CN106181979A - A kind of cantilever joint clamping mechanical hand - Google Patents
A kind of cantilever joint clamping mechanical hand Download PDFInfo
- Publication number
- CN106181979A CN106181979A CN201610734609.0A CN201610734609A CN106181979A CN 106181979 A CN106181979 A CN 106181979A CN 201610734609 A CN201610734609 A CN 201610734609A CN 106181979 A CN106181979 A CN 106181979A
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- China
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- mechanical hand
- slide block
- seat
- pivoted arm
- clamping mechanical
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Abstract
The invention belongs to mechanical hand field, refer in particular to a kind of cantilever joint clamping mechanical hand, including the fixing panel seat being arranged on gear rolling machine, fixing panel seat rotates over connection pivoted arm, is provided with the servomotor one driving pivoted arm to rotate below described fixing panel seat；Described pivoted arm left end connects has slide block to fix seat, slide block is fixed and is provided with fixing slide block on seat biside plate inwall, on fixing slide block, matched line slideway is installed, it is vertically arranged with tooth bar on line slideway sidewall, being provided with and described tooth bar meshed gears on described slide block fixed seat side plate inwall, slide block is fixed the servomotor driven gear of seat side and is rotated；Workpiece switching mechanism and clamping workpiece mechanism it is connected with in turn below described line slideway.By rotation and the oscilaltion of line slideway of pivoted arm, it is achieved that the motion in three dimensions of this mechanical hand, and space hold is served optimization greatly, will not interfere with the dress cutter of gear rolling machine main frame.
Description
Technical field
The invention belongs to mechanical hand field, refer in particular to a kind of cantilever joint clamping mechanical hand.
Background technology
Along with the development of science and technology, the progress of society, gear rolling machine uses widely in industries such as intermetallic composite coating, cold at spline
During being twisted into type, quite a lot of employing is artificial or uses the simplest subsidiary engine configured, operative employee will need processing with hands
Workpiece is delivered in workpiece clamp mechanism, it is easy to damage operative employee.Not only add the labor intensity of workman, Er Qiesheng
Produce that efficiency is low, positioning precision and poor reliability.
At present, a little supporting machinery hands of appearance can replace manual operation, it is achieved the mechanization of production and automatization, protects
The life security of card operator, significantly increases labor productivity.But widely used auxiliary loading and unloading on existing gear rolling machine
It is excessive to there is volume in mechanism, affects shop production line layout, and it can only move, the most greatly with in upper and lower two dimensions front and back simultaneously
Interfere the main frame dress cutter of gear rolling machine in degree, and the design of the structure at its labor cost fixture position has existed irrationality, causes dress
Press from both sides inefficient, the poor stability of clamping.
Summary of the invention
The present invention is directed to the problems referred to above, it is provided that a kind of space of taking up an area is little, and hanging of can move in tri-dimensions of X, Y, Z
Shoulder joint clamping mechanical hand.
The object of the present invention is achieved like this:
A kind of cantilever joint clamping mechanical hand, including the fixing panel seat being arranged on gear rolling machine, fixing panel seat rotates over
Connect and have pivoted arm, below described fixing panel seat, be provided with the driving means driving pivoted arm to rotate；Described pivoted arm left end connects cunning
Block fixes seat, and slide block is fixed and is provided with fixing slide block on seat biside plate inwall, fixing slide block is provided with matched straight
Line guide rail, line slideway sidewall is vertically arranged with tooth bar, described slide block fixed seat side plate inwall is provided with and described tooth bar
Meshed gears, slide block is fixed the servomotor driven gear of seat side and is rotated；It is connected with work in turn below described line slideway
Part switching mechanism and clamping workpiece mechanism.
In above-mentioned cantilever joint clamping mechanical hand, described workpiece switching mechanism includes being connected to below line slideway
Jaw fixed plate, is provided with workpiece switching cylinder, workpiece switching cylinder bottom surface is fixedly connected with cunning below jaw fixed plate
Rail, described slide rail connects and has matched traversing slide unit, the left end of traversing slide unit and the piston rod of workpiece switching cylinder
It is connected, and side-to-side movement under it drives.
In above-mentioned cantilever joint clamping mechanical hand, described clamping workpiece mechanism includes being fixedly connected on traversing slide unit
Material grasping cylinder one and material grasping cylinder two, described material grasping cylinder one and material grasping cylinder two lower surface be all symmetrically installed with left and right gas
Dynamic tong, described left and right pneumatic clamps is separately installed with left and right half pawl on hand, and described left and right half pawl is under the drive of pneumatic tong
Open or close up.
In above-mentioned cantilever joint clamping mechanical hand, in left and right half pawl of described material grasping cylinder one and material grasping cylinder two
At least side bare terminal end is hinged with self-centering clamping block, and self-centering clamping block is installed half pawl relative to it and can be swung up and down.
In above-mentioned cantilever joint clamping mechanical hand, described fixing panel seat upper position is provided with elastic gear in pivoted arm both sides
Block, described jaw fixed plate is positioned at slide block and fixes and be provided with flexible block below seat right plate.
In above-mentioned cantilever joint clamping mechanical hand, on front side of described fixing panel seat, fix outside seat with slide block outside pivoted arm
Side is provided with protective cover.
In above-mentioned cantilever joint clamping mechanical hand, the protective cover outside described pivoted arm and described line slideway upper end it
Between connect have twisted plate close drag chain.
In above-mentioned cantilever joint clamping mechanical hand, described slide block is fixed seat biside plate upper end and is provided with safety elastic and protects
Plate detection switch.
In above-mentioned cantilever joint clamping mechanical hand, described fixing panel seat left plate is provided with lubricating oil filled by hand
Switch.
In above-mentioned cantilever joint clamping mechanical hand, described fixing panel seat right plate is provided with casing rack.
The present invention highlights and useful having the technical effect that compared to existing technology
1. the cantilever joint clamping mechanical hand of the present invention is permissible by the rotation of cantilever and the up and down motion of line slideway
Realize the motion in tri-dimensions of mechanical hand X, Y, Z, improve its working range radius.
2. for each drive mechanism of the present invention uses driven by servomotor, its stability and motility relative to cylinder-driven
Higher.
3. present invention adds motion portion safety and Protection, protect if elasticity can be triggered when touching human body or other objects
Plate detection switch, it is provided that system makes anticipation early warning, enhances the security performance of robot movement.
4. the present invention adds self-centering design on half pawl of mechanical hand, and the clamping making workpiece is more stable.
Accompanying drawing explanation
Fig. 1 is cantilever joint clamping mechanical hand structural representation one.
Fig. 2 is cantilever joint clamping mechanical hand structural representation two.
Fig. 3 is cantilever joint clamping mechanical hand structural representation three.
Fig. 4 is that A is to partial enlarged drawing.
Label implication in figure:
1-fixes panel seat, 2-pivoted arm, 3-driving means, and 4-slide block fixes seat, and 5-fixes slide block, 6-line slideway, 7-tooth
Bar, 8-gear, 9-servomotor, 10-workpiece switching mechanism, 11-clamping workpiece mechanism, 12-jaw fixed plate, 13-workpiece is cut
Ventilation cylinder, 14-slide rail, the traversing slide unit of 15-, 16-piston rod, 17-material grasping cylinder one, 18-material grasping cylinder two, 19-is left and right pneumatic
Tong, left and right half pawl of 20-, 21-self-centering clamping block, 22-workpiece, 23-flexible block, 24-protective cover, 25-twisted plate is closed
Drag chain, 26-safety elastic backplate detection switch, 27-lubricating oil filled by hand switchs, 28-casing rack.
Detailed description of the invention
With specific embodiment, the invention will be further described below in conjunction with the accompanying drawings,
As shown in Figure 1-Figure 3, a kind of cantilever joint clamping mechanical hand, including the fixing panel seat 1 being arranged on gear rolling machine, Gu
Determine panel seat 1 to rotate over connection and have pivoted arm 2, below described fixing panel seat 1, be provided with the driving means 3 driving pivoted arm 2 to rotate；Institute
Stating the connection of pivoted arm 2 left end has slide block to fix seat 4, and slide block is fixed and is provided with fixing slide block 5 on seat 4 biside plate inwall, fixing slide block 5
On matched line slideway 6 is installed, line slideway 6 sidewall is vertically arranged with tooth bar 7, described slide block fixes seat 4
Being provided with on side plate inwall and described tooth bar 7 meshed gears 8, slide block is fixed servomotor 9 driven gear 8 of seat 4 side and is revolved
Turn；Workpiece switching mechanism 10 and clamping workpiece mechanism 11 it is connected with in turn below described line slideway 6.This invention is filled by driving
Put 3 driving pivoted arms 2 to rotate in the range of certain radius, drive gear 8 to rotate by servomotor 9 thus drive straight line to lead
Rail 6 is fixed seat 4 relative to slide block and is moved up and down, it is achieved that the clamping workpiece mechanism 11 motion in tri-dimensions of X, Y, Z, improves
The motility of clamping workpiece, and after workpiece being positioned in the workpiece clamp mechanism of gear rolling machine, by pivoted arm 2 can. every time
Rapidly clamping workpiece mechanism 11 is produced, gear rolling machine main frame dress cutter will not be produced and interfere, space be taken and has carried out greatly
Optimization.Further, described driving means 3 is servomotor, and two servomotors are servo deceleration motor, servo
The output moment of torsion of reducing motor is big, and transmission efficiency is high, improves the deficiency of conventional cylinder-driven.
As shown in Figure 4, in above-mentioned cantilever joint clamping mechanical hand, described workpiece switching mechanism 10 includes being connected to directly
Jaw fixed plate 12 below line guide rail 6, is provided with workpiece switching cylinder 13, workpiece switching cylinder 13 below jaw fixed plate 12
Being fixedly connected with slide rail 14 on bottom surface, described slide rail 14 connects matched traversing slide unit 15, traversing slide unit 15
The piston rod 16 of left end and workpiece switching cylinder 13 be connected, and side-to-side movement under its drive.In described clamping workpiece mechanism
11 include being fixedly connected on the material grasping cylinder 1 on traversing slide unit 15 and material grasping cylinder 2 18, described material grasping cylinder 1 and grabbing
Material cylinder 2 18 lower surface is all symmetrically installed with left and right pneumatic tong 19, and described left and right pneumatic tong 19 is separately installed with
Left and right half pawl 20, described left and right half pawl 20 opens under the drive of pneumatic tong or closes up.Every time during feeding, pass through material grasping
On the workpiece grabbing that left and right half pawl on cylinder 1 will process, then workpiece switching cylinder 13 drive traversing slide unit 15 to
One side shifting, by the workpiece clamp mechanism of material grasping cylinder 2 18 alignment gear rolling machine, then by half pawl 20 left and right on material grasping cylinder 2 18
The workpiece to be processed of clamping is placed in workpiece clamp mechanism, completes the loading and unloading of workpiece.
As shown in Figure 4, in above-mentioned cantilever joint clamping mechanical hand, described material grasping cylinder 1 and material grasping cylinder 2 18
Left and right half pawl 20 at least side bare terminal end be hinged with self-centering clamping block 21, self-centering clamping block 21 relative to its install
Half pawl can swing up and down.Self-centering clamping block 21 is to be hinged on half pawl due to it, goes to clamp workpiece when left and right half pawl 20 every time
Time, owing to self-centering clamping block 21 can have the slight oscillatory of about according to the actual size of workpiece, automatically go to location to be somebody's turn to do
The clamping center of workpiece, improves the stability of piece-holder.
As depicted in figs. 1 and 2, in above-mentioned cantilever joint clamping mechanical hand, above described fixing panel seat 1, it is positioned at pivoted arm
2 both sides are provided with flexible block 23, described jaw fixed plate 12 is positioned at slide block and fixes and be provided with elastic gear below seat 4 right plate
Block 23.This flexible block 23 plays the effect of buffering, it is to avoid line slideway 6 lower end and the two ends of pivoted arm 2 and cantilever joint dress
Other parts on clamping manipulator occur directly to touch the damage causing mechanism.
As it is shown in figure 1, in above-mentioned cantilever joint clamping mechanical hand, on front side of described fixing panel seat 1, outside pivoted arm 2 and
Slide block is fixed and is provided with protective cover 24 outside seat 4.Protective cover outside described pivoted arm 2 24 and described line slideway 6 upper end it
Between connect have twisted plate close drag chain 25.This design can improve the bulk strength of mechanism, described twisted plate close drag chain 25 by
Plurality of cells link composition, rotates freely between link, and twisted plate is closed drag chain 25 and also acted the work of cable on protection mechanism
With.
In above-mentioned cantilever joint clamping mechanical hand, described slide block is fixed seat 4 biside plate upper end and is provided with safety elastic
Backplate detection switch 26.If elastic guard plate detection switch 26 can be triggered when touching human body or other objects, it is provided that system is made
Anticipation early warning, enhances the security performance of robot movement.Further, described safety elastic backplate detection switch 26 is preferably
Omron microswitch.
In above-mentioned cantilever joint clamping mechanical hand, described fixing panel seat 1 left plate is provided with lubricating oil and manually fills out
Fill switch 27.It is provided with casing rack 28 on described fixing panel seat 1 right plate.
Above-described embodiment is only presently preferred embodiments of the present invention, limits the scope of the invention the most according to this, therefore: all depend on
The equivalence change that the structure of the present invention, shape, principle are done, within all should being covered by protection scope of the present invention.
Claims (10)
1. a cantilever joint clamping mechanical hand, it is characterised in that include the fixing panel seat (1) being arranged on gear rolling machine, fixing
Panel seat (1) rotates over connection has pivoted arm (2), described fixing panel seat (1) lower section to be provided with the driving dress driving pivoted arm (2) to rotate
Put (3)；Described pivoted arm (2) left end connect have slide block to fix seat (4), slide block fix be provided with on seat (4) biside plate inwall fixing
Slide block (5), fixing slide block (5) is provided with matched line slideway (6), line slideway (6) sidewall is vertically arranged
Having tooth bar (7), described slide block is fixed and is provided with on seat (4) side plate inwall and described tooth bar (7) meshed gears (8), and slide block is solid
Servomotor (9) driven gear of reservation (4) side rotates；Described line slideway (6) lower section is connected with workpiece switching machine in turn
Structure (10) and clamping workpiece mechanism (11).
Cantilever joint the most according to claim 1 clamping mechanical hand, it is characterised in that described workpiece switching mechanism (10) is wrapped
Including the jaw fixed plate (12) being connected to line slideway (6) lower section, jaw fixed plate (12) lower section is provided with workpiece switching cylinder
(13), workpiece switching cylinder (13) bottom surface being fixedly connected with slide rail (14), the upper connection of described slide rail (14) has fits with its phase
The traversing slide unit (15) joined, the left end of traversing slide unit (15) is connected with the piston rod (16) of workpiece switching cylinder (13), and at it
Drive lower side-to-side movement.
Cantilever joint the most according to claim 2 clamping mechanical hand, it is characterised in that described clamping workpiece mechanism (11) is wrapped
Include the material grasping cylinder one (17) and material grasping cylinder two (18) being fixedly connected on traversing slide unit (15), described material grasping cylinder one (17)
Left and right pneumatic tong (19) all it is symmetrically installed with, upper point of described left and right pneumatic tong (19) with material grasping cylinder two (18) lower surface
Not being provided with left and right half pawl (20), described left and right half pawl (20) is opened under the drive of pneumatic tong or closes up.
Cantilever joint the most according to claim 3 clamping mechanical hand, it is characterised in that described material grasping cylinder one (17) and grabbing
In left and right half pawl (20) of material cylinder two (18), at least side bare terminal end is hinged with self-centering clamping block (21), self-centering clamping
Block (21) is installed half pawl relative to it and can be swung up and down.
Cantilever the most according to claim 2 shutdown clamping mechanical hand, it is characterised in that described fixing panel seat (1) upper position
It is provided with flexible block (23) in pivoted arm (2) both sides, described jaw fixed plate (12) is positioned at slide block and fixes under seat (4) right plate
Side is provided with flexible block (23).
Cantilever joint the most according to claim 1 clamping mechanical hand, it is characterised in that described fixing panel seat (1) front side, turns
Arm (2) outside and slide block are fixed seat (4) outside and are provided with protective cover (24).
Cantilever joint the most according to claim 6 clamping mechanical hand, it is characterised in that the protection in described pivoted arm (2) outside
It is connected between cover (24) and described line slideway (6) upper end and has twisted plate to close drag chain (25).
Cantilever joint the most according to claim 1 clamping mechanical hand, it is characterised in that described slide block fixes seat (4) both sides
Plate upper end is provided with safety elastic backplate detection switch (26).
Cantilever joint the most according to claim 1 clamping mechanical hand, it is characterised in that described fixing panel seat (1) left plate
On be provided with lubricating oil filled by hand switch (27).
Cantilever joint the most according to claim 1 clamping mechanical hand, it is characterised in that described fixing panel seat (1) right plate
On be provided with casing rack (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610734609.0A CN106181979A (en) | 2016-08-26 | 2016-08-26 | A kind of cantilever joint clamping mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610734609.0A CN106181979A (en) | 2016-08-26 | 2016-08-26 | A kind of cantilever joint clamping mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106181979A true CN106181979A (en) | 2016-12-07 |
Family
ID=57526598
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610734609.0A Pending CN106181979A (en) | 2016-08-26 | 2016-08-26 | A kind of cantilever joint clamping mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106181979A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107584058A (en) * | 2017-10-25 | 2018-01-16 | 武汉联航机电有限公司 | A kind of gear rolling machine automatic loading/unloading equipment |
| CN112516555A (en) * | 2020-12-18 | 2021-03-19 | 华南理工大学广州学院 | Transmission method |
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| EP2687340A1 (en) * | 2012-07-19 | 2014-01-22 | Tecno Center S.r.l. Con Socio Unico | Vertical handling module for a Cartesian-axis handling system |
| CN203471787U (en) * | 2013-09-18 | 2014-03-12 | 珠海格力电器股份有限公司 | Pneumatic finger and positioning mechanism |
| CN104209943A (en) * | 2014-09-19 | 2014-12-17 | 常熟市惠一机电有限公司 | Transverse three-axis servo manipulator |
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| CN105548192A (en) * | 2016-02-15 | 2016-05-04 | 无锡速博威迅科技有限公司 | Automatic detection equipment of direct-current shutter |
| CN105563480A (en) * | 2016-03-01 | 2016-05-11 | 广东飞新达智能设备股份有限公司 | Pneumatic material taking mechanical arm |
| CN205969007U (en) * | 2016-08-26 | 2017-02-22 | 浙江新跃机床有限公司 | Cantilever joint clamping machine tool hand |
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2016
- 2016-08-26 CN CN201610734609.0A patent/CN106181979A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102608201A (en) * | 2012-04-04 | 2012-07-25 | 射阳县华通探伤设备有限公司 | Automatic positioning clamping mechanism for feeding and discharging materials in bell-shaped shell defect-detection/cleaning integrated machine |
| EP2687340A1 (en) * | 2012-07-19 | 2014-01-22 | Tecno Center S.r.l. Con Socio Unico | Vertical handling module for a Cartesian-axis handling system |
| CN203471787U (en) * | 2013-09-18 | 2014-03-12 | 珠海格力电器股份有限公司 | Pneumatic finger and positioning mechanism |
| CN104209943A (en) * | 2014-09-19 | 2014-12-17 | 常熟市惠一机电有限公司 | Transverse three-axis servo manipulator |
| CN105150191A (en) * | 2015-08-11 | 2015-12-16 | 德州耐垦工业自动化设备有限公司 | Horizontal multi-joint robot |
| CN105548192A (en) * | 2016-02-15 | 2016-05-04 | 无锡速博威迅科技有限公司 | Automatic detection equipment of direct-current shutter |
| CN105563480A (en) * | 2016-03-01 | 2016-05-11 | 广东飞新达智能设备股份有限公司 | Pneumatic material taking mechanical arm |
| CN205969007U (en) * | 2016-08-26 | 2017-02-22 | 浙江新跃机床有限公司 | Cantilever joint clamping machine tool hand |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107584058A (en) * | 2017-10-25 | 2018-01-16 | 武汉联航机电有限公司 | A kind of gear rolling machine automatic loading/unloading equipment |
| CN112516555A (en) * | 2020-12-18 | 2021-03-19 | 华南理工大学广州学院 | Transmission method |
| WO2022127368A1 (en) * | 2020-12-18 | 2022-06-23 | 广州城市理工学院 | Transmission method |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161207 |
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| RJ01 | Rejection of invention patent application after publication |