CN203460176U

CN203460176U - Manipulator mechanism for grabbing rod materials

Info

Publication number: CN203460176U
Application number: CN201320383870.2U
Authority: CN
Inventors: 郑青焕
Original assignee: SHENZHEN SHENLAN PRECISION MACHINERY CO Ltd
Current assignee: SHENZHEN SHENLAN PRECISION MACHINERY CO Ltd
Priority date: 2013-06-28
Filing date: 2013-06-28
Publication date: 2014-03-05
Anticipated expiration: 2023-06-28

Abstract

The utility model relates to the technical field of manipulator mechanisms, and discloses a manipulator mechanism for grabbing rod materials. The manipulator mechanism comprises a pedestal, a first driving element, a swing arm driven by the first driving element to swing laterally and a movable lever which is vertically arranged and connected with the swing arm and where a slide block is connected. A lateral extending slide rail is arranged on the side surface of the pedestal, and the slide block is in sliding connection with the slide rail. A second driving element and a plurality of finger members are connected to the upper end of the movable lever, and grooves are arranged on the inner side surfaces of the finger members. The swing arm is driven by the first driving element to swing and drive the movable lever to move vertically and laterally, so that the second driving element and the finger members on the upper end of the movable lever are moved to desirable positions, and the finger members grab rod materials. Since grooves are arranged on the inner side surfaces of the finger members, the rod materials may not roll or fall off during the grabbing process.

Description

For capturing the manipulator mechanism of bar

Technical field

The utility model relates to the technical field of manipulator mechanism, relates in particular to for capturing the manipulator mechanism of bar.

Background technology

Manipulator mechanism is widely used in the fields such as machinery, metallurgy, electronics, light industry and atomic energy, for capturing various machine components, to realize the object of automatic processing.

Because each manipulator mechanism uses the gap in field, and the shape difference of machine component, the concrete structure of manipulator mechanism also differs widely.At bar processing, detection field, the parallel folding fingers that adopt cylinders and be placed in cylinder below clamp bar more, but, due to factors such as bar self shape and gravity, fingers is in the process of clamping, easily there is the phenomenons such as bar rolls, comes off, thereby cause manipulator mechanism cannot realize the operation that captures bar, cause subsequent handling to carry out.

Utility model content

The purpose of this utility model is to provide the manipulator mechanism that captures bar, is intended to solve manipulator mechanism of the prior art in capturing the process of bar, and bar easily rolls and the phenomenon such as come off.

The utility model is to realize like this, for capturing the manipulator mechanism of bar, comprise pedestal, be connected in the first driving element on described pedestal, by described the first driving element, driven swing arm and the carriage release lever of teeter, described pedestal is vertical layout, described swing arm is placed in a side of described pedestal, described carriage release lever is vertical layout, be connected in described swing arm, and on it, be connected with slide block, described pedestal side is provided with the slide rail that extends transversely layout, described slide block and described slide rail are slidably connected, described carriage release lever upper end is connected with the second driving element and is a plurality ofly both sides positioned opposite and is driven relatively or from the fingers of moving by described the second driving element, the medial surface of described fingers is provided with groove.

Further, the surface of described groove is provided with the corner angle that are no less than three.

Further, the angular range of described corner angle is 90 °～180 °.

Further, the quantity of described fingers is no less than three, on one side fingers be one, it is right against the centre position of a plurality of described fingers of another side.

Further, the described fingers on both sides is no less than respectively two, and the spacing between two adjacent described fingers is on one side greater than or less than the spacing between two adjacent described fingers of another side.

Further, in the side of described pedestal, be provided with deep-slotted chip breaker, described deep-slotted chip breaker opening down, described swing arm one end is connected in described the first driving element, and the other end is extended with the first extension block, and described the first extension block is placed in described deep-slotted chip breaker.

Further, described deep-slotted chip breaker is symmetry shape layout.

Further, the lower end of described carriage release lever is extended with the second extension block, and described the second extension block is flexibly connected with the other end of described swing arm.

Further, the outer surface of the other end of described swing arm is provided with position, hole, and described the second extension block is placed in described Kong Weizhong.

Further, outside the side of described pedestal, be covered with shell, between described shell and the side of described pedestal, surround and form inner chamber, described swing arm is placed in described inner chamber.

Compared with prior art, the manipulator mechanism that the utility model provides, utilize the first driving element to drive swing arm to swing, the wobble drive carriage release lever of swing arm is along vertical and transverse shifting, thereby drive the second driving element and a plurality of fingers of carriage release lever upper end to move to desired position, and then utilize fingers to capture bar, and the medial surface of fingers is provided with groove, guarantee that in its process that captures bar, bar there will not be the phenomenon of rolling or coming off.

Accompanying drawing explanation

Fig. 1 be the utility model embodiment provide for capturing the schematic perspective view one of the manipulator mechanism of bar;

Fig. 2 is the A place enlarged diagram in Fig. 1;

Fig. 3 is the B place enlarged diagram in Fig. 1;

Fig. 4 be the utility model embodiment provide for capturing the master of the manipulator mechanism of bar, look schematic diagram;

Fig. 5 be the utility model embodiment provide for capturing the schematic perspective view two of the manipulator mechanism of bar.

The specific embodiment

In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the utility model, and be not used in restriction the utility model.

Below in conjunction with concrete accompanying drawing, realization of the present utility model is described in detail.

As shown in Fig. 1～5, the preferred embodiment providing for the utility model.

The manipulator mechanism 1 that the present embodiment provides is for capturing bar 2, and it comprises pedestal 101, the first driving element 102, swing arm 105 and carriage release lever 103, and pedestal 101 is vertical layout, and it is tabular, certainly, also can be set to other version; The first driving element 102 is connected on pedestal 101, and swing arm 105 is positioned at a side of pedestal 101, and it is driven by the first driving element 102, along pedestal 101 side teeters; Carriage release lever 103 is vertical layout, and it is connected on swing arm 105, thereby along with the effect of swing arm 105 swings, 103 of carriage release levers can move up perpendicular, and, on carriage release lever 103, being connected with slide block 106, carriage release lever 103 can be with respect to slide block 106 in vertical movement; On the side of pedestal 101, be provided with along horizontal direction and extend the slide rail 104 of arranging, this slide rail 104 is positioned at the top of swing arm 105, and is slidably matched between slide rail 104 and slide block 106, thereby slide block 106 can move along slide rail 104; In the upper end of carriage release lever 103, be provided with the second driving element 107 and a plurality of fingers 108, a plurality of fingers 108 are set to both sides positioned opposite state, by the second driving element 107, are driven, move in opposite directions or from movement, thus can be for crawl bar 2.

On the medial surface of above-mentioned fingers 108, groove 109 is set, like this, a plurality of fingers 108 are oppositely arranged, and when capturing

bar

2,2 of bars are directly captured by relative groove 109.

In the present embodiment, the operation of above-mentioned manipulator mechanism 1 is as follows: the first driving element 102 drives swing arm 105 to swing in the horizontal, thereby under the drive of

swing arm

105, 103 of carriage release levers can move with respect to slide block 106 on vertical, namely with respect to slide block 106, move up and down, and, carriage release lever 103 is in vertical movement, also along with swing arm 105 moves in the horizontal, now, 106 of slide blocks on carriage release lever 103 move in the horizontal with respect to slide rail 104, like this, 107 of the second driving elements that are connected to carriage release lever 103 upper ends can be horizontal and perpendicular moving up, make a plurality of fingers 108 move to the position of bar to be captured 2, utilize the fingers 108 of a plurality of positioned opposite to capture bar 2, crawled bar 2 is placed in the groove 109 of a plurality of fingers 108 medial surfaces, thereby, again by relative driving, manipulator mechanism 1 is moved to bar 2 on the position of subsequent processing needs.

Above-mentioned manipulator mechanism 1 can drive 108 pairs of bars 2 of fingers to capture, and the medial surface of fingers 108 is provided with groove 109, thereby, can, due to bar 2 shapes and weight reason, there is not the phenomenon that bar 2 rolls or comes off in crawl bar 2 that can be firm.

In the present embodiment, on the surface of the groove 109 of fingers 108 medial surfaces, be provided with and be no less than three corner angle, like this, make fingers 108 go for the crawl of multiple difform bar 2.

Particularly, the angular range of above-mentioned groove 109 lip-deep corner angle, between 90 ° to 180 °, certainly, according to actual needs, also can be set to other angle.

The quantity of above-mentioned fingers 108 is no less than three, and two pairs, both sides layout, wherein, on one side fingers 108 be no less than one, when the quantity of fingers 108 is on one side one, this fingers 108 is right against in the middle of a plurality of fingers 108 of another side.And when fingers 108 is on one side no less than two, between two adjacent fingers 108, by contiguous block, be connected on the second driving element 107, and the spacing between the fingers 108 of different edge is not identical, namely the spacing between two adjacent fingers 108 on one side is less than or greater than the spacing between two adjacent fingers 108 of another side.

In the present embodiment, the side through pedestal 101 of the first driving element 102, one end of swing arm 105 is connected on the first driving element 102, thereby, under the driving of the first driving element 102, the other end of swing arm 105 can be with respect to the side of pedestal 101 in teeter.

In the side of pedestal 101, be provided with the deep-slotted chip breaker 110 that arc is arranged, the opening down layout of this deep-slotted chip breaker 110, form " U " shape, the other end of swing arm 105 is extended with the first extension block, this first extension block is placed in deep-slotted chip breaker 110, and in the process swinging at swing arm 105, this first extension block moves along deep-slotted chip breaker 110.

Deep-slotted chip breaker 110 in above-mentioned is symmetry shape, certainly, and according to the movement requirement of carriage release lever 103, and the swing demand of swing arm 105, it also can be set to other arrangements.

The lower end of carriage release lever 103 is extended with the second extension block 111, this second extension block 111 is movably connected on the other end of swing arm 105, thereby, when swing arm 105 swings, by this second extension block 111, drive carriage release lever 103 in vertical movement, and between the second extension block 111 and swing arm 105, be flexibly connected, thereby guarantee the swing along with swing arm 105, carriage release lever 103 is simultaneously also at transverse shifting.

Particularly, the outer surface of above-mentioned swing arm 105 other ends is provided with position, hole, and the second extension block 111 is placed on this Kong Weizhong, thereby realize the second extension block 111, is flexibly connected with the other end of swing arm 105.

Certainly, the second extension block 111 can also be other version with the mode that swing arm 105 other ends are flexibly connected, and is not limited to above-mentioned structure.

In the present embodiment, slide block 106 is provided with chute, and this chute arranges along vertical extension, and carriage release lever 103 is placed in this chute, and can move along chute, thereby makes the carriage release lever 103 can be with respect to slide block 106 in vertical movement.

Certainly, also chute can be arranged in carriage release lever 103, thereby slide block 106 is placed in this chute, same, also can realize carriage release lever 103 with respect to slide block 106 in vertical mobile effect.

In the present embodiment, on the side of pedestal 101, be also covered with shell 112, between this shell 112 and the side of pedestal 101, surround and form inner chamber, thereby the encirclements such as swing arm 105 and deep-slotted chip breaker 110 are placed in to inner chamber, avoid extraneous dust etc., or other materials affect the running of manipulator mechanism 1.

The first driving element 102 and the second driving element 107 in the present embodiment can be plurality of devices, for example cylinder, motor etc.

The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all any modifications of doing within spirit of the present utility model and principle, be equal to and replace and improvement etc., within all should being included in protection domain of the present utility model.

Claims

1. for capturing the manipulator mechanism of bar, it is characterized in that, comprise pedestal, be connected in the first driving element on described pedestal, by described the first driving element, driven swing arm and the carriage release lever of teeter, described pedestal is vertical layout, described swing arm is placed in a side of described pedestal, described carriage release lever is vertical layout, be connected in described swing arm, and on it, be connected with slide block, described pedestal side is provided with the slide rail that extends transversely layout, described slide block and described slide rail are slidably connected, described carriage release lever upper end is connected with the second driving element and is a plurality ofly both sides positioned opposite and is driven relatively or from the fingers of moving by described the second driving element, the medial surface of described fingers is provided with groove.

2. as claimed in claim 1ly for capturing the manipulator mechanism of bar, it is characterized in that, the surface of described groove is provided with the corner angle that are no less than three.

3. as claimed in claim 2ly for capturing the manipulator mechanism of bar, it is characterized in that, the angular range of described corner angle is 90 °～180 °.

4. as claimed in claim 1ly for capturing the manipulator mechanism of bar, it is characterized in that, the quantity of described fingers is no less than three, on one side fingers be one, it is right against the centre position of a plurality of described fingers of another side.

5. as claimed in claim 1 for capturing the manipulator mechanism of bar, it is characterized in that, the described fingers on both sides is no less than respectively two, and the spacing between two adjacent described fingers is on one side greater than or less than the spacing between two adjacent described fingers of another side.

As described in claim 1 to 5 any one for capturing the manipulator mechanism of bar, it is characterized in that, in the side of described pedestal, be provided with deep-slotted chip breaker, described deep-slotted chip breaker opening down, described swing arm one end is connected in described the first driving element, the other end is extended with the first extension block, and described the first extension block is placed in described deep-slotted chip breaker.

7. as claimed in claim 6ly for capturing the manipulator mechanism of bar, it is characterized in that, described deep-slotted chip breaker is symmetry shape and arranges.

As described in claim 1 to 5 any one for capturing the manipulator mechanism of bar, it is characterized in that, the lower end of described carriage release lever is extended with the second extension block, described the second extension block is flexibly connected with the other end of described swing arm.

9. as claimed in claim 8ly for capturing the manipulator mechanism of bar, it is characterized in that, the outer surface of the other end of described swing arm is provided with position, hole, and described the second extension block is placed in described Kong Weizhong.

As described in claim 1 to 5 any one for capturing the manipulator mechanism of bar, it is characterized in that, outside the side of described pedestal, be covered with shell, between described shell and the side of described pedestal, surround to form inner chamber, described swing arm is placed in described inner chamber.