CN203697028U - Three-jaw clamp holder with manually adjustable angles between fingers - Google Patents
Three-jaw clamp holder with manually adjustable angles between fingers Download PDFInfo
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- CN203697028U CN203697028U CN201420042376.4U CN201420042376U CN203697028U CN 203697028 U CN203697028 U CN 203697028U CN 201420042376 U CN201420042376 U CN 201420042376U CN 203697028 U CN203697028 U CN 203697028U
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Abstract
The utility model discloses a three-jaw clamp holder with manually adjustable angles between fingers. The three-jaw clamp holder is provided with a base which is fixed to a through hole in the tail end of an actuator fixing bracket. The base is connected with first fingers through finger supports. A driving lead screw is arranged on the actuator fixing bracket and is connected with the first fingers through finger sliding blocks. A motor drives the driving lead screw to rotate. The three-jaw clamp holder conducts three-finger clamping and can be used for clamping balls, revolved bodies and irregular objects more easily, and the clamped point can be found more easily, so that the clamped object is more stable and not prone to falling off according to the triangular stability after being clamped; furthermore, the angles between the fingers can be adjusted within a certain range so that the three-jaw clamp holder can be well applicable to more objects with different shapes. In addition, the angles between the fingers are adjusted in a manually pre-adjusting mode and can be changed according to the shape of the object observed through a video picture, and the extra freedom degree does not need to be added, so that an extra motor does not need to be additionally arranged, and increase of control tasks and control burdens is avoided.
Description
Technical field
The utility model relates to robot field, especially relates to a kind of three-jaw clamper that can manual adjustments refers to an angle.
Background technology
End effector of robot is arranged on the front end of motion arm wrist, in order to direct execution work task.End clamper is the one of end effector of robot, is the device with holding function.Existing end clamper is generally two finger structures; this structure can adapt to the gripping of general object; but the gripping for objects such as some irregularly shaped objects, spheroid, revolving bodies is more difficult; usually can cause gripping failure because of the gripping point can not find; even successful gripping; stability in transportation is also short of to some extent, if object drops in transportation, this will be a major accident for explosive-removal robot operation.
Utility model content
The purpose of this utility model is to solve the problem of above-mentioned existence, and a kind of three-jaw clamper that can manual adjustments refers to an angle of objects such as can stablizing gripping irregularly shaped object, spheroid, revolving body is provided.
The purpose of this utility model realizes as follows: a kind of three-jaw clamper that can manual adjustments refers to an angle, has base; Described base is fixed in the end vias of actuator fixed mount, described base is connected with the first finger by finger bracket, described actuator fixed mount is provided with driving screw mandrel, and described driving screw mandrel is connected with the first finger by finger slide block, and motor drives described driving screw mandrel to rotate.
Above-mentioned a kind of three-jaw clamper that can manual adjustments refers to an angle, described finger bracket connects respectively the first finger, second finger and the 3rd finger, and described finger bracket is fixed on the through hole of chuck.
Above-mentioned a kind of three-jaw clamper that can manual adjustments refers to an angle, the gripping face of described the first finger is concave surface.
Above-mentioned a kind of three-jaw clamper that can manual adjustments refers to an angle, described driving screw mandrel and drive nut spiral are connected, described drive nut and nut annex interference fit.
Above-mentioned a kind of three-jaw clamper that can manual adjustments refers to an angle, described finger slide block is connected with revolute pair by nut annex.
Above-mentioned a kind of three-jaw clamper that can manual adjustments refers to an angle, described finger bracket is connected by the second revolute pair with base.
Above-mentioned a kind of three-jaw clamper that can manual adjustments refers to an angle, described driving screw mandrel is to carry out axle head by base and bearing to fix.
Advantage of the present utility model: three finger grippings of the present utility model, not only make the gripping of spheroid, revolving body, irregularly shaped object more easily carry out, gripping point is more easily found, and according to triangle stability, after object is jammed, more stablizes and is difficult for dropping.In addition refer to that an angle can regulate within the specific limits, make this clamper can well adapt to the more object of Multiple Shape.In addition, refer to that the adjusting of an angle adopts manual preconditioning, the body form that can observe according to video pictures changes, and without increasing the extra free degree, therefore without increasing extra motor, has avoided increasing task and the burden on controlling.
Accompanying drawing explanation
For content of the present utility model is more easily expressly understood, according to specific embodiment also by reference to the accompanying drawings, the utility model is described in further detail, wherein below
Fig. 1 is front view of the present utility model;
Fig. 2 is top view of the present utility model;
Fig. 3 is revolved sectional view.
The specific embodiment:
See shown in Fig. 1, Fig. 2 and Fig. 3, a kind of three-jaw clamper that can manual adjustments refers to an angle, there is base 5, described base 5 is fixed in the end vias of actuator fixed mount 10, described base 5 is connected with the first finger 4 by finger bracket 6, described actuator fixed mount 10 is provided with and drives screw mandrel 11, and described driving screw mandrel 11 is connected with the first finger 4 by finger slide block 7, and motor drives described driving screw mandrel 11 to rotate.On described finger bracket 6, connect respectively the first finger 4, second finger 3 and the 3rd finger 2, described finger bracket 6 is fixed on the through hole of chuck 1.The gripping face of described the 3rd finger 2 is concave surface.Described driving screw mandrel 11 is connected with drive nut 9 spirals, described drive nut 9 and nut annex 8 interference fit.Described nut annex 8 be fixed on drive nut 9, described drive nut 9 is connected with a joggle with driving screw mandrel 11.Described finger slide block 7 is connected with revolute pair 13 by nut annex 8.Described finger bracket 6 is connected by the second revolute pair 18 with base 5.Described driving screw mandrel 11 is to carry out axle head by base 5 and bearing 12 to fix.
Its operation principle is: finger opening and closing principle: driven by motor drives screw mandrel 11 to rotate, and then drive drive nut 9 and nut annex 8 to do axial linear movement, drive finger slide block 7 to axially move along screw mandrel by nut annex 8 again, the first finger 4 rotates around revolute pair 16 under the driving effect of finger slide block 7, completes opening and closing action.
Its actuator deformation principle: first, remove last three hold-down screws 17 on chuck 1, finger bracket 6 and finger slide block 7 can rotate around revolute pair 13 and the second revolute pair 18 with identical attitude, now angular adjustment state between referring to, between the finger of three fingers angle can be within the scope of 0～180 ° free variation.After treating angular adjustment, more successively three finger brackets and chuck are fixed by the fixing hole on chuck 1 and hold-down screw 17, completed distortion.
Above-described specific embodiment; the purpose of this utility model, technical scheme and beneficial effect are further described; institute is understood that; the foregoing is only specific embodiment of the utility model; be not limited to the utility model; all within spirit of the present utility model and principle, any modification of making, be equal to replacement, improvement etc., within all should being included in protection domain of the present utility model.
Claims (7)
1. a three-jaw clamper that can manual adjustments refers to an angle, has base (5); It is characterized in that: described base (5) is fixed in the end vias of actuator fixed mount (10), described base (5) is connected with the first finger (4) by finger bracket (6), described actuator fixed mount (10) is provided with and drives screw mandrel (11), described driving screw mandrel (11) is connected with the first finger (4) by finger slide block (7), and motor drives described driving screw mandrel (11) to rotate.
2. a kind of three-jaw clamper that can manual adjustments refers to an angle according to claim 1, it is characterized in that: on described finger bracket (6), connect respectively the first finger (4), second finger (3) and the 3rd finger (2), described finger bracket (6) is fixed on the through hole of chuck (1).
3. a kind of three-jaw clamper that can manual adjustments refers to an angle according to claim 2, is characterized in that: the gripping face of described the 3rd finger (2) is concave surface.
4. a kind of three-jaw clamper that can manual adjustments refers to an angle according to claim 3, it is characterized in that: described driving screw mandrel (11) is connected with drive nut (9) spiral described drive nut (9) and nut annex (8) interference fit.
5. a kind of three-jaw clamper that can manual adjustments refers to an angle according to claim 4, is characterized in that: described finger slide block (7) is connected with revolute pair (13) by nut annex (8).
6. a kind of three-jaw clamper that can manual adjustments refers to an angle according to claim 5, is characterized in that: described finger bracket (6) is connected by the second revolute pair (18) with base (5).
