wheel, the fixing plate is fan-shaped, the number of the fixing plates is four, and the fixing plates are distributed in a circumferential array.

Optionally, the connecting column is octagonal, a gear shaft is inserted into the lower end of the connecting column, one end of the gear shaft is fixedly connected with a gear, the gear shaft is fixedly connected with one end of the clamping jaw, the number of the gears is two, and a rack is connected between the two gears in a meshing manner.

Optionally, teeth are arranged on both sides of the rack, a sliding groove is formed in the rack, a sliding rail is fixedly connected to one side of the connecting column, the sliding rail is arranged in the sliding groove of the rack, a driving wheel is meshed and connected to one side of the rack, an output end of a motor is inserted into an inner hole of the driving wheel, and the bottom of the motor is fixedly connected with the upper surface of the connecting shaft.

Optionally, the inside fixedly connected with first telescopic link of clamping jaw, the one end and the clamping device fixed connection of first telescopic link, clamping device comprises claw point, second telescopic link and friction plate.

(III) advantageous effects

The utility model provides a robot grabbing device possesses following beneficial effect:

1. the robot gripping device is characterized in that through the arrangement of a first hydraulic rod, a second hydraulic rod and a third hydraulic rod, when in use, the gravity of the heavy object can be dispersed on the loading wheel through the first hydraulic rod, the second hydraulic rod and the third hydraulic rod, so that the robot gripping device has the effect of reducing the force applied to the connecting column, achieves the purposes of lifting heavier objects and preventing the clamping jaw from falling off due to overlarge gravity borne by the clamping jaw, and is arranged by matching the rack and the gear, in the using process, the motor can drive the rack to move so as to drive the two gears to rotate, thereby played the effect that makes the clamping jaw can the angle of adjustment make things convenient for, through first telescopic link and second telescopic link, made the length of clamping jaw change, reached and to have adjusted the size according to the article that the clamp was got, reached facilitate the use and the purpose that application range is wide.

2. This grabbing device of robot through the setting of bogie wheel and first hydraulic stem, makes this grabbing device of robot possess the stronger effect of support performance, through clamping device's setting, can press from both sides tightly through clamping device at the in-process that uses to play the effect that prevents article and drop, reached the purpose of article safety when snatching of protection article.

Drawings

FIG. 1 is a schematic front view of the present invention;

FIG. 2 is a schematic top view of the present invention;

FIG. 3 is an enlarged schematic view of the portion A of FIG. 1 according to the present invention;

fig. 4 is a schematic view of the three-dimensional structure of the connecting column of the present invention.

In the figure: 1. a base; 2. a first hydraulic lever; 3. a support frame; 4. a first link; 5. a second hydraulic rod; 6. a second link; 7. a first support base; 8. a fixing plate; 9. a second support seat; 10. a third hydraulic lever; 11. connecting columns; 12. a clamping jaw; 13. a loading wheel; 14. a gear; 15. a rack; 16. a slide rail; 17. a driving wheel; 18. an electric motor; 19. a first telescopic rod; 20. a claw tip; 21. a second telescopic rod; 22. a friction plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

Referring to fig. 1 to 4, the present invention provides a technical solution: the utility model provides a grabbing device of robot, includes base 1, and base 1's last fixed surface is connected with first hydraulic stem 2, and the upper end of first hydraulic stem 2 is provided with support frame 3, and support frame 3 bottom is provided with the recess, the interior roof of recess and the upper end fixed connection of first hydraulic stem 2. The interior of the first supporting seat 7 is rotatably connected with the upper end of a second hydraulic rod 5 through a pin shaft, the upper end of the supporting frame 3 is rotatably connected with a first connecting rod 4 through a first connecting shaft, the first connecting rod 4 is in a straight groove shape, the bottom of a fixing plate 8 is provided with a groove, the lower end of the base 1 is fixedly connected with a loading wheel 13, the fixing plate 8 is in a fan shape, the number of the fixing plates 8 is four, the fixing plates 8 are distributed in a circumferential array shape, the second hydraulic rod 5 is inserted into the supporting frame 3, one end of the first connecting rod 4 is rotatably connected with a second connecting rod 6 through a second connecting shaft, the inner side of the second connecting rod 6 is fixedly connected with the first supporting seat 7, one end of the second connecting rod 6 is rotatably connected with the fixing plate 8 through a third rotating shaft, the surface of the fixing plate 8 is fixedly connected with a second supporting seat 9, the interior, the bottom of the third hydraulic rod 10 is fixedly connected with a connecting column 11, the lower part of the connecting column 11 is provided with two clamping jaws 12, the connecting column 11 is in an octagonal prism shape, the lower end of the connecting column 11 is inserted with a gear shaft, one end of the gear shaft is fixedly connected with a gear 14, the gear shaft is fixedly connected with one end of the clamping jaw 12, the two gears 14 are arranged, a rack 15 is meshed and connected between the two gears 14, two sides of the rack 15 are respectively provided with teeth, a chute is arranged inside the rack 15, one side of the connecting column 11 is fixedly connected with a slide rail 16, the slide rail 16 is arranged in the chute of the rack 15, one side of the rack 15 is meshed and connected with a driving wheel 17, an inner hole of the driving wheel 17 is inserted and connected with an output end of a motor 18, the bottom of the motor 18 is fixedly connected with, the clamping device consists of a claw tip 20, a second telescopic rod 21 and a friction plate 22, and the clamping device is fixedly connected to the inner side of the clamping jaw 12.

During the use, drive wheel 17 through motor 18 and rotate, drive wheel 17 drives rack 15 and moves down, rack 15 drives gear 14 and rotates, make clamping jaw 12 open, can make clamping jaw 12 extend through first telescopic link 19, it is flexible through second telescopic link 21, make the claw point 20 press from both sides tight heavy object, make heavy object and the increased friction of claw point 20 of heavy object through friction plate 22, through the flexible of first hydraulic stem 2, second hydraulic stem 5 and third hydraulic stem 10, make clamping jaw 12 mention the heavy object, make the gravity dispersion of heavy object through support frame 3, first connecting rod 4 and second connecting rod 6, remove the heavy object through bogie wheel 13.

The utility model discloses a theory of operation and beneficial effect: the robot gripping device has the advantages that through the arrangement of the first hydraulic rod 2, the second hydraulic rod 5 and the third hydraulic rod 10, when the robot gripping device is used, the gravity of a heavy object can be dispersed onto the weight wheel 13 through the first hydraulic rod 2, the second hydraulic rod 5 and the third hydraulic rod 10, so that the robot gripping device has the effect of reducing the force applied to the connecting column 11, the purposes of lifting heavier objects and preventing the clamping jaw 12 from falling off due to the overlarge gravity applied to the clamping jaw 12 are achieved, through the matching arrangement of the rack 15 and the gear 14, the rack 15 can be driven by the motor 18 to move and further drive the two gears 14 to rotate in the using process, the effect of adjusting the angle of the clamping jaw 12 is achieved, through the first telescopic rod 19 and the second telescopic rod 21, the length of the clamping jaw 12 is changed, and the size of the robot gripping device can be adjusted according to the clamped objects, the purpose that facilitates the use and application range is wide has been reached, through the setting of bogie wheel 13 and first hydraulic stem 2, makes this robot grabbing device possess the stronger effect of support performance, through clamping device's setting, can press from both sides tightly through clamping device at the in-process that uses to play the effect that prevents article and drop, reached the purpose of article safety when snatching of protection article.

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. The utility model provides a robot gripping device, includes base (1), its characterized in that: the upper surface of the base (1) is fixedly connected with a first hydraulic rod (2), the upper end of the first hydraulic rod (2) is provided with a support frame (3), the upper end of the support frame (3) is rotatably connected with a first connecting rod (4) through a first connecting shaft, a second hydraulic rod (5) is inserted into the support frame (3), one end of the first connecting rod (4) is rotatably connected with a second connecting rod (6) through a second connecting shaft, the inner side of the second connecting rod (6) is fixedly connected with a first support seat (7), one end of the second connecting rod (6) is rotatably connected with a fixed plate (8) through a third rotating shaft, the surface of the fixed plate (8) is fixedly connected with a second support seat (9), the inner part of the second support seat (9) is fixedly connected with a third hydraulic rod (10) through a pin shaft, and the bottom of the third hydraulic rod (10) is fixedly connected with a connecting column (11), the lower part of the connecting column (11) is provided with two clamping jaws (12), and the inner sides of the clamping jaws (12) are fixedly connected with a clamping device.

2. A robotic grasping device according to claim 1, characterized in that: the bottom of the support frame (3) is provided with a groove, the inner top wall of the groove is fixedly connected with the upper end of the first hydraulic rod (2), and the inside of the first support seat (7) is rotatably connected with the upper end of the second hydraulic rod (5) through a pin shaft.

3. A robotic grasping device according to claim 1, characterized in that: the first connecting rod (4) is in a straight groove shape, a groove is formed in the bottom of the fixing plate (8), the lower end of the base (1) is fixedly connected with a loading wheel (13), the fixing plate (8) is fan-shaped, the number of the fixing plates (8) is four, and the fixing plates (8) are distributed in a circumferential array mode.

4. A robotic grasping device according to claim 1, characterized in that: the clamping jaw is characterized in that the connecting column (11) is in an octagonal prism shape, a gear shaft is inserted into the lower end of the connecting column (11), one end of the gear shaft is fixedly connected with a gear (14), the gear shaft is fixedly connected with one end of the clamping jaw (12), the number of the gears (14) is two, and a rack (15) is connected between the two gears (14) in a meshed mode.

5. A robotic grasping device according to claim 4, characterized in that: the connecting structure is characterized in that teeth are arranged on two sides of the rack (15), a sliding groove is formed in the rack (15), a sliding rail (16) is fixedly connected to one side of the connecting column (11), the sliding rail (16) is arranged in the sliding groove of the rack (15), a driving wheel (17) is meshed and connected to one side of the rack (15), an output end of a motor (18) is inserted into an inner hole of the driving wheel (17), and the bottom of the motor (18) is fixedly connected with the upper surface of the connecting shaft.

6. A robotic grasping device according to claim 1, characterized in that: the inside fixedly connected with first telescopic link (19) of clamping jaw (12), the one end and the clamping device fixed connection of first telescopic link (19), clamping device comprises claw point (20), second telescopic link (21) and friction plate (22).