CN206185899U - Rotary combined robot tongs - Google Patents

Rotary combined robot tongs Download PDF

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Publication number
CN206185899U
CN206185899U CN201621275433.9U CN201621275433U CN206185899U CN 206185899 U CN206185899 U CN 206185899U CN 201621275433 U CN201621275433 U CN 201621275433U CN 206185899 U CN206185899 U CN 206185899U
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CN
China
Prior art keywords
gripping arm
frame
hinge seat
gripper arm
spline
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CN201621275433.9U
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Chinese (zh)
Inventor
潘高峰
马静
马静一
徐爱丽
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Yituo (luoyang) Co Ltd Huide Tooling
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Yituo (luoyang) Co Ltd Huide Tooling
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Priority to CN201621275433.9U priority Critical patent/CN206185899U/en
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Publication of CN206185899U publication Critical patent/CN206185899U/en
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Abstract

The utility model provides a rotary combined robot tongs, includes: the frame, a machine support, linear guide, the connecting plate, right side gripper arm, the tongs, servo motor, the cylinder, the hinge seat, the connecting rod, synchronous slewing mechanism, erection joint board in the ball spline frame, be fixed with the linear guide of a pair of parallel in the frame, left side gripper arm and right gripper arm symmetry dress both sides about linear guide, both ends about the frame are fixed to the cylinder body end of two cylinders, the one end of the connecting rods that two length equals respectively with install in left gripper arm, hinge seat in the gripper arm of the right side is articulated, the other end of connecting rod is articulated with rack -mounted synchronous slewing mechanism. The utility model discloses compact structure collects A number of functions in an organic whole, and the performance accuracy obviously is superior to manual operation, greatly reduced manufacturing cost, can show improvement production efficiency, reduce intensity of labour.

