CN107351110A - A kind of full-automatic clamping mechanical hand - Google Patents
A kind of full-automatic clamping mechanical hand Download PDFInfo
- Publication number
- CN107351110A CN107351110A CN201710779534.2A CN201710779534A CN107351110A CN 107351110 A CN107351110 A CN 107351110A CN 201710779534 A CN201710779534 A CN 201710779534A CN 107351110 A CN107351110 A CN 107351110A
- Authority
- CN
- China
- Prior art keywords
- seat
- clamping
- full
- mechanical hand
- tong
- 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
- B25J15/028—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by cams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- 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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Jigs For Machine Tools (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of full-automatic clamping mechanical hand, the lower end of connecting seat is fixedly installed in fixed seat, cylinder is provided with fixed seat, the piston rod of cylinder connects the cam pack, the lower end connection runner assembly of cam pack, clamp assembly is provided with runner assembly, clamp assembly realizes the clamping to workpiece under the driving of the cylinder, clamping head and tong are provided with clamp assembly, tong is removably located at clinch ear downside, tong extends downwardly along the central axial direction of clamp assembly, radial direction of the clamping head along the clamp assembly is moved to be clamped workpiece from the circumferencial direction of workpiece.The present invention can not only realize carries out self-centering clamp operation to cylindrical workpiece using clamping head, other shapes of workpiece can also be captured using dismountable tong, improve the applicable effect of the present invention, clamping and positioning precision of the present invention is high, positioning precision is quick and convenient, can quickly realize self-centering operation.
Description
Technical field
The present invention relates to a kind of full-automatic clamping mechanical hand, belong to mechanical automation equipment technical field.
Background technology
At present, in machining, generally require using manipulator workpiece to be fixed clamping or travelling workpiece,
Current manipulator function when clamping is relatively simple, is merely capable of realizing the clamping of single workpiece, and gripping range is smaller, and
And manipulator is typically set using connecting rod at present, the manipulator of this structure position inaccurate when clamping, when clamping,
Easily loosen, can not even more ensure the same axis clamping of workpiece.
The present invention is directed to problem above, there is provided a kind of full-automatic clamping mechanical hand, to ensure that manipulator is fitted to workpiece
With gripping range, while ensure Workpiece clamping positioning precision.
The content of the invention
To achieve the above object, the present invention provides following technical scheme：A kind of full-automatic clamping mechanical hand, it includes connection
Seat, fixed seat, cylinder, cam pack, runner assembly and clamp assembly, it is characterised in that the lower end of the connecting seat is fixed and set
Put in the fixed seat, cylinder is provided with the fixed seat, the piston rod of the cylinder connects the cam pack, described
The lower end of cam pack connects the runner assembly, is provided with clamp assembly on the runner assembly, the clamp assembly is in institute
The clamping realized under the driving of cylinder to workpiece is stated, clamping head and tong are provided with the clamp assembly, wherein, the tong
Removably it is arranged on the clinch ear downside, central axial direction of the tong along the clamp assembly is to downward
Stretch, radial direction of the clamping head along the clamp assembly is moved to be clamped workpiece from the circumferencial direction of workpiece.
Further, preferably, the cam pack includes cam, drive seat and limit assembly, the runner assembly is extremely
Include main rotation seat less, wherein, the upper end of the drive seat is fixed on the piston rod of cylinder, and the lower end of the drive seat is at least
A drive rod is provided with, the lower end of the drive rod is provided with the connecting shaft of setting normal thereto, the excircle of the cam
On be provided with cam path, the end of the connecting shaft, which is stretched into, to be arranged in the cam path, and the excircle of the connecting shaft with
The cell wall up and down of the cam path is equipped with, and the lower surface of the cam is fixed with the main rotation seat, the main rotation seat
Excircle be provided with limit assembly, the limit assembly limits the active swivel base and moved down along on its center axis direction
It is dynamic, and allow the active swivel base to be rotated along its center axis direction.
