CN103802121A - Positioning structure of clamp assembly - Google Patents
Positioning structure of clamp assembly Download PDFInfo
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- CN103802121A CN103802121A CN201410047592.2A CN201410047592A CN103802121A CN 103802121 A CN103802121 A CN 103802121A CN 201410047592 A CN201410047592 A CN 201410047592A CN 103802121 A CN103802121 A CN 103802121A
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- tong assembly
- carrying arm
- gripper shoe
- lock nut
- arm
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Abstract
The invention relates to a positioning structure of a clamp assembly. The positioning structure comprises a carrying arm and the clamp assembly installed and positioned onto the carrying arm, and the clamp assembly comprises a clamping jaw. The positioning structure is characterized in that the clamp assembly can be adjusted in a sliding mode in the horizontal direction relative to the carrying arm. Thus, after all mechanical arms are installed and positioned, readjustment of the position of the clamping jaw can be achieved in the horizontal direction, and therefore the clamping claw can be flexibly adapted to workpieces of different specifications. Due to the fact that the positioning structure has the characteristics and the advantages, the positioning structure can be adapted to positioning structures of clamp assembly products for carrying materials automatically.
Description
Technical field
The present invention relates to the manipulator in the system of production, the location structure of the tong assembly in particularly can the manipulator of automatic transporting material, described tong assembly can provide axis location comparison workpiece accurately for machining center and numerically controlled lathe.
Background technology
The automation of production process is that particularly machine components manufacture field is very popular is also very important problem for current industry-by-industry.In the processing of machine components, traditional processing mode is to utilize the machine tooling of processing staff's direct control, and this cooked mode is very simple but need to expend a large amount of manpowers, and the mode of production of for this reason transforming this backwardness is very necessary.
In the arm-and-hand system being used in conjunction with lathe, an important structural design that structure link is tong system.And this body structure of jaw in tong system has had a lot of standardized pneumatic or electronic jaw products at present; But how thereby standardized jaw product is arranged in tong assembly and allows it coordinate the reasonable compounding technique effect of performance with the fixture of machining center, be but the problem that those skilled in the art are inquiring into always.Traditional tong assembly is general direct to be fixed on described tong assembly on the terminal position of carrying arm by screw, the position of jaw is substantially by the determining positions of described carrying arm, the problem of for this reason bringing is, after whole manipulator is positioned on machining center, how to allow jaw in the time capturing the workpiece of different size, can determine more neatly initial material loading or the blanking position of described jaw, very effort just seems.
Summary of the invention
We know, jaw is the material loading original position of described jaw in the time that grabbing workpiece reaches the axial location of fixture of machining center, and in general, described jaw also must advance and to the fixture of described machining center, submit workpiece to again from this position.If but the size difference of workpiece, shape difference, the center position of workpiece is also different, and the clip position of described jaw also can be adjusted thereupon.Although first this adjustment can solve by the method for clamping that changes described jaw, little in the leeway of this adjustment in some cases.In use procedure after equipment installation in position, just how to guarantee flexibly, capture and submit to this trickle link of various workpiece flexible for this reason, problem how reasonably to adjust the position location of described tong assembly at this, requires further improvement.
The present invention is intended to design a kind of above-mentioned purpose that can realize and the position that can also further adjust the described jaw of tong assembly after positioning mechanical arm is being installed, can also guarantee the location structure of the tong assembly of the installation stability of tong assembly, comprise carrying arm, installation navigates to the tong assembly on described carrying arm, and described tong assembly includes jaw; It is characterized in that, described tong assembly slides adjustable with respect to described carrying arm in the horizontal direction.
Wherein, described carrying arm, is the member that can drive described tong assembly to move.It is generally slidably connected on the horizontal sliding arm of manipulator.Described like this carrying arm coordinates with described horizontal sliding arm, can adjust the position of described tong assembly.Described tong assembly, includes jaw, and being mainly described machining center provides workpiece to be processed and take the workpiece having machined away; Described tong assembly can also comprise gripper shoe, the rotating driver etc. that will mention below.And described jaw itself has the driver of claw and the sub-holding action of driving claw, for this reason, described jaw can be finger cylinder or electronic chuck etc.
Wherein, described horizontal direction, refers to the direction parallel with horizontal plane.
Wherein, described tong assembly slides adjustable with respect to described carrying arm in the horizontal direction, although refer to that described tong assembly installation is positioned on described carrying arm, but in the time that adjusting, needs can slide with respect to described carrying arm, thereby be convenient to further adjust the horizontal level of described tong assembly, and in the time adjusting, can allow described tong assembly adjustable in certain stroke space.Realizing the adjustable concrete scheme that slides can be sliding groove structure, the rail structure that will mention below, can be also the Sliding Structures that elongated slot structure etc. can be regulated.
Secondly, for the ease of installing, locate and regulate described tong assembly, further technical scheme can also be, described tong assembly also comprises gripper shoe, described jaw is installed in described gripper shoe, described tong assembly is installed on described carrying arm by described gripper shoe, and described gripper shoe is slided adjustable with respect to described carrying arm in the horizontal direction.
Wherein, described gripper shoe is a member that can be installed on described carrying arm, and it is mainly used in locating described jaw etc.; If when secondly described tong assembly also includes the members such as rotating driver, described rotating driver is just arranged in described gripper shoe, and described jaw is just arranged on described rotating driver, thereby described jaw is also installed in described gripper shoe.Install behind location when robotic device, when described carrying arm moves, also can move and then drive described jaw to move with described gripper shoe.So just can utilize described gripper shoe to locate described rotating driver, jaw etc., thereby but also can allow described gripper shoe can slide and be convenient to further adjust by described gripper shoe the horizontal level of described tong assembly with respect to described carrying arm in the time need to adjusting.
According to technique scheme, be compared with the prior art, its useful technique effect is, not only described carrying arm can stably drive described tong assembly to move, and because described tong assembly can be adjusted in relatively described carrying arm horizontal slip, thereby all install behind location when described manipulator, can also realize in the horizontal direction the adjustment again to described jaw position, thereby can adapt to neatly the workpiece of different size; Secondly, owing to being provided with described gripper shoe and allowing described gripper shoe can slide adjustable with respect to described carrying arm, can locate the members such as the jaw in described tong assembly by means of described gripper shoe for this reason, and at least need not unload described tong assembly, also can adjust to easy and flexible the horizontal displacement of described tong assembly without tong total performance described in other instrument supplemental support.
Further technical scheme can also be, also comprise transition connecting plate body, the described transition connecting plate body described carrying arm that is connected, described gripper shoe connects described transition connecting plate body, and described gripper shoe is slided adjustable with respect to described transition connecting plate body in the horizontal direction.
According to this structure, described gripper shoe is not directly connected with described carrying arm but is connected on described carrying arm by described transition connecting plate body.Owing to being provided with described transition connecting plate body, can reduce the difficulty of processing slip tunable arrangement on described carrying arm, thereby by described transition connecting plate body as transition connector, by described gripper shoe adjustable being connected on described carrying arm of sliding; Secondly also can process independently described handling hand arm, also gripper shoe and described transition connecting plate body described in accessory processing independently, the adjustable standard component of relative sliding that makes described gripper shoe and described transition connecting plate body become a combination.
Further technical scheme can also be that described gripper shoe is obliquely installed, and has 45 ° of angles between described gripper shoe and horizontal plane.Can provide 45 ° of more accurate positioning datum angles for described tong assembly by the described gripper shoe being obliquely installed like this.Wherein said 45 ° of angles, are to explain with the minimum angle number between them, and the form of presentation being equal to can be also 135 °.
Further technical scheme can also be, it is adjustable that the Sliding Structures that described tong assembly arranges by horizontal direction realizes slip; Described Sliding Structures comprises sliding groove structure, rail structure or elongated slot structure etc.Described Sliding Structures is the structure that not only can be connected between a kind of two described tong assemblies that are oppositely arranged and described carrying arm and can relative sliding adjust.
Further technical scheme can also be that described sliding groove structure can adopt as dovetail groove sliding groove structure, T font sliding groove structure, hollow sliding groove structure etc.; Described sliding groove structure comprises concave part and can insert the protuberance in described concave part.
Further technical scheme can also be, is also provided with location-plate in one end of described concave part, is also provided with adjusting lock nut on described location-plate, and the top, top of described adjusting lock nut is pressed in the end of described protuberance.
Further technical scheme can also be, is also provided with location-plate in one end of described protuberance, is also provided with adjusting lock nut on described location-plate, and the top, top of described adjusting lock nut is pressed in the end of described concave part.
Further technical scheme can also be, is respectively arranged with a described location-plate at the two ends of described concave part or described protuberance, is provided with a described adjusting lock nut on each described location-plate.Can regulate accordingly and locate at the two ends of described chute so described gripper shoe.According to this technical scheme, can, by means of described location-plate and described adjusting lock nut, adjust the position of described jaw, also described protuberance can be positioned in described concave part.Wherein said adjusting lock nut, is a kind of mechanism that can rotate and can self-locked, by described adjusting lock nut, not only easy to adjust but also location is also convenient.
Further technical scheme can also be, is provided with the first lock nut on the wall body of described concave part, and described the first lock nut is pressed on described protuberance through pushing up after the wall body of described concave part.Can lock described protuberance by means of described the first lock nut like this, be convenient to steady operation, also can discharge described protuberance and be convenient to adjust.In this kind of scheme, for the lateral edges that prevents described protuberance is pushed up the damage that extrudes burr and then cause described protuberance by described lock nut, further scheme can also be to increase cushion block between the inner side of the wall body of described concave part and described protuberance, the top of described the first lock nut connects described cushion block, and described cushion block pushes up the side of pressing described protuberance again.
Further technical scheme can also be, because described concave part and described protuberance are the structures that can exchange, for this reason, with regard to described sliding groove structure, the concave part of described chute can be set directly on described carrying arm or in described gripper shoe, accordingly, described protuberance is set directly in described gripper shoe or on described carrying arm.
Further technical scheme can also be, described rail structure, and the first slide and the second lock nut that comprise the first slide rail, can be slidably connected on described the first slide rail, described the second lock nut can lock described tong assembly.
Further technical scheme can also be, because described the first slide rail and described the first slide are also the structures that can exchange, with regard to described rail structure, described the first slide rail can be set directly on described gripper shoe or described carrying arm, accordingly, described the first slide can be set directly in described carrying arm or described gripper shoe, like this in the time that described the first slide slides with respect to described the first slide rail, can drive described gripper shoe to move on described carrying arm, secondly described the second lock nut can lock the position that described tong assembly moves.
Further technical scheme can also be, can also adopt a kind of simpler and more direct elongated slot structure to realize described gripper shoe slip and be connected on described carrying arm adjustablely.Described elongated slot structure comprises the 3rd lock nut that is arranged on the elongated slot of the horizontal direction in described gripper shoe and can locks described gripper shoe through described elongated slot.Described like this 3rd lock nut is screwed on described carrying arm or on described transition connecting plate body through after described elongated slot, when unclamping the horizontal displacement that can adjust described gripper shoe after described the 3rd lock nut, can tighten up again described gripper shoe when tightening after described the 3rd lock nut.
According to the technical program, be compared with the prior art, because described gripper shoe is connected and navigated to described carrying arm by Sliding Structures such as sliding groove structure, rail structure or elongated slot structures, thereby when described manipulator is all installed behind location, can, by means of described Sliding Structures, realize location and the adjustment again of position in the horizontal direction to described jaw; Secondly,, by means of the adjustment of described Sliding Structures, also can allow the axis of jaw and the specific axis adaptation of specific workpiece.The movement clearance of described Sliding Structures itself is little in addition, and sliding-contact area is large, can they be coupled together for this reason reliablely.
Further technical scheme can also be, also comprises arm positioning seat, and described carrying arm is slidably arranged on described arm positioning seat; On described carrying arm, be provided with two the second parallel slide rails that extend along described handling hand arm lengths direction, on described arm positioning seat, be provided with the second slide of at least one pair of described second slide rail adaptation parallel with two, two the second parallel slide rails of described carrying arm are slidably arranged in respectively on described the second slide.Can utilize so the outside impact moment of a pair of described the second slide rail balance, the stability when greatly having improved described carrying arm and moving up and down, the stability while also greatly having improved described tong assembly work.In order further to improve the stability of described carrying arm operation, further technical scheme can also be, is provided with two pairs of described the second slides on described arm positioning seat, and the upper and lower arrangement of two pairs of described the second slides is also spaced.
