CN208133002U - A kind of grasping mechanism and six axis robot - Google Patents
A kind of grasping mechanism and six axis robot Download PDFInfo
- Publication number
- CN208133002U CN208133002U CN201721728586.9U CN201721728586U CN208133002U CN 208133002 U CN208133002 U CN 208133002U CN 201721728586 U CN201721728586 U CN 201721728586U CN 208133002 U CN208133002 U CN 208133002U
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- Prior art keywords
- handgrip
- swing
- sliding block
- slot
- swing part
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Abstract
The utility model relates to a kind of grasping mechanism and six axis robots.Including handgrip component, the handgrip component includes bracket, and the first handgrip, the second handgrip and a sliding block that can be moved back and forth are rotatablely connected on the bracket, and first handgrip and the second gripping structure are identical；Wherein, the first handgrip includes the first clamping part and the first swing part, and the second handgrip includes the second clamping part and the second swing part；First swing part is flexibly connected the first side of the sliding block, and second swing part is flexibly connected second side of the sliding block, and first swing part is able to drive when sliding block moves back and forth and the second swing part is swung.It is the crawl for realizing handgrip by sliding block and screw rod, realizes operation without pneumatic words, structure is simple, environment is noiseless.And due to the effect of sliding block and screw rod so that generating self-locking function in use process, securely and reliably.
Description
Technical field
The utility model relates to a kind of grasping mechanisms.
The another aspect of the utility model is related to a kind of industrial robot, especially a kind of six axis robot.
Background technique
Manipulator is the certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object or behaviour
Make the automatic pilot of tool.Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest,
It can replace the heavy labor of people to realize the mechanization and automation of production, can operate under hostile environment to protect the person
Safety, thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Conventional industrial robot's handgrip is made of purely mechanic component at present, and structure is complicated, whole heavy, control uses gas
Source drives, and movement speed is slow, do not have automatic detection, control precision is low, particularly unexpected die can produce with workpiece weight
Raw workpiece falls off generates security risk in production.Not only increase in this way if work produces there be not gas source and also needs separately to pacify air machinery
Add investment and troublesome in poeration while bringing noise to environment.
In addition, existing mechanical gripping mechanism can have a power failure during use or the overweight workpiece of workpiece falls off and causes thing
Therefore very big restriction is caused to production.
Therefore, above-mentioned technical problem needs to solve.
Utility model content
The utility model for overcome the deficiencies in the prior art, provides a kind of grasping mechanism, the purpose is to realize crawl side
Just, and avoid the problem that occurring dropping off appearance in the case where occurring to have a power failure or workpiece is overweight.
In order to solve the above technical problems, the utility model proposes basic technical scheme be：A kind of crawl
The handgrip component includes bracket, the first handgrip is rotatablely connected on the bracket, the second handgrip and one can be past
The sliding block moved again, first handgrip and the second gripping structure are identical；
Wherein, the first handgrip includes the first clamping part and the first swing part, and the second handgrip includes the second clamping part and second
Swing part；
First swing part is flexibly connected the first side of the sliding block, and second swing part is flexibly connected the cunning
Second side of block, first swing part is able to drive when sliding block moves back and forth and the second swing part is swung.
Further, first through slot, the first side of the sliding block and first through slot is arranged in first swing part
It is movably connected；
Second through slot is arranged in second swing part, and the first side of the sliding block is flexibly connected with first through slot
Together.
Further, first through slot runs through the upper and lower end face of the first swing part；Second through slot is through the second pendulum
The upper and lower end face in dynamic portion.
Further, one piece of connecting plate of the connection of the sliding block, the two sides of the connecting plate respectively with the first through slot and second
Through slot is movably connected.
Further, the two sides of the connecting plate are separately connected the first connecting column and the second connecting column, first connecting column
It is located in first through slot and the second through slot with the second connecting column.
Further, the sliding block is threaded on a screw rod, and the other end of the screw rod and generation rotation are defeated
Power mechanism connection out.
Further, the sliding block is also socketed on the slide bar that one is coaxially disposed with the screw rod.
Further, the bracket includes the first side plate and the second side plate positioned opposite, first side plate and second side
Plate is respectively provided with the first hollow portion and the second hollow portion, and first handgrip is rotatably arranged in the first hollow portion, the second handgrip
It is rotatably arranged in the second hollow portion.
The another aspect of the utility model provides a kind of six shaft machine hand, it is therefore intended that realizes high-precision six axis
The technical solution is：A kind of six axis robot can generate the first rotating mechanism of rotation, first whirler
Second swing mechanism is set on structure, and the end connection one of second swing mechanism can generate the third swing mechanism of swing, should
The end of third swing mechanism connects the 4th rotating mechanism that can generate rotation, and the end of the 4th rotating mechanism connects
Crawl described in scheme above one is arranged in the 5th swing mechanism that life of practicing midwifery is swung up and down, the end of the 5th swing mechanism
Mechanism.
Further, first rotating mechanism includes fixing seat, and setting generates the first of rotary motion in the fixing seat
Power Component, the output end of the first Power Component connect the rotating disc for being placed in fixing seat upper surface；
Second swing mechanism includes being fixed on can generate on the rotating disc to swing up and down the second of movement
The output end of Power Component, second Power Component connects the second articulated slab；
The third swing mechanism includes the third Power Component for being fixed on second articulated slab end, the third
The output end of Power Component connects third articulated slab；
4th rotating mechanism includes the 4th power that can generate rotary power for being fixed on third articulated slab end
The output end of component, the 4th Power Component connects the 4th articulated slab；
5th swing mechanism includes the 5th Power Component for being fixed on the 4th articulated slab end, and the 5th
The output end of Power Component connects the 5th articulated slab；
The end of 5th articulated slab is connect with the grasping mechanism.
The utility model has the beneficial effects that：
The technical solution of the utility model is the crawl for realizing handgrip by sliding block and screw rod, realizes operation without pneumatic
Words, structure is simple, environment is noiseless.And due to the effect of sliding block and screw rod so that generating self-locking function in use process, peace
It is complete reliable.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram one of grasping mechanism of the utility model；
Fig. 2 is a kind of structural schematic diagram two of grasping mechanism；
Fig. 3 is the structural schematic diagram of the first handgrip；
Fig. 4 is the structural schematic diagram of the second handgrip；
Fig. 5 is the schematic illustration that the first handgrip and the second handgrip clamp；
Fig. 6 is the structural schematic diagram of second of implementation of the first handgrip；
Fig. 7 is the structural schematic diagram of second of implementation of the second handgrip；
Fig. 8 is second of implementation that the first handgrip and the second handgrip clamp principle；
Fig. 9 is the mobile embodiment schematic diagram of sliding block；
Figure 10 is a kind of structural schematic diagram of six axis robot.
Specific embodiment
Below with reference to attached drawing 1 to Figure 10 the utility model is described further, but this reality should not be limited with this
With novel protection scope.
A kind of grasping mechanism of the technical solution of the utility model, the manipulator as industrial robot；It can be used for industry
Material crawl in production.
Referring to Fig. 1 to Fig. 5.Detailed, which includes handgrip component 1, which includes bracket 11,
The first handgrip 12, the second handgrip 13 and a sliding block 14 that can be moved back and forth, first handgrip are rotatablely connected on bracket 11
12 is identical with 13 structure of the second handgrip；Wherein, the first handgrip 12 include the first clamping part 121 and the first swing part 122, second
Handgrip 13 includes the second clamping part 131 and the second swing part 132；First swing part 122 is flexibly connected the sliding block 14
First side 141, second swing part 132 are flexibly connected second side 142 of the sliding block 14, when sliding block 14 moves back and forth
It is able to drive first swing part 122 and the second swing part 132 is swung.
I.e. in the present embodiment, useless to realize the control to handgrip by the way of traditional air pressure driving, but it is logical
The sliding block that can be moved 14 is crossed to realize.Specifically, the sliding block 14 is in moving process, can adjust described the
Angle between one handgrip 12 and the second handgrip 13 is grabbed with this to realize.
In the technical scheme, one feasible embodiment is as follows：
First through slot 021 is set in the first swing part 122 of the first handgrip 12, which is through this
The upper and lower end face of first swing part 122；First side 141 of the sliding block 14 is movably connected in one with first through slot 021
It rises；I.e. the first side 141 of the sliding block 14 can move back and forth back and forth in first through slot 021.
Similarly, second through slot 041 is set in the second swing part 132 of the second handgrip 13, which passes through
Wear the upper and lower end face of the second swing part 132；Second side 142 of the sliding block 14 and second through slot 041 are movably connected in one
It rises；I.e. second side 142 of the sliding block 14 can move back and forth back and forth in second through slot 041.
Since the distance between the first side 141 of sliding block 14 and second side 142 are constant；And two handgrips and bracket
The distance between 11 rotating joints are also constant, and are formed with sliding block 14, the first swing part 122 and the second swing part 132
One isosceles trapezoidal structure, in 14 moving process of sliding block, the interior angle of the isosceles trapezoidal structure can change, and be realized with this
Angle change between first clamping part 121 and the second clamping part 131 realizes the first clamping part 121 and the second clamping
The completion of the holding action in portion 131.
In order to preferably realize control, the first clamping part 121 and the second clamping can be adjusted as needed in other words
131 original angle of portion and amplitude of variation, one piece of connecting plate 15 of connection of sliding block 14, the two sides of the connecting plate 15 are respectively with
One through slot 021 and the second through slot 041 are movably connected.The length of connecting plate 15 can be according to different behaviours in service
It is selected.Specifically, the two sides of connecting plate 15 are separately connected the first connecting column 151 and the second connecting column 152, this first
Connecting column 151 and the second connecting column 152 are located in first through slot 021 and the second through slot 041.
Therefore, while sliding block 14 drives connecting plate 15 to slide, the angle of the first handgrip 12 and the second handgrip 13 is driven
Clamping is realized in variation.
Certainly, above-mentioned technical solution is one such, can be first as a kind of selectable embodiment
The first link slot 022 and the second link slot being recessed inwardly is respectively set in the medial surface of swing part 122 and the second swing part 132
042, as shown in Figure 6 and Figure 7.And the two sides of the sliding block 14 are movably arranged on the first link slot 022 and the second link slot
In 042, the angle adjustment of the first handgrip 12 and the second handgrip 13 can be realized in the swing process of sliding block 14, it is specific such as Fig. 8
It is shown.
Also perhaps in the upper surface or lower end surface setting first of first swing part 122 and the second swing part 132
The both ends of sliding slot and second sliding slot, sliding block 14 are arranged on the first and second sliding slot (being not drawn into figure), in 14 sliding process of sliding block
In, guarantee the angle control of the first swing part 122 and the second swing part 132.
It should be appreciated that in the present embodiment, traditional pressure control is not used, can guarantee the simplification of structure and steady
It is qualitative.
In the present embodiment, the sliding block 14 is reciprocally moveable, referring specifically to Fig. 1, Fig. 2 and Fig. 9.When the program
It is achieved.The sliding block 14 is threaded on a screw rod 16, and the other end of the screw rod 16 and generation rotation are defeated
Power mechanism 17 out connects.I.e. when in use, the power mechanism 17 generates the power output of a rotation, drives
It moves the screw rod 16 to rotate, screw rod 16 realizes the reciprocating movement of sliding block 14 during rotating.In the present embodiment, the power
Mechanism 17 uses servo motor, such as when the servo motor rotates forward, moves with movable slider 14 along the end of swing part, when
Servo motor is moved with movable slider 14 along the direction of clamping part when inverting.It specifically can according to need adjustment.In this implementation
Example, power mechanism 17 are arranged on the end side of bracket 11.
In addition, in order to guarantee stability of the sliding block 14 in moving process, the sliding block 14 is also socketed one and the screw rod
On the slide bar 18 of 16 coaxial arrangements.The effect of the slide bar 18 is to play guiding role, and can realize together with screw rod 16 to cunning
The position restriction of the sliding of block 14.
Referring to Fig. 1 and Fig. 2, bracket 11 includes the first side plate 111 and the second side plate 112 positioned opposite, first side plate
111 and second side plate 112 be respectively provided with the first hollow portion 05 and the second hollow portion 06, first handgrip 12 is rotatably arranged on
In first hollow portion 05, the second handgrip 13 is rotatably arranged in the second hollow portion 06.The purpose for the arrangement is that can guarantee first
The stability of handgrip 12 and the second handgrip 13 during the swing, and guarantee its intensity.
In the present embodiment, since the grasping movement of the first handgrip 12 and the second handgrip 13 is the cunning controlled based on screw rod 16
What the reciprocating movement of block 14 was realized, during use 12 He of the first handgrip will not be caused because of power-off or other reasons
Second handgrip 13 loosens and damages material.
In the technical scheme, it is also proposed that a kind of six axis robot is used as six axis and accurately controls realization material crawl.Tool
Body, referring to Figure 10 comprising have the first rotating mechanism 2 that can generate rotation, be arranged second on first rotating mechanism 2
Swing mechanism 3, the end connection one of second swing mechanism 3 can generate the third swing mechanism 4 of swing, which swings
The end of mechanism 4 connects the 4th rotating mechanism 5 that can generate rotation, and the end of the 4th rotating mechanism 5, which connects, to be generated
An a kind of above-mentioned handgrip component 1 is arranged in the end of the 5th swing mechanism 6 swung up and down, the 5th swing mechanism 6.It should
Manipulator can realize the control of different motion axis by six mechanisms, meet industrial multijoint control.
Detailed, first rotating mechanism 2 includes fixing seat 21, and setting generates rotary motion in the fixing seat 21
First Power Component 22, the output end of the first Power Component 22 connect the rotating disc 23 for being placed in 21 upper surface of fixing seat；
Second swing mechanism 3 includes being fixed on the second power that can generate on the rotating disc 23 swings up and down movement
The output end of component 31, second Power Component 31 connects the second articulated slab 32；The third swing mechanism 4 includes being fixed
The output end connection third of third Power Component 41 in 32 end of the second articulated slab, the third Power Component 41 is hinged
Plate 42；4th rotating mechanism 5 includes the 4th power that can generate rotary power for being fixed on 42 end of third articulated slab
The output end of component 51, the 4th Power Component 51 connects the 4th articulated slab 52；5th swing mechanism 6 includes being fixed
The output end connection the 5th of the 5th Power Component 61 in 52 end of the 4th articulated slab, the 5th Power Component 61 is hinged
Plate 62；The end of 5th articulated slab 62 is connect with the grabbing assembly 1.
When in use, which can realize control by an embedded system.
According to the disclosure and teachings of the above specification, the utility model those skilled in the art can also be to above-mentioned
Embodiment is changed and is modified.Therefore, the utility model is not limited to specific embodiment party disclosed and described above
Formula should also be as falling into the protection scope of the claims of the present utility model to some modifications and changes of the utility model.This
Outside, although using some specific terms in this specification, these terms are merely for convenience of description, not to this reality
With novel composition any restrictions.
Claims (10)
1. a kind of grasping mechanism, including handgrip component (1), it is characterised in that：
The handgrip component (1) includes bracket (11), and the first handgrip (12), the second handgrip (13) are rotatablely connected on the bracket (11)
And a sliding block (14) that can be moved back and forth, first handgrip (12) are identical with the second handgrip (13) structure；
Wherein, the first handgrip (12) includes the first clamping part (121) and the first swing part (122), and the second handgrip (13) includes the
Two clamping parts (131) and the second swing part (132)；
First swing part (122) is flexibly connected the first side (141) of the sliding block (14), second swing part (132)
It is flexibly connected second side (142) of the sliding block (14), is able to drive first swing part when sliding block (14) move back and forth
(122) it is swung with the second swing part (132).
2. a kind of grasping mechanism as described in claim 1, it is characterised in that：
First swing part (122) is arranged first through slot (021), the first side (141) of the sliding block (14) and this
One through slot (021) is movably connected；
Second swing part (132) is arranged second through slot (041), second side (142) of the sliding block (14) and this
Two through slots (041) are movably connected.
3. a kind of grasping mechanism as claimed in claim 2, it is characterised in that：
First through slot (021) runs through the upper and lower end face of the first swing part (122)；Second through slot (041) runs through second
The upper and lower end face of swing part (132).
4. a kind of grasping mechanism as claimed in claim 2, it is characterised in that：
One piece of connecting plate (15) of connection of the sliding block (14), the two sides of the connecting plate (15) respectively with the first through slot (021) and
Second through slot (041) is movably connected.
