CN206105832U - Rotary machine hand subassembly - Google Patents
Rotary machine hand subassembly Download PDFInfo
- Publication number
- CN206105832U CN206105832U CN201620986649.XU CN201620986649U CN206105832U CN 206105832 U CN206105832 U CN 206105832U CN 201620986649 U CN201620986649 U CN 201620986649U CN 206105832 U CN206105832 U CN 206105832U
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- China
- Prior art keywords
- driving device
- rotary machine
- gripper
- mounting
- component according
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Abstract
The utility model belongs to the technical field of the manipulator, specifically indicate a rotary machine hand subassembly, including the arm, rotation driving device, it is installed at the arm lower extreme, rotation driving device's driving piece slant sets up down, and the axis and the water flat line of driving piece are 45 jiaos of settings, the roating seat, its with rotation driving device's driving piece fixed connection, two manipulators, its fixed mounting in roating seat dorsad on rotation driving device's the terminal surface, mobilizable gripper is all installed to the outer end of two manipulators to and the gripper driving piece that opens or fold the action is done to the driving device claw, one of them gripper snatchs the work piece towards the horizontal direction, and another gripper snatchs the work piece towards vertical direction, the utility model has the advantages of simple structure, space utilization is high.
Description
Technical field
This utility model belongs to mechanical hand technical field, refers specifically to a kind of rotary machine handss component.
Background technology
So at present the clamping of workpiece and dismounting adopt artificial operation, existing skill mostly on the production line of traditional manufacture
Also have using mechanical hand to replace manually to operate in art, but the structure of mechanical hand is more complicated, and shared space compared with
Greatly.
The content of the invention
The purpose of this utility model is to provide a kind of simple structure, the high new rotary machine handss group of space availability ratio
Part.
What the purpose of this utility model was realized in：
A kind of rotary machine handss component, including mechanical arm；
Rotating driving device, it is arranged on mechanical arm lower end, and the actuator of the rotating driving device is arranged obliquely, drives
The axis of moving part is arranged with horizontal line in 45° angle；
Rotating seat, it is fixedly connected with the actuator of the rotating driving device；
Two mechanical hands, it is fixedly installed in rotating seat dorsad on the end face of rotating driving device, described two machineries
The outer end of handss is mounted on mobilizable gripper, and drive gripper do open or closing action gripper actuator；
One of gripper grabbing workpiece in the horizontal direction, another gripper is towards vertical direction grabbing workpiece.
The rotating seat includes a matrix, and two mounting seats being separated from each other, described two mechanical hands are fixed with matrix
Match one by one with mounting seat and be fixed in mounting seat, the mounting surface and horizontal line of one of mounting seat, another peace
The mounting surface of dress seat is vertical with vertical curve, and described two mechanical hands are respectively perpendicular and are installed on corresponding mounting surface.
The rotating seat includes a right angle triangular prism matrix, there is two orthogonal mounting surfaces on matrix, one of them
Mounting surface and horizontal line, another mounting surface is vertical with vertical curve, and described two mechanical hands are respectively perpendicular and are installed on relatively
On the mounting surface answered.
The matrix of the rotating seat is a square matrix, and described two mounting seats are separately mounted to the oblique right of square matrix
Angle.
Two mounting seats are symmetrical arranged with respect to the axis centre of actuator.
It is one stroke that the rotating driving device drives rotating seat to rotate 180 °.
The mechanical hand includes chuck and uniform some aerodynamic sliders on chuck perimeter；The aerodynamic slider
On be provided with claw, the claw does the action opened or close up under the drive of aerodynamic slider.
Material grasping cylinder is installed in the mounting seat, slide block, the cylinder of material grasping cylinder are installed on the piston rod of material grasping cylinder
Body lower end is installed with leading truck body, and leading truck body lower part both sides are fixed with guide housing, and guide housing middle part forms
The gathering sill that slide block is slided up and down is provided, slide block bottom has been respectively articulated with left and right connecting rod, and the other end of left connecting rod is hinged on left side
Half pawl top, the other end of right connecting rod is hinged on half pawl top of right side, and the inner side in the middle part of the pawl of the left and right side half is respectively hinged at
On the guide housing of leading truck, when the piston rod of material grasping cylinder is flexible, slide block is driven to slide up and down in gathering sill so that left and right
Side Ban Zhao bottoms close up or open.
Rotation connector is additionally provided between the rotating driving device and mechanical arm, rotation connector is fixed with mechanical arm and connected
Connect, be fixedly connected with rotating driving device between rotation connection.
The driving means be rotary cylinder, the actuator for rotary cylinder output shaft, the axis and water of output shaft
Horizontal line is arranged in 45° angle.
This utility model is prominent and beneficial compared to existing technology to be had the technical effect that：
1st, this utility model is arranged by the axis and horizontal line of actuator in 45° angle, and one of gripper is towards level
Direction grabbing workpiece, another gripper towards being fixedly connected between vertical direction grabbing workpiece, and each part, so as to realize working as
When one mechanical hand is horizontally mounted workpiece toward on the chuck of lathe, under another mechanical hand is directed towards, thus facilitate down
Secondary grabbing workpiece, so as to reduce number of revolutions, clamped one time need to only rotate a rotating seat, and by this side
Formula, only needs a rotating driving device just to adjust the working position of two mechanical hands, and simple structure is easy to use, space utilization
Rate is high.
2nd, this utility model is by two mounting seats, the mounting surface and horizontal line of one of mounting seat, another
The mounting surface for the doing setting vertical with vertical curve is installed, as long as so that mechanical hand is perpendicular to the mounting surface installation of mounting seat
Can, the structure for so making mechanical hand is more simplified.
3rd, this utility model is mutually perpendicular to and a mounting surface is vertical with horizontal line by forming two in a mounting seat
Directly, another mounting surface design vertical with vertical curve, is reaching the basic of two mounting seat same effects, makes structure simpler
It is single.
4th, this utility model is separately mounted to the clinodiagonal design of square matrix by two mounting seats of bucket, so as to allow two
Individual mechanical hand is separated by a distance farther, so easy to installation and maintenance.
5th, this utility model drives rotating seat to rotate 180 ° of designs for one stroke by rotating driving device, so as to realize
Rotary cylinder is rotated every time, and two mechanical hands can keep one of mechanical hand grabbing workpiece in the horizontal direction, another machine
State of the tool handss towards vertical direction grabbing workpiece.
6th, the design that this utility model passes through rotation connector, consequently facilitating rotary cylinder controls the rotation of chuck, it is convenient
Feeding and blanking of the claw to workpiece.
7th, the design that this utility model passes through stopping means, can allow renovate being chronically at opening, prevent its nature
Close.
8th, this utility model includes leading truck body and is arranged on leading truck body lower part both sides by the leading truck
Guide housing, the leading truck body and the molding of guide housing middle part are provided with the gathering sill that slide block is slided up and down, and material grasping cylinder is lived
When stopper rod stretches, slide block is driven to slide in gathering sill, such design causes gripper to make under the guide effect of gathering sill
Obtain installation accuracy further to be lifted.
Description of the drawings
Fig. 1 is the structural representation of this utility model embodiment 1.
Fig. 2 is enlarged drawing at the A of Fig. 1.
Fig. 3 is the structural representation of the rotating seat of embodiment 1.
Fig. 4 is the structure decomposition figure of the gripper of embodiment 3.
Fig. 5 is the structural representation of this utility model embodiment 2.
1- mechanical arms；2- rotating seats；3- mechanical hands；5- mounting seats；6- mounting surfaces；7- chucks；8- aerodynamic sliders；9- cards
Pawl；10- rotates connector；11- rotary cylinders；12- material grasping cylinders；13- piston rods；14- drive blocks；15- leading truck bodies；
16- guide housings；17- gathering sills；18- connecting rods；The pawls of 19- half；20- right-angle prismatic base for post bodies.
Specific embodiment
Below in conjunction with the accompanying drawings this utility model is further described with specific embodiment：
Embodiment 1：
A kind of rotary machine handss component, including mechanical arm 1；
Rotating driving device, it is arranged on the lower end of mechanical arm 1, and the actuator of the rotating driving device is arranged obliquely,
The axis of actuator is arranged with horizontal line in 45° angle；
Rotating seat 2, it is fixedly connected with the actuator of the rotating driving device；
Two mechanical hands 3, it is fixedly installed in rotating seat 2 dorsad on the end face of rotating driving device, described two machines
The outer end of tool handss 3 is mounted on mobilizable gripper, and drives gripper to do to open or the gripper of closing action drives
Part；One of gripper grabbing workpiece in the horizontal direction, another gripper is towards vertical direction grabbing workpiece.
The rotating seat 2 includes a matrix, and two mounting seats 5 being separated from each other, described two machineries are fixed with matrix
Handss 3 and mounting seat 5 are matched one by one and are fixed in mounting seat 5, the mounting surface 6 of one of mounting seat 5 and horizontal line, separately
The mounting surface 6 of one mounting seat 5 is vertical with vertical curve, and described two mechanical hands 3 are respectively perpendicular and are installed on corresponding mounting surface 6
On.
The matrix of the rotating seat 2 is a square matrix, and described two mounting seats 5 are separately mounted to the oblique right of square matrix
Angle.
The axis centre of two actuators relatively of mounting seat 5 is symmetrical arranged.
It is one stroke that the rotating driving device drives rotating seat 2 to rotate 180 °.
The mechanical hand 3 includes chuck 7 and uniform some aerodynamic sliders 8 on the circumference of chuck 7；It is described pneumatic
Gripper 9 is provided with slide block 8, the gripper 9 does the action opened or close up under the drive of aerodynamic slider 8.
Rotation connector 10 is additionally provided between the rotating driving device and mechanical arm 1, rotation connector 10 is consolidated with mechanical arm 1
Fixed connection, 10 are fixedly connected with rotating driving device between rotation connection.
The driving means be rotary cylinder 11, the actuator for rotary cylinder output shaft, the axis of output shaft with
Horizontal line is arranged in 45° angle.
Operation principle：After what a workpiece of machine tooling, wherein a mechanical hand takes out the workpiece for processing, Ran Houxuan
Swivel base is rotated, the unprocessed workpiece on another mechanical hand is put into into chuck, and the mechanical hand for accompanying the workpiece for processing is vertical
Down, extraneous driving means driving mechanical arm movement, to put down gone after the workpiece for processing capturing unprocessed workpiece, and whole mistake
Cheng Zhong, rotating seat only have rotated once.
Embodiment 2：The present embodiment is substantially the same manner as Example 1, and its difference is：
Material grasping cylinder 12 is installed in the mounting seat, drive block 14 is installed on the piston rod 13 of material grasping cylinder 12, grab
The cylinder body lower end of material cylinder 12 is installed with leading truck body 15, and the bottom both sides of leading truck body 15 are fixed with guide housing 16,
The molding of the middle part of guide housing 16 is provided with the gathering sill 17 that drive block 14 is slided up and down, the bottom of drive block 14 be respectively articulated with a left side,
Right connecting rod 18, the other end of left connecting rod 18 is hinged on the left side top of half pawl 19, and the other end of right connecting rod 18 is hinged on half pawl of right side
19 tops, the inner side at the middle part of half pawl of the left and right side 19 is respectively hinged on the guide housing 16 of leading truck body 15, material grasping cylinder
When 12 piston rod 13 stretches, the drive block 14 is driven to slide up and down in gathering sill 17 so that the bottom of half pawl of left and right side 19
Close up or open.Drive gripper to do to open or the mode of closing action is a lot, be not limited only to described in the utility model two
Embodiment is planted, therefore is repeated no more.
Embodiment 3：The present embodiment is substantially the same manner as Example 1, and its difference is：
The rotating seat includes a right angle triangular prism matrix 20, has two orthogonal mounting surfaces on matrix, wherein one
Individual mounting surface and horizontal line, another mounting surface is vertical with vertical curve, and described two mechanical hands are respectively perpendicular and are installed on phase
On corresponding mounting surface.
This utility model has simple structure, the characteristics of space availability ratio is high.
Ultimate principle of the present utility model and principal character and advantage of the present utility model has been shown and described above.One's own profession
The technical staff of industry it should be appreciated that this utility model is not restricted to the described embodiments, described in above-described embodiment and description
Simply illustrate principle of the present utility model, on the premise of without departing from this utility model spirit and scope, this utility model is also
Various changes and modifications are had, these changes and improvements are both fallen within the range of claimed this utility model.This utility model
Claimed scope is by appending claims and its equivalent thereof.
Claims (10)
1. a kind of rotary machine handss component, it is characterised in that including mechanical arm；
Rotating driving device, it is arranged on mechanical arm lower end, and the actuator of the rotating driving device is arranged obliquely, actuator
Axis and horizontal line arrange in 45° angle；
Rotating seat, it is fixedly connected with the actuator of the rotating driving device；
Two mechanical hands, it is fixedly installed in rotating seat dorsad on the end face of rotating driving device, described two mechanical hands
Outer end is mounted on mobilizable gripper, and drive gripper do open or closing action gripper actuator；Wherein
One gripper grabbing workpiece in the horizontal direction, another gripper is towards vertical direction grabbing workpiece.
2. a kind of rotary machine handss component according to claim 1, it is characterised in that the rotating seat includes a base
Body, is fixed with two mounting seats being separated from each other on matrix, described two mechanical hands match one by one and be fixed on peace with mounting seat
On dress seat, the mounting surface and horizontal line of one of mounting seat, the mounting surface of another mounting seat is vertical with vertical curve, institute
State two mechanical hands and be respectively perpendicular and be installed on corresponding mounting surface.
3. a kind of rotary machine handss component according to claim 1, it is characterised in that the rotating seat includes a right angle
Triangular prism matrix, there is two orthogonal mounting surfaces, one of mounting surface and horizontal line on matrix, another installation
Face is vertical with vertical curve, and described two mechanical hands are respectively perpendicular and are installed on corresponding mounting surface.
4. a kind of rotary machine handss component according to claim 2, it is characterised in that the matrix of the rotating seat is
Square matrix, described two mounting seats are separately mounted to the diagonally opposing corner of square matrix.
5. a kind of rotary machine handss according to claim 2, it is characterised in that axle of two mounting seats with respect to actuator
Line centrosymmetry is arranged.
6. a kind of rotary machine handss component according to claim 1, it is characterised in that the rotating driving device drives
It is one stroke that rotating seat rotates 180 °.
7. a kind of rotary machine handss component according to claim 1, it is characterised in that the mechanical hand include chuck with
And uniform some aerodynamic sliders on chuck perimeter；Claw is provided with the aerodynamic slider, the claw is pneumatic
The action opened or close up is done under the drive of slide block.
8. a kind of rotary machine handss component according to claim 2, it is characterised in that be provided with the mounting seat and grab
Material cylinder, is provided with slide block on the piston rod of material grasping cylinder, the cylinder body lower end of material grasping cylinder is installed with leading truck body, leads
Guide housing is fixed with to frame body lower part both sides, the molding of guide housing middle part is provided with the gathering sill that slide block is slided up and down, slide block
Bottom has been respectively articulated with left and right connecting rod, and the other end of left connecting rod is hinged on half pawl top of left side, and the other end of right connecting rod is hinged on
Half pawl top of right side, the inner side in the middle part of the pawl of the left and right side half is respectively hinged on the guide housing of leading truck, the work of material grasping cylinder
When stopper rod stretches, slide block is driven to slide up and down in gathering sill so that the pawl bottom of left and right side half closes up or opens.
9. a kind of rotary machine handss component according to claim 1, it is characterised in that the rotating driving device and machine
Rotation connector is additionally provided between tool arm, rotation connector is fixedly connected with mechanical arm, it is solid with rotating driving device between rotation connection
Fixed connection.
10. a kind of rotary machine handss component according to claim 1, it is characterised in that the driving means are rotation
Cylinder, the actuator is the output shaft of rotary cylinder, and axis and the horizontal line of output shaft are arranged in 45° angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620986649.XU CN206105832U (en) | 2016-08-29 | 2016-08-29 | Rotary machine hand subassembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620986649.XU CN206105832U (en) | 2016-08-29 | 2016-08-29 | Rotary machine hand subassembly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206105832U true CN206105832U (en) | 2017-04-19 |
Family
ID=58514654
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620986649.XU Expired - Fee Related CN206105832U (en) | 2016-08-29 | 2016-08-29 | Rotary machine hand subassembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206105832U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107398772A (en) * | 2017-08-01 | 2017-11-28 | 宁波开浦智能科技有限公司 | A kind of manipulator rotary pneumatic jaw arrangement |
| CN109482906A (en) * | 2018-11-15 | 2019-03-19 | 宁波佰利刀业有限公司 | A kind of cutterhead vehicle face machine |
| CN109877866A (en) * | 2019-04-14 | 2019-06-14 | 广州益图机电科技有限公司 | A kind of gripper and Multi-station working bench |
-
2016
- 2016-08-29 CN CN201620986649.XU patent/CN206105832U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107398772A (en) * | 2017-08-01 | 2017-11-28 | 宁波开浦智能科技有限公司 | A kind of manipulator rotary pneumatic jaw arrangement |
| CN109482906A (en) * | 2018-11-15 | 2019-03-19 | 宁波佰利刀业有限公司 | A kind of cutterhead vehicle face machine |
| CN109482906B (en) * | 2018-11-15 | 2020-12-01 | 宁波佰利刀业有限公司 | Cutter disc facing machine |
| CN109877866A (en) * | 2019-04-14 | 2019-06-14 | 广州益图机电科技有限公司 | A kind of gripper and Multi-station working bench |
| CN109877866B (en) * | 2019-04-14 | 2023-10-03 | 广州益图机电科技有限公司 | Mechanical claw and multi-station workbench |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| 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: 20170419 Termination date: 20180829 |