CN207901187U - The controllable gripper of clamping force - Google Patents
The controllable gripper of clamping force Download PDFInfo
- Publication number
- CN207901187U CN207901187U CN201820279601.4U CN201820279601U CN207901187U CN 207901187 U CN207901187 U CN 207901187U CN 201820279601 U CN201820279601 U CN 201820279601U CN 207901187 U CN207901187 U CN 207901187U
- Authority
- CN
- China
- Prior art keywords
- crawl
- corpus unguis
- screw rod
- clamping force
- frame
- 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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- Manipulator (AREA)
Abstract
The utility model discloses the controllable grippers of clamping force.Existing machinery claw clip clamp force is difficult to accurately control, and corpus unguis is easy to scratch workpiece to be captured.The utility model includes crawl frame, crawl motor, crawl screw rod, crawl nut, connecting rod, flipping block and corpus unguis.The crawl Screw rod bearings are on crawl frame.Crawl screw rod is driven by crawl motor；The crawl nut constitutes sliding pair with crawl frame, and screw pair is constituted with crawl screw rod；One end of two connecting rods is hinged with crawl nut, and the inner end of the other end and two flipping blocks is respectively articulated with.The middle part of two flipping blocks constitutes revolute pair with crawl frame, and outer end is hinged by articulated shaft respectively with two corpus unguis；It is equipped with torsional spring on two articulated shafts；One end of two torsional springs is fixed respectively with two flipping blocks, and the other end is fixed respectively with two corpus unguis.The utility model can control clamping force when grabbing workpiece, to protect workpiece without damage.
Description
Technical field
The utility model belongs to gripper technical field, and in particular to a kind of gripper that clamping force is controllable.
Background technology
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability.In modern production, industrial robot
It plays a very important role, especially end is equipped with the industrial robot of gripper, can capture a variety of different productions
Product have very strong flexibility in production.But it is moved although the gripper of existing industrial robot end installation completes crawl
Make, but clamping force is difficult to accurately control, and corpus unguis is easy to scratch workpiece to be captured.Therefore, design one kind can be accurate
Control clamping force and will not scratch workpiece mechanical paw it is particularly significant.
Invention content
The purpose of this utility model is to provide a kind of grippers that clamping force is controllable.
The utility model includes crawl frame, crawl motor, crawl screw rod, crawl nut, connecting rod, flipping block and corpus unguis.
The crawl Screw rod bearings are on crawl frame.Crawl screw rod is driven by crawl motor；The crawl nut and crawl framework
At sliding pair, screw pair is constituted with crawl screw rod；One end of two connecting rods is hinged with crawl nut, and the other end is turned over two
The inner end of switch block is respectively articulated with.The middle part of two flipping blocks constitutes revolute pair with crawl frame, and outer end leads to respectively with two corpus unguis
It is hinged to cross articulated shaft；It is equipped with torsional spring on two articulated shafts；One end of two torsional springs is fixed respectively with two flipping blocks, another
End is fixed respectively with two corpus unguis.
Further, two corpus unguis are arc-shaped, and recess portion is oppositely arranged.
Further, it is both provided with pressure sensor on the inside of two corpus unguis.
Further, the corpus unguis is made of fixed column and four calvus；Four calvus are vertically arranged in order
Setting；Four calvus are fixed to each other by fixed column；Calvus is arc-shaped, and inside edge is provided with rubber layer.
Further, the crawl motor is fixed with crawl frame；One end of the crawl screw rod is defeated with crawl motor
Shaft is fixed.
The utility model has an advantageous effect in that：
1, clamping force when the utility model can accurately control grabbing workpiece to the greatest extent may be used thus while picking up workpiece
The protection workpiece of energy is without damage.
2, it is provided with rubber layer on the inside of the corpus unguis of the utility model, can effectively prevents plowing from workpiece.
3, the corpus unguis of the utility model is greatly improved corpus unguis and is waited for grabbing workpiece using the connection design of multi-layer thin chip
Frictional force.
Description of the drawings
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the kinematic sketch of the utility model.
Specific implementation mode
Below in conjunction with attached drawing, the utility model is described in further detail.
As illustrated in fig. 1 and 2, the controllable gripper of clamping force, including crawl frame 3, crawl motor 4, crawl screw rod 5, crawl
Nut 6, connecting rod 7, flipping block 1 and corpus unguis 2.Crawl motor 4 is fixed on crawl frame 3.Crawl screw rod 5 is supported on crawl frame 3
On.The one end and the output shaft of crawl motor 4 for capturing screw rod 5 are fixed.It captures nut 6 and constitutes sliding pair with crawl frame 3, with crawl
Screw rod 5 constitutes screw pair.One end of two connecting rods 7 is hinged with crawl nut 6, the inner end of the other end and two flipping blocks 1
It is respectively articulated with.The middle part of two flipping blocks 1 constitutes revolute pair with crawl frame 3, and outer end passes through articulated shaft respectively with two corpus unguis 2
It is hinged.It is equipped with torsional spring on two articulated shafts.One end of two torsional springs is fixed respectively with two flipping blocks, the other end and two
Corpus unguis 2 is fixed respectively.Two corpus unguis 2 are arc-shaped, and recess portion is oppositely arranged.The inside of two corpus unguis 2 is both provided with pressure
Sensor.Corpus unguis 2 is made of fixed column and four calvus.Four calvus parallel to each other are arranged in order setting.Four calvus are logical
Fixed column is crossed down to be fixed to each other.Calvus is arc-shaped, and inside edge is provided with rubber layer, clamped to avoid calvus from scratching
Article.
The operation principle of the controllable gripper of the clamping force is as follows：
Step 1: crawl motor 4 inverts so that two corpus unguis are flared to preset state.Frame 3 is captured in industrial robot
Lower reach of driving is waited at grabbing workpiece so that two 2 rings of corpus unguis live to wait for grabbing workpiece.
Step 2: crawl motor 4 rotates forward, two conjunctions of corpus unguis 2 hold to and wait for grabbing workpiece.Two corpus unguis 2 with wait capturing
After workpiece contact, can not further it move, and flipping block is rotated further, it is gradual to the clamping force of workpiece to make torsional spring deform
Increase.
Step 3: after the pressure that pressure sensor detects on two corpus unguis 2 reaches preset value, crawl motor 4 stalls, work
Industry robot motion takes article to be captured away.
Claims (5)
1. the controllable gripper of clamping force, including crawl frame, crawl motor, crawl screw rod, crawl nut, connecting rod, flipping block
And corpus unguis；It is characterized in that：The crawl Screw rod bearings are on crawl frame；Crawl screw rod is driven by crawl motor；Described
It captures nut and constitutes sliding pair with crawl frame, screw pair is constituted with crawl screw rod；One end of two connecting rods with crawl nut
Hinged, the inner end of the other end and two flipping blocks is respectively articulated with；The middle part of two flipping blocks constitutes revolute pair with crawl frame, outside
End is hinged by articulated shaft respectively with two corpus unguis；It is equipped with torsional spring on two articulated shafts；One end of two torsional springs with two
Flipping block is fixed respectively, and the other end is fixed respectively with two corpus unguis.
2. the controllable gripper of clamping force according to claim 1, it is characterised in that：Two corpus unguis are arc-shaped, and
Recess portion is oppositely arranged.
3. the controllable gripper of clamping force according to claim 1, it is characterised in that：It is both provided on the inside of two corpus unguis
Pressure sensor.
4. the controllable gripper of clamping force according to claim 1, it is characterised in that：The corpus unguis is by fixed column and four
Piece calvus forms；Four calvus are vertically arranged in order setting；Four calvus are fixed to each other by fixed column；Calvus is in circle
Arc, and inside edge is provided with rubber layer.
5. the controllable gripper of clamping force according to claim 1, it is characterised in that：The crawl motor and crawl frame
It is fixed；One end of the crawl screw rod and the output shaft of crawl motor are fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820279601.4U CN207901187U (en) | 2018-02-28 | 2018-02-28 | The controllable gripper of clamping force |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820279601.4U CN207901187U (en) | 2018-02-28 | 2018-02-28 | The controllable gripper of clamping force |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207901187U true CN207901187U (en) | 2018-09-25 |
Family
ID=63561353
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820279601.4U Expired - Fee Related CN207901187U (en) | 2018-02-28 | 2018-02-28 | The controllable gripper of clamping force |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207901187U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114210598A (en) * | 2021-12-14 | 2022-03-22 | 福建永荣锦江股份有限公司 | Waste nylon yarn sorting machine and sorting method thereof |
-
2018
- 2018-02-28 CN CN201820279601.4U patent/CN207901187U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114210598A (en) * | 2021-12-14 | 2022-03-22 | 福建永荣锦江股份有限公司 | Waste nylon yarn sorting machine and sorting method thereof |
| CN114210598B (en) * | 2021-12-14 | 2023-11-28 | 福建永荣锦江股份有限公司 | Chinlon waste silk sorting machine and sorting method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180925 Termination date: 20210228 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |