CN104440932A - Combined servo drive gripper with floating function - Google Patents
Combined servo drive gripper with floating function Download PDFInfo
- Publication number
- CN104440932A CN104440932A CN201410713862.9A CN201410713862A CN104440932A CN 104440932 A CN104440932 A CN 104440932A CN 201410713862 A CN201410713862 A CN 201410713862A CN 104440932 A CN104440932 A CN 104440932A
- Authority
- CN
- China
- Prior art keywords
- bevel gear
- connecting plate
- cylinder
- clamping device
- slide block
- 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.)
- Granted
Links
- 238000007514 turning Methods 0.000 claims description 15
- 230000008878 coupling Effects 0.000 claims description 10
- 238000010168 coupling process Methods 0.000 claims description 10
- 238000005859 coupling reaction Methods 0.000 claims description 10
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000007858 starting material Substances 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 229910001651 emery Inorganic materials 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a combined servo drive gripper with the floating function. The combined servo drive gripper comprises a base, a motor, a coupler, a plummer block, a bevel gear speed reducing mechanism, a rotating arm, a three-point type clamping mechanism and a parallel clamping mechanism. The input end of the bevel gear speed reducing mechanism is connected with an output shaft of the motor through the coupler. One end of an output shaft of the bevel gear speed reducing mechanism is connected with the rotating arm, and the three-point type clamping mechanism and the parallel clamping mechanism are fixedly installed on one side of the rotating arm. The combined servo drive gripper is simple and compact in structure, flexible to operate, high in gripping speed, high in gripping stability and wide in application range.
Description
Technical field
The present invention relates to robot gripper technical field, especially a kind of combination handgrip with float function of servo-drive.
Background technology
Robot gripper is used to carry out to operate and the device of operation, and its kind is a lot, according to the difference of operation and operating type, be divided into carrying, processing with, measure with etc.Carrying handgrip refers to various clamping device, is used for capturing or adsorbing the object be handled upside down; Processing handgrip is the manipulator attachment device with machining tools such as spray gun, welding gun, emery wheel, milling cutters, is used for processing accordingly operation; Measurement handgrip is the attachment device that gage outfit or sensor are housed, and is used for carrying out measuring and checking operation.Extensive employing industrial robot, not only can improve quality and the output of product, and to guaranteeing personal safety, improve work situation, reduce labor intensity, and improves work in productivity ratio, saves material and consumes and reduce production cost, have very important meaning.The same with computer, network technology, the extensive use of industrial robot is changing production and the life style of the mankind day by day.
Summary of the invention
The invention provides a kind of simple and compact for structure, flexible operation, grasp speed is fast, grasps stable, the combination handgrip with float function of servo-drive applied widely.
The technical solution adopted for the present invention to solve the technical problems is: a kind of combination handgrip with float function of servo-drive, comprise base, bearing block, turning arm, connecting plate, bikini clamping device, run-in index clamping device, shaft coupling, motor, first bevel gear and the second bevel gear, described base is provided with two bearing blocks, turning arm is rotatablely equipped with between described two bearing blocks, the side of described turning arm is installed with connecting plate, described connecting plate is fixedly connected with bikini clamping device and run-in index clamping device, described base has a hole, described shaft coupling is arranged in described base, shaft coupling one end is connected with motor output end, the other end is connected with the first bevel gear, described first bevel gear is meshed with the second bevel gear, described second bevel gear and turning arm one end are rotationally connected, starter motor, rotation is transferred to cursor through the first bevel gear and the second bevel gear by motor output shaft.
Described bikini clamping device comprises the first cylinder, L-type grasping teeth and T-shaped slide block, described first cylinder is fixedly connected on described connecting plate, first cylinder has three T-slot being mutually hexagonal angle, described T-shaped skid is connected in T-slot, described T-shaped slide block is fixedly connected with L-type grasping teeth, first cylinder also has air inlet and exhaust outlet, the first cylinder intake or exhaust, T-shaped slide block drives L-type grasping teeth to move in T-slot.
Described run-in index clamping device comprises T-shaped plate, the second cylinder, grasping teeth and slide block, described connecting plate has a square opening, described T-shaped plate passes across the square opening of connecting plate, described T-shaped plate is fixedly connected with the second cylinder in connecting plate side, described T-shaped plate is installed with slide block at connecting plate opposite side, described slide block is between T-shaped plate and connecting plate, described connecting plate is provided with the guide rail matched with described slide block, the both sides external part of the second cylinder is fixedly connected with grasping teeth, and described second cylinder also has air inlet and exhaust outlet.Second cylinder intake or exhaust, its both sides external part drives grasping teeth simultaneously outwards or move inward.
Described run-in index clamping device is above described bikini clamping device, simple and compact for structure.
The axis of described first bevel gear is mutually vertical with the axis of the second bevel gear.
The invention has the beneficial effects as follows, the combination handgrip with float function of servo-drive of the present invention, turning arm is rotatable, turning arm is connected with bikini handgrip mechanism and run-in index handgrip mechanism, simple and compact for structure, flexible operation, grasp speed is fast, grasps stable, applied widely.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the combination gripping structure schematic diagram with float function of servo-drive of the present invention.
Fig. 2 is bikini clamping device structural representation of the present invention.
Fig. 3 is the combination gripping structure schematic diagram with float function of servo-drive of the present invention.
Fig. 4 is the combination gripping structure schematic diagram with float function of servo-drive of the present invention.
Fig. 5 is the combination handgrip part section structural representation with float function of servo-drive of the present invention.
In figure: 1, base, 2, bearing block, 3, turning arm, 4, connecting plate, 5, bikini clamping device, the 51, first cylinder, 52, L-type grasping teeth, 53, T-shaped slide block, 54, T-slot, 55, air inlet, 56, exhaust outlet, 6, run-in index clamping device, 61, T-shaped plate, 62, slide block, 63, guide rail, the 64, second cylinder, 65, the second cylinder external part, 66, grasping teeth, 67, air inlet, 68, exhaust outlet, 7, shaft coupling, 8, motor, the 9, first bevel gear, the 10, second bevel gear.
Detailed description of the invention
In conjunction with the accompanying drawings, the present invention is further detailed explanation.These accompanying drawings are the schematic diagram of simplification, only basic structure of the present invention are described in a schematic way, and therefore it only shows the formation relevant with the present invention.
As Fig. 1,3, shown in 4 and 5, the combination handgrip with float function of servo-drive of the present invention, comprises base 1, bearing block 2, turning arm 3, connecting plate 4, bikini clamping device 5, run-in index clamping device 6, shaft coupling 7, motor 8, first bevel gear 9 and the second bevel gear 10.Base 1 is provided with two bearing blocks 2, turning arm 3 is rotatablely equipped with between two bearing blocks 2, the side of turning arm 3 is installed with connecting plate 4, connecting plate 4 is fixedly connected with bikini clamping device 5 and run-in index clamping device 6, run-in index clamping device 6 is above bikini clamping device 5, base 1 has a hole, shaft coupling 7 is arranged in base 1, shaft coupling 7 one end is connected with motor 8 output, the other end is connected with the first bevel gear 9, first bevel gear is meshed with 9 second bevel gears 10, second bevel gear 10 is rotationally connected with turning arm 3 one end, starter motor 8, rotation is transferred to cursor 3 through the first bevel gear 9 and the second bevel gear 10 by motor 8 output shaft.
As shown in Figure 2, the combination handgrip with float function of servo-drive of the present invention, bikini clamping device 5 comprises the first cylinder 51, L-type grasping teeth 52 and T-shaped slide block 53, first cylinder 51 is fixedly connected on connecting plate 4, first cylinder 51 has three T-slot 54 being mutually hexagonal angle, T-shaped slide block 53 is slidably connected in T-slot 54, T-shaped slide block 53 is fixedly connected with L-type grasping teeth 52, first cylinder 51 also has air inlet 55 and exhaust outlet 56, first cylinder 51 air inlet or exhaust, T-shaped slide block 53 drives L-type grasping teeth 52 mobile in T-slot 54.
As Fig. 1, shown in 3, the combination handgrip with float function of servo-drive of the present invention, run-in index clamping device comprises T-shaped plate 61, second cylinder 64, grasping teeth 66 and slide block 62, connecting plate 4 has a square opening, T-shaped plate 61 passes across the square opening of connecting plate 4, T-shaped plate 61 is fixedly connected with the second cylinder 64 in connecting plate 4 side, T-shaped plate 61 is installed with slide block 62 at connecting plate 4 opposite side, slide block 62 is between T-shaped plate 61 and connecting plate 4, connecting plate 4 is provided with the guide rail 63 matched with slide block 62, the both sides external part 65 of the second cylinder is fixedly connected with grasping teeth 66, second cylinder 64 also has air inlet 67 and exhaust outlet 68.Second cylinder 64 air inlet or exhaust, its both sides external part 65 drives grasping teeth 66 simultaneously outwards or move inward.
With above-mentioned according to desirable embodiment of the present invention for enlightenment, by above-mentioned description, relevant staff in the scope not departing from this invention technological thought, can carry out various change and amendment completely.The technical scope of this invention is not limited to the content on description, must determine its technical scope according to right.
Claims (5)
1. the combination handgrip with float function of a servo-drive, it is characterized in that: comprise base (1), bearing block (2), turning arm (3), connecting plate (4), bikini clamping device (5), run-in index clamping device (6), shaft coupling (7), motor (8), first bevel gear (9) and the second bevel gear (10), described base (1) is provided with two bearing blocks (2), turning arm (3) is rotatablely equipped with between described two bearing blocks (2), the side of described turning arm (3) is installed with connecting plate (4), described connecting plate (4) is fixedly connected with bikini clamping device (5) and run-in index clamping device (6), (1) has a hole to described base, described shaft coupling (7) is arranged in base (1), shaft coupling (7) one end is connected with motor (8) output, the other end is connected with the first bevel gear (9), described first bevel gear (9) is meshed with the second bevel gear (10), described second bevel gear (10) and turning arm (3) one end are rotationally connected.
2. the combination handgrip with float function of servo-drive as claimed in claim 1, it is characterized in that: described bikini clamping device (5) comprises the first cylinder (51), L-type grasping teeth (52) and T-shaped slide block (53), described first cylinder (51) is fixedly connected on described connecting plate (4), first cylinder (51) has three T-slot (54) being mutually hexagonal angle, described T-shaped slide block (53) is slidably connected in T-slot (54), described T-shaped slide block (53) is fixedly connected with L-type grasping teeth (52), first cylinder (51) also has air inlet (55) and exhaust outlet (56).
3. the combination handgrip with float function of servo-drive as claimed in claim 1, it is characterized in that: described run-in index clamping device (6) comprises T-shaped plate (61), second cylinder (64), grasping teeth (66) and slide block (62), (4) have a square opening to described connecting plate, described T-shaped plate (61) passes across the square opening of connecting plate (4), described T-shaped plate (61) is fixedly connected with the second cylinder (64) in connecting plate (4) side, described T-shaped plate (61) is installed with slide block (62) at connecting plate (4) opposite side, described slide block (62) is between T-shaped plate (61) and connecting plate (4), described connecting plate (4) is provided with the guide rail (63) matched with described slide block (62), second cylinder external part (65) is fixedly connected with grasping teeth (66), described second cylinder (64) also has air inlet (67) and exhaust outlet (68).
4. the combination handgrip with float function of servo-drive as claimed in claim 1, is characterized in that: described run-in index clamping device (6) is in the top of described bikini clamping device (5).
5. the combination handgrip with float function of servo-drive as claimed in claim 1, is characterized in that: the axis of described first bevel gear (9) is mutually vertical with the axis of the second bevel gear (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410713862.9A CN104440932B (en) | 2014-11-28 | 2014-11-28 | The combination handgrip with float function of servo-drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410713862.9A CN104440932B (en) | 2014-11-28 | 2014-11-28 | The combination handgrip with float function of servo-drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104440932A true CN104440932A (en) | 2015-03-25 |
| CN104440932B CN104440932B (en) | 2015-11-11 |
Family
ID=52888079
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410713862.9A Active CN104440932B (en) | 2014-11-28 | 2014-11-28 | The combination handgrip with float function of servo-drive |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104440932B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108386205A (en) * | 2018-02-26 | 2018-08-10 | 大同市中科唯实矿山科技有限公司 | A kind of cutting head of roadheader parametrization toothholder deployment mechanism |
| CN108406837A (en) * | 2018-04-28 | 2018-08-17 | 上海发那科机器人有限公司 | A kind of cylinder cap sand removal transfer robot paw |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20113830U1 (en) * | 2001-08-21 | 2002-02-28 | GRIP GmbH Handhabungstechnik, 44379 Dortmund | Device for gripping and holding flat materials |
| CN201736218U (en) * | 2010-05-12 | 2011-02-09 | 于皓瑜 | Multifunctional explosive setting manipulator based on remote blasting technique |
| US20130154293A1 (en) * | 2010-06-07 | 2013-06-20 | Pex Rent B.V. | Gripping device |
| CN203092574U (en) * | 2013-01-08 | 2013-07-31 | 深圳市硕安迪科技开发有限公司 | Rotatable servo mechanical gripper |
| CN203510238U (en) * | 2013-09-30 | 2014-04-02 | 深圳雷柏科技股份有限公司 | Four-side clamping mechanism |
| CN204263178U (en) * | 2014-11-28 | 2015-04-15 | 金石机器人常州有限公司 | The combination handgrip with float function of servo-drive |
-
2014
- 2014-11-28 CN CN201410713862.9A patent/CN104440932B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20113830U1 (en) * | 2001-08-21 | 2002-02-28 | GRIP GmbH Handhabungstechnik, 44379 Dortmund | Device for gripping and holding flat materials |
| CN201736218U (en) * | 2010-05-12 | 2011-02-09 | 于皓瑜 | Multifunctional explosive setting manipulator based on remote blasting technique |
| US20130154293A1 (en) * | 2010-06-07 | 2013-06-20 | Pex Rent B.V. | Gripping device |
| CN203092574U (en) * | 2013-01-08 | 2013-07-31 | 深圳市硕安迪科技开发有限公司 | Rotatable servo mechanical gripper |
| CN203510238U (en) * | 2013-09-30 | 2014-04-02 | 深圳雷柏科技股份有限公司 | Four-side clamping mechanism |
| CN204263178U (en) * | 2014-11-28 | 2015-04-15 | 金石机器人常州有限公司 | The combination handgrip with float function of servo-drive |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108386205A (en) * | 2018-02-26 | 2018-08-10 | 大同市中科唯实矿山科技有限公司 | A kind of cutting head of roadheader parametrization toothholder deployment mechanism |
| CN108406837A (en) * | 2018-04-28 | 2018-08-17 | 上海发那科机器人有限公司 | A kind of cylinder cap sand removal transfer robot paw |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104440932B (en) | 2015-11-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107984495B (en) | Telescopic grabbing device and multi-axis transportation robot | |
| CN205996649U (en) | A kind of manipulator equipped with floating holding jaw | |
| CN104589334A (en) | Five-axis multifunctional manipulator | |
| CN103921162A (en) | Automatic feeding and discharging device applied to numerically-controlled machine tool | |
| CN102528804B (en) | Control system of five-freedom-degree mechanical arm | |
| CN104742112B (en) | Heavy-loaded precision flexibility absorption mechanical hand | |
| CN107234259A (en) | A kind of adjustable claw clamping device on digital control lathe chuck | |
| CN105537899A (en) | Robot-assisting motor stator carrying system | |
| CN204019206U (en) | A kind of five degree of freedom bench vice | |
| CN203509221U (en) | Steel tube double-head chamfering machine | |
| CN108202242A (en) | A kind of clamping tooling | |
| CN204322094U (en) | A kind of industrial robot pneumatic gripping device | |
| CN104440932B (en) | The combination handgrip with float function of servo-drive | |
| CN201823981U (en) | Flat double-end milling machine for roller carrier shaft groove | |
| CN204263178U (en) | The combination handgrip with float function of servo-drive | |
| CN202367549U (en) | Numerical control grinding machine for machining blade | |
| CN103878777A (en) | Industrial robot gripper with compact space, large clamping force and long stroke | |
| CN203292537U (en) | Double-shaft numerical-control boring machine | |
| CN103100863A (en) | Five-axis (A, B) linkage strong numerical control machine | |
| CN204172027U (en) | Based on the industrial robot of slide unit | |
| CN109079511A (en) | A kind of reciprocal milling apparatus of machining | |
| CN202985116U (en) | Five-axis linkage powerful numerical control machine tool | |
| CN104044003A (en) | Technological spindle and technique used for processing symmetric double bonds in hub of plate part | |
| CN208977592U (en) | A kind of manipulator for compressor blade automation polishing | |
| CN203304651U (en) | Numerical control chamfering equipment for chuck jaw |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP03 | Change of name, title or address |
Address after: 213164 Wujin new and high tech Industrial Development Zone, Jiangsu, Hui Hui Road, No. 7, A3, Patentee after: STON ROBOT CHANGZHOU Co.,Ltd. Address before: 213100 No. 7 Xinhui Road, South villa, Wujin District, Jiangsu, Changzhou Patentee before: STON ROBOT MANUFACTURING (CHANGZHOU) Co.,Ltd. |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Combined servo drive gripper with floating function Effective date of registration: 20180202 Granted publication date: 20151111 Pledgee: Jiangsu Jiangnan Rural Commercial Bank Limited by Share Ltd. Pledgor: STON ROBOT CHANGZHOU Co.,Ltd. Registration number: 2018990000126 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20190202 Granted publication date: 20151111 Pledgee: Jiangsu Jiangnan Rural Commercial Bank Limited by Share Ltd. Pledgor: STON ROBOT CHANGZHOU Co.,Ltd. Registration number: 2018990000126 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Combined servo drive gripper with floating function Effective date of registration: 20190202 Granted publication date: 20151111 Pledgee: Jiangsu Jiangnan Rural Commercial Bank Limited by Share Ltd. Pledgor: STON ROBOT CHANGZHOU Co.,Ltd. Registration number: 2019990000114 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20201119 Granted publication date: 20151111 Pledgee: Jiangsu Jiangnan Rural Commercial Bank Limited by Share Ltd. Pledgor: STON ROBOT CHANGZHOU Co.,Ltd. Registration number: 2019990000114 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Servo driven combination gripper with floating function Effective date of registration: 20201119 Granted publication date: 20151111 Pledgee: Jiangsu Jiangnan Rural Commercial Bank Limited by Share Ltd. Pledgor: STON ROBOT CHANGZHOU Co.,Ltd. Registration number: Y2020990001361 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20221013 Granted publication date: 20151111 Pledgee: Jiangsu Jiangnan Rural Commercial Bank Limited by Share Ltd. Pledgor: STON ROBOT CHANGZHOU Co.,Ltd. Registration number: Y2020990001361 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Servo driven combined grab with floating function Effective date of registration: 20221018 Granted publication date: 20151111 Pledgee: Jiangsu Jiangnan Rural Commercial Bank Limited by Share Ltd. Pledgor: STON ROBOT CHANGZHOU Co.,Ltd. Registration number: Y2022320000617 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right |