5. a kind of grasping mechanism as claimed in claim 4, it is characterised in that：
The two sides of the connecting plate (15) are separately connected the first connecting column (151) and the second connecting column (152), first connecting column
(151) it is located in first through slot (021) and the second through slot (041) with the second connecting column (152).
6. a kind of grasping mechanism as described in claim 1, it is characterised in that：
The sliding block (14) is threaded on a screw rod (16), and the other end of the screw rod (16) and generation rotation output
Power mechanism (17) connection.
7. a kind of grasping mechanism as claimed in claim 6, it is characterised in that：
The sliding block (14) is also socketed on the slide bar (18) that one is coaxially disposed with the screw rod (16).
8. a kind of grasping mechanism as described in claim 1, it is characterised in that：
The bracket (11) includes the first side plate (111) and the second side plate (112) positioned opposite, first side plate (111) and
Second side plate (112) is respectively provided with the first hollow portion (05) and the second hollow portion (06), the first handgrip (12) rotation setting
In the first hollow portion (05), the second handgrip (13) is rotatably arranged in the second hollow portion (06).
9. a kind of six axis robot, which is characterized in that including：
The first rotating mechanism (2) of rotation can be generated, the second swing mechanism (3) are set on first rotating mechanism (2), this
The end connection one of two swing mechanisms (3) can generate the third swing mechanism (4) of swing, the end of the third swing mechanism (4)
End connection one can generate the 4th rotating mechanism (5) of rotation, and the end connection of the 4th rotating mechanism (5) generates the upper bottom
Grabbing as described in one of claim 1 to 8 is arranged in the end of the 5th dynamic swing mechanism (6), the 5th swing mechanism (6)
Take mechanism.
10. a kind of six axis robot as claimed in claim 9, it is characterised in that：
First rotating mechanism (2) includes fixing seat (21), and setting generates rotary motion in the fixing seat (21) first moves
Power component (22), the output end of the first Power Component (22) connect the rotating disc for being placed in fixing seat (21) upper surface
(23)；
Second swing mechanism (3) includes for being fixed on can generate on the rotating disc (23) and swinging up and down movement
The output end of two Power Components (31), second Power Component (31) connects the second articulated slab (32)；
The third swing mechanism (4) includes the third Power Component (41) for being fixed on the second articulated slab (32) end,
The output end of the third Power Component (41) connects third articulated slab (42)；
4th rotating mechanism (5) include be fixed on third articulated slab (42) end can generate the 4th dynamic of rotary power
The output end of power component (51), the 4th Power Component (51) connects the 4th articulated slab (52)；
5th swing mechanism (6) includes the 5th Power Component (61) for being fixed on the 4th articulated slab (52) end,
The output end of 5th Power Component (61) connects the 5th articulated slab (62)；
The end of 5th articulated slab (62) is connect with the grasping mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721728586.9U CN208133002U (en) | 2017-12-13 | 2017-12-13 | A kind of grasping mechanism and six axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721728586.9U CN208133002U (en) | 2017-12-13 | 2017-12-13 | A kind of grasping mechanism and six axis robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208133002U true CN208133002U (en) | 2018-11-23 |
Family
ID=64283222
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721728586.9U Expired - Fee Related CN208133002U (en) | 2017-12-13 | 2017-12-13 | A kind of grasping mechanism and six axis robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208133002U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109434824A (en) * | 2019-01-10 | 2019-03-08 | 福州大学 | A kind of the simple motion mechanism and its working method of the changeable direction of motion |
| CN113930926A (en) * | 2021-09-26 | 2022-01-14 | 山东大学 | Needle supplementing device of tentering setting machine and use method |
-
2017
- 2017-12-13 CN CN201721728586.9U patent/CN208133002U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109434824A (en) * | 2019-01-10 | 2019-03-08 | 福州大学 | A kind of the simple motion mechanism and its working method of the changeable direction of motion |
| CN113930926A (en) * | 2021-09-26 | 2022-01-14 | 山东大学 | Needle supplementing device of tentering setting machine and use method |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181123 Termination date: 20191213 |