CN206568172U - A kind of handling gripper with mechanical self-locking device - Google Patents
A kind of handling gripper with mechanical self-locking device Download PDFInfo
- Publication number
- CN206568172U CN206568172U CN201720054678.7U CN201720054678U CN206568172U CN 206568172 U CN206568172 U CN 206568172U CN 201720054678 U CN201720054678 U CN 201720054678U CN 206568172 U CN206568172 U CN 206568172U
- Authority
- CN
- China
- Prior art keywords
- chain bar
- hinge
- swing arm
- cylinder
- clamp body
- 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
Links
- 239000007787 solid Substances 0.000 claims 1
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 abstract description 3
- 238000009856 non-ferrous metallurgy Methods 0.000 abstract description 3
- 229910001220 stainless steel Inorganic materials 0.000 abstract description 3
- 239000010935 stainless steel Substances 0.000 abstract description 3
- 229910052719 titanium Inorganic materials 0.000 abstract description 3
- 239000010936 titanium Substances 0.000 abstract description 3
- 238000005520 cutting process Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005868 electrolysis reaction Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model discloses a kind of handling gripper with mechanical self-locking device：Including clamp body, cylinder, hinge fixed seat, chain bar I, chain bar II, clamping swing arm support shaft etc.；Hinge fixed seat is fixed on clamp body, and cylinder is articulated and connected with hinge fixed seat, and the front end of the piston rod of cylinder is connected with earrings before cylinder；Chain bar I, chain bar II and earrings before cylinder are hinged, and chain bar I, chain bar II are located at the both sides of earrings before cylinder；The hole at the middle part of clamping swing arm 7 is slidably matched with clamping swing arm support shaft 6 and is hinged, and is supported by clamping swing arm support shaft 6, and upper end and the chain bar I for clamping swing arm are hinged with hinge, and the lower end for clamping swing arm is fixed with clamping parallels；Clamp backing plate 16 to be fixed on clamp body, chain lever axis support base 10 is fixed on clamp body, chain lever axis support base and the sliding connection of the lower hinge axle of chain bar II.The utility model is mainly used on the machine for cutting charge into pieces of nonferrous metallurgy, crawl and carrying for titanium starting sheet or stainless steel blank.
Description
Technical field
The utility model is related to a kind of handling gripper with mechanical self-locking device, belongs to air-actuated jaw field.
Background technology
In nonferrous metallurgy field, starting sheet is peeled off from kind of plate or the finished-product material that electrolysis is completed directly is peeled off, is required for
Titanium starting sheet or stainless steel blank are carried in large quantities.The use of industrial robot is current development side during kind of plate is carried
To.Air-actuated jaw is the essential matched clamp of industrial robot.Nonferrous metallurgy industry is carrying kind of a plate with industrial robot
When, the spatial dimension of its running orbit is all than larger.On the other hand, the material being handled upside down is also heavier.If in handling process
Drop, it will cause than more serious consequence.So, the reliability and security of air-actuated jaw are that its important technology refers to
Mark.
To improve the reliability and security of air-actuated jaw, when manufacturing and designing fixture, it is necessary to set multiple safety measures.
Prevent fixture to be accidentally unlocked and cause kind of a plate to come off, and use mechanical self-locking device to be to prevent fixture to be accidentally unlocked most reliable arrange
One of apply.
The content of the invention
The purpose of this utility model is to provide a kind of handling gripper with mechanical self-locking device, described kind of plate conveying clamp
Tool includes clamp body 1, cylinder 2, hinge fixed seat 3, chain bar I 4, chain bar II 5, clamping swing arm support shaft 6, clamping swing arm 7, clamping
Earrings 12, kind plate 13, upper hinge 14, clamping backing plate 16 before parallels 9, support base 10, down hinge 11, cylinder；Hinge fixed seat 3 is consolidated
It is scheduled on clamp body 1, cylinder 2 is articulated and connected with hinge fixed seat 3, the front end of the piston rod of cylinder 2 is connected with earrings before cylinder
12；Chain bar I 4, chain bar II 5 and earrings before cylinder 12 are hinged, and chain bar I 4, chain bar II 5 are located at two of earrings 12 before cylinder
Side；The hole for clamping the middle part of swing arm 7 is slidably matched with clamping swing arm support shaft 6, clamps swing arm support shaft 6 and is supported by clamp body 1, is pressed from both sides
The upper end of tight swing arm 7 and chain bar I 4 are hinged with hinge 14, and the lower end for clamping swing arm 7 is fixed with clamping parallels 9；Clamp
Backing plate 16 is fixed on clamp body 1, and chain lever axis support base 10 is fixed on clamp body 1, under chain lever axis support base 10 and chain bar II 5
Hinge 11 is slidably connected.
It is preferred that, the upper end adpting flange 15 of clamp body 1 described in the utility model, for being connected with industrial robot.
It is preferred that, cylinder 2 described in the utility model is articulated and connected by preceding hinge 17 and hinge fixed seat 3.
It is preferred that, chain bar I 4 described in the utility model, chain bar II 5 are hinged on one by earrings 12 before middle hinge 8 and cylinder
Rise.
Operation principle and the course of work of the present utility model are：
When the piston rod of cylinder 2 is withdrawn, fixture is in releasing orientation（See Fig. 2）, when the piston rod of cylinder 2 is released, cylinder
Preceding earrings 12 drives chain bar I 4, chain bar II 5 to swing, and chain bar I 4, the swing of chain bar II 5 have promoted clamping swing arm 7 around clamp arm branch
Support axle 6 is rotated clockwise, so as to clamp workpiece.
Adjustment clamps the position of parallels 9, when being clamped kind of plate 13, upper hinge 14, down hinge 11 and middle hinge 8, and this three
The center line of individual hinge is in a straight line（See Fig. 1）；If being at this moment driving link, counterclockwise folder to clamp swing arm 7
Tight swing arm 7, then go up hinge 14, down hinge 11 and middle hinge 8, the drive line angle of these three hinges is all 0 °, i.e., in self-locking state,
Clamping swing arm 7 can not actively open；When needing to unclamp workpiece, it is merely able to realize by the withdrawal of the piston rod of cylinder 2.
The beneficial effects of the utility model：Fixture described in the utility model is after workpiece is clamped, at the chain linkage carried
In self-locking state, when clamping cylinder is