CN205058063U - Machinery tongs device - Google Patents
Machinery tongs device Download PDFInfo
- Publication number
- CN205058063U CN205058063U CN201520794393.8U CN201520794393U CN205058063U CN 205058063 U CN205058063 U CN 205058063U CN 201520794393 U CN201520794393 U CN 201520794393U CN 205058063 U CN205058063 U CN 205058063U
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- slide block
- rotating machine
- electric rotating
- motor
- gear
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Abstract
The utility model relates to a machinery tongs device, including the device fixed plate, the rotational positioning subassembly with snatch the subassembly. The device fixed plate be can with whole machinery tongs device fixed mounting on the arm, arm drive device is to corresponding experiment station. The rotational positioning subassembly includes the rotating electrical machines, encoder, motor base, bearing, swivelling joint axle etc.. Snatch the subassembly and include the subassembly shell, driving motor, motor fixed plate, gear, rack, guide rail, slider, spacing sensor, limiting blocking piece, and crank. The utility model discloses can realize 360 rotations of tongs, the ascending brassboard of every side all can pick. And can the various different kinds of brassboard of adaptation, the dynamics that snatchs the brassboard can be adjustable according to the brassboard type. The utility model discloses can apply in a flexible way on automatic experiment platform, high efficiency accomplishes to snatch and lays the operation.
Description
Technical field
The utility model relates to a kind of mechanical gripper device, especially a kind of mechanical gripper device of energy automatic capturing brassboard.
Background technology
Mechanical gripper is a kind of high-tech automated production equipment grown up nearly decades; it can imitate some holding function of staff and arm; in order to capture by fixed routine, to carry object or operation tool; it can replace the heavy labor of people to realize mechanization and the automation of production, can operate to protect personal safety under hostile environment.In automedica equipment workbench, have various different brassboard, the station required for the different experimental stages is different, needs brassboard to shift between different stations.According to manual intervention, then automaticity is too low, and efficiency is low, and operator's labour intensity is large, is unfavorable for the job requirement of separate men from machines.Mechanical gripper is integrated in Medical Devices, automatically completes the transfer of brassboard at different station, the automaticity of whole equipment can be improved.
Utility model content
The technical problem that the utility model mainly solves is to provide a kind of mechanical gripper device; this application of installation is in the biochemical test platform of automation; can the brassboard of different station on precise and stable crawl platform; and transfer on the station of specifying; steadily lay; safe and reliable, can operate to protect personal safety under hostile environment.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is: a kind of mechanical gripper device, comprises device fixed head, rotates positioning component and grabbing assembly; Described device fixed head can by whole mechanical gripper device fixed installation on the robotic arm, and mechanical arm driving mechanical gripper equipment is to testing station accordingly; Described rotation positioning component comprises electric rotating machine, encoder, motor base, bearing, be rotatably connected axle; Described grabbing assembly comprises grabbing assembly shell, drive motors, motor fixing plate, gear, tooth bar, guide rail, slide block, limit sensors, spacing catch, and two cranks; Wherein drive motors, motor fixing plate, gear, tooth bar, guide rail, slide block, limit sensors, spacing catch all in the enclosure portion is installed;
In described rotation positioning component, described encoder and electric rotating machine are connected, and electric rotating machine is fixedly placed on described motor base; Described motor base is fixedly connected with bearing block; Described bearing is placed in bearing block, and bearing block is fixedly connected with described device fixed head; The described axle top that is rotatably connected is through the center of bearing, fixing on the drive link being enclosed within described electric rotating machine; Be rotatably connected bottom axle and be fixedly connected with described grabbing assembly shell; The rotational angle of encoder determination electric rotating machine, electric rotating machine driven rotary connecting axle rotates, thus drives handgrip assembly to rotate respective angles;
In described handgrip assembly, described drive motors is fixed on motor fixing plate by motor transmission shaft, and motor fixing plate is relative with shell fixing in described enclosure; Motor-driven bar is inserted in described gear center hole, and drive rod rotation can rotate by driven gear; Described tooth bar has two and parallel, respectively on gear both sides by tooth and engaged gears; Described tooth bar is separately fixed on the slide block of that end separately, and described slide block is placed in the guide groove of described guide rail; Each slider bottom is all connected with a crank; Described spacing catch is fixedly mounted on one of them slide block of described slide block, and the slide block being over there equipped with spacing catch is equipped with limit sensors; The rotation of drive motors drive link, driven gear rotate, tooth bar and slide block move along guide rail, control slider bottom two cranks near or away from; When the spacing catch on a slider edge triggers limit sensors, drive motors stops operating.
Further, described motor base side is provided with a bolt hole, and the axle that is rotatably connected is fixedly connected with by the screw in bolt hole with electric rotating machine drive link.
Advantage of the present utility model: compared with prior art, the utility model can realize 360 ° of rotations of handgrip, and the brassboard on each direction all can capture.And the utility model can adaptive various dissimilar brassboard, capture brassboard dynamics can experimentally board type be adjustable.The utility model can be applied in a flexible way on the experiment porch of automation, rapidly and efficiently completes crawl and lays operation.
Accompanying drawing explanation
Fig. 1 is the utility model overall appearance figure;
Fig. 2 is the utility model side cutaway view;
Fig. 3 is for rotating positioning component profile;
Wherein: device fixed head 1, positioning component 2 is rotated, encoder 201, electric rotating machine 202, motor base 203, bearing 204, be rotatably connected axle 205, handgrip package shell 301, drive motors 302, motor transmission shaft 303, motor fixing plate 304, gear 305, tooth bar 306, slide block 307, guide rail 308, spacing catch 309, limit sensors 310, crank 311.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing 1-3 the utility model done and further explain.The following example only for illustration of the utility model, but is not used for limiting practical range of the present utility model.
The utility model relates to a kind of mechanical gripper device, specifically comprises device fixed head 1, rotates positioning component 2 and grabbing assembly 3.Described whole mechanical gripper device fixedly mounts on the robotic arm by device fixed head 1, above mechanical arm driving device to corresponding experiment station, and can move up and down by control device.In described rotation positioning component 2, encoder 201 and electric rotating machine 202 are connected, and electric rotating machine 202 is fixedly placed on motor base 203.Be rotatably connected axle 205 through bearing 204 center, be enclosed within the drive link of electric rotating machine 202.Motor base 203 side is provided with a bolt hole, and the axle 205 that is rotatably connected is fixedly connected with by the screw in bolt hole with electric rotating machine 202 drive link.Bearing 204 is placed in bearing block, and bearing block is fixedly connected with device fixed head 1.Also be fixedly connected with between motor base 203 with 204, bearing.Be rotatably connected axle 205 by being fixedly connected with the grabbing assembly shell 301 in grabbing assembly 3.In described grabbing assembly, drive motors 302 is fixed on motor fixing plate 304 by motor transmission shaft 303, and motor fixing plate 304 is inner relative with shell fixing at shell 301.The motor-driven bar of drive motors is inserted in gear 305 centre bore, and drive rod rotation can rotate by driven gear.Respectively there is a tooth bar 306 on gear 305 both sides and parallel, respectively on gear both sides by tooth and engaged gears.Tooth bar 306 is separately fixed on the slide block 307 of that end separately, and slide block 307 is placed in the guide groove of guide rail 308.All be connected with a crank 311 bottom each slide block 307.Spacing catch 309 is fixedly mounted on one of them slide block of slide block 307, and what be equipped with spacing catch 309 is equipped with limit sensors 310 over there.
The rotational angle of electric rotating machine 202 determined by encoder 201, and electric rotating machine 202 driven rotary connecting axle 205 rotates, thus drives the respective angles that grabbing assembly 3 rotates.Rotating positioning component 2 can drive grabbing assembly 3 planar to realize 360 ° of rotations.Drive rod rotation on drive motors 302 in grabbing assembly 3, driven gear 305 rotates, and because gear is engaged with the tooth bar 306 of both sides by tooth, therefore pinion rotation can make tooth bar 306 transverse shifting of both sides.When drive motors driven gear 305 rotates clockwise, two tooth bar 306 oppositely movements, the slide block be fixedly connected with tooth bar 307 opposing slip on guide rail 308, makes to open with the crank 311 be fixedly connected with bottom slide block 307.When opening up into certain angle, the spacing catch 309 on a side slide triggers limit sensors 310 signal, controls drive motors 302 and stops operating.Now crank opens up into ultimate range.This device is moved to brassboard both sides, and control gear 305 rotates counterclockwise, band carry-over bar 306, and slide block 307 moves in opposite directions, and crank 311 is tightened up, thus clamp test plate.The dynamics that crank 311 presss from both sides brassboard can carry out programme-control by electric machine rotation, for different brassboards, can have different control dynamics.The utility model can be applied in a flexible way on the experiment porch of automation, rapidly and efficiently completes crawl and lays operation.
More than describe preferred embodiment of the present utility model in detail; but; the utility model is not limited to the detail in above-mentioned embodiment; within the scope of technical conceive of the present utility model; can carry out multiple equivalents to the technical solution of the utility model, these equivalents all belong to protection domain of the present utility model.
Claims (2)
1. a mechanical gripper device, is characterized in that: comprise device fixed head, rotates positioning component and grabbing assembly; Described device fixed head can by whole mechanical gripper device fixed installation on the robotic arm, and mechanical arm driving mechanical gripper equipment is to testing station accordingly; Described rotation positioning component comprises electric rotating machine, encoder, motor base, bearing, be rotatably connected axle; Described grabbing assembly comprises grabbing assembly shell, drive motors, motor fixing plate, gear, tooth bar, guide rail, slide block, limit sensors, spacing catch, and two cranks; Wherein drive motors, motor fixing plate, gear, tooth bar, guide rail, slide block, limit sensors, spacing catch all in the enclosure portion is installed;
In described rotation positioning component, described encoder and electric rotating machine are connected, and electric rotating machine is fixedly placed on described motor base; Described motor base is fixedly connected with bearing block; Described bearing is placed in bearing block, and bearing block is fixedly connected with described device fixed head; The described axle top that is rotatably connected is through the center of bearing, fixing on the drive link being enclosed within described electric rotating machine; Be rotatably connected bottom axle and be fixedly connected with described grabbing assembly shell; The rotational angle of encoder determination electric rotating machine, electric rotating machine driven rotary connecting axle rotates, thus drives handgrip assembly to rotate respective angles;
In described handgrip assembly, described drive motors is fixed on motor fixing plate by motor transmission shaft, and motor fixing plate is relative with shell fixing in described enclosure; Motor-driven bar is inserted in described gear center hole, and drive rod rotation can rotate by driven gear; Described tooth bar has two and parallel, respectively on gear both sides by tooth and engaged gears; Described tooth bar is separately fixed on the slide block of that end separately, and described slide block is placed in the guide groove of described guide rail; Each slider bottom is all connected with a crank; Described spacing catch is fixedly mounted on one of them slide block of described slide block, and the slide block being over there equipped with spacing catch is equipped with limit sensors; The rotation of drive motors drive link, driven gear rotate, tooth bar and slide block move along guide rail, control slider bottom two cranks near or away from; When the spacing catch on a slider edge triggers limit sensors, drive motors stops operating.
2. a kind of mechanical gripper device according to claim 1, it is characterized in that: described motor base side is provided with a bolt hole, the axle that is rotatably connected is fixedly connected with by the screw in bolt hole with electric rotating machine drive link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520794393.8U CN205058063U (en) | 2015-10-14 | 2015-10-14 | Machinery tongs device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520794393.8U CN205058063U (en) | 2015-10-14 | 2015-10-14 | Machinery tongs device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205058063U true CN205058063U (en) | 2016-03-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520794393.8U Active CN205058063U (en) | 2015-10-14 | 2015-10-14 | Machinery tongs device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205058063U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107568317A (en) * | 2017-10-31 | 2018-01-12 | 浙江海洋大学 | A kind of clamping device |
| CN108796184A (en) * | 2018-07-16 | 2018-11-13 | 中原工学院 | Leaf springs of car quenching process auxiliary robot |
| WO2019144355A1 (en) * | 2018-01-25 | 2019-08-01 | 深圳市固胜智能科技有限公司 | Electric clamping jaw |
-
2015
- 2015-10-14 CN CN201520794393.8U patent/CN205058063U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107568317A (en) * | 2017-10-31 | 2018-01-12 | 浙江海洋大学 | A kind of clamping device |
| CN107568317B (en) * | 2017-10-31 | 2020-04-21 | 浙江海洋大学 | Clamping device |
| WO2019144355A1 (en) * | 2018-01-25 | 2019-08-01 | 深圳市固胜智能科技有限公司 | Electric clamping jaw |
| CN108796184A (en) * | 2018-07-16 | 2018-11-13 | 中原工学院 | Leaf springs of car quenching process auxiliary robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |