CN106272500A - One grabs ingot mechanical hand and gripping mechanism thereof - Google Patents
One grabs ingot mechanical hand and gripping mechanism thereof Download PDFInfo
- Publication number
- CN106272500A CN106272500A CN201610788261.3A CN201610788261A CN106272500A CN 106272500 A CN106272500 A CN 106272500A CN 201610788261 A CN201610788261 A CN 201610788261A CN 106272500 A CN106272500 A CN 106272500A
- Authority
- CN
- China
- Prior art keywords
- chela
- gripping mechanism
- leading screw
- hole
- billet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C33/00—Feeding extrusion presses with metal to be extruded ; Loading the dummy block
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Manipulator (AREA)
Abstract
The present invention proposes one and grabs ingot mechanical hand and gripping mechanism thereof, and gripping mechanism includes chela hanging scaffold, two chelas, two slide blocks, leading screw and driving means；Two chelas are hingedly connected to the both sides of described chela hanging scaffold and downwardly extend and be each provided with a through hole；In two slide blocks are respectively arranged at one of them described through hole and can slide up and down relative to through hole, each described slide block being respectively provided with a tapped through hole, the thread rotary orientation of two described tapped through holes is contrary；The tapped through hole of leading screw and two described slide blocks combines；Driving means is fixedly installed on described chela hanging scaffold and is connected with described leading screw, and described driving means can drive leading screw forward or reverse, so that leading screw drives the clamping of two described chelas or unclamps billet.Improve chela gripping speed by the relative motion between two slide blocks, shorten the dead cycle time of extruder, improve work efficiency.
Description
Technical field
The present invention relates to a kind of mechanical hand and gripping mechanism, particularly relate to a kind of ingot device that pushes away to extruder and billet is provided
Grab ingot mechanical hand and gripping mechanism thereof.
Background technology
Extruder is for extruding the billet in recipient, and this billet usually first passes through and grabs the transport of ingot mechanical hand
To a center pushing away ingot device, then push away ingot device and billet is pushed in recipient.As can be seen here, the work effect of extruder
Rate depends not only on the operational efficiency of himself, also to grab ingot mechanical hand and to push away the work efficiency of the subsidiary engines such as ingot device relevant.Grab
Ingot mechanical hand operationally, grips billet by gripping mechanism, and the working time grabbing ingot mechanical hand and gripping mechanism belongs to crowded
The dead cycle time of press, the existing work efficiency grabbing ingot mechanical hand and gripping mechanism is relatively low, causes the nonextruding of extruder
Time is longer, have impact on the work efficiency of extruder.
Be only used for strengthening the understanding to the background of the present invention in information above-mentioned disclosed in described background section, therefore it
Can include not constituting the information to prior art known to persons of ordinary skill in the art.
Summary of the invention
It is an object of the present invention to overcome above-mentioned the deficiencies in the prior art, it is provided that what a kind of work efficiency was high grabs ingot machine
The gripping mechanism of tool hands.
Another object of the present invention is to provide have this gripping mechanism to grab ingot mechanical hand.
Additional aspect and the advantage of the present invention will be set forth in part in the description, and partly will be from describe
It is apparent from, or can the acquistion by the practice of the present invention.
According to an aspect of the present invention, a kind of gripping mechanism grabbing ingot mechanical hand, it is used for gripping billet, hangs including chela
Dish, two chelas, two slide blocks, leading screw and driving means；Two chelas are hingedly connected to the both sides of described chela hanging scaffold also
Downwardly extending, each chela is each provided with a through hole；Two slide blocks are respectively arranged in one of them described through hole also
Can slide up and down relative to through hole, each described slide block is respectively provided with a tapped through hole, two described tapped through holes
Thread rotary orientation is contrary；The tapped through hole of leading screw and two described slide blocks combines；Driving means is fixedly installed on described chela and hangs
Dish is also connected with described leading screw, and described driving means can drive leading screw forward or reverse, so that leading screw drives two described pincers
The clamping of pawl or unclamp billet.
According to an embodiment of the present invention, self-locking between the tapped through hole of described leading screw and described slide block.
According to an embodiment of the present invention, described slide block includes the body of cuboid-type and is fixedly installed on body
Swivel nut, the both sides outer wall of described body is provided with groove and positioning step, and the inwall of described through hole is provided with described
Positioning step coordinates and slides up and down the draw-in groove of scope limiting slide block, chela is further fixedly arranged on stretch in described groove with
The flange shaft sliding up and down cooperation is formed with described groove
According to an embodiment of the present invention, described driving means includes motor and the reductor being connected with motor,
The output shaft of described reductor is hollow axle, in one end of described leading screw is inserted into described output shaft and fixes with described output shaft
Connecting, described chela hanging scaffold is fixedly connected with a gripper shoe, described gripper shoe is provided with the other end to described leading screw and enters
The copper guide pin bushing that row supports.
According to an embodiment of the present invention, described motor connects have and control this direction of motor rotation and rotational angle
Encoder.
According to an embodiment of the present invention, the bottom of described chela is provided with the dismountable pad for contacting with billet
Plate.
According to an embodiment of the present invention, each described chela is provided with two described backing plates, two described backing plates in
Angle arranges and is combined into V-type support slot.
According to an embodiment of the present invention, described chela hanging scaffold is provided with the stopping means limiting chela opening angle.
According to an embodiment of the present invention, described stopping means is the stop screw being arranged at chela hanging scaffold two ends, institute
The screw rod end stating stop screw can contact with described chela.
According to another aspect of the present invention, one grabs ingot mechanical hand, for capture billet to aluminium extruding machine push away ingot dress
Put, described in grab ingot mechanical hand and include above-mentioned gripping mechanism.
As shown from the above technical solution, advantages of the present invention and having the active effect that
Gripping mechanism of the present invention, owing to leading screw can drive the action simultaneously of two chelas when rotating, and due to this two
Individual chela is hinged on chela hanging scaffold, thus the relative motion between two slide blocks can double to improve, and two silks
Relative motion displacement between thick stick can be enlarged into the relative opening angle of chela by lever principle, thus, clamp of the present invention
Device significantly improves chela gripping speed, shortens the dead cycle time of extruder, improves work efficiency.
Accompanying drawing explanation
Describing its example embodiment in detail by referring to accompanying drawing, above and other feature of the present invention and advantage will become
Become apparent from.
Fig. 1 is the structural representation of the gripping mechanism grabbing ingot mechanical hand of an embodiment of the present invention；
Fig. 2 is the structural representation that in Fig. 1, chela and slide block match；
Fig. 3 is close-up schematic view at I in Fig. 2；
Fig. 4 is the structural representation of slide block in an embodiment of the present invention；
Fig. 5 is the cut-away illustration of line A-A along Fig. 4.
In figure: 1, chela hanging scaffold；11, stop screw；13, gripper shoe；14, copper guide pin bushing；2, chela；21, through hole；22、
Flange shaft；23, backing plate；24, draw-in groove；3, slide block；31, body；32, swivel nut；33, tapped through hole；34, groove；35, positioning table
Rank；4, leading screw；51, motor；52, reductor；6, billet.
Detailed description of the invention
It is described more fully with example embodiment referring now to accompanying drawing.But, example embodiment can be with multiple shape
Formula is implemented, and is not understood as limited to embodiment set forth herein；On the contrary, it is provided that these embodiments make the present invention incite somebody to action
Fully and completely, and by the design of example embodiment those skilled in the art is conveyed to all sidedly.Accompanying drawing identical in figure
Labelling represents same or similar structure, thus will omit their detailed description.
Seeing Fig. 1 to Fig. 5, embodiment of the present invention discloses a kind of gripping mechanism grabbing ingot mechanical hand.This gripping mechanism
For capturing billet 6, and billet 6 is placed into pushes away on ingot device, then, push away ingot device and again billet 6 is sent to extruder
In recipient, for extruder, billet is carried out squeeze job.Shown in Figure 1, the gripping mechanism bag of embodiment of the present invention
Include chela hanging scaffold 2, two slide blocks 3 of 1, two chelas, leading screw 4 and a driving means.
Chela hanging scaffold 1 is used for being suspended in grabs ingot mechanical hand, and it can be deposited at billet along with the motion grabbing ingot mechanical hand
Put position and push away motion between ingot device.Two chelas 2 are used for capturing billet 6, and chela 2 is respectively hinged at the two of chela hanging scaffold 1
Side also downwardly extends.After chela hanging scaffold 1 moves to the top of billet 6, the lower end of the two chela 2 is opened and clamps respectively
The both sides of billet 6, then can clamp billet 6 with chela 2.In conjunction with Fig. 1 to Fig. 3, the most in the present embodiment, chela 2 is long
Stripe board, each chela 2 is respectively provided with a through hole 21, can arrange the structure of indent in the inboard portion of chela 2 bottom
It is used for contacting with the outer surface of billet 6.
In the present embodiment, the bottom concave inward structure of this chela 2 is additionally provided with for detachable with what billet 6 contacted
Backing plate 23.By arranging backing plate 23, the abrasion of chela 2 can be avoided, further, it is also possible to the diameter according to billet 6 is different, and
Change the backing plate 23 of different-thickness so that backing plate 23 can substantially adapt to the diameter of billet 6, and billet 6 is carried out reliable retention,
Additionally, after changing the backing plate 23 of suitable thickness, additionally it is possible to reduce the chela 2 slewing area when gripping billet 6.In this enforcement
In mode, each chela 2 is provided with two backing plates 23, and the two backing plate 23 is angled to be arranged and is combined into a V-type support slot.
The two backing plate 23 is respectively supported at the both sides up and down of the axis of billet 6.It should be pointed out that, in other enforcements of the present invention
In mode, the concrete shape of backing plate 23 is not limiting as, and such as backing plate 23 is alternatively the circular arc plate of indent, and the radian of backing plate
Suitable with the diameter of billet 6.
Chela hanging scaffold 1 is additionally provided with the stopping means limiting chela 2 opening angle.This stopping means can be with chela 2
Contact, thus chela 2 is carried out spacing.In the present embodiment, stopping means is the two of the two ends being arranged on chela hanging scaffold 1
Individual stop screw 11, the end of the screw rod of the two stop screw 11 can contact with chela 2, thus play spacing work
With.By the distance between regulation stop screw 11 and chela 2, the maximum opening angle of chela 2 can be controlled.
Seeing Fig. 3 to Fig. 5, two slide blocks 3 are provided respectively therein in a through hole 21, and, slide block 3 is can phase
Through hole 21 is slided up and down.Specifically, in the present embodiment, slide block 3 includes the body 31 of cuboid-type and consolidates
Surely the swivel nut 32 being arranged on body 31, the centre of this swivel nut 32 is provided with a tapped through hole 33, and should be understood that
It is that the thread rotary orientation of the tapped through hole 33 on the two swivel nut 32 is contrary.The both sides outer wall of body 31 is provided with two
Groove 34 and positioning step 35, and be provided with on the inwall of through hole 21 and glide on slide block 3 to limit with this positioning step 35
The draw-in groove 24 of dynamic scope, is additionally provided with the flange shaft 22 in two grooves 34 being respectively protruding into both sides, flange shaft 22 on chela 2
Can be formed to slide up and down with groove 34 and coordinate, slide block 3 can be stoped thus to be separated with chela 2 along horizontal direction.
It will be apparent to a skilled person that the mode that is slidably connected between the slide block 3 in the present invention and chela 2 not
Limit, it is possible to be arranged on slide block 3 for other types of attachment, such as flange shaft, groove be then set on chela 2 and enter with flange shaft
Row coordinates.Slide block 3 in embodiments of the present invention is made up of body 31 and swivel nut 32, but, at other of the present invention
In embodiment, slide block 3 is obviously alternatively integral piece.
Leading screw 4 combines with the tapped through hole 33 of the two slide block 3, and driving means is then fixedly installed on this chela hanging scaffold
It is connected on 1 and with leading screw 4.In the present embodiment, driving means includes motor 51 and the reductor being connected with motor 51
52.Owing to the thread rotary orientation of two tapped through holes 33 is contrary, thus, when driving means drives leading screw 4 to rotate forward or invert
Time, this leading screw 4 can drive the lower end of two chelas 2 simultaneously near or concurrently separate so that the two chela 2 can clamp
Or unclamp billet 6.Owing to slide block 3 can be up and down relative to chela 2, do not result in slide block 3 and pincers when chela 2 rotates
Interference between pawl 2.It is capable of self-locking, so, when motor 51 closes between the tapped through hole 33 of leading screw 4 and slide block 3
After closing, chela 2 can be automatically stopped motion.
In the present embodiment, the output shaft of this reductor 52 is hollow axle, and one end of leading screw 4 is inserted in output shaft also
Fix with output shaft and be connected.Being fixedly installed a gripper shoe 13 on chela hanging scaffold 1, this gripper shoe 13 is provided with leading screw 4
The copper guide pin bushing 14 that is supported of the other end.Consequently, it is possible to output shaft and the copper guide pin bushing 14 of reductor 52 is passed through at the two ends of leading screw 4
Support, improve the stability in rotation process of leading screw 4.It should be pointed out that, this leading screw 4 also can only pass through slide block
Tapped through hole 33 on 3 is supported, and realizes the connection between reductor 52 and leading screw 4 by shaft coupling.On motor 51
It is also provided with controlling the encoder of the rotation direction of this motor and rotational angle, so as to by encoder by motor
Operating condition be sent in a control device, it is achieved automatically controlling of motor.
In use, first change the backing plate 23 of suitable thickness, then, make chela hanging scaffold 1 be positioned at the top of billet, utilize
Grabbing ingot mechanical hand drives chela hanging scaffold 1 to move downward so that chela 2 is positioned at the both sides of billet 6 respectively.Chela hanging scaffold 1 drops to
After Wei, starting motor 51, motor 51 drives chela 2 to clamp billet 6, thus is transported to push away on ingot device by billet 6.Then, electricity
Machine 51 overturns so that chela 2 discharges billet 6, and grips action next time.Owing to leading screw 4 can drive two when rotating
The action simultaneously of individual chela 2, and owing to the two chela 2 is hinged on chela hanging scaffold 1, thus between two slide blocks 3
Relative motion can double to improve, and the relative motion displacement between two leading screws 4 can be enlarged into pincers by lever principle
The relative opening angle of pawl 2, thus, gripping mechanism of the present invention significantly improves chela 2 and grips speed, shortens the non-of extruder
Extrusion time, improves the work efficiency that extruder is overall.
By Fig. 1 to Fig. 5, embodiment of the present invention also discloses a kind of grabs ingot mechanical hand for capture billet,
This is grabbed ingot mechanical hand and includes above-mentioned gripping mechanism.
More than it is particularly shown and described the illustrative embodiments of the present invention.It should be understood that the invention is not restricted to institute
Disclosed embodiment, on the contrary, it is intended to contain the various amendments comprised in the spirit and scope of the appended claims
And equivalent arrangements.
Claims (10)
1. grab a gripping mechanism for ingot mechanical hand, be used for gripping billet, it is characterised in that including:
Chela hanging scaffold；
Two chelas, are hingedly connected to the both sides of described chela hanging scaffold and downwardly extend, each chela be each provided with one through
Hole；
Two slide blocks, are respectively arranged in one of them described through hole and can slide up and down relative to through hole, Mei Gesuo
Stating and be respectively provided with a tapped through hole on slide block, the thread rotary orientation of two described tapped through holes is contrary；
Leading screw, combines with the tapped through hole of two described slide blocks；And
Driving means, is fixedly installed on described chela hanging scaffold and is connected with described leading screw, and described driving means can drive leading screw
Forward or reverse, so that leading screw drives the clamping of two described chelas or unclamps billet.
Gripping mechanism the most according to claim 1, it is characterised in that between the tapped through hole of described leading screw and described slide block
Self-locking.
Gripping mechanism the most according to claim 1, it is characterised in that described slide block includes the body of cuboid-type and consolidates
Surely being arranged at the swivel nut on body, the both sides outer wall of described body is provided with groove and positioning step, described through hole interior
Wall is provided with and coordinates the draw-in groove sliding up and down scope with restriction slide block with described positioning step, is further fixedly arranged on and stretches on chela
Enter described groove interior to form the flange shaft sliding up and down cooperation with described groove.
Gripping mechanism the most according to claim 1, it is characterised in that described driving means include motor and with motor phase
The reductor connected, the output shaft of described reductor is hollow axle, one end of described leading screw be inserted in described output shaft and with
Described output shaft is fixing to be connected, and described chela hanging scaffold is fixedly connected with a gripper shoe, and described gripper shoe is provided with described
The copper guide pin bushing that the other end of leading screw is supported.
Gripping mechanism the most according to claim 4, it is characterised in that connect on described motor and have this electric machine rotation side of control
To the encoder with rotational angle.
Gripping mechanism the most according to claim 1, it is characterised in that the bottom of described chela is provided with for connecing with billet
The dismountable backing plate touched.
Gripping mechanism the most according to claim 6, it is characterised in that each described chela is provided with two described backing plates,
Two angled settings of described backing plate are also combined into V-type support slot.
Gripping mechanism the most according to claim 1, it is characterised in that described chela hanging scaffold is provided with restriction chela open-angle
The stopping means of degree.
Gripping mechanism the most according to claim 8, it is characterised in that described stopping means is for being arranged at chela hanging scaffold two ends
Stop screw, the screw rod end of described stop screw can contact with described chela.
10. grab an ingot mechanical hand, push away ingot device for capturing billet to aluminium extruding machine, it is characterised in that described in grab ingot machine
Tool hands includes the gripping mechanism as described in arbitrary in claim 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610788261.3A CN106272500B (en) | 2016-08-31 | 2016-08-31 | One kind grabbing ingot manipulator and its gripping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610788261.3A CN106272500B (en) | 2016-08-31 | 2016-08-31 | One kind grabbing ingot manipulator and its gripping mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106272500A true CN106272500A (en) | 2017-01-04 |
| CN106272500B CN106272500B (en) | 2018-11-23 |
Family
ID=57674103
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610788261.3A Active CN106272500B (en) | 2016-08-31 | 2016-08-31 | One kind grabbing ingot manipulator and its gripping mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106272500B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107160423A (en) * | 2017-06-29 | 2017-09-15 | 广东美的制冷设备有限公司 | Fixture |
| CN107458870A (en) * | 2017-08-25 | 2017-12-12 | 宁波力神动力电池系统有限公司 | A kind of general carrying clamping jaw for production line for manufacturing battery |
| CN108637933A (en) * | 2018-04-25 | 2018-10-12 | 淮阴师范学院 | The remote control clamping equipment of quantum communications |
| CN109093609A (en) * | 2018-10-31 | 2018-12-28 | 共享智能铸造产业创新中心有限公司 | Vertical shaft type cantilever robot |
| CN110977373A (en) * | 2019-11-22 | 2020-04-10 | 中国航空工业集团公司北京长城航空测控技术研究所 | Robot is with terminal actuating mechanism of eye power coordinated control |
| CN111113465A (en) * | 2018-10-31 | 2020-05-08 | 中国科学院沈阳自动化研究所 | Full-automatic clamping mechanism for large-scale structural member |
| CN114986468A (en) * | 2022-07-18 | 2022-09-02 | 西安医学院第二附属医院 | Aseptic apparatus grabbing device |
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| CN87205550U (en) * | 1987-11-24 | 1988-08-17 | 刘金鸿 | Clamping type camera tripod table fixing device |
| CN200958003Y (en) * | 2006-09-26 | 2007-10-10 | 天津起重设备有限公司 | Pliers hoist |
| CN204577524U (en) * | 2015-05-20 | 2015-08-19 | 浙江机电职业技术学院 | A kind of loading and unloading handgrip adapting to many specifications pole plate |
| CN204657832U (en) * | 2015-05-13 | 2015-09-23 | 国家电网公司 | A kind of cylinder rod-like articles that is used for welds alignment device of slinging |
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| US4621852A (en) * | 1984-01-30 | 1986-11-11 | Syuichi Maki | Inching apparatus for robot hands |
| CN87205550U (en) * | 1987-11-24 | 1988-08-17 | 刘金鸿 | Clamping type camera tripod table fixing device |
| CN200958003Y (en) * | 2006-09-26 | 2007-10-10 | 天津起重设备有限公司 | Pliers hoist |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107160423A (en) * | 2017-06-29 | 2017-09-15 | 广东美的制冷设备有限公司 | Fixture |
| CN107160423B (en) * | 2017-06-29 | 2023-12-22 | 广东美的制冷设备有限公司 | Clamp |
| CN107458870A (en) * | 2017-08-25 | 2017-12-12 | 宁波力神动力电池系统有限公司 | A kind of general carrying clamping jaw for production line for manufacturing battery |
| CN108637933A (en) * | 2018-04-25 | 2018-10-12 | 淮阴师范学院 | The remote control clamping equipment of quantum communications |
| CN108637933B (en) * | 2018-04-25 | 2019-11-05 | 淮阴师范学院 | The long-range control clamping equipment of quantum communications |
| CN109093609A (en) * | 2018-10-31 | 2018-12-28 | 共享智能铸造产业创新中心有限公司 | Vertical shaft type cantilever robot |
| CN111113465A (en) * | 2018-10-31 | 2020-05-08 | 中国科学院沈阳自动化研究所 | Full-automatic clamping mechanism for large-scale structural member |
| CN110977373A (en) * | 2019-11-22 | 2020-04-10 | 中国航空工业集团公司北京长城航空测控技术研究所 | Robot is with terminal actuating mechanism of eye power coordinated control |
| CN114986468A (en) * | 2022-07-18 | 2022-09-02 | 西安医学院第二附属医院 | Aseptic apparatus grabbing device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106272500B (en) | 2018-11-23 |
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