CN108081294A - A kind of reversible variable pitch mechanical hand - Google Patents
A kind of reversible variable pitch mechanical hand Download PDFInfo
- Publication number
- CN108081294A CN108081294A CN201810034891.0A CN201810034891A CN108081294A CN 108081294 A CN108081294 A CN 108081294A CN 201810034891 A CN201810034891 A CN 201810034891A CN 108081294 A CN108081294 A CN 108081294A
- Authority
- CN
- China
- Prior art keywords
- connecting plate
- mounting bracket
- cylinder
- variable pitch
- clamping jaw
- 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
- 230000002441 reversible effect Effects 0.000 title claims abstract description 19
- 238000006073 displacement reaction Methods 0.000 claims abstract description 34
- 210000000078 claw Anatomy 0.000 claims abstract description 13
- 238000001514 detection method Methods 0.000 claims description 7
- 239000000463 material Substances 0.000 abstract description 15
- 230000000712 assembly Effects 0.000 abstract description 3
- 238000000429 assembly Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009837 dry grinding Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000002699 waste material Substances 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0057—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a turret
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of reversible variable pitch mechanical hands, including mounting bracket, deflecting component is provided on the mounting bracket, the deflecting component includes deflecting and drives cylinder, the movable end of the deflecting driving cylinder is hinged with the mounting bracket and drives mounting bracket rotation, displacement component is additionally provided on the mounting bracket, the displacement component includes the first connecting plate and the second connecting plate that can move towards, the identical clip claw assembly of structure is respectively and fixedly provided with below first connecting plate and the second connecting plate；It is rotated using deflecting Component driver mounting bracket horizontal direction, it can realize different supplied materials fixed placements in same direction, the distance between two clip claw assemblies are adjusted using displacement component, the supplied materials of different sizes and size can be gripped, equipment compatibility improves, operation is succinct, and maintainability is high, and control range is wide and control is accurate.
Description
Technical field
The present invention relates to material folding mechanical equipment more particularly to a kind of reversible variable pitch mechanical hands.
Background technology
In processing industry, the material variety of a production line production enriches, and the workpiece size of production is different, material folding
Position also differ, when the processing sorted and carried to supplied materials using manipulator, it is necessary to repeatedly change manipulator
On clamping jaw spacing, also to carry out equipment correction debugging, cause manually with waste of time, also to maintenance and repair operation increase
Difficulty is added.And the material center of different model specification, away from also different with inner edge spacing, this is with regard to demand variable-distance clamping jaw
Scope is wider more；If the direction that material requirement is put will be unified, clamping jaw also needs to carry out deflecting according to actual conditions.
The content of the invention
In order to overcome the above-mentioned deficiencies of the prior art, it is adjustable the present invention provides a kind of clamping jaw direction and spacing, it is full
The reversible variable pitch mechanical hand of sufficient different model material gripping demand.
To achieve these goals, the technical solution adopted by the present invention is：
A kind of reversible variable pitch mechanical hand including mounting bracket, is provided with deflecting component, the deflecting group on the mounting bracket
Part includes deflecting and drives cylinder, and the movable end of the deflecting driving cylinder is hinged with the mounting bracket and drives mounting bracket rotation,
Displacement component is additionally provided on the mounting bracket, the displacement component includes the first connecting plate that can be moved towards and the second connection
The identical clip claw assembly of structure is respectively and fixedly provided with below plate, first connecting plate and the second connecting plate.
Reversible variable pitch mechanical hand according to claim, it is characterised in that：The deflecting driving cylinder is rotation
Cylinder, the rotary cylinder include rotation axis, and swivel bearing is provided on the mounting bracket, and the rotation axis is cut with scissors with swivel bearing
It connects.
As being further improved for said program, the displacement component includes displacement cylinder, under the drive rod of displacement cylinder
End is provided with displacement drive gear, and the first rack and the second rack, institute are respectively arranged on the first connecting plate and the second connecting plate
It states the first rack and the second rack is engaged with displacement drive gear.
As being further improved for said program, the first guide groove and the second guide groove are provided on the mounting bracket, described
The first conducting bar and the second conducting bar, first conducting bar and the second conducting bar difference are respectively arranged on one connecting plate and the second connecting plate
It is slidably arranged in the first guide groove and the second guide groove.
As being further improved for said program, if the both sides of first conducting bar and the second conducting bar are both provided with dry milling
Wheel, the roller-coaster are arranged in the first guide groove and the second guide groove.
As being further improved for said program, the clip claw assembly includes clamping jaw cylinder, the opposite fortune of clamping jaw cylinder driving
Dynamic left clamping jaw and right clamping jaw.
As being further improved for said program, several collets are provided in the left clamping jaw and right clamping jaw.
As being further improved for said program, it is provided on the left clamping jaw or right clamping jaw close to switch, it is described close
Switch is electrically connected with clamping jaw cylinder.
As being further improved for said program, detection ring, the inspection are also arranged on the drive rod of the displacement cylinder
It surveys by ring and is fixed with the angle inductor of cooperating.
As being further improved for said program, the both sides of the mounting bracket are respectively arranged with the first connecting plate of sensing and the
The range sensor of two connection Board positions.
Beneficial effects of the present invention：
A kind of reversible variable pitch mechanical hand of the present invention, is rotated, energy using deflecting Component driver mounting bracket horizontal direction
It realizes different supplied materials fixed placements in same direction, displacement component is utilized to adjust the distance between two clip claw assemblies, energy
The supplied materials of different sizes and size is gripped, equipment compatibility improves, and operation is succinct, and maintainability is high, and control range is wide and controls
Accurately.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described.Obviously, described attached drawing is the part of the embodiment of the present invention rather than all implements
Example, without creative efforts, other that can also be obtained according to these attached drawings are set those skilled in the art
Meter scheme and attached drawing：
Fig. 1 is present pre-ferred embodiments structure diagram；
Fig. 2 is the structure diagram of present pre-ferred embodiments mounting bracket；
Fig. 3 is the left view of present pre-ferred embodiments displacement component；
Fig. 4 is the structure diagram of present pre-ferred embodiments displacement component.
Specific embodiment
The technique effect of the design of the present invention, concrete structure and generation is carried out below with reference to embodiment and attached drawing clear
Chu is fully described by, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this hair
Bright part of the embodiment rather than whole embodiments, based on the embodiment of the present invention, those skilled in the art is not paying
The other embodiment obtained on the premise of creative work, belongs to the scope of protection of the invention.
Referring to figs. 1 to Fig. 4, including mounting bracket 1, deflecting is provided on the mounting bracket 1 for a kind of reversible variable pitch mechanical hand
Component, the deflecting component include deflecting and drive cylinder 2, and the movable end and the mounting bracket 1 of the deflecting driving cylinder 2 are hinged
And driving mounting bracket 1 rotates, and displacement component is additionally provided on the mounting bracket 1, the displacement component includes what can be moved towards
First connecting plate 3 and the second connecting plate 4, first connecting plate 3 are respectively and fixedly provided with the identical folder of structure with 4 lower section of the second connecting plate
Claw assembly.
The deflecting driving cylinder 2 is rotary cylinder, and the rotary cylinder includes rotation axis, set on the mounting bracket 1
There is swivel bearing 5, the rotation axis is hinged with swivel bearing 5., it is necessary to change material direction after clip claw assembly has gripped material
When, it is driven using deflecting driving cylinder 2, swivel bearing 5 is driven to rotate so that mounting bracket 1 rotates, and realizes the change of material direction
Change.No matter whether tray position is unified, and carrying out deflecting after clamping jaw gripping supplied materials is placed into production wire body up, and rotary cylinder can
To be adjusted according to the angle demand of each station, meet the processing of different supplied materials, the scope of application is wider, at low cost lower.
The displacement component includes displacement cylinder 6, and the drive rod lower end of displacement cylinder 6 is provided with displacement drive gear 7, the
The first rack 8 and the second rack 9,8 and second tooth of the first rack are respectively arranged on one connecting plate 3 and the second connecting plate 4
Item 9 is engaged with displacement drive gear 7.
During displacement, displacement cylinder 6, which starts, drives displacement drive gear 7 to rotate so that the first rack 8 of engagement and the second tooth
Item 9 moves toward one another, and drives the first connecting plate 3 and the second connecting plate 4 opposite separate or close, so as to change two clip claw assemblies
The distance between.The variation of respective distance is carried out according to the thickness of the specification of workpieces of production, it is only necessary to be adjusted in program
Once parameter can be applicable in different workpieces production, need not increase the demand of limit clamp, it is not required that carry out replacement folder
Tool, cost are lower.
The first guide groove 10 and the second guide groove 11,3 and second connecting plate of the first connecting plate are provided on the mounting bracket 1
The first conducting bar 12 and the second conducting bar 13 are respectively arranged on 4,12 and second conducting bar 13 of the first conducting bar is slidably arranged in respectively
In first guide groove 10 and the second guide groove 11.The both sides of first conducting bar, 12 and second conducting bar 13 are both provided with several idler wheels 14,
The idler wheel 14 is slidably arranged in the first guide groove 10 and the second guide groove 11.First conducting bar 12 and the first guide groove 10 cooperation limitation the
The movement of one connecting plate 3, the movement of the second conducting bar 13 and the second guide groove 11 cooperation the second connecting plate 4 of limitation, keeps the first connection
3 and second connecting plate 4 of plate moves along a straight line, idler wheel 14 so that the first conducting bar 12 and the second conducting bar 13 slide it is more smooth.
Detection ring 20 is also arranged on the drive rod of the displacement cylinder 6, cooperating is fixed with by the detection ring 20
Angle inductor 21, angle inductor 21 sensing detection 20 rotational angle of ring, so as to monitor the angle of rotation of displacement drive gear 7
Degree.The both sides of the mounting bracket 1 are respectively arranged with the range sensor 22 of 4 position of sensing the first connecting plate 3 and the second connecting plate,
Detection the distance between the first connecting plate 3 and the second connecting plate 4 in real time reaches the function of monitoring clip claw assembly distance.
The clip claw assembly includes clamping jaw cylinder 15, and clamping jaw cylinder 15 drives the left clamping jaw 16 moved toward one another and right clamping jaw
17, several collets 18 are provided in the left clamping jaw 16 and right clamping jaw 17, and in field of battery production, clip claw assembly is in clamping electricity
Chi Shi, in order to avoid electric current flows through, collets 18 are contacted with the positive and negative anodes of battery, safer.The left clamping jaw 16 or right folder
Close switch 19 is provided on pawl 17, it is described to be electrically connected close to switch 19 with clamping jaw cylinder 15, it is close when close battery to open
19 automatic sensings are closed, play the function of automatically controlling the startup of clamping jaw cylinder 15, more intelligently.
The above are being illustrated to presently preferred embodiments of the present invention, but the invention is not limited to the implementation
Example, those skilled in the art can also make a variety of equivalent modifications on the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent modifications or replacement are all contained in the application claim limited range.
Claims (10)
1. a kind of reversible variable pitch mechanical hand, including mounting bracket (1), it is characterised in that：Deflecting is provided on the mounting bracket (1)
Component, the deflecting component include deflecting driving cylinder (2), the movable end and the mounting bracket of the deflecting driving cylinder (2)
(1) hinged and driving mounting bracket (1) rotates, and displacement component is additionally provided on the mounting bracket (1), the displacement component includes can
Below the first connecting plate (3) and the second connecting plate (4) moved towards, first connecting plate (3) and the second connecting plate (4)
It is fixed with the identical clip claw assembly of structure.
2. reversible variable pitch mechanical hand according to claim 1, it is characterised in that：The deflecting driving cylinder (2) is rotation
Rotaring cylinder, the rotary cylinder include rotation axis, and swivel bearing (5), the rotation axis and rotation are provided on the mounting bracket (1)
It is hinged that shaft holds (5).
3. reversible variable pitch mechanical hand according to claim 1, it is characterised in that：The displacement component includes displacement cylinder
(6), the drive rod lower end of displacement cylinder (6) is provided with displacement drive gear (7), the first connecting plate (3) and the second connecting plate (4)
On be respectively arranged with the first rack (8) and the second rack (9), first rack (8) and the second rack (9) drive with displacement
Gear (7) engages.
4. reversible variable pitch mechanical hand according to claim 1, it is characterised in that：Is provided on the mounting bracket (1)
One guide groove (10) and the second guide groove (11) are respectively arranged with the first conducting bar on first connecting plate (3) and the second connecting plate (4)
(12) and the second conducting bar (13), first conducting bar (12) and the second conducting bar (13) be slidably arranged in respectively the first guide groove (10) and
In second guide groove (11).
5. reversible variable pitch mechanical hand according to claim 4, it is characterised in that：First conducting bar (12) and second is led
The both sides of item (13) are both provided with several idler wheels (14), and the idler wheel (14) is slidably arranged in the first guide groove (10) and the second guide groove
(11) in.
6. reversible variable pitch mechanical hand according to claim 1, it is characterised in that：The clip claw assembly includes clamping jaw cylinder
(15), the left clamping jaw (16) and right clamping jaw (17) that clamping jaw cylinder (15) driving moves toward one another.
7. reversible variable pitch mechanical hand according to claim 6, it is characterised in that：The left clamping jaw (16) and right clamping jaw
(17) several collets (18) are provided in.
8. reversible variable pitch mechanical hand according to claim 6, it is characterised in that：The left clamping jaw (16) or right clamping jaw
(17) it is provided on close to switch (19), it is described to be electrically connected close to switch (19) and clamping jaw cylinder (15).
9. reversible variable pitch mechanical hand according to claim 3, it is characterised in that：The drive rod of the displacement cylinder (6)
On be also arranged with detection ring (20), the angle inductor (21) of cooperating is fixed with by detection ring (20).
10. reversible variable pitch mechanical hand according to claim 3, it is characterised in that：The both sides difference of the mounting bracket (1)
It is provided with the range sensor (22) of sensing the first connecting plate (3) and the second connecting plate (4) position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810034891.0A CN108081294A (en) | 2018-01-15 | 2018-01-15 | A kind of reversible variable pitch mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810034891.0A CN108081294A (en) | 2018-01-15 | 2018-01-15 | A kind of reversible variable pitch mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108081294A true CN108081294A (en) | 2018-05-29 |
Family
ID=62182950
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810034891.0A Pending CN108081294A (en) | 2018-01-15 | 2018-01-15 | A kind of reversible variable pitch mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108081294A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015708A (en) * | 2018-08-01 | 2018-12-18 | 张树清 | A kind of pneumatic clamper component for lithium battery production line |
| CN109986343A (en) * | 2019-03-27 | 2019-07-09 | 巨力自动化设备（浙江）有限公司 | Motor hair fastener type conducting bar manipulator for assembling |
| CN110125970A (en) * | 2019-05-24 | 2019-08-16 | 昆山佰奥智能装备股份有限公司 | Displacement clip claw mechanism |
| CN110561177A (en) * | 2019-10-10 | 2019-12-13 | 浙江大学台州研究院 | Double-station feeding manipulator |
| CN111376460A (en) * | 2018-12-29 | 2020-07-07 | 深圳市远望工业自动化设备有限公司 | Blanking robot and injection molding and stamping equipment with same |
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| CN102554931A (en) * | 2010-12-24 | 2012-07-11 | 李�杰 | Robot claw |
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| CN203390941U (en) * | 2013-07-17 | 2014-01-15 | 杭州娃哈哈科技有限公司 | Electric cylinder gripper |
| CN204257762U (en) * | 2014-11-12 | 2015-04-08 | 无锡恒康宝光电科技有限公司 | A kind ofly identify and adjust the clamp device of battery pack both positive and negative polarity |
| CN205346290U (en) * | 2016-01-09 | 2016-06-29 | 广州德恒汽车装备科技有限公司 | Two motorcycle types dislocation hole tongs positioning mechanism |
| CN205634148U (en) * | 2016-05-05 | 2016-10-12 | 连云港贝斯特机械设备有限公司 | Long -pending machine that carries of gate -type automatic handling |
| CN205915354U (en) * | 2016-08-03 | 2017-02-01 | 天津扬天科技有限公司 | A multifunctional robot hand claw for special -shaped brick is put things in good order |
| CN106737781A (en) * | 2016-12-26 | 2017-05-31 | 广东利迅达机器人系统股份有限公司 | A kind of robot clamp of adjust automatically |
| CN106826889A (en) * | 2017-03-23 | 2017-06-13 | 严传玉 | A kind of Power Drive Unit for being applied to manipulator chuck |
| CN206288693U (en) * | 2016-12-26 | 2017-06-30 | 广东利迅达机器人系统股份有限公司 | A kind of rotary handling equipment of three good axle transfers of flexibility |
| DE102016005002A1 (en) * | 2016-04-25 | 2017-10-26 | Günther Zimmer | Gripping device with angle adapters |
| CN207807763U (en) * | 2018-01-15 | 2018-09-04 | 珠海创思新能源科技有限公司 | A kind of reversible variable pitch mechanical hand |
-
2018
- 2018-01-15 CN CN201810034891.0A patent/CN108081294A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102554931A (en) * | 2010-12-24 | 2012-07-11 | 李�杰 | Robot claw |
| CN202805202U (en) * | 2012-08-30 | 2013-03-20 | 安川首钢机器人有限公司 | Gripping device |
| CN203390941U (en) * | 2013-07-17 | 2014-01-15 | 杭州娃哈哈科技有限公司 | Electric cylinder gripper |
| CN204257762U (en) * | 2014-11-12 | 2015-04-08 | 无锡恒康宝光电科技有限公司 | A kind ofly identify and adjust the clamp device of battery pack both positive and negative polarity |
| CN205346290U (en) * | 2016-01-09 | 2016-06-29 | 广州德恒汽车装备科技有限公司 | Two motorcycle types dislocation hole tongs positioning mechanism |
| DE102016005002A1 (en) * | 2016-04-25 | 2017-10-26 | Günther Zimmer | Gripping device with angle adapters |
| CN205634148U (en) * | 2016-05-05 | 2016-10-12 | 连云港贝斯特机械设备有限公司 | Long -pending machine that carries of gate -type automatic handling |
| CN205915354U (en) * | 2016-08-03 | 2017-02-01 | 天津扬天科技有限公司 | A multifunctional robot hand claw for special -shaped brick is put things in good order |
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| CN206288693U (en) * | 2016-12-26 | 2017-06-30 | 广东利迅达机器人系统股份有限公司 | A kind of rotary handling equipment of three good axle transfers of flexibility |
| CN106826889A (en) * | 2017-03-23 | 2017-06-13 | 严传玉 | A kind of Power Drive Unit for being applied to manipulator chuck |
| CN207807763U (en) * | 2018-01-15 | 2018-09-04 | 珠海创思新能源科技有限公司 | A kind of reversible variable pitch mechanical hand |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015708A (en) * | 2018-08-01 | 2018-12-18 | 张树清 | A kind of pneumatic clamper component for lithium battery production line |
| CN111376460A (en) * | 2018-12-29 | 2020-07-07 | 深圳市远望工业自动化设备有限公司 | Blanking robot and injection molding and stamping equipment with same |
| CN111376460B (en) * | 2018-12-29 | 2024-06-04 | 深圳市远望工业自动化设备有限公司 | Blanking robot and injection stamping equipment with same |
| CN109986343A (en) * | 2019-03-27 | 2019-07-09 | 巨力自动化设备（浙江）有限公司 | Motor hair fastener type conducting bar manipulator for assembling |
| CN109986343B (en) * | 2019-03-27 | 2023-10-03 | 巨力自动化设备（浙江）有限公司 | Mechanical arm for assembling motor hairpin type conducting bar |
| CN110125970A (en) * | 2019-05-24 | 2019-08-16 | 昆山佰奥智能装备股份有限公司 | Displacement clip claw mechanism |
| CN110561177A (en) * | 2019-10-10 | 2019-12-13 | 浙江大学台州研究院 | Double-station feeding manipulator |
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