CN206066478U - A kind of metal bar gripping manipulator - Google Patents
A kind of metal bar gripping manipulator Download PDFInfo
- Publication number
- CN206066478U CN206066478U CN201621006728.6U CN201621006728U CN206066478U CN 206066478 U CN206066478 U CN 206066478U CN 201621006728 U CN201621006728 U CN 201621006728U CN 206066478 U CN206066478 U CN 206066478U
- Authority
- CN
- China
- Prior art keywords
- metal bar
- claw hook
- connecting rod
- fixture
- hole
- 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
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Abstract
This utility model provides a kind of metal bar gripping manipulator, including mechanical arm and the fixture being rotatably connected on mechanical arm, wherein fixture includes support, the connecting rod being fixed on above support, the vertical side plate in support two ends and a pair of grasping mechanisms being disposed side by side between biside plate；Each grasping mechanism includes the bending claw hook that drive mechanism and the same central point of an opposing connection are rotated, and each pair claw hook can open in the presence of drive mechanism or close so as to realize the gripping to metal bar.Using the technical solution of the utility model, metal bar can not only precisely, be rapidly captured, and the inside of each claw hook is provided with detent projection, it is more stable during gripping；Connecting rod is connected by bearing with mechanical arm simultaneously, so as to whole machinery hand-motion metal bar is rotated, is made metal bar be changed into vertical arrangement from accumbency and is placed.
Description
Technical field
This utility model is related to a kind of mechanical hand, and in particular to a kind of to grip metal bar and can be rotated what is placed
Mechanical hand.
Background technology
In the production process of metallic article, the metal bar of forming often needs to be carried to respectively by gripping as raw material
Stack or carry out the processing of next link in individual place.Not only spend that time efficiency is low, human cost is higher due to a dead lift and
Safety coefficient is low, therefore factory is generally carried using various robotic devices at present.But metal bar surface is round and smooth and heap
It is more difficult when putting to grip from middle arc section, in existing technology it is many using cylinder control distances between two gripping parts away from
From being transported after clamping from the two ends of metal bar.Although this technical scheme simple structure simultaneously can grip different size of gold
Category rod, but the section of metal bar is less i.e. little with the contact area between gripping part, therefore it is susceptible to unstable, landing
Phenomenon；And can only merely realize the gripping of metal bar, it is impossible to after metal bar is gripped, be changed into vertical heap from horizontal stacking
Put for various occasions.
Utility model content
The purpose of this utility model is to overcome shortcoming present in prior art, there is provided one kind stably can be captured and energy
Change the metal bar gripping manipulator of metal bar modes of emplacement.
To achieve these goals, the technical solution adopted in the utility model is as follows：
A kind of metal bar gripping manipulator, including mechanical arm and the fixture being rotatably connected on mechanical arm, wherein fixture bag
Include support and a pair of grasping mechanisms being disposed side by side on support；Each grasping mechanism includes drive mechanism and a pair of curved pawl
Hook, each pair claw hook can open in the presence of drive mechanism or close so as to realize the gripping to metal bar.
Further, each claw hook is sequentially provided with first through hole and the second through hole along arc length direction, wherein at first through hole
In the end of claw hook, the second through hole is near first through hole；The mechanical hand is additionally provided with an axle, the axle through each claw hook first
Through hole and end is fixed on the side plate at support two ends, plays the firm effect to claw hook and whole robot manipulator structure；Meanwhile,
Each pair claw hook can be rotated about the axle, i.e., each pair claw hook is rotated around same central point, realize the change of angle during crawl.
Further, each grasping mechanism also includes a fixture being connected with drive mechanism and a pair of links, each
The two ends of connecting rod are equipped with a circular port；Two circular ports of each connecting rod respectively with fixture, the claw hook of corresponding side
Two through holes are flexibly connected, i.e., in the presence of drive mechanism, connecting rod can be granted correspondence side claw hook active force and be controlled claw hook with this
Angular turn.
Further, detent projection is provided with the inside of claw hook, the frictional force on when increasing gripping with this and metal bar surface makes
Metal bar is difficult to slide.
Further, drive mechanism is cylinder, and fixture is arranged on the piston rod end of the cylinder, and cylinder is then fixed on
The top of frame.
Further, the top of support is also fixed with connecting rod, and the connecting rod is connected by bearing with mechanical arm, so as to
Whole fixture can be rotated on the robotic arm, the integral-rotation after realizing gripping to metal bar.
The technical side that the two ends from metal bar generally adopted in the technical solution of the utility model, with prior art grip
Case is different, is each pair claw hook is opened or is closed golden precisely, promptly to grip by the gearing of air cylinder driven and connecting rod
Category rod.As each pair claw hook is clipped in the arc-shaped surface of metal bar, therefore the application point of power is more, more stable during crawl, strong；And
And the detent projection inside claw hook also increases the frictional force of claw hook gripping, during gripping, metal bar is difficult slippage and causes damage
Or cause security incident；While this utility model simple structure, easy to maintenance, connecting rod is connected by bearing with mechanical arm, gripping
After metal bar, mechanical hand integrally rotates, so that metal bar occurs angle rotation, is changed into vertical arrangement from accumbency and places.
Description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation of fixture in this utility model.
Fig. 3 a are the structural representation one of grasping mechanism of the present utility model.
Fig. 3 b are the structural representation two of grasping mechanism of the present utility model.
Fig. 4 is the structural representation of claw hook in this utility model.
Specific embodiment
The utility model will be further described below in conjunction with the accompanying drawings.
Referring to the drawings.This utility model includes mechanical arm 10 and the fixture 11 being rotatably connected on mechanical arm 10, the fixture
11 include support 2, the connecting rod 1 being fixed on above support 2, the vertical side plate 3 in 2 two ends of support and are disposed side by side on two
A pair of grasping mechanisms between side plate 3；Each grasping mechanism includes that a cylinder 5, fixture 6, a pair of two ends are equipped with
The sickleshaped claw hook 8 that the same central point of connecting rod 7 and an opposing connection of circular port 61 is rotated.
Wherein, each claw hook 8 is sequentially provided with first through hole 81 and the second through hole 82 along arc length direction, and especially, first leads to
In the larger one end of 8 width of claw hook, the second through hole 82 is near first through hole 81 in hole 81.The mechanical hand is additionally provided with an axle 4, should
Axle 4 passes through the first through hole 81 of each claw hook 8 and end is fixed on biside plate 3, not only to 8 stable support functions of claw hook,
And each pair claw hook 8 can be rotated around the axle 4, realize opening when capturing or close, i.e., two in one grasping mechanism
Claw hook 8 is respectively at the both sides of axle 4, and gripping space is formed between two claw hooks 8.Each pair claw hook 8 is provided with the end of first through hole 81
Overlap.
Cylinder 5 is each attached to the top of support 2, is respectively at the both sides of connecting rod 1.The piston rod of fixture 6 and cylinder 5
51 end connection, in the presence of cylinder 5, fixture 6 can move back and forth with piston rod 51；On fixture 6 also abreast
It is provided with two through holes, each through hole is movably connected with a circular port 61 in a connecting rod 7 by pin 9 respectively, i.e., one
Fixture 6 connects two connecting rods 7 simultaneously.And remaining another circular port 61 of each connecting rod 7 is then located together with the connecting rod 7
Second through hole 82 of side claw hook 8 is flexibly connected.
When 5 moving piston bar 51 of cylinder stretches out, fixture 6 can be promoted to move to 8 direction of claw hook, and further make fixation
Part 6 drives two connecting rods 7 to move to 8 direction of claw hook, and claw hook 8 will mutually draw close closure after being subject to the active force for pushing, so as to
Clamp metal bar.Especially, as metal bar accumbency is arranged, deviateing 30 ° of angle with vertical line when mechanical hand is gripped every time
Degree gripping.When metal bar is carried to destination, cylinder 5 makes 51 indentation of piston rod, then now fixture 6 away from 8 side of claw hook
To motion, after the transmission of through connecting rod 7, claw hook 8 is subject to the active force for pulling up, the angle between two claw hooks 8 to increase, open, so as to unclamp
Metal bar, and repeat gripping next time.
Detent projection 83 is additionally provided with the inner side of claw hook 8, the frictional force on when increasing gripping with this and metal bar surface makes gold
Category rod is difficult landing and causes damage or safety problem, and gripping process is more stable.
Connecting rod 1 is connected by bearing with mechanical arm 10, so as to whole mechanical hand can be rotated on mechanical arm 10, is realized
Integral-rotation after gripping to metal bar, is changed into vertical arrangement from the arrangement mode of accumbency and places, to adapt to various occasions
Stack.
It should be pointed out that embodiment of the present utility model is described above.However, the technical staff of art technology should manage
Solution, this utility model are not restricted to the described embodiments, and described in above-described embodiment is to illustrate principle of the present utility model,
On the premise of without departing from this utility model scope, this utility model also has various changes and improvements, and these changes and improvements are all
Fall in the range of claimed this utility model.
Claims (7)
1. a kind of metal bar gripping manipulator, including mechanical arm and the fixture being rotatably connected on mechanical arm, it is characterised in that institute
State a pair of grasping mechanisms that fixture includes support and is disposed side by side on the support；Each described grasping mechanism includes driving machine
Structure and a pair of curved claw hook, claw hook described in each pair in the presence of the drive mechanism can open or close so as to realize to gold
The gripping of category rod.
2. a kind of metal bar gripping manipulator as claimed in claim 1, it is characterised in that described in each of the grasping mechanism
Claw hook is sequentially provided with first through hole and the second through hole along arc length direction；End of the wherein described first through hole in the claw hook；
The claw hook is enclosed within axle and is rotated about the axle by the first through hole.
3. a kind of metal bar gripping manipulator as claimed in claim 1 or 2, it is characterised in that each described grasping mechanism is also wrapped
Include a fixture being connected with drive mechanism and a pair of links, the two ends of wherein each connecting rod be equipped with one it is circular
Hole；Two circular ports of each connecting rod are flexibly connected with the second through hole of fixture, the claw hook of corresponding side respectively, are being driven
The rotation of claw hook is controlled in the presence of mechanism.
4. a kind of metal bar gripping manipulator as claimed in claim 3, it is characterised in that be provided with dentation on the inside of the claw hook
It is raised.
5. a kind of metal bar gripping manipulator as claimed in claim 3, it is characterised in that the drive mechanism is cylinder, described
Cylinder is arranged on the top of support.
6. a kind of metal bar gripping manipulator as claimed in claim 2, it is characterised in that the end of the axle is separately fixed at
On the side plate at support two ends.
7. a kind of metal bar gripping manipulator as claimed in claim 1, it is characterised in that the also fixation of the top of the support sets
There is connecting rod, the connecting rod is connected with the mechanical arm bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621006728.6U CN206066478U (en) | 2016-08-31 | 2016-08-31 | A kind of metal bar gripping manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621006728.6U CN206066478U (en) | 2016-08-31 | 2016-08-31 | A kind of metal bar gripping manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206066478U true CN206066478U (en) | 2017-04-05 |
Family
ID=58434541
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621006728.6U Expired - Fee Related CN206066478U (en) | 2016-08-31 | 2016-08-31 | A kind of metal bar gripping manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206066478U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107825409A (en) * | 2017-11-09 | 2018-03-23 | 无锡百禾工业机器人有限公司 | A kind of feeding mechanical hand |
| CN110614747A (en) * | 2019-11-04 | 2019-12-27 | 常青智能科技(天津)有限公司 | Fine piece of car seat chassis glass snatchs mechanism |
-
2016
- 2016-08-31 CN CN201621006728.6U patent/CN206066478U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107825409A (en) * | 2017-11-09 | 2018-03-23 | 无锡百禾工业机器人有限公司 | A kind of feeding mechanical hand |
| CN110614747A (en) * | 2019-11-04 | 2019-12-27 | 常青智能科技(天津)有限公司 | Fine piece of car seat chassis glass snatchs mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 324022, No. 8, No. 5, Donggang, Zhejiang, Quzhou Patentee after: Quzhou Rongsheng Environmental Protection Technology Co., Ltd. Address before: Kecheng District Jiuhua 324000 Zhejiang province Quzhou City Tong Village No. 28 Patentee before: Rong Sheng metallurgical equipment company limited of Quzhou City |
|
| 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: 20170405 Termination date: 20200831 |