CN106945066A - Feeding robot gripper for bars - Google Patents
Feeding robot gripper for bars Download PDFInfo
- Publication number
- CN106945066A CN106945066A CN201710256873.2A CN201710256873A CN106945066A CN 106945066 A CN106945066 A CN 106945066A CN 201710256873 A CN201710256873 A CN 201710256873A CN 106945066 A CN106945066 A CN 106945066A
- Authority
- CN
- China
- Prior art keywords
- handgrip
- hinged
- base
- connecting rod
- block assembly
- 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.)
- Pending
Links
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000010276 construction Methods 0.000 description 2
- 238000012840 feeding operation Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001010 compromised effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a bar feeding robot gripper which comprises a base, a sliding block assembly, a first gripper finger, a first connecting rod, a second gripper finger and a second connecting rod, wherein the sliding block assembly is arranged on the base in a sliding mode, the front part of the first gripper finger is a first gripper part, the middle part of the first gripper finger is hinged to the base, one end of the first connecting rod is hinged to the sliding block assembly, the other end of the first connecting rod is hinged to the rear part of the first gripper finger, the front part of the second gripper finger is a second gripper part, the middle part of the second gripper finger is hinged to the base, one end of the second connecting rod is hinged to the sliding block assembly, and the other end of the second connecting rod is hinged to the rear part of the second gripper finger. The feeding device can effectively solve the feeding problem of the bar stock, has a simple structure, saves time and labor, protects the safety of workers and reduces the production cost.
Description
Technical field
The present invention relates to a kind of feeding robot handgrip of bar.
Background technology
At present, in the industrial production, increasing people, which is sick of, leans on manpower transport's weight, is disliked in hostile environment, high temperature etc.
Be not suitable for workman's work under the conditions of cacogenesis's production, in order to avoid people is compromised aborning, greatly mitigate the labor intensity of people,
So good selection of the robot gripper into them.However, China is more first still in one to the research and development and application of manipulator
The stage of level, and the U.S., Japan and other countries still have larger gap.
By visit observation market, it is thus understood that on the market also not be directed to diameter 200mm, length 300mm bar it is upper
Expect robot gripper, therefore be badly in need of a kind of feeding robot handgrip of design.
The content of the invention
The technical problems to be solved by the invention are to overcome the defect of prior art there is provided a kind of feeding robot of bar
Handgrip, the problem of it can efficiently solve the feeding of bar, and it is simple in construction, time saving and energy saving, protect safety of workers, drop
Low production cost.
In order to solve the above-mentioned technical problem, the technical scheme is that：A kind of feeding robot handgrip of bar, it is wrapped
Include：
Base；
Slide block assembly, the slide block assembly slide fit is on base；
Portion, the middle part of the first handgrip finger are grabbed for first in first handgrip finger, the front portion of the first handgrip finger
It is hinged on base；
First connecting rod, one end of the first connecting rod is hinged with the slide block assembly, the other end of the first connecting rod with
The rear portion of the first handgrip finger is hinged；
Portion, the middle part of the second handgrip finger are grabbed for second in second handgrip finger, the front portion of the second handgrip finger
It is hinged on base；
Second connecting rod, one end of the second connecting rod is hinged with the slide block assembly, the other end of the second connecting rod with
The rear portion of the second handgrip finger is hinged；
Wherein, by acting the slide block assembly on base, the first of the first handgrip finger is made to grab portion and described
Second portion of grabbing of the second handgrip finger does move toward one another or dorsad moved.
A kind of concrete structure of slide block assembly is further provided, slide block assembly includes guide rod and sliding block, and the guide rod is slided
Fit on base, so that the guide rod is moved axially on base, the sliding block is arranged on guide rod, the one of the first connecting rod
End is hinged on one end of sliding block, and one end of the second connecting rod is hinged on the other end of sliding block.
The attachment structure of a kind of sliding block and guide rod is further provided, sliding block is threadedly attached on guide rod.
A kind of concrete structure of base is further provided, the front portion of base is handgrip finger supporting part, the base
Rear portion is slide block assembly supporting part, and the handgrip finger supporting part includes the first supporting plate, the second supporting plate and floor, first
The front end of the rear end of fagging, the rear end of the second supporting plate and floor links together, first supporting plate and the second supporting plate
V-structure is formed, the rear end of the floor is connected with slide block assembly supporting part.
Further for clamping bar well, first grabs portion and second portion of grabbing is symmetrical arranged, and first grabs portion
Bar clamp face, second grab portion bar clamp face diameter it is identical with the diameter of bar respectively.
Employ after above-mentioned technical proposal, the present invention by guide rod in the guide rod installing hole of base in use, axially moved
It is dynamic, drive the axial movement of sliding block, the mobile driving first connecting rod of sliding block, the swing of second connecting rod, first connecting rod, second connecting rod
Synchronous hunting driving be hinged the first handgrip finger 6 on the base 3, the folding of the second handgrip finger 7, realization is grabbed to bar
Take, feeding operation, this makes it possible to the problem of the feeding for efficiently solving bar, and it is simple in construction, time saving and energy saving, protect
Safety of workers, reduce production cost.
Brief description of the drawings
Fig. 1 is the structural representation of the feeding robot handgrip of the bar of the present invention；
Fig. 2 is the principle schematic diagram of the feeding robot handgrip of the bar of the present invention.
Embodiment
In order that present disclosure is easier to be clearly understood, it is right below according to specific embodiment and with reference to accompanying drawing
The present invention is described in further detail.
As shown in Figure 1, 2, the feeding robot handgrip of a kind of bar, it includes：
Base 3；
Slide block assembly, the slide block assembly slide fit is on the base 3；
Grabbed for first in portion, the first handgrip finger 6 first handgrip finger 6, the front portion of the first handgrip finger 6
Portion is hinged on the base 3；
First connecting rod 4, one end and the slide block assembly of the first connecting rod 4 are hinged, the other end of the first connecting rod 4
It is hinged with the rear portion of the first handgrip finger 6；
Grabbed for second in portion, the second handgrip finger 7 second handgrip finger 7, the front portion of the second handgrip finger 7
Portion is hinged on the base 3；
Second connecting rod 5, one end and the slide block assembly of the second connecting rod 5 are hinged, the other end of the second connecting rod 5
It is hinged with the rear portion of the second handgrip finger 7；
Wherein, by acting the slide block assembly on the base 3, the first of the first handgrip finger 6 is made to grab portion and institute
Second portion of grabbing for stating the second handgrip finger 7 does move toward one another or dorsad moved.
The feeding robot handgrip of the bar of the present embodiment uses slider-crank mechanism, and sliding block 2 is as driving link, and first
Handgrip finger 6, the second handgrip finger 7, as crank, are driven members.
As shown in figure 1, slide block assembly includes guide rod 1 and sliding block 2, the slide fit of guide rod 1 on the base 3, is led so as to described
Bar 1 is moved axially on the base 3, and the sliding block 2 is arranged on guide rod 1, and one end of the first connecting rod 4 is hinged on sliding block 2
One end, one end of the second connecting rod 5 is hinged on the other end of sliding block 2.
As shown in figure 1, this slide block assembly uses assembly type, sliding block 2 is threadedly attached on guide rod 1.
As shown in figure 1, the front portion of the base 3 is handgrip finger supporting part, the rear portion of the base 3 is slide block assembly branch
Support part, the handgrip finger supporting part is included after the first supporting plate 31, the second supporting plate 32 and floor 33, the first supporting plate 31
The front end at end, the rear end of the second supporting plate 32 and floor 33 links together, the supporting plate 32 of the first supporting plate 31 and second
V-structure is formed, the rear end of the floor 33 is connected with slide block assembly supporting part.
In order to preferably clamp bar, as shown in figure 1, first grabs portion and second portion of grabbing is symmetrical arranged, and first
Grab portion bar clamp face, second grab portion bar clamp face diameter it is identical with the diameter of bar respectively.
In the present embodiment, hinged relationship between the two is attached by bearing pin or screw.
The operation principle of the present invention is as follows：
In use, being moved axially by guide rod 1 in the guide rod installing hole of base 3, the axial movement of sliding block 2 is driven, it is sliding
The mobile driving first connecting rod 4 of block 2, the swing of second connecting rod 5, first connecting rod 4, the synchronous hunting drive installation of second connecting rod 5
The first handgrip finger 6, the folding of the second handgrip finger 7 on the support frame of base 3, realize crawl to bar, feeding operation.
Particular embodiments described above, pair present invention solves the technical problem that, technical scheme and beneficial effect carry out
It is further described, should be understood that the specific embodiment that the foregoing is only the present invention, is not limited to this
Invention, within the spirit and principles of the invention, any modifications, equivalent substitutions and improvements done etc. should be included in this hair
Within bright protection domain.
Claims (5)
1. the feeding robot handgrip of a kind of bar, it is characterised in that it includes：
Base (3)；
Slide block assembly, the slide block assembly slide fit is on base (3)；
Portion is grabbed in first handgrip finger (6), the front portion of the first handgrip finger (6) for first, the first handgrip finger (6)
Middle part is hinged on base (3)；
First connecting rod (4), one end of the first connecting rod (4) is hinged with the slide block assembly, the first connecting rod (4) it is another
The rear portion with the first handgrip finger (6) is held to be hinged；
Portion is grabbed in second handgrip finger (7), the front portion of the second handgrip finger (7) for second, the second handgrip finger (7)
Middle part is hinged on base (3)；
Second connecting rod (5), one end of the second connecting rod (5) is hinged with the slide block assembly, the second connecting rod (5) it is another
The rear portion with the second handgrip finger (7) is held to be hinged；
Wherein, by acting the slide block assembly on base (3), the first of the first handgrip finger (6) is made to grab portion and institute
Second portion of grabbing for stating the second handgrip finger (7) does move toward one another or dorsad moved.
2. the feeding robot handgrip of bar according to claim 1, it is characterised in that：The slide block assembly includes guide rod
(1) and sliding block (2), guide rod (1) slide fit is on base (3), so that the guide rod (1) is moved axially on base (3), institute
Sliding block (2) is stated on guide rod (1), one end of the first connecting rod (4) is hinged on one end of sliding block (2), and described second connects
One end of bar (5) is hinged on the other end of sliding block (2).
3. the feeding robot handgrip of bar according to claim 2, it is characterised in that：The sliding block (2) passes through screw thread
It is connected on guide rod (1).
4. the feeding robot handgrip of bar according to claim 1, it is characterised in that：The front portion of the base (3) is
Handgrip finger supporting part, the rear portion of the base (3) is slide block assembly supporting part, and the handgrip finger supporting part includes first
Fagging (31), the second supporting plate (32) and floor (33), the rear end of the first supporting plate (31), the rear end of the second supporting plate (32) and
The front end of floor (33) links together, first supporting plate (31) and the second supporting plate (32) formation V-structure, the rib
The rear end of plate (33) is connected with slide block assembly supporting part.
5. the feeding robot handgrip of bar according to claim 1, it is characterised in that：Described first grabs portion and described
Two portions of grabbing are symmetrical arranged, and first grab portion bar clamp face, second grab portion bar clamp face diameter respectively with bar
Diameter it is identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710256873.2A CN106945066A (en) | 2017-04-19 | 2017-04-19 | Feeding robot gripper for bars |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710256873.2A CN106945066A (en) | 2017-04-19 | 2017-04-19 | Feeding robot gripper for bars |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106945066A true CN106945066A (en) | 2017-07-14 |
Family
ID=59477078
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710256873.2A Pending CN106945066A (en) | 2017-04-19 | 2017-04-19 | Feeding robot gripper for bars |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106945066A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107571278A (en) * | 2017-09-11 | 2018-01-12 | 宁夏共享机床辅机有限公司 | A kind of lever type mechanical hand clamping jaw |
| CN107738266A (en) * | 2017-09-30 | 2018-02-27 | 佛山建邦机械有限公司 | It is a kind of to grab handle device from dynamic pressure handle machine |
| CN108161908A (en) * | 2018-02-27 | 2018-06-15 | 苏州苏大赛尔免疫生物技术有限公司 | Blood type card catching robot |
| CN108177969A (en) * | 2017-12-07 | 2018-06-19 | 安徽新荣钢构有限公司 | A kind of automatic clamping handling device of metal tube |
| CN109849044A (en) * | 2019-03-07 | 2019-06-07 | 广东工业大学 | It is a kind of for clamping the Pneumatic manipulator of cylindrical bar |
| CN110039459A (en) * | 2018-01-16 | 2019-07-23 | 闫丽娟 | It is a kind of for clamping the assemble method of the device of insulator |
| CN112705984A (en) * | 2020-12-28 | 2021-04-27 | 东风汽车有限公司 | Automatic tool changing and oil injecting system and method |
| CN112811163A (en) * | 2021-01-30 | 2021-05-18 | 河北申科电力股份有限公司 | Automatic receiving equipment for assembly line coils |
| CN113060538A (en) * | 2021-02-06 | 2021-07-02 | 海天塑机集团有限公司 | Multifunctional clamping jaw for assembling injection molding machine |
| CN114084663A (en) * | 2021-11-12 | 2022-02-25 | 洛阳万基金属钠有限公司 | Metal sodium rod grabbing mechanism |
| CN114476348A (en) * | 2022-01-21 | 2022-05-13 | 浙江工业大学 | Anti-storm net cover device based on hydrogel characteristics |
| CN114955499A (en) * | 2021-12-28 | 2022-08-30 | 福州外语外贸学院 | Civil engineering pipe fitting clamping device |
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| CN201816059U (en) * | 2010-10-12 | 2011-05-04 | 浙江工业大学 | Mechanical clamping device |
| CN204262684U (en) * | 2014-11-28 | 2015-04-15 | 江阴吉爱倍万达精工有限公司 | The adjustable clamping device of bearing conveying device |
| CN205704251U (en) * | 2016-04-28 | 2016-11-23 | 郑州人造金刚石及制品工程技术研究中心有限公司 | Solid and reliable type mechanical hand |
| CN205704240U (en) * | 2016-03-12 | 2016-11-23 | 上海大学 | A kind of simple and mechanical gripper equipment |
| CN206855470U (en) * | 2017-04-19 | 2018-01-09 | 常州机电职业技术学院 | Feeding robot gripper for bars |
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2017
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Patent Citations (5)
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| CN201816059U (en) * | 2010-10-12 | 2011-05-04 | 浙江工业大学 | Mechanical clamping device |
| CN204262684U (en) * | 2014-11-28 | 2015-04-15 | 江阴吉爱倍万达精工有限公司 | The adjustable clamping device of bearing conveying device |
| CN205704240U (en) * | 2016-03-12 | 2016-11-23 | 上海大学 | A kind of simple and mechanical gripper equipment |
| CN205704251U (en) * | 2016-04-28 | 2016-11-23 | 郑州人造金刚石及制品工程技术研究中心有限公司 | Solid and reliable type mechanical hand |
| CN206855470U (en) * | 2017-04-19 | 2018-01-09 | 常州机电职业技术学院 | Feeding robot gripper for bars |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107571278A (en) * | 2017-09-11 | 2018-01-12 | 宁夏共享机床辅机有限公司 | A kind of lever type mechanical hand clamping jaw |
| CN107738266B (en) * | 2017-09-30 | 2024-04-16 | 广东建邦机械有限公司 | Handle grabbing device for automatic pressing mobile phone |
| CN107738266A (en) * | 2017-09-30 | 2018-02-27 | 佛山建邦机械有限公司 | It is a kind of to grab handle device from dynamic pressure handle machine |
| CN108177969A (en) * | 2017-12-07 | 2018-06-19 | 安徽新荣钢构有限公司 | A kind of automatic clamping handling device of metal tube |
| CN110039459A (en) * | 2018-01-16 | 2019-07-23 | 闫丽娟 | It is a kind of for clamping the assemble method of the device of insulator |
| CN110039459B (en) * | 2018-01-16 | 2020-12-08 | 温州炘都工业设计有限公司 | Method for assembling device for clamping insulator |
| CN108161908A (en) * | 2018-02-27 | 2018-06-15 | 苏州苏大赛尔免疫生物技术有限公司 | Blood type card catching robot |
| CN109849044A (en) * | 2019-03-07 | 2019-06-07 | 广东工业大学 | It is a kind of for clamping the Pneumatic manipulator of cylindrical bar |
| CN112705984A (en) * | 2020-12-28 | 2021-04-27 | 东风汽车有限公司 | Automatic tool changing and oil injecting system and method |
| CN112811163A (en) * | 2021-01-30 | 2021-05-18 | 河北申科电力股份有限公司 | Automatic receiving equipment for assembly line coils |
| CN113060538B (en) * | 2021-02-06 | 2022-05-03 | 海天塑机集团有限公司 | Multifunctional clamping jaw for assembling injection molding machine |
| CN113060538A (en) * | 2021-02-06 | 2021-07-02 | 海天塑机集团有限公司 | Multifunctional clamping jaw for assembling injection molding machine |
| CN114084663A (en) * | 2021-11-12 | 2022-02-25 | 洛阳万基金属钠有限公司 | Metal sodium rod grabbing mechanism |
| CN114084663B (en) * | 2021-11-12 | 2024-04-02 | 洛阳万基金属钠有限公司 | Metal sodium rod grabbing mechanism |
| CN114955499A (en) * | 2021-12-28 | 2022-08-30 | 福州外语外贸学院 | Civil engineering pipe fitting clamping device |
| CN114955499B (en) * | 2021-12-28 | 2023-09-12 | 福州外语外贸学院 | Civil engineering pipe fitting clamping device |
| CN114476348A (en) * | 2022-01-21 | 2022-05-13 | 浙江工业大学 | Anti-storm net cover device based on hydrogel characteristics |
| CN114476348B (en) * | 2022-01-21 | 2023-06-30 | 浙江工业大学 | Storm-proof net cover device based on hydrogel characteristic |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20170714 |