CN205085993U - Grabhook - Google Patents
Grabhook Download PDFInfo
- Publication number
- CN205085993U CN205085993U CN201520442220.XU CN201520442220U CN205085993U CN 205085993 U CN205085993 U CN 205085993U CN 201520442220 U CN201520442220 U CN 201520442220U CN 205085993 U CN205085993 U CN 205085993U
- Authority
- CN
- China
- Prior art keywords
- claw
- fixed
- main shaft
- ball bearing
- retainer ring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The utility model discloses a grabhook, including frame, jack catch device and the jack catch drive arrangement that opens and shuts, through rotating cam, pressure disk and compression spring's cooperation, realize opening and tightening up of jack catch, only need simultaneously two motors just can realize the jack catch pick with the effect of rotation, its simple structure, low cost, operation are reliable, are applicable to the occasion that need frequently move the test tube, can bring the operation benefit of preferred.
Description
Technical field
The utility model relates to a kind of gripper.
Background technology
Along with the raising of industrial automaticity, current large quantities of repetition simply works and has started to transfer to machinery to complete, but complicated by some mechanical device structure, and corresponding purchase cost is higher, in some applications without the need to too high execution precision, cause the rising of labour cost on the contrary.As the workplace such as laboratory and hospital, need the manipulator that mobile test tube adopts, due to the small volume of test tube own, lighter in weight, extra high requirement be there is no to the crawl dynamics of manipulator, this operation is performed according to general robot manipulator structure, executory cost of this simple work may be caused to rise, for unfavorable on the contrary operation.
Utility model content
In order to solve, current robot manipulator structure is complicated, cost is high, and be unsuitable for the situation that simple application occasion uses, the utility model provides a kind of simple and reliable gripper.
In order to realize above-mentioned technical purpose, the technical solution of the utility model is,
A kind of gripper, comprise frame, jaw means and claw folding driving mechanism, described jaw means comprises main axis fixing device, main shaft, the rotating cam of the revolution bodily form, ball bearing unit, pressure ring, the positioning sliding block of ring-type, compression spring, claw retainer ring, claw retainer ring positioner, at least two connecting rods and the crawl bar identical with connecting rod quantity, main shaft is vertically fixed in frame by described main axis fixing device, described rotating cam, platen, positioning sliding block, compression spring, claw retainer ring is sleeved on main shaft from top to bottom successively, claw folding driving mechanism is fixed in frame, rotating cam to be fixed on main shaft by ball bearing unit and to drive the axis around main shaft to rotate by claw folding driving mechanism, the lower surface of rotating cam is provided with a projection and directly contacts the upper surface of platen, the upper surface of pressure ring is the concavo-convex alternate and uniform relief of spacing, positioning sliding block is by the elastic force jack-up of compression spring and contact the lower surface of pressure ring, the lateral surface of positioning sliding block extends downwards the canned paragraph for fixed connecting rod, the quantity of canned paragraph is identical with the quantity of connecting rod, one end of connecting rod is flexibly connected the canned paragraph of positioning sliding block by latch, the other end is flexibly connected the upper end capturing bar by latch, claw retainer ring is fixed on main shaft by claw retainer ring positioner, claw retainer ring lower surface is provided with the nose section for fixing crawl bar, the centre capturing bar is provided with through hole and is flexibly connected the nose section of claw retainer ring by latch, capture the lower end of bar in the horizontal direction lower than the upper end capturing bar.
Described a kind of gripper, the first described ball bearing unit comprises the first ball bearing, clutch shaft bearing lid and clutch shaft bearing locking nut, described clutch shaft bearing lid is bolted and is covered in rotating cam upper surface, and the projection inside with rotating cam lower surface middle position is formed for holding the groove fixing the first ball bearing outer ring jointly, first ball bearing is arranged in groove, and clutch shaft bearing locking nut to screw up on the external screw thread of spindle top and fixes the inner ring of the first ball bearing.
Described a kind of gripper, described claw folding driving mechanism comprises folding driving mechanism fixed mount, the first motor, the first synchronizing wheel and the first belt, the first described motor is fixed in frame by folding driving mechanism fixed mount, first synchronizing wheel is fixed in the rotating shaft of the first motor, and the first belt installs around on the lateral surface of the first synchronizing wheel and rotating cam.
Described a kind of gripper, also comprise claw axial rotation device, described claw axial rotation device comprises claw retainer ring positioner, thrust ball bearing and claw Autorotation driving device, described claw retainer ring positioner comprises the second ball bearing, second bearing cap and the second bearing lock nut, the second described bearing cap is bolted and is covered in claw retainer ring upper surface, and the projection inside with claw retainer ring lower surface middle position is formed for holding the groove fixing the second ball bearing outer ring jointly, second ball bearing is arranged in groove, second bearing lock nut to screw up on the external screw thread bottom main shaft and fixes the inner ring of the second ball bearing, described claw Autorotation driving device to be fixed in frame and to drive claw retainer ring to rotate around the axis of main shaft, blowout patche and the seat ring of described thrust ball bearing contact the lower surface of platen and the upper surface of positioning sliding block respectively.
Described a kind of gripper, described claw Autorotation driving device comprises axial rotation device fixed mount, the second motor, the second synchronizing wheel and the second belt, the second described motor is fixed in frame by axial rotation device fixed mount, second synchronizing wheel is fixed in the rotating shaft of the second motor, and the second belt installs around on the lateral surface of the second synchronizing wheel and claw retainer ring.
Described a kind of gripper, also comprise the camera for claw location, described camera is vertically fixed on folding driving mechanism fixed mount.
Described a kind of gripper, described main axis fixing device comprises main shaft fixed mount and at least one Fixed latches, main shaft fixed mount to be vertically fixed in frame and the groove be provided with for holding main shaft upper part, the two side of groove all has match each other for the through hole by latch, main shaft upper end is provided with the pin hole of level, latch through through hole and pin hole with fixed main shaft.
Described a kind of gripper, the first described motor or the second motor are stepper motor or servomotor.
Technique effect of the present utility model is, by the cooperation of rotating cam, platen and compression spring, realize opening and tightening up of claw, only need two motors just can realize claw simultaneously and capture the effect with rotation, its structure is simple, with low cost, reliable, be applicable to the occasion needing frequent mobile test tube, preferably operation benefits can be brought.
Below in conjunction with accompanying drawing, the utility model is described in further detail.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is explosive view of the present utility model;
Fig. 3 is the schematic diagram that the utility model claw tightens up;
Fig. 4 is the schematic diagram that the utility model claw unclamps;
Wherein 1 is frame, 2 is main shaft, 3 is rotating cam, 4 is pressure ring, 5 is positioning sliding block, 6 is compression spring, 7 is claw retainer ring, 8 is connecting rod, 9 for capturing bar, 10 is the first ball bearing, 11 is clutch shaft bearing lid, 12 is clutch shaft bearing locking nut, 13 is folding driving mechanism fixed mount, 14 is folding driving mechanism fixed mount, 15 is the first motor, 16 is the first synchronizing wheel, 17 is the first belt, 18 is thrust ball bearing, 19 is the second ball bearing, 20 is the second bearing cap, 21 is the second bearing lock nut, 22 is axial rotation device fixed mount, 23 is the second motor, 24 is the second synchronizing wheel, 25 is the second belt, 26 is camera, 27 is main shaft fixed mount, 28 is Fixed latches.
Detailed description of the invention
See Fig. 1, Fig. 2, the utility model comprises frame, jaw means and claw folding driving mechanism, jaw means comprises main axis fixing device, main shaft, the rotating cam of the revolution bodily form, ball bearing unit, pressure ring, the positioning sliding block of ring-type, compression spring, claw retainer ring, claw retainer ring positioner, at least two connecting rods and the crawl bar identical with connecting rod quantity, main shaft is vertically fixed in frame by main axis fixing device, rotating cam, platen, positioning sliding block, compression spring, claw retainer ring is sleeved on main shaft from top to bottom successively, claw folding driving mechanism is fixed in frame, rotating cam to be fixed on main shaft by ball bearing unit and to drive the axis around main shaft to rotate by claw folding driving mechanism, the lower surface of rotating cam is provided with a projection and directly contacts the upper surface of platen, the upper surface of pressure ring is the concavo-convex alternate and uniform relief of spacing, positioning sliding block is by the elastic force jack-up of compression spring and contact the lower surface of pressure ring, the lateral surface of positioning sliding block extends downwards the canned paragraph for fixed connecting rod, the quantity of canned paragraph is identical with the quantity of connecting rod, one end of connecting rod is flexibly connected the canned paragraph of positioning sliding block by latch, the other end is flexibly connected the upper end capturing bar by latch, claw retainer ring is fixed on main shaft by claw retainer ring positioner, claw retainer ring lower surface is provided with the nose section for fixing crawl bar, the centre capturing bar is provided with through hole and is flexibly connected the nose section of claw retainer ring by latch, capture the lower end of bar in the horizontal direction lower than the upper end capturing bar.
Further, in order to realize location to rotating cam and rotate effect preferably, first ball bearing unit of the present embodiment comprises the first ball bearing, clutch shaft bearing lid and clutch shaft bearing locking nut, clutch shaft bearing lid is bolted and is covered in rotating cam upper surface, and the projection inside with rotating cam lower surface middle position is formed for holding the groove fixing the first ball bearing outer ring jointly, first ball bearing is arranged in groove, and clutch shaft bearing locking nut to screw up on the external screw thread of spindle top and fixes the inner ring of the first ball bearing.
Further, in order to realize driving claw folding, the claw folding driving mechanism of the present embodiment comprises folding driving mechanism fixed mount, the first motor, the first synchronizing wheel and the first belt, first motor is fixed in frame by folding driving mechanism fixed mount, first synchronizing wheel is fixed in the rotating shaft of the first motor, and the first belt installs around on the lateral surface of the first synchronizing wheel and rotating cam.
Further, in order to realize the effect of claw rotation, the present embodiment also comprises claw axial rotation device, claw axial rotation device comprises claw retainer ring positioner, thrust ball bearing and claw Autorotation driving device, claw retainer ring positioner comprises the second ball bearing, second bearing cap and the second bearing lock nut, second bearing cap is bolted and is covered in claw retainer ring upper surface, and the projection inside with claw retainer ring lower surface middle position is formed for holding the groove fixing the second ball bearing outer ring jointly, second ball bearing is arranged in groove, second bearing lock nut to screw up on the external screw thread bottom main shaft and fixes the inner ring of the second ball bearing, claw Autorotation driving device to be fixed in frame and to drive claw retainer ring to rotate around the axis of main shaft, blowout patche and the seat ring of thrust ball bearing contact the lower surface of platen and the upper surface of positioning sliding block respectively.
Further, the claw Autorotation driving device of the present embodiment comprises axial rotation device fixed mount, the second motor, the second synchronizing wheel and the second belt, second motor is fixed in frame by axial rotation device fixed mount, second synchronizing wheel is fixed in the rotating shaft of the second motor, and the second belt installs around on the lateral surface of the second synchronizing wheel and claw retainer ring.
Further, for the ease of carrying out the location of claw in use, also comprise the camera for claw location, camera is vertically fixed on folding driving mechanism fixed mount.
Further, in order to good fixed main shaft, the main axis fixing device of the present embodiment comprises main shaft fixed mount and at least one Fixed latches, main shaft fixed mount to be vertically fixed in frame and the groove be provided with for holding main shaft upper part, the two side of groove all has match each other for the through hole by latch, main shaft upper end is provided with the pin hole of level, latch through through hole and pin hole with fixed main shaft.
Further, in order to realize claw capture and rotation accurately and reliably, first motor of the present embodiment or the second motor are stepper motor or servomotor.
In order to realize gripper folding, comprise the following steps:
Step one: frame is set, jaw means and claw folding driving mechanism, jaw means comprises main axis fixing device, main shaft, the rotating cam of ring-type, ball bearing unit, pressure ring, the positioning sliding block of ring-type, compression spring, claw retainer ring, claw retainer ring positioner, at least two connecting rods and the crawl bar identical with connecting rod quantity, by main axis fixing device, main shaft is vertically fixed in frame, by rotating cam, platen, positioning sliding block, compression spring, claw retainer ring is sleeved on main shaft from top to bottom successively, claw folding driving mechanism is fixed in frame, rotating cam is fixed on main shaft by ball bearing unit, the lower surface of rotating cam is provided with a projection and directly contacts the upper surface of platen, the upper surface of pressure ring is the concavo-convex alternate and uniform relief of spacing, positioning sliding block is by the elastic force jack-up of compression spring and contact the lower surface of pressure ring, the lateral surface of positioning sliding block extends downwards the canned paragraph for fixed connecting rod, the quantity of canned paragraph is identical with the quantity of connecting rod, one end of connecting rod is flexibly connected the canned paragraph of positioning sliding block by latch, the other end is flexibly connected the upper end capturing bar by latch, claw retainer ring is fixed on main shaft by claw retainer ring positioner, claw retainer ring lower surface is provided with the nose section for fixing crawl bar, the centre capturing bar is provided with through hole and is flexibly connected the nose section of claw retainer ring by latch, capture the lower end of bar in the horizontal direction lower than the upper end capturing bar,
Step 2: claw folding driving mechanism drives rotating cam to rotate around the axis of main shaft, when the projection of rotating cam lower surface moves to the sunk part of platen upper surface, compression spring jack-up positioning sliding block rises, connecting rod moves upward with positioning sliding block, drive the upper end capturing bar move up and the lower end of crawl bar is moved down, claw is unclamped;
Step 3: when the projection of rotating cam lower surface moves to the bossing of platen upper surface, positioning sliding block declines with platen, connecting rod moves downward with positioning sliding block, drives the upper end capturing bar move down and the lower end of crawl bar is moved up, claw is tightened up.
Claims (8)
1. a gripper, it is characterized in that, comprise frame, jaw means and claw folding driving mechanism, described jaw means comprises main axis fixing device, main shaft, the rotating cam of the revolution bodily form, ball bearing unit, pressure ring, the positioning sliding block of ring-type, compression spring, claw retainer ring, claw retainer ring positioner, at least two connecting rods and the crawl bar identical with connecting rod quantity, main shaft is vertically fixed in frame by described main axis fixing device, described rotating cam, platen, positioning sliding block, compression spring, claw retainer ring is sleeved on main shaft from top to bottom successively, claw folding driving mechanism is fixed in frame, rotating cam to be fixed on main shaft by ball bearing unit and to drive the axis around main shaft to rotate by claw folding driving mechanism, the lower surface of rotating cam is provided with a projection and directly contacts the upper surface of platen, the upper surface of pressure ring is the concavo-convex alternate and uniform relief of spacing, positioning sliding block is by the elastic force jack-up of compression spring and contact the lower surface of pressure ring, the lateral surface of positioning sliding block extends downwards the canned paragraph for fixed connecting rod, the quantity of canned paragraph is identical with the quantity of connecting rod, one end of connecting rod is flexibly connected the canned paragraph of positioning sliding block by latch, the other end is flexibly connected the upper end capturing bar by latch, claw retainer ring is fixed on main shaft by claw retainer ring positioner, claw retainer ring lower surface is provided with the nose section for fixing crawl bar, the centre capturing bar is provided with through hole and is flexibly connected the nose section of claw retainer ring by latch, capture the lower end of bar in the horizontal direction lower than the upper end capturing bar.
2. a kind of gripper according to claim 1, it is characterized in that, described ball bearing unit comprises the first ball bearing, clutch shaft bearing lid and clutch shaft bearing locking nut, described clutch shaft bearing lid is bolted and is covered in rotating cam upper surface, and the projection inside with rotating cam lower surface middle position is formed for holding the groove fixing the first ball bearing outer ring jointly, first ball bearing is arranged in groove, and clutch shaft bearing locking nut to screw up on the external screw thread of spindle top and fixes the inner ring of the first ball bearing.
3. a kind of gripper according to claim 1, it is characterized in that, described claw folding driving mechanism comprises folding driving mechanism fixed mount, the first motor, the first synchronizing wheel and the first belt, the first described motor is fixed in frame by folding driving mechanism fixed mount, first synchronizing wheel is fixed in the rotating shaft of the first motor, first belt installs around on the lateral surface of the first synchronizing wheel and rotating cam, and the first described motor is stepper motor or servomotor.
4. a kind of gripper according to claim 1, it is characterized in that, also comprise claw axial rotation device, described claw axial rotation device comprises claw retainer ring positioner, thrust ball bearing and claw Autorotation driving device, described claw retainer ring positioner comprises the second ball bearing, second bearing cap and the second bearing lock nut, the second described bearing cap is bolted and is covered in claw retainer ring upper surface, and the projection inside with claw retainer ring lower surface middle position is formed for holding the groove fixing the second ball bearing outer ring jointly, second ball bearing is arranged in groove, second bearing lock nut to screw up on the external screw thread bottom main shaft and fixes the inner ring of the second ball bearing, described claw Autorotation driving device to be fixed in frame and to drive claw retainer ring to rotate around the axis of main shaft, blowout patche and the seat ring of described thrust ball bearing contact the lower surface of platen and the upper surface of positioning sliding block respectively.
5. a kind of gripper according to claim 4, it is characterized in that, described claw Autorotation driving device comprises axial rotation device fixed mount, the second motor, the second synchronizing wheel and the second belt, the second described motor is fixed in frame by axial rotation device fixed mount, second synchronizing wheel is fixed in the rotating shaft of the second motor, and the second belt installs around on the lateral surface of the second synchronizing wheel and claw retainer ring.
6. a kind of gripper according to claim 3, is characterized in that, also comprise the camera for claw location, described camera is vertically fixed on folding driving mechanism fixed mount.
7. a kind of gripper according to claim 1, it is characterized in that, described main axis fixing device comprises main shaft fixed mount and at least one Fixed latches, main shaft fixed mount to be vertically fixed in frame and the groove be provided with for holding main shaft upper part, the two side of groove all has match each other for the through hole by latch, main shaft upper end is provided with the pin hole of level, latch through through hole and pin hole with fixed main shaft.
8. a kind of gripper according to claim 5, is characterized in that, the second described motor is stepper motor or servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520442220.XU CN205085993U (en) | 2015-06-25 | 2015-06-25 | Grabhook |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520442220.XU CN205085993U (en) | 2015-06-25 | 2015-06-25 | Grabhook |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205085993U true CN205085993U (en) | 2016-03-16 |
Family
ID=55476711
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520442220.XU Active CN205085993U (en) | 2015-06-25 | 2015-06-25 | Grabhook |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205085993U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104924316A (en) * | 2015-06-25 | 2015-09-23 | 长城信息产业股份有限公司 | Grabhook and grabhook opening and closing method |
| CN110554093A (en) * | 2019-10-10 | 2019-12-10 | 北京博力加机电技术有限公司 | Copying manipulator for clamping outer ring of rolling bearing |
| CN114986533A (en) * | 2022-06-30 | 2022-09-02 | 西南科技大学 | Elephant-nose-imitated flexible mechanical arm and application thereof |
-
2015
- 2015-06-25 CN CN201520442220.XU patent/CN205085993U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104924316A (en) * | 2015-06-25 | 2015-09-23 | 长城信息产业股份有限公司 | Grabhook and grabhook opening and closing method |
| CN104924316B (en) * | 2015-06-25 | 2017-02-22 | 长城信息产业股份有限公司 | Grabhook and grabhook opening and closing method |
| CN110554093A (en) * | 2019-10-10 | 2019-12-10 | 北京博力加机电技术有限公司 | Copying manipulator for clamping outer ring of rolling bearing |
| CN110554093B (en) * | 2019-10-10 | 2024-02-23 | 北京博力加机电技术有限公司 | Profiling manipulator for clamping outer ring of rolling bearing |
| CN114986533A (en) * | 2022-06-30 | 2022-09-02 | 西南科技大学 | Elephant-nose-imitated flexible mechanical arm and application thereof |
| CN114986533B (en) * | 2022-06-30 | 2024-04-09 | 西南科技大学 | Flexible mechanical arm imitating trunk and application thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205085993U (en) | Grabhook | |
| KR101995646B1 (en) | End effector, industrial robot, and operating method thereof | |
| CN204504697U (en) | A kind of vertical bearing pressing machine | |
| CN201394733Y (en) | Assembling device of piston connecting rod component | |
| CN105269560A (en) | Novel ZR shaft assembly of horizontal multi-joint manipulator | |
| CN106217077A (en) | A kind of clamping device of cylinder base | |
| CN109333576B (en) | Tail end capturing gripper for space manipulator and capturing method | |
| CN105414356B (en) | A kind of mould changing device of NC turret punch machine | |
| CN104924316A (en) | Grabhook and grabhook opening and closing method | |
| CN206154312U (en) | Industrial robot is with 90 degrees grabbing device | |
| CN109822608B (en) | Automatic material taking manipulator | |
| CN210480149U (en) | Synchronous rotation material taking manipulator | |
| CN204471263U (en) | Turning localization tool on a kind of multiple-station rotation platform | |
| CN105364910B (en) | It is a kind of to rotate the secondary parallel sorting machine people of four-degree-of-freedom for driving | |
| CN204413552U (en) | Torsion spring assembling mechanism | |
| CN203679147U (en) | Lifting rotary table | |
| CN105645091A (en) | Turnover device and assembly line | |
| CN209786951U (en) | Electric cylinder manual device | |
| CN105522369B (en) | A kind of compliance device and method for realizing peg-in-hole assembly | |
| CN216464163U (en) | Locking device for oil pressure brake handle | |
| CN105479146A (en) | Equipment and method for achieving shaft hole assembly | |
| CN108972526A (en) | One kind having double end effector mechanism three freedom degree manipulator structures and control system | |
| CN105414952B (en) | Valve core direction selecting and aligning device | |
| CN210587958U (en) | Jacking clamping rotating mechanism for seat assembly production line | |
| CN219212207U (en) | Bolt skeleton kludge |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |