Summary of the invention
Main purpose of the present invention is to address the above problem and is not enough, provides a kind of simple in structure, highly versatile, multi freedom degree mechanical hand fixture safe and convenient to use.
For achieving the above object, technical scheme of the present invention is:
A kind of multi freedom degree mechanical hand fixture, comprise Robotic Host, gripping body, linking arm and controller for connecting described Robotic Host and gripping body, described gripping body comprises a pair of rotatable handgrip for the gripping workpiece, for the clamp device of regulating X axis distance between two described handgrips, for driving the described handgrip mobile device moving along y-axis shift, described clamp device and mobile device are electrically connected to described controller.
Further, in described gripping body, also comprise for regulating the adjusting device of described handgrip gripping power.
Further, also comprise the mechanical arm of pair of opposing in described gripping body, described handgrip is connected on described mobile device, and described mobile device is fixed on described mechanical arm, and described mechanical arm is connected with described clamp device.
Further: described clamp device is flexible gripping cylinder, and two described mechanical arms are fixed on the two ends of described flexible gripping cylinder, by a pair of described mechanical arm of the flexible drive of described flexible gripping cylinder, are relatively moved and are realized the gripping of workpiece and unclamp.
Further, described flexible gripping cylinder connects a cylinder pressure regulator valve, and described cylinder pressure regulator valve is electrically connected to described controller.
Further, described mobile device is the telescopic moving cylinder, and the described handgrip of described telescopic moving air cylinder driven is done rectilinear motion along described mechanical arm.
Further, the rotation of described handgrip is driven by the rotary cylinder be connected with described handgrip, and described rotary cylinder is connected on described mobile device, and described rotary cylinder is electrically connected to described controller.
Further, on described linking arm, be provided with for manually operated handle.
Further, described Robotic Host comprises a cantilever crane, in the cantilever lower end of described cantilever crane, is rotationally connected described linking arm.
Further, the cantilever of described cantilever crane is realized the lifting on vertical direction by telescopic cylinder.
Content to sum up, a kind of multi freedom degree mechanical hand fixture of the present invention, simple in structure, can realize the multivariant gripping to the workpiece of different size, shape, easy-to-operate, highly versatile, handgrip can be done the rectilinear motion of Y-axis, the requirement of fine setting while meeting workpiece holding and placement, and can realize the 180 degree upsets to workpiece, the present invention can also be regulated the gripping power of handgrip, while meeting the different workpieces gripping to the requirement of different gripping power.
The specific embodiment
Below in conjunction with accompanying drawing and the specific embodiment, the present invention is described in further detail:
As shown in Figure 1, a kind of multi freedom degree mechanical hand fixture, comprise Robotic Host 1, gripping body 2, for connecting linking arm 3, the controller of Robotic Host 1 and gripping body 2.
Wherein, as shown in Figure 1, Robotic Host 1 comprises a center steering formula cantilever crane 5, cantilever crane 5 is centered by a steel column 7, column 7 is fixed on the ground in workshop, cantilever 6 is done 360 degree rotations around column 7, cantilever 6 is connected by bearing pin 8 with the top of column 7, cantilever 6 is realized the lifting on vertical direction by telescopic cylinder 9, telescopic cylinder 9 is fixed on column 7, cantilever 6 is connected with the expansion link 11 of telescopic cylinder 9 by connecting rod 10, and telescopic cylinder 9 is connected with controller, is controlled the height of cantilever 6 by controller.
The bottom of the top of linking arm 3 and cantilever 6 realizes that by rotating shaft and bearing 360 degree are rotationally connected, and the bottom of linking arm 3 is connected with gripping body 2.
As shown in Figure 2, gripping body 2 comprises a pair of for the rotatable handgrip 13 of gripping workpiece, a pair of mechanical arm 12 be oppositely arranged, the corresponding handgrip 13 of each mechanical arm 12, between two mechanical arms 12, by clamp device, connect, clamp device is controlled two relative motions of mechanical arm 12 on X-direction, be fixedly connected with a mobile device on each mechanical arm 12, rotatable handgrip 13 is connected with mobile device, and mobile device drives handgrip 13 to do rectilinear motion on Y-axis.
In the present embodiment, clamp device adopts flexible gripping cylinder 14, flexible gripping cylinder 14 is controlled flexible to both sides by controller, the bottom of linking arm 3 is fixed on flexible gripping cylinder 14, two mechanical arms 12 are fixed on the two ends of flexible gripping cylinder 14, the a pair of mechanical arm 12 of flexible drive by flexible gripping cylinder 14 is done relative traveling priority on X-direction, two mechanical arms 12 or the relatively close gripping realized workpiece, or relatively away from the placement of unclamping realized workpiece.
In gripping body 2, also comprise for regulating the adjusting device of handgrip 13 gripping power, in the present embodiment, the adjusting device of gripping power adopts cylinder pressure regulator valve 15, control the power output of flexible gripping cylinder 14 by adjusting cylinders pressure regulator valve 15, according to different workpiece, require the output valve by setting cylinder pressure regulator valve 15 to reach the gripping power of controlling 12 pairs of workpiece of mechanical arm.
Mobile device adopts telescopic moving cylinder 16, handgrip 13 connects a rotary cylinder 17, rotary cylinder 17 is connected with telescopic moving cylinder 16, telescopic moving cylinder 16 and rotary cylinder 17 are electrically connected to controller, telescopic moving cylinder 16 is fixed on mechanical arm 12, mechanical arm 12 is when motion, and telescopic moving cylinder 16, rotary cylinder 17 and handgrip 13 be motion thereupon also.Telescopic moving cylinder 16 drives rotary cylinder 17 and handgrip 13 to do rectilinear motion on Y-axis under the control of controller, when needed, rotary cylinder 17 drives handgrip 13 to rotate in 180 degree scopes under the control of controller, and then the workpiece of drive handgrip 13 grippings overturns in 180 degree scopes.
After gripping or gripping during place work piece, by driving telescopic moving cylinder 16, make handgrip 13 do rectilinear motion along mechanical arm 12 on Y-axis, with the gripping position to gripping body 2, finely tuned, realize the reorientation of handgrip 13, guarantee gripping body 2 active accurately gripping and place work piece.
For convenience of operating personnel's operation, be provided with control panel 4 in controller, the operator can regulate arbitrarily according to the workpiece by gripping, to control the output valve of telescopic cylinder 9, flexible gripping cylinder 14, telescopic moving cylinder 16, rotary cylinder 17 and setting cylinder pressure regulator valve 15, and then accomplish accurate gripping and place work piece.
In the present embodiment, on linking arm 3, be provided with for manually operated handle 18, for the ease of operating personnel's operation, control panel 4 is arranged on handle 18 places.
Below describe the course of work of this handling erecting device in detail:
Placement location according to workpiece, operating personnel promote operating grip 18, cantilever 6 is around column 7 rotations, linking arm 3 is around cantilever 6 rotations, gripping body 2 is moved to the position that workpiece is placed, the telescopic cylinder 9 that operating personnel control in Robotic Host 1 by operation control panel 4, make gripping body 2 liftings to suitable height.
Position with reference to workpiece, when workpiece can't grab by operating grip 18, operating personnel start telescopic moving cylinder 16 by operation control panel 4, make handgrip 13 do rectilinear motion on mechanical arm 12, and then the gripping position of a pair of handgrip 13 is finely tuned, after determining and can realizing the accurate crawl to workpiece, start flexible gripping cylinder 14 by operation control panel 4, drive a pair of mechanical arm 12 and do in the X-axis linear relative movement, the gripping of realization to workpiece, make the suitable position of handgrip 13 grippings at workpiece, guarantee that the workpiece of gripping can not come off.Simultaneously, operating personnel set the output pressure value of cylinder pressure regulator valve 15 according to the requirement of different workpieces by operation control panel 4, and then set the gripping power of handgrip 13, under the prerequisite of defective work piece not, further, guarantee that gripping is firm, thereby guarantee the accurate gripping of workpiece.
After determining gripping of workpiece, by operating grip 18, travelling workpiece is to needing the position of placing.When will be to workpiece turning, start rotary cylinders 17 by operation control panel 4, realize the 180 degree upsets to workpiece.After workpiece turning, operating grip 18, the control panel of auxiliary operation simultaneously 4 starts telescopic moving cylinder 16, and workpiece is accurately moved on the workbench position.After workpiece is determined position, start flexible gripping cylinder 14 by operation control panel 4, drive a pair of mechanical arm 12 to two side shiftings to unclamp the crawl to workpiece.Last operation handle 18, remove whole gripping body 2.
As mentioned above, given scheme content, can derive similar technical scheme by reference to the accompanying drawings.In every case be the content that does not break away from technical solution of the present invention, any simple modification, equivalent variations and the modification above embodiment done according to technical spirit of the present invention, all still belong in the scope of technical solution of the present invention.