CN206154337U - Manipulator dead end clamp utensil with carry function - Google Patents

Manipulator dead end clamp utensil with carry function Download PDF

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Publication number
CN206154337U
CN206154337U CN201621094612.2U CN201621094612U CN206154337U CN 206154337 U CN206154337 U CN 206154337U CN 201621094612 U CN201621094612 U CN 201621094612U CN 206154337 U CN206154337 U CN 206154337U
Authority
CN
China
Prior art keywords
clip arm
guide rod
transmission shaft
power transmission
synchronizing wheel
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
Application number
CN201621094612.2U
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Chinese (zh)
Inventor
傅振洲
史博
肖冰
杨佳
吴超凡
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bohai University
Original Assignee
Bohai University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Bohai University filed Critical Bohai University
Priority to CN201621094612.2U priority Critical patent/CN206154337U/en
Application granted granted Critical
Publication of CN206154337U publication Critical patent/CN206154337U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model provides a manipulator dead end clamp utensil with carry function installs at the manipulator end, include: upper and lower arm lock, air cylinder connection spare, guide rod cylinder and terminal connector, last arm lock includes the entablature, grabs to mention carries drive assembly, and lower arm lock includes the bottom end rail, grabs to mention carries drive assembly, air cylinder connection spare rigid coupling is on the entablature, guide rod cylinder's stiff end rigid coupling on the bottom end rail, guide rod cylinder's expansion end and air cylinder connection spare rigid coupling, terminal connector rigid coupling in bottom end rail for installation with the manipulator, grab the tooth including grabbing tooth shell, action wheel, conveyer belt and following the driving wheel, carry drive assembly to include driving motor, reduction gear, first synchronizing wheel, hold -in range, second synchronizing wheel and transmission shaft for the tooth is grabbed in the drive, realizes carrying the function. The utility model is suitable for a pick -and -place and the centre gripping of platykurtic work piece, especially yielding work piece, the required space of pick -and -place work piece is little, gets and keeps steady, realizes work piece pick -and -place, upset, assembly operations.

Description

Terminal of manipulator fixture with conveying function
Technical field
This utility model is related to terminal of manipulator field of fixtures, specially a kind of folder of the terminal of manipulator with conveying function Tool.
Background technology
With the development of modern industry, mechanical hand is widely applied in the industrial production.Terminal fixture is used as machinery The final actuating element of handss, directly decides the function and efficiency of mechanical hand.Conventional clamp discharge workpiece when, mainly by work The self gravitation of part, fixture operating angle is big, takes up room big.In the production process of rubber for tire, need repeatedly by tire rubber The transhipment of glue fetalism, upset and tiling, for this kind of flat, big plane software workpiece, conventional clamp often results in the change of rubber fetalism Shape, crimping, pile up, drop, causing failure and the interruption of production line.
Utility model content
The purpose of this utility model is the handss terminal fixture that designs a mechanism, and solves current conventional clamp and is folding up big putting down The problem that the damage of workpiece and chucking power are not enough dropped occurred during thin-skinned body workpiece.
This utility model solves the technical scheme that its technical problem adopted:
A kind of terminal of manipulator fixture with conveying function, installed in mechanical hand active distal end, including:Upper clip arm is with Jig arm, is provided with multiple cylinder connectors and guide rod cylinder connection between upper clip arm and lower clip arm;The cylinder connector is fixed in On upper clip arm;The fixing end of the guide rod cylinder is fixed on lower clip arm, and the movable end of guide rod cylinder is affixed with cylinder connector; The stretching motion of guide rod cylinder drives upper clip arm to move up and down, and upper clip arm and lower clip arm is clamped or is opened;
The upper clip arm includes entablature, feed drive component, power transmission shaft and multiple grasping teeths;Conveying is installed with entablature Drive component, feed drive component controls multiple grasping teeth motions by power transmission shaft;
The feed drive component includes motor;Motor is connected with decelerator, decelerator and the first synchronizing wheel Axle connects;First synchronizing wheel is connected with the second synchronizing wheel by Timing Belt, and the second synchronizing wheel is secured to power transmission shaft one end;Power transmission shaft with Multiple grasping teeths are through affixed;
The grasping teeth includes grasping teeth shell, drivewheel, multiple driven pulleys, conveyer belt;The grasping teeth shell is fixed on entablature; Grasping teeth shell connects with drivewheel, follower shaft, and drivewheel is connected by conveyer belt with multiple driven pulleys;The drivewheel is fixed in biography On moving axis;
The lower clip arm includes sill, end connector, and lower clip arm has and the conveying of upper clip arm attachment structure identical Drive component, power transmission shaft and multiple grasping teeths;
The end connector is fixed on sill, for connecting mechanical hand active distal end.
This utility model has the advantage that:
1st, it is not to lean on workpiece self gravitation during this utility model terminal fixture release workpiece, but by the conveying in grasping teeth Band exports workpiece, improves stationarity during mechanical hand release workpiece, keeps its flat presentation of yielding workpiece.
2nd, this utility model terminal fixture is suitable for clamping, upset and the transhipment of the yielding workpiece of big plane software.
Description of the drawings
Fig. 1 has the front 3 dimensional drawing of the terminal of manipulator fixture of conveying function for this utility model;
Fig. 2 has the back side 3 dimensional drawing of the terminal of manipulator fixture of conveying function for this utility model;
Fig. 3 has the clamping cross-sectional view of the terminal of manipulator fixture of conveying function for this utility model;
Accompanying drawing is identified:1st, motor;2nd, decelerator;3rd, the first synchronizing wheel;4th, Timing Belt;5th, the second synchronizing wheel;6th, pass Moving axis;7th, drivewheel;8th, conveyer belt;9th, driven pulley;10th, grasping teeth shell;11st, entablature;12nd, sill;13rd, grasping teeth;14th, upper folder Arm;15th, lower clip arm;16th, cylinder connector;17th, guide rod cylinder;18th, end connector;19th, feed drive component.
Specific embodiment
Below in conjunction with the accompanying drawings this utility model is described in further detail with specific embodiment.
As shown in Figure 1, Figure 2 and Figure 3, a kind of terminal of manipulator fixture with conveying function, installed in mechanical hand activity End, including:Upper clip arm 14 and lower clip arm 15, are provided with multiple cylinder connectors 16 and guide rod between upper clip arm 14 and lower clip arm 15 Cylinder 17 connects;The cylinder connector 16 is fixed on upper clip arm 14;The fixing end of the guide rod cylinder 17 is fixed in lower folder On arm 15, the movable end of guide rod cylinder 17 is affixed with cylinder connector 16;The stretching motion of guide rod cylinder 17 drives upper clip arm 14 Move up and down, upper clip arm 14 and lower clip arm 15 is clamped or is opened;
The upper clip arm 14 includes entablature 11, feed drive component 19, power transmission shaft 6 and multiple grasping teeths 13;Entablature 11 On be installed with feed drive component 19, feed drive component 19 controls multiple grasping teeths 13 and moves by power transmission shaft 6;
The feed drive component 19 includes motor 1;Motor 1 is connected with decelerator 2, decelerator 2 and first The axle of synchronizing wheel 3 connects;First synchronizing wheel 3 is connected with the second synchronizing wheel 5 by Timing Belt 4, and the second synchronizing wheel 5 is secured to power transmission shaft 6 One end;Power transmission shaft 6 is with multiple grasping teeths 13 through affixed;
The grasping teeth 13 includes grasping teeth shell 10, drivewheel 7, multiple driven pulleys 9, conveyer belt 8;The grasping teeth shell 10 is fixed in On entablature 11;Grasping teeth shell 10 connects with drivewheel 7, the axle of multiple driven pulleys 9, and drivewheel 7 is by conveyer belt 8 and multiple driven pulleys 9 Connection;The drivewheel 7 is fixed on power transmission shaft 6;
The lower clip arm 15 includes sill 12, end connector 18, and lower clip arm 15 has and the attachment structure of upper clip arm 14 Identical feed drive component 19, power transmission shaft 6 and multiple grasping teeths 13;
The end connector 18 is fixed on sill 12, for connecting mechanical hand active distal end.
A kind of terminal of manipulator fixture with conveying function, workflow is:Mechanical hand is consolidated with end connector 18 After connecing, it is horizontal fixture grasping teeth 13;Guide rod cylinder 17 does stretching, upper clip arm 14 is moved upwards, at fixture In open configuration;Robot movement, makes the tire fetalism produced be placed between upper clip arm 14 and lower clip arm 15;Guide rod cylinder 17 Contractive action is done, upper clip arm 14 is moved downward, fixture clamps tire fetalism;Robot movement, by fixture together with fetalism one Rise and overturn, transported, make fixture and be placed on transhipment louver vehicle table top with certain inclination angle;Guide rod cylinder 17 does expanding-contracting action, Upper clip arm 14 is set to move upwards, fixture is in open configuration;Electricity Jing decelerators 2 drive the first synchronizing wheel 3 to revolve on motor 1 Turn, synchronized band 4 rotates the second synchronizing wheel 5, and Jing power transmission shafts 6 rotate the drivewheel 7 in each grasping teeth 13, the Jing of drivewheel 7 Conveyer belt 8 rotates driven pulley 9, and the tire fetalism being positioned between multiple grasping teeths 13 is smoothly transported to into transhipment BAIYE ride On face;Robot movement, by fixture original state is placed in, and waits next reciprocating working.

Claims (1)

1. a kind of terminal of manipulator fixture with conveying function, installed in mechanical hand active distal end, it is characterised in that:
Including:Upper clip arm (14) and lower clip arm (15), are provided with multiple cylinder connectors between upper clip arm (14) and lower clip arm (15) (16) connect with guide rod cylinder (17);The cylinder connector (16) is fixed on upper clip arm (14);The guide rod cylinder (17) Fixing end be fixed on lower clip arm (15), the movable end of guide rod cylinder (17) is affixed with cylinder connector (16);Guide rod cylinder (17) stretching motion drives upper clip arm (14) to move up and down, and upper clip arm (14) and lower clip arm (15) is clamped or is opened;
The upper clip arm (14) includes entablature (11), feed drive component (19), power transmission shaft (6) and multiple grasping teeths (13);On Feed drive component (19) is installed with crossbeam (11), feed drive component (19) controls multiple grasping teeths by power transmission shaft (6) (13) move;
The feed drive component (19) is including motor (1);Motor (1) is connected with decelerator (2), decelerator (2) Connect with the first synchronizing wheel (3) axle;First synchronizing wheel (3) is connected with the second synchronizing wheel (5) by Timing Belt (4), the second synchronizing wheel (5) it is secured to power transmission shaft (6) one end;Power transmission shaft (6) is with multiple grasping teeths (13) through affixed;
The grasping teeth (13) includes grasping teeth shell (10), drivewheel (7), multiple driven pulleys (9), conveyer belt (8);The grasping teeth shell (10) it is fixed on entablature (11);Grasping teeth shell (10) connects with drivewheel (7), multiple driven pulleys (9) axle, and drivewheel (7) passes through Conveyer belt (8) is connected with driven pulley (9);The drivewheel (7) is fixed on power transmission shaft (6);
The lower clip arm (15) includes sill (12), end connector (18), and lower clip arm (15) is with upper clip arm (14) even Binding structure identical feed drive component (19), power transmission shaft (6) and multiple grasping teeths (13);
The end connector (18) is fixed on sill (12), for connecting mechanical hand active distal end.
CN201621094612.2U 2016-09-30 2016-09-30 Manipulator dead end clamp utensil with carry function Expired - Fee Related CN206154337U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201621094612.2U CN206154337U (en) 2016-09-30 2016-09-30 Manipulator dead end clamp utensil with carry function

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201621094612.2U CN206154337U (en) 2016-09-30 2016-09-30 Manipulator dead end clamp utensil with carry function

Publications (1)

Publication Number Publication Date
CN206154337U true CN206154337U (en) 2017-05-10

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ID=58652324

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201621094612.2U Expired - Fee Related CN206154337U (en) 2016-09-30 2016-09-30 Manipulator dead end clamp utensil with carry function

Country Status (1)

Country Link
CN (1) CN206154337U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106426252A (en) * 2016-09-30 2017-02-22 渤海大学 Manipulator terminal clamp with conveying function

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106426252A (en) * 2016-09-30 2017-02-22 渤海大学 Manipulator terminal clamp with conveying function
CN106426252B (en) * 2016-09-30 2018-07-20 渤海大学 Terminal of manipulator fixture with conveying function

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GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20170510

Termination date: 20170930

CF01 Termination of patent right due to non-payment of annual fee