WO2017028401A1 - 一种电动式机械手爪 - Google Patents

一种电动式机械手爪 Download PDF

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Publication number
WO2017028401A1
WO2017028401A1 PCT/CN2015/096528 CN2015096528W WO2017028401A1 WO 2017028401 A1 WO2017028401 A1 WO 2017028401A1 CN 2015096528 W CN2015096528 W CN 2015096528W WO 2017028401 A1 WO2017028401 A1 WO 2017028401A1
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Prior art keywords
pair
shaped
motor
rotating plate
parallel
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PCT/CN2015/096528
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English (en)
French (fr)
Inventor
张跃兰
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江苏华安科研仪器有限公司
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Publication of WO2017028401A1 publication Critical patent/WO2017028401A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present invention relates to a mechanical gripper, and more particularly to an electric mechanical gripper.
  • a robot is an automated robot that simulates a human hand. It can be used to pick up, move objects, or manipulate tools to perform certain operations.
  • the application robot can replace the person in monotonous, repetitive or heavy manual labor, realize the mechanization and automation of production, replace the manual operation in the harmful environment, improve the working conditions and ensure personal safety, so it is widely used in machinery manufacturing, metallurgy and electronics. And other industries.
  • the technical problem to be solved by the present invention is to provide an electric mechanical gripper which has a simple structure and is highly practical for gripping a lightweight object.
  • an electric mechanical claw which is innovative in that it comprises a motor, a mounting plate disposed at a lower end of the motor, and an actuator connected to the motor shaft;
  • the mounting plate is N-shaped, a motor is fixedly connected to the middle of the upper end, and an actuator is disposed in the lower end cavity;
  • the actuator includes a rotating plate connected to the motor shaft, a pair of parallel guiding columns disposed at a lower end of the rotating plate, a pair of sliders interposed with a pair of parallel guiding columns, and a pair disposed at a lower end of the pair of sliding blocks V-shaped claw;
  • the rotating plate is circular, the middle portion is fixed on the motor shaft, and a pair of center-symmetric S-shaped through grooves are arranged on the rotating plate;
  • the pair of parallel guiding columns are horizontally disposed, and the two ends are fixed on the mounting plate
  • two pairs of parallel holes for inserting and matching a pair of parallel guide columns are arranged on the pair of sliders, and a pair of parallel columns in the middle of the upper end are inserted and matched in the S-shaped through slots, and the lower ends are fixedly connected.
  • the inside of the connecting plate is fixedly connected to a pair of V-shaped claws by screws.
  • a rubber anti-skid pad is mounted on one side of the V-shaped claw opening.
  • V-shaped opening of the V-shaped claw has a size of 60 o.
  • the motor uses a three-phase asynchronous motor.
  • the electric mechanical claw is driven by a motor, and slides through the parallel column at the upper end of the slider in the through groove of the rotating plate, thereby realizing the opening and closing of the V-shaped claw, and the structure setting is simple and reasonable.
  • a rubber anti-skid pad is installed on the side of the V-shaped claw opening, and the anti-slip effect is good.
  • the V-shaped opening of the V-shaped claw is 60 o in size, ensuring sufficient clamping force and good clamping effect.
  • the motor adopts a three-phase asynchronous motor to realize the forward and reverse rotation, thereby driving a pair of V-shaped claws to open and close.
  • FIG. 1 is a schematic view showing the structure of an electric mechanical gripper according to the present invention.
  • FIG. 2 is a schematic structural view of a rotating plate of an electric mechanical gripper according to the present invention.
  • the present invention discloses an electric mechanical gripper comprising a three-phase asynchronous motor 1, a mounting plate 2 disposed at a lower end of the motor, and an actuator coupled to the motor shaft 3.
  • the mounting plate 2 is N-shaped, including an upper top plate and two side plates.
  • the three-phase asynchronous motor 1 is fixedly connected in the middle of the upper top plate, and an actuator is arranged in the lower end cavity.
  • the actuator includes a rotating plate 4 connected to the motor shaft 3, a pair of parallel guiding columns 5 disposed at the lower end of the rotating plate 4, a pair of sliders 6 interposed with a pair of parallel guiding columns 5, and a pair of sliders a pair of V-shaped claws 10 at the lower end;
  • the rotating plate 4 is circular, the middle portion is fixed on the motor shaft 3, and the rotating plate 4 is provided with a pair of center-symmetric S-shaped through grooves 11;
  • the pair of parallel guiding columns 5 horizontally disposed, the two ends are fixed on the two side walls of the mounting plate 2;
  • the pair of sliders 6 are correspondingly provided with two through holes for inserting and matching a pair of parallel guide posts, and a pair of plugs are matched in the middle of the upper end
  • the parallel column 8 in the S-shaped through groove 11 is fixedly connected to a pair of oppositely disposed L-shaped connecting plates 7 at the lower end, and the pair of V-shaped claws 10 are fixedly connected by screws on the inner side of
  • the three-phase asynchronous motor 1 drives the motor shaft 3 to rotate in the forward and reverse directions, thereby driving the rotating plate 4 connected to the motor shaft 3 to be reversed, and the pair of parallels inserted in the rotating plate 4 are inserted in parallel.
  • the column 8 slides back and forth along the S-shaped groove 11, and the slider 6 connected thereto reciprocates along the pair of parallel guide columns 5, thereby realizing the opening and closing of the V-shaped claw 10.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Toys (AREA)
  • Manipulator (AREA)

Abstract

一种电动式机械手爪，包括电机（1）、设置在电机下端的安装板（2）及与电机轴（3）连接的执行机构；安装板呈N型，上端中部固定连接一电机，下端空腔内设置执行机构；执行机构由与电机轴连接的转板（4）、转板下端的一对平行导柱（5）、与一对平行导柱插接配合的一对滑块（6）及一对V型爪（10）构成；转板呈圆形，中部固定在电机轴上，转板上设置一对圆心对称的S型通槽（11）；一对滑块上对应设置两个供一对平行导柱插接配合的通孔，上端中部有一对插接配合在S型通槽内的平行立柱（8），下端固定连接一对相对设置的V型爪。该电动式机械手爪采用电机驱动，通过滑块上端的平行立柱在转板的通槽内滑动，从而实现V型爪的开合，结构设置简单、合理。

Description

一种电动式机械手爪 一种电动式机械手爪
技术领域
本发明涉及一种机械手爪，特别涉及一种电动式机械手爪。
背景技术
机械手是一种模拟人手操作的自动机械，它可按固定程序抓取、搬运物件或操持工具完成某些特定的操作。应用机械手可以代替人从事单调、重复或繁重的体力劳动，实现生产的机械化和自动化，代替人在有害的环境下手工操作，改善劳动条件，保证人身安全，因而广泛应用于机械制造、冶金、电子等行业。
传统的采用一对机械手爪实现开合的机械手常采用气缸驱动，而对于电机驱动的机械手爪结构设计都比较复杂，造价也会较高，对于夹取轻质物品很不实用，因此急需研制一种结构简单、对夹取轻质物体实用性强的电动式机械手爪，经检索，未发现与本发明相同或相似的技术方案。
发明内容
本发明要解决的技术问题是提供一种结构简单、对夹取轻质物体实用性强的电动式机械手爪。
为解决上述技术问题，本发明的技术方案为：一种电动式机械手爪，其创新点在于：包括电机、设置在电机下端的安装板及与电机轴连接的执行机构；
所述安装板呈N型，上端中部固定连接一电机，下端空腔内设置执行机构；
所述执行机构包括与电机轴连接的转板、设置在转板下端的一对平行导柱、与一对平行导柱插接配合的一对滑块及设置在一对滑块下端的一对V型爪；所述转板呈圆形，中部固定在电机轴上，转板上设置一对圆心对称的S型通槽；所述一对平行导柱水平设置，两端固定在安装板的两侧壁上；所述一对滑块上对应设置两个供一对平行导柱插接配合的通孔，上端中部有一对插接配合在S型通槽内的平行立柱，下端固定连接一对相对设置的L型连接板，连接板内侧通过螺钉固定连接一对V型爪。
进一步的，所述V型爪开口一侧安装橡胶防滑垫。
进一步的，所述V型爪的V型开口大小为60 º 。
进一步的，所述电机采用三相异步电动机。
本发明的优点在于：
（1）电动式机械手爪采用电机驱动，通过滑块上端的平行立柱在转板的通槽内滑动，从而实现V型爪的开合，结构设置简单、合理。
（2）V型爪开口一侧安装橡胶防滑垫，防滑效果好。
（3）V型爪的V型开口大小为60 º ，保证足够的夹持力，夹持效果好。
（4）电机采用三相异步电动机实现正反转，从而带动一对V型爪实现开合。
附图说明
图1为本发明一种电动式机械手爪的结构示意图。
图2为本发明一种电动式机械手爪的转板的结构示意图。
具体实施方式
如图1和图2所示，本发明公开了一种电动式机械手爪，包括三相异步电动机1、设置在电机下端的安装板2及与电机轴3连接的执行机构。
安装板2呈N型，包括一上顶板和两侧板，上顶板中部固定连接三相异步电动机1，下端空腔内设置执行机构。
执行机构包括与电机轴3连接的转板4、设置在转板4下端的一对平行导柱5、与一对平行导柱5插接配合的一对滑块6及设置在一对滑块6下端的一对V型爪10；所述转板4呈圆形，中部固定在电机轴3上，转板4上设置一对圆心对称的S型通槽11；所述一对平行导柱5水平设置，两端固定在安装板2的两侧壁上；所述一对滑块6上对应设置两个供一对平行导柱插接配合的通孔，上端中部有一对插接配合在S型通槽11内的平行立柱8，下端固定连接一对相对设置的L型连接板7，连接板7内侧通过螺钉固定连接一对V型爪10，V型爪10的V型开口大小为60 º ，并在开口一侧安装橡胶防滑垫9。
电动式机械手爪工作时，首先三相异步电动机1驱动电机轴3正反转，从而带动与电机轴3连接的转板4正反转，此时插接配合在转板4内的一对平行立柱8就会沿着S型槽11进行来回滑动，与之相连的滑块6就会沿着一对平行导柱5往返运动，从而实现V型爪10的开合。
以上显示和描述了本发明的基本原理和主要特征。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。

Claims (3)

  1. 一种电动式机械手爪，其特征在于：包括电机、设置在电机下端的安装板及与电机轴连接的执行机构；
    所述安装板呈N型，上端中部固定连接一电机，下端空腔内设置执行机构；
    所述执行机构包括与电机轴连接的转板、设置在转板下端的一对平行导柱、与一对平行导柱插接配合的一对滑块及设置在一对滑块下端的一对V型爪；所述转板呈圆形，中部固定在电机轴上，转板上设置一对圆心对称的S型通槽；所述一对平行导柱水平设置，两端固定在安装板的两侧壁上；所述一对滑块上对应设置两个供一对平行导柱插接配合的通孔，上端中部有一对插接配合在S型通槽内的平行立柱，下端固定连接一对相对设置的L型连接板，连接板内侧通过螺钉固定连接一对V型爪。
  2. 根据权利要求1所述的电动式机械手爪，其特征在于：所述V型爪开口一侧安装橡胶防滑垫。
  3. 根据权利要求1所述的电动式机械手爪，其特征在于：所述V型爪的V型开口大小为60 º 。
PCT/CN2015/096528 2015-08-20 2015-12-07 一种电动式机械手爪 WO2017028401A1 (zh)

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CN106826897A (zh) * 2017-03-16 2017-06-13 上海云线娃娃信息科技有限公司 一种可连接到升降结构的球形物品抓取机械手
CN111452076A (zh) * 2020-05-26 2020-07-28 济南大学 一种基于六轴机器人的煤矸石气动平行机械手爪
CN112917504A (zh) * 2021-02-03 2021-06-08 安徽东昇新能源有限公司 一种太阳能机械臂设备
CN113894829A (zh) * 2021-11-09 2022-01-07 深圳市捷创自动化设备有限公司 一种多爪同步机械手
CN115602905A (zh) * 2022-11-28 2023-01-13 惠州市华阳智能技术有限公司（Cn） 一种方形电池模组自动压紧机构及方形电池模组组装线
CN108569431B (zh) * 2018-06-08 2024-01-16 安徽海思达机器人有限公司 一种装箱抓手
CN117509148A (zh) * 2023-12-12 2024-02-06 中稀天马新材料科技股份有限公司 一种用于稀土烧结料盒的夹取装置

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CN105108749A (zh) * 2015-08-20 2015-12-02 江苏华安科研仪器有限公司 一种电动式机械手爪
CN105397822B (zh) * 2015-12-17 2018-04-20 浙江畅尔智能装备股份有限公司 一种末端夹持器
CN111604931B (zh) * 2020-06-29 2024-06-14 四川伏安特智能装备制造有限公司 一种四爪中心定位重型机械手
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CN106826897A (zh) * 2017-03-16 2017-06-13 上海云线娃娃信息科技有限公司 一种可连接到升降结构的球形物品抓取机械手
CN108569431B (zh) * 2018-06-08 2024-01-16 安徽海思达机器人有限公司 一种装箱抓手
CN111452076A (zh) * 2020-05-26 2020-07-28 济南大学 一种基于六轴机器人的煤矸石气动平行机械手爪
CN112917504A (zh) * 2021-02-03 2021-06-08 安徽东昇新能源有限公司 一种太阳能机械臂设备
CN113894829A (zh) * 2021-11-09 2022-01-07 深圳市捷创自动化设备有限公司 一种多爪同步机械手
CN113894829B (zh) * 2021-11-09 2024-03-29 深圳市捷创自动化设备有限公司 一种多爪同步机械手
CN115602905A (zh) * 2022-11-28 2023-01-13 惠州市华阳智能技术有限公司（Cn） 一种方形电池模组自动压紧机构及方形电池模组组装线
CN115602905B (zh) * 2022-11-28 2023-03-24 惠州市华阳智能技术有限公司 一种方形电池模组自动压紧机构及方形电池模组组装线
CN117509148A (zh) * 2023-12-12 2024-02-06 中稀天马新材料科技股份有限公司 一种用于稀土烧结料盒的夹取装置

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