CN205932425U - Hinge manipulator - Google Patents

Abstract

The utility model provides a hinge manipulator, this manipulator includes: the sucking disc subassembly on the sucking disc mount is fixed to the sucking disc mount, with sucking disc mount both ends articulated major axis, with every major axis middle part articulated minor axis, and every major axis is articulated with a long slope respectively, and every minor axis is articulated with a short slab respectively, is provided with driven sprocket on one of them short slab, is provided with drive arrangement on another short slab, the last driving sprocket that is provided with of drive arrangement, still include the chain of suit on driving sprocket and driven sprocket, just two long slopes are fixed respectively on the chain, and two long slopes are located between two short slabs. The beneficial effects of the utility model are that: adopting hinge chain elevator to construct, having simple structure, spare part is less relatively, and the reliability is high, and it is less to need the machine to add the part, and lower with the required precision of processing to the assembly, equipment cost reduces, owing to connect between the the hinge mechanism and link for hard, so there is not advantage such as later maintenance work.

Description

A kind of hinge mechanical hand

Technical field

This utility model is related to carry automatic field, more particularly, to a kind of hinge mechanical hand.

Background technology

Loading and unloading manipulator is the partial act that can imitate staff and arm, and according to given program, track and requirement are realized Automatically capture, the automated machine device of carrying.

It is applied in the market as the mechanical hand of the material loading and unloading such as steel plate：Due to plate size is larger and weight relatively Weight, during crawl steel plate, in the Z-axis direction, stress is larger for mechanical hand；It is desirable to steel plate must not have substantially during carrying steel plate Swing, displacement should be steadily efficient；So this kind of mechanical hand in the market, adopt guide pillar guide pin bushing guiding mechanism, reductor silk more Thick stick lifting device, because Z-direction displacement is larger, the heavier size of material, in order to realize the steady carrying of steel plate, therefore guide Mechanism and hoisting mechanism are put more；Thus causing mechanism complex, parts are more and making and the precision assembled will Ask higher, cause equipment manufacturing cost；And during the later stage uses, guiding and leading screw are passed on Gong partly easily dust stratification, need periodic cleaning With oily maintenance, thus cause later maintenance cost rise.

Content of the invention

The purpose of this utility model is to overcome the deficiencies in the prior art, there is provided a kind of hinge mechanical hand.

This utility model is to be achieved through the following technical solutions：

This utility model provides a kind of hinge mechanical hand, and this hinge machinery hands includes：Sucker fixed mount, is fixed on described Multiple vacuum cup assemblies on sucker fixed mount；The major axis hinged with described sucker fixed mount two ends respectively, with each major axis The hinged short axle in middle part, and each major axis is hinged with a long slope respectively, each short axle is hinged with a short slab respectively, its One of be provided with driven sprocket on short slab, another short slab is provided with driving means, described driving means is provided with Drive sprocket；Also include the chain being sleeved on described drive sprocket and described driven sprocket, and described two long slope is solid respectively It is scheduled on described chain, and described two long slope is located between described two short slabs.

Preferably, each major axis seat that is connected through the hinge is hinged with described sucker fixed mount.

Preferably, described driving means include motor, the reductor being connected with described motor, described reductor Output shaft and described drive sprocket rotate and be connected.

Preferably, each major axis and described short axle pass through hinge.

The beneficial effects of the utility model are：Using hinge type hoisting mechanism, there is structure simply, parts are relatively Few, reliability is high, needs machine-made spares less, and the required precision to assembling and processing is relatively low, and equipment manufacturing cost reduces；Due to hinge It is connected as hard link between mechanism, so the advantages of there is not later maintenance and work.

Brief description

Fig. 1 is the structural representation of the hinge mechanical hand that this utility model embodiment provides.

Specific embodiment

In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement Example, is further elaborated to this utility model.It should be appreciated that specific embodiment described herein is only in order to explain This utility model, is not used to limit this utility model.

Refer to Fig. 1, Fig. 1 is the structural representation of the hinge mechanical hand that this utility model provides.

This utility model embodiment provides a kind of hinge mechanical hand, and this hinge machinery hands includes：This utility model provides A kind of hinge mechanical hand, this hinge machinery hands includes：Sucker fixed mount 3, is fixed on multiple true on described sucker fixed mount 3 Empty Suction cup assembly 1；The major axis 6 hinged with described sucker fixed mount 3 two ends respectively, hinged with each major axis 6 middle part is short Axle, and each major axis 6 respectively with a long slope（11、12）Hinged, each short axle respectively with a short slab（8、16）Hinged, wherein A short slab 8 on be provided with driven sprocket 9, another short slab 16 is provided with driving means, in described driving means arrange There is drive sprocket 13；Also include the chain 10 being sleeved on described drive sprocket 13 and described driven sprocket 9, and described two length Slope（11、12）It is separately fixed on described chain 10, and described two long slope（11、12）Between described two short slabs.

In the above-described embodiments, using hinge type hoisting mechanism, there is structure simply, parts are relatively fewer, reliability Height, needs machine-made spares less, and the required precision to assembling and processing is relatively low, and equipment manufacturing cost reduces；Between linkage It is connected as hard link, so the advantages of there is not later maintenance and work.

Understand the mechanical hand that the present embodiment provides for convenience, below in conjunction with the accompanying drawings and specific embodiment is carried out to it Detailed description.

With continued reference to Fig. 1, this mechanical hand includes：Short slab（8、16）, long slab（11、12）, chain 10, drive sprocket 13, from Movable sprocket 9, when concrete connection, driving means include motor 15, the reductor 4 being connected with described motor 15, institute The output shaft stating reductor 4 is connected with the rotation of described drive sprocket 13.And motor 15 and reductor 4 driving means are fixedly mounted on On short slab 16；Short slab 8 installs driven sprocket 9, wheel shaft two ends assembling vertical shaft bearing, vertical shaft bearing and the pad of driven sprocket 9 Plate is bolted on short slab 8 together；Roller is installed at long slab 11,12 two ends, and chain backing plate is arranged in the middle part of long slab, with chain Bar 10 is fixed together；Hinge connecting seat 4 is fixed on long slab, short slab, short slab lower end；By major axis 6, short axle passes through bearing pin 7, Install with hinge connecting seat 4；Bearing pin 7 is used to fix between short axle and major axis 6, major axis 6 lower end is connected with sucker fixed mount 3；Vacuum It is connected by securing member 2 between Suction cup assembly 1 and sucker fixed mount 3.

The each assembly of hinge arrangement, is connected by bearing pin bearing pin 7, all can be freely rotatable at each hinge, and short slab 8 is pacified with short slab 16 Dress is fixed on crossbeam, by tightening mechanism, makes to be connected chain 10 between driven sprocket 9 and drive sprocket 13, appropriate tensioning, no Substantially sagging, thus improving transmission accuracy, it is to avoid jump the phenomenons such as tooth, the long slab installing hinge major axis 6 passes through to install roller clamping On crossbeam, can along crossbeam axis direction slidably, together with one of long slab is installed with chain 10 by chain backing plate, Can be with chain 10 along crossbeam axis.

In specific works, when motor 15 drives reductor 4 to rotate forward, drive sprocket 13 is made to turn together with positive Dynamic, chain 10 is subjected to displacement therewith；Long slab 11,12 is driven along crossbeam axis shift by chain backing plate, drives major axis 6 hinge to move Dynamic, due to the constraint of short axle hinge and material suction cup carrier, while major axis 6 displacement, drive suction cup carrier to realize moving downward, due to Major axis 6 and the constraint of short axle, very steady during materials downward；When long slab 11,12 motion moves to restriction position along crossbeam When putting, stop can be touched, motor 15 be realized by electrical control and quits work, material frame decline puts in place；Otherwise when drive When galvanic electricity machine 15 is reversely transported, material frame can pass through the practical steadily rising of drive of linkage.

Using hinge type hoisting mechanism loading and unloading manipulator Successful utilization in actual items, wherein carrying weight Reach 2 tons, specification of workpieces reaches 7mx1mx20mm;Through user feedback, this mechanism operates steadily reliability.

By foregoing description, as can be seen that this mechanical hand has, structure is simple, and parts are relatively fewer, and reliability is high, need Want machine-made spares less, the required precision to assembling and processing is relatively low, equipment manufacturing cost reduces；It is connected as due between linkage Hard link, so the advantages of there is not later maintenance and work.

These are only preferred embodiment of the present utility model, not in order to limit this utility model, all in this practicality Any modification, equivalent and improvement made within new spirit and principle etc., should be included in guarantor of the present utility model Within the scope of shield.

Claims (4)

1. a kind of hinge mechanical hand is it is characterised in that include：Sucker fixed mount, is fixed on multiple on described sucker fixed mount Vacuum cup assembly；The major axis hinged with described sucker fixed mount two ends respectively, the short axle hinged with each major axis middle part, And each major axis is hinged with a long slope respectively, each short axle is hinged with a short slab respectively, and one of short slab is arranged There is driven sprocket, another short slab is provided with driving means, described driving means are provided with drive sprocket；Also include being set with Chain on described drive sprocket and described driven sprocket, and described two long slope is separately fixed on described chain, and institute State two long slopes to be located between described two short slabs.

2. hinge mechanical hand according to claim 1 seat and described suction it is characterised in that each major axis is connected through the hinge Disk fixed mount is hinged.

3. hinge mechanical hand according to claim 2 is it is characterised in that described driving means include motor, with institute State the reductor of motor connection, the output shaft of described reductor is rotated with described drive sprocket and is connected.

4. hinge mechanical hand according to claim 3 is it is characterised in that each major axis is cut with scissors by bearing pin with described short axle Connect.