CN108274461A - A kind of Reed type grabbing device - Google Patents
A kind of Reed type grabbing device Download PDFInfo
- Publication number
- CN108274461A CN108274461A CN201711430806.4A CN201711430806A CN108274461A CN 108274461 A CN108274461 A CN 108274461A CN 201711430806 A CN201711430806 A CN 201711430806A CN 108274461 A CN108274461 A CN 108274461A
- Authority
- CN
- China
- Prior art keywords
- bearing
- sliding block
- lead screw
- spring leaf
- bearing sliding
- 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.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
-
- 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
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The present invention provides a kind of Reed type grabbing device, belongs to technical field of mechanical processing.It includes crawl feed mechanism, support mechanism, the lightweight tubing of support mechanism is placed on the arc support face of pipe bracket, the bearing sliding block of crawl feed mechanism, which can slide back and forth, to be arranged on the swallowtail-shaped slide of rack, feeding screw mandrel is rotatably provided on lead screw bearing, feeding screw mandrel and bearing sliding block are threadedly coupled, the both ends of driving cylinder are separately connected bearing sliding block and T-type holder, guidance set is also set up between bearing sliding block and T-type holder, T-type holder is inserted into the upper end of fulcrum bearing, and pass through connecting pin axis connection, the both ends of connection axis pin are engaged by clamp spring, left spring piece and right spring leaf are symmetrically mounted on the left and right ends of fulcrum bearing by attachment screw, the lower end of left spring piece and right spring leaf is provided with guide lugs.The present invention fast implements the crawl to lightweight tubing and feeding, reasonable for structure compact, and grasp stability is good.
Description
Technical field
The present invention relates to technical field of mechanical processing, more particularly to a kind of Reed type grabbing device.
Background technology
Mechanical processing refers to the process of being changed to the appearance and size or performance of workpiece by a kind of mechanical equipment.By adding
Difference in work mode can be divided into machining and pressure processing.Machining refers to using cutting element（Including cutter, grinding tool and
Abrasive material）Material layer extra on blank or workpiece is cut as chip, workpiece is made to obtain defined geometry, size and table
The processing method of face quality.The technology characteristics of machining are decided by the structure of cutting element and the phase of cutting element and workpiece
To forms of motion.By technology characteristics, machining generally can be divided into：Turning, milling, drilling, boring, ream, planing, slotting,
Broaching, sawing, grinding, grinding, honing, microstoning, polishing, Gear Processing, spiral case making, screw thread process, Ultra-precision Turning,
Pincers worker and scraping etc..Pressure processing is plastically deformed using metal is generated under external force, to obtain with a setting
The production method of shape, the raw material of size and mechanical property, blank or part, referred to as metal-pressed machine, also known as plastic deformation
Processing.Pressure processing includes following a few classes：1, it rolls：Metal stock in the gap of two revolution rolls compressive deformation to obtain
Various products processing method.Frictionally, blank continue through roll seam and compressive deformation.Major product：Proximate matter, round steel,
Square steel, angle steel, rail etc..2, it forges：Under the action of forging equipment and work (mould) have, so that blank or ingot casting is generated plasticity and become
Shape, the processing method to obtain the forging of certain geometric dimension, shape and quality.3, it squeezes：Metal stock in extrusion die by
Pressure is extruded die hole and deformation processing method.4, drawing：The processing side that metal stock is pulled through the die hole of drawing die and is deformed
Method.5, punching press：Metal blank is pressurized between punch die generates separation or forming.6, spinning：In blank with mold rotation or spinning
Tool is in blank rotates, spinner's chisel feeding opposite with blank, to make blank be pressurized and generate continuous, point-by-point deformation.
Lightweight tubing, including ebonite tube, ceramic tube etc. are required for using grabbing device in the processing of these types to realize to light
Matter tubing captures and feeding, but common clamp structure is complex at present, and cost is higher, to the grasp stability of tubing compared with
Difference.
Invention content
The object of the present invention is to provide a kind of Reed type grabbing devices, fast implement the crawl to lightweight tubing and send
Material, reasonable for structure compact, at low cost, grasp stability is good.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of Reed type grabbing device, it includes crawl feed mechanism, support mechanism, and the support mechanism includes light pipe
Material, pipe bracket, pedestal, the pipe bracket are mounted on the base, and arc support face is provided on the pipe bracket, described
Lightweight tubing is placed on the arc support face of pipe bracket, and the crawl feed mechanism is arranged in the surface of support mechanism,
The crawl feed mechanism includes rack, bearing sliding block, feeding screw mandrel, lead screw bearing, lead screw motor, electric machine support, driving gas
Cylinder, guidance set, T-type holder, connection axis pin, clamp spring, fulcrum bearing, left spring piece, right spring leaf, attachment screw, lock washer,
Swallowtail-shaped slide is provided in the rack, the bearing sliding block, which can slide back and forth, to be arranged on the swallowtail-shaped slide of rack, institute
The rear and front end that lead screw bearing is fixed on rack is stated, the feeding screw mandrel is rotatably provided on lead screw bearing, the feeding silk
Bar and bearing sliding block are threadedly coupled, and the feeding screw mandrel and lead screw motor are coaxially connected, and the lead screw motor is mounted on motor branch
On frame, the electric machine support is fixed on lead screw bearing, and the both ends of the driving cylinder are separately connected bearing sliding block and T-type branch
Frame, also sets up guidance set between the bearing sliding block and T-type holder, the guidance set includes guide sleeve and guide rod, described to lead
The upper end of set is fixed on bearing sliding block, and the lower end of the guide rod is fixed on T-type holder, and the guide rod and guide sleeve can be slided relatively
T-type holder is inserted into the upper end of dynamic connection, the fulcrum bearing, and by connecting pin axis connection, the both ends of the connection axis pin pass through
Clamp spring engaging, the left spring piece and right spring leaf are symmetrically mounted on the left and right ends of fulcrum bearing, the company by attachment screw
It connects between screw and left spring piece, be provided with lock washer, the left spring piece and right bullet between attachment screw and right spring leaf
The lower end of reed is provided with guide lugs.
Further, the lead screw motor is servo motor.
Further, the junction rounding of the guide lugs and left spring piece, right spring leaf.
Further, the quantity of the guidance set is two or more.
Further, the lock washer is elastic lock washer.
Compared to the prior art the present invention, has the following advantages and effect：Cylinder movement is driven, drives T-type holder downward
Movement, when left spring piece and right spring leaf are contacted with lightweight tubing, left spring piece and right spring leaf by lightweight tubing anti-work
It firmly opens, under the guiding of guide lugs, lightweight tubing enters between left spring piece and right spring leaf, realizes lightweight tubing
It clamps.Then, cylinder movement is driven, lightweight tubing is driven to be lifted up.Lead screw motor drives feeding screw mandrel rotation, in feeding silk
Bar drives lower support sliding block to be slided along the swallowtail-shaped slide of rack, and lightweight tubing is fed to designated position.Lead screw motor
For servo motor, rotating speed is adjustable, and rotational angle is very accurate, is advantageously implemented and is accurately controlled to feeding screw mandrel.Support sliding block
Guidance set is also set up between T-type holder, the quantity of guidance set is two or more, ensure that left spring piece and right spring leaf
It is steady downwards to open, realize the clamping to lightweight tubing, and be conducive to being lifted up for lightweight tubing.Lock washer is elasticity
Lock washer, reasonable for structure, anti-loosing effect is good.The junction rounding of guide lugs and left spring piece, right spring leaf, is conducive to lightweight
Tubing enters between left spring piece and right spring leaf.The present invention fast implements the crawl to lightweight tubing and feeding, reasonable for structure
Compact, at low cost, grasp stability is good.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the partial enlarged view at A in Fig. 1 of the present invention.
In figure：1. crawl feed mechanism, 2. support mechanisms, 3. lightweight tubing, 4. pipe brackets, 5. pedestals, 6. arcs are held
Support, 7. racks, 8. bearing sliding blocks, 9. feeding screw mandrels, 10. lead screw bearings, 11. lead screw motors, 12. electric machine supports, 13. drivings
Cylinder, 14. guidance sets, 15.T type holders, 16. connection axis pins, 17. clamp springs, 18. fulcrum bearings, 19. left spring pieces, 20. right bullets
Reed, 21. attachment screws, 22. lock washers, 23. swallowtail-shaped slides, 24. guide sleeves, 25. guide rods, 26. guide lugs.
Specific implementation mode
The present invention is described in further detail below in conjunction with the accompanying drawings and by embodiment, and following embodiment is to this hair
Bright explanation and the invention is not limited in following embodiments.
As depicted in figs. 1 and 2, a kind of Reed type grabbing device, it includes crawl feed mechanism 1, support mechanism 2, institute
It includes lightweight tubing 3, pipe bracket 4, pedestal 5 to state support mechanism 2, and the pipe bracket 4 is mounted on pedestal 5, the tubing
Arc support face 6 is provided on bracket 4, the lightweight tubing 3 is placed on the arc support face 6 of pipe bracket 4, the crawl
Feed mechanism 1 is arranged in the surface of support mechanism 2, and the crawl feed mechanism 1 includes rack 7, bearing sliding block 8, feeding silk
Bar 9, lead screw bearing 10, lead screw motor 11, electric machine support 12, driving cylinder 13, guidance set 14, T-type holder 15, connection axis pin
16, clamp spring 17, fulcrum bearing 18, left spring piece 19, right spring leaf 20, attachment screw 21, lock washer 22 are set in the rack 7
It is equipped with swallowtail-shaped slide 23, the bearing sliding block 8, which can slide back and forth, to be arranged on the swallowtail-shaped slide 23 of rack 7, the lead screw
Bearing 10 is fixed on the rear and front end of rack 7, and the feeding screw mandrel 9 is rotatably provided on lead screw bearing 10, the feeding silk
Bar 9 and bearing sliding block 8 are threadedly coupled, and the feeding screw mandrel 9 and lead screw motor 11 are coaxially connected, and the lead screw motor 11 is mounted on
On electric machine support 12, the electric machine support 12 is fixed on lead screw bearing 10, and the lead screw motor 11 is servo motor, and rotating speed can
It adjusts, rotational angle is very accurate, is advantageously implemented and is accurately controlled to feeding screw mandrel.The both ends of the driving cylinder 13 connect respectively
Bearing sliding block 8 and T-type holder 15 are connect, guidance set 14, the guiding are also set up between the bearing sliding block 8 and T-type holder 15
The quantity of component 14 is two or more, ensure that left spring piece 19 and right spring leaf 20 are steady downwards and opens, realizes to light pipe
The clamping of material 3, and be conducive to being lifted up for lightweight tubing 3.The guidance set 14 includes guide sleeve 24 and guide rod 25, described
The upper end of guide sleeve 24 is fixed on bearing sliding block 8, and the lower end of the guide rod 25 is fixed on T-type holder 15,25 He of the guide rod
For guide sleeve 24 with respect to slidable connection, T-type holder 15 is inserted into the upper end of the fulcrum bearing 18, and is connected by connecting axis pin 16, institute
The both ends for stating connection axis pin 16 are engaged by clamp spring 17, and the left spring piece 19 and right spring leaf 20 are symmetrical by attachment screw 21
Mounted on the left and right ends of fulcrum bearing 18, between the attachment screw 21 and left spring piece 19, attachment screw 21 and right spring leaf
Lock washer 22 is provided between 20, the lock washer 22 is elastic lock washer, and reasonable for structure, anti-loosing effect is good.It is described
The lower end of left spring piece 19 and right spring leaf 20 is provided with guide lugs 26.The guide lugs 26 and left spring piece 19, right spring leaf
20 junction rounding is conducive to lightweight tubing 3 and enters between left spring piece 19 and right spring leaf 20.
Through the above technical solutions, a kind of Reed type grabbing device of the present invention is in use, the driving action of cylinder 13, drives
T-type holder 15 moves downward, when left spring piece 19 and right spring leaf 20 are contacted with lightweight tubing 3, left spring piece 19 and right spring
Piece 20 is opened by the reaction force of lightweight tubing 3, and under the guiding of guide lugs 26, lightweight tubing 3 enters left spring piece 19
Between right spring leaf 20, the clamping of lightweight tubing 3 is realized.Then, driving cylinder 13 acts, and lightweight tubing 3 is driven to carry upwards
It rises.Lead screw motor 11 drives feeding screw mandrel 9 to rotate, and drives lower support sliding block 8 along the swallow-tail form of rack 7 in feeding screw mandrel 9
Sliding slot 23 slides, and lightweight tubing 3 is fed to designated position.The present invention fast implements the crawl to lightweight tubing 3 and feeding, knot
Structure is rationally compact, at low cost, and grasp stability is good.
Described in this specification above content is only illustrations made for the present invention.Technology belonging to the present invention
The technical staff in field can make various modifications or additions to the described embodiments or by a similar method
It substitutes, content without departing from description of the invention or beyond the scope defined by this claim should all belong to this
The protection domain of invention.
Claims (5)
1. a kind of Reed type grabbing device, it is characterised in that：It includes crawl feed mechanism, support mechanism, the support machine
Structure includes lightweight tubing, pipe bracket, pedestal, and the pipe bracket is mounted on the base, and arc is provided on the pipe bracket
Shape support face, the lightweight tubing are placed on the arc support face of pipe bracket, and the crawl feed mechanism is arranged in support
The surface of mechanism, the crawl feed mechanism include rack, bearing sliding block, feeding screw mandrel, lead screw bearing, lead screw motor, electricity
Machine support, driving cylinder, guidance set, T-type holder, connection axis pin, clamp spring, fulcrum bearing, left spring piece, right spring leaf, connection
Screw, lock washer are provided with swallowtail-shaped slide in the rack, and the bearing sliding block can slide back and forth the swallow being arranged in rack
On tail shape sliding slot, the lead screw bearing is fixed on the rear and front end of rack, and the feeding screw mandrel is rotatably provided in lead screw bearing
On, the feeding screw mandrel and bearing sliding block are threadedly coupled, and the feeding screw mandrel and lead screw motor are coaxially connected, the lead screw motor
On electric machine support, the electric machine support is fixed on lead screw bearing, and the both ends of the driving cylinder are separately connected bearing
Sliding block and T-type holder, also set up guidance set between the bearing sliding block and T-type holder, the guidance set include guide sleeve and
Guide rod, the upper end of the guide sleeve are fixed on bearing sliding block, and the lower end of the guide rod is fixed on T-type holder, the guide rod and
For guide sleeve with respect to slidable connection, T-type holder is inserted into the upper end of the fulcrum bearing, and passes through connecting pin axis connection, the connecting pin
The both ends of axis are engaged by clamp spring, and the left spring piece and right spring leaf are symmetrically mounted on the left and right of fulcrum bearing by attachment screw
Both ends between the attachment screw and left spring piece, are provided with lock washer, the left bullet between attachment screw and right spring leaf
The lower end of reed and right spring leaf is provided with guide lugs.
2. a kind of Reed type grabbing device according to claim 1, it is characterised in that：The lead screw motor is servo electricity
Machine.
3. a kind of Reed type grabbing device according to claim 1, it is characterised in that：The guide lugs and left spring
The junction rounding of piece, right spring leaf.
4. a kind of Reed type grabbing device according to claim 1, it is characterised in that：The quantity of the guidance set is
It is more than two.
5. a kind of Reed type grabbing device according to claim 1, it is characterised in that：The lock washer is that elasticity is anti-
Loose washer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711430806.4A CN108274461A (en) | 2017-12-26 | 2017-12-26 | A kind of Reed type grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711430806.4A CN108274461A (en) | 2017-12-26 | 2017-12-26 | A kind of Reed type grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108274461A true CN108274461A (en) | 2018-07-13 |
Family
ID=62802235
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711430806.4A Withdrawn CN108274461A (en) | 2017-12-26 | 2017-12-26 | A kind of Reed type grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108274461A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114229097A (en) * | 2021-11-09 | 2022-03-25 | 杭州高腾机电科技有限公司绍兴分公司 | Glove machine with automatic finishing function |
| WO2022070159A1 (en) * | 2020-10-01 | 2022-04-07 | Arol S.P.A. | Passive gripper device for handling objects |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60106717A (en) * | 1983-11-14 | 1985-06-12 | Tauchi Tekko Kk | Processed goods throwing in device |
| KR20040100683A (en) * | 2003-05-23 | 2004-12-02 | 두산중공업 주식회사 | Apparatus for transferring a large-diameter pipe |
| CN203650536U (en) * | 2013-12-04 | 2014-06-18 | 苏州怡丰工业设备有限公司 | Automatic tracking and material grabbing mechanical arm device |
| CN105947650A (en) * | 2016-05-10 | 2016-09-21 | 文登蓝岛建筑工程有限公司 | Wallboard transfer robot |
| CN206085039U (en) * | 2016-07-20 | 2017-04-12 | 中山市盛屹机电科技有限公司 | Piece machinery cell -phone of inhaling of battery wrapper sheet machine constructs |
-
2017
- 2017-12-26 CN CN201711430806.4A patent/CN108274461A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60106717A (en) * | 1983-11-14 | 1985-06-12 | Tauchi Tekko Kk | Processed goods throwing in device |
| KR20040100683A (en) * | 2003-05-23 | 2004-12-02 | 두산중공업 주식회사 | Apparatus for transferring a large-diameter pipe |
| CN203650536U (en) * | 2013-12-04 | 2014-06-18 | 苏州怡丰工业设备有限公司 | Automatic tracking and material grabbing mechanical arm device |
| CN105947650A (en) * | 2016-05-10 | 2016-09-21 | 文登蓝岛建筑工程有限公司 | Wallboard transfer robot |
| CN206085039U (en) * | 2016-07-20 | 2017-04-12 | 中山市盛屹机电科技有限公司 | Piece machinery cell -phone of inhaling of battery wrapper sheet machine constructs |
Non-Patent Citations (1)
| Title |
|---|
| 黄越平，徐进进: "《自动化机构设计构思实用图例》", 31 December 1993, 北京：中国铁道出版社 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022070159A1 (en) * | 2020-10-01 | 2022-04-07 | Arol S.P.A. | Passive gripper device for handling objects |
| CN114229097A (en) * | 2021-11-09 | 2022-03-25 | 杭州高腾机电科技有限公司绍兴分公司 | Glove machine with automatic finishing function |
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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 | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180713 |