CN201205705Y

CN201205705Y - Exterior holding manipulator

Info

Publication number: CN201205705Y
Application number: CNU2007200319652U
Authority: CN
Inventors: 吕毓军; 白惠杰; 杜喜代; 张怀德; 王龙
Original assignee: Tianshui Metalforming Machine Tool Co Ltd
Current assignee: Tianshui Metalforming Machine Tool Co Ltd
Priority date: 2007-05-23
Filing date: 2007-05-23
Publication date: 2009-03-11
Anticipated expiration: 2017-05-23

Abstract

The utility model discloses an external holding mechanical hand, and a power oil cylinder is fixed on a base; the upper end of the base is connected with a connecting plate of a power mechanism; the left side and the right side of the base are symmetrically provided with front and rear guide slots; the upper end of the front and rear guide slot is connected with the lower end of the connecting plate; four corners of the connecting plate are fixedly provided with four otic plates; the otic plates are provided with four groups of idler wheels; the idler wheel is matched with the guide slot; the lower end of the base is provided with two face plates symmetrical front and rear; both sides of the face plate are provided with guide rails; and the face plate is provided with a vertical guiding slot and a horizontal guiding slot. The upper end of the face plate and the oil cylinder are connected with a press rod; both ends of the press rod are connected with sliding plates; the sliding plate is arranged in the guide rail; each sliding plate is connected with a group of two connecting rods to form a space frame of a parallelogram; each group of the connecting rods are connected with an arm; the lower end of the arm is fixedly provided with a clamp; the connecting positions of the sliding plate and the connecting rod, and the connecting rod and the arm are respectively provided with the guiding idler wheels; and the guiding idler wheels are arranged in the vertical guiding slot and the horizontal guiding slot. The external holding mechanical hand has the advantages of great holding force, compact structure and flexible operation, and can be used for large-size work-pieces.

Description

Outside clamping manipulator

Technical field

The utility model relates to cylindrical clamping, the mobile device technical field of workpiece, is a kind of outside clamping manipulator specifically.

Background technology

The manipulator that in the past was used for the cylindrical clamping is made up of actuator cylinder or cylinder, jig arm, anchor clamps, slew gear; oil cylinder or cylinder horizontal direction provide power; the jig arm horizontal balance; by the clamp workpiece; this mechanism structure complexity, chucking power are little; can only finish the clamping of small dimension workpiece; owing to be generally rigid attachment with actuating unit; reliability requirement to arm-and-hand system is very high; can not play a protective role simultaneously, the retaining part of workpiece is had fixing requirement manipulator and processing main frame.

The utility model content

The outside clamping manipulator that the purpose of this utility model is to provide that a kind of chucking power is big, the large-size workpiece clamping of compact conformation, flexible operation is moved.

The purpose of this utility model is achieved in that

A kind of outside clamping manipulator, form by base, actuator cylinder, guiding mechanism, arm, anchor clamps, described actuator cylinder is fixed on the base, the base upper end is connected with the gusset piece of actuating unit, guide groove before and after left-right symmetry is equipped with on the base, the upper end of front and back guide groove is connected the lower end of joint cover, four otic placodes of gusset piece Corner Strapped, four groups of rollers are installed on the otic placode, and roller matches with guide groove; Be fixed with guiding mechanism in the base lower end, two panels of symmetry before and after described guiding mechanism is provided with, the panel both sides are provided with guide rail, establish a vertically-guided groove and a horizontal guide slot on the panel; The panel upper end is connected a depression bar with oil cylinder, the depression bar two ends are connected with slide plate, slide plate is contained in the guide rail, be connected with one group of two connecting rod on each slide plate, form the space frame of parallelogram, every group of connecting rod connects an arm, and the arm lower end is fixed with anchor clamps, the connection place of slide plate and connecting rod, connecting rod and arm is respectively equipped with guide roller, and guide roller is installed in respectively in the vertically-guided groove and horizontal guide slot of panel.

Fixed leg is equipped with at the two ends of described gusset piece, between base and gusset piece extension spring is housed, and base is leaned against on the fixed leg.

The utlity model has following advantage:

1, big, compact conformation, flexible operation of this outside clamping manipulator chucking power, can finish the clamping work of large-size workpiece.

2, base connects with the suspension of actuating unit and can guarantee that the workpiece feeding puts in place, base resets, and robot device and processing main frame are played a protective role.

3, unqualified to the piece-holder position, can be clamped to the optional position of workpiece.

Description of drawings

Fig. 1 is the utility model structural representation;

Fig. 2 is the utility model side view;

Fig. 3 is the A-A cutaway view of Fig. 1;

Fig. 4 is the B-B cutaway view of Fig. 1.

The specific embodiment

Below in conjunction with accompanying drawing the utility model is further elaborated:

The utility model is made up of base, actuator cylinder, guiding mechanism, arm, anchor clamps.Consult Fig. 1, Fig. 2, actuator cylinder 6 is fixed on the base 5, the power that provides jig arm to move up and down, oil cylinder cylinder diameter Φ 63, maximum pressure 14Mpa.Base 5 upper ends connect the gusset piece 1 of actuating unit, guide groove 3 before and after left-right symmetry is equipped with on the base 5, guide groove 3 upper ends, front and back are connected the lower end of joint cover 1, by four otic placodes 2 of gusset piece 1 Corner Strapped, four groups of rollers 4 are installed on the otic placode 2, roller 4 matches with front and back guide groove 3, and it is fixing that manipulator is suspended, and realizes that manipulator moves forward and backward.Guiding mechanism is fixed on base 5 lower ends, is made of the guiding mechanism of sealing two panels 7 and the guide rail 8 that is symmetrically arranged of front and back symmetry.Panel 7 upper ends are connected a depression bar 9 with oil tank 6, depression bar 9 two ends are connected with slide plate 10 upper ends, and slide plate 10 is contained in the guide rail 8, and with guide rail 8 relative slips, depression bar 9 links up oil cylinder 6 and symmetrical two slide plates 10.Oil cylinder 6 moves up and down, and promotes slide plate 10 and moves up and down along guide rail 8.Consult Fig. 1, Fig. 4, be connected with two groups of four connecting rods 12 on the slide plate 10, form the space frame of two parallelogram, every group of connecting rod 12 connects an arm 11, and arm 11 lower ends are fixed with anchor clamps 14.Arm 11 is symmetrically arranged, by connecting rod 12 arm 11 and slide plate 10 are linked together, slide plate 10 is respectively equipped with guide roller 13 with connecting rod 12, connecting rod 12 with the connection place of arm 11, be processed with vertically-guided groove 18 and horizontal guide slot 19 with the above-mentioned rotary part corresponding section that connects on the panel 7, guide roller 13 is installed in respectively in vertically-guided groove 18 and the horizontal guide slot 19.Guide roller 13 slides along vertically-guided groove 18, horizontal guide slot 19, parallelogram changes shape with the position that slide plate moves up and down, make two arms 11 in the horizontal guide slot 19 of panel in opposite directions or opposing operation, the opening of the anchor clamps 14 that are fixed on the arm 11 is changed, workpiece is clamped or unclamps.The chucking opening size is determined according to the size of guidance system.Change different anchor clamps 14 and can realize the clamping of different workpieces.

Consult Fig. 3, fixed leg 15 is housed on gusset piece 1, array extension spring 16 is housed on the gusset of base 5 makes and roll base and fix, base 5 moves forward and backward after feeding puts in place, by extension spring 16 base 5 is resetted, and simultaneously arm-and-hand system is played a protective role.

Claims

1, a kind of outside clamping manipulator, form by base, actuator cylinder, guiding mechanism, arm, anchor clamps, it is characterized in that described actuator cylinder (6) is fixed on the base (5), base (5) upper end is connected with the gusset piece (1) of actuating unit, guide groove (3) before and after the left-right symmetry that goes up base (5) is equipped with, the upper end of front and back guide grooves (3) is connected the lower end of joint cover (1), gusset piece (1) four otic placodes of Corner Strapped (2), otic placode (2) is gone up four groups of rollers (4) is installed, and roller (4) matches with guide groove (3); Be fixed with guiding mechanism in base (5) lower end, two panels (7) of symmetry before and after described guiding mechanism is provided with, panel (7) both sides are provided with guide rail (8), establish a vertically-guided groove (18) and a horizontal guide slot (19) on the panel (7); Panel (7) upper end is connected a depression bar (9) with oil cylinder (6), depression bar (9) two ends are connected with slide plate (10), slide plate (10) is contained in the guide rail (8), be connected with two groups four connecting rods (12) on the slide plate (10), the space frame of forming two parallelogram, every group of connecting rod (12) connects an arm (11), arm (11) lower end is fixed with anchor clamps (14), slide plate (10) and connecting rod (12), connecting rod (12) is respectively equipped with guide roller (13) with the connection place of arm (11), panel (7) is gone up and is processed with vertically-guided groove (18) and horizontal guide slot (19) with the above-mentioned rotary part corresponding section that connects, and guide roller (13) is installed in respectively in vertically-guided groove (18) and the horizontal guide slot (19).

2, a kind of outside clamping manipulator according to claim 1 is characterized in that fixed leg (15) is equipped with at the two ends of described gusset piece (1), between base (5) and gusset piece (1) extension spring (16) is housed, and base (1) is leaned against on the fixed leg (15).