CN205969007U - Cantilever joint clamping machine tool hand - Google Patents
Cantilever joint clamping machine tool hand Download PDFInfo
- Publication number
- CN205969007U CN205969007U CN201620952162.XU CN201620952162U CN205969007U CN 205969007 U CN205969007 U CN 205969007U CN 201620952162 U CN201620952162 U CN 201620952162U CN 205969007 U CN205969007 U CN 205969007U
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- CN
- China
- Prior art keywords
- mechanical hand
- slide block
- cantilever joint
- workpiece
- clamping
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Links
- 238000005096 rolling process Methods 0.000 claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims abstract description 10
- 239000007787 solid Substances 0.000 claims abstract 2
- 239000000463 material Substances 0.000 claims description 23
- 238000001514 detection method Methods 0.000 claims description 7
- 230000001681 protective effect Effects 0.000 claims description 6
- 239000010687 lubricating oil Substances 0.000 claims description 4
- 230000006978 adaptation Effects 0.000 abstract 1
- 238000005457 optimization Methods 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 230000004899 motility Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000003534 oscillatory effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model belongs to a cantilever joint clamping machine tool hand is refered in particular to in the manipulator field, including installing the fixed panel seat on the gear rolling machine, fixed panel seat top is rotated and is connected with the rocking arm, fixed panel seat below is provided with the rotatory servo motor no. 1 of drive rocking arm, the rocking arm left end is connected with the slider fixing base, is provided with solid fixed sliding blocks on two inner wall of the side panel of slider fixing base, gu install the linear guide rather than the looks adaptation on the fixed sliding blocks, the vertical rack that is provided with on the linear guide lateral wall, be provided with on the slider fixing base inner wall of the side panel with rack toothing's gear, the servo motor drives gear of slider fixing base one side is rotatory, the linear guide below has connected gradually work piece switching mechanism and work piece clamping machine constructs. Through the rotation of rocking arm and linear guide's oscilaltion, the motion of this manipulator in three dimension has been realized to play very big optimization to occuping nature of space, can not interfere the dress sword of gear rolling owner machine.
Description
Technical field
This utility model belongs to mechanical hand field, refers in particular to a kind of cantilever joint clamping mechanical hand.
Background technology
With scientific and technological development, the progress of society, gear rolling machine uses widely in industries such as intermetallic composite coating, cold in spline
During being twisted into type, quite a lot of using artificial or using each simple configuration subsidiary engine, processing will be needed with handss by operative employee
Workpiece is delivered in workpiece clamp mechanism it is easy to damage to operative employee.Not only increased the labor intensity of workman, Er Qiesheng
Produce that efficiency is low, positioning precision and poor reliability.
At present, a little supporting machinery handss of appearance can replace manually operating, and realize mechanization and the automatization producing, protect
The life security of card operator, significantly increases labor productivity.But widely used auxiliary loading and unloading on existing gear rolling machine
It is excessive to there is volume in mechanism, affects shop production line layout, and it can only move with upper and lower two dimensions in front and back simultaneously, very greatly
The main frame having interfered gear rolling machine in degree fills knife, and the structure design at its labor cost fixture position has irrationality, leads to fill
Folder is less efficient, and the stability of clamping is poor.
Content of the invention
This utility model is directed to the problems referred to above, there is provided a kind of space of taking up an area is little, and can move in tri- dimensions of X, Y, Z
Cantilever joint clamping mechanical hand.
The purpose of this utility model is realized in：
A kind of cantilever joint clamping mechanical hand, including the fixing panel seat being arranged on gear rolling machine, rotates above fixing panel seat
It is connected with pivoted arm, below described fixing panel seat, be provided with the driving means driving pivoted arm rotation；Described pivoted arm left end is connected with cunning
Block fixed seat, slide block fixed seat biside plate inwall is provided with fixing slide block, fixing slide block is provided with matched straight
Line guide rail, line slideway side wall is vertically arranged with tooth bar, and described slide block fixed seat side plate inwall is provided with and described tooth bar
Meshed gears, the servomotor band moving gear rotation of slide block fixed seat side；It is connected with work in turn below described line slideway
Part switching mechanism and clamping workpiece mechanism.
In above-mentioned cantilever joint clamping mechanical hand, described workpiece switching mechanism includes being connected to below line slideway
Jaw fixed plate, is provided with workpiece switching cylinder, workpiece switching cylinder bottom surface is fixedly connected with cunning below jaw fixed plate
Rail, described slide rail is connected with matched traversing slide unit, the piston rod of the left end of traversing slide unit and workpiece switching cylinder
It is connected, and side-to-side movement under its drive.
In above-mentioned cantilever joint clamping mechanical hand, described clamping workpiece mechanism includes being fixedly connected on traversing slide unit
Material grasping cylinder one and material grasping cylinder two, described material grasping cylinder one and material grasping cylinder two lower surface are all symmetrically installed with left and right gas
Dynamic tong, described left and right pneumatic clamps are separately installed with left and right half pawl on hand, and described left and right half pawl is under the drive of pneumatic tong
Open or close up.
In above-mentioned cantilever joint clamping mechanical hand, in left and right half pawl of described material grasping cylinder one and material grasping cylinder two
At least side bare terminal end is hinged with self-centering clamping block, and self-centering clamping block is installed half pawl with respect to it and can be swung up and down.
In above-mentioned cantilever joint clamping mechanical hand, described fixing panel seat upper position arranges flexible gear in pivoted arm both sides
Block, described jaw fixed plate is located at and is provided with flexible block below slide block fixed seat right plate.
In above-mentioned cantilever joint clamping mechanical hand, on front side of described fixing panel seat, outside pivoted arm and outside slide block fixed seat
Side is provided with protective cover.
In above-mentioned cantilever joint clamping mechanical hand, protective cover outside described pivoted arm and described line slideway upper end it
Between be connected with twisted plate closing drag chain.
In above-mentioned cantilever joint clamping mechanical hand, described slide block fixed seat biside plate upper end is provided with safety elastic shield
Plate detection switch.
In above-mentioned cantilever joint clamping mechanical hand, described fixing panel seat left plate is provided with lubricating oil filled by hand
Switch.
In above-mentioned cantilever joint clamping mechanical hand, described fixing panel seat right plate is provided with casing rack.
This utility model projects and beneficial having the technical effect that compared to existing technology：
1. cantilever joint of the present utility model clamping mechanical hand passes through the rotation of cantilever and the up and down motion of line slideway
The motion in tri- dimensions of mechanical hand X, Y, Z can be realized, improve its working range radius.
2. each drive mechanism of the present utility model adopts servomotor to drive, and its stability is with motility relative to cylinder-driven
For higher.
3. this utility model adds motion portion safety and Protection, if can trigger bullet when touching human body or other objects
Property backplate detection switch, provides system to make anticipation early warning, enhances the security performance of robot movement.
4. this utility model increased self-centering design on half pawl of mechanical hand, makes the clamping of workpiece more stable.
Brief description
Fig. 1 is cantilever joint clamping mechanical hand structural representation one.
Fig. 2 is cantilever joint clamping mechanical hand structural representation two.
Fig. 3 is cantilever joint clamping mechanical hand structural representation three.
Fig. 4 is A to partial enlarged drawing.
In figure label implication：
1- fixes panel seat, 2- pivoted arm, 3- driving means, 4- slide block fixed seat, and 5- fixes slide block, 6- line slideway, 7- tooth
Bar, 8- gear, 9- servomotor, 10- workpiece switching mechanism, 11- clamping workpiece mechanism, 12- jaw fixed plate, 13- workpiece is cut
Ventilation cylinder, 14- slide rail, the traversing slide unit of 15-, 16- piston rod, 17- material grasping cylinder one, 18- material grasping cylinder two, 19- is left and right pneumatic
Tong, left and right half pawl of 20-, 21- self-centering clamping block, 22- workpiece, 23- flexible block, 24- protective cover, 25- twisted plate is closed
Drag chain, 26- safety elastic backplate detection switch, 27- lubricating oil filled by hand switchs, 28- casing rack.
Specific embodiment
With specific embodiment, this utility model is further described below in conjunction with the accompanying drawings,
As shown in Figure 1-Figure 3, a kind of cantilever joint clamping mechanical hand, including the fixing panel seat 1 being arranged on gear rolling machine, Gu
It is rotatably connected to pivoted arm 2 above fixed board seat 1, below described fixing panel seat 1, be provided with the driving means 3 driving pivoted arm 2 rotation；Institute
State pivoted arm 2 left end and be connected with slide block fixed seat 4, slide block fixed seat 4 biside plate inwall is provided with fixing slide block 5, fixing slide block 5
On matched line slideway 6 is installed, line slideway 6 side wall is vertically arranged with tooth bar 7, described slide block fixed seat 4
It is provided with side plate inwall and described tooth bar 7 meshed gears 8, the servomotor 9 band moving gear 8 of slide block fixed seat 4 side revolves
Turn；It is connected with workpiece switching mechanism 10 and clamping workpiece mechanism 11 in turn below described line slideway 6.This utility model is passed through to drive
Dynamic device 3 drives pivoted arm 2 to be rotated in the range of certain radius, is rotated by servomotor 9 driving gear 8 thus driving straight
Line guide rail 6 moves up and down with respect to slide block fixed seat 4 it is achieved that motion in tri- dimensions of X, Y, Z for the clamping workpiece mechanism 11,
Improve the motility of clamping workpiece, and after every time workpiece being positioned in the workpiece clamp mechanism of gear rolling machine, by turning
Clamping workpiece mechanism 11 can be produced rapidly by arm 2, gear rolling machine host dress knife will not be produced and interfere, the occupancy in space is carried out
Greatly optimize.Further, described driving means 3 are servomotor, and two servomotors are servo deceleration motor,
The output torque of servo deceleration motor is big, and transmission efficiency improves the deficiency of conventional cylinder-driven.