Further, preferably, the limit assembly includes bearing block and bearing, wherein, it is right on the inwall of the outer seat
Answer the position of the main rotation seat to be provided with the bearing block, bearing outer ring, the bearing inner race are provided with the bearing block
Insertion is arranged on the excircle of the main rotation seat.
Further, preferably, the clamp assembly is included from rotation seat, auxiliary block, limit base, multiple clamping bars and more
Individual eccentric rotary head, wherein, the lower end of the main rotation seat is fixed on from the upper end of rotation seat, the lower surface of the fixed seat is set
Be equipped with outer seat, the lower end of the outer seat is provided with lower fixed seat, the upper surface of the lower fixed seat be fixedly installed auxiliary block and
Limit base, the outer seat, it is coaxially disposed from outside to inside successively from rotation seat, auxiliary block and limit base, the end of the clamping bar
Bar-shaped trough is provided with, described that articulated column is provided with from rotation seat, the clamping bar is be hinged to be arranged in the articulated column, described
The inner of clamping bar, which is stretched into, to be arranged in the limit base, and the inner end of the clamping bar is provided with eccentric rotary head, described
Eccentric rotary head is rotatably be hinged to be arranged in the stopper slot of limit base, and the inwall of the eccentric rotary head is provided with chuck.
Further, preferably, being additionally provided with auxiliary connecting shaft in the cam path, the auxiliary connecting shaft is positioned at described
The bottom of secondary guide, the upper end connection of the secondary guide are arranged on the lower end of spring, and the lower end of the spring, which is fixed, to be set
Put in the drive seat.
Further, preferably, described be provided with back-moving spring between rotation seat and the auxiliary block.
Further, preferably, the upper end of the tong is provided with threaded connector, screw thread is provided with the clamping head
Hole, the tong are threadedly coupled using the threaded connector with the screwed hole.
Further, preferably, the tong is stretched out by the through hole on the lower fixed seat.
Further, preferably, being provided with stopper slot on the limit base, the eccentric rotary is spacing described spacing
In groove.
Further, preferably, the clamping bar is four that circumference array is set.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention can not only realize carries out self-centering clamp operation to cylindrical workpiece using clamping head, but also can utilize
Dismountable tong captures to other shapes of workpiece, improves the applicable effect of the present invention, determines moreover, the present invention clamps
Position precision is high, and positioning precision is quick and convenient, can quickly realize self-centering operation.
Brief description of the drawings
Fig. 1 is a kind of structural representation of full-automatic clamping mechanical hand of the present invention；
Fig. 2 is a kind of clamp structure diagram of full-automatic clamping mechanical hand of the present invention；
Fig. 3 is a kind of cross section structure diagram of full-automatic clamping mechanical hand of the present invention
Wherein, 1, connecting seat, 2, fixed seat, 3, outer seat, 4, lower fixed seat, 5, tong, 6, cylinder, 7, drive seat, 8, drive rod,
9th, connecting shaft, 10, cam, 11, cam path, 12, main rotation seat, 13, bearing block, 14, bearing, 15, from rotation seat, 16, auxiliary
Seat, 17, limit base, 18, clamping bar, 19, eccentric rotary head, 20, secondary guide, 21, spring, 22, through hole, 23, threaded connection
Head, 24, workpiece, 25, clamping head, 26, back-moving spring.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Fig. 1-3 are referred to, the present invention provides a kind of technical scheme：A kind of full-automatic clamping mechanical hand, it includes connecting seat
1st, fixed seat 2, cylinder 6, cam pack, runner assembly and clamp assembly, it is characterised in that the lower end of the connecting seat 1 is fixed
It is arranged in the fixed seat 2, cylinder 6 is provided with the fixed seat 2, the piston rod of the cylinder 6 connects the cam set
Part, the lower end of the cam pack connect the runner assembly, clamp assembly, the clamping group are provided with the runner assembly
Part realizes the clamping to workpiece under the driving of the cylinder, and clamping head and tong 5 are provided with the clamp assembly, wherein,
The tong 5 is removably arranged on the clinch ear downside, central axis side of the tong along the clamp assembly
To extending downwardly, radial direction of the clamping head along the clamp assembly is moved to be pressed from both sides from the circumferencial direction of workpiece
Clamping of workpieces.
Such as Fig. 1, the cam pack includes cam 10, drive seat 7 and limit assembly, and the runner assembly comprises at least master
Rotation seat 12, wherein, the upper end of the drive seat 7 is fixed on the piston rod of cylinder 6, and the lower end of the drive seat 7 is at least set
Be equipped with a drive rod 8, the lower end of the drive rod 8 is provided with the connecting shaft 9 of setting normal thereto, the cam 10 it is cylindrical
Cam path 11 is provided with week, the end of the connecting shaft 9, which is stretched into, to be arranged in the cam path 11, and the connecting shaft 9
The cell wall up and down of excircle and the cam path 11 is equipped with, and the lower surface of the cam 10 is fixed with the main rotation seat
12, the excircle of the main rotation seat 12 is provided with limit assembly, and the limit assembly limits the active swivel base along wherein
Heart axis direction moves up and down, and allows the active swivel base to be rotated along its center axis direction.
Wherein, the limit assembly includes bearing block 13 and bearing 14, wherein, on the inwall of the outer seat 3 described in correspondence
The position of main rotation seat is provided with the bearing block 13, and bearing outer ring is provided with the bearing block 13, and the bearing inner race is embedding
Enter and be arranged on the excircle of the main rotation seat.
In the present embodiment, such as Fig. 3, the clamp assembly is included from rotation seat 15, auxiliary block 16, limit base 17, multiple
Clamping bar 18 and multiple eccentric rotaries first 19, wherein, the lower end of the main rotation seat is fixed on from the upper end of rotation seat 15, it is described
The lower surface of fixed seat is provided with outer seat 3, and the lower end of the outer seat 3 is provided with lower fixed seat 4, the upper end of the lower fixed seat 4
Face is fixedly installed auxiliary block 16 and limit base 17, the outer seat 3, from rotation seat 15, auxiliary block 16 and limit base 17 successively from
It is coaxially disposed outside to inside, the end set of the clamping bar 18 has a bar-shaped trough, described to be provided with articulated column from rotation seat, described
Clamp, 18 it is be hinged be arranged in the articulated column, the inner of the clamping bar 18, which is stretched into, to be arranged in the limit base, and described
The inner end of clamping bar is provided with eccentric rotary first 19, and the eccentric rotary first 19 is rotatably be hinged to be arranged on the spacing of limit base
In groove, the inwall of the eccentric rotary first 19 is provided with chuck 25.
Wherein, such as Fig. 1, auxiliary connecting shaft is additionally provided with the cam path, the auxiliary connecting shaft is located at the auxiliary
The bottom of guide rod 20, the upper end connection of the secondary guide 20 are arranged on the lower end of spring 21, and the lower end of the spring 21 is consolidated
Surely it is arranged in the drive seat.
In addition, such as Fig. 3, described that back-moving spring 26 is provided between rotation seat and the auxiliary block.
Such as Fig. 2, the upper end of the tong is provided with threaded connection, and 23, screwed hole, the folder are provided with the clamping head
Hand getting is threadedly coupled with the threaded connector with the screwed hole.The tong is stretched by the through hole on the lower fixed seat
Go out.Stopper slot is provided with the limit base, the eccentric rotary is spacing in the stopper slot.The clamping bar is circumference
Four of array setting.
