CN205129877U - A mechanical gripper for five degree of freedom transfer robots - Google Patents
A mechanical gripper for five degree of freedom transfer robots Download PDFInfo
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- CN205129877U CN205129877U CN201520671580.7U CN201520671580U CN205129877U CN 205129877 U CN205129877 U CN 205129877U CN 201520671580 U CN201520671580 U CN 201520671580U CN 205129877 U CN205129877 U CN 205129877U
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Abstract
本实用新型公开了一种用于五自由度搬运机器人的机械手爪，包括：驱动部件、传动部件和手指部件，所述驱动部件通过所述传动部件连接并驱动所述手指部件，所述驱动部件为液压油缸，所述传动部件为滑槽杠杆式、连杆杠杆式、斜楔杠杆式、齿轮齿条式、丝杆螺母式、弹簧式或者重力式，所述手指部件包括至少两根外抓式机械手指。通过上述方式，本实用新型用于五自由度搬运机器人的机械手爪具有结构新颖、控制灵敏、活动灵活、动力强劲、方便实用等优点，在用于五自由度搬运机器人的机械手爪的普及上有着广泛的市场前景。
The utility model discloses a mechanical gripper for a five-degree-of-freedom handling robot, comprising: a driving part, a transmission part and a finger part, the driving part is connected through the transmission part and drives the finger part, and the driving part It is a hydraulic cylinder, and the transmission part is a chute lever type, a connecting rod lever type, a wedge lever type, a rack and pinion type, a screw nut type, a spring type or a gravity type, and the finger parts include at least two outer claws mechanical fingers. Through the above method, the utility model's mechanical gripper for five-degree-of-freedom handling robots has the advantages of novel structure, sensitive control, flexible movement, strong power, convenience and practicality, and has great advantages in the popularization of mechanical grippers for five-degree-of-freedom handling robots Broad market prospects.
Description
技术领域 technical field
本实用新型涉及搬运机器人领域，特别是涉及一种用于五自由度搬运机器人的机械手爪。 The utility model relates to the field of handling robots, in particular to a mechanical claw used for a five-degree-of-freedom handling robot.
背景技术 Background technique
随着现代化科学技术的飞速发展和社会的进步，机器人系统在各个领域的应用越来越广泛。目前，工业机器人的应用领域主要有弧焊、点焊、装配、搬用、喷漆、检测、研磨抛光、激光加工等，其中搬运机器人在搬运工作上应用广泛。使用者对搬运机器人速度、精度、成本、结构等因素要求越来越高，然而现有的搬运机器人已经不能满足人们的诸多要求。 With the rapid development of modern science and technology and the progress of society, robot systems are more and more widely used in various fields. At present, the application fields of industrial robots mainly include arc welding, spot welding, assembly, handling, painting, testing, grinding and polishing, laser processing, etc. Among them, handling robots are widely used in handling work. Users have higher and higher requirements on the speed, precision, cost, structure and other factors of handling robots. However, the existing handling robots can no longer meet many of people's requirements.
实用新型内容 Utility model content
本实用新型主要解决的技术问题是提供一种用于五自由度搬运机器人的机械手爪，通过采用外抓式手指作为搬运机器人的机械手爪，结构新颖、控制灵敏、活动灵活、动力强劲、方便实用，在用于五自由度搬运机器人的机械手爪的普及上有着广泛的市场前景。 The technical problem mainly solved by the utility model is to provide a mechanical gripper for five-degree-of-freedom handling robot. By adopting the outer grasping finger as the mechanical gripper of the handling robot, it has novel structure, sensitive control, flexible movement, strong power, convenient and practical , has a broad market prospect in the popularization of robotic grippers for five-degree-of-freedom handling robots.
为解决上述技术问题，本实用新型提供一种用于五自由度搬运机器人的机械手爪，用于控制驱动搬运机器人的驱动机构，包括：驱动部件、传动部件和手指部件，所述驱动部件通过所述传动部件连接并驱动所述手指部件，所述驱动部件为液压油缸，所述手指部件包括至少两根外抓式机械手指。 In order to solve the above technical problems, the utility model provides a mechanical gripper for a five-degree-of-freedom handling robot, which is used to control and drive the driving mechanism of the handling robot, including: a driving part, a transmission part and a finger part, and the driving part passes through the The transmission part is connected to and drives the finger part, the driving part is a hydraulic cylinder, and the finger part includes at least two external grasping mechanical fingers.
在本实用新型一个较佳实施例中，所述液压油缸为伸缩式液压油缸。 In a preferred embodiment of the utility model, the hydraulic cylinder is a telescopic hydraulic cylinder.
本实用新型的有益效果是：本实用新型用于五自由度搬运机器人的机械手爪具有结构新颖、控制灵敏、活动灵活、动力强劲、方便实用等优点，在用于五自由度搬运机器人的机械手爪的普及上有着广泛的市场前景。 The beneficial effects of the utility model are: the utility model is used for the five-degree-of-freedom handling robot manipulator has the advantages of novel structure, sensitive control, flexible movement, strong power, convenient and practical, etc. The popularization has a broad market prospect.
附图说明 Description of drawings
为了更清楚地说明本实用新型实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本实用新型的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图，其中： In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some implementations of the present invention. For example, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative work, wherein:
图1是本实用新型的用于五自由度搬运机器人的机械手爪一较佳实施例的结构示意图。 Fig. 1 is a structural schematic diagram of a preferred embodiment of a mechanical gripper for a five-degree-of-freedom handling robot of the present invention.
具体实施方式 detailed description
下面将对本实用新型实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本实用新型的一部分实施例，而不是全部的实施例。基于本实用新型中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本实用新型保护的范围。 The following will clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.
本实用新型实施例包括： Embodiments of the utility model include:
一种用于五自由度搬运机器人的机械手爪，用于控制驱动搬运机器人的驱动机构，包括：驱动部件1、传动部件2和手指部件3。 A mechanical gripper for a five-degree-of-freedom handling robot is used to control a driving mechanism for driving the handling robot, including: a driving part 1 , a transmission part 2 and a finger part 3 .
所述驱动部件1通过所述传动部件2连接并驱动所述手指部件3，所述驱动部件1为液压油缸，控制灵敏、活动灵活、动力强劲，所述手指部件3包括至少两根外抓式机械手指，采用外抓式手指作为搬运机器人的机械手爪，结构新颖、方便实用。 The drive part 1 is connected to and drives the finger part 3 through the transmission part 2. The drive part 1 is a hydraulic cylinder with sensitive control, flexible movement and strong power. The finger part 3 includes at least two external grasping The mechanical finger adopts the external grasping finger as the mechanical claw of the handling robot, which is novel in structure, convenient and practical.
优选地，所述液压油缸为伸缩式液压油缸。 Preferably, the hydraulic cylinder is a telescopic hydraulic cylinder.
本实用新型用于五自由度搬运机器人的机械手爪的有益效果是：通过采用外抓式手指作为搬运机器人的机械手爪，结构新颖、方便实用。 The beneficial effect of the utility model for the mechanical claw of the five-degree-of-freedom transporting robot is that the structure is novel, convenient and practical by adopting the external grasping fingers as the mechanical claw of the transporting robot.
以上所述仅为本实用新型的实施例，并非因此限制本实用新型的专利范围，凡是利用本实用新型说明书内容所作的等效结构或等效流程变换，或直接或间接运用在其它相关的技术领域，均同理包括在本实用新型的专利保护范围内。 The above descriptions are only examples of the present utility model, and are not intended to limit the patent scope of the present utility model. Any equivalent structure or equivalent process transformation made by using the content of the utility model description, or directly or indirectly used in other related technologies Fields are all included in the scope of patent protection of the utility model in the same way.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520671580.7U CN205129877U (en) | 2015-09-01 | 2015-09-01 | A mechanical gripper for five degree of freedom transfer robots |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520671580.7U CN205129877U (en) | 2015-09-01 | 2015-09-01 | A mechanical gripper for five degree of freedom transfer robots |
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| CN205129877U true CN205129877U (en) | 2016-04-06 |
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| CN201520671580.7U Expired - Lifetime CN205129877U (en) | 2015-09-01 | 2015-09-01 | A mechanical gripper for five degree of freedom transfer robots |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108691289A (en) * | 2018-06-07 | 2018-10-23 | 宝鸡文理学院 | Expressway garbage pickup device |
| CN109259966A (en) * | 2018-11-06 | 2019-01-25 | 桂莉 | A kind of nursing handcart managing device |
-
2015
- 2015-09-01 CN CN201520671580.7U patent/CN205129877U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108691289A (en) * | 2018-06-07 | 2018-10-23 | 宝鸡文理学院 | Expressway garbage pickup device |
| CN109259966A (en) * | 2018-11-06 | 2019-01-25 | 桂莉 | A kind of nursing handcart managing device |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190911 Address after: 215200 No. 551 Jiangxing East Road, Wujiang Economic and Technological Development Zone, Suzhou City, Jiangsu Province Patentee after: SUZHOU JIUFU AGRICULTURAL MACHINERY Co.,Ltd. Address before: 215000, room 666, 7001 Xiangcheng Avenue, Xiangcheng District, Suzhou, Jiangsu Patentee before: SUZHOU DALIKE AUTOMATION TECHNOLOGY Co.,Ltd. |
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| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20160406 |