CN205148346U - Novel bar machinery tongs - Google Patents

Novel bar machinery tongs Download PDF

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Publication number
CN205148346U
CN205148346U CN201520989981.7U CN201520989981U CN205148346U CN 205148346 U CN205148346 U CN 205148346U CN 201520989981 U CN201520989981 U CN 201520989981U CN 205148346 U CN205148346 U CN 205148346U
Authority
CN
China
Prior art keywords
wrist
folding
handgrip
tongs
motor
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.)
Expired - Fee Related
Application number
CN201520989981.7U
Other languages
Chinese (zh)
Inventor
陈广庆
王峰
王明鹏
纪德恒
张萌萌
唐小庆
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shandong University of Science and Technology
Original Assignee
Shandong University of Science and Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shandong University of Science and Technology filed Critical Shandong University of Science and Technology
Priority to CN201520989981.7U priority Critical patent/CN205148346U/en
Application granted granted Critical
Publication of CN205148346U publication Critical patent/CN205148346U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a novel bar machinery tongs, it constitutes to open and shut the module including base, wrist rotary device, fixed tongs, activity tongs and tongs, wrist rotary device includes wrist worm wheel, wrist worm and wrist driving motor, and the wrist worm wheel is fixed in the upper end of fixed tongs, and the wrist worm is installed and links to each other on the base and with driving motor, and wrist driving motor passes through motor bearing installation on the base, the tongs opens and shuts the module and installs on fixed tongs with the guide rail that opens and shuts including open and shut lead screw, the open and shut guide rail and the motor that opens and shuts, the lead screw that opens and shuts, and the lead screw that opens and shuts links to each other with the motor that opens and shuts, and the motor that opens and shuts passes through motor bearing installation on fixed tongs, the activity tongs links to each other with the nut of the lead screw that opens and shuts and the linear bearing of the guide rail that opens and shuts. The utility model discloses motor drive worm gear is utilized, the upset operation of mechanical tongs can be realized, activity tongs bar snatchs the position and comprises the tooth of grabbing of a plurality of arcs, more is fit for the operation of snatching of bar.

Description

A kind of novel bar mechanical gripper
Technical field
The utility model relates to a kind of robot device, is specifically related to a kind of novel bar mechanical gripper.
Background technology
Manipulator is in mechanization, a kind of new device grown up in automated production process, is applied in automatic assembly line widely.It can imitate some holding function of staff and arm; in order to capture by fixed routine, to carry object or operation tool; the heavy labor of people can be replaced to realize mechanization and the automation of production; can operate to protect personal safety under hostile environment; be characterized in the job task having carried out various expection by programming; structure and performance have people and machine advantage separately concurrently, especially embodies intelligence and the adaptability of people.In present-day procedure, often need the operations such as bar is captured, carries and piled up, and traditional mechanical gripping structure is complicated, and unstable to the crawl of bar.Therefore be necessary to improve existing machinery handgrip.
Summary of the invention
The utility model needs in the industrial production simply to repeat to capture bar to assigned address to solve, but use artificial words easily to make the problem of people's fatigue, and provide a kind of alternative operative, structure is simple, facilitates durable bar mechanical gripper.
To achieve these goals, the utility model is by the following technical solutions: a kind of novel bar mechanical gripper, comprise pedestal, wrist whirligig, fixing handgrip, movable handgrip and handgrip folding module composition, described wrist whirligig comprises wrist worm gear, wrist worm screw and wrist drive motors, wrist worm gear is fixed on the upper end of fixing handgrip, wrist worm screw to be arranged on pedestal and to be connected with drive motors, wrist drive motors is arranged on pedestal by motor support base, described handgrip folding module comprises folding leading screw, folding guide rail and folding motor, folding leading screw and folding guide rails assembling are on fixing handgrip, folding leading screw is connected with folding motor, folding motor is arranged on fixing handgrip by motor support base, described movable handgrip is connected with the linear bearing of folding guide rail with the nut of folding leading screw.
As preferably, described pedestal there is a flange seat, the connection of convenience and mechanical arm.
As preferably, described wrist rotating mechanism, wrist rotating shaft has keyway, is connected by wrist worm gear by key with fixing handgrip, thus under the driving of wrist worm screw, wrist worm gear drives fixing handgrip to rotate around wrist rotating shaft.
As preferably, the bar of described movable handgrip captures position and is made up of the grasping teeth of multiple circular arc, a segment distance of being separated by between grasping teeth, thus is suitable for capturing bar.
As preferably, the nut of described folding leading screw is flange nut.
Therefore, the utility model has following beneficial effect: (I) alternative operative; (2) structure is simple, facilitates durable.
Accompanying drawing explanation
Fig. 1 is the structural representation of bar mechanical gripper described in the utility model
Fig. 2 is a kind of working state schematic representation of the present utility model
In figure: 1-pedestal; 2-wrist worm screw; 3-wrist worm gear; 4-wrist drive motors; 5-fixes handgrip; The movable handgrip of 6-; 7-folding leading screw; 8-folding guide rail; 9-folding motor; 10-bar.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is further illustrated.
As shown in Figure 1, a kind of novel bar mechanical gripper, comprise and connect pedestal 1, wrist whirligig, fixing handgrip 5, movable handgrip 6 and handgrip folding module composition, described wrist whirligig comprises wrist worm screw 2, wrist worm gear 3 and wrist drive motors 4, wrist worm gear 3 is fixed on the upper end of fixing handgrip 5, wrist worm screw 2 to be arranged on pedestal 1 and to be connected with drive motors 4, wrist drive motors 4 is arranged on pedestal 1 by motor support base, described handgrip folding module comprises folding leading screw 7, folding guide rail 8 and folding motor 9, folding leading screw 7 and folding guide rail 8 are arranged on fixing handgrip 5, folding leading screw 7 is connected with folding motor 9, folding motor 9 is arranged on fixing handgrip 5 by motor support base, described movable handgrip 6 is connected with the linear bearing of folding guide rail 8 with the nut of folding leading screw 7.
Specific implementation process is, when starting working, movable handgrip 6 is in open mode, fixing handgrip 5 is in vertical state, when bar aimed at by fixing handgrip 5, when bar is between fixing handgrip 5 and movable handgrip 6, folding motor 9 drives folding leading screw 7 to rotate, movable handgrip 6 closes, thus clamps in the catching groove bar be between movable handgrip 6 and fixing handgrip 5 being snapped in movable handgrip 6.Then wrist drive motors 4 drives worm and gear to drive fixing handgrip 5 to rotate around wrist rotating shaft, makes fixing handgrip 5 be in level, as Fig. 2 working state schematic representation.The mechanical gripper of grabbing bar is walked under the drive of mechanical arm, and after arriving assigned address, wrist drive motors 4 drives worm and gear to make fixing handgrip 5 rotate to vertical state.Then, handgrip decline certain distance, folding motor 9 driving activity handgrip 6 is opened, and assigned address fallen by bar, and handgrip rises and removes, thus realizes crawl, the carrying operation of bar.

Claims (4)

1. a novel bar mechanical gripper, comprise pedestal, wrist whirligig, fixing handgrip, movable handgrip and handgrip folding module composition, it is characterized in that: described wrist whirligig comprises wrist worm gear, wrist worm screw and wrist drive motors, wrist worm gear is fixed on the upper end of fixing handgrip, wrist worm screw to be arranged on pedestal and to be connected with drive motors, wrist drive motors is arranged on pedestal by motor support base, described handgrip folding module comprises folding leading screw, folding guide rail and folding motor, folding leading screw and folding guide rails assembling are on fixing handgrip, folding leading screw is connected with folding motor, folding motor is arranged on fixing handgrip by motor support base, described movable handgrip is connected with the linear bearing of folding guide rail with the nut of folding leading screw.
2. novel bar mechanical gripper according to claim 1, is characterized in that: described pedestal is provided with an adpting flange.
3. novel bar mechanical gripper according to claim 1, is characterized in that: described wrist rotating mechanism, wrist rotating shaft has keyway, is connected by wrist worm gear by key with fixing handgrip.
4. novel bar mechanical gripper according to claim 1, is characterized in that: the bar of described movable handgrip captures position and is made up of the grasping teeth of multiple circular arc, a segment distance of being separated by between grasping teeth.
CN201520989981.7U 2015-12-03 2015-12-03 Novel bar machinery tongs Expired - Fee Related CN205148346U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520989981.7U CN205148346U (en) 2015-12-03 2015-12-03 Novel bar machinery tongs

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201520989981.7U CN205148346U (en) 2015-12-03 2015-12-03 Novel bar machinery tongs

Publications (1)

Publication Number Publication Date
CN205148346U true CN205148346U (en) 2016-04-13

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201520989981.7U Expired - Fee Related CN205148346U (en) 2015-12-03 2015-12-03 Novel bar machinery tongs

Country Status (1)

Country Link
CN (1) CN205148346U (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106064384A (en) * 2016-07-29 2016-11-02 苏州高通机械科技有限公司 The mechanical hand that a kind of improved structure is stable
CN106392931A (en) * 2016-08-05 2017-02-15 嘉友联精密机械工程(无锡)有限公司 Frame grabbing and turning clamp
CN107150337A (en) * 2017-07-08 2017-09-12 佛山市正略信息科技有限公司 A kind of production line robot mobile console
CN108381354A (en) * 2018-03-15 2018-08-10 陈善兰 One kind is from feeding type pole automatic sander
CN108453574A (en) * 2018-03-15 2018-08-28 陈善兰 A kind of bar grinding apparatus
CN108858261A (en) * 2018-09-10 2018-11-23 安徽海洋药业有限公司 A kind of multiaxis drug detection clamping arm

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106064384A (en) * 2016-07-29 2016-11-02 苏州高通机械科技有限公司 The mechanical hand that a kind of improved structure is stable
CN106064384B (en) * 2016-07-29 2018-09-28 苏州高通机械科技有限公司 A kind of manipulator that improved structure is stablized
CN106392931A (en) * 2016-08-05 2017-02-15 嘉友联精密机械工程(无锡)有限公司 Frame grabbing and turning clamp
CN107150337A (en) * 2017-07-08 2017-09-12 佛山市正略信息科技有限公司 A kind of production line robot mobile console
CN108381354A (en) * 2018-03-15 2018-08-10 陈善兰 One kind is from feeding type pole automatic sander
CN108453574A (en) * 2018-03-15 2018-08-28 陈善兰 A kind of bar grinding apparatus
CN108381354B (en) * 2018-03-15 2021-02-19 芜湖懒人智能科技有限公司 Automatic grinding machine for self-feeding round bars
CN108858261A (en) * 2018-09-10 2018-11-23 安徽海洋药业有限公司 A kind of multiaxis drug detection clamping arm

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C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20160413

Termination date: 20161203