CN105150233A - Mechanical gripper device - Google Patents
Mechanical gripper device Download PDFInfo
- Publication number
- CN105150233A CN105150233A CN201510661594.5A CN201510661594A CN105150233A CN 105150233 A CN105150233 A CN 105150233A CN 201510661594 A CN201510661594 A CN 201510661594A CN 105150233 A CN105150233 A CN 105150233A
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- China
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- slide block
- mechanical gripper
- motor
- rotating machine
- electric rotating
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Abstract
The invention relates to a mechanical gripper device which comprises a device fixing plate, a rotating positioning assembly and a gripping assembly. The whole mechanical gripper device can be fixedly installed on the mechanical arm through the device fixing plate. The mechanical arm drives the mechanical gripper device to a corresponding experiment station. The rotating positioning assembly comprises a rotating motor, an encoder, a motor base, a bearing, a rotating connecting shaft and the like. The gripping assembly comprises an assembly shell, a driving motor, a motor fixing plate, a gear, a rack, a guide rail, a sliding block, a limiting sensor, a limiting stop piece and a crank. According to the mechanical gripper device, a gripper can rotate by 360 degrees, and experiment plates in all directions can be gripped. The mechanical gripper device can be matched with the experiment plates of various different types, and the force for gripping the experiment plates can be adjusted according to the types of the experiment plates. The mechanical gripper device can be flexibly applied to an automatic experiment platform, and can rapidly and efficiently complete gripping and placement operation.
Description
Technical field
The present invention relates to a kind of mechanical gripper device, especially a kind of mechanical gripper device of energy automatic capturing brassboard.
Background technology
Mechanical gripper is a kind of high-tech automated production equipment grown up nearly decades; it can imitate some holding function of staff and arm; in order to capture by fixed routine, to carry object or operation tool; it can replace the heavy labor of people to realize mechanization and the automation of production, can operate to protect personal safety under hostile environment.In automedica equipment workbench, have various different brassboard, the station required for the different experimental stages is different, needs brassboard to shift between different stations.According to manual intervention, then automaticity is too low, and efficiency is low, and operator's labour intensity is large, is unfavorable for the job requirement of separate men from machines.Mechanical gripper is integrated in Medical Devices, automatically completes the transfer of brassboard at different station, the automaticity of whole equipment can be improved.
Summary of the invention
The technical problem that the present invention mainly solves is to provide a kind of mechanical gripper device; this application of installation is in the biochemical test platform of automation; can the brassboard of different station on precise and stable crawl platform; and transfer on the station of specifying; steadily lay; safe and reliable, can operate to protect personal safety under hostile environment.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of mechanical gripper device, comprises device fixed head, rotates positioning component and grabbing assembly; Described device fixed head can by whole mechanical gripper device fixed installation on the robotic arm, and mechanical arm driving mechanical gripper equipment is to testing station accordingly; Described rotation positioning component comprises electric rotating machine, encoder, motor base, bearing, be rotatably connected axle; Described grabbing assembly comprises grabbing assembly shell, drive motors, motor fixing plate, gear, tooth bar, guide rail, slide block, limit sensors, spacing catch, and two cranks; Wherein drive motors, motor fixing plate, gear, tooth bar, guide rail, slide block, limit sensors, spacing catch all in the enclosure portion is installed;
In described rotation positioning component, described encoder and electric rotating machine are connected, and electric rotating machine is fixedly placed on described motor base; Described motor base is fixedly connected with bearing block; Described bearing is placed in bearing block, and bearing block is fixedly connected with described device fixed head; The described axle top that is rotatably connected is through the center of bearing, fixing on the drive link being enclosed within described electric rotating machine; Be rotatably connected bottom axle and be fixedly connected with described grabbing assembly shell; The rotational angle of encoder determination electric rotating machine, electric rotating machine driven rotary connecting axle rotates, thus drives handgrip assembly to rotate respective angles;
In described handgrip assembly, described drive motors is fixed on motor fixing plate by motor transmission shaft, and motor fixing plate is relative with shell fixing in described enclosure; Motor-driven bar is inserted in described gear center hole, and drive rod rotation can rotate by driven gear; Described tooth bar has two and parallel, respectively on gear both sides by tooth and engaged gears; Described tooth bar is separately fixed on the slide block of that end separately, and described slide block is placed in the guide groove of described guide rail; Each slider bottom is all connected with a crank; Described spacing catch is fixedly mounted on one of them slide block of described slide block, and the slide block being over there equipped with spacing catch is equipped with limit sensors; The rotation of drive motors drive link, driven gear rotate, tooth bar and slide block move along guide rail, control slider bottom two cranks near or away from; When the spacing catch on a slider edge triggers limit sensors, drive motors stops operating.