The present invention can not only realize carries out self-centering clamp operation to cylindrical workpiece using clamping head, but also can be with
Other shapes of workpiece is captured using dismountable tong, improves the applicable effect of the present invention, moreover, present invention folder
Tight positioning precision is high, and positioning precision is quick and convenient, can quickly realize self-centering operation.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of full-automatic clamping mechanical hand, it includes connecting seat, fixed seat, cylinder, cam pack, runner assembly and clamping group
Part, it is characterised in that the lower end of the connecting seat is fixedly installed in the fixed seat, and cylinder is provided with the fixed seat,
The piston rod of the cylinder connects the cam pack, and the lower end of the cam pack connects the runner assembly, the rotation
Clamp assembly is provided with component, the clamp assembly realizes the clamping to workpiece, the clamping under the driving of the cylinder
Clamping head and tong are provided with component, wherein, the tong is removably arranged on the clinch ear downside, the tong
Extended downwardly along the central axial direction of the clamp assembly, radial direction of the clamping head along the clamp assembly is moved
Move to be clamped workpiece from the circumferencial direction of workpiece.
A kind of 2. full-automatic clamping mechanical hand according to claim 1, it is characterised in that：The cam pack includes convex
Wheel, drive seat and limit assembly, the runner assembly comprise at least main rotation seat, wherein, the upper end of the drive seat is fixed on
On the piston rod of cylinder, the lower end of the drive seat at least provided with a drive rod, the lower end of the drive rod be provided with
Vertically disposed connecting shaft, be provided with cam path on the excircle of the cam, the end of the connecting shaft, which is stretched into, to be arranged on
In the cam path, and the cell wall up and down of the excircle of the connecting shaft and the cam path is equipped with, under the cam
End face is fixed with the main rotation seat, and the excircle of the main rotation seat is provided with limit assembly, and the limit assembly limits institute
State active swivel base to move up and down along its center axis direction, and allow the active swivel base to turn along its center axis direction
It is dynamic.
A kind of 3. full-automatic clamping mechanical hand according to claim 2, it is characterised in that：The limit assembly includes bearing
Seat and bearing, wherein, the position that the main rotation seat is corresponded on the inwall of the outer seat is provided with the bearing block, the bearing
Bearing outer ring is provided with seat, the bearing inner race insertion is arranged on the excircle of the main rotation seat.
A kind of 4. full-automatic clamping mechanical hand according to claim 2, it is characterised in that：The clamp assembly include from turn
Dynamic seat, auxiliary block, limit base, multiple clamping bars and multiple eccentric rotary heads, wherein, it is fixed on the master from the upper end of rotation seat
The lower end of rotation seat, the lower surface of the fixed seat are provided with outer seat, and the lower end of the outer seat is provided with lower fixed seat, under described
The upper surface of fixed seat is fixedly installed auxiliary block and limit base, the outer seat, from rotation seat, auxiliary block and limit base successively from
It is coaxially disposed outside to inside, the end set of the clamping bar has bar-shaped trough, described that articulated column, the folder are provided with from rotation seat
Tight bar is be hinged to be arranged in the articulated column, and the inner of the clamping bar, which is stretched into, to be arranged in the limit base, and the clamping
The inner end of bar is provided with eccentric rotary head, and the eccentric rotary head is rotatably be hinged to be arranged in the stopper slot of limit base, institute
The inwall for stating eccentric rotary head is provided with chuck.
A kind of 5. full-automatic clamping mechanical hand according to claim 2, it is characterised in that：It is additionally provided with the cam path
Connecting shaft is aided in, the auxiliary connecting shaft is located at the bottom of the secondary guide, and the upper end connection of the secondary guide is set
In the lower end of spring, the lower end of the spring is fixedly installed in the drive seat.
A kind of 6. full-automatic clamping mechanical hand according to claim 4, it is characterised in that：It is described from rotation seat with it is described auxiliary
Help between seat and be provided with back-moving spring.
A kind of 7. full-automatic clamping mechanical hand according to claim 4, it is characterised in that：The upper end of the tong is provided with
Threaded connector, screwed hole is provided with the clamping head, the tong is using the threaded connector and the screwed hole spiral shell
Line connects.
A kind of 8. full-automatic clamping mechanical hand according to claim 4, it is characterised in that：The tong passes through described lower solid
Through hole in reservation stretches out.
A kind of 9. full-automatic clamping mechanical hand according to claim 4, it is characterised in that：Set on the limit base limited
Position groove, the eccentric rotary are spacing in the stopper slot.
A kind of 10. full-automatic clamping mechanical hand according to claim 4, it is characterised in that：The clamping bar is Circle-Array
Four of row setting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710779534.2A CN107351110B (en) | 2017-09-01 | 2017-09-01 | Full-automatic clamping manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710779534.2A CN107351110B (en) | 2017-09-01 | 2017-09-01 | Full-automatic clamping manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107351110A true CN107351110A (en) | 2017-11-17 |
| CN107351110B CN107351110B (en) | 2020-08-25 |
Family
ID=60290711
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710779534.2A Expired - Fee Related CN107351110B (en) | 2017-09-01 | 2017-09-01 | Full-automatic clamping manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107351110B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112355874A (en) * | 2020-11-18 | 2021-02-12 | 王刚 | Polishing device for surfaces of parts of numerical control machine tool |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10120939A1 (en) * | 2001-04-20 | 2002-10-24 | Schunk Gmbh & Co Kg | Gripper for manipulators has electric drive for actuator part with drive shaft coupled to actuator part via spindle drive in the form of a trapezoidal or conical threaded drive |
| CN101797711A (en) * | 2010-03-22 | 2010-08-11 | 河北农业大学 | Workpiece combined clamp of abrasive wheel cutting machine |
| CN103111859A (en) * | 2012-12-09 | 2013-05-22 | 重庆盾铭电磁阀有限公司 | Cam clamping device |
| CN203512869U (en) * | 2013-10-16 | 2014-04-02 | 贵州平水机械有限责任公司 | Automatic grabbing device for reel paper |
| CN204819549U (en) * | 2015-07-24 | 2015-12-02 | 沈阳通用机器人技术股份有限公司 | Terminal mechanical gripper of two degree of freedom robots |
| CN205166444U (en) * | 2015-11-13 | 2016-04-20 | 浙江全顺机床有限公司 | Numerical control machine tool chuck subassembly |
| CN107097052A (en) * | 2017-07-04 | 2017-08-29 | 桐乡市大周商贸有限公司 | A kind of short axle swivel feeding device |
-
2017
- 2017-09-01 CN CN201710779534.2A patent/CN107351110B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10120939A1 (en) * | 2001-04-20 | 2002-10-24 | Schunk Gmbh & Co Kg | Gripper for manipulators has electric drive for actuator part with drive shaft coupled to actuator part via spindle drive in the form of a trapezoidal or conical threaded drive |
| CN101797711A (en) * | 2010-03-22 | 2010-08-11 | 河北农业大学 | Workpiece combined clamp of abrasive wheel cutting machine |
| CN103111859A (en) * | 2012-12-09 | 2013-05-22 | 重庆盾铭电磁阀有限公司 | Cam clamping device |
| CN203512869U (en) * | 2013-10-16 | 2014-04-02 | 贵州平水机械有限责任公司 | Automatic grabbing device for reel paper |
| CN204819549U (en) * | 2015-07-24 | 2015-12-02 | 沈阳通用机器人技术股份有限公司 | Terminal mechanical gripper of two degree of freedom robots |
| CN205166444U (en) * | 2015-11-13 | 2016-04-20 | 浙江全顺机床有限公司 | Numerical control machine tool chuck subassembly |
| CN107097052A (en) * | 2017-07-04 | 2017-08-29 | 桐乡市大周商贸有限公司 | A kind of short axle swivel feeding device |
Non-Patent Citations (1)
| Title |
|---|
| 孙开元等: "《常用机构设计及应用图例》", 31 July 2010 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112355874A (en) * | 2020-11-18 | 2021-02-12 | 王刚 | Polishing device for surfaces of parts of numerical control machine tool |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107351110B (en) | 2020-08-25 |
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Granted publication date: 20200825 Termination date: 20210901 |