CN108555168A - A kind of robot gripper disc spins micro-adjusting mechanism - Google Patents
A kind of robot gripper disc spins micro-adjusting mechanism Download PDFInfo
- Publication number
- CN108555168A CN108555168A CN201810426079.2A CN201810426079A CN108555168A CN 108555168 A CN108555168 A CN 108555168A CN 201810426079 A CN201810426079 A CN 201810426079A CN 108555168 A CN108555168 A CN 108555168A
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- CN
- China
- Prior art keywords
- connecting rod
- reed
- handgrip
- lead screw
- length direction
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of robot gripper disc spins micro-adjusting mechanisms, it is using the handgrip of terminal handgrip disk while pick-and-place object, it realizes because mold installation difference can make micro adjustment between upper and lower procedure, to ensure that workpiece accurately falls into mold position location, it is ensured that the quality of workpiece to be machined.It includes the lead screw module being vertically arranged, handgrip disk fulcrum bearing is installed in the vertical guide rails of the lead screw module, the front end of the handgrip disk fulcrum bearing is provided with the link of length direction arrangement, the length ends of the link to central rotating shaft by vertically connecting lower part handgrip disk, the handgrip disk fulcrum bearing connects the lead screw of the lead screw module by built-in attaching nut, it is characterised in that：The lower face of the link of length direction arrangement is disposed with connecting rod, and the length direction of the connecting rod is parallel to the length direction of the link, and the connecting rod is articulated with the one end for pushing connecting rod close to one end of the handgrip disk.
Description
Technical field
The present invention relates to the technical field of mechanical gripper dish structure, specially a kind of robot gripper disc spins freqency fine adjustment machine
Structure.
Background technology
The handgrip of terminal handgrip disk is while pick-and-place object, because mold installation difference has radial direction between upper and lower procedure
The difference of angle direction, existing handgrip disk can not carry out rotary fine adjustment, can not ensure that workpiece accurately falls into mold position location,
So that there are flaws for the quality of workpiece to be machined.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of robot gripper disc spins micro-adjusting mechanism, terminal handgrip is utilized
The handgrip of disk is realized while pick-and-place object because mold installation difference can make micro adjustment between upper and lower procedure, to ensure work
Part accurately falls into mold position location, it is ensured that the quality of workpiece to be machined.
A kind of robot gripper disc spins micro-adjusting mechanism, technical solution are such：It includes the silk being vertically arranged
Bar module is equipped with handgrip disk fulcrum bearing in the vertical guide rails of the lead screw module, and the front end of the handgrip disk fulcrum bearing is set
It is equipped with the link of length direction arrangement, the length ends of the link to central rotating shaft by vertically connecting lower part handgrip
Disk, the handgrip disk fulcrum bearing connect the lead screw of the lead screw module by built-in attaching nut, it is characterised in that：Length direction
The lower face of the link of arrangement is disposed with connecting rod, and the length direction of the connecting rod is parallel to the length side of the link
To the connecting rod is articulated with the one end for pushing connecting rod, the other end pivot for pushing connecting rod close to one end of the handgrip disk
Connect the non-central location of the handgrip disk, the promotion connecting rod and the not parallel setting of the connecting rod, the connecting rod and one of them
Handgrip angulation be β, the connecting rod close to the lead screw module one end it is affixed it is flexible fine tuning module length direction one end,
The length direction other end of the elasticity fine tuning module is connected with guide rod, and the handgrip disk branch is run through in the inner end of the guide rod
Towards the middle part guide surface arrangement of the lead screw module, the vertical direction middle section position of the middle part guide surface after the outer wall of bearing
It is provided with the cam bar of evagination from bottom to top, the connecting rod is set with reset bullet on the length direction of the handgrip disk
Spring, corresponding position installation side that the both ends of the resetting spring are mounted on connecting rod respectively is convex, connecting rod preceding guiding connector.
It is further characterized by：The connecting rod is installed on the connection by preceding guiding connector, rear guiding connector
The lower face corresponding position of frame, the front end of the connecting rod are pivotally connected the promotion after the guide groove of the preceding guiding connector and connect
One end of bar, the rear end of the connecting rod is before the affixed elasticity after the guide groove of the rear guiding connector finely tunes module
End；
The elasticity fine tuning module includes that two pieces of reeds fix pellet, and specially front end reed fixes pellet, rear end reed
Fixed pellet, the front end reed fixes pellet, the both sides of rear end reed fixation pellet are fixedly connected by reed respectively, every
Length one end of the reed fastens the side of the reed fixation pellet of corresponding position, two panels institute by affixed screw respectively
The length direction central side for stating reed is convex backwards to being symmetrical arranged, between the central side of reed described in two panels is convex by finely tune screw rod,
Nut connects；
The rear end of the connecting rod affixed front end reed after the guide groove of the rear guiding connector fixes pellet
Fore-end, the rear end that the rear end reed fixes pellet is connected with guide rod；
The inner end of the guide rod is arc surface or spherical surface, it is ensured that the normal work of total；
The middle part of the guide rod is oriented to the lower face for being installed on the link, the guide rod by guiding connector
Inner end after the guide groove of the guiding connector towards the middle part guide surface of lead screw module arrangement.
After adopting the structure of the invention, it is moved upwardly or downwardly by lead screw module, guide rod is fixed in lead screw module
Cam bar under the action of move horizontally forward or backward, and finely tune module and connecting rod with dynamic elasticity and make anterior-posterior horizontal fortune simultaneously
It is dynamic；The pivot joint of the connecting rod other end pushes connecting rod, and the joining beam other end is pushed to be pivotally connected with handgrip disk, makes handgrip disk along its axis center rotation one
Fixed angle has the function that change hands the workpiece trace regulation clamped by disk；It is using the handgrip of terminal handgrip disk in pick-and-place object
While body, realize because mold installation difference can make micro adjustment between upper and lower procedure, to ensure that it is fixed that workpiece accurately falls into mold
Position position, it is ensured that the quality of workpiece to be machined.
Description of the drawings
Fig. 1 is the upward view structure schematic diagram of the present invention；
Fig. 2 is that the A-A of Fig. 1 cuts open structural schematic diagram；
Fig. 3 is the structural schematic diagram of the elasticity fine tuning module of the present invention；
Title in figure corresponding to serial number is as follows：
Lead screw module 1, handgrip disk fulcrum bearing 2, link 3, vertically to central rotating shaft 4, handgrip disk 5, attaching nut 6, silk
Bar 7, connecting rod 8 push connecting rod 9, elasticity fine tuning module 10, guide rod 11, inner end 12, middle part guide surface 13, cam bar 14, reset
Spring 15, installation side be convex 16, preceding guiding connector 17, rear guiding connector 18, that front end reed fixes pellet 19, rear end reed is solid
Determine pellet 20, reed 21, fine tuning screw rod 22, nut 23, guiding connector 24, affixed screw 25.
Specific implementation mode
A kind of robot gripper disc spins micro-adjusting mechanism, is shown in Fig. 1-Fig. 3：It includes the lead screw module 1 being vertically arranged, silk
Handgrip disk fulcrum bearing 2 is installed, the front end of handgrip disk fulcrum bearing 2 is provided with length direction cloth in the vertical guide rails of bar module 1
The link 3 set, the length ends of link 3 to central rotating shaft 4 by vertically connecting lower part handgrip disk 5, handgrip disk fulcrum bearing 2
By 6 connection wire rod mould of built-in attaching nut, 1 group of lead screw 7, the lower face of the link 3 of length direction arrangement is disposed with connecting rod
8, the length direction of connecting rod 8 is parallel to the length direction of link 3, and one end of the close handgrip disk 5 of connecting rod 8 is articulated with promotion and connects
One end of bar 9 pushes the non-central location of the other end pivot joint handgrip disk 5 of connecting rod 9, pushes connecting rod 9 and connecting rod 8 is not parallel sets
It sets, connecting rod 8 and one of handgrip angulation are β, the affixed flexible fine tuning module in one end of the close lead screw module 1 of connecting rod 8 10
Length direction one end, elasticity fine tuning module 10 the length direction other end be connected with guide rod 11, the inner end 12 of guide rod 11
It is arranged towards the middle part guide surface 13 of lead screw module 1 after the outer wall of handgrip disk fulcrum bearing 2, the Vertical Square of middle part guide surface 13
It is provided with the cam bar 14 of evagination from bottom to top to middle section position, is set on the length direction of the close handgrip disk 5 of connecting rod 8 multiple
Position spring 15, the corresponding position installation side that the both ends of resetting spring 15 are mounted on connecting rod 8 respectively are convex 16, connecting rod 8 leading to even
Fitting 17.
Connecting rod 8 is installed on the lower face corresponding position of link 3 by preceding guiding connector 17, rear guiding connector 18,
The pivot joint after the guide groove of preceding guiding connector 17 of the front end of connecting rod 8 pushes one end of connecting rod 9, after the rear end of connecting rod 8 is run through
The front end of affixed elasticity fine tuning module 10 after the guide groove of guiding connector 18；
Elasticity fine tuning module 10 includes that two pieces of reeds fix pellet, and specially front end reed fixes pellet 19, rear end reed
Fixed pellet 20, front end reed fixes pellet 19, the both sides of rear end reed fixation pellet 20 are fixedly connected by reed 21 respectively,
Length one end of every reed 21 fastens the side of the reed fixation pellet of corresponding position, two leaf springs by affixed screw 25 respectively
The length direction central side of piece 21 is convex backwards to being symmetrical arranged, and passes through between the central side of two panels reed 21 is convex and finely tunes screw rod 22, spiral shell
Mother 23 connects, and reed 21 is specially arch reed.
The operation principle of elasticity fine tuning module：
1 unscrews fine tuning screw rod 22 using allen wrench, and arch reed is under bolt and nut effect, 21 spacing of two panels reed
B increases, and connects two pieces of reeds and fixes pellet spacing A and shortens, front end reed fixes pellet 19 and rear end reed fix pellet 20 it
Between entire length L shorten；
2 finely tune screw rod 22 using allen wrench counter-tightened, and arch reed is under bolt and nut effect, two panels reed 21
Spacing B shortens, and connects two pieces of reeds and fixes the A growths of pellet spacing, front end reed fixes pellet 19 and rear end reed fixes pellet
Entire length L between 20 increases；
3 before entering in lower one of mold cavity, shortens or increase according to actual needs L by above-mentioned action, and then adjust
Whole handgrip and connecting rod are formed by the size of β angles, the workpiece accurate alignment for making handgrip disk capture, you can.
The rear end of connecting rod 8 affixed front end reed after the guide groove of rear guiding connector 18 fixes the front end of pellet 19
Point, the rear end that rear end reed fixes pellet 20 is connected with guide rod 11；
The inner end 12 of guide rod 11 is arc surface or spherical surface, it is ensured that the normal work of total；
The middle part of guide rod 11 is oriented to by guiding connector 24 and is installed on the lower face of link 3, guide rod 11 it is interior
End is arranged after the guide groove of guiding connector 24 towards the middle part guide surface 13 of lead screw module 1.
Its operation principle is as follows：It is moved upwardly or downwardly by lead screw module, guide rod is fixed convex in lead screw module
It moves horizontally forward or backward under the action of wheel item, and finely tunes module and connecting rod with dynamic elasticity and make anterior-posterior horizontal movement simultaneously；
The pivot joint of the connecting rod other end pushes connecting rod, and the joining beam other end is pushed to be pivotally connected with handgrip disk, keeps handgrip disk certain along the rotation of its axis center
Angle, have the function that change hands the workpiece trace regulation clamped by disk；It is using the handgrip of terminal handgrip disk in pick-and-place object
While, it realizes because mold installation difference can make micro adjustment between upper and lower procedure, to ensure that workpiece accurately falls into mold positioning
Position, it is ensured that the quality of workpiece to be machined.
Its specific works cyclic process is as follows：
A lead screw modules downlink in place, handgrip disk grabbing workpiece；Mechanical hand-motion integrally retreats, and lead screw module starts uplink,
Guide rod slides upwards in middle part guide surface flat segments；
B manipulator entirety lateral displacements prepare to move to next process mould；Lead screw module continues uplink, guide rod row
It is displaced outwardly upwards to cam strip area, and along cam bar surface direction, guide rod pushes connecting rod, connecting rod that handgrip disk is pushed to turn
Dynamic, β angles become larger；
In place, manipulator is whole to move ahead c lead screw modules uplink toward mold direction, and the workpiece of handgrip disk crawl is accurately aimed at work
Sequence mold cavity, puts down workpiece；
After d puts down workpiece, manipulator integrally starts to retreat lead screw module simultaneously and prepares downlink；
The mold of the upward station of e manipulators replys movement, and lead screw module continues traveling downwardly, and guide rod is displaced downwardly to cam bar position
It sets, lead screw module continues traveling downwardly, and guide rod moves inward downwards along cam bar, and connecting rod pushes the rotation of handgrip disk to set back, β
Angle homing；
F lead screw modules downlink in place, guide rod middle part guide surface flat segments glide downwards in place, before manipulator entirety
Row replys a actions.
