CN108621186A - A kind of telescopic manipulator pulling claw of clamping tubular parts transfer - Google Patents
A kind of telescopic manipulator pulling claw of clamping tubular parts transfer Download PDFInfo
- Publication number
- CN108621186A CN108621186A CN201810564057.2A CN201810564057A CN108621186A CN 108621186 A CN108621186 A CN 108621186A CN 201810564057 A CN201810564057 A CN 201810564057A CN 108621186 A CN108621186 A CN 108621186A
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- cylinder
- plate
- type groove
- tubular parts
- parts transfer
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- 210000000078 claw Anatomy 0.000 title claims abstract description 16
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000007787 solid 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0293—Gripping heads and other end effectors servo-actuated comprising parallel grippers having fingers directly connected to actuator
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses a kind of telescopic manipulator pulling claws of clamping tubular parts transfer, are related to manipulator technical field.The present invention includes floral disc, holding frame and synchronization steering frame；Floral disc includes first annular plate and U-type groove plate；All sides of first annular plate are uniformly fixed with several U-type groove plates；Holding frame includes the second cylinder, grip block and guide holder；The middle part week side of second cylinder is slidably connected with U-type groove, and all sides of the second cylinder are fixedly connected with the piston rod end on the first cylinder, and the one end of the second cylinder is rotatably connected to synchronization steering frame.The present invention is clamped cylindrical part by sliding of the holding frame in U-type groove, and the second cylinder of control makes fixation of the rectangle baffle to cylindrical part end face, the transfer of cylindrical part is realized finally by the movement of parts transfer carrier, the stability that cylindrical part is clamped can effectively be improved, mitigate the labour pressure of people, improves production efficiency.
Description
Technical field
The invention belongs to manipulator technical fields, more particularly to a kind of telescopic manipulator of clamping tubular parts transfer
Pulling claw.
Background technology
In production and living, it is often necessary to cylindrical part is subjected to the installation and removal that part is implemented in clamping, is then shifted,
Transfer bearing such as such as is carried out according to manual type, to a certain extent to upper rolling bearing pressing and dismounting in railway wheel
The labor intensity of worker will be increased, reduce production efficiency.
Currently, the manipulator for cylindrical part transfer in the market has stability and safety wider, but use
Space is limited by railway wheel when to railway wheel to rolling bearing pressing and dismounting, rolling bearing can not be carried out effective
Clamping and transfer, and mode of operation is cumbersome, can not effectively reduce the labor intensity of people, improves production efficiency, therefore have
A kind of telescopic manipulator pulling claw of clamping tubular parts transfer to be studied to cylindrical part be effectively clamped and shift.
Invention content
The purpose of the present invention is to provide a kind of telescopic manipulator pulling claws of clamping tubular parts transfer, pass through holding frame
Cylindrical part is clamped in sliding in U-type groove, and to control the second cylinder make rectangle baffle to cylindrical part end face
Fixation, finally realize cylindrical part transfer, solve be currently used for cylindrical part transfer manipulator stability and safety
Poor performance, the cumbersome problem of mode of operation.
In order to solve the above technical problems, the present invention is achieved by the following technical solutions：
The present invention be it is a kind of clamping tubular parts transfer telescopic manipulator pulling claw, including floral disc, holding frame with it is synchronous
Leading truck；The floral disc includes first annular plate and U-type groove plate；All sides of the first annular plate are uniformly fixed with several U
Type groove plate is provided with a U-type groove in the U-type groove plate, a holding frame is slidably connected in the U-type groove, wherein a U-type groove
The end of plate is installed with a fixed plate；The upper surface of the fixed plate is provided with a through-hole, and the upper surface of the fixed plate is hung down
One first cylinder directly is installed, the piston rod on first cylinder runs through through-hole；
The holding frame includes the second cylinder, grip block and guide holder；The middle part week side and U-type groove of second cylinder
It is slidably connected, all sides of second cylinder are fixedly connected with the piston rod end on the first cylinder, second cylinder
One end is rotatably connected to synchronization steering frame, and the other end of second cylinder, which is run through, is equipped with a grip block；The clamping
Plate is analog-U shaped frid, and a guide holder is installed in the U-shaped folder mouth of the grip block；The guide holder is along the second cylinder
The setting of central axes direction, the piston rod end of second cylinder sequentially pass through grip block and guide holder and with guide holder side
Rectangle baffle on the outside of face is fixedly connected, and several rectangle baffles are uniformly arranged in circumferential；
The synchronization steering frame includes the second annular slab and hang plate；It is uniformly tilted on all sides of second annular slab
It is fixed with several hang plates；It is provided with skewed straight trough mouth on the hang plate, the one of the skewed straight trough mouth and the second cylinder
End is rotatablely connected.
Further, the grip block includes bottom plate and the identical side plate of two structures, the one side of the bottom plate and
The end of two cylinders is fixedly connected, and the side of the bottom plate, which is run through, the second cylinder, and the one side edge of the bottom plate is symmetrically solid
It is fixed there are two side plate, be bolted between two side plates and guide holder be installed.
Further, the one end of second cylinder is fixed with a connecting shaft, and the connecting shaft passes through bearing and inclination
Shape straight trough mouth is rotatablely connected.
Further, the opening direction of the U-type groove along first annular plate radial direction and deviate from the center of circle.
Further, the Circularhole diameter on the circular hole and the second annular slab on the first annular plate is equal and central axes are heavy
It closes.
Further, the side of second annular slab is fixed with a ring baffle, the end face of the ring baffle and the
The side of one annular slab fits, and all sides of the ring baffle fit with all sides of the second cylinder.
Further, sliding groove, the side of the sliding groove and U-type groove plate are symmetrically provided on all sides of second cylinder
Face is slidably connected.
The invention has the advantages that：
1, the present invention drives holding frame to be slided along U-type groove by the piston rod on the first cylinder so that synchronization steering frame
Other two holding frames are driven to be moved along the radial direction of floral disc, to realize that three holding frames simultaneously have cylindrical part
Effect clamping or clamping release, and avoid the sliding or landing of cylindrical part, can effectively improve stability and the clamping of manipulator
Ability.
2, the present invention controls piston rod movement by the second cylinder on holding frame, so that three rectangle baffles pair
The fixation of cylindrical part end face avoids the movement of cylindrical part, realizes fixation and transfer to cylindrical part, and mode of operation letter
It is single, it is highly practical, the labor intensity of worker is alleviated, production efficiency is improved.
3, sliding of the present invention by holding frame in U-type groove so that synchronization steering frame is in connecting shaft and skewed straight trough
Mouth effect is lower to carry out crankmotion, provides stability fundamental for holding frame, avoids the swing of holding frame, to reinforce to tubular zero
The clamping of part and firm.
Certainly, it implements any of the products of the present invention and does not necessarily require achieving all the advantages described above at the same time.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will be described below to embodiment required
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of structural schematic diagram of the telescopic manipulator pulling claw of clamping tubular parts transfer of the present invention；
Fig. 2 is the structural schematic diagram of the floral disc of the present invention；
Fig. 3 is the structural schematic diagram of the holding frame of the present invention；
Fig. 4 is the structural schematic diagram of the synchronization steering frame of the present invention；
In attached drawing, parts list represented by the reference numerals are as follows：
1- floral discs, 2- holding frames, 3- synchronization steering framves, the first cylinders of 4-, the first annular plates of 101-, 102-U type groove plates,
103- fixed plates, the second cylinders of 201-, 202- grip blocks, 203- guide holders, 204- rectangle baffles, the second annular slabs of 301-,
302- hang plates, 1021-U type grooves, 2011- connecting shafts, 2012- sliding grooves, 2021- bottom plates, 2022- side plates, 3011- annulars gear
Plate, the skewed straight trough mouths of 3021-.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained all other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term " between ", " end ", " side ", " middle part ", " side
The indicating positions such as face " or position relationship, are merely for convenience of description of the present invention and simplification of the description, rather than indicate or imply and is signified
Component or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as to the present invention
Limitation.
As shown in Figs. 1-2, the present invention be it is a kind of clamping tubular parts transfer telescopic manipulator pulling claw, including floral disc 1,
Holding frame 2 and synchronization steering frame 3；Floral disc 1 includes first annular plate 101 and U-type groove plate 102；All sides of first annular plate 101
It is uniformly distributed fixed there are three U-type groove plate 102, be provided with a U-type groove 1021 in U-type groove plate 102, one slidably connected in U-type groove 1021
Holding frame 2, wherein the end of a U-type groove plate 102 is installed with a fixed plate 103；
The upper surface of fixed plate 103 is provided with a through-hole, and the upper surface of fixed plate 103 is vertically installed with one first cylinder 4, the
Piston rod on one cylinder 4 runs through through-hole, by the piston rod on the first cylinder 4 come control holding frame 2 in U-type groove 1021 into
Row sliding so that cylindrical part is clamped in synchronization steering frame 3 synchronous drive, three holding frames 2.
As shown in figure 3, holding frame 2 includes the second cylinder 201, grip block 202 and guide holder 203；In second cylinder 201
Portion week side is slidably connected with U-type groove 1021, and the second cylinder 201 can slide in U-type groove 1021, and then drive holding frame 2 in U
Sliding, all sides of the second cylinder 201 are fixedly connected with the piston rod end on the first cylinder 4 in type groove 1021, the second cylinder
201 one end is rotatably connected to synchronization steering frame 3, and the other end of the second cylinder 201, which is run through, is equipped with a grip block 202；
Grip block 202 is analog-U shaped frid, is bolted in the U-shaped folder mouth of grip block 202 and is equipped with a guide holder
203；Guide holder 203 is arranged along the central axes direction of the second cylinder 201, and the piston rod end of the second cylinder 201 sequentially passes through
Grip block 202 and guide holder 203 are simultaneously fixedly connected, three rectangles with the rectangle baffle 204 on the outside of 203 one side of guide holder
Baffle 204 is uniformly arranged in circumferential, is clamped convenient for all sides to cylindrical part；Controlling the second cylinder 201 makes piston rod
It drives rectangle baffle 204 to move, the end face of cylindrical part is relatively fixed to realize, avoids cylindrical part from three
It is slid between holding frame 2.
As shown in figure 4, synchronization steering frame 3 includes the second annular slab 301 and hang plate 302；The side of second annular slab 301
Hang plate 302 there are three fixing uniformly is tilted on face；Skewed straight trough mouth 3021, skewed straight trough mouth are provided on hang plate 302
3021 and second the one end of cylinder 201 be rotatablely connected, holding frame 2 is in the U-type groove 1021 when sliding, the company of 2 end of holding frame
Spindle 2011 will drive skewed straight trough mouth 3021 to rotate, and then realize the rotation of synchronization steering frame 3, and synchronization steering frame 3 drives
Other two holding frames 2 are moved along the radial direction of floral disc 1, it can be achieved that clamping or folder of three holding frames 2 to cylindrical part
Releasing is held, and basic condition is improved for the stability of holding frame 2.
Wherein, grip block 202 includes bottom plate 2021 and the identical side plate 2022 of two structures, and the side of bottom plate 2021 is opened
There is through hole, the second cylinder 201 is through through hole and is mounted by means of bolts on bottom plate 2021, the one side of bottom plate 2021
Edge is symmetrically fixed with two side plates 2022, is bolted between both side plate 2022 and is equipped with guide holder 203.
Wherein, the one end of the second cylinder 201 is fixed with a connecting shaft 2011, connecting shaft 2011 by bearing with it is skewed
Straight trough mouth 3021 is rotatablely connected.
Wherein, the opening direction of U-type groove 1021 along first annular plate 101 radial direction and deviate from the center of circle, convenient for the
Installation of two cylinders 201 in U-type groove 1021.
Wherein, the Circularhole diameter on the circular hole on first annular plate 101 and the second annular slab 301 is equal and central axes are heavy
It closes.
Wherein, the side of the second annular slab 301 is fixed with a ring baffle 3011, the end face of ring baffle 3011 and first
The side of annular slab 101 fits, and all sides of ring baffle 3011 and all sides of the second cylinder 201 fit, and may make
3 directional rotating of synchronization steering frame reinforces the stability of holding frame 2.
Wherein, sliding groove 2012, sliding groove 2012 and U-type groove plate 102 are symmetrically provided on all sides of the second cylinder 201
Side is slidably connected, and under being slidably matched of sliding groove 2012 Yu 102 side of U-type groove plate, may make the second cylinder 201 along U
The direction of type groove 1021 carries out limit sliding, and the second cylinder 201 is avoided to be shaken along the axial direction of itself.
One of the present embodiment has particular application as：
Piston rod by controlling the first cylinder 4 drives the second cylinder 201 to the radial direction away from 101 center of circle of first annular plate
Direction is moved, synchronization steering frame 3 then other two holding frames 2 of synchronous drive to the radial direction side away from 101 center of circle of first annular plate
To movement, so that be in a circumferential arrangement between three holding frames 2, and this forms the diameter of circumference than cylindrical part diameter
Greatly, and the piston rod on the second cylinder 201 of control is in range；
Then all sides of cylindrical part are made to be located between three holding frames 2, the piston rod of the first cylinder 4 of control drives the
Two cylinders 201 are moved to the radial direction close to 101 center of circle of first annular plate, due to connecting shaft 2011 and skewed straight trough mouth
3021 rotation connections, so other two holding frames 2 of 3 synchronous drive of synchronization steering frame are to close to 101 center of circle of first annular plate
Radial direction moves, so that three holding frames 2 clamp cylindrical part, then controls the piston rod on the second cylinder 201
Stroke is gradually reduced so that three rectangle baffles 204 are fitted in the end face of cylindrical part, so far in the second cylinder 201 and
Under the cooperation of rectangle baffle 204, cylindrical part is clamped, and can realize the transfer of cylindrical part, this mode can be to taking turns to upper
Bearing installed, dismantled and shifted.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
Particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one implementation of the present invention
In example or example.In the present specification, schematic expression of the above terms may not refer to the same embodiment or example.
Moreover, particular features, structures, materials, or characteristics described can be in any one or more of the embodiments or examples to close
Suitable mode combines.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification,
It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to preferably explain the present invention
Principle and practical application, to enable skilled artisan to be best understood by and utilize the present invention.The present invention is only
It is limited by claims and its full scope and equivalent.
Claims (7)
1. a kind of telescopic manipulator pulling claw of clamping tubular parts transfer, it is characterised in that：Including floral disc (1), holding frame (2)
With synchronization steering frame (3)；
The floral disc (1) includes first annular plate (101) and U-type groove plate (102)；All sides of the first annular plate (101)
Several U-type groove plates (102) are uniformly fixed with, a U-type groove (1021), the U-type groove are provided in the U-type groove plate (102)
(1021) holding frame (2) is slidably connected in, wherein the end of a U-type groove plate (102) is installed with a fixed plate
(103)；
The upper surface of the fixed plate (103) is provided with a through-hole, and the upper surface of the fixed plate (103) is vertically installed with one first
Cylinder (4), the piston rod on first cylinder (4) run through through-hole；
The holding frame (2) includes the second cylinder (201), grip block (202) and guide holder (203)；Second cylinder (201)
Middle part week side be slidably connected with U-type groove (1021), all sides of second cylinder (201) on the first cylinder (4)
Piston rod end is fixedly connected, and the one end of second cylinder (201) is rotatably connected to synchronization steering frame (3), and described second
The other end of cylinder (201), which is run through, is equipped with a grip block (202)；
The grip block (202) is analog-U shaped frid, and a guide holder is installed in the U-shaped folder mouth of the grip block (202)
(203)；The guide holder (203) is arranged along the central axes direction of the second cylinder (201), the work of second cylinder (201)
Stopper rod end sequentially pass through grip block (202) and guide holder (203) and with the rectangle baffle on the outside of guide holder (203) one side
(204) it is fixedly connected, several rectangle baffles (204) are uniformly arranged in circumferential；
The synchronization steering frame (3) includes the second annular slab (301) and hang plate (302)；The week of second annular slab (301)
It is uniformly tilted on side and is fixed with several hang plates (302)；Skewed straight trough mouth (3021) is provided on the hang plate (302),
The skewed straight trough mouth (3021) and the one end of the second cylinder (201) are rotatablely connected.
2. a kind of telescopic manipulator pulling claw of clamping tubular parts transfer according to claim 1, which is characterized in that institute
It includes bottom plate (2021) and the identical side plate (2022) of two structures to state grip block (202), and the side of the bottom plate (2021) is passed through
It is installed with the second cylinder (201), the one side edge of the bottom plate (2021) is symmetrically fixed with two side plates (2022), two sides
It is bolted between plate (2022) and guide holder (203) is installed.
3. a kind of telescopic manipulator pulling claw of clamping tubular parts transfer according to claim 1, which is characterized in that institute
The one end for stating the second cylinder (201) is fixed with a connecting shaft (2011), the connecting shaft (2011) by bearing with it is skewed
Straight trough mouth (3021) is rotatablely connected.
4. a kind of telescopic manipulator pulling claw of clamping tubular parts transfer according to claim 1, which is characterized in that institute
The opening direction of U-type groove (1021) is stated along the radial direction of first annular plate (101) and deviates from the center of circle.
5. a kind of telescopic manipulator pulling claw of clamping tubular parts transfer according to claim 1, which is characterized in that institute
State that Circularhole diameter on the circular hole and the second annular slab (301) on first annular plate (101) is equal and central axes overlap.
6. a kind of telescopic manipulator pulling claw of clamping tubular parts transfer according to claim 1, which is characterized in that institute
The side for stating the second annular slab (301) is fixed with a ring baffle (3011), the end face and first of the ring baffle (3011)
The side of annular slab (101) fits, and all sides and all sides of the second cylinder (201) of the ring baffle (3011) are affixed
It closes.
7. a kind of telescopic manipulator pulling claw of clamping tubular parts transfer according to claim 1, which is characterized in that institute
It states and is symmetrically provided with sliding groove (2012) on all sides of the second cylinder (201), the sliding groove (2012) and U-type groove plate (102)
Side be slidably connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810564057.2A CN108621186B (en) | 2018-06-04 | 2018-06-04 | Telescopic mechanical hand pulling claw for clamping cylindrical part transfer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810564057.2A CN108621186B (en) | 2018-06-04 | 2018-06-04 | Telescopic mechanical hand pulling claw for clamping cylindrical part transfer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108621186A true CN108621186A (en) | 2018-10-09 |
| CN108621186B CN108621186B (en) | 2024-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810564057.2A Active CN108621186B (en) | 2018-06-04 | 2018-06-04 | Telescopic mechanical hand pulling claw for clamping cylindrical part transfer |
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| CN109807995A (en) * | 2019-04-02 | 2019-05-28 | 六安市恒伟标识有限公司 | The molding automation planing technique of timber plain |
| CN112780931A (en) * | 2021-01-01 | 2021-05-11 | 苏州市佳信美智能装备有限公司 | Positioning installation mechanism for projector calibration |
| CN113566933A (en) * | 2021-07-27 | 2021-10-29 | 唐山九焱科技有限责任公司 | Bag detection machine is taken out to intelligence |
| CN114505868A (en) * | 2022-02-17 | 2022-05-17 | 祁宏烽 | Based on intelligence fortune dimension detects trouble suggestion alarm device |
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| CN109807995A (en) * | 2019-04-02 | 2019-05-28 | 六安市恒伟标识有限公司 | The molding automation planing technique of timber plain |
| CN112780931A (en) * | 2021-01-01 | 2021-05-11 | 苏州市佳信美智能装备有限公司 | Positioning installation mechanism for projector calibration |
| CN113566933A (en) * | 2021-07-27 | 2021-10-29 | 唐山九焱科技有限责任公司 | Bag detection machine is taken out to intelligence |
| CN114505868A (en) * | 2022-02-17 | 2022-05-17 | 祁宏烽 | Based on intelligence fortune dimension detects trouble suggestion alarm device |
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