Further technical scheme can also be, on described arm positioning seat, is provided with driven wheel, is also provided with spur rack, described spur rack and the described driven wheel engaged transmission of extending along described handling hand arm lengths direction on described carrying arm.
Further technical scheme can also be, on described arm positioning seat, is also provided with the driver that can drive described driven wheel, and described driver comprises the gear-box that stepper motor and described stepper motor drag.
Further technical scheme can also be that described spur rack and described the second slide rail split on two facades of described carrying arm.Like this not only can be by means of described spur rack and described driven wheel engaged transmission, drive described carrying arm to move up and down, and can also be connected with a joggle by means of described spur rack and described driven wheel, article two, coordinating of parallel described the second slide rail and a pair of described the second slide or two pairs of described the second slides, form at least three-point fix structure, and then the stability of the described carrying arm of further strengthening while moving up and down, the stability while also greatly having improved described tong assembly work.According to the principle of this three-point fix, the technical scheme being equal to can also be, described spur rack and described the second slide rail are positioned on the same facade of described carrying arm, and described spur rack is between two the second parallel slide rails.
Because the present invention has These characteristics and advantage, can be applied in the location structure of tong assembly product of automatic transporting material for this reason.
Accompanying drawing explanation
Fig. 1 is the assembly structure schematic side view of the location structure of application tong assembly of the present invention, is also the first location structure schematic diagram;
Fig. 2 is the perspective view of application tong assembly of the present invention;
Fig. 3 is the described transition connecting plate body of location structure and the perspective view of gripper shoe combination of application tong assembly of the present invention;
Fig. 4 is the described transition connecting plate body of location structure of application tong assembly of the present invention and the decomposition texture schematic diagram of gripper shoe;
Fig. 5 is the second location structure schematic diagram of the location structure of application tong assembly of the present invention;
Fig. 6 is the 4th kind of location structure schematic diagram of the location structure of application tong assembly of the present invention;
Fig. 7 is the perspective view of the described carrying arm of the location structure of application tong assembly of the present invention;
Fig. 8 is that A in Fig. 7 is to structural representation;
Fig. 9 is the package assembly schematic perspective view of described carrying arm, described arm positioning seat and the driver of the location structure of application tong assembly of the present invention.
The specific embodiment
The location structure of the tong assembly below in conjunction with accompanying drawing to application technical solution of the present invention is further described.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, a kind of location structure of the tong assembly that can be used in conjunction with machining center, comprises the carrying arm 1 that can left and right movement even also can move up and down, and the tong assembly navigating on described carrying arm 1 is installed; Described tong assembly includes jaw 4, also includes rotating driver 3, and described jaw 4 is arranged on described rotating driver 3, and the above tong assembly can slide adjustable with respect to described carrying arm 1 in the horizontal direction.Wherein said carrying arm 1 left and right horizontal moving direction is the left and right directions B shown in Fig. 1.
Wherein, described carrying arm 1 is the member that can drive described tong assembly to move.It is generally slidably connected on the horizontal sliding arm (not shown in FIG.) of manipulator.Described like this carrying arm 1 coordinates with described horizontal sliding arm, can adjust the left and right of described tong assembly, upper and lower operating position.Described machining center be can processing equipment part equipment as lathe, and described tong assembly is mainly described machining center and workpiece to be processed is provided and takes the workpiece having machined away, and described machining center have one can holding workpiece fixture.
The location structure of described tong assembly also comprises the bracing frame 2 that can be installed on described carrying arm 1, support frame as described above 2 is members that link together with described carrying arm 1, the rotating driver 3 that it is mainly used in locating described jaw 4 and described jaw 4 is installed.Certainly, while described rotating driver 3 not being set in some occasion or some equipment, described jaw 4 is also just directly installed on support frame as described above 2.
Support frame as described above 2 comprises transition connecting plate body 21, gripper shoe 22, the downward-sloping setting of described gripper shoe 22, described transition connecting plate body 21 arranges in horizontal direction (also perpendicular to the axis of described carrying arm 1) and is directly connected on the lower end end face of described carrying arm 1 or other suitable position, between described transition connecting plate body 21 and described gripper shoe 22, there are 45 ° of angles, thereby make between described gripper shoe 22 and horizontal plane, also to there are 45 ° of angles.Described rotating driver 3 is arranged in described gripper shoe 22, and two jaws 4 are installed on described rotating driver 3.Described gripper shoe 22, described rotating driver 3, two described jaws 4 etc. form described tong assembly.According to the prompting of technique scheme, can also be bottom or other the suitable position that (the direction parallel with the axis of described carrying arm 1, the not shown in FIG.) setting in vertical direction of described transition connecting plate body 21 is also directly connected to described carrying arm 1.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, the Sliding Structures arranging by horizontal direction between described transition connecting plate body 21 and described gripper shoe 22 couples together.Described Sliding Structures is the structure that not only can be connected between a kind of two members that are oppositely arranged and can relative sliding adjust.Described Sliding Structures comprises sliding groove structure, rail structure or elongated slot structure etc., can slide in the horizontal direction adjustablely thereby give described tong assembly, and wherein the adjustable scope of one direction can be arranged on more than 3 millimeters.
Wherein the first scheme is sliding groove structure, and described sliding groove structure is oat tail groove structure.Described oat tail groove structure comprises and is arranged on concave part 23 below of described transition connecting plate body 21, is arranged on the protuberance 24 in described gripper shoe 22 top ends; Described concave part 23 and protuberance 24 are dovetail shaped mutually adaptive, and described protuberance 24 can slide and be inserted in described concave part 23.According in this scheme, the embodiment that can also adopt another kind to be equal to is that described concave part 23 is arranged in described gripper shoe 22 top ends, and described protuberance 24 is arranged on below described transition connecting plate body 21.
Also be provided with location-plate 5 in one end of described transition connecting plate body 21 in other words at described concave part 23, described location-plate 5 is positioned at by screw 51 on the wall body end face of described transition connecting plate body 21; On described location-plate 5, be also provided with and regulate lock nut 6, the top, top of described adjusting lock nut 6 is pressed in the end of described protuberance 24 and is connected with described protuberance 24.Can utilize so described adjusting lock nut 6 to regulate the front and back position of described gripper shoe 22 and locate described gripper shoe 22.In order to adjust more expediently the position of described gripper shoe 22, further technical scheme can also be, also be respectively arranged with a described location-plate 5 at the two ends of described transition connecting plate body 21, a described adjusting lock nut 6 is set respectively on two described location-plates 5, and the top of each described adjusting lock nut 6 is pushed up respectively and is pressed in two ends of described protuberance 24 and is connected with described protuberance 24.Can utilize so a pair of described adjusting lock nut 6 to adopt this that long regulative mode adjustment and locate the front and back position of described gripper shoe 22 of disappearing.
Wherein first scheme is also sliding groove structure, but described sliding groove structure is T font structure.As shown in Figure 5, different from the first scheme, the concave part of described T font chute 231 is arranged and is straight frame shape, and protuberance 241 settings are T font, described protuberance 241 is inserted into the adjustment of can sliding in described concave part 231, and they are combined to form T font structure.Secondly, be provided with screwed hole 251 on the wall body of described concave part 231, the first lock nut 25 is set in described screwed hole 251, described the first lock nut 25 is pressed on described protuberance 241 through the rear top of described screwed hole 251.Can lock described protuberance 241 by means of described the first lock nut 25 like this and be convenient to steady operation, also can discharge described protuberance 241 and be convenient to adjust.In this kind of scheme, for the lateral edges that prevents described protuberance 241 is regulated lock nut 25 immediate roofs to extrude burrs by described first and then causes the damage of described protuberance 241, further scheme can also be to increase cushion block 26 between the inner side of the wall body of described concave part 231 and described protuberance 241, the top of described the first lock nut 25 connects described cushion block 26, and described cushion block 26 pushes up the side of pressing described protuberance 241 again.Can also be even, the dentation line (not shown in FIG.) of location is set on the contact-making surface between described cushion block 26 and described protuberance 241, the interlock mutually of described dentation line, thus strengthen the positioning intensity between described cushion block 26 and described protuberance 241.
Certainly the scheme that forms described sliding groove structure forms described gripper shoe 22 scheme of adjusting of can sliding on described carrying arm 1 in other words to be also had a lot, it can also be for example the hollow that the described concave part 231 of described chute is set to seal, described protuberance 241 is set to rhabditis-form, the described protuberance 241 of described rhabditis-form is inserted in the described concave part 231 of hollow, and described gripper shoe 22 is connected on the both ends of described protuberance 241.Under the inspiration of the scheme for this reason having disclosed in this invention, can also design the multiple described chute scheme that can reach the object of the invention.
The third scheme is rail structure (not shown in FIG.), described rail structure comprises the first slide rail being arranged on described transition connecting plate body 21, first slide that can be slidably connected on described the first slide rail, described the first slide is arranged in described gripper shoe 22, also comprises the second lock nut; Wherein, described the second lock nut screw thread spins and is arranged in described gripper shoe 22, the top ends top of described the second lock nut is pressed on described transition connecting plate body 21, in the time unclamping described the second lock nut, can adjust like this position of described gripper shoe 22, on the contrary can by described gripper shoe 22 in other words described the first slide be locked on described transition connecting plate body 21.Because the syndeton of the second slide rail shown in primary structure and Fig. 7, Fig. 8 of described the first slide rail and described the first slide and the second slide is basically identical, do not drawing in addition its enforcement structure for this reason.
The 4th kind of scheme is elongated slot structure, as shown in Figure 6, described elongated slot structure is included in the elongated slot 222 that horizontal direction is set on the lug 221 of described gripper shoe 22, be screwed in two described screw holes 15 on described carrying arm 1 through after described elongated slot 222 and be provided with 15, two the 3rd lock nut 16 of screw hole at the end of described carrying arm 1.Slide and adjust the horizontal displacement of described gripper shoe 22 when unclamping the mode that just can manually beat after described the 3rd lock nut 16 like this, can tighten up again described gripper shoe 22 when tightening after described the 3rd lock nut 16, but this adjustment mode is relatively required great effort nor is very accurate.In order to improve convenience and the accuracy of adjustment, further can also use the adjustment scheme disclosed in above-mentioned the first scheme, both sides at described carrying arm 1 arrange location-plate, described gripper shoe 22 is between two described location-plates, on described location-plate, arrange the 3rd and adjust screw, the described the 3rd top ends top of adjusting screw is pressed in the lateral location of described gripper shoe 22, thereby adjusts the horizontal level of described gripper shoe 22 by described the 3rd adjustment screw.
Further technical scheme can also be, if in the situation that described transition connecting plate body 21 is not set, can also be that described concave part 23 or described protuberance 24 are set directly to the lower end of described carrying arm 1, and will between described carrying arm 1 and described gripper shoe 22, directly couple together by described Sliding Structures.Secondly, if in the situation that described gripper shoe 22 is not set, can be according to the relevant Sliding Structures of the present invention by described rotating driver 3 adjustable being arranged in the lower end or described transition connecting plate body 21 of described carrying arm 1 of directly sliding.
Further technical scheme can also be, as shown in Figure 7, Figure 8 and Figure 9, the location structure of described tong assembly also comprises arm positioning seat 8, and described arm positioning seat 8 is slidably arranged on described horizontal sliding arm by transverse arm slide (not shown in FIG.).Described carrying arm 1 is slidably arranged on described arm positioning seat 8.
As shown in Figure 7 and Figure 8, roughly rectangular tubulose of described carrying arm 1, on described carrying arm 1 one of them facade, be provided with two the second parallel slide rails (11,12) that extend along described carrying arm 1 length direction, article two, between parallel described the second slide rail (11,12), there is the structural strength that projection 14, described protruding 14 can improve the wall body of described the second slide rail (11,12) position; Also comprise two pairs of two couples the second slides (81,82,83,84) that described second slide rail (11,12) parallel with two is adaptive, two second parallel slide rails (11,12) of described carrying arm 1 are slidably arranged in respectively two on (four) described second slide (81,82,83,84).Wherein said the second slide 81 splits and forms first pair of slide with described the second slide 82 left and right, described the second slide 83 splits and forms second pair of slide with described the second slide 84 left and right, secondly the distance that described first pair of slide and described second pair of slide split up and down and interval is certain, two pairs of described the second slides (81,82,83,84) are arranged on described arm positioning seat 8.Can utilize like this described in two described the second slide rails (11,12) balance and carry the external impact moment that arm 1 is subject to, the stability when greatly having improved described carrying arm 1 and moving up and down, the stability while also greatly having improved described tong assembly work.
Secondly, as shown in Figure 9, on described arm positioning seat 8, be also provided with driver 9, described driver 9 comprises the gear-box 92 that stepper motor 91 and described stepper motor 91 drag, and described gear-box 92 output shaft ends connect driven wheel 93 through described arm positioning seat 8; Secondly, on described carrying arm 1 another one facade, be provided with the spur rack 13 extending along described carrying arm 1 length direction, thereby described spur rack 13 can drive described carrying arm 1 in the upper slip of described the second slide (81,82,83,84) with described driven wheel 93 engaged transmission.Like this not only can be by means of described spur rack 13 and described driven wheel 93 engaged transmission, drive described carrying arm 1 to move up and down, and can also be connected with a joggle with described driven wheel 93 by means of described spur rack 13, article two, coordinating of parallel described the second slide rail (11,12) and two pairs described the second slide (81,82,83,84), form at least three-point fix structure, and then the stability of the described carrying arm 1 of further strengthening while moving up and down, the stability while also greatly having improved described tong assembly work.According to the principle of this three-point fix, the technical scheme being equal to can also be, described spur rack 13 also can be arranged on the position at described protruding 14 places shown in Fig. 7, described like this spur rack 13 described second slide rail (11,12) parallel with two is not only parallel but also be positioned at the same facade of described carrying arm 1, certainly so needs to adjust the installation direction of described driven wheel 93 under structure.
Claims (10)
1. the location structure of tong assembly, comprises carrying arm, and the tong assembly navigating on described carrying arm is installed, and described tong assembly includes jaw; It is characterized in that, described tong assembly slides adjustable with respect to described carrying arm in the horizontal direction.
2. the location structure of tong assembly according to claim 1, it is characterized in that, described tong assembly also comprises gripper shoe, described tong is installed in described gripper shoe, described tong assembly is installed on described carrying arm by described gripper shoe, and described gripper shoe is slided adjustable with respect to described carrying arm in the horizontal direction.
3. the location structure of tong assembly according to claim 2, it is characterized in that, also comprise transition connecting plate body, the described transition connecting plate body described carrying arm that is connected, described gripper shoe connects described transition connecting plate body, and described gripper shoe is slided adjustable with respect to described transition connecting plate body in the horizontal direction.
4. according to the location structure of the tong assembly described in claim 2 or 3, it is characterized in that, described gripper shoe is obliquely installed, and roughly has 45 ° of angles between described gripper shoe and horizontal plane.
5. according to the location structure of the tong assembly described in claim 1,2 or 3, it is characterized in that, it is adjustable that the sliding groove structure that described tong assembly arranges by horizontal direction is realized slip; Described sliding groove structure comprises concave part and can insert the protuberance in described concave part; Wherein, be also provided with location-plate in one end of described concave part, be also provided with adjusting lock nut on described location-plate, the top, top of described adjusting lock nut is pressed in the end of described protuberance; Or be also provided with location-plate in one end of described protuberance, and on described location-plate, being also provided with adjusting lock nut, the top, top of described adjusting lock nut is pressed in the end of described concave part; Or on the wall body of described concave part, being provided with the first lock nut, described the first lock nut is pressed on described protuberance through pushing up after the wall body of described concave part.
6. according to the location structure of the tong assembly described in claim 1,2 or 3, it is characterized in that, it is adjustable that the rail structure that described tong assembly arranges by horizontal direction is realized slip; The first slide and the second lock nut that described rail structure comprises the first slide rail, can be slidably connected on described the first slide rail, described the second lock nut locks described tong assembly.
7. according to the location structure of the tong assembly described in claim 2 or 3, it is characterized in that, it is adjustable that the elongated slot structure that described tong assembly arranges by horizontal direction realizes slip; Described elongated slot structure comprises the 3rd lock nut that is arranged on the elongated slot of the horizontal direction in described gripper shoe and can locks described gripper shoe through described elongated slot.
8. according to the location structure of the tong assembly described in claim 1,2 or 3, it is characterized in that, also comprise arm positioning seat, described carrying arm is slidably arranged on described arm positioning seat; On described carrying arm, be provided with two the second parallel slide rails that extend along described handling hand arm lengths direction, on described arm positioning seat, be provided with the second slide of at least one pair of described second slide rail adaptation parallel with two, two the second parallel slide rails of described carrying arm are slidably arranged in respectively on described the second slide.
9. the location structure of tong assembly according to claim 8, it is characterized in that, on described arm positioning seat, be provided with driven wheel, on described carrying arm, be also provided with spur rack, described spur rack and the described driven wheel engaged transmission of extending along described handling hand arm lengths direction.
10. the location structure of tong assembly according to claim 9, is characterized in that, described spur rack and described the second slide rail split on two facades of described carrying arm; Or described spur rack and described the second slide rail be positioned on the same facade of described carrying arm, described spur rack is between two the second parallel slide rails.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410047592.2A CN103802121A (en) | 2014-02-11 | 2014-02-11 | Positioning structure of clamp assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410047592.2A CN103802121A (en) | 2014-02-11 | 2014-02-11 | Positioning structure of clamp assembly |
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| Publication Number | Publication Date |
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| CN103802121A true CN103802121A (en) | 2014-05-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410047592.2A Pending CN103802121A (en) | 2014-02-11 | 2014-02-11 | Positioning structure of clamp assembly |
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| CN (1) | CN103802121A (en) |
Cited By (4)
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|---|---|---|---|---|
| CN104015195A (en) * | 2014-06-23 | 2014-09-03 | 缪慰时 | Double-acting inclined shaft gripping system of charging-discharging manipulator of numerical-control machine tool |
| CN104229489A (en) * | 2014-09-01 | 2014-12-24 | 宁波宫铁精机有限公司 | Stacking manipulator |
| CN108792480A (en) * | 2018-07-23 | 2018-11-13 | 新乡东方工业科技有限公司 | Compound bar conveyer fluted disc transmits distance regulating mechanism |
| CN114425768A (en) * | 2022-03-31 | 2022-05-03 | 常州捷仕特机器人科技有限公司 | Integrated carrying device for carrying robot |
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| EP0512126A1 (en) * | 1991-05-02 | 1992-11-11 | LIGMATECH MASCHINENBAU GmbH | Device for manipulating panel shaped workpieces |
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| CN201275759Y (en) * | 2008-10-27 | 2009-07-22 | 胜利油田高原石油装备有限责任公司 | Low noise steel pipe collecting device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104015195A (en) * | 2014-06-23 | 2014-09-03 | 缪慰时 | Double-acting inclined shaft gripping system of charging-discharging manipulator of numerical-control machine tool |
| CN104229489A (en) * | 2014-09-01 | 2014-12-24 | 宁波宫铁精机有限公司 | Stacking manipulator |
| CN104229489B (en) * | 2014-09-01 | 2016-06-08 | 宁波宫铁智能科技有限公司 | A kind of buttress code mechanical hand |
| CN108792480A (en) * | 2018-07-23 | 2018-11-13 | 新乡东方工业科技有限公司 | Compound bar conveyer fluted disc transmits distance regulating mechanism |
| CN108792480B (en) * | 2018-07-23 | 2023-08-08 | 新乡东方工业科技有限公司 | Fluted disc transmission distance adjusting mechanism of composite rod transmission machine |
| CN114425768A (en) * | 2022-03-31 | 2022-05-03 | 常州捷仕特机器人科技有限公司 | Integrated carrying device for carrying robot |
| CN114425768B (en) * | 2022-03-31 | 2022-08-12 | 常州捷仕特机器人科技有限公司 | Integrated carrying device for carrying robot |
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Application publication date: 20140521 |