Further, described motor base side is provided with a bolt hole, and the axle that is rotatably connected is fixedly connected with by the screw in bolt hole with electric rotating machine drive link.
Advantage of the present invention: compared with prior art, the present invention can realize 360 ° of rotations of handgrip, and the brassboard on each direction all can capture.And the present invention can adaptive various dissimilar brassboard, capture brassboard dynamics can experimentally board type be adjustable.The present invention can apply in a flexible way on the experiment porch of automation, rapidly and efficiently completes crawl and lays operation.
Accompanying drawing explanation
Fig. 1 is overall appearance figure of the present invention;
Fig. 2 is side cutaway view of the present invention;
Fig. 3 is for rotating positioning component profile.
Wherein: device fixed head 1, positioning component 2 is rotated, encoder 201, electric rotating machine 202, motor base 203, bearing 204, be rotatably connected axle 205, handgrip package shell 301, drive motors 302, motor transmission shaft 303, motor fixing plate 304, gear 305, tooth bar 306, slide block 307, guide rail 308, spacing catch 309, limit sensors 310, crank 311.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing 1-3 the present invention done and further explain.The following example only for illustration of the present invention, but is not used for limiting practical range of the present invention.
The present invention relates to a kind of mechanical gripper device, specifically comprise device fixed head 1, rotate positioning component 2 and grabbing assembly 3.Described whole mechanical gripper device fixedly mounts on the robotic arm by device fixed head 1, above mechanical arm driving device to corresponding experiment station, and can move up and down by control device.In described rotation positioning component 2, encoder 201 and electric rotating machine 202 are connected, and electric rotating machine 202 is fixedly placed on motor base 203.Be rotatably connected axle 205 through bearing 204 center, be enclosed within the drive link of electric rotating machine 202.Motor base 203 side is provided with a bolt hole, and the axle 205 that is rotatably connected is fixedly connected with by the screw in bolt hole with electric rotating machine 202 drive link.Bearing 204 is placed in bearing block, and bearing block is fixedly connected with device fixed head 1.Also be fixedly connected with between motor base 203 with 204, bearing.Be rotatably connected axle 205 by being fixedly connected with the grabbing assembly shell 301 in grabbing assembly 3.In described grabbing assembly, drive motors 302 is fixed on motor fixing plate 304 by motor transmission shaft 303, and motor fixing plate 304 is inner relative with shell fixing at shell 301.The motor-driven bar of drive motors is inserted in gear 305 centre bore, and drive rod rotation can rotate by driven gear.Respectively there is a tooth bar 306 on gear 305 both sides and parallel, respectively on gear both sides by tooth and engaged gears.Tooth bar 306 is separately fixed on the slide block 307 of that end separately, and slide block 307 is placed in the guide groove of guide rail 308.All be connected with a crank 311 bottom each slide block 307.Spacing catch 309 is fixedly mounted on one of them slide block of slide block 307, and what be equipped with spacing catch 309 is equipped with limit sensors 310 over there.
The rotational angle of electric rotating machine 202 determined by encoder 201, and electric rotating machine 202 driven rotary connecting axle 205 rotates, thus drives the respective angles that grabbing assembly 3 rotates.Rotating positioning component 2 can drive grabbing assembly 3 planar to realize 360 ° of rotations.Drive rod rotation on drive motors 302 in grabbing assembly 3, driven gear 305 rotates, and because gear is engaged with the tooth bar 306 of both sides by tooth, therefore pinion rotation can make tooth bar 306 transverse shifting of both sides.When drive motors driven gear 305 rotates clockwise, two tooth bar 306 oppositely movements, the slide block be fixedly connected with tooth bar 307 opposing slip on guide rail 308, makes to open with the crank 311 be fixedly connected with bottom slide block 307.When opening up into certain angle, the spacing catch 309 on a side slide triggers limit sensors 310 signal, controls drive motors 302 and stops operating.Now crank opens up into ultimate range.This device is moved to brassboard both sides, and control gear 305 rotates counterclockwise, band carry-over bar 306, and slide block 307 moves in opposite directions, and crank 311 is tightened up, thus clamp test plate.The dynamics that crank 311 presss from both sides brassboard can carry out programme-control by electric machine rotation, for different brassboards, can have different control dynamics.The present invention can apply in a flexible way on the experiment porch of automation, rapidly and efficiently completes crawl and lays operation.
More than describe the preferred embodiment of the present invention in detail; but the present invention is not limited to the detail in above-mentioned embodiment, within the scope of technical conceive of the present invention; can carry out multiple equivalents to technical scheme of the present invention, these equivalents all belong to protection scope of the present invention.
Claims (2)
1. a mechanical gripper device, is characterized in that: comprise device fixed head, rotates positioning component and grabbing assembly; Described device fixed head can by whole mechanical gripper device fixed installation on the robotic arm, and mechanical arm driving mechanical gripper equipment is to testing station accordingly; Described rotation positioning component comprises electric rotating machine, encoder, motor base, bearing, be rotatably connected axle; Described grabbing assembly comprises grabbing assembly shell, drive motors, motor fixing plate, gear, tooth bar, guide rail, slide block, limit sensors, spacing catch, and two cranks; Wherein drive motors, motor fixing plate, gear, tooth bar, guide rail, slide block, limit sensors, spacing catch all in the enclosure portion is installed;
In described rotation positioning component, described encoder and electric rotating machine are connected, and electric rotating machine is fixedly placed on described motor base; Described motor base is fixedly connected with bearing block; Described bearing is placed in bearing block, and bearing block is fixedly connected with described device fixed head; The described axle top that is rotatably connected is through the center of bearing, fixing on the drive link being enclosed within described electric rotating machine; Be rotatably connected bottom axle and be fixedly connected with described grabbing assembly shell; The rotational angle of encoder determination electric rotating machine, electric rotating machine driven rotary connecting axle rotates, thus drives handgrip assembly to rotate respective angles;
In described handgrip assembly, described drive motors is fixed on motor fixing plate by motor transmission shaft, and motor fixing plate is relative with shell fixing in described enclosure; Motor-driven bar is inserted in described gear center hole, and drive rod rotation can rotate by driven gear; Described tooth bar has two and parallel, respectively on gear both sides by tooth and engaged gears; Described tooth bar is separately fixed on the slide block of that end separately, and described slide block is placed in the guide groove of described guide rail; Each slider bottom is all connected with a crank; Described spacing catch is fixedly mounted on one of them slide block of described slide block, and the slide block being over there equipped with spacing catch is equipped with limit sensors; The rotation of drive motors drive link, driven gear rotate, tooth bar and slide block move along guide rail, control slider bottom two cranks near or away from; When the spacing catch on a slider edge triggers limit sensors, drive motors stops operating.
2. a kind of mechanical gripper device according to claim 1, it is characterized in that: described motor base side is provided with a bolt hole, the axle that is rotatably connected is fixedly connected with by the screw in bolt hole with electric rotating machine drive link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510661594.5A CN105150233A (en) | 2015-10-14 | 2015-10-14 | Mechanical gripper device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510661594.5A CN105150233A (en) | 2015-10-14 | 2015-10-14 | Mechanical gripper device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105150233A true CN105150233A (en) | 2015-12-16 |
Family
ID=54791426
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510661594.5A Pending CN105150233A (en) | 2015-10-14 | 2015-10-14 | Mechanical gripper device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105150233A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105855688A (en) * | 2016-06-14 | 2016-08-17 | 广东利元亨智能装备有限公司 | Electrode lug ultrasonic welding equipment |
| CN105904454A (en) * | 2016-06-12 | 2016-08-31 | 浙江工业大学 | Grabbing manipulator |
| CN107351076A (en) * | 2017-06-15 | 2017-11-17 | 东南大学 | A kind of self-locking intelligent machine handgrip for high-throughput nucleic acid sample liquor removing workstation |
| CN111360855A (en) * | 2020-04-01 | 2020-07-03 | 大连海事大学 | Rotary clamping system of mechanical gripper |
-
2015
- 2015-10-14 CN CN201510661594.5A patent/CN105150233A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105904454A (en) * | 2016-06-12 | 2016-08-31 | 浙江工业大学 | Grabbing manipulator |
| CN105855688A (en) * | 2016-06-14 | 2016-08-17 | 广东利元亨智能装备有限公司 | Electrode lug ultrasonic welding equipment |
| CN107351076A (en) * | 2017-06-15 | 2017-11-17 | 东南大学 | A kind of self-locking intelligent machine handgrip for high-throughput nucleic acid sample liquor removing workstation |
| CN111360855A (en) * | 2020-04-01 | 2020-07-03 | 大连海事大学 | Rotary clamping system of mechanical gripper |
| CN111360855B (en) * | 2020-04-01 | 2022-09-30 | 大连海事大学 | Rotary clamping system of mechanical gripper |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20151216 |