CN110539326A - Mechanical gripper mechanism of transfer robot - Google Patents
Mechanical gripper mechanism of transfer robot Download PDFInfo
- Publication number
- CN110539326A CN110539326A CN201910885890.1A CN201910885890A CN110539326A CN 110539326 A CN110539326 A CN 110539326A CN 201910885890 A CN201910885890 A CN 201910885890A CN 110539326 A CN110539326 A CN 110539326A
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- China
- Prior art keywords
- section
- transfer robot
- claw
- gripper mechanism
- shaped frame
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- Pending
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- 210000000078 claw Anatomy 0.000 claims abstract description 43
- 238000009434 installation Methods 0.000 claims 1
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 2
- 235000011613 Pinus brutia Nutrition 0.000 description 2
- 241000018646 Pinus brutia Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000001012 protector Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator claw mechanism of a carrying robot, which comprises a steering engine and a manipulator claw unit, wherein the manipulator claw unit comprises two meshed gear parts, each gear part is eccentrically and fixedly provided with a claw, the claw parts are in V-shaped structures, V-shaped openings of the claw parts of the two claws face each other, the steering engine drives the two gear parts to reversely and synchronously rotate, the two claws are driven to eccentrically swing oppositely to clamp goods or eccentrically swing oppositely to loose the goods, the structure is compact, the required abdicating space is small, the goods can be grabbed in a narrow space, the grabbing force is large, and the grabbing is stable and reliable.
Description
Technical Field
The present invention relates to a robot apparatus, and more particularly to a robot gripper mechanism for a transfer robot.
Background
Existing robot devices, such as: CN209063116U, a movable transfer robot, includes crawler travel unit, frame, presss from both sides and gets device, control drive arrangement, balancing unit and protector. The clamping device is divided into two groups of clamping jaws, so that objects in different shapes can be conveniently grabbed, the objects can move up and down under the action of the cylinder, and the sliding groove can be used for horizontal movement. The two groups of clamping jaws grab and loosen through sliding control, the structure is complex, grabbing can be achieved only through a large operation space, grabbing is inconvenient, and grabbing stability is poor.
Disclosure of Invention
The invention provides a transfer robot mechanical claw mechanism, which overcomes the defects of the transfer robot mechanical claw mechanism in the background technology.
The technical scheme adopted by the invention for solving the technical problem is as follows:
The manipulator claw mechanism of the transfer robot comprises a mounting part, a steering engine arranged in the mounting part and a manipulator claw unit; the mechanical paw unit comprises two meshed gear parts which are arranged on the mounting part in parallel in a rotatable manner, and a paw is fixedly and eccentrically arranged on each gear part; the gear part comprises two gears which are coaxially and fixedly connected at intervals; the hand claw comprises a U-shaped frame and a hand claw part, the U-shaped frame is provided with a middle rod and two side rods which are fixedly arranged on two sides of the middle rod respectively, and the hand claw part is fixedly connected with the middle rod of the U-shaped frame; the U-shaped frame is clamped with the mounting part, the tail ends of the two side rods are respectively fixedly arranged at the eccentric positions of the two gears of the gear part, and the two gears of the gear part are respectively arranged at the two sides of the mounting part; the claw parts are in V-shaped structures, and the V-shaped openings of the claw parts of the two claws face each other.
In one embodiment: the rotation axes of the gear parts are all horizontally arranged, and the rotation axes of the two gear parts are positioned on the same horizontal plane.
In one embodiment: the claws of the two gear parts are axially and symmetrically arranged.
In one embodiment: the paw part comprises a first section and a second section, the first section is fixedly connected to the middle rod of the U-shaped frame, and the second section is arranged in a suspended mode; the first section and the second section are fixedly connected together to form a V-shaped structure, the included angle between the first section and the second section ranges from 110 degrees to 130 degrees, and the included angle between the first section and the U-shaped frame ranges from 200 degrees to 220 degrees.
In one embodiment: the length of the second section is equal to the length of the first section by 2-3 times.
In one embodiment: the inner side walls of the first section and the second section are both provided with wave structures which are arranged in a concave-convex mode.
In one embodiment: the second section end is chamfered.
In one embodiment: and an inner through hole and an outer through hole are concavely arranged in the middle of the second section.
Compared with the background technology, the technical scheme has the following advantages:
Mechanical gripper mechanism includes steering wheel and mechanical gripper unit, mechanical gripper unit includes double-phase meshed gear part, all the eccentric hand claw that has set firmly in every gear part, hand claw part is the V-arrangement structure, the V-arrangement opening of the hand claw part of two hand claws faces mutually, the steering wheel drives two gear part reverse synchronous rotations, it is in order to press from both sides the goods to drive two hand claws eccentric swing in opposite directions, or, the goods is grabbed with the pine to the eccentric swing in the dorsad, compact structure, required space of stepping down is little, in order to grab goods arc pine in narrow and small space and grab the goods, it is big to snatch the dynamics, it is reliable and stable to snatch, it is nimble swift, and is with low costs. The two claws are driven to eccentrically swing by the two meshed gears, and the eccentric swing of the two claws is stable and reliable. The hand claw comprises a U-shaped frame and a hand claw part, the hand claw part is fixedly connected with a middle rod of the U-shaped frame, the U-shaped frame is clamped with the mounting part, the tail ends of two side rods are fixedly arranged at the eccentric positions of two gears of the gear part respectively, the two gears of the gear part are arranged on two sides of the mounting part respectively, the layout is reasonable, the structure is compact, and the grabbing force is stable and reliable.
Reach and snatch stable firm, first section rigid coupling on the well pole of U-shaped frame, the unsettled arrangement of second section, the contained angle of first section and second section is at 110 degrees ~ 130 degrees, and the contained angle of first section and U-shaped frame is 200 ~ 220 degrees, and first section, second section and the cooperation of U-shaped frame constitute three folding section structures, snatch the convenience, snatch reliable and stable, can not only adapt to regular object, but also can adapt to irregular object. The length of the second section is 2-3 times as long as that of the first section, and the second section is convenient to grab. The inner side wall of the first section and the second section is provided with a wave structure which is arranged in a concave-convex mode, and grabbing force is improved. The tail end of the second section is chamfered, so that the grabbing is convenient.
Drawings
The invention is further described with reference to the following figures and detailed description.
Fig. 1 is a schematic configuration diagram of a transfer robot gripper mechanism according to an embodiment.
Fig. 2 is a perspective view of a transfer robot gripper mechanism according to an embodiment.
figure 3 is a perspective view of a gripper according to an embodiment.
Detailed Description
Referring to fig. 1 to 3, the robot gripper mechanism of the transfer robot includes a mounting portion 1, a steering gear 2 installed in the mounting portion 1, and a gripper unit. The steering engine 2 is a MAXES09MD digital steering engine (torque: 2.6Kg.cm) which is provided with a power output shaft, and the mounting part 1 is a motor frame.
The gripper unit comprises two meshed gear parts, which are rotatably arranged side by side on the mounting part 1 and each of which is eccentrically provided with a gripper 3. The gear part comprises two gears 4 which are coaxially and fixedly connected with each other in a spaced mode. The paw 3 comprises a U-shaped frame 31 and a paw part 32, the U-shaped frame 31 is provided with a middle rod and two side rods which are respectively and fixedly arranged at two sides of the middle rod, and the paw part 32 is fixedly connected with the middle rod of the U-shaped frame 31; the U-shaped frame 31 is clamped with the mounting part 1, the tail ends of the two side rods are respectively fixedly arranged at the eccentric positions of the two gears 4 of the gear part, and the two gears 4 of the gear part are respectively arranged at the two sides of the mounting part 1; the claw parts 32 are V-shaped, and the V-shaped openings of the claw parts 32 of the two claws 3 are opposite. Wherein: the rotating axes of the gear parts are horizontally arranged, and the rotating axes of the two gear parts are positioned on the same horizontal plane; the claws 3 of the two gear parts are axially and symmetrically arranged relative to the vertical plane.
The claw part 32 comprises a first section 321 and a second section 322, the first section 321 is fixedly connected to the rod in the U-shaped frame 31, and the second section 322 is arranged in a suspended manner; the first section 321 and the second section 322 are fixedly connected together to form a V-shaped structure, the included angle between the first section 321 and the second section 322 is 120 degrees, and the included angle between the first section 321 and the U-shaped frame 31 is 210 degrees; the length of the second section 322 is equal to the length of the first section 321 by 2-3 times; the inner side walls of the first section 321 and the second section 322 are both provided with wave structures 323 which are arranged in a concave-convex manner; the second section 322 ends in a chamfered arrangement 324; the second section 322 is recessed with an inner and outer through hole 325 to fit some objects with feet, which can pass through the through hole from the inside to the outside.
The second section 322 comprises a middle section and a branched section, the middle section is fixedly connected between the first section and the branched section, the branched section is provided with a plurality of branched parts 3221 which are arranged at intervals along the width direction of the branched parts, and the object can be more conveniently grabbed by adopting the structure.
The above description is only a preferred embodiment of the present invention, and therefore should not be taken as limiting the scope of the invention, which is defined by the appended claims and their equivalents.
Claims (8)
1. Transfer robot manipulator claw mechanism, including the installation part, its characterized in that: the manipulator is characterized by also comprising a steering engine and a manipulator claw unit which are arranged in the mounting part; the mechanical paw unit comprises two meshed gear parts which are arranged on the mounting part in parallel in a rotatable manner, and a paw is fixedly and eccentrically arranged on each gear part; the gear part comprises two gears which are coaxially and fixedly connected at intervals; the hand claw comprises a U-shaped frame and a hand claw part, the U-shaped frame is provided with a middle rod and two side rods which are fixedly arranged on two sides of the middle rod respectively, and the hand claw part is fixedly connected with the middle rod of the U-shaped frame; the U-shaped frame is clamped with the mounting part, the tail ends of the two side rods are respectively fixedly arranged at the eccentric positions of the two gears of the gear part, and the two gears of the gear part are respectively arranged at the two sides of the mounting part; the claw parts are in V-shaped structures, and the V-shaped openings of the claw parts of the two claws face each other.
2. The transfer robot gripper mechanism according to claim 1, wherein: the rotation axes of the gear parts are all horizontally arranged, and the rotation axes of the two gear parts are positioned on the same horizontal plane.
3. The transfer robot gripper mechanism according to claim 1, wherein: the claws of the two gear parts are axially and symmetrically arranged.
4. The transfer robot gripper mechanism according to claim 1, 2, or 3, wherein: the paw part comprises a first section and a second section, the first section is fixedly connected to the middle rod of the U-shaped frame, and the second section is arranged in a suspended mode; the first section and the second section are fixedly connected together to form a V-shaped structure, the included angle between the first section and the second section ranges from 110 degrees to 130 degrees, and the included angle between the first section and the U-shaped frame ranges from 200 degrees to 220 degrees.
5. The transfer robot gripper mechanism according to claim 4, wherein: the length of the second section is equal to the length of the first section by 2-3 times.
6. The transfer robot gripper mechanism according to claim 4, wherein: the inner side walls of the first section and the second section are both provided with wave structures which are arranged in a concave-convex mode.
7. The transfer robot gripper mechanism according to claim 4, wherein: the second section end is chamfered.
8. The transfer robot gripper mechanism according to claim 4, wherein: and an inner through hole and an outer through hole are concavely arranged in the middle of the second section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910885890.1A CN110539326A (en) | 2019-09-19 | 2019-09-19 | Mechanical gripper mechanism of transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910885890.1A CN110539326A (en) | 2019-09-19 | 2019-09-19 | Mechanical gripper mechanism of transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110539326A true CN110539326A (en) | 2019-12-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910885890.1A Pending CN110539326A (en) | 2019-09-19 | 2019-09-19 | Mechanical gripper mechanism of transfer robot |
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| Country | Link |
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| CN (1) | CN110539326A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112059609A (en) * | 2020-09-15 | 2020-12-11 | 陈春 | Quick erection equipment of two-way O type sealing washer of metal pipe fitting |
| CN112314292A (en) * | 2020-11-15 | 2021-02-05 | 西北农林科技大学 | Automatic cuttage machine control system of arched shed pillar |
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|---|---|---|---|---|
| CN103786160A (en) * | 2014-01-27 | 2014-05-14 | 武汉大学 | Robot clamping module |
| CN204382290U (en) * | 2015-01-19 | 2015-06-10 | 林丽妹 | A kind of manipulator |
| CN206795815U (en) * | 2017-04-10 | 2017-12-26 | 南京林业大学 | A kind of intelligent nursing dolly of flexible manipulator |
| CN207240244U (en) * | 2017-09-19 | 2018-04-17 | 佛山博文机器人自动化科技有限公司 | The small retainer module of servo driving |
| CN108500973A (en) * | 2018-04-19 | 2018-09-07 | 重庆电子工程职业学院 | Capture structure and sorting machine people |
| CN208557572U (en) * | 2018-06-29 | 2019-03-01 | 郑州飞铄电子科技有限公司 | A kind of robot catching robot |
| CN109794920A (en) * | 2019-02-27 | 2019-05-24 | 燕山大学 | A kind of bionical restructural rescue robot |
| CN208930247U (en) * | 2018-05-10 | 2019-06-04 | 东北林业大学 | Novel loading and unloading Cartesian robot |
| CN210704889U (en) * | 2019-09-19 | 2020-06-09 | 华侨大学 | Mechanical gripper mechanism of transfer robot |
-
2019
- 2019-09-19 CN CN201910885890.1A patent/CN110539326A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103786160A (en) * | 2014-01-27 | 2014-05-14 | 武汉大学 | Robot clamping module |
| CN204382290U (en) * | 2015-01-19 | 2015-06-10 | 林丽妹 | A kind of manipulator |
| CN206795815U (en) * | 2017-04-10 | 2017-12-26 | 南京林业大学 | A kind of intelligent nursing dolly of flexible manipulator |
| CN207240244U (en) * | 2017-09-19 | 2018-04-17 | 佛山博文机器人自动化科技有限公司 | The small retainer module of servo driving |
| CN108500973A (en) * | 2018-04-19 | 2018-09-07 | 重庆电子工程职业学院 | Capture structure and sorting machine people |
| CN208930247U (en) * | 2018-05-10 | 2019-06-04 | 东北林业大学 | Novel loading and unloading Cartesian robot |
| CN208557572U (en) * | 2018-06-29 | 2019-03-01 | 郑州飞铄电子科技有限公司 | A kind of robot catching robot |
| CN109794920A (en) * | 2019-02-27 | 2019-05-24 | 燕山大学 | A kind of bionical restructural rescue robot |
| CN210704889U (en) * | 2019-09-19 | 2020-06-09 | 华侨大学 | Mechanical gripper mechanism of transfer robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112059609A (en) * | 2020-09-15 | 2020-12-11 | 陈春 | Quick erection equipment of two-way O type sealing washer of metal pipe fitting |
| CN112314292A (en) * | 2020-11-15 | 2021-02-05 | 西北农林科技大学 | Automatic cuttage machine control system of arched shed pillar |
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