CN205799559U

CN205799559U - Automatic machinery staff

Info

Publication number: CN205799559U
Application number: CN201620713261.2U
Authority: CN
Inventors: 丁峰
Original assignee: Fujia Electronic (Kunshan) Co Ltd
Current assignee: Fujia Electronic (Kunshan) Co Ltd
Priority date: 2016-07-07
Filing date: 2016-07-07
Publication date: 2016-12-14
Anticipated expiration: 2026-07-07

Abstract

This utility model belongs to robotics, especially relates to a kind of automatic machinery staff.Including bearing, the first finger and second finger it is hinged with on described bearing, one end of the first described finger is hinged with first connecting rod, one end of described second finger is hinged with second connecting rod, it is connected by swivel pin between described first connecting rod and second connecting rod, the sliding tray slided for swivel pin is had on described bearing, and the first finger and second finger clamp or open when swivel pin reciprocatingly slides along sliding tray, it is provided with between described the first finger and second finger and is prevented from the Anti-fall structure that holder drops, described Anti-fall structure includes that the first gear being hinged with the bare terminal end of the first finger refers to and the second gear that is hinged with the bare terminal end of second finger refers to, and first gear refers to refer to Guan Bi with second gear when holder drops.Advantage is: it can be avoided that material drops in clamping process.

Description

Automatic machinery staff

Technical field

This utility model belongs to robotics, especially relates to a kind of automatic machinery staff.

Background technology

In robot picks and places material automated job, robot needs to be loaded on the tool of board part, treats zero After part completion of processing, robot takes off part again from the tool of board.When taking off part from the tool of board, it is not necessary to Robot has the highest positioning precision, but, during robot captures, usually there will be and grasp at not firmly, material Situation about dropping, particularly relatively thin to some product occur, and mechanical hand of the prior art does not all have it can be avoided that material The Anti-fall structure dropped in clamping process, global design is the most reasonable.

In order to improve prior art, people have carried out long-term exploration, it is proposed that various solutions. Such as, Chinese patent literature discloses a kind of robot hand [application number: CN201410521762.6], including tensioning mechanism and Liang Ge wheel driving mechanism, described tensioning mechanism includes linear electric motors and the first installing rack being slidably connected at linear electric motors two ends and the Two installing racks；Described Liang Ge wheel driving mechanism is arranged on the first installing rack and second by rotary shaft respectively and installs on axle；Each Described wheel driving mechanism includes multiple cylinder for driving described robot hand to move.

Although such scheme to some extent solves the deficiencies in the prior art, but does not has it can be avoided that material is at folder The Anti-fall structure dropped during holding, global design is the most reasonable

Utility model content

The purpose of this utility model is for the problems referred to above, it is provided that a kind of reasonable in design, simple in construction, it is possible to avoid material The automatic machinery staff dropped in clamping process.

For reaching above-mentioned purpose, this utility model have employed following technical proposal: this automatic machinery staff includes bearing, Being hinged with the first finger and second finger on described bearing, one end of the first described finger is hinged with first connecting rod, institute The one end of the second finger stated is hinged with second connecting rod, is connected by swivel pin between described first connecting rod and second connecting rod Connect, described bearing has the sliding tray slided for swivel pin, and first-hand when swivel pin reciprocatingly slides along sliding tray Refer to and second finger clamps or opens, be provided with between described the first finger and second finger and be prevented from what holder dropped Anti-fall structure, described Anti-fall structure includes that the first gear being hinged with the bare terminal end of the first finger refers to and and second finger The second gear that is hinged of bare terminal end refer to, and first gear refers to refer to Guan Bi with second gear when holder drops.

Material is clamped by the first finger and second finger, is now provided with gap between the first finger and second finger, When material slips downwards, the lower end of material acts on the first pushing block and the second pushing block, and the first pushing block promotes first to push away Lever moves down, thus drives first gear to point to intrinsic deflection, and the second pushing block promotes the second catch bar to move down, thus drives second gear Point to intrinsic deflection, i.e. first gear to refer to refer to Guan Bi with second gear, it is to avoid material drops, and global design is reasonable, simple in construction.

In above-mentioned automatic machinery staff, the first described finger has the first holding tank, described second-hand The second holding tank is had on finger.First holding tank and the second holding tank are beneficial to the clamping of robot.

In above-mentioned automatic machinery staff, the outside of the first described finger is provided with the first catch bar, described One catch bar refers to be connected with first gear, and the first described finger inwall is provided with the first promotion being positioned at below the first holding tank Block, the first described pushing block and the first catch bar are connected, and the first described finger has and supplies the first pushing block to pass First slip opening.

In above-mentioned automatic machinery staff, the outside of described second finger is provided with the second catch bar, described Two catch bars refer to be connected with second gear, and described second finger inwall is provided with the second promotion being positioned at below the second holding tank Block, the second described pushing block and the second catch bar are connected, and described second finger has and supplies the second pushing block to pass Second slip opening.

In above-mentioned automatic machinery staff, it is provided with between the first described pushing block and the first finger and promotes first Block has the first preloading spring of upwards pretightning force, is provided with the second pushing block between described the second pushing block and second finger There is the second preloading spring of upwards pretightning force.It is beneficial to the reset that first gear refers to refer to second gear.

Compared with prior art, the advantage of this automatic machinery staff is: the first finger and second finger are to material Clamping, be now provided with gap between the first finger and second finger, when material slips downwards, the lower end of material acts on First pushing block and the second pushing block, the first pushing block promotes the first catch bar to move down, thus drives first gear to point to intrinsic deflection, Second pushing block promotes the second catch bar to move down, thus drives second gear to point to intrinsic deflection, i.e. first gear and refer to refer to close with second gear Closing, it is to avoid material drops, global design is reasonable, simple in construction.

Accompanying drawing explanation

In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, the accompanying drawing in describing below is only It is embodiments more of the present utility model, for those of ordinary skill in the art, before not paying creative work Put, it is also possible to obtain other accompanying drawing according to these accompanying drawings.

Fig. 1 is the structural representation that this utility model provides.

In figure, bearing the 1, first finger 2, second finger 3, first connecting rod 4, second connecting rod 5, first gear refer to 6, second gear refers to 7, first holding tank the 8, second holding tank the 9, first catch bar the 10, first pushing block the 11, second catch bar the 12, second pushing block 13, first preloading spring the 14, second preloading spring 15.

Detailed description of the invention

Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under making creative work premise The every other embodiment obtained, broadly falls into the scope of this utility model protection.

As it is shown in figure 1, this automatic machinery staff includes bearing 1, bearing 1 is hinged with the first finger 2 and second finger 3, one end of the first finger 2 is hinged with first connecting rod 4, and one end of second finger 3 is hinged with second connecting rod 5, first connecting rod 4 And be connected by swivel pin between second connecting rod 5, bearing 1 has the sliding tray slided for swivel pin, and when swivel pin edge The first finger 2 and second finger 3 when sliding tray reciprocatingly slides clamp or open, set between the first finger 2 and second finger 3 Having and be prevented from the Anti-fall structure that holder drops, Anti-fall structure includes be hinged with the bare terminal end of the first finger 2 One gear refer to 6 and the second gear that is hinged of bare terminal end with second finger 3 refer to 7, and first gear refers to 6 and second when holder drops Gear refers to 7 Guan Bis.Material is clamped by the first finger 2 and second finger 3, is now provided with between the first finger 2 and second finger 3 Gap, when material slips downwards, the lower end of material acts on the first pushing block 11 and the second pushing block 13, the first pushing block 11 Promoting the first catch bar 10 to move down, thus 6 deflect inward to drive first gear to refer to, the second pushing block 13 promotes the second catch bar 12 times Move, thus 7 deflect inward to drive second gear to refer to, i.e. first gear refer to 6 and second gear refer to 7 Guan Bis, it is to avoid material drops, and entirety sets Meter is reasonable, simple in construction.

Wherein, the first finger 2 has the first holding tank 8, second finger 3 has the second holding tank 9.First holding tank 8 and second holding tank 9 be beneficial to the clamping of robot.The outside of the first finger 2 is provided with the first catch bar 10, the first catch bar 10 Referring to that with first gear 6 are connected, the first finger 2 inwall is provided with the first pushing block 11 being positioned at below the first holding tank 8, and first pushes away Motion block 11 is connected with the first catch bar 10, and the first finger 2 has the first slip opening passed for the first pushing block 11.The The outside of two fingers 3 is provided with the second catch bar 12, and the second catch bar 12 refers to that with second gear 7 are connected, and second finger 3 inwall sets Having the second pushing block 13 being positioned at below the second holding tank 9, the second pushing block 13 is connected with the second catch bar 12, second finger The the second slip opening passed for the second pushing block 13 is had on 3.It is provided with first between first pushing block 11 and the first finger 2 Pushing block 11 has the first preloading spring 14 of upwards pretightning force, is provided with second between the second pushing block 13 and second finger 3 Pushing block 13 has the second preloading spring 15 of upwards pretightning force.Be beneficial to first gear refer to 6 and second gear refer to 7 reset.

The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all at this Within the spirit of utility model and principle, any modification, equivalent substitution and improvement etc. made, should be included in this utility model Protection domain within.

Claims

1. an automatic machinery staff, it is characterised in that include bearing (1), described bearing (1) is hinged with the first finger (2) and second finger (3), one end of described the first finger (2) is hinged with first connecting rod (4), described second finger (3) One end be hinged with second connecting rod (5), be connected by swivel pin between described first connecting rod (4) and second connecting rod (5), The sliding tray slided for swivel pin is had on described bearing (1), and first-hand when swivel pin reciprocatingly slides along sliding tray Refer to that (2) and second finger (3) clamp or open, be provided with between described the first finger (2) and second finger (3) and be prevented from The Anti-fall structure that holder drops, described Anti-fall structure includes first be hinged with the bare terminal end of the first finger (2) Gear refers to that the second gear that (6) and the bare terminal end with second finger (3) are hinged refers to (7), and first gear refers to (6) when holder drops Refer to that with second gear (7) close.

Automatic machinery staff the most according to claim 1, it is characterised in that have on described the first finger (2) One holding tank (8), described second finger (3) has the second holding tank (9).

Automatic machinery staff the most according to claim 2, it is characterised in that the outside of described the first finger (2) sets The first catch bar (10), described the first catch bar (10) is had to refer to that with first gear (6) are connected, in described the first finger (2) Wall is provided with the first pushing block (11) being positioned at the first holding tank (8) lower section, and described the first pushing block (11) promotes with first Bar (10) is connected, and described the first finger (2) has the first slip opening passed for the first pushing block (11).

Automatic machinery staff the most according to claim 3, it is characterised in that the outside of described second finger (3) sets The second catch bar (12), described the second catch bar (12) is had to refer to that with second gear (7) are connected, in described second finger (3) Wall is provided with the second pushing block (13) being positioned at the second holding tank (9) lower section, and described the second pushing block (13) promotes with second Bar (12) is connected, and described second finger (3) has the second slip opening passed for the second pushing block (13).

Automatic machinery staff the most according to claim 4, it is characterised in that described the first pushing block (11) and first Being provided with first preloading spring (14) to the first pushing block (11) with upwards pretightning force between finger (2), described second pushes away The second preloading spring that the second pushing block (13) is had upwards pretightning force it is provided with between motion block (13) and second finger (3) (15)。