Specific embodiments of the present invention are described in detail above, but content is only the preferable implementation of the invention
Example, should not be construed as limiting the practical range of the invention.It is all to become according to impartial made by the invention application range
Change and improve etc., it should all still belong within this patent covering scope.
Claims (6)
1. a kind of robot gripper disc spins micro-adjusting mechanism comprising the lead screw module being vertically arranged, the lead screw module
Handgrip disk fulcrum bearing is installed, the front end of the handgrip disk fulcrum bearing is provided with the connection of length direction arrangement in vertical guide rails
Frame, by vertically connecting lower part handgrip disk to central rotating shaft, the handgrip disk fulcrum bearing passes through the length ends of the link
Built-in attaching nut connects the lead screw of the lead screw module, it is characterised in that：The lower end of the link of length direction arrangement
Face is disposed with connecting rod, and the length direction of the connecting rod is parallel to the length direction of the link, the connecting rod close to described
One end of handgrip disk is articulated with the one end for pushing connecting rod, the non-central position for pushing the other end of connecting rod to be pivotally connected the handgrip disk
It sets, the promotion connecting rod and the not parallel setting of the connecting rod, the connecting rod and one of handgrip angulation are β, the connecting rod
Close to length direction one end of the affixed flexible fine tuning module in one end of the lead screw module, the length of the elasticity fine tuning module
The direction other end is connected with guide rod, and the inner end of the guide rod is after the outer wall of the handgrip disk fulcrum bearing towards the silk
The middle part guide surface arrangement of bar module, the vertical direction middle section position of the middle part guide surface are provided with the convex of evagination from bottom to top
Item is taken turns, the connecting rod is set with resetting spring, the both ends point of the resetting spring on the length direction of the handgrip disk
The corresponding position installation side that is not mounted on connecting rod is convex, connecting rod preceding guiding connector.
2. a kind of robot gripper disc spins micro-adjusting mechanism as described in claim 1, it is characterised in that：Before the connecting rod passes through
Guiding connector, rear guiding connector are installed on the lower face corresponding position of the link, and institute is run through in the front end of the connecting rod
Described one end for pushing connecting rod is pivotally connected before stating after the guide groove of guiding connector, the rear end of the connecting rod is through the rear company of guiding
The front end of the affixed elasticity fine tuning module after the guide groove of fitting.
3. a kind of robot gripper disc spins micro-adjusting mechanism as claimed in claim 2, it is characterised in that：The elasticity fine tuning mould
Group includes that two pieces of reeds fix pellet, and specially front end reed fixes pellet, rear end reed fixes pellet, and the front end reed is solid
Determine pellet, the both sides of rear end reed fixation pellet are fixedly connected by reed respectively, length one end difference of the every reed
The reed that corresponding position is fastened by affixed screw fixes the side of pellet, the length direction central side of reed described in two panels
Convex pass through between be symmetrical arranged, the central side of reed described in two panels is convex finely tunes screw rod, nut connection.
4. a kind of robot gripper disc spins micro-adjusting mechanism as claimed in claim 3, it is characterised in that：The rear end of the connecting rod
The affixed front end reed fixes the fore-end of pellet, the rear end reed after the guide groove of the rear guiding connector
The rear end of fixed pellet is connected with guide rod.
5. a kind of robot gripper disc spins micro-adjusting mechanism as described in claim 1, it is characterised in that：The guide rod it is interior
End is arc surface or spherical surface.
6. a kind of robot gripper disc spins micro-adjusting mechanism as described in claim 1, it is characterised in that：In the guide rod
Portion is oriented to the lower face for being installed on the link by guiding connector, and the inner end of the guide rod is connected through the guiding
Towards the middle part guide surface arrangement of the lead screw module after the guide groove of part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810426079.2A CN108555168B (en) | 2018-05-07 | 2018-05-07 | Robot gripper rotating fine adjustment mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810426079.2A CN108555168B (en) | 2018-05-07 | 2018-05-07 | Robot gripper rotating fine adjustment mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108555168A true CN108555168A (en) | 2018-09-21 |
| CN108555168B CN108555168B (en) | 2023-09-15 |
Family
ID=63538137
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810426079.2A Active CN108555168B (en) | 2018-05-07 | 2018-05-07 | Robot gripper rotating fine adjustment mechanism |
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| CN (1) | CN108555168B (en) |
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| CA2286952A1 (en) * | 1998-10-19 | 2000-04-19 | Lemo Maschinenbau Gmbh | Apparatus for moving stackable bag packs, in particular plastic bags with bottom folds |
| EP1916072A1 (en) * | 2006-10-23 | 2008-04-30 | Trumpf Maschinen Austria GmbH & CO. KG. | Manipulating device and production system |
| CN102729242A (en) * | 2012-06-26 | 2012-10-17 | 江苏牧羊集团有限公司 | Stacking robot gripper |
| CN104960917A (en) * | 2015-05-29 | 2015-10-07 | 苏州神运机器人有限公司 | Sucker arm capable of moving up-down and micro-rotating for grab and release |
| CN105173760A (en) * | 2015-08-31 | 2015-12-23 | 广州鑫南数控科技有限公司 | Stacking robot |
| CN105881542A (en) * | 2014-11-25 | 2016-08-24 | 路仲利 | Mechanical hand for rescue in deep well |
| CN105945950A (en) * | 2016-06-03 | 2016-09-21 | 广东伊雪松机器人设备有限公司 | Fixture capable of facilitating carrying of workpieces, palletizing robot and operation method of palletizing robot |
| CN106625640A (en) * | 2017-03-15 | 2017-05-10 | 苏州神运机器人有限公司 | Robot grabbing hand capable of completing three-dimensional motion through one set of power source |
| CN207014362U (en) * | 2017-07-12 | 2018-02-16 | 宁波通源工业机器人有限公司 | A kind of five axle stamping machine special manipulators |
| CN208162476U (en) * | 2018-05-07 | 2018-11-30 | 苏州神运机器人有限公司 | A kind of robot gripper disc spins micro-adjusting mechanism |
-
2018
- 2018-05-07 CN CN201810426079.2A patent/CN108555168B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2286952A1 (en) * | 1998-10-19 | 2000-04-19 | Lemo Maschinenbau Gmbh | Apparatus for moving stackable bag packs, in particular plastic bags with bottom folds |
| EP1916072A1 (en) * | 2006-10-23 | 2008-04-30 | Trumpf Maschinen Austria GmbH & CO. KG. | Manipulating device and production system |
| CN102729242A (en) * | 2012-06-26 | 2012-10-17 | 江苏牧羊集团有限公司 | Stacking robot gripper |
| CN105881542A (en) * | 2014-11-25 | 2016-08-24 | 路仲利 | Mechanical hand for rescue in deep well |
| CN104960917A (en) * | 2015-05-29 | 2015-10-07 | 苏州神运机器人有限公司 | Sucker arm capable of moving up-down and micro-rotating for grab and release |
| CN105173760A (en) * | 2015-08-31 | 2015-12-23 | 广州鑫南数控科技有限公司 | Stacking robot |
| CN105945950A (en) * | 2016-06-03 | 2016-09-21 | 广东伊雪松机器人设备有限公司 | Fixture capable of facilitating carrying of workpieces, palletizing robot and operation method of palletizing robot |
| CN106625640A (en) * | 2017-03-15 | 2017-05-10 | 苏州神运机器人有限公司 | Robot grabbing hand capable of completing three-dimensional motion through one set of power source |
| CN207014362U (en) * | 2017-07-12 | 2018-02-16 | 宁波通源工业机器人有限公司 | A kind of five axle stamping machine special manipulators |
| CN208162476U (en) * | 2018-05-07 | 2018-11-30 | 苏州神运机器人有限公司 | A kind of robot gripper disc spins micro-adjusting mechanism |
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| Publication number | Publication date |
|---|---|
| CN108555168B (en) | 2023-09-15 |
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