CN206373895U - The handgrip of vertical crawl steering gear - Google Patents
The handgrip of vertical crawl steering gear Download PDFInfo
- Publication number
- CN206373895U CN206373895U CN201621377441.4U CN201621377441U CN206373895U CN 206373895 U CN206373895 U CN 206373895U CN 201621377441 U CN201621377441 U CN 201621377441U CN 206373895 U CN206373895 U CN 206373895U
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- China
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- movable holder
- fixed seat
- grasping mechanism
- handgrip
- steering gear
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Abstract
The utility model is related to manipulator technical field, more particularly, to a kind of handgrip of vertical crawl steering gear, including relocatable module, the first grasping mechanism that one end of relocatable module is provided with, and the one end of relocatable module away from the first grasping mechanism is provided with the second grasping mechanism；First grasping mechanism includes fixed seat and movable holder, fixed seat is fixedly connected on relocatable module, fixed seat is provided with pinching end, movable holder is slidably arranged in fixed seat, the utility model ensure that part when first driving means fail, remain to Clamp blocks and do not drop, and first driving means are located between pinching end and movable holder, so that the overall structure of the first grasping mechanism is compact, existing manipulator is avoided when capturing material, the power of drive device is depended merely on to drive manipulator to clamp material, and once drive device fails, manipulator ability does not have clamping force, so that material directly will drop on hand from machinery, material is caused to damage, the problem of injury to personnel being caused when serious.
Description
Technical field
The utility model is related to manipulator technical field, more particularly, to a kind of handgrip of vertical crawl steering gear.
Background technology
Manipulator refers to that some holding functions of human hand and arm can be imitated, to capture, carry by fixed routine object or
The automatic pilot of operation instrument, the heavy labor that it can replace people can have to realize the mechanization and automation of production
Operated under evil environment to protect personal safety, thus be widely used in the neck such as machine-building, metallurgy, electronics, light industry and atomic energy
Domain.
Existing manipulator depends merely on the power of drive device to drive manipulator to clamp material when capturing material, and once drives
Dynamic failure of apparatus, manipulator ability does not have clamping force, so that material directly will drop on hand from machinery, is damaged to material
It is bad, injury to personnel can be caused when serious.
Utility model content
The technical problems to be solved in the utility model is：In order to solve existing manipulator when capturing material, driving is depended merely on
The power of device come drive manipulator clamp material, once and drive device fail, manipulator ability do not have clamping force so that
Obtain material directly will drop on hand from machinery, be damaged to material, the problem of causing injury to personnel when serious, now there is provided one kind
The handgrip of vertical crawl steering gear.
The utility model solves the technical scheme that its technical problem used：A kind of handgrip of vertical crawl steering gear,
Including relocatable module, the first grasping mechanism that one end of the relocatable module is provided with, the relocatable module is grabbed away from described first
One end of mechanism is taken to be provided with the second grasping mechanism；
First grasping mechanism includes fixed seat and movable holder, and the fixed seat is fixedly connected on the relocatable module
On, the fixed seat is provided with pinching end, and the movable holder is slidably arranged in the fixed seat, the pinching end and described
Movable holder is oppositely arranged, and being provided between the movable holder and pinching end is used to control movable holder close or away from clamping
The first driving means at end, the described one end of movable holder away from pinching end is provided with the pretightening machine for being used for preventing that movable holder from releasing
Structure, the pre-tightening mechanism includes spring and location-plate, and the described one end of movable holder away from pinching end is provided with lead, described fixed
Position plate is fixed in the fixed seat, and the location-plate, which is located on the movable one end of holder away from pinching end, the location-plate, to be set
There is the pilot hole matched with the lead, one end of the lead is arranged in the pilot hole, and the spring is arranged
On the lead, one end of the spring props up movable holder, and the other end of the spring props up location-plate；
Second grasping mechanism includes the second drive device, and second drive device, which is provided with, to be used to capture part
Crawl section, the crawl section includes relative the first finger and the second finger being slidably arranged in the second drive device, and described the
Two drive devices are used to drive the first finger and second finger close to each other or remote.Before Clamp blocks, first first drives
Dynamic device drive activity holder is moved to the direction away from pinching end, the spring between Compressive activities holder and positioning, first
During grasping mechanism clamping parts, first driving means drive activity holder is close to pinching end, and part is sandwiched in fixed seat
Between pinching end and movable holder, now the spring between movable holder and location-plate does not recover original state completely, when the
One drive device is in failure, and pinching end and movable end are under spring force so that part does not fall out, while
When first grasping mechanism captures part, the second grasping mechanism of the relocatable module other end can also capture part, improve zero
The processing efficiency of part.
Further, the movable holder is provided with sliding block, and glide direction of the fixed seat along the movable holder is set
Line slideway is equipped with, the line slideway matches with the sliding block, and the sliding block is slidably arranged on the line slideway.For
The guarantee activity holder sliding stability in fixed seat is reliable, by being engaged for line slideway and sliding block, can have good
Bearing load and moment of torsion, high-precision linear motion can be realized in high-load situations, this, it is ensured that movable holder operation
When it is reliable and stable.
Further, the pinching end is fixedly connected in the fixed seat, and the pinching end has what is diverged to both sides
Clamp arm, the one end of the clamp arm away from fixed seat is provided with the first locating dowel, the movable holder and is provided with the second positioning
Post, the second locating dowel is oppositely arranged with the first locating dowel.Pass through the first locating dowel on clip end and activity in clamping parts
The second locating dowel on holder cooperates, it is ensured that part clamps reliable and stable.
Preferably, the first driving means and the second drive device are cylinder.Due to first driving means and second
Drive device is cylinder, and air cylinder structure is simple, it is easy to installs and safeguards, and strong adaptability.
Further, the fixed seat is provided with blowning installation, and the air blowing end of the blowning installation is located at described first and determined
At the post of position.In order to prevent the chip on part from dropping at pinching end, chip when part can be processed by blowning installation
Blow off, it is ensured that the good clamping precision of part.
Further, the relocatable module is provided with the adpting flange for being used for connecting mechanical arm.Can by adpting flange
Handgrip is rapidly assembled and disassembled, is easy to the maintenance of handgrip.
The beneficial effects of the utility model are：The utility model captures the handgrip of steering gear when in use vertically, is clamping
Before part, first driving means drive activity holder is moved to the direction away from pinching end first, Compressive activities holder and positioning
Between spring, in the first grasping mechanism clamping parts, first driving means drive activity holder is close to pinching end, part
Between the pinching end and movable holder that are sandwiched in fixed seat, now the spring between movable holder and location-plate is without completely extensive
Restore stateful, when first driving means are in failure, pinching end and movable end are under spring force so that part will not
Fall down, while when the first grasping mechanism captures part, the second grasping mechanism of the relocatable module other end can also be captured
Part, improves the processing efficiency of part, and the utility model ensure that part when first driving means fail, and remains to folder
Tight part and do not drop, and first driving means are located between pinching end and movable holder so that the first grasping mechanism it is whole
Body structure is compact, it is to avoid existing manipulator depends merely on the power of drive device to drive manipulator to clamp when capturing material
Material, once and drive device fail, manipulator ability do not have clamping force so that material will directly from machinery fall on hand
Fall, cause material to damage, the problem of causing injury to personnel when serious.
Brief description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is the three dimensional structure diagram for the handgrip that the utility model captures steering gear vertically；
Fig. 2 is that the inside sliding block for the handgrip that the utility model captures steering gear vertically and the hungry stock of line slideway are illustrated
Figure；
Fig. 3 is structural representation when the utility model captures the handgrip clamping parts of steering gear vertically.
In figure：1st, relocatable module, 2, fixed seat, 3, movable holder, 4, pinching end, 401, clamp arm, the 5, first driving dress
Put, 6, spring, 7, location-plate, 8, lead, the 9, second drive device, the 10, first finger, 11, second finger, 12, sliding block,
13rd, line slideway, the 14, first locating dowel, the 15, second locating dowel, 16, blowning installation, 17, adpting flange.
Embodiment
Presently in connection with accompanying drawing, the utility model is described in more detail.These accompanying drawings are simplified schematic diagram,
Only illustrate basic structure of the present utility model in a schematic way, therefore it only shows the composition relevant with the utility model.
Embodiment
As shown in Figure 1,2 and 3, a kind of handgrip of vertical crawl steering gear, including relocatable module 1, the relocatable module 1
One end is fixedly connected with the first grasping mechanism by screw, and the one end of the relocatable module 1 away from first grasping mechanism leads to
Cross screw and be fixedly connected with the second grasping mechanism；
First grasping mechanism includes fixed seat 2 and movable holder 3, and the fixed seat 2 is fixedly connected on by screw
On the relocatable module 1, the fixed seat 2 is provided with pinching end 4, and the movable holder 3 is slidably arranged in the fixed seat 2
On, the pinching end 4 and the movable holder 3 are oppositely arranged, and being provided between the movable holder 3 and pinching end 4 is used to control
The first driving means 5 of the close or remote pinching end 4 of movable holder 3, first driving means 5 are stationarily connected to pinching end 4
On, the external part of first driving means 5 is fixedly connected with movable holder 3, and the described movable one end of holder 3 away from pinching end 4 is set
There is the pre-tightening mechanism for preventing movable holder 3 from releasing, the pre-tightening mechanism includes spring 6 and location-plate 7, the movable holder
3 one end away from pinching end 4 are provided with lead 8, and lead 8 is fixedly connected on movable holder 3, and the location-plate 7 passes through spiral shell
Nail is fixed in the fixed seat 2, and the location-plate 7 is located on the movable one end of holder 3 away from pinching end 4, the location-plate 7
Provided with the pilot hole matched with the lead 8, one end of the lead 8 is arranged in the pilot hole, the spring 6
It is set on the lead 8, one end of the spring 6 props up movable holder 3, and the other end of the spring 6 props up location-plate
7, spring 6 is located between movable holder 3 and location-plate 7；
Second grasping mechanism includes the second drive device 9, and the second drive device 9 is fixed on relocatable module 1, described
Second drive device 9 is provided with the crawl section for being used for capturing part, and the crawl section includes being slidably arranged in the second driving relatively
The first finger 10 and second finger 11 on device 9, second drive device 9 are used to drive the first finger 10 and second finger
11 is close to each other or remote.
The movable holder 3 is provided with sliding block 12, and glide direction of the fixed seat 2 along the movable holder 3 is provided with
Line slideway 13, the line slideway 13 matches with the sliding block 12, and the sliding block 12 is slidably arranged in the line slideway
On 13.
The pinching end 4 is fixedly connected in the fixed seat 2, and the pinching end 4 has the clamp arm diverged to both sides
401, the described one end of clamp arm 401 away from fixed seat 2 is provided with the first locating dowel 14, the movable holder 3 and is provided with second
Locating dowel 15, the second locating dowel 15 is oppositely arranged with the first locating dowel 14.The drive device 9 of first driving means 5 and second
It is cylinder.The bottom surface of part has the first positioning hole matched with the first locating dowel 14, with respect to the one of the first positioning hole
Face has the second positioning hole, and the second positioning hole matches with the second locating dowel 15, the first locating dowel in processing on pinching end 4
14 are arranged in the first positioning hole of part, and the second locating dowel 15 on movable holder 3 is arranged in the second positioning hole of part
, on the one hand it is precision when ensureing part processing, on the other hand also for ensureing that parts fixation is solid and reliable, in processing
It is stable.
The fixed seat 2 is provided with blowning installation 16, and the air blowing end of the blowning installation 16 is located at first locating dowel
At 14.Part can produce many iron filings, in part reprocessabilty, iron filings are easy to be clamped in part when capturing processing
And first between grasping mechanism, the machining accuracy of influence part in itself, by blowning installation 16, in parts fixation, alignment folder
Tightly to blowing, the iron filings on pinching end 4 are removed.
The relocatable module 1 is provided with the adpting flange 17 for being used for connecting mechanical arm.It is fixed to be grasped hand by flange
On the robotic arm, full automation is realized.
When in use, cylinder passes through peripheral control unit to the handgrip of above-mentioned vertical crawl steering gear by access external gas source
The keying of cylinder is controlled, concrete operation step is as follows：Cylinder first between control pinching end 4 and movable holder 3, cylinder, which drives, lives
Dynamic holder 3 is slided to the direction away from pinching end 4, and the sliding block 12 on movable holder 3 is sliding on the line slideway 13 in fixed seat 2
Move, and the pilot hole movement on the relative positioning plate 7 of lead 8 on movable holder 3, while extruding is set on lead 8
Spring 6, now pinching end 4 and movable holder 3 open, when part fix in position, then control pinching end 4 and movable holder 3 it
Between cylinder, cylinder drive activity holder 3 draws close to pinching end 4 and presss from both sides part clamping, now movable holder 3 and location-plate 7 it
Between spring 6 still there is certain spring force, when cylinder deactivation, cause that movable holder 3 is still oriented under spring force
The active force in the direction of fixed seat 2 so that pinching end 4 and movable holder 3 keep the clamped condition to part, effectively prevent part
Unclamped in cylinder deactivation, and the phenomenon for making part drop, the operation of the first grasping mechanism is completed, while being captured in control first
During mechanism, the second grasping mechanism can be controlled to carry out the cylinder on clamping, the second grasping mechanism of control to part so that first-hand
Finger 10 and second finger 11 are relatively distant from, then control the first finger 10 and second finger 11 mutually to draw close and be fixedly clamped to part,
Complete the operation that whole hand is grabbed.
Above-mentioned is enlightenment according to desirable embodiment of the present utility model, passes through above-mentioned description, relevant staff
Various changes and amendments can be carried out in the range of without departing from this utility model technological thought completely.This practicality
New technical scope is not limited to the content on specification, it is necessary to determine that its is technical according to right
Scope.
Claims (6)
1. a kind of handgrip of vertical crawl steering gear, including relocatable module (1), it is characterised in that：The one of the relocatable module (1)
End is provided with the first grasping mechanism, and the one end of the relocatable module (1) away from first grasping mechanism is provided with the second grasping mechanism；
First grasping mechanism includes fixed seat (2) and movable holder (3), and the fixed seat (2) is fixedly connected on described floating
On dynamic model block (1), the fixed seat (2) is provided with pinching end (4), and the movable holder (3) is slidably arranged in the fixed seat
(2) on, the pinching end (4) and the movable holder (3) are oppositely arranged, and are set between the movable holder (3) and pinching end (4)
There are the first driving means (5) for controlling the close or remote pinching end (4) of movable holder (3), the movable holder (3) is remote
One end from pinching end (4) is provided with and is used to prevent pre-tightening mechanism that movable holder (3) is released, and the pre-tightening mechanism includes spring
(6) and location-plate (7), the one end of the movable holder (3) away from pinching end (4) is provided with lead (8), the location-plate (7)
It is fixed in the fixed seat (2), the location-plate (7) is located at the movable one end of holder (3) away from pinching end (4), described fixed
Position plate (7) is provided with the pilot hole matched with the lead (8), and one end of the lead (8) is arranged on the guiding
In hole, the spring (6) is set on the lead (8), and one end of the spring (6) props up movable holder (3), the bullet
The other end of spring (6) props up location-plate (7)；
Second grasping mechanism includes the second drive device (9), and second drive device (9), which is provided with, to be used to capture part
Crawl section, the crawl section includes relative the first finger (10) and the second-hand being slidably arranged in the second drive device (9)
Refer to (11), second drive device (9) is used to drive the first finger (10) and second finger (11) close to each other or remote.
2. the handgrip of vertical crawl steering gear according to claim 1, it is characterised in that：Set on the movable holder (3)
There is sliding block (12), glide direction of the fixed seat (2) along the movable holder (3) is provided with line slideway (13), described straight
Line guide rail (13) matches with the sliding block (12), and the sliding block (12) is slidably arranged on the line slideway (13).
3. the handgrip of vertical crawl steering gear according to claim 1 or 2, it is characterised in that：The pinching end (4) is fixed
It is connected in the fixed seat (2), the pinching end (4) has the clamp arm (401) diverged to both sides, the clamp arm
(401) one end away from fixed seat (2) is provided with the first locating dowel (14), the movable holder (3) and is provided with the second locating dowel
(15), the second locating dowel (15) is oppositely arranged with the first locating dowel (14).
4. the handgrip of vertical crawl steering gear according to claim 1, it is characterised in that：The first driving means (5)
It is cylinder with the second drive device (9).
5. the handgrip of vertical crawl steering gear according to claim 3, it is characterised in that：The fixed seat (2) is provided with
Blowning installation (16), the air blowing end of the blowning installation (16) is located at the first locating dowel (14) place.
6. the handgrip of vertical crawl steering gear according to claim 1, it is characterised in that：Set on the relocatable module (1)
Have for connecting the adpting flange of mechanical arm (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621377441.4U CN206373895U (en) | 2016-12-15 | 2016-12-15 | The handgrip of vertical crawl steering gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621377441.4U CN206373895U (en) | 2016-12-15 | 2016-12-15 | The handgrip of vertical crawl steering gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206373895U true CN206373895U (en) | 2017-08-04 |
Family
ID=59406642
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621377441.4U Active CN206373895U (en) | 2016-12-15 | 2016-12-15 | The handgrip of vertical crawl steering gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206373895U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858161A (en) * | 2018-08-22 | 2018-11-23 | 中民筑友科技投资有限公司 | A kind of manipulator and set mould truss robot |
-
2016
- 2016-12-15 CN CN201621377441.4U patent/CN206373895U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858161A (en) * | 2018-08-22 | 2018-11-23 | 中民筑友科技投资有限公司 | A kind of manipulator and set mould truss robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 750021 First Floor, Section E, Building 3, Phase 1, Bearing Town, Jinfeng Industrial Park, Economic Development Zone, Yinchuan City, Ningxia Hui Autonomous Region Patentee after: Yigong Robot Yinchuan Co.,Ltd. Address before: 750021 Workshop 7, SME Entrepreneurship Base, West Zone, Yinchuan Development Zone, Ningxia Hui Autonomous Region Patentee before: STON ROBOTICS YINCHUAN CO.,LTD. |
|
| CP03 | Change of name, title or address |