7. a kind of three-jaw clamper that can manual adjustments refers to an angle according to claim 6, is characterized in that: described driving screw mandrel (11) is to carry out axle head by base (5) and bearing (12) to fix.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420042376.4U CN203697028U (en) | 2014-01-23 | 2014-01-23 | Three-jaw clamp holder with manually adjustable angles between fingers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420042376.4U CN203697028U (en) | 2014-01-23 | 2014-01-23 | Three-jaw clamp holder with manually adjustable angles between fingers |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203697028U true CN203697028U (en) | 2014-07-09 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420042376.4U Expired - Fee Related CN203697028U (en) | 2014-01-23 | 2014-01-23 | Three-jaw clamp holder with manually adjustable angles between fingers |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203697028U (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104607967A (en) * | 2015-02-10 | 2015-05-13 | 中国科学院上海光学精密机械研究所 | Length-variable rotating tool clamp |
| CN104760053A (en) * | 2015-04-10 | 2015-07-08 | 聊城大学 | Four claw clamping manipulator mechanism |
| CN104827484A (en) * | 2015-05-20 | 2015-08-12 | 清华大学 | Gripper |
| CN105818142A (en) * | 2016-05-27 | 2016-08-03 | 新昌县城关新胜轴承厂 | Electric object grabbing manipulator |
| CN106826900A (en) * | 2017-03-08 | 2017-06-13 | 深圳果力智能科技有限公司 | A kind of adjustable mechanical hand |
| CN107053229A (en) * | 2017-05-22 | 2017-08-18 | 佛山科学技术学院 | A kind of mechanical paw |
| CN108526504A (en) * | 2018-05-24 | 2018-09-14 | 昆明理工大学 | A kind of flexible chuck for not hindering surface |
| CN108818343A (en) * | 2018-07-04 | 2018-11-16 | 合肥欧语自动化有限公司 | A kind of stationary fixture of automated production spherical member |
| CN109676641A (en) * | 2019-01-31 | 2019-04-26 | 武汉大学 | A kind of robot clamping jaw module |
| CN110561481A (en) * | 2019-10-12 | 2019-12-13 | 航天晨光股份有限公司 | Circular material mechanical grabbing system |
| CN110712991A (en) * | 2019-10-10 | 2020-01-21 | 南京荧河谷科技有限公司 | Variable-position grabbing robot and variable-position grabbing method |
| CN111037580A (en) * | 2019-12-30 | 2020-04-21 | 武汉大学 | Multi-purpose carborundum wafer transmission machinery hand |
| CN111571631A (en) * | 2020-06-01 | 2020-08-25 | 江苏安全技术职业学院 | Industrial robot arm clamping device |
| CN111618903A (en) * | 2020-05-06 | 2020-09-04 | 东南大学 | Multi-claw automatic locking and releasing mechanism |
| CN114750189A (en) * | 2022-04-06 | 2022-07-15 | 东北大学秦皇岛分校 | Size self-adaptive nut and bolt assembling manipulator |
| CN114851230A (en) * | 2022-04-19 | 2022-08-05 | 浙江大学 | Flexible manipulator with fin-shaped structure |
-
2014
- 2014-01-23 CN CN201420042376.4U patent/CN203697028U/en not_active Expired - Fee Related
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104607967A (en) * | 2015-02-10 | 2015-05-13 | 中国科学院上海光学精密机械研究所 | Length-variable rotating tool clamp |
| CN104760053A (en) * | 2015-04-10 | 2015-07-08 | 聊城大学 | Four claw clamping manipulator mechanism |
| CN104827484A (en) * | 2015-05-20 | 2015-08-12 | 清华大学 | Gripper |
| CN104827484B (en) * | 2015-05-20 | 2016-08-24 | 清华大学 | paw |
| CN105818142A (en) * | 2016-05-27 | 2016-08-03 | 新昌县城关新胜轴承厂 | Electric object grabbing manipulator |
| CN106826900A (en) * | 2017-03-08 | 2017-06-13 | 深圳果力智能科技有限公司 | A kind of adjustable mechanical hand |
| CN106826900B (en) * | 2017-03-08 | 2024-03-22 | 深圳果力智能科技有限公司 | Adjustable manipulator |
| CN107053229A (en) * | 2017-05-22 | 2017-08-18 | 佛山科学技术学院 | A kind of mechanical paw |
| CN108526504A (en) * | 2018-05-24 | 2018-09-14 | 昆明理工大学 | A kind of flexible chuck for not hindering surface |
| CN108818343A (en) * | 2018-07-04 | 2018-11-16 | 合肥欧语自动化有限公司 | A kind of stationary fixture of automated production spherical member |
| CN109676641B (en) * | 2019-01-31 | 2021-10-22 | 武汉大学 | Robot clamping jaw module |
| CN109676641A (en) * | 2019-01-31 | 2019-04-26 | 武汉大学 | A kind of robot clamping jaw module |
| CN110712991A (en) * | 2019-10-10 | 2020-01-21 | 南京荧河谷科技有限公司 | Variable-position grabbing robot and variable-position grabbing method |
| CN110561481A (en) * | 2019-10-12 | 2019-12-13 | 航天晨光股份有限公司 | Circular material mechanical grabbing system |
| CN110561481B (en) * | 2019-10-12 | 2024-07-12 | 航天晨光股份有限公司 | Round material mechanical grabbing system |
| CN111037580A (en) * | 2019-12-30 | 2020-04-21 | 武汉大学 | Multi-purpose carborundum wafer transmission machinery hand |
| CN111618903A (en) * | 2020-05-06 | 2020-09-04 | 东南大学 | Multi-claw automatic locking and releasing mechanism |
| CN111571631A (en) * | 2020-06-01 | 2020-08-25 | 江苏安全技术职业学院 | Industrial robot arm clamping device |
| CN114750189A (en) * | 2022-04-06 | 2022-07-15 | 东北大学秦皇岛分校 | Size self-adaptive nut and bolt assembling manipulator |
| CN114851230A (en) * | 2022-04-19 | 2022-08-05 | 浙江大学 | Flexible manipulator with fin-shaped structure |
| CN114851230B (en) * | 2022-04-19 | 2024-03-29 | 浙江大学 | Flexible manipulator of fin structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140709 Termination date: 20220123 |