As shown in figure 4, in above-mentioned cantilever joint clamping mechanical hand, described workpiece switching mechanism 10 includes being connected to directly
The jaw fixed plate 12 of line guide rail 6 lower section, is provided with workpiece switching cylinder 13 below jaw fixed plate 12, workpiece switches cylinder 13
Slide rail 14 is fixedly connected with bottom surface, described slide rail 14 is connected with matched traversing slide unit 15, traversing slide unit 15
Left end and workpiece switch the piston rod 16 of cylinder 13 and be connected, and side-to-side movement under its drive.In described clamping workpiece mechanism
11 include material grasping cylinder 1 and the material grasping cylinder 2 18 being fixedly connected on traversing slide unit 15, described material grasping cylinder 1 and grabbing
Material cylinder 2 18 lower surface is all symmetrically installed with left and right pneumatic tong 19, and described left and right pneumatic tong 19 is separately installed with
Left and right half pawl 20, described left and right half pawl 20 opens under the drive of pneumatic tong or closes up.Every time during feeding, by material grasping
Left and right half pawl on cylinder 1 by the workpiece grabbing processing, then workpiece switching cylinder 13 drive traversing slide unit 15 to
One side shifting, material grasping cylinder 2 18 is directed at the workpiece clamp mechanism of gear rolling machine, then by half pawl 20 left and right on material grasping cylinder 2 18
The workpiece to be processed of clamping is placed in workpiece clamp mechanism, completes the loading and unloading of workpiece.
As shown in figure 4, in above-mentioned cantilever joint clamping mechanical hand, described material grasping cylinder 1 and material grasping cylinder 2 18
Left and right half pawl 20 at least side bare terminal end be hinged with self-centering clamping block 21, self-centering clamping block 21 with respect to its install
Half pawl can swing up and down.Self-centering clamping block 21 is to be hinged on half pawl due to it, every time when left and right half pawl 20 goes to clamp workpiece
When, because self-centering clamping block 21 can have the slight oscillatory of about according to the actual size of workpiece, automatically go positioning to be somebody's turn to do
The clamping center of workpiece, improves the stability of piece-holder.
As depicted in figs. 1 and 2, in above-mentioned cantilever joint clamping mechanical hand, described fixing panel seat 1 top is located at pivoted arm
2 both sides are provided with flexible block 23, described jaw fixed plate 12 is located at and arranges flexible gear below slide block fixed seat 4 right plate
Block 23.This flexible block 23 plays the effect of buffering, it is to avoid the two ends of line slideway 6 lower end and pivoted arm 2 and cantilever joint dress
Other parts on clamping manipulator occur directly to touch the damage leading to mechanism.
As shown in figure 1, in above-mentioned cantilever joint clamping mechanical hand, on front side of described fixing panel seat 1, pivoted arm 2 outside and
It is provided with protective cover 24 outside slide block fixed seat 4.The protective cover 24 and described line slideway 6 upper end in described pivoted arm 2 outside it
Between be connected with twisted plate closing drag chain 25.This design can improve the bulk strength of mechanism, described twisted plate closing drag chain 25 by
Plurality of cells link composition, rotates freely between link, twisted plate closes the work that drag chain 25 also acts cable on protection mechanism
With.
In above-mentioned cantilever joint clamping mechanical hand, described slide block fixed seat 4 biside plate upper end is provided with safety elastic
Backplate detection switch 26.If elastic guard plate detection switch 26 can be triggered when touching human body or other objects, system is provided to make
Anticipation early warning, enhances the security performance of robot movement.Further, described safety elastic backplate detection switch 26 is preferably
Omron microswitch.
In above-mentioned cantilever joint clamping mechanical hand, described fixing panel seat 1 left plate is provided with lubricating oil and fills out manually
Fill switch 27.It is provided with casing rack 28 on described fixing panel seat 1 right plate.
Above-described embodiment is only preferred embodiment of the present utility model, not limits protection model of the present utility model according to this
Enclose, therefore：All equivalence changes done according to structure of the present utility model, shape, principle, all should be covered by protection of the present utility model
Within the scope of.
Claims (10)
1. a kind of cantilever joint clamping mechanical hand is it is characterised in that including the fixing panel seat (1) being arranged on gear rolling machine, fixing
It is rotatably connected to pivoted arm (2) above panel seat (1), below described fixing panel seat (1), be provided with the driving dress driving pivoted arm (2) to rotate
Put (3)；Described pivoted arm (2) left end is connected with slide block fixed seat (4), and slide block fixed seat (4) biside plate inwall is provided with fixation
Slide block (5), fixing slide block (5) is provided with matched line slideway (6), line slideway (6) side wall is vertically arranged
There is tooth bar (7), described slide block fixed seat (4) side plate inwall is provided with and described tooth bar (7) meshed gears (8), slide block is solid
Servomotor (9) the band moving gear rotation of reservation (4) side；It is connected with workpiece switching machine in turn below described line slideway (6)
Structure (10) and clamping workpiece mechanism (11).
2. cantilever joint according to claim 1 clamping mechanical hand is it is characterised in that described workpiece switching mechanism (10) wraps
Include the jaw fixed plate (12) being connected to below line slideway (6), below jaw fixed plate (12), be provided with workpiece switching cylinder
(13), workpiece switching cylinder (13) bottom surface is fixedly connected with slide rail (14), described slide rail (14) is connected with and mutually fits with it
The piston rod (16) that the traversing slide unit (15) joined, the left end of traversing slide unit (15) and workpiece switch cylinder (13) is connected, and at it
Drive lower side-to-side movement.
3. cantilever joint according to claim 2 clamping mechanical hand is it is characterised in that described clamping workpiece mechanism (11) wraps
Include the material grasping cylinder one (17) being fixedly connected on traversing slide unit (15) and material grasping cylinder two (18), described material grasping cylinder one (17)
All it is symmetrically installed with left and right pneumatic tong (19) with material grasping cylinder two (18) lower surface, upper point of described left and right pneumatic tong (19)
Left and right half pawl (20) is not installed, described left and right half pawl (20) is opened under the drive of pneumatic tong or closed up.
4. cantilever joint according to claim 3 clamping mechanical hand is it is characterised in that described material grasping cylinder one (17) and grabbing
In left and right half pawl (20) of material cylinder two (18), at least side bare terminal end is hinged with self-centering clamping block (21), self-centering clamping
Block (21) is installed half pawl with respect to it and can be swung up and down.
5. cantilever joint according to claim 2 clamping mechanical hand is it is characterised in that described fixing panel seat (1) upper position
Pivoted arm (2) both sides are provided with flexible block (23), described jaw fixed plate (12) is upper to be located under slide block fixed seat (4) right plate
Side is provided with flexible block (23).
6. cantilever joint according to claim 1 clamping mechanical hand is it is characterised in that on front side of described fixing panel seat (1), turn
Outside arm (2) and it is provided with protective cover (24) outside slide block fixed seat (4).
7. cantilever joint according to claim 6 clamping mechanical hand is it is characterised in that protection outside described pivoted arm (2)
It is connected with twisted plate closing drag chain (25) between cover (24) and described line slideway (6) upper end.
8. cantilever joint according to claim 1 clamping mechanical hand is it is characterised in that described slide block fixed seat (4) both sides
Plate upper end is provided with safety elastic backplate detection switch (26).
9. cantilever joint according to claim 1 clamping mechanical hand is it is characterised in that described fixing panel seat (1) left plate
On be provided with lubricating oil filled by hand switch (27).
10. cantilever joint according to claim 1 clamping mechanical hand is it is characterised in that described fixing panel seat (1) right plate
On be provided with casing rack (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620952162.XU CN205969007U (en) | 2016-08-26 | 2016-08-26 | Cantilever joint clamping machine tool hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620952162.XU CN205969007U (en) | 2016-08-26 | 2016-08-26 | Cantilever joint clamping machine tool hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205969007U true CN205969007U (en) | 2017-02-22 |
Family
ID=58036235
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620952162.XU Active CN205969007U (en) | 2016-08-26 | 2016-08-26 | Cantilever joint clamping machine tool hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205969007U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106181979A (en) * | 2016-08-26 | 2016-12-07 | 浙江新跃机床有限公司 | A kind of cantilever joint clamping mechanical hand |
-
2016
- 2016-08-26 CN CN201620952162.XU patent/CN205969007U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106181979A (en) * | 2016-08-26 | 2016-12-07 | 浙江新跃机床有限公司 | A kind of cantilever joint clamping mechanical hand |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231009 Address after: 314000 Room 202, building 1, No. 1186, North Street, Yuxin Town, Nanhu District, Jiaxing City, Zhejiang Province Patentee after: ZHEJIANG ZHONGZHI JINGGONG INTELLIGENT EQUIPMENT Co.,Ltd. Address before: 317699 Huanjiao Village, Yucheng Street, Yuhuan County, Taizhou City, Zhejiang Province Patentee before: ZHEJIANG XINYUE MACHINE TOOL Co.,Ltd. |