CN206254176U - A kind of robot arm clamping device - Google Patents
A kind of robot arm clamping device Download PDFInfo
- Publication number
- CN206254176U CN206254176U CN201621210134.7U CN201621210134U CN206254176U CN 206254176 U CN206254176 U CN 206254176U CN 201621210134 U CN201621210134 U CN 201621210134U CN 206254176 U CN206254176 U CN 206254176U
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- drawstring
- mounting seat
- supporting leg
- rotating shaft
- 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.)
- Expired - Fee Related
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Abstract
The utility model is related to a kind of robot arm clamping device, including mounting seat, crotch, crotch includes rotating shaft, rotating shaft does not coordinate one end to be provided with three supporting legs with mounting seat, supporting leg end head and the tail are sequentially articulated with multiple connecting rods, connecting rod articulated section is provided with torsion spring, the end of tail end connecting rod is provided with drawstring, branch leg outer side is provided with mounting bracket, mounting bracket is provided with curling motor, curling motor is connected with reel, drawstring one end is connected on reel, connecting rod middle inside and supporting leg middle inside are provided with directive wheel, drawstring is connected on reel after bypassing directive wheel successively, mounting seat is provided with rotation motor, rotating shaft is provided with worm gear, rotation motor is provided with worm screw.The utility model causes that connecting rod inwardly draws in using drawstring, therefore connecting rod according to the profile of object profile self adaptation object and can increase connecting rod quantity reduction length of connecting rod and adapt to increasingly complex object profile, directive wheel is beneficial to the guiding to drawstring, torsion spring sets the reset that connecting rod is easy in connecting rod articulated section, saves installing space.
Description
Technical field
The utility model is related to automation equipment, more particularly to a kind of robot arm clamping device.
Background technology
With the development of industrial technology, robot is aborning with more and more extensively, and existing robot species is various
It is various, in order to preferably clamp object of different shapes, have devised imitate human finger manipulator, but above-mentioned manipulator
Diarthrodial rotation is driven using Hydraulic Elements, its high cost, corollary equipment is more, high to use environment requirement, fault rate is high.
Utility model content
In view of the shortcomings of the prior art, the purpose of this utility model is to provide a kind of robot arm clamping device.
The utility model solves the technical scheme that its technical problem used：A kind of robot arm clamping device, bag
Mounting seat, the crotch being arranged in the mounting seat are included, the crotch includes the rotating shaft coordinated with the mounting seat, the rotating shaft
One end is not coordinated to be provided with three supporting legs with mounting seat, the supporting leg is 120 ° with the pivoting angle, and the supporting leg is around described turn
The axis of axle is made 360 ° of annular arrays and is uniformly distributed, and the supporting leg end head and the tail are sequentially articulated with multiple connecting rods, the connecting rod pivot
The place of connecing is provided with torsion spring, and the torsion spring is applied with the elastic force of outside upset to the connecting rod, and the end of tail end connecting rod is provided with drawstring, institute
State drawstring and extend to branch inboard leg along connecting rod inner side, the branch leg outer side is provided with mounting bracket, and the mounting bracket is provided with volume
Reel is connected with Qu Mada and curling motor, described drawstring one end is connected on the reel, in the connecting rod inner side
Portion and supporting leg middle inside are provided with directive wheel, and the drawstring is connected on the reel after bypassing the directive wheel successively, described
Mounting seat is provided with rotation motor, and the rotating shaft is provided with worm gear, and the rotation motor is provided with the snail with the worm gear
Bar.
Cause that connecting rod inwardly draws in using drawstring in above-mentioned design, therefore connecting rod can be according to object profile self adaptation object
Profile and connecting rod quantity reduction length of connecting rod can be increased adapt to increasingly complex object profile, the directive wheel is beneficial to drawing
The guiding of rope, torsion spring sets the reset that connecting rod is easy in connecting rod articulated section, saves installing space.
Used as the further improvement of the design, drawstring surface polishing is reduced between drawstring and held object
Frictional force, be easy to the gathering of connecting rod, prevent from pulling held object.
Used as the further improvement of the design, the connecting rod inner side is provided with the groove for accommodating the drawstring, reduces clamped
Pressure between object and drawstring.
Used as the further improvement of the design, the mounting seat is provided with the taper roll bearing coordinated with the rotating shaft,
Axial support force is provided, high precision prevents rotating shaft from coming off.
Used as the further improvement of the design, the rod surface is enclosed with silica gel or rubber, increases connecting rod and is clamped
The damping of object, is easy to clamping.
Used as the further improvement of the design, the directive wheel does not expose the connecting rod inner surface, be easy to connecting rod inner side with
Gripped object is preferably fitted.
Used as the further improvement of the design, connecting rod at least two and the connecting rod and supporting leg on every supporting leg cut
Face is rectangle, and intensity is big, and clamping face is wide.
The beneficial effects of the utility model are：The utility model causes that connecting rod inwardly draws in using drawstring, therefore connecting rod energy
Reach the profile according to object profile self adaptation object and connecting rod quantity reduction length of connecting rod can be increased and adapt to increasingly complex thing
External shape, the directive wheel sets the reset that connecting rod is easy in connecting rod articulated section beneficial to the guiding to drawstring, torsion spring, saves and installs empty
Between.
Brief description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is positive structure schematic of the present utility model.
Fig. 2 is connecting rod partial cutaway schematic of the present utility model.
1. mounting seat in figure, 2. rotating shaft, 3. worm gear, 4. worm screw, 5. rotation motor, 6. taper roll bearing, 7. crimps
Motor, 8. reel, 9. mounting bracket, 10. supporting leg, 11. drawstrings, 12. connecting rods, 13. torsion springs, 14. directive wheels, 15. grooves.
Specific embodiment
Describe the utility model in detail below in conjunction with accompanying drawing and specific embodiment, illustrative examples therein with
And explanation is only used for explaining the utility model, but it is not intended as to restriction of the present utility model.
Embodiment：A kind of robot arm clamping device, including mounting seat 1, the crotch that is arranged in the mounting seat 1,
The crotch includes the rotating shaft 2 coordinated with the mounting seat 1, and the rotating shaft 2 does not coordinate one end to be provided with three supporting legs with mounting seat 1
10, the supporting leg 10 is 120 ° with the angle of the rotating shaft 2, and the supporting leg 10 makees 360 ° of annular arrays around the axis of the rotating shaft 2
It is uniformly distributed, the end of the supporting leg 10 head and the tail are sequentially articulated with multiple connecting rods 12, and the articulated section of the connecting rod 12 is provided with torsion spring 13, institute
The elastic force that 13 pairs of connecting rods 12 of torsion spring are applied with outside upset is stated, the end of tail end connecting rod 12 is provided with drawstring 11, the drawstring
11 extend to the inner side of supporting leg 10 along the inner side of the connecting rod 12, and the outside of the supporting leg 10 is provided with mounting bracket 9, is set on the mounting bracket 9
Have on curling motor 7 and curling motor 7 and be connected with reel 8, the one end of the drawstring 11 is connected on the reel 8, described
The middle inside of connecting rod 12 and the middle inside of supporting leg 10 are provided with directive wheel 14, and the drawstring 11 connects after bypassing the directive wheel 14 successively
It is connected on the reel 8, the mounting seat 1 is provided with rotation motor 5, the rotating shaft 2 is provided with worm gear 3, the rotation motor 5
It is provided with the worm screw 4 coordinated with the worm gear 3.
Cause that connecting rod 12 inwardly draws in using drawstring 11 in above-mentioned design, therefore connecting rod 12 can be adaptive according to object profile
Answer the profile of object and the quantity of connecting rod 12 reduction connecting rod 12 length can be increased and adapt to increasingly complex object profile, the guiding
Wheel 14 sets the reset that connecting rod 12 is easy in the articulated section of connecting rod 12 beneficial to the guiding to drawstring 11, torsion spring 13, saves installing space.
Used as the further improvement of the design, the surface polishing of the drawstring 11 reduces drawstring 11 and held object
Between frictional force, be easy to the gathering of connecting rod 12, prevent from pulling held object.
Used as the further improvement of the design, the inner side of the connecting rod 12 is provided with the groove 15 for accommodating the drawstring 11, reduces
Pressure between held object and drawstring 11.
Used as the further improvement of the design, the mounting seat 1 is provided with the taper roll bearing coordinated with the rotating shaft 2
6, there is provided axial support force, high precision, prevent rotating shaft 2 from coming off.
Used as the further improvement of the design, the connecting rod 12 is coated with silica gel or rubber, increases connecting rod 12 and quilt
The damping of object is clamped, is easy to clamping.
Used as the further improvement of the design, the directive wheel 14 does not expose the inner surface of the connecting rod 12, is easy to connecting rod 12
Preferably fitted with gripped object inner side.
As the further improvement of the design, connecting rod 12 at least two and the connecting rod 12 on every supporting leg 10 and
The section of supporting leg 10 is rectangle, and intensity is big, and clamping face is wide.
Embodiment of the present utility model is the foregoing is only, the scope of the claims of the present utility model is not thereby limited, it is every
The equivalent structure or equivalent flow conversion made using the utility model specification and accompanying drawing content, or be directly or indirectly used in
Other related technical fields, are similarly included in scope of patent protection of the present utility model.
Claims (7)
1. a kind of robot arm clamping device, it is characterised in that including mounting seat, the crotch being arranged in the mounting seat,
The crotch includes the rotating shaft coordinated with the mounting seat, and the rotating shaft does not coordinate one end to be provided with three supporting legs, institute with mounting seat
It is 120 ° that supporting leg is stated with the pivoting angle, and the supporting leg is made 360 ° of annular arrays and is uniformly distributed around the axis of the rotating shaft, institute
State supporting leg end head and the tail and be sequentially articulated with multiple connecting rods, the connecting rod articulated section is provided with torsion spring, and the torsion spring is applied to the connecting rod
Added with the elastic force of outside upset, the end of tail end connecting rod is provided with drawstring, and the drawstring is extended in supporting leg along connecting rod inner side
Side, the branch leg outer side is provided with mounting bracket, and the mounting bracket is provided with curling motor and curling motor and is connected with reel,
Described drawstring one end is connected on the reel, and the connecting rod middle inside and supporting leg middle inside are provided with directive wheel, the drawing
Rope is connected on the reel after bypassing the directive wheel successively, and the mounting seat is provided with rotation motor, is set in the rotating shaft
There is worm gear, the rotation motor is provided with the worm screw with the worm gear.
2. a kind of robot arm clamping device according to claim 1, it is characterized in that, at the polishing of the drawstring surface
Reason.
3. a kind of robot arm clamping device according to claim 1, it is characterized in that, the connecting rod inner side is provided with receiving
The groove of the drawstring.
4. a kind of robot arm clamping device according to claim 1, it is characterized in that, the mounting seat is provided with and institute
State the taper roll bearing of rotating shaft cooperation.
5. a kind of robot arm clamping device according to claim 1, it is characterized in that, the rod surface is enclosed with silicon
Glue or rubber.
6. a kind of robot arm clamping device according to claim 1, it is characterized in that, the directive wheel does not expose described
Connecting rod inner surface.
7. a kind of robot arm clamping device according to claim 1, it is characterized in that, the connecting rod on every supporting leg
At least two and the connecting rod and supporting leg section are rectangle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621210134.7U CN206254176U (en) | 2016-11-10 | 2016-11-10 | A kind of robot arm clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621210134.7U CN206254176U (en) | 2016-11-10 | 2016-11-10 | A kind of robot arm clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206254176U true CN206254176U (en) | 2017-06-16 |
Family
ID=59025751
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621210134.7U Expired - Fee Related CN206254176U (en) | 2016-11-10 | 2016-11-10 | A kind of robot arm clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206254176U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107854184A (en) * | 2017-12-07 | 2018-03-30 | 邓清元 | Operation tool support frame and operation tool support equipment |
| CN108408626A (en) * | 2018-02-08 | 2018-08-17 | 广州迅速光电科技有限公司 | A kind of large grain and oil green storage and transportation apparatus of modified |
| CN108436953A (en) * | 2018-03-20 | 2018-08-24 | 河南工学院 | A kind of mechanical grip for machine-building |
| CN110835936A (en) * | 2019-11-29 | 2020-02-25 | 康鹤川 | A silt clearance structure for hydraulic engineering |
| CN111285101A (en) * | 2020-03-20 | 2020-06-16 | 杭州酿蜜科技有限公司 | Anchor clamps convenient to snatch brittle new material |
| CN112628579A (en) * | 2019-10-09 | 2021-04-09 | 和硕联合科技股份有限公司 | Clamping device |
-
2016
- 2016-11-10 CN CN201621210134.7U patent/CN206254176U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107854184A (en) * | 2017-12-07 | 2018-03-30 | 邓清元 | Operation tool support frame and operation tool support equipment |
| CN108408626A (en) * | 2018-02-08 | 2018-08-17 | 广州迅速光电科技有限公司 | A kind of large grain and oil green storage and transportation apparatus of modified |
| CN108436953A (en) * | 2018-03-20 | 2018-08-24 | 河南工学院 | A kind of mechanical grip for machine-building |
| CN108436953B (en) * | 2018-03-20 | 2021-08-03 | 河南工学院 | Mechanical clamping jaw for mechanical manufacturing |
| CN112628579A (en) * | 2019-10-09 | 2021-04-09 | 和硕联合科技股份有限公司 | Clamping device |
| CN110835936A (en) * | 2019-11-29 | 2020-02-25 | 康鹤川 | A silt clearance structure for hydraulic engineering |
| CN110835936B (en) * | 2019-11-29 | 2022-05-06 | 菏泽天源水务发展有限公司 | A silt clearance structure for hydraulic engineering |
| CN111285101A (en) * | 2020-03-20 | 2020-06-16 | 杭州酿蜜科技有限公司 | Anchor clamps convenient to snatch brittle new material |
| CN111285101B (en) * | 2020-03-20 | 2021-01-15 | 深圳市鸿盛瑞科技有限公司 | Anchor clamps convenient to snatch brittle new material |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170616 Termination date: 20201110 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |