CN106607891A - Travelling mechanical gripper - Google Patents
Travelling mechanical gripper Download PDFInfo
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- CN106607891A CN106607891A CN201510682581.6A CN201510682581A CN106607891A CN 106607891 A CN106607891 A CN 106607891A CN 201510682581 A CN201510682581 A CN 201510682581A CN 106607891 A CN106607891 A CN 106607891A
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- gripper
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Abstract
The invention discloses a travelling mechanical gripper. The gripper comprises a reciprocating travelling belt adopting a circular structure and at least one manipulator fixedly arranged on the reciprocating travelling belt; each manipulator comprises a fixed frame, a mechanical arm fixedly connected with the fixed frame and a mechanical claw connected with the mechanical arm; the at least one manipulator travels along the reciprocating travelling belt adopting the circular structure and can grip workpieces on a production line continuously; and two mechanical clamping claws of each manipulator are driven by a screw nut transmission mechanism. The mechanical clamping claws are locked under the self-locking function of screw nuts, and the clamping force and the locking performance are relatively high.
Description
Technical field
The present invention relates to a kind of mechanical clamp, more particularly to a kind of running type machine grabbing device.
Background technology
With the development of science and technology, mechanical hand is more and more applied on mechanical part production line.Existing mechanical grabbing device mostly is single stand-type structure, it is arranged on production line side to capture the workpiece for producing, by realizing that the crawl to workpiece is collected come back rotation between crawl point and workpiece bleeding point, the crawl of each independent workpiece needs to expend longer man-hour, when production workpiece is more, workpiece grabbing seriality is inadequate.Though this problem can be solved by arranging multiple stand-type construction machine handss, it is relatively costly, it is unfavorable for extension production.Driven by connecting rod more than the finger of existing manipulator, the insufficient clamping force in grabbing workpiece, not with anticreep, auto-lock function.
The content of the invention
The invention provides a kind of running type machine grabbing device, is capable of achieving to carry out the workpiece of production line continuous way without interval crawl, efficiency is higher, and cost is relatively low.
The running type machine grabbing device of the present invention, including the reciprocating treads of loop configuration and at least one mechanical hand being fixedly installed in reciprocating treads, mechanical hand includes the fixed mount mechanical arm being fixedly connected with fixed mount and the gripper being connected with mechanical arm；
Mechanical arm includes elongation hydraulic cylinder, rotary electric machine, screw nut driving mechanism and the servomotor for drive screw nut transmission mechanism, also include servomotor mounting cylinder and gripper installing rack, servomotor mounting cylinder lower openings are simultaneously fixedly connected with gripper installing rack, the cylinder body of elongation hydraulic cylinder is fixedly connected with fixed mount, the piston rod of elongation hydraulic cylinder is fixedly connected with the body of rotary electric machine, the output shaft of rotary electric machine is fixedly connected with servomotor mounting cylinder, servomotor is arranged in servomotor mounting cylinder, the output shaft of servomotor is connected with the screw rod transmission of screw nut driving mechanism；
Gripper includes into two mechanical claws of clamp position setting, and the upper end of two mechanical claws is hinged on the nut slider for being arranged at leading screw and nut mechanism, and two mechanical claws middle part corresponds to be hinged to be arranged on the two side of gripper installing rack and forms lever construction respectively.
Further, also including automatic control system, automatic control system includes central controller and vision positioning system, and vision positioning system includes：Photographic head, is arranged at gripper installing rack and each mechanical claw end and for three-dimensional imaging；Laser range sensor, is arranged at gripper installing rack and each mechanical claw end and for detection and the distance of workpiece；Photographic head and laser range sensor are connected with the central controller.
Further, also including travel driving unit, travel driving unit includes travel driving motor and the gear pair of cooperation is driven with travel driving motor output shaft, and reciprocating treads uper side surface is provided with the tooth bar with gear auxiliary driving.
Beneficial effects of the present invention：The running type machine grabbing device of the present invention, at least one mechanical hand is along the reciprocating treads walking of loop configuration, workpiece on production line can continuously be captured, and, two mechanical claws of mechanical hand are driven by screw nut driving mechanism, realize that the anticreep to mechanical claw is arranged using the auto-lock function of feed screw nut, with higher chucking power and anticreep.
Description of the drawings
Fig. 1 is schematic structural view of the invention.
Specific embodiment
As shown in the figure：The running type machine grabbing device of the present embodiment, including reciprocating treads l of loop configuration and at least one mechanical hand along the walking of reciprocating treads l, the mechanical hand includes the mechanical arm being fixedly connected with fixed mount 2 of fixed mount 2 and the gripper being connected with mechanical arm；The reciprocating turning end points of the treads l two correspondence production line workpiece grabbing point of loop configuration and workpiece are collected set-point and are arranged, several mechanical hands are continuously captured to the workpiece on production line successively, and put down workpiece in workpiece collection set-point, the crawl continuous free of discontinuities to producing workpiece is capable of achieving, with a relatively high efficiency；
Mechanical arm includes elongation hydraulic cylinder 3, rotary electric machine 4, screw nut driving mechanism and the servomotor 5 for drive screw nut transmission mechanism, also include servomotor mounting cylinder 6 and gripper installing rack 7, the lower openings of servomotor mounting cylinder 6 are simultaneously fixedly connected with gripper installing rack 7, the cylinder body of elongation hydraulic cylinder 3 is fixedly connected with fixed mount 2, the piston rod of elongation hydraulic cylinder 3 is fixedly connected with the body of rotary electric machine 4, the output shaft of rotary electric machine 4 is fixedly connected with servomotor mounting cylinder 6, servomotor 5 is arranged in servomotor mounting cylinder 6, the output shaft of servomotor 5 is connected with the screw mandrel 8 of screw nut driving mechanism；
Gripper includes into two mechanical claws 10 of clamp position setting, the upper end of two mechanical claws 10 is hinged on the nut slider 9 for being arranged at leading screw and nut mechanism, and the middle part of two mechanical claw 10 corresponds to be hinged to be arranged on the two side of gripper installing rack 7 and forms lever construction respectively；As shown in the figure, the piston rod of elongation hydraulic cylinder 3 is connected by ring flange with the body of rotary electric machine 4, the output shaft of rotary electric machine 4 is connected also by ring flange with the lateral wall of servomotor mounting cylinder 6, the output shaft of servomotor 5 is connected by shaft coupling 11 with screw mandrel 8, wherein, extend the relative fore-and-aft distance of the adjustable mechanical claw 10 of hydraulic cylinder 3 and workpiece, rotary electric machine 4 can cause gripper to rotate and adjust crawl position, screw nut driving mechanism drives the mechanical claw 10 for defining lever construction to workpiece grabbing, not only there is higher anticreep, chucking power, and drive regulation simple and reliable, practicality is stronger, in addition, through hole is provided with the base plate of gripper installing rack 7, pass through for screw mandrel 8 and coordinate with nut slider 9.
In the present embodiment, also including automatic control system, automatic control system includes central controller and vision positioning system, and vision positioning system includes：Photographic head, is arranged at gripper installing rack 7 and each end of mechanical claw 10 and for three-dimensional imaging；Laser range sensor, is arranged at gripper installing rack 7 and each end of mechanical claw 10 and for detection and the distance of workpiece；Photographic head and laser range sensor are connected with the central controller.Photographic head can three-dimensional imaging, then measured away from workpiece distance by laser range sensor, all data are by central controller process, form adaptive space positioning, can be pre-adjusted according to the particular location of clamping workpiece, accurately be clamped, with a relatively high clamp precision.
In the present embodiment, also including travel driving unit, travel driving unit includes travel driving motor and the gear pair of cooperation is driven with travel driving motor output shaft, and reciprocating treads uper side surface is provided with the tooth bar with gear auxiliary driving.
What is finally illustrated is, above example is only to illustrate technical scheme and unrestricted, although being described in detail to the present invention with reference to preferred embodiment, it will be understood by those within the art that, technical scheme can be modified or equivalent, without deviating from the objective and scope of technical solution of the present invention, it all should cover in the middle of scope of the presently claimed invention.
Claims (3)
1. a kind of running type machine grabbing device, it is characterised in that：Including the reciprocating treads of loop configuration and at least one mechanical hand being fixedly installed in reciprocating treads, the mechanical hand includes the fixed mount mechanical arm being fixedly connected with fixed mount and the gripper being connected with mechanical arm；The mechanical arm includes elongation hydraulic cylinder, rotary electric machine, screw nut driving mechanism and the servomotor for drive screw nut transmission mechanism, also include servomotor mounting cylinder and gripper installing rack, the servomotor mounting cylinder lower openings are simultaneously fixedly connected with gripper installing rack, the cylinder body of the elongation hydraulic cylinder is fixedly connected with fixed mount, the piston rod of elongation hydraulic cylinder is fixedly connected with the body of rotary electric machine, the output shaft of rotary electric machine is fixedly connected with servomotor mounting cylinder, servomotor is arranged in servomotor mounting cylinder, the output shaft of servomotor is connected with the screw rod transmission of screw nut driving mechanism；The gripper includes into two mechanical claws of clamp position setting, the upper end of two mechanical claws is hinged on the nut slider for being arranged at leading screw and nut mechanism, and two mechanical claws middle part corresponds to be hinged to be arranged on the two side of gripper installing rack and forms lever construction respectively.
2. the running type machine grabbing device according to claim l, it is characterised in that：Also include automatic control system, the automatic control system includes central controller and vision positioning system, and the vision positioning system includes：Photographic head, is arranged at gripper installing rack and each mechanical claw end and for three-dimensional imaging；Laser range sensor, is arranged at gripper installing rack and each mechanical claw end and for detection and the distance of workpiece；The photographic head and the laser range sensor are connected with the central controller.
3. running type machine grabbing device according to claim 2, it is characterised in that：Also include travel driving unit, the travel driving unit includes travel driving motor and the gear pair of cooperation is driven with travel driving motor output shaft, and reciprocating treads uper side surface is provided with the tooth bar with gear auxiliary driving.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510682581.6A CN106607891A (en) | 2015-10-21 | 2015-10-21 | Travelling mechanical gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510682581.6A CN106607891A (en) | 2015-10-21 | 2015-10-21 | Travelling mechanical gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106607891A true CN106607891A (en) | 2017-05-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510682581.6A Pending CN106607891A (en) | 2015-10-21 | 2015-10-21 | Travelling mechanical gripper |
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| Country | Link |
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| CN (1) | CN106607891A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107364683A (en) * | 2017-07-26 | 2017-11-21 | 芜湖超源力工业设计有限公司 | It is a kind of can automatic sorting article intelligent conveyer belt conveyer |
| CN107414879A (en) * | 2017-07-31 | 2017-12-01 | 浩科机器人（苏州）有限公司 | A kind of safety protective glass handling machine people |
| CN107472909A (en) * | 2017-07-31 | 2017-12-15 | 浩科机器人（苏州）有限公司 | A kind of glass handling machine people with laser detection function |
| CN107472910A (en) * | 2017-07-31 | 2017-12-15 | 浩科机器人（苏州）有限公司 | A kind of method of work with vision-based detection functional glass transfer robot |
| CN107787864A (en) * | 2017-12-04 | 2018-03-13 | 深圳市前海乐航科技有限公司 | Swing arm intelligence feeding device and method |
| CN108238545A (en) * | 2018-01-24 | 2018-07-03 | 河北卓达建材研究院有限公司 | Assembling type steel structure builds steel column catching robot |
| CN108773668A (en) * | 2018-06-26 | 2018-11-09 | 湖南乾康科技有限公司 | A kind of test strips automatic clamping mechanism |
| CN108905378A (en) * | 2018-07-18 | 2018-11-30 | 陈赛君 | A kind of filter plate cleaning equipment of underwater oil pumping oil liquid separation convenient for safeguarding |
| CN109011848A (en) * | 2018-07-09 | 2018-12-18 | 陈赛君 | A kind of underwater oil pumping filter plate cleaning equipment |
| CN109018056A (en) * | 2018-08-09 | 2018-12-18 | 北京航空航天大学 | The sufficient four-wheel of one kind two can be changed walking mechanism multifunctional bionic robot system |
| CN109975411A (en) * | 2019-04-17 | 2019-07-05 | 江苏至上检测科技有限公司 | Axis parts batch phased array ultrasonic detection assembly line |
| CN110915416A (en) * | 2019-12-23 | 2020-03-27 | 重庆七彩田园生态农业开发有限公司 | Self-picking swimming power assisting device |
| CN111590628A (en) * | 2020-06-10 | 2020-08-28 | 嘉善荣德金属制品股份有限公司 | Metal product clamping mechanism convenient to adjust |
-
2015
- 2015-10-21 CN CN201510682581.6A patent/CN106607891A/en active Pending
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107364683A (en) * | 2017-07-26 | 2017-11-21 | 芜湖超源力工业设计有限公司 | It is a kind of can automatic sorting article intelligent conveyer belt conveyer |
| CN107472910B (en) * | 2017-07-31 | 2019-03-26 | 浩科机器人（苏州）有限公司 | A kind of working method with vision-based detection functional glass transfer robot |
| CN107414879A (en) * | 2017-07-31 | 2017-12-01 | 浩科机器人（苏州）有限公司 | A kind of safety protective glass handling machine people |
| CN107472909A (en) * | 2017-07-31 | 2017-12-15 | 浩科机器人（苏州）有限公司 | A kind of glass handling machine people with laser detection function |
| CN107472910A (en) * | 2017-07-31 | 2017-12-15 | 浩科机器人（苏州）有限公司 | A kind of method of work with vision-based detection functional glass transfer robot |
| CN107472909B (en) * | 2017-07-31 | 2019-04-30 | 浩科机器人（苏州）有限公司 | A kind of glass handling machine people with laser detection function |
| CN107787864A (en) * | 2017-12-04 | 2018-03-13 | 深圳市前海乐航科技有限公司 | Swing arm intelligence feeding device and method |
| CN107787864B (en) * | 2017-12-04 | 2021-06-04 | 深圳市乐航智能科技有限公司 | Swing arm type intelligent food taking device and method |
| CN108238545A (en) * | 2018-01-24 | 2018-07-03 | 河北卓达建材研究院有限公司 | Assembling type steel structure builds steel column catching robot |
| CN108773668A (en) * | 2018-06-26 | 2018-11-09 | 湖南乾康科技有限公司 | A kind of test strips automatic clamping mechanism |
| CN109011848A (en) * | 2018-07-09 | 2018-12-18 | 陈赛君 | A kind of underwater oil pumping filter plate cleaning equipment |
| CN108905378A (en) * | 2018-07-18 | 2018-11-30 | 陈赛君 | A kind of filter plate cleaning equipment of underwater oil pumping oil liquid separation convenient for safeguarding |
| CN109018056A (en) * | 2018-08-09 | 2018-12-18 | 北京航空航天大学 | The sufficient four-wheel of one kind two can be changed walking mechanism multifunctional bionic robot system |
| CN109975411A (en) * | 2019-04-17 | 2019-07-05 | 江苏至上检测科技有限公司 | Axis parts batch phased array ultrasonic detection assembly line |
| CN109975411B (en) * | 2019-04-17 | 2021-09-24 | 江苏至上检测科技有限公司 | Axle part is phased array ultrasonic detection assembly line in batches |
| CN110915416A (en) * | 2019-12-23 | 2020-03-27 | 重庆七彩田园生态农业开发有限公司 | Self-picking swimming power assisting device |
| CN110915416B (en) * | 2019-12-23 | 2022-04-29 | 重庆七彩田园生态农业开发有限公司 | Self-picking swimming power assisting device |
| CN111590628A (en) * | 2020-06-10 | 2020-08-28 | 嘉善荣德金属制品股份有限公司 | Metal product clamping mechanism convenient to adjust |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170503 |
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| WD01 | Invention patent application deemed withdrawn after publication |