CN204843684U - Annular object is grabbed and is held device - Google Patents
Annular object is grabbed and is held device Download PDFInfo
- Publication number
- CN204843684U CN204843684U CN201520533332.6U CN201520533332U CN204843684U CN 204843684 U CN204843684 U CN 204843684U CN 201520533332 U CN201520533332 U CN 201520533332U CN 204843684 U CN204843684 U CN 204843684U
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- fixture block
- mechanical arm
- straight
- line motion
- annular object
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Abstract
Annular object is grabbed and is held device, including support body, grasping mechanism and straight -line motion mechanism, the support body is including single flange and two at least arms, the arm uses the flange as the center, outwards extends, is the circumference equipartition around arranging, sharp back and forth movement is followed to straight -line motion mechanism control grasping mechanism, and the installation has one set of grasping mechanism and straight -line motion mechanism on every arm, the grasping mechanism includes clamp splice and clamp splice base, and the clamp splice has the notch, and the notch is installed on the clamp splice base towards the arm outside, clamp splice bottom, and the clamp splice base links to each other with straight -line motion mechanism, the position of the relative arm of clamp splice is unanimous. Grab when holding annular object, straight -line motion mechanism drives the clamp splice and is outwards expanded by the center, compares with outside -in's motion mode, can reduce the radius that moves to reduce the volume of organism, reduce manufacturing cost.
Description
Technical field
The utility model relates to a kind of object gripping device, specifically, relates to a kind of device grasped annular object.
Background technology
In industrial activity, usually need article to be transported to another station from a station, carrying work has gripping device to complete usually.Gripping device contributes to realizing automation and intelligent production, can enhance productivity and the quality of production, reduce labour, reduce cost of labor, and can effectively reduce the potential safety hazard caused by operative.
Annular article, refer to circle, hollow shape article.Due to the particularity of its structure, there is particular/special requirement to gripping device.The existing device grasping annular object is realize carrying by grabbing folder external diameter mostly, and device specification is large; And its holding part mostly is pawl, hook formation, easily causes in crawl process and article are damaged.
Utility model content
The purpose of this utility model is to provide that a kind of volume is little, carrying effect stability, annular object gripping device that handling efficiency is high.
The technical solution of the utility model is: annular object gripping device, comprise support body, grasping mechanism and straight-line motion mechanism, support body comprises single flange and at least two mechanical arms, mechanical arm can be two, three, four or more, mechanical arm is centered by flange, stretch out, circumferentially uniform around layout; Straight-line motion mechanism controls grasping mechanism and linearly moves back and forth, and each mechanical arm is provided with a set of grasping mechanism and straight-line motion mechanism; Grasping mechanism comprises fixture block and fixture block base, and fixture block has notch, and notch is outside mechanical arm, and be arranged on fixture block base bottom fixture block, fixture block base is connected with straight-line motion mechanism; Straight-line motion mechanism can drive fixture block base rectilinear motion in the radius that mechanical arm is formed.The position consistency of fixture block relative mechanical arm, ensures that the motion of multiple fixture block is consistent.When capturing annular object, notch is relative with the internal diameter of annular object, completes crawl.
Preferably: straight-line motion mechanism comprises servomotor, active synchronization belt wheel, driven synchronous pulley and Timing Belt; Fixture block base is connected with Timing Belt, and motor drives grasping mechanism rectilinear motion by Timing Belt.
Further, mechanical arm is rectangular shaped post, and its upper surface and side, side are provided with sliding rail, and below and the side of fixture block base are provided with slide block, and fixture block base is arranged on sliding rail by slide block, along sliding rail rectilinear motion.
Further, mechanical arm inside is hollow structure, and active synchronization belt wheel, driven synchronous pulley and Timing Belt are installed in mechanical arm inside, and mechanical arm sidewall is provided with through groove, and fixture block base passes groove inside and is fixed on Timing Belt assigned address.
Preferably: straight-line motion mechanism comprises electric cylinder, fixture block floor installation is on electric cylinder slide block.
Preferably: take flange as basic point, mechanical arm bearing of trend is horizontal by inclination angle upwards, and the inclination angle of multiple mechanical arm is identical.
The beneficial effects of the utility model are:
(1) motion mode of fixture block is: expanded outwardly by center.The program, compared with the motion mode of ecto-entad, can reduce to clamp the moving radius with uninstall action, thus reduce the volume of body, reduce manufacturing cost.
(2) straight-line motion mechanism drives fixture block motion, and fixture block moving radius is controlled, and when annular object internal diameter size changes, straight-line motion mechanism can accurately control grasping mechanism movement travel automatically, easy to adjust.
(3) not by the mode that gripping or hook are got, the mode being blocked annular object internal diameter by notch is captured, and avoids the damage to annular object.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model embodiment 1.
Fig. 2 is the utility model embodiment 1 sectional view.
Fig. 3 is fixture block structural representation.
Fig. 4 is the utility model embodiment 2 structural representation.
Wherein 1.1-flange, 1.2-mechanical arm, 2.1-fixture block, 2.2-fixture block base, trough rim under 2.21-, the upper trough rim of 2.22-, 2.23-sidewall, 2.3-slide block A, 2.4 sliding rail A, 2.5-slide block B, 2.6-sliding rail B, 2.7-Timing Belt pressing plate, 3.1-servomotor, 3.2-active synchronization belt wheel, 3.3-Timing Belt, the little axle of 3.4-, the driven synchronous pulley of 3.5-, 3.6-tensioning screw, 4.1-electricity cylinder slide block, 4.2-electricity cylinder
Detailed description of the invention
Embodiment 1
Annular object gripping device, comprises support body, grasping mechanism and straight-line motion mechanism, and support body comprises single flange 1.1 4 mechanical arms 1.2, and mechanical arm 1.2, centered by flange 1.1, stretches out, circumferentially uniform around layout.Each mechanical arm 1.2 is provided with a set of grasping mechanism and straight-line motion mechanism; Straight-line motion mechanism controls grasping mechanism and linearly moves back and forth.
Straight-line motion mechanism comprises servomotor 3.1, active synchronization belt wheel 3.2, driven synchronous pulley 3.5 and Timing Belt 3.3; Grasping mechanism comprises fixture block 2.1 and fixture block base 2.2, and fixture block 2.1 has notch, and notch, outside mechanical arm 1.2, is arranged on bottom fixture block 2.1 on fixture block base 2.2.Fixture block base 2.2 is connected with Timing Belt, and motor drives Timing Belt 3.3 to move by active synchronization belt wheel 3.2, and drives grasping mechanism rectilinear motion by Timing Belt 3.3.Mechanical arm 1.2 is rectangular shaped post, its upper surface is provided with sliding rail A2.4, side is provided with sliding rail B2.5, the below of fixture block base 2.2 and side are respectively arranged with slide block A2.3 and slide block B 2.5, be arranged on respectively on sliding rail A2.4 and sliding rail B2.5, slide block is along sliding rail rectilinear motion.
Mechanical arm 1.2 inside is hollow structure, it is inner that active synchronization belt wheel 3.2, driven synchronous pulley 3.5 and Timing Belt 3.3 are installed in mechanical arm 1.2, mechanical arm sidewall 2 is provided with through groove, and fixture block base 2.2 passes groove inside and is fixed on Timing Belt assigned address.
Straight-line motion mechanism can drive fixture block base 2.2 rectilinear motion in the radius that mechanical arm is formed.The position consistency of fixture block 2.1 relative mechanical arm 1.2, ensures that the motion of multiple fixture block 2.1 is consistent.
Mechanical arm 1.2 inside is hollow structure, it is inner that active synchronization belt wheel 3.2, driven synchronous pulley 3.5 and Timing Belt 3.3 are arranged on mechanical arm 1.2, mechanical arm 1.2 sidewall is provided with through groove, and fixture block base 2.2 is inner through groove, is connected with Timing Belt 3.3.
Fixture block 2.1 comprises lower trough rim 2.21, upper trough rim 2.22 and sidewall 2.23, and lower trough rim 2.21, upper trough rim 2.22 and sidewall 2.23 surround groove-like, and the length of lower trough rim 2.21 comparatively goes up trough rim 2.22 length.Along sidewall 2.23 to the direction of notch, the inclination angle that lower trough rim 2.21 is downward in level.
Driven synchronous pulley 3.5 is arranged on little axle 3.4, little axle 3.4 is connected with tensioning screw 3.6, little axle 3.4 and tensioning screw 3.6 form synchronous pulley tensioning apparatus, by the spacing between turn tensioning screw 3.6 adjustable active synchronization belt wheel 3.2 and driven synchronous pulley 3.5, thus the rate of tension of adjustment Timing Belt 3.3.
During crawl, annular object gripping device is positioned at the below of annular object bore.Start servomotor 3.1, four active synchronization belt wheel 3.2 synchronous axial system, Timing Belt 3.3 rotates, and drives fixture block 2.1 to move from inside to outside along sliding rail by fixture block base 2.2.Fixture block 2.1 notch, progressively near the internal diameter mouth of annular object, after annular object snaps in the notch of fixture block 2.1, completes the crawl process of annular object.
During unloading, active synchronization belt wheel 3.2 rotates backward, and Timing Belt 3.3 rotates backward, and drives fixture block 2.1 to move along sliding rail ecto-entad by fixture block base 2.2.After annular object and notch depart from, object has unloaded.
Embodiment 2
As different from Example 1, straight-line motion mechanism adopts electric cylinder 4.2, and electric cylinder 4.2 is arranged in mechanical arm 1.2, and fixture block base 2.2 is fixed on electric cylinder slide block 4.1.When the device is operated, electric cylinder 4.2 drives fixture block 2.1 along mechanical arm 1.2 enlargement and contraction, to complete the handling of annular object by electric cylinder slide block 4.1.
Embodiment 3
With embodiment 1 and embodiment 2 unlike, mechanical arm 1.2 relative level face is in inclination angle upwards, and the inclination angle of multiple mechanical arm 1.2 is identical.This structure makes fixture block 2.1 notch towards oblique upper, after making annular object enter notch, stablizes and is stuck in notch.
Claims (6)
1. annular object gripping device, comprises support body, grasping mechanism and straight-line motion mechanism, and support body comprises single flange and at least two mechanical arms, and described mechanical arm, centered by flange, stretches out, circumferentially uniform around layout; Straight-line motion mechanism controls grasping mechanism and linearly moves back and forth, and it is characterized in that: each mechanical arm is provided with a set of grasping mechanism and straight-line motion mechanism; Described grasping mechanism comprises fixture block and fixture block base, and fixture block has notch, and notch is outside mechanical arm, and be arranged on fixture block base bottom fixture block, fixture block base is connected with straight-line motion mechanism; The position consistency of described fixture block relative mechanical arm.
2. annular object gripping device as claimed in claim 1, is characterized in that: described straight-line motion mechanism comprises servomotor, active synchronization belt wheel, driven synchronous pulley and Timing Belt; Fixture block base is connected with Timing Belt, and motor drives grasping mechanism rectilinear motion by Timing Belt.
3. annular object gripping device as claimed in claim 2, it is characterized in that: described mechanical arm is rectangular shaped post, its upper surface and side, side are provided with sliding rail, below and the side of fixture block base are provided with slide block, fixture block base is arranged on sliding rail by slide block, along sliding rail rectilinear motion.
4. annular object gripping device as claimed in claim 3, it is characterized in that: mechanical arm inside is hollow structure, active synchronization belt wheel, driven synchronous pulley and Timing Belt are installed in mechanical arm inside, mechanical arm sidewall is provided with through groove, and fixture block base passes groove inside and is fixed on Timing Belt assigned address.
5. annular object gripping device as claimed in claim 1, it is characterized in that: described straight-line motion mechanism comprises electric cylinder, fixture block floor installation is on electric cylinder slide block.
6. as the annular object gripping device in claim 1 to 5 as described in any one, it is characterized in that: take flange as basic point, mechanical arm bearing of trend is horizontal by inclination angle upwards, and the inclination angle of multiple mechanical arm is identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520533332.6U CN204843684U (en) | 2015-07-22 | 2015-07-22 | Annular object is grabbed and is held device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520533332.6U CN204843684U (en) | 2015-07-22 | 2015-07-22 | Annular object is grabbed and is held device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204843684U true CN204843684U (en) | 2015-12-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520533332.6U Expired - Fee Related CN204843684U (en) | 2015-07-22 | 2015-07-22 | Annular object is grabbed and is held device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204843684U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619405A (en) * | 2016-03-25 | 2016-06-01 | 陕西科技大学 | Barrel-shaped workpiece grabbing device |
| CN108127465A (en) * | 2018-02-05 | 2018-06-08 | 中山市川上智能设备有限公司 | A kind of automatic charging machine and its automatic charging method |
| CN109500807A (en) * | 2018-11-14 | 2019-03-22 | 苏州诚拓机械设备有限公司 | A kind of six pawl handgrip mechanism of intelligence |
| CN111842931A (en) * | 2020-07-31 | 2020-10-30 | 四川航天长征装备制造有限公司 | Numerical control machining method for ultra-large-diameter thin-wall annular forged aluminum part |
| CN112222858A (en) * | 2020-10-10 | 2021-01-15 | 刘玉 | Processing device of extrusion pipe for injection molding machine |
-
2015
- 2015-07-22 CN CN201520533332.6U patent/CN204843684U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619405A (en) * | 2016-03-25 | 2016-06-01 | 陕西科技大学 | Barrel-shaped workpiece grabbing device |
| CN105619405B (en) * | 2016-03-25 | 2017-12-08 | 陕西科技大学 | A kind of tubbiness workpiece gripper device |
| CN108127465A (en) * | 2018-02-05 | 2018-06-08 | 中山市川上智能设备有限公司 | A kind of automatic charging machine and its automatic charging method |
| CN109500807A (en) * | 2018-11-14 | 2019-03-22 | 苏州诚拓机械设备有限公司 | A kind of six pawl handgrip mechanism of intelligence |
| CN109500807B (en) * | 2018-11-14 | 2022-05-24 | 苏州诚拓机械设备有限公司 | Six claw tongs mechanisms of intelligence |
| CN111842931A (en) * | 2020-07-31 | 2020-10-30 | 四川航天长征装备制造有限公司 | Numerical control machining method for ultra-large-diameter thin-wall annular forged aluminum part |
| CN112222858A (en) * | 2020-10-10 | 2021-01-15 | 刘玉 | Processing device of extrusion pipe for injection molding machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151209 Termination date: 20210722 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |