CN110281230A - A kind of robot claw - Google Patents
A kind of robot claw Download PDFInfo
- Publication number
- CN110281230A CN110281230A CN201910685775.XA CN201910685775A CN110281230A CN 110281230 A CN110281230 A CN 110281230A CN 201910685775 A CN201910685775 A CN 201910685775A CN 110281230 A CN110281230 A CN 110281230A
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- CN
- China
- Prior art keywords
- drive
- rotation axis
- fixedly installed
- rotated
- claws
- 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.)
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Classifications
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- 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
-
- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- 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
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- 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
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot claws, including fixing seat, drive seat is fixedly installed at the top of the fixing seat, installation cavity is offered in the drive seat, rotation axis is rotatably connected in the bottom interior wall of the installation cavity, driving assembly and anti-reverse component are fixedly connected on the outside of the rotation axis, the top of the rotation axis runs through the top inner wall of installation cavity and extends to the top of drive seat, mounting base is fixedly installed at the top of the rotation axis, the side of the mounting base is rotatably connected to drive disk, and it is fixedly connected with rotation on drive disk and adjusts component, connecting rod is fixedly installed on the side center location of the drive disk.After the configuration of the present invention is simple can grip autobody sheet, and fixation finishes, it can be transported, liberate manpower, improved the automation apparatus of automobile production, greatly reduce cost of labor, have a vast market promotion prospect.
Description
Technical field
The present invention relates to robotic technology field, specially a kind of robot claw.
Background technique
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work.
Currently, having enough to meet the need operation for the carrying of autobody sheet, majority is arrived using manual handling in the production process of automobile
Had enough to meet the need on tote cart, on the one hand put into manpower it is big, another aspect handling efficiency is not high, at the same increase manual handling at
This, so devising a kind of robot claw, here in order to solve the above problems.
Summary of the invention
The purpose of the present invention is to provide a kind of robot claws, to solve the problems mentioned in the above background technology.
To achieve the above object, the invention provides the following technical scheme: a kind of robot claw, including fixing seat, it is described
It is fixedly installed with drive seat at the top of fixing seat, offers installation cavity in the drive seat, in the bottom interior wall of the installation cavity
It is rotatably connected to rotation axis, driving assembly and anti-reverse component, the top of the rotation axis are fixedly connected on the outside of the rotation axis
Portion runs through the top inner wall of installation cavity and extends to the top of drive seat, is fixedly installed with mounting base at the top of the rotation axis,
The side of the mounting base is rotatably connected to drive disk, and is fixedly connected with rotation on drive disk and adjusts component, the drive disk
Side center location on be fixedly installed with connecting rod, the other end of the connecting rod is fixedly installed with clamp assemblies.
Preferably, the driving component includes the band-type brake motor for being fixedly mounted on the side of drive seat, the band-type brake motor
Output shaft on extend in installation cavity and be fixedly installed with drive shaft, the other end of the drive shaft is fixedly installed with the second umbrella
The outside fixing sleeve of gear, the rotation axis is equipped with the first bevel gear, and the first bevel gear and the second bevel gear are meshed, when need
When rotation axis being driven to be rotated, start band-type brake motor at this time, under the transmission of the first bevel gear and the second bevel gear, so
Band-type brake motor can be made to provide driving force for rotation axis.
Preferably, the anti-reverse component includes the fixed ratchet being set on the outside of rotation axis, the bottom of the installation cavity
Fixed plate is fixedly installed on inner wall, the side of the fixed plate is rotatably connected to pawl, and ratchet and pawl is meshed, described
The side of pawl is fixedly installed with support spring, and the other end of the support spring is fixedly connected with the side of fixed plate, is turning
During moving axis rotates clockwise, it will drive ratchet and rotated, and ratchet is under the position-limiting action of pawl, it can be effective
Rotation axis is prevented to take a turn for the worse.
Preferably, it includes the adjusting cavity being provided in mounting base, fixed peace in the adjusting cavity that the rotation, which adjusts component,
Equipped with driving motor, it is welded with worm screw on the output shaft of the driving motor, is fixedly mounted in the top inner wall of the adjusting cavity
There is adjusting rod, the outside fixing sleeve of the adjusting rod is equipped with worm gear, and worm and worm wheel are meshed, and the bottom of the adjusting rod is prolonged
Extend to the bottom of mounting base and be fixedly connected at the top of drive disk, when needing to adjust the tilt angle of connecting rod, starting drive
Dynamic motor, driving motor will drive worm screw and be rotated, and worm and worm wheel are meshed, so drive disk is driven to be rotated,
Drive disk then will drive connecting rod and be rotated, thus the tilt angle of connecting rod can be adjusted.
Preferably, the clamp assemblies include the headstock for being fixedly mounted on connecting rod side, are fixed in the headstock
Stepper motor is installed, rotating disc is welded on the output shaft of the stepper motor, the rotating disc deviates to be turned on center location
Dynamic to be connected with symmetrically arranged two pullings axis, two sides for pulling axis to be located remotely from each other are rotatably connected to pull plate, described
The side of pull plate and the side inner wall of headstock are slidably connected, and the side that two pull plate are located remotely from each other is fixedly installed with more
A fixing axle, and the one end for being located at ipsilateral multiple fixing axles all extends to the side of headstock and is fixedly installed with the same card
Pawl starts stepper motor when needing to grip autobody sheet using two claws, and stepper motor can be to band turn
Moving plate is rotated, and rotating disc will pull two pull plate and be moved to side close to each other, and then will pull two
Claw is moved to side close to each other, thus two claws can grip autobody sheet.
Preferably, the two sides of the fixing seat are fixedly installed with fixed block, are threaded on the fixed block symmetrical
Robot claw ontology can be fixed on specified position by two fixing bolts being arranged using fixing bolt.
Preferably, two claw sides close to each other are fixedly installed with the same telescopic rod, can be right using telescopic rod
Two claws carry out mobile limit, and the claw made is slided along vertical direction always when mobile.
Preferably, two claw sides close to each other are fixedly installed with limited block, and the length of limited block arrives for five
Ten centimetres, claw can be prevented when clamping autobody sheet using limited block, so that autobody sheet collides telescopic rod.
Preferably, the telescopic rod includes first sleeve and second sleeve, and first sleeve is set in the outer of second sleeve
Side is simultaneously slidably connected with second sleeve, telescopic rod can be made to have Telescopic using first sleeve and second sleeve.
Preferably, specifically used method are as follows:
(A1), in use, when needing to be clamped transport to autobody sheet, the tilt angle of claw is adjusted first, in order to
Autobody sheet is clamped, driving motor is started, driving motor, which will drive, drives worm screw to be rotated, and worm and worm wheel phase
Engagement, is rotated, drive disk then will drive connecting rod and be rotated, thus can incline to claw so will drive drive disk
Rake angle is adjusted, while under the self-locking property of worm and worm wheel, can prevent drive disk from positional shift occurs；
(A2), when claw to be moved on specified position, autobody sheet is placed between two claws at this time, is then opened
Dynamic stepper motor, stepper motor can be to driving rotating disc rotate, and rotating disc will pull two pull plate to close to each other
Side moved, and then will pull two claws and moved to side close to each other, thus two claws can be right
Autobody sheet is gripped, and is fixed after finishing, and then starts driving motor and drive disk is driven to be rotated, so that connection
Bar is on horizontal position；
(A3), when transporting to autobody sheet, start band-type brake motor, band-type brake motor can drive drive shaft to be rotated, the
Under the transmission of one bevel gear and the second bevel gear, it is possible to drive rotation axis to be rotated clockwise, and rotation axis then can be with
It drives autobody sheet to be moved, significantly facilitates the transport to steel plate, liberated manpower, reduce artificial transportation cost；
(A4), rotation axis of the invention will drive ratchet and rotated during rotating clockwise, and ratchet is in pawl
Under position-limiting action, it can effectively prevent rotation axis and taken a turn for the worse.
Compared with prior art, the beneficial effects of the present invention are:
1 present invention is a kind of robot claw, by that rotating disc can be driven to be rotated, in rotating disc using stepper motor
Rotation under two claws can be made to be moved to side close to each other, and then using two claws can be to autobody sheet
It is clamped fixation.
2, the present invention uses driving motor, worm and worm wheel, drive disk can be driven to be rotated, drive disk then will drive
Connecting rod is rotated, thus the tilt angle of claw can be adjusted, while under the self-locking property of worm and worm wheel,
It can prevent drive disk from positional shift occurs.
3, rotation axis of the invention will drive ratchet and rotated during rotating clockwise, and ratchet is in pawl
Position-limiting action under, can effectively prevent rotation axis and inverted.
After the configuration of the present invention is simple can grip autobody sheet, and fixation finishes, it can be carried out
Transport, has liberated manpower, has improved the automation apparatus of automobile production, greatly reduce cost of labor, have a vast market
Promotion prospect.
Detailed description of the invention
Fig. 1 is agent structure schematic diagram of the present invention；
Fig. 2 is the enlarged structure schematic diagram of the part A in Fig. 1 of the invention；
Fig. 3 is the enlarged structure schematic diagram of the part B in Fig. 1 of the invention；
Fig. 4 is the overlooking structure diagram of the mounting base in Fig. 1 of the invention；
Fig. 5 is the overlooking structure diagram that the ratchet and pawl in Fig. 1 of the invention is meshed.
In figure: 1, fixing seat；2, drive seat；3, installation cavity；4, rotation axis；5, the first bevel gear；6, band-type brake motor；7, it drives
Moving axis；8, the second bevel gear；9, ratchet；10, fixed plate；11, pawl；12, support spring；13, mounting base；14, drive disk；
15, adjusting cavity；16, driving motor；17, worm screw；18, adjusting rod；19, worm gear；20, connecting rod；21, headstock；22, stepping electricity
Machine；23, rotating disc；24, axis is pulled；25, pull plate；26, claw；27, telescopic rod；28, fixed block；29 fixing bolts.
Specific embodiment
The embodiment of the present application solves the problems, such as to propose in the prior art by providing a kind of robot claw.Below will
It is clearly and completely described in conjunction with the technical solution in the embodiment of the present invention, it is clear that described embodiment is only this hair
Bright a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
Embodiment one
Fig. 1-5 is please referred to, a kind of robot claw, including fixing seat 1, the fixed peace in the top of fixing seat 1 are present embodiments provided
Equipped with drive seat 2, installation cavity 3 is offered in drive seat 2, rotation axis 4 is rotatably connected in the bottom interior wall of installation cavity 3, is rotated
The outside of axis 4 is fixedly connected with driving assembly and anti-reverse component, and the top of rotation axis 4 is run through the top inner wall of installation cavity 3 and prolonged
The top of drive seat 2 is extended to, the top of rotation axis 4 is fixedly installed with mounting base 13, and the side of mounting base 13 is rotatably connected to drive
Moving plate 14, and be fixedly connected with rotation on drive disk 14 and adjust component, it is fixedly installed on the side center location of drive disk 14
The other end of connecting rod 20, connecting rod 20 is fixedly installed with clamp assemblies.
Wherein, driving assembly includes the band-type brake motor 6 for being fixedly mounted on the side of drive seat 2, the output shaft of band-type brake motor 6
On extend in installation cavity 3 and be fixedly installed with drive shaft 7, the other end of drive shaft 7 is fixedly installed with the second bevel gear 8, turns
The outside fixing sleeve of moving axis 4 is equipped with the first bevel gear 5, and the first bevel gear 8 and the second bevel gear 8 are meshed, when needing to drive
When rotation axis 4 is rotated, start band-type brake motor 6 at this time, under the transmission of the first bevel gear 5 and the second bevel gear 7, so can
So that band-type brake motor 6 is that rotation axis 4 provides driving force.
Wherein, anti-reverse component includes fixing the ratchet 9 for being set in 4 outside of rotation axis, solid in the bottom interior wall of installation cavity 3
Dingan County is equipped with fixed plate 10, and the side of fixed plate 10 is rotatably connected to pawl 11, and pawl 11 and ratchet 9 are meshed, pawl 11
Side be fixedly installed with support spring 12, the other end of support spring 12 is fixedly connected with the side of fixed plate 10, is rotating
During axis 4 rotates clockwise, it will drive ratchet 9 and rotated, and ratchet 9 is under the position-limiting action of pawl 11, Ke Yiyou
Effect prevents rotation axis 4 to take a turn for the worse.
Embodiment two
Fig. 1-5 is please referred to, is further improved on the basis of embodiment 1:
It includes the adjusting cavity 15 being provided in mounting base 13 that rotation, which adjusts component, is fixedly installed with driving motor in adjusting cavity 15
16, worm screw 17 is welded on the output shaft of driving motor 16, adjusting rod 18 is fixedly installed in the top inner wall of adjusting cavity 15, is adjusted
The outside fixing sleeve of pole 18 is equipped with worm gear 19, and worm screw 17 and worm gear 19 are meshed, and the bottom of adjusting rod 18 extends to installation
The bottom of seat 13 is simultaneously fixedly connected with the top of drive disk 14, when needing to adjust the tilt angle of connecting rod 20, starting driving
Motor 16, driving motor 16 will drive worm screw 17 and be rotated, and worm screw 17 and worm gear 19 are meshed, so driving drive disk 18
It is rotated, drive disk 18 then will drive connecting rod 20 and be rotated, thus can adjust to the tilt angle of connecting rod 20
Section.
Clamp assemblies include the headstock 21 for being fixedly mounted on 20 side of connecting rod, are fixedly installed with stepping in headstock 21
Motor 22, is welded with rotating disc 23 on the output shaft of stepper motor 22, and rotating disc 23 deviates to be rotatably connected to pair on center location
Claim two pulling axis 24 of setting, two sides for pulling axis 24 to be located remotely from each other are rotatably connected to pull plate 25, pull plate 25
Side and the side inner wall of headstock 21 be slidably connected, the side that two pull plate 25 are located remotely from each other is fixedly installed with multiple
Fixing axle, and the one end for being located at ipsilateral multiple fixing axles all extends to the side of headstock 21 and is fixedly installed with the same card
Pawl 26 starts stepper motor 22,22 meeting of stepper motor when needing to grip autobody sheet using two claws 25
Drive rotating disc 23 is rotated, and rotating disc 23 will pull two pull plate 25 and be moved to side close to each other,
And then will pull two claws 26 and moved to side close to each other, thus two claws 26 can carry out autobody sheet
It grips.
The two sides of fixing seat 1 are fixedly installed with fixed block 28, and symmetrically arranged two are threaded on fixed block 28
Robot claw ontology can be fixed on specified position by fixing bolt 29 using fixing bolt 29.
Two sides close to each other of claw 26 are fixedly installed with the same telescopic rod 27, can be to two using telescopic rod 27
A claw 26 carries out mobile limit, and the claw 26 made is slided along vertical direction always when mobile.
Two sides close to each other of claw 26 are fixedly installed with limited block, and the length of limited block is five to ten lis
Rice, can prevent claw 26 when clamping autobody sheet, so that autobody sheet collides telescopic rod 27 using limited block.
Telescopic rod 27 includes first sleeve and second sleeve, and first sleeve is set in the outside and and second of second sleeve
Sleeve is slidably connected, and telescopic rod 27 can be made to have Telescopic using first sleeve and second sleeve.
In use, the tilt angle of claw 26 is adjusted first when needing to be clamped transport to autobody sheet, in order to
Autobody sheet is clamped, driving motor 16 is started, driving motor 16, which will drive, drives worm screw 17 to be rotated, and worm screw 17
It being meshed with worm gear 19, is rotated so will drive drive disk 18, drive disk 18 then will drive connecting rod 20 and be rotated, because
And the tilt angle of claw 26 can be adjusted, while under the self-locking property of worm screw 17 and worm gear 19, it can prevent from driving
Moving plate 14 occurs positional shift and autobody sheet is placed on two cards at this time when claw 26 to be moved on specified position
Between pawl 26, then start stepper motor 22, stepper motor 22 can rotate drive rotating disc 23, and rotating disc 23 can be drawn
Dynamic two pull plate 25 are moved to side close to each other, so will pull two claws 26 to side close to each other into
Row movement, thus two claws 26 can grip autobody sheet, fix after finishing, and then start driving motor
16 drive drive disks 14 are rotated, so that connecting rod 20 is on horizontal position, when transporting to autobody sheet, starting is embraced
Lock motor 6, band-type brake motor 6 can drive drive shaft 7 to be rotated, under the transmission of the first bevel gear 5 and the second bevel gear 7,
So rotation axis 4 can be driven to be rotated clockwise, and rotation axis 4 can then drive autobody sheet to be moved, it is big generous
Just to the transport of steel plate, manpower has been liberated, has reduced artificial transportation cost.
In description of the invention, it should be noted that the orientation of the instructions such as term "vertical", "upper", "lower", "horizontal" or
Person's positional relationship is orientation based on the figure or positional relationship, is merely for convenience of description of the present invention and simplification of the description,
Rather than the device or element of instruction or hint meaning must have a particular orientation, and are constructed and grasped with specific orientation
Make, therefore is not considered as limiting the invention.In addition, " first ", " second ", " third ", " the 4th " are only used for description mesh
, and should not be understood as indicating or implying relative importance.
In description of the invention, it is also necessary to explanation, unless otherwise specific regulation and limitation, term " setting ", " peace
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection, can be mechanical connection, is also possible to be electrically connected, can be and be directly connected to, and be also possible to be connected by intermediary, can
To be the connection inside two elements.For the ordinary skill in the art, can understand as the case may be above-mentioned
The concrete meaning of term in the present invention.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of robot claw, including fixing seat (1), it is characterised in that: be fixedly installed with drive at the top of the fixing seat (1)
It moves seat (2), offers installation cavity (3) on the drive seat (2), be rotatably connected in the bottom interior wall of the installation cavity (3)
Moving axis (4) is fixedly connected with driving assembly and anti-reverse component on the outside of the rotation axis (4), passes through at the top of the rotation axis (4)
It wears the top inner wall of installation cavity (3) and extends to the top of drive seat (2), be fixedly installed with peace at the top of the rotation axis (4)
It fills seat (13), the side of the mounting base (13) is rotatably connected to drive disk (14), and is fixedly connected with and is turned on drive disk (14)
It is dynamic to adjust component, it is fixedly installed with connecting rod (20) on the side center location of the drive disk (14), the connecting rod (20)
The other end be fixedly installed with clamp assemblies.
2. a kind of robot claw according to claim 1, it is characterised in that: the driving component includes being fixedly mounted on
The band-type brake motor (6) of the side of drive seat (2) extends on the output shaft of the band-type brake motor (6) in installation cavity (3) and fixed
It is equipped with drive shaft (7), the other end of the drive shaft (7) is fixedly installed with the second bevel gear (8), the rotation axis (4)
Outside fixing sleeve is equipped with the first bevel gear (5), and the first bevel gear (8) and the second bevel gear (8) are meshed, when needs band turn
When moving axis 4 is rotated, start band-type brake motor (6) at this time, under the transmission of the first bevel gear 5 and the second bevel gear 7, so can
So that band-type brake motor 6 is that rotation axis 4 provides driving force.
3. a kind of robot claw according to claim 1, it is characterised in that: the anti-reverse component includes that fixation is arranged
Ratchet (9) on the outside of rotation axis (4) is fixedly installed with fixed plate (10) in the bottom interior wall of the installation cavity (3), described solid
The side of fixed board (10) is rotatably connected to pawl (11), and pawl (11) and ratchet (9) are meshed, the side of the pawl (11)
It being fixedly installed with support spring (12), the other end of the support spring (12) is fixedly connected with the side of fixed plate (10),
During rotation axis 4 rotates clockwise, it will drive ratchet 9 and rotated, and ratchet 9 is under the position-limiting action of pawl 11, it can
It is taken a turn for the worse with effectively preventing rotation axis 4.
4. a kind of robot claw according to claim 1, it is characterised in that: it includes being provided with that the rotation, which adjusts component,
Adjusting cavity (15) in mounting base (13), the adjusting cavity (15) is interior to be fixedly installed with driving motor (16), the driving motor
(16) it is welded on output shaft worm screw (17), is fixedly installed with adjusting rod (18) in the top inner wall of the adjusting cavity (15),
The outside fixing sleeve of the adjusting rod (18) is equipped with worm gear (19), and worm screw (17) and worm gear (19) are meshed, the adjusting rod
(18) bottom extend to the bottom of mounting base (13) and be fixedly connected at the top of drive disk (14), when needing to adjust connecting rod
(20) when tilt angle, start driving motor 16, driving motor 16 will drive worm screw 17 and be rotated, and worm screw 17 and worm gear
19 are meshed, so drive disk 18 is driven to be rotated, drive disk 18 then will drive connecting rod 20 and be rotated, thus can be right
The tilt angle of connecting rod 20 is adjusted.
5. a kind of robot claw according to claim 1, it is characterised in that: the clamp assemblies include being fixedly mounted on
The headstock (21) of connecting rod (20) side, the headstock (21) is interior to be fixedly installed with stepper motor (22), the stepping electricity
It is welded on the output shaft of machine (22) rotating disc (23), the rotating disc (23), which deviates to be rotatably connected on center location, symmetrically to be set
The two pulling axis (24) set, two sides for pulling axis (24) to be located remotely from each other are rotatably connected to pull plate (25), the drawing
The side of movable plate (25) and the side inner wall of headstock (21) are slidably connected, and the side that two pull plate (25) are located remotely from each other is solid
Dingan County is equipped with multiple fixing axles, and the one end for being located at ipsilateral multiple fixing axles all extends to side and the fixation of headstock (21)
The same claw (26) are installed, when needing to grip autobody sheet using two claws 25, starting stepping electricity
Machine 22, stepper motor 22 can be to driving rotating disc 23 rotate, and rotating disc 23 will pull two pull plate 25 to mutually leaning on
Close side is moved, and then be will pull two claws 26 and moved to side close to each other, thus two claws 26
Autobody sheet can be gripped.
6. a kind of robot claw according to claim 1, it is characterised in that: the two sides of the fixing seat (1) are fixed
It is equipped with fixed block (28), symmetrically arranged two fixing bolts (29) is threaded on the fixed block (28), using admittedly
Determining bolt (29) can be fixed on robot claw ontology on specified position.
7. a kind of robot claw according to claim 5, it is characterised in that: two claws (26) side close to each other
The same telescopic rod (27) are fixedly installed with, two claws 26 can be carried out with mobile limit, the card made using telescopic rod (27)
Pawl 26 is slided along vertical direction always when mobile.
8. a kind of robot claw according to claim 5, it is characterised in that: two claws (26) side close to each other
It is fixedly installed with limited block, and the length of limited block is five to ten centimetres, can prevent claw 26 from clamping using limited block
When autobody sheet, so that autobody sheet collides telescopic rod (27).
9. a kind of robot claw according to claim 7, it is characterised in that: the telescopic rod (27) includes first sleeve
And second sleeve, and first sleeve is set in the outside of second sleeve and is slidably connected with second sleeve, using first sleeve and
Second sleeve can make telescopic rod (27) to have Telescopic.
10. a kind of robot claw according to claim 1, specifically used method are as follows:
(A1), in use, when needing to be clamped transport to autobody sheet, the tilt angle of claw 26 is adjusted first, so as to
It is clamped in autobody sheet, starts driving motor 16, driving motor 16, which will drive, drives worm screw 17 to be rotated, and worm screw
17 and worm gear 19 be meshed, rotated so will drive drive disk 18, drive disk 18 then will drive connecting rod 20 and be rotated,
The tilt angle of claw 26 can be thus adjusted, while under the self-locking property of worm screw 17 and worm gear 19, can prevented
Positional shift occurs for drive disk 14；
(A2), when claw 26 to be moved on specified position, autobody sheet is placed between two claws 26 at this time, so
Start stepper motor 22 afterwards, stepper motor 22 can rotate drive rotating disc 23, and rotating disc 23 will pull two pullings
Plate 25 is moved to side close to each other, and then be will pull two claws 26 and moved to side close to each other, because
And two claws 26 can grip autobody sheet, fix after finishing, and then start driving motor 16 and drive drive
Moving plate 14 is rotated, so that connecting rod 20 is on horizontal position；
(A3), when transporting to autobody sheet, starting band-type brake motor 6, band-type brake motor 6 can drive drive shaft 7 to be rotated,
Under the transmission of first bevel gear 5 and the second bevel gear 7, it is possible to drive rotation axis 4 to be rotated clockwise, and rotation axis 4
Can then autobody sheet be driven to be moved, significantly facilitate the transport to steel plate, liberated manpower, reduce artificial transport at
This；
(A4), rotation axis 4 of the invention will drive ratchet 9 and rotated during rotating clockwise, and ratchet 9 is in spine
Under the position-limiting action of pawl 11, it can effectively prevent rotation axis 4 and taken a turn for the worse.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910685775.XA CN110281230A (en) | 2019-07-28 | 2019-07-28 | A kind of robot claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910685775.XA CN110281230A (en) | 2019-07-28 | 2019-07-28 | A kind of robot claw |
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| Publication Number | Publication Date |
|---|---|
| CN110281230A true CN110281230A (en) | 2019-09-27 |
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ID=68022609
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910685775.XA Pending CN110281230A (en) | 2019-07-28 | 2019-07-28 | A kind of robot claw |
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| CN (1) | CN110281230A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110842974A (en) * | 2019-11-22 | 2020-02-28 | 长沙市奥思得精工模具有限公司 | Automobile fixture recognition mechanism |
| CN111015556A (en) * | 2019-12-30 | 2020-04-17 | 重庆秉为科技有限公司 | Clamping assembly and clamping unit for electronic switch |
| CN111152235A (en) * | 2020-01-17 | 2020-05-15 | 深圳信息职业技术学院 | Mobile multi-arm cooperative detection robot |
| CN111409029A (en) * | 2020-04-22 | 2020-07-14 | 北京新松融通机器人科技有限公司 | Clamping jaw mechanism for butt joint of fire hose |
| CN111558841A (en) * | 2020-05-13 | 2020-08-21 | 宁波正元铜合金有限公司 | Hydraulic pressure vibration material disk processingequipment |
| CN111573261A (en) * | 2020-05-26 | 2020-08-25 | 普天平 | Cosmetics detection and conveying mechanism |
| CN111847331A (en) * | 2020-07-31 | 2020-10-30 | 顾瑞升 | High-efficiency power equipment maintenance device and use method thereof |
| CN112138224A (en) * | 2020-09-25 | 2020-12-29 | 青岛大学附属医院 | Stomach pressure reducer to gastroenterology |
| CN112298982A (en) * | 2020-10-22 | 2021-02-02 | 湖南谨航科技开发有限公司 | Loading and unloading device for industrial automation equipment and using method thereof |
| CN112520404A (en) * | 2020-11-23 | 2021-03-19 | 广州粤研智能装备股份有限公司 | A intelligent centre gripping handling device for engine cylinder lid cleaning machine |
| CN112959314A (en) * | 2020-12-02 | 2021-06-15 | 南京昱晟机器人科技有限公司 | Robot claw |
| CN113119090A (en) * | 2021-04-28 | 2021-07-16 | 杭州电子科技大学 | Rigid-flexible coupling large-stroke high-load actuator and driving method thereof |
| CN115139236A (en) * | 2022-06-07 | 2022-10-04 | 常州航空工模具有限公司 | Clamping equipment convenient to fix a position fast for automobile motor production |
| CN115653295A (en) * | 2022-11-04 | 2023-01-31 | 中国十九冶集团有限公司 | Formwork support device |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110842974A (en) * | 2019-11-22 | 2020-02-28 | 长沙市奥思得精工模具有限公司 | Automobile fixture recognition mechanism |
| CN111015556A (en) * | 2019-12-30 | 2020-04-17 | 重庆秉为科技有限公司 | Clamping assembly and clamping unit for electronic switch |
| CN111015556B (en) * | 2019-12-30 | 2021-03-02 | 重庆秉为科技有限公司 | Clamping assembly and clamping unit for electronic switch |
| CN111152235A (en) * | 2020-01-17 | 2020-05-15 | 深圳信息职业技术学院 | Mobile multi-arm cooperative detection robot |
| CN111409029A (en) * | 2020-04-22 | 2020-07-14 | 北京新松融通机器人科技有限公司 | Clamping jaw mechanism for butt joint of fire hose |
| CN111558841A (en) * | 2020-05-13 | 2020-08-21 | 宁波正元铜合金有限公司 | Hydraulic pressure vibration material disk processingequipment |
| CN111558841B (en) * | 2020-05-13 | 2021-11-02 | 宁波正元铜合金有限公司 | Hydraulic pressure vibration material disk processingequipment |
| CN111573261B (en) * | 2020-05-26 | 2021-08-10 | 义乌市欧迅服装有限公司 | Cosmetics detection and conveying mechanism |
| CN111573261A (en) * | 2020-05-26 | 2020-08-25 | 普天平 | Cosmetics detection and conveying mechanism |
| CN111847331A (en) * | 2020-07-31 | 2020-10-30 | 顾瑞升 | High-efficiency power equipment maintenance device and use method thereof |
| CN111847331B (en) * | 2020-07-31 | 2022-04-29 | 云南量坤售电服务有限公司 | High-efficiency power equipment maintenance device and use method thereof |
| CN112138224A (en) * | 2020-09-25 | 2020-12-29 | 青岛大学附属医院 | Stomach pressure reducer to gastroenterology |
| CN112298982A (en) * | 2020-10-22 | 2021-02-02 | 湖南谨航科技开发有限公司 | Loading and unloading device for industrial automation equipment and using method thereof |
| CN112520404A (en) * | 2020-11-23 | 2021-03-19 | 广州粤研智能装备股份有限公司 | A intelligent centre gripping handling device for engine cylinder lid cleaning machine |
| CN112959314A (en) * | 2020-12-02 | 2021-06-15 | 南京昱晟机器人科技有限公司 | Robot claw |
| CN113119090A (en) * | 2021-04-28 | 2021-07-16 | 杭州电子科技大学 | Rigid-flexible coupling large-stroke high-load actuator and driving method thereof |
| CN113119090B (en) * | 2021-04-28 | 2022-05-13 | 杭州电子科技大学 | Rigid-flexible coupling large-stroke high-load actuator and driving method thereof |
| CN115139236A (en) * | 2022-06-07 | 2022-10-04 | 常州航空工模具有限公司 | Clamping equipment convenient to fix a position fast for automobile motor production |
| CN115653295A (en) * | 2022-11-04 | 2023-01-31 | 中国十九冶集团有限公司 | Formwork support device |
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