CN103878777A - Industrial robot gripper with compact space, large clamping force and long stroke - Google Patents
Industrial robot gripper with compact space, large clamping force and long stroke Download PDFInfo
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- CN103878777A CN103878777A CN201410096885.XA CN201410096885A CN103878777A CN 103878777 A CN103878777 A CN 103878777A CN 201410096885 A CN201410096885 A CN 201410096885A CN 103878777 A CN103878777 A CN 103878777A
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- 230000033001 locomotion Effects 0.000 claims description 9
- 230000006978 adaptation Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 208000034423 Delivery Diseases 0.000 description 1
- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical compound [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 description 1
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- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
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Abstract
The invention discloses an industrial robot gripper with compact space, large clamping force and a long stroke. The industrial robot gripper comprises a frame body provided with a sliding rail. A left gripper body and a right gripper body which are symmetric to each other and are in sliding fit with the sliding rail are arranged on the frame body. A grasping area used for grasping a workpiece is formed between the left gripper body and the right gripper body or grasping areas are formed at the two sides of the left gripper body and the right gripper body. The industrial robot gripper is characterized in that a left sliding base and a right sliding base which can be in sliding fit along the sliding rail are arranged in the length direction of the sliding rail, the bottom of the left sliding base and the bottom of the right sliding base are provided with racks, the left gripper body and the right gripper body are fixedly connected with the left sliding base and the right sliding base respectively, a first gear train and a second gear train which are in meshed fit with the two racks respectively are arranged inside the frame body, and a synchronous power device used for synchronously driving the two sliding bases to synchronously move in the opposite direction or the reverse direction is arranged between the first gear train and the second gear train. According to the industrial robot gripper, the stroke of the gripper bodies can be effectively lengthened, the two gripper bodies can synchronously move, and the central position of an object can be kept unchanged without the adjustment of the gripper.
Description
Technical field
The present invention relates to Industrial Robot Technology field, relate in particular to a kind of gripper of industrial robot that utilizes the compact clamping force in space that hydraulic pressure, pneumatic power and subsidiary body thereof carry out gripping workpiece to greatly enhance stroke.
Background technology
Manipulator is the manual automation of a kind of simulation people.It can capture by fixed routine, carry object or the instrument of managing completes some specific operation.Application machine hand can replace people to be engaged in dullness, repetition or heavy manual labor, realize mechanization and the automation of producing, replace the manual operations of people under hostile environment, improve working conditions, ensure personal safety, thereby be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.In industrial manufacturing environment, while capturing strip or plate type part with manipulator, need a kind of clamping force larger, positioning precision is higher, and when clamping and unclamping, paw can not affect the handgrip of workpiece positioning precision.Jaw does pure rectilinear motion, there is no tangential component or yaw motion, can parallelly opening-and-closing.
First, a lot of career fields of producing in batches under industrial production thread environment, the size of workpiece and shape be fix or change not quite, this just needs a kind of mechanical gripper that can paw parallelly opening-and-closing.The feature of this handgrip is to simplify the program work amount of industrial robot, and the running parameter that only need to control a coordinate direction changes just can realize job requirement, and clamping force can be invariable on whole clamping stroke.And jaw is relatively to swing when the work of lever-type jaw, in two rectangular co-ordinate directions, there is displacement, need to control the variation of two coordinates simultaneously, so just increase the control difficulty of industrial robot.Next is the variation along with pendulum angle, and clamping force also may change, and requires responsive working environment to be just not suitable for to clamping force.
Secondly, under industrial environment, crawl and the placement space of workpiece are often restricted, length, the width of mechanical gripper and highly all can affect operation therefore, in the time opening and closing jaw, reduce to take up room as far as possible, this just requires the length of tooth bar own to shorten as far as possible, but tooth bar shortens and will cause and the Distance Shortened that engages of driven wheel, cause the power cannot normal delivery, and then affect mechanical gripper transmission system in the time moving stability and can be handling.
Summary of the invention
The deficiency existing for prior art, technical problem to be solved by this invention is, the stroke that a kind of compact conformation, clamping force are large, can effectively extend handgrip body is provided, realize two handgrip bodies and be synchronized with the movement, and do not need to adjust jaw position and just can keep the compact clamping force in constant space, object center to greatly enhance the gripper of industrial robot of stroke.
For solving the problems of the technologies described above, the technical solution used in the present invention is: the compact clamping force in a kind of space greatly enhances the gripper of industrial robot of stroke, comprise that one has the support body of slide rail, on described support body, be provided with the left handgrip body and the right handgrip body that are mutually symmetrical and arrange that can be slidably matched with slide rail, between left handgrip body and right handgrip body or both sides be formed for grasping the grip region of workpiece, be provided with its bottom that can be slidably matched along described slide rail along slide rail length direction and there is left slide and the right slide of tooth bar, described left handgrip body and right handgrip body are fixedly connected with left slide and right slide respectively, be provided with respectively the first gear train and the second gear train with two tooth bar engagement fit in support body inside, between described the first gear train and the second gear train, be provided with for synchronous drive described two slides relative to or the synchronous dynamic device that simultaneously moves of rightabout.
The compact clamping force in above-mentioned space greatly enhances the gripper of industrial robot of stroke, and described the first gear train is by that set gradually along the left slide direction of motion and the first driven gear, the second driven gear tooth bar engagement and drive described the first driven gear, the second driven gear synchronize the first idler gear of rotation to form.
The compact clamping force in above-mentioned space greatly enhances the gripper of industrial robot of stroke, and described the second gear train is by that set gradually along the right slide direction of motion and the 3rd driven gear, the 4th driven gear tooth bar engagement and drive described the 3rd driven gear, the 4th driven gear synchronize the second idler gear of rotation to form.
The compact clamping force in above-mentioned space greatly enhances the gripper of industrial robot of stroke, described synchronous dynamic device comprises the front driving gear and the rear drive gear that engage with the second driven gear and the 4th driven gear respectively of being located at support body inside, and along front driving gear and rear drive gear arranged direction is symmetrically arranged has the front hydraulic cylinder of front plunger and a rear hydraulic cylinder of back-plunger, in front plunger and back-plunger, be provided with symmetrical profile of tooth body, between described front plunger and back-plunger, be provided with the synchromesh gear being all meshed with two symmetric teeth bodies, described front driving gear and rear drive gear engage with the profile of tooth body in front plunger and back-plunger respectively.
The compact clamping force in above-mentioned space greatly enhances the gripper of industrial robot of stroke, and described slide rail and left slide and right slide all adopt swallowtail-shaped structure sliding connection.
The compact clamping force in above-mentioned space greatly enhances the gripper of industrial robot of stroke, and described left handgrip body and right handgrip body are all fixed with left slide and right slide respectively by sunk screw.
The compact clamping force in above-mentioned space greatly enhances the gripper of industrial robot of stroke, and described front driving gear and rear drive gear are connected with support body by the rotating shaft of being located at support body inside.
The compact clamping force in above-mentioned space greatly enhances the gripper of industrial robot of stroke, on described left handgrip body and right handgrip body all by trip bolt be provided with can with the grip pad of grasped surface of the work shape adaptation.
The compact clamping force in above-mentioned space greatly enhances the gripper of industrial robot of stroke, and described front hydraulic cylinder and rear hydraulic cylinder are pneumatic type or hydrodynamic.
The compact clamping force in above-mentioned space greatly enhances the gripper of industrial robot of stroke, and described synchromesh gear is connected with support body inside by gear shaft and the bearing be located on gear shaft.
The advantage that the compact clamping force in space of the present invention greatly enhances the gripper of industrial robot of stroke is: for the secondary gripper of industrial robot of lever class, Worm Wheel System pair and screw nut driven, the maximum feature of the machine is exactly in limited intensive space, to realize large tonnage clamping force, compact conformation, the size that takes up space is little.This structure possesses the advantages such as volume is little, driving force is large, space is compact.This structure is set up the profile modified gear of one group of intermeshing less number of teeth, and in the time that first gear is not also thrown off engagement completely, next gear will synchronously enter engagement, ensures that power relay goes on.
This structure has compact conformation, remarkable advantage that clamping force is large in like product, also has both that jaw energy parallelly opening-and-closing, clamping force are constant, feature that can automatic centring.As adopted conventional ferrous materials to make, under conventional 10MPa hydraulic power, tong jaw can maximum constant be exported the clamping force of 3 tons in the impulse stroke of 108mm, and volume while opening completely only has 310mm × 159mm × 289mm(length × wide × height), own wt only has 51 kilograms, and clamping force approaches 1:60 with the ratio of own wt.
Brief description of the drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structure cutaway view of B-B in Fig. 1;
Fig. 3 is the structure cutaway view of C-C in Fig. 1;
Fig. 4 is the structure cutaway view of D-D in Fig. 1.
Detailed description of the invention
Below in conjunction with drawings and the specific embodiments, the present invention is described in further details;
As shown in Figure 1,2,3, 4, the compact clamping force in a kind of space greatly enhances the gripper of industrial robot of stroke, comprise that one has the support body 2 of slide rail 1, on support body 2, be provided with the left handgrip body 3 and the right handgrip body 4 that are mutually symmetrical and arrange that can be slidably matched with slide rail 1, between left handgrip body 3 and right handgrip body 4 or both sides be formed for grasping the grip region 6 of workpiece 5, left handgrip body 3 and right handgrip body 4 can be made formal dress external clamping, also can make anti-dress inner bearing type, and clamp distance can realize by the thickness of adjusting left handgrip body 3 and right handgrip body 4.
Grasp effect for ease of improving, on left handgrip body 3 and right handgrip body 4 all by trip bolt 7 be provided with can with the grip pad 8 of the surface configuration adaptation of grasped workpiece 5.According to the shape of workpiece 5, size and folding space, can select suitable handgrip bodily form formula and width, determine that handgrip body opens and closes stroke.
Be provided with its bottom that can be slidably matched along slide rail 1 along the length direction of slide rail 1 and there is left slide 10 and the right slide 11 of tooth bar 9, slide rail 1 all adopts swallowtail-shaped structure sliding connection with left slide 10 and right slide 11, has ensured left slide 10 and right slide 11 stability in the process of sliding.
Left handgrip body 3 and right handgrip body 4 are fixedly connected with left slide 10 and right slide 11 by screw 12 respectively, be provided with in the inside of support body 2 respectively and the first gear train 13 and second gear train 14 of two tooth bar 9 engagement fit, between the first gear train 13 and the second gear train 14, be provided with for synchronous drive left slide 10 and right slide 11 relative to or the synchronous dynamic device 15 that simultaneously moves of rightabout.The first gear train 13 by the first driven gear 16, the second driven gear 17 that engage with tooth bar 9 that set gradually along the direction of motion of left slide 10 and drive described the first driven gear 16, the second driven gear 17 synchronize rotate the first idler gear 18 form.
The second gear train 14 by the 3rd driven gear 19, the 4th driven gear 20 that engage with tooth bar 9 that set gradually along right slide 11 directions of motion and drive described the 3rd driven gear 19, the 4th driven gear 20 synchronize rotate the second idler gear 21 form.This structure, for saving space, can adopt the gear of the less number of teeth, is proof strength, can adopt Modified Gear Transmission pattern.Synchronous dynamic device 15 comprises the front driving gear 22 and the rear drive gear 23 that engage with the second driven gear 17 and the 4th driven gear 20 respectively of being located at support body 2 inside, and there is the front hydraulic cylinder 25 of front plunger 24 and the rear hydraulic cylinder 27 of back-plunger 26 along the arranged direction of front driving gear 22 and rear drive gear 23 is symmetrically arranged, in front plunger 24 and back-plunger 26, be provided with symmetrical profile of tooth body 28, between front plunger 24 and back-plunger 26, be provided with the synchromesh gear 29 being all meshed with two symmetric teeth bodies 28, synchromesh gear 29 is connected with the inside of support body 2 by gear shaft 30 and the bearing 31 be located on gear shaft 30.
According to workplace and clamping force size requirement, the front hydraulic cylinder 25 of this device and rear hydraulic cylinder 27 can be selected the type of drive such as hydraulic-driven or air pressure driving.This structure, all keeping clamping force constant in stroke range arbitrarily, is not subject to the impact of stroke variation.In the time adjusting hydraulic oil or compressed gas air pressure, adjusting clamping force size that can equal proportion.The present invention can control simultaneously jaw simultaneously to center near or away from.This structure adopts a pair of front hydraulic cylinder 25 and rear hydraulic cylinder 27, and formation is arranged symmetrically with, and adds the synchromesh gear 29 at the center of being arranged in, can the left handgrip body 3 of Synchronization Control and right handgrip body 4 symmetrical close center or symmetrical away from center simultaneously.It is exactly compact conformation that this structure also has an advantage, and space availability ratio is high, and driving force is large.Left slide 10 and right slide 11 are positioned at the intermediate arrangement of slide rail 1, the both sides stress equalization of slide rail 1 when clamping work pieces 5.Adopt the arrangement form of the first gear train 13 and the second gear train 14, two (many) individual linkage gear relay exchanges, engagement, has extended left handgrip body 3 and right handgrip body 4 strokes continuously.One of advantage of this structure is in the time that clamping article size changes, and does not need to adjust jaw position and just can keep object center constant.This structure, all keeping clamping force constant in stroke range arbitrarily, is not subject to the impact of stroke variation.In the time adjusting hydraulic oil or compressed gas air pressure, adjusting clamping force size that can equal proportion.
The present invention has only lifted some standard component syndetons such as bearing, sealing ring, guidance tape, screw, and by quantity or the replacing position of simple these structures of increase, and main structure continues to quote the infringement that is considered as equally of the present invention.If at synchromesh gear place input rotary power (such as connecting fluid pressure motor or the motor with reductor etc.), be just changed to the power source input mode that adopts other, adopt this structure to be also considered as infringement.
Certainly, above-mentioned explanation is not limitation of the present invention, and the present invention is also not limited to above-mentioned giving an example; those skilled in the art; in essential scope of the present invention, variation, remodeling, interpolation or the replacement made, all should belong to protection scope of the present invention.
Claims (10)
1. the compact clamping force in a space greatly enhances the gripper of industrial robot of stroke, comprise that one has the support body of slide rail, on described support body, be provided with the left handgrip body and the right handgrip body that are mutually symmetrical and arrange that can be slidably matched with slide rail, between left handgrip body and right handgrip body or both sides be formed for grasping the grip region of workpiece, it is characterized in that: be provided with its bottom that can be slidably matched along described slide rail along slide rail length direction and there is left slide and the right slide of tooth bar, described left handgrip body and right handgrip body are fixedly connected with left slide and right slide respectively, be provided with respectively the first gear train and the second gear train with two tooth bar engagement fit in support body inside, between described the first gear train and the second gear train, be provided with for synchronous drive described two slides relative to or the synchronous dynamic device that simultaneously moves of rightabout.
2. the compact clamping force in space according to claim 1 greatly enhances the gripper of industrial robot of stroke, it is characterized in that: described the first gear train is by that set gradually along the left slide direction of motion and the first driven gear, the second driven gear tooth bar engagement and drive described the first driven gear, the second driven gear synchronize the first idler gear of rotation to form.
3. the compact clamping force in space according to claim 1 greatly enhances the gripper of industrial robot of stroke, it is characterized in that: described the second gear train is by that set gradually along the right slide direction of motion and the 3rd driven gear, the 4th driven gear tooth bar engagement and drive described the 3rd driven gear, the 4th driven gear synchronize the second idler gear of rotation to form.
4. greatly enhance the gripper of industrial robot of stroke according to the compact clamping force in the space described in claim 2 or 3, it is characterized in that: described synchronous dynamic device comprises the front driving gear and the rear drive gear that engage with the second driven gear and the 4th driven gear respectively of being located at support body inside, and along front driving gear and rear drive gear arranged direction is symmetrically arranged has the front hydraulic cylinder of front plunger and a rear hydraulic cylinder of back-plunger, in front plunger and back-plunger, be provided with symmetrical profile of tooth body, between described front plunger and back-plunger, be provided with the synchromesh gear being all meshed with two symmetric teeth bodies, described front driving gear and rear drive gear engage with the profile of tooth body in front plunger and back-plunger respectively.
5. the compact clamping force in space according to claim 4 greatly enhances the gripper of industrial robot of stroke, it is characterized in that: described slide rail and left slide and right slide all adopt swallowtail-shaped structure sliding connection.
6. the compact clamping force in space according to claim 5 greatly enhances the gripper of industrial robot of stroke, it is characterized in that: described left handgrip body and right handgrip body are all fixed with left slide and right slide respectively by sunk screw.
7. the compact clamping force in space according to claim 6 greatly enhances the gripper of industrial robot of stroke, it is characterized in that: described front driving gear and rear drive gear are connected with support body by the rotating shaft of being located at support body inside.
8. the compact clamping force in space according to claim 7 greatly enhances the gripper of industrial robot of stroke, it is characterized in that: on described left handgrip body and right handgrip body all by trip bolt be provided with can with the grip pad of grasped surface of the work shape adaptation.
9. the compact clamping force in space according to claim 8 greatly enhances the gripper of industrial robot of stroke, it is characterized in that: described front hydraulic cylinder and rear hydraulic cylinder are pneumatic type or hydrodynamic.
10. the compact clamping force in space according to claim 9 greatly enhances the gripper of industrial robot of stroke, it is characterized in that: described synchromesh gear is connected with support body inside by gear shaft and the bearing be located on gear shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410096885.XA CN103878777B (en) | 2014-03-17 | 2014-03-17 | The gripper of industrial robot of the large Long travel of a kind of spaces compact clamping force |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410096885.XA CN103878777B (en) | 2014-03-17 | 2014-03-17 | The gripper of industrial robot of the large Long travel of a kind of spaces compact clamping force |
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| CN103878777A true CN103878777A (en) | 2014-06-25 |
| CN103878777B CN103878777B (en) | 2016-02-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410096885.XA Expired - Fee Related CN103878777B (en) | 2014-03-17 | 2014-03-17 | The gripper of industrial robot of the large Long travel of a kind of spaces compact clamping force |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107538480A (en) * | 2017-10-23 | 2018-01-05 | 江苏信息职业技术学院 | The manipulator with cooling system can symmetrically be gripped |
| CN108621124A (en) * | 2017-03-17 | 2018-10-09 | 株式会社东芝 | Holding mechanism, transfer device, handling robot system and robot method for carrying |
| CN108637582A (en) * | 2018-04-09 | 2018-10-12 | 芜湖立普德机械科技有限公司 | A kind of metal weldment splicing equipment |
| CN110238870A (en) * | 2019-05-30 | 2019-09-17 | 苏州荣世吉自动化设备有限公司 | A kind of two-way gripper equipment of rack-and-pinion |
| CN112388663A (en) * | 2020-10-14 | 2021-02-23 | 江西玉祥智能装备制造有限公司 | Special clamp for transfer robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH01222882A (en) * | 1988-02-29 | 1989-09-06 | Hoya Corp | Robot hand |
| CN101342699A (en) * | 2008-08-25 | 2009-01-14 | 煤炭科学研究总院西安研究院 | Pneumatic paw of industry robot |
| WO2009024138A2 (en) * | 2007-08-21 | 2009-02-26 | Saadat M Mohsen | Gripper mechanism with split driveshaft for a gripper finger |
| CN201483488U (en) * | 2009-09-10 | 2010-05-26 | 高尔荣 | Transmission manipulator |
| CN103433929A (en) * | 2013-06-03 | 2013-12-11 | 浙江大学 | Two-finger translation mechanical arm |
| CN103624770A (en) * | 2013-11-08 | 2014-03-12 | 重庆风过旗扬科技发展有限公司 | Simple manipulator for gear transmission |
-
2014
- 2014-03-17 CN CN201410096885.XA patent/CN103878777B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01222882A (en) * | 1988-02-29 | 1989-09-06 | Hoya Corp | Robot hand |
| WO2009024138A2 (en) * | 2007-08-21 | 2009-02-26 | Saadat M Mohsen | Gripper mechanism with split driveshaft for a gripper finger |
| WO2009024138A3 (en) * | 2007-08-21 | 2009-04-30 | M Mohsen Saadat | Gripper mechanism with split driveshaft for a gripper finger |
| CN101342699A (en) * | 2008-08-25 | 2009-01-14 | 煤炭科学研究总院西安研究院 | Pneumatic paw of industry robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108621124A (en) * | 2017-03-17 | 2018-10-09 | 株式会社东芝 | Holding mechanism, transfer device, handling robot system and robot method for carrying |
| CN107538480A (en) * | 2017-10-23 | 2018-01-05 | 江苏信息职业技术学院 | The manipulator with cooling system can symmetrically be gripped |
| CN108637582A (en) * | 2018-04-09 | 2018-10-12 | 芜湖立普德机械科技有限公司 | A kind of metal weldment splicing equipment |
| CN110238870A (en) * | 2019-05-30 | 2019-09-17 | 苏州荣世吉自动化设备有限公司 | A kind of two-way gripper equipment of rack-and-pinion |
| CN110238870B (en) * | 2019-05-30 | 2024-04-02 | 苏州荣世吉自动化设备有限公司 | Rack type bidirectional gripper device |
| CN112388663A (en) * | 2020-10-14 | 2021-02-23 | 江西玉祥智能装备制造有限公司 | Special clamp for transfer robot |
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| Publication number | Publication date |
|---|---|
| CN103878777B (en) | 2016-02-24 |
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