Description

A kind of rotation combination robot gripper
Technical field
The utility model belongs to automatic production line technical field, is related to a kind of robot gripper, more particularly to a kind of rotation Turn assembly robot's handgrip.
Background technology
With being gradually reduced for demographic dividend, enterprises using the labor cost rises steadily, and industrial robot just progressively comes into the public The visual field, operation strategies are more and more extensive.In the application of industrial robot, robot gripper is essential, for different Crawl task needs the different robot gripper of correspondence.
At present, domestic engine cylinder-body coremaking production line, ready-made core is generally used be suspended on handling appliance Fixture is clamped, and being transported to leaching material pond carries out dip-coating material, after swinging repeatedly and draining, then is placed into drying oven roller-way. During this, artificial range estimation can only be relied on, and need the steady of artificial hand steered guarantee fixture, clamping precision is low, production efficiency Low, workload is big.Also have on production line in the prior art and introduce robot and carry out automatic transporting, dip-coating.But current machine People's handgrip only has single holding function mostly, it is difficult to realize while to middle clamping, accurately revolving holding parts The control of gyration, speed, causes that its adaptability is smaller, and versatility is poor, it is impossible to meet multi-functional requirement.
Utility model content
The purpose of this utility model is to provide a kind of energy clamping workpiece, and the precise control workpiece anglec of rotation and speed Rotation combination robot gripper, using pneumatic clamping mode, SERVO CONTROL handgrip accurately rotates.Robot gripper collection is multinomial Function accurately and reliably can clamp core in one, and drive it to rotate, and performance accuracy is substantially better than artificial operation, greatly Production cost is reduced greatly, production efficiency can be significantly improved, reduce labour intensity.
To realize as above purpose, the technical solution adopted in the utility model is:A kind of rotation combination robot gripper, bag Include:Frame, left gripping arm, line slideway, connecting plate, right gripping arm, handgrip, servomotor, cylinder, hinge seat, connecting rod, synchronous axial system Mechanism, ball spline;Connecting plate is installed in frame, a pair of parallel line slideway, left gripping arm and right gripping arm are fixed with frame Line slideway the right and left is symmetrically mounted in, the cylinder body end of two cylinders is fixed on frame or so two ends, two companies of equal length One end of bar is hinged with the hinge seat in left gripping arm, right gripping arm respectively, the other end of connecting rod with it is rack-mounted Synchronous rotary mechanism is hinged.
Two tailpieces of the piston rod of cylinder are connected with the hinge seat in left gripping arm and right gripping arm respectively, the work of cylinder The flexible axis of stopper rod is parallel to line slideway.
Chain type transmission mechanism is provided with left gripping arm and right gripping arm;Handgrip is provided with circular cone alignment pin, two handgrip difference On left gripping arm, the driven shaft of right gripping arm.
Two symmetrical spline mothers are provided with ball spline, it is possible to achieve slide along splined shaft axis direction, and Can be rotated with splined shaft;Splined shaft is arranged in frame, and spline mother is separately mounted to left gripping arm, on right gripping arm power transmission shaft.
Frame side is provided with servomotor, and servomotor output end is coaxially fixed by socket with the splined shaft of ball spline.
The utility model has following superiority after using above-mentioned technical proposal:The utility model compact conformation, collects multinomial In one, performance accuracy is substantially better than artificial operation to function, greatly reduces production cost, can significantly improve production efficiency, Reduce labour intensity.
Brief description of the drawings
Fig. 1 is a kind of rotation combination robot gripper general structure schematic diagram of the utility model;
Fig. 2 is the schematic top plan view of Fig. 1;
Fig. 3 is the elevational schematic view of Fig. 1.
Wherein:1. the left handgrip 7. of 3. line slideway of gripping arm, 4. 5. right gripping arm of connecting plate 6. of frame 2. is watched Take the connecting rod of 8. cylinder of motor, 9. hinge seat 10.
The ball spline of 11. synchronous rotary mechanism 12..
Specific embodiment
The utility model is further described below in conjunction with the accompanying drawings.As shown in Figures 1 to 3, a kind of rotation combination machine People's handgrip, including:Frame 1, left gripping arm 2, line slideway 3, connecting plate 4, right gripping arm 5, handgrip 6, servomotor 7, cylinder 8, hinge Chain seat 9, connecting rod 10, synchronous rotary mechanism 11, ball spline 12;Wherein, connecting plate 4 is installed in frame 1, is connected with robot arm Connect, a pair of parallel line slideway 3 is fixed with frame 1, chain type transmission mechanism is set in left gripping arm 2 and right gripping arm 5, can select existing There is any one structure in technology, here is omitted, left gripping arm 2 and right gripping arm 5 are symmetrically mounted on line slideway 3 or so two Side, can slide along line slideway 3.
Hinge seat 9 is fixed with left gripping arm 2 and right gripping arm 5, the cylinder body end of two cylinders 8 is screwed on the left side of frame 1 Right two ends, two tailpieces of the piston rod of cylinder 8 are hinged with the hinge seat 9 in left gripping arm 2 and right gripping arm 5 respectively, the piston of cylinder 8 The flexible axis of bar parallel to line slideway 3, the hinge seat 9 in isometric two one end of connecting rod 10 and left gripping arm 2 and right gripping arm 5 It is hinged, the other end is hinged with the synchronous rotary mechanism 11 being fixed in frame 1, drives two piston rods of cylinder 8 to stretch, can makes Left gripping arm 2 and right gripping arm 5 are along the synchronous slide of line slideway 3 in frame 1.
The splined shaft of ball spline 12 is provided with two symmetrical spline mothers, and splined shaft is arranged on and is provided with bearing In frame 1, two spline mothers of ball spline 12 are separately mounted to the master of the chain type transmission mechanism in left gripping arm 2 and right gripping arm 5 On moving axis, handgrip 6 is provided with circular cone alignment pin, and two handgrips 6 are separately mounted on the driven shaft of left gripping arm 2 and right gripping arm 2, watch Motor 7 is taken installed in the side of frame 1, output end and the splined shaft of ball spline 12 of servomotor 7 are coaxially fixed by socket.
Its operation principle is:The frame 1 is arranged in robot by connecting plate 4, left gripping arm 2 and right gripping arm during reset Distance is maximum between 5, and at this moment the piston rod of two cylinders 8 is fully retracted.When clamping workpiece, the piston of left and right two cylinders 8 Bar stretches out, and promotes the hinge seat 9 in left gripping arm 2 and right gripping arm 5 to be slided along line slideway 3, and drive is hinged with hinge seat 9 Connecting rod 10 be pulled and moved to relative direction along axis swing, connecting rod 10 is hinged, promotion is fixed on synchronous axial system in frame 1 Mechanism 11 is along the axis oscillating of itself, because two connecting rods 10 are isometric, according to lever principle so that the piston rod of two cylinders 8 is stretched Go out to interact, formation is synchronized with the movement, and then cause that left gripping arm 2 and right gripping arm 5 are synchronously mutually drawn close, until left gripping arm 2 and the right side Handgrip 6 in gripping arm 5 clamps target part;The output end of servomotor 7 is rotated, so as to drive the splined shaft of ball spline 12 With spline mother's concomitant rotation, spline master tape moves the driving shaft synchronous axial system of the chain type transmission mechanism in left gripping arm 2 and right gripping arm 5, And then drive two handgrips 6 on driven shaft to realize synchronous axial system so that and clamped target part rotation, while precise control The angle and speed of part rotation.
Preferred embodiment of the present utility model is the foregoing is only, the utility model is not limited to.By above-mentioned Description, relevant staff can be carried out various in the range of without departing from this utility model technological thought completely Change and modification.In every case within the scope of inventive concept of the present utility model, any modification, equivalent substitution and improvements done Deng being all contained within rights protection scope of the present utility model.

Claims (5)

1. a kind of rotation combination robot gripper, including:Frame(1), left gripping arm(2), line slideway(3), connecting plate(4), it is right Gripping arm(5), handgrip(6), servomotor(7), cylinder(8), hinge seat(9), connecting rod(10), synchronous rotary mechanism(11), ball Spline(12);It is characterized in that:Frame(1)Upper installation connecting plate(4), frame(1)On be fixed with a pair of parallel line slideway (3), left gripping arm(2)With right gripping arm(5)Symmetrically it is mounted in line slideway(3)The right and left, two cylinders(8)Cylinder body end be fixed on Frame(1)Left and right two ends, two connecting rods of equal length(10)One end respectively with installed in left gripping arm(2), right gripping arm(5)On Hinge seat(9)It is hinged, connecting rod(10)The other end be arranged on frame(1)On synchronous rotary mechanism(11)It is hinged.
2. a kind of rotation combination robot gripper according to claim 1, it is characterised in that:Two cylinders(8)Piston Rod end respectively with installed in left gripping arm(2)With right gripping arm(5)On hinge seat(9)It is connected, cylinder(8)Piston rod telescopic shaft Line is parallel to line slideway(3).
3. a kind of rotation combination robot gripper according to claim 1, it is characterised in that:Left gripping arm(2)With right gripping arm (5)Inside it is provided with chain type transmission mechanism;Handgrip(6)It is provided with circular cone alignment pin, two handgrips(6)It is separately mounted to left gripping arm (2), right gripping arm(5)Driven shaft on.
4. a kind of rotation combination robot gripper according to claim 1, it is characterised in that:Frame(1)Side is provided with Servomotor(7), servomotor(7)Output end and ball spline(12)Splined shaft be coaxially fixed by socket.
5. a kind of rotation combination robot gripper according to claim 4, it is characterised in that:Ball spline(12)Upper setting There are two symmetrical spline mothers, it is possible to achieve slided along splined shaft axis direction, and can be rotated with splined shaft;Spline Axle is arranged on frame(1)On, spline mother is separately mounted to left gripping arm(2), right gripping arm(5)On power transmission shaft.
CN201621275433.9U 2016-11-25 2016-11-25 Rotary combined robot tongs Active CN206185899U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201621275433.9U CN206185899U (en) 2016-11-25 2016-11-25 Rotary combined robot tongs

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201621275433.9U CN206185899U (en) 2016-11-25 2016-11-25 Rotary combined robot tongs

Publications (1)

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CN206185899U true CN206185899U (en) 2017-05-24

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106426254A (en) * 2016-11-25 2017-02-22 拖(洛阳)汇德工装有限公司 Rotary assembly robot gripper
CN107671805A (en) * 2017-09-18 2018-02-09 郑兴 A kind of turnable apparatus for examination and repair of instrument and meter
WO2020192147A1 (en) * 2019-03-28 2020-10-01 三门三友科技股份有限公司 Cathode plate clamping device
CN111907825A (en) * 2020-08-29 2020-11-10 尹平 Linkage type vacuum heat sealing machine

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106426254A (en) * 2016-11-25 2017-02-22 拖(洛阳)汇德工装有限公司 Rotary assembly robot gripper
CN107671805A (en) * 2017-09-18 2018-02-09 郑兴 A kind of turnable apparatus for examination and repair of instrument and meter
WO2020192147A1 (en) * 2019-03-28 2020-10-01 三门三友科技股份有限公司 Cathode plate clamping device
CN111907825A (en) * 2020-08-29 2020-11-10 尹平 Linkage type vacuum heat sealing machine

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