CN218518681U - Clamping mechanism based on bevel gear transmission and robot - Google Patents
Clamping mechanism based on bevel gear transmission and robot Download PDFInfo
- Publication number
- CN218518681U CN218518681U CN202222520372.XU CN202222520372U CN218518681U CN 218518681 U CN218518681 U CN 218518681U CN 202222520372 U CN202222520372 U CN 202222520372U CN 218518681 U CN218518681 U CN 218518681U
- Authority
- CN
- China
- Prior art keywords
- bevel gear
- connecting rod
- gear
- seat
- clamping mechanism
- Prior art date
- 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.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a clamping mechanism and robot based on bevel gear transmission, which comprises a connecting disc, an installation base, a first gear seat, a second gear seat, a first bevel gear, a second bevel gear, a third bevel gear, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod and a driving piece; the third bevel gear is respectively meshed with the first bevel gear and the second bevel gear, and the driving piece is used for driving the third bevel gear to rotate; and the clamping part of the third connecting rod and the clamping part of the sixth connecting rod are oppositely arranged. Through the rotation of driving piece drive third bevel gear, third bevel gear drives first bevel gear and second bevel gear respectively simultaneously and rotates, first bevel gear drives the second connecting rod and rotates to drive the third connecting rod and rotate, second bevel gear drives the fourth connecting rod and rotates, thereby drive the sixth connecting rod and rotate, realized fixture person's be close to the centre gripping motion or the motion is relaxed in the separation, and stability is high, help reducing by the rate that drops of centre gripping object.
Description
Technical Field
The utility model relates to a centre gripping equipment technical field specifically relates to a fixture and robot based on bevel gear transmission.
Background
A mechanical gripper is a gripping device that mimics some of the action of a human hand to grab, transport or manipulate an implement. The robot has the advantages of both human and mechanical hands in structure and performance, and can replace the heavy labor of human workers to realize mechanization and automation of production.
Chinese patent application publication No. CN214604432U discloses a jaw structure and a multi-station jaw structure, which includes a slide carriage, a linear slide rail, a clamping cylinder, a first jaw, and a second jaw; the linear slide rail is installed the lower surface of slide, first clamping jaw with the equal slidingtype of second clamping jaw is installed on the linear slide rail, first clamping jaw with the second clamping jaw sets up in opposite directions, die clamping cylinder's both ends are installed respectively first clamping jaw with the position that the second clamping jaw is close to the top, die clamping cylinder stretches out or retracts the drive first clamping jaw with the second clamping jaw is kept away from each other or is close to.
The clamping jaw in the prior art is low in structural stability, the falling rate of a clamped object is high, and a part to be improved exists.
SUMMERY OF THE UTILITY MODEL
To the defect among the prior art, the utility model aims at providing a fixture and robot based on bevel gear transmission.
According to the utility model provides a clamping mechanism based on bevel gear transmission, including connection pad, installation base, first gear seat, second gear seat, first bevel gear, second bevel gear, third bevel gear, first connecting rod, second connecting rod, third connecting rod, fourth connecting rod, fifth connecting rod, sixth connecting rod and driving piece; the mounting base and the driving piece are both mounted on the connecting disc, the first gear seat and the second gear seat are both mounted on the mounting base, the first gear seat and the second gear seat are arranged at an interval, the first bevel gear is rotatably mounted on the first gear seat, the second bevel gear is rotatably mounted on the second gear seat, the third bevel gear is rotatably arranged between the first gear seat and the second gear seat, the third bevel gear is respectively meshed with the first bevel gear and the second bevel gear, and the driving piece is used for driving the third bevel gear to rotate; one end of the first connecting rod is rotatably connected with the mounting base, one end of the second connecting rod is fixedly connected with the first bevel gear, and the other end of the first connecting rod and the other end of the second connecting rod are respectively and fixedly connected with the third connecting rod; one end of the fourth connecting rod is rotatably connected with the mounting base, one end of the fifth connecting rod is fixedly connected with the second bevel gear, and the other end of the fourth connecting rod and the other end of the fifth connecting rod are fixedly connected with the sixth connecting rod respectively; the third connecting rod and the sixth connecting rod both comprise clamping parts, and the clamping parts of the third connecting rod and the clamping parts of the sixth connecting rod are oppositely arranged.
Preferably, a connecting frame is fixedly installed on the connecting disc, the installation base is fixedly installed at the end part, far away from the connecting disc, of the connecting frame, and the driving piece is fixedly installed inside the connecting frame.
Preferably, the driving part comprises a driving motor, an output shaft of the driving motor penetrates through the mounting base and is in running fit with the mounting base, and one end, penetrating out of the mounting base, of the output shaft of the driving motor is coaxially and fixedly connected with the third bevel gear.
Preferably, a first claw plate is tightly mounted on the clamping portion of the third connecting rod, a second claw plate is tightly mounted on the clamping portion of the sixth connecting rod, and the first claw plate and the second claw plate are oppositely arranged.
Preferably, the central axis of the second bevel gear and the central axis of the third bevel gear are collinear, and both the central axis of the second bevel gear and the central axis of the third bevel gear are perpendicular to the central axis of the first bevel gear.
Preferably, still include the shell, the shell is connected with the connection pad, installation base and driving piece are established to the shell cover, just be provided with the opening that supplies four of first connecting rod, second connecting rod, fourth connecting rod and fifth connecting rod to pass through on the shell.
Preferably, a first bearing is installed in the first gear seat, a rotating shaft is connected between the first bevel gear and the first bearing, one end of the rotating shaft is coaxially and rotatably connected with the first bearing, and the other end of the rotating shaft is coaxially and fixedly connected with the first bevel gear.
Preferably, a second bearing is installed in the second gear seat, a rotating shaft is connected between the second bevel gear and the second bearing, one end of the rotating shaft is coaxially and rotatably connected with the second bearing, and the other end of the rotating shaft is coaxially and fixedly connected with the second bevel gear.
According to the utility model provides a pair of robot, including the robot, be provided with the connecting hole on the week lateral wall of connection pad, the connection pad passes through connecting hole and fastener cooperation and this body coupling of robot.
Preferably, a connection hole is provided on a circumferential side wall of the connection plate.
Compared with the prior art, the utility model discloses following beneficial effect has:
1. the utility model discloses a driving piece drive third bevel gear rotates, and the third bevel gear drives first bevel gear and second bevel gear respectively simultaneously and rotates, and first bevel gear drives the second connecting rod and rotates to drive the third connecting rod and rotate, second bevel gear drives the fourth connecting rod and rotates, thereby drives the rotation of sixth connecting rod, has realized fixture person's the centre gripping motion or the motion of releasing of separation of being close to, and stability is high, helps reducing the rate of dropping by the centre gripping object.
2. The utility model discloses a first bevel gear, second bevel gear and third bevel gear three complex drive mechanism, compact structure, it is small.
3. The utility model discloses a setting up the connecting hole on the connection pad, can realize installing the fixture fast to the cooperation robot of different models on, integrated nature is high, and the assembly is simple.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic view of the overall structure of the clamping mechanism of the present invention;
fig. 2 is a schematic view of the overall external structure of the clamping mechanism of the present invention.
Reference numerals:
second connecting rod 13 of housing 1
Connecting disc 3 pin 14
Connecting frame 5 third connecting rod 15
The fourth connecting rod 21 of the first gear seat 9
First bearing 10 fifth connecting rod 22
Detailed Description
The present invention will be described in detail with reference to specific embodiments. The following examples will aid those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that various changes and modifications can be made by one of ordinary skill in the art without departing from the spirit of the invention. These all belong to the protection scope of the present invention.
As shown in fig. 1, according to the utility model provides a pair of fixture and robot based on bevel gear transmission, including connection pad 3, installation base 8, first gear wheel seat 9, second gear wheel seat 18, first bevel gear 11, second bevel gear 20, third bevel gear 7, first connecting rod 12, second connecting rod 13 third connecting rod 15, fourth connecting rod 21, fifth connecting rod 22, sixth connecting rod 23 and driving piece.
The mounting base 8 and the driving piece are both mounted on the connecting disc 3, the first gear seat 9 and the second gear seat 18 are both mounted on the mounting base 8, and the first gear seat 9 and the second gear seat 18 are arranged at opposite intervals. The first bevel gear 11 is rotatably mounted on the first gear seat 9, the second bevel gear 20 is rotatably mounted on the second gear seat 18, the third bevel gear 7 is rotatably disposed between the first gear seat 9 and the second gear seat 18, and the third bevel gear 7 is respectively engaged with the first bevel gear 11 and the second bevel gear 20. And the driving piece is used for driving the third bevel gear 7 to rotate.
One end of the first connecting rod 12 is rotatably connected with the mounting base 8, one end of the second connecting rod 13 is fixedly connected with the first bevel gear 11, and the other end of the first connecting rod 12 and the other end of the second connecting rod 13 are fixedly connected with the third connecting rod 15 respectively.
One end of the fourth connecting rod 21 is rotatably connected with the mounting base 8, one end of the fifth connecting rod 22 is tightly connected with the second bevel gear 20, and the other end of the fourth connecting rod 21 and the other end of the fifth connecting rod 22 are both tightly connected with the sixth connecting rod 23.
Both the third link 15 and the sixth link 23 include a clamping portion, and the clamping portion of the third link 15 and the clamping portion of the sixth link 23 are disposed oppositely.
The third bevel gear 7 is driven to rotate by the driving part, the third bevel gear 7 drives the first bevel gear 11 and the second bevel gear 20 to rotate respectively and simultaneously, and the rotation directions of the first bevel gear 11 and the second bevel gear 20 are opposite. The first bevel gear 11 drives the second connecting rod 13 to rotate, so as to drive the third connecting rod 15 to rotate, the second bevel gear 20 drives the fourth connecting rod 21 to rotate, so as to drive the sixth connecting rod 23 to rotate, and the clamping part of the third connecting rod 15 and the clamping part of the sixth connecting rod 23 are close to each other or separated from each other to release each other. The first connecting rod 12, the second connecting rod 13 and the third connecting rod 15 form a parallelogram structure, the fourth connecting rod 21, the fifth connecting rod 22 and the sixth connecting rod 23 form a parallelogram structure, the motion stability of the clamping part of the third connecting rod 15 and the clamping part of the sixth connecting rod 23 can be improved by means of the parallelogram structure, the stability of the clamping structure for clamping an object can also be improved, and therefore the probability that the clamped object falls can be reduced. And three bevel gears are used for transmission, so that the structure is compact and the size is small.
Specifically, a connecting frame 5 is fixedly mounted on the connecting disc 3, the connecting frame 5 is welded on one side of the connecting disc 3, and the connecting frame 5 is in a hollow cylindrical shape. The mounting base 8 is welded and mounted at the end part of the connecting frame 5 far away from the connecting disc 3, and the driving piece is tightly mounted inside the connecting frame 5. More specifically, the driving piece includes driving motor 6, and driving motor 6's output shaft passes installation base 8 and with installation base 8 normal running fit, and the coaxial fastening connection of one end and third bevel gear 7 that the installation base 8 was worn out to driving motor 6 output shaft.
Further, install first bearing 10 in the first gear seat 9, be connected with the pivot between first bevel gear 11 and the first bearing 10, the one end and the coaxial rotation of first bearing 10 of pivot are connected, the other end and the coaxial fastening connection of first bevel gear 11 of pivot. A second bearing is installed in the second gear seat 18, a rotating shaft is connected between the second bevel gear 20 and the second bearing, one end of the rotating shaft is coaxially and rotatably connected with the second bearing, and the other end of the rotating shaft is coaxially and fixedly connected with the second bevel gear 20. And the central axis of the rotating shaft connected with the first bevel gear 11 and the central axis of the rotating shaft connected with the second bevel gear 20 are collinear, so that the central axes of the second bevel gear 20 and the third bevel gear 7 are collinear.
Still further, both the central axis of the second bevel gear 20 and the central axis of the third bevel gear 7 are perpendicular to the central axis of the first bevel gear 11.
The first connecting rod 12 and the third connecting rod 15, the second connecting rod 13 and the third connecting rod 15, the fourth connecting rod 21 and the sixth connecting rod 23, and the fifth connecting rod 22 and the sixth connecting rod 23 are connected through a pin 14.
The clamping portion of the third link 15 is tightly fixed with a first claw plate 16, the clamping portion of the sixth link 23 is tightly fixed with a second claw plate 24, and the first claw plate 16 and the second claw plate 24 are oppositely arranged. First claw 16 and second claw 24 all adopt the material that does benefit to the centre gripping to support, with the help of first claw 16 and second claw 24 centre gripping object, can improve the stability of centre gripping.
As shown in fig. 1 and 2, the clamping mechanism further includes a housing 1, the housing 1 is connected to the connecting disc 3, the housing 1 is sleeved with the mounting base 8 and the driving motor 6, and the housing 1 is provided with an opening through which the first connecting rod 12, the second connecting rod 13, the fourth connecting rod 21 and the fifth connecting rod 22 pass. The driving motor 6 can be protected through the shell 1, and the movement stability and the service life of the clamping mechanism are improved.
The clamping mechanism can be adaptively applied to various robots, and connecting holes are formed in the peripheral side wall of the connecting disc 3. Connection pad 3 is connected with the robot through connecting hole and fastener cooperation, and with the help of the fastener that connecting hole cooperation prior art was used commonly on the connection pad 3, can realize installing fixture fast on the robot of different models or producing the line, the assembly is simple, and integrated nature is high.
Principle of operation
The driving motor 6 drives the third bevel gear 7 to rotate, and the third bevel gear 7 drives the first bevel gear 11 and the second bevel gear 20 to rotate respectively and simultaneously; the first bevel gear 11 drives the second connecting rod 13 to rotate, so as to drive the third connecting rod 15 to rotate, and the second bevel gear 20 drives the fourth connecting rod 21 to rotate, so as to drive the sixth connecting rod 23 to rotate; a close gripping movement or a separation releasing movement of both the first jaw plate 16 and the second jaw plate 24 is achieved.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, are not to be construed as limiting the present application.
The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the essential spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A clamping mechanism based on bevel gear transmission is characterized by comprising a connecting disc (3), an installation base (8), a first gear seat (9), a second gear seat (18), a first bevel gear (11), a second bevel gear (20), a third bevel gear (7), a first connecting rod (12), a second connecting rod (13), a third connecting rod (15), a fourth connecting rod (21), a fifth connecting rod (22), a sixth connecting rod (23) and a driving piece;
the mounting base (8) and the driving piece are both mounted on the connecting disc (3), the first gear seat (9) and the second gear seat (18) are both mounted on the mounting base (8), the first gear seat (9) and the second gear seat (18) are arranged at intervals, the first bevel gear (11) is rotatably mounted on the first gear seat (9), the second bevel gear (20) is rotatably mounted on the second gear seat (18), the third bevel gear (7) is rotatably arranged between the first gear seat (9) and the second gear seat (18), the third bevel gear (7) is respectively meshed with the first bevel gear (11) and the second bevel gear (20), and the driving piece is used for driving the third bevel gear (7) to rotate;
one end of the first connecting rod (12) is rotatably connected with the mounting base (8), one end of the second connecting rod (13) is fixedly connected with the first bevel gear (11), and the other end of the first connecting rod (12) and the other end of the second connecting rod (13) are fixedly connected with the third connecting rod (15) respectively;
one end of the fourth connecting rod (21) is rotatably connected with the mounting base (8), one end of the fifth connecting rod (22) is fixedly connected with the second bevel gear (20), and the other end of the fourth connecting rod (21) and the other end of the fifth connecting rod (22) are fixedly connected with the sixth connecting rod (23) respectively;
third connecting rod (15) and sixth connecting rod (23) both include the clamping part, just the clamping part of third connecting rod (15) is relative setting with the clamping part of sixth connecting rod (23).
2. The bevel gear transmission based clamping mechanism according to claim 1, characterized in that the connecting disc (3) is fixedly mounted with a connecting frame (5), the mounting base (8) is fixedly mounted at the end of the connecting frame (5) remote from the connecting disc (3), and the driving member is fixedly mounted inside the connecting frame (5).
3. The bevel gear transmission based clamping mechanism according to claim 1, characterized in that the driving member comprises a driving motor (6), an output shaft of the driving motor (6) passes through the mounting base (8) and is in running fit with the mounting base (8), and one end of the output shaft of the driving motor (6) passing through the mounting base (8) is coaxially and tightly connected with the third bevel gear (7).
4. The bevel gear transmission based clamping mechanism according to claim 1, characterized in that the clamping portion of the third link (15) is tightly mounted with a first claw plate (16), the clamping portion of the sixth link (23) is tightly mounted with a second claw plate (24), and the first claw plate (16) and the second claw plate (24) are oppositely arranged.
5. The bevel gear transmission based clamping mechanism according to claim 1, characterized in that the central axis of the second bevel gear (20) and the central axis of the third bevel gear (7) are collinear, and that both the central axis of the second bevel gear (20) and the central axis of the third bevel gear (7) and the central axis of the first bevel gear (11) are perpendicular to each other.
6. The bevel-gear-transmission-based clamping mechanism according to claim 1, further comprising a housing (1), wherein the housing (1) is connected to the connecting plate (3), the mounting base (8) and the driving member are sleeved on the housing (1), and the housing (1) is provided with an opening through which the first connecting rod (12), the second connecting rod (13), the fourth connecting rod (21) and the fifth connecting rod (22) pass.
7. The bevel gear transmission-based clamping mechanism according to claim 1, wherein a first bearing (10) is installed in the first gear seat (9), a rotating shaft is connected between the first bevel gear (11) and the first bearing (10), one end of the rotating shaft is coaxially and rotatably connected with the first bearing (10), and the other end of the rotating shaft is coaxially and fixedly connected with the first bevel gear (11).
8. The bevel gear transmission based clamping mechanism according to claim 1, wherein a second bearing is installed in the second gear seat (18), a rotating shaft is connected between the second bevel gear (20) and the second bearing, one end of the rotating shaft is coaxially and rotatably connected with the second bearing, and the other end of the rotating shaft is coaxially and tightly connected with the second bevel gear (20).
9. The bevel gear transmission based clamping mechanism according to claim 1, characterized in that the first link (12), the second link (13) and the third link (15) form a parallelogram structure;
the fourth connecting rod (21), the fifth connecting rod (22) and the sixth connecting rod (23) form a parallelogram structure.
10. A robot, characterized in that, the clamping mechanism based on bevel gear transmission of any claim 1-9 is adopted, comprising a robot body, the peripheral side wall of the connecting disc (3) is provided with a connecting hole, and the connecting disc (3) is connected with the robot body through the matching of the connecting hole and a fastener.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222520372.XU CN218518681U (en) | 2022-09-22 | 2022-09-22 | Clamping mechanism based on bevel gear transmission and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222520372.XU CN218518681U (en) | 2022-09-22 | 2022-09-22 | Clamping mechanism based on bevel gear transmission and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218518681U true CN218518681U (en) | 2023-02-24 |
Family
ID=85247093
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222520372.XU Active CN218518681U (en) | 2022-09-22 | 2022-09-22 | Clamping mechanism based on bevel gear transmission and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218518681U (en) |
-
2022
- 2022-09-22 CN CN202222520372.XU patent/CN218518681U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109866250B (en) | Robot wrist structure and robot | |
| CN113478473B (en) | Light hybrid driving bionic mechanical arm | |
| US11014228B2 (en) | High-performance four-axis robot with horizontal joint | |
| CN106826881A (en) | A kind of paw and handgrip for clamping material | |
| CN206643944U (en) | A kind of paw and handgrip for being used to clamp material | |
| CN110666774B (en) | Three-degree-of-freedom rope driving joint module based on parallel mechanism | |
| CN102674041A (en) | Sheet vacuum pickup and release device | |
| CN218518681U (en) | Clamping mechanism based on bevel gear transmission and robot | |
| CN112123363A (en) | Clamping jaw for industrial robot | |
| CN102848375A (en) | Spatial six-degree-of-freedom mechanism capable of separately controlling rotation motion and translation motion | |
| CN212825459U (en) | Underwater multifunctional electric mechanical arm | |
| CN115837665B (en) | Robot connector rotating shaft | |
| CN215471271U (en) | Flexible assembling manipulator for production line | |
| CN216580931U (en) | Device is got to mechanical clamp under water | |
| CN108858274B (en) | Robot head rotating assembly and robot | |
| CN209491772U (en) | A kind of intelligent transfer robot clamping jaw | |
| CN212039018U (en) | Mechanical toy gripper | |
| CN215880624U (en) | Manipulator for assembling electronic product | |
| CN115156887B (en) | Dismounting mechanism | |
| CN212635718U (en) | Mechanical arm for semiconductor manufacturing | |
| CN219669384U (en) | Clamping transfer machine with steering function | |
| CN111864634B (en) | Transmission line staple bolt coaster | |
| CN214323404U (en) | Gripper device and carrying equipment | |
| CN217755790U (en) | Electric front-back upper-lower grabbing mechanism | |
| CN221402455U (en) | Mounting rack for refrigeration compressor unit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |