CN205466276U - Anti -drop mechanism of manipulator centre gripping goods - Google Patents
Anti -drop mechanism of manipulator centre gripping goods Download PDFInfo
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- CN205466276U CN205466276U CN201620160938.4U CN201620160938U CN205466276U CN 205466276 U CN205466276 U CN 205466276U CN 201620160938 U CN201620160938 U CN 201620160938U CN 205466276 U CN205466276 U CN 205466276U
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Abstract
The utility model relates to an anti -drop mechanism of manipulator centre gripping goods, include the cylinder, the cylinder passes through piston rod drive link mechanism, and link mechanism drives the tight goods of arm lock clamp, its characterized in that, thus still make the piston rod of cylinder drive the spring pretensioning means that link mechanism drove the tight goods of arm lock clamp through this pretightning force including being used for producing the pretightning force. The utility model discloses in the time of can preventing to take off, break the emergence of the isabnormal condition owing to outage, trachea pine, the goods of centre gripping drop from the manipulator.
Description
Technical field
This utility model relates to a kind of mechanism preventing the goods clamped from coming off from mechanical hand.
Background technology
In aluminium alloy compression casting automated system, generally by the manipulator clamping goods of robot, complete pickup and
Transporting operation between peripheral equipment.Mechanical hand generally utilize air pressure as power source, by cylinder piston rod
Pantograph drive link mechanism is transferred to power on the jaw of jig arm, clamps goods.By electromagnetic valve control
The intake and exhaust direction of cylinder processed realizes the folding posture of jaw.This mechanism gets loose at power-off, trachea, ruptures
When occurring etc. abnormal conditions, the goods in clamping can fall phenomenon, causes goods to damage or security incident.
Summary of the invention
The technical problems to be solved in the utility model be prevent from occurring due to power-off, the abnormal conditions such as die after press from both sides
The goods held drop from mechanical hand.
In order to solve above-mentioned technical problem, the technical solution of the utility model there is provided a kind of manipulator clamping system
The anti-shedding mechanism of product, including cylinder, cylinder is by piston rod drive link mechanism, and linkage drives jig arm
Clamping goods, it is characterised in that also include for producing pretightning force and being made the piston rod of cylinder by this pretightning force
Drive link mechanism thus drive jig arm clamping goods spring pretightening mechanism.
Preferably, described spring pretightening mechanism includes spring bearer plate and spring bearing housing, at spring bearer plate and spring
Being provided with compression spring between bearing, compression spring is enclosed within outside guide pillar, the two ends of compression spring respectively with spring bearer plate
And spring bearing housing offsets.
Preferably, described cylinder uses double rod cylinder, one end of the rod of double rod cylinders and described connecting rod machine
Structure is linked, and the other end is linked with described spring pretightening mechanism；
The spring bearing housing of described spring pretightening mechanism is fixed on double rod cylinder, the rod of double rod cylinders
The other end is linked with described spring bearer plate after spring bearing housing.
Preferably, the other end of the rod of described pair of rod cylinder passes described spring bearer plate, sets on this end
There is the locking nut of pretightning force for regulating described compression spring.
Preferably, described cylinder uses single rod cylinder, and the end of the rod of single rod cylinder is through described spring
It is linked with described linkage after the described spring bearer plate of pre-tightening mechanism and described spring bearing housing, single rod gas
Cylinder is fixed on described spring bearer plate.
Preferably, use 4 described compression springs paired centered by the piston rod of cylinder in spring bearing housing
Claim distribution.
Preferably, use 2 described compression springs paired centered by the piston rod of cylinder in spring bearing housing
Claim distribution.
This utility model be possible to prevent due to power-off, trachea get loose, rupture etc. abnormal conditions occur time, clamp
Goods drop from mechanical hand.
Accompanying drawing explanation
The anti-shedding mechanism (double rod cylinder) of a kind of manipulator clamping goods that Figure 1A provides for embodiment 1
It is in the structural representation of clamped condition；
The anti-shedding mechanism (double rod cylinder) of a kind of manipulator clamping goods that Figure 1B provides for embodiment 1
It is in the structural representation of releasing orientation；
Anti-shedding mechanism (single rod cylinder, the nothing of a kind of manipulator clamping goods that Fig. 2 provides for embodiment 2
Bar chamber inflation unclamp) structural representation.
(single rod cylinder, has the anti-shedding mechanism of a kind of manipulator clamping goods that Fig. 3 provides for embodiment 3
Bar chamber inflation unclamp) structural representation.
Detailed description of the invention
For making this utility model become apparent, hereby with preferred embodiment, and accompanying drawing is coordinated to be described in detail below.
Embodiment 1
In order to prevent owing to power-off, trachea get loose, rupture etc. and to cause what goods 8 dropped to show when abnormal conditions occur
As, this utility model utilizes the pretightning force of compression spring to realize when robot drives cylinder runs out of steam, folder
Pawl keeps the clamping to goods 8.
As illustrated in figures ia and ib, the slip-off preventing machine of a kind of manipulator clamping goods 8 disclosed in the present embodiment
Structure is mainly made up of following components: compression spring 1, spring bearer plate 2, pressing plate guide pillar 3, spring-loaded
Seat 4, cylinder 5, linkage 6, jig arm 7.Wherein, compression spring 1, spring bearer plate 2, pressing plate guide pillar
3 and spring bearing housing 4 collectively constituted spring pretightening mechanism.
Jig arm 7 is by cylinder 5 drive link mechanism 6, the revolution that transform linear motion is jig arm 7 of cylinder 5
Motion carries out holding action to goods 8.Cylinder 5 in the present embodiment selects double rod cylinder, the one of rod
End is connected with linkage 6, the other end then joint spring pre-tightening mechanism.Compression spring 1 is arranged on spring and props up
Bearing 4 is internal, spring bearing housing 4 be fixed on on cylinder 5.Spring bearer plate 2 and one end of cylinder 5 rod
It is connected, the pretightning force of compression spring 1 can be adjusted by the position of regulation rod end locking nut.Pressure
Plate guide pillar 3 is installed in the middle of compression spring 1, is fixed on spring bearing housing 4.
Due to the effect of compression spring 1 pretightning force, cylinder 5 piston rod is made to move up, drive link mechanism 6
Action, makes jig arm 7 clamp goods 8.When needs carry out pickup to goods 8 or carry out the actions such as running channel removal
Time, by air inlet below cylinder 5, drive cylinder piston rod to move upward, linkage 6 carries out reinforcing,
To realize the requirement of big clamping force operating mode.
When needs unclamp goods 8, air inlet above cylinder 5, drive cylinder piston rod to overcome compression spring 1
Pretightning force moves down, thus drive link mechanism 6 action, make jig arm 7 open.
Embodiment 2
As in figure 2 it is shown, the difference of the present embodiment and embodiment 1 is, cylinder 5 uses single rod cylinder.Single
The end of the rod of rod cylinder through after the spring bearer plate 2 of described spring pretightening mechanism and spring bearing housing 4 with
Linkage 6 is linked, and single rod cylinder is fixed on spring bearer plate 2.
Due to the effect of compression spring 1 pretightning force, the piston rod of cylinder 3 is made to move up, drive link mechanism
6 actions make jig arm 7 clamp goods 8.When needs carry out pickup to goods 8 or carry out the actions such as running channel removal
Time, by (rod chamber) air inlet below cylinder 5, drive cylinder piston rod to move upward, linkage 6
Carry out reinforcing, to realize the requirement of big clamping force operating mode.
When needs unclamp goods 8, (rodless cavity) air inlet above cylinder 3, drive cylinder piston rod to overcome pressure
The pretightning force of contracting spring 1 moves down, thus drive link mechanism 6 action, make jig arm 7 open.
Embodiment 3
As it is shown on figure 3, the difference of the present embodiment and embodiment 2 is, compression spring 1 be installed on cylinder 5 with
Between spring bearer plate 2, the mechanism of clamping when linkage 6 uses the rodless cavity inflation of cylinder 5.
Due to the effect of compression spring 1 pretightning force, the piston rod of cylinder 3 is made to move down, drive link mechanism
6 actions make jig arm 7 clamp goods 8.When needs carry out pickup to goods 8 or carry out the actions such as running channel removal
Time, by (rodless cavity) air inlet above cylinder 5, drive cylinder piston rod to move downward, linkage 6
Carry out reinforcing, to realize the requirement of big clamping force operating mode.
When needs unclamp goods 8, (rod chamber) air inlet below cylinder 3, drive cylinder piston rod to overcome pressure
The pretightning force of contracting spring 1 moves up, thus drive link mechanism 6 action, make jig arm 7 open.
Claims (7)
1. an anti-shedding mechanism for manipulator clamping goods, including cylinder (5), cylinder (5) passes through piston rod
Drive link mechanism (6), linkage (6) drives jig arm (7) clamping goods, it is characterised in that also wrap
Include for produce pretightning force and by this pretightning force make cylinder (5) piston rod drive link mechanism (6) thus
Drive the spring pretightening mechanism of jig arm (7) clamping goods.
The anti-shedding mechanism of a kind of manipulator clamping goods the most as claimed in claim 1, it is characterised in that described
Spring pretightening mechanism includes spring bearer plate (2) and spring bearing housing (4), props up with spring at spring bearer plate (2)
Being provided with compression spring (1) between bearing (4), compression spring (1) is enclosed within guide pillar (3) outward, compression spring (1)
Two ends offset with spring bearer plate (2) and spring bearing housing (4) respectively.
The anti-shedding mechanism of a kind of manipulator clamping goods the most as claimed in claim 2, it is characterised in that described
Cylinder (5) uses double rod cylinder, and one end of the rod of double rod cylinders is connected with described linkage (6)
Knot, the other end is linked with described spring pretightening mechanism；
The spring bearing housing (4) of described spring pretightening mechanism is fixed on double rod cylinder, double rod cylinders
The other end of rod is linked with described spring bearer plate (2) afterwards through spring bearing housing (4).
The anti-shedding mechanism of a kind of manipulator clamping goods the most as claimed in claim 3, it is characterised in that described
The other end of the rod of double rod cylinders passes described spring bearer plate (2), is provided with for regulating on this end
State the locking nut of the pretightning force of compression spring (1).
The anti-shedding mechanism of a kind of manipulator clamping goods the most as claimed in claim 2, it is characterised in that described
Cylinder (5) uses single rod cylinder, and the end of the rod of single rod cylinder is through described spring pretightening mechanism
Described spring bearer plate (2) and described spring bearing housing (4) are linked with described linkage (6) afterwards, single
Rod cylinder is fixed on described spring bearer plate (2).
The anti-shedding mechanism of a kind of manipulator clamping goods the most as claimed in claim 2, it is characterised in that use
4 described compression springs (1) are paired centered by the piston rod of cylinder (5) in spring bearing housing (4)
Claim distribution.
The anti-shedding mechanism of a kind of manipulator clamping goods the most as claimed in claim 2, it is characterised in that use
2 described compression springs (1) are paired centered by the piston rod of cylinder (5) in spring bearing housing (4)
Claim distribution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620160938.4U CN205466276U (en) | 2016-03-02 | 2016-03-02 | Anti -drop mechanism of manipulator centre gripping goods |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620160938.4U CN205466276U (en) | 2016-03-02 | 2016-03-02 | Anti -drop mechanism of manipulator centre gripping goods |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205466276U true CN205466276U (en) | 2016-08-17 |
Family
ID=56658705
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620160938.4U Active CN205466276U (en) | 2016-03-02 | 2016-03-02 | Anti -drop mechanism of manipulator centre gripping goods |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205466276U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107363858A (en) * | 2017-07-17 | 2017-11-21 | 深圳市傲顺精密科技有限公司 | A kind of robot is self-centering to hold finger |
| CN108543894A (en) * | 2018-03-16 | 2018-09-18 | 骆灿炎 | Equipment for spring production and processing |
| CN109127259A (en) * | 2018-08-14 | 2019-01-04 | 佛山信卓派思机械科技有限公司 | Trunk is coated lime robot |
| CN109505004A (en) * | 2017-09-15 | 2019-03-22 | 银川隆基硅材料有限公司 | A method of avoid silicon single crystal rod during crystal pulling from falling |
-
2016
- 2016-03-02 CN CN201620160938.4U patent/CN205466276U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107363858A (en) * | 2017-07-17 | 2017-11-21 | 深圳市傲顺精密科技有限公司 | A kind of robot is self-centering to hold finger |
| CN109505004A (en) * | 2017-09-15 | 2019-03-22 | 银川隆基硅材料有限公司 | A method of avoid silicon single crystal rod during crystal pulling from falling |
| CN109505004B (en) * | 2017-09-15 | 2021-07-13 | 银川隆基硅材料有限公司 | Method for preventing monocrystalline silicon rod from falling off in crystal pulling process |
| CN108543894A (en) * | 2018-03-16 | 2018-09-18 | 骆灿炎 | Equipment for spring production and processing |
| CN109127259A (en) * | 2018-08-14 | 2019-01-04 | 佛山信卓派思机械科技有限公司 | Trunk is coated lime robot |
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| GR01 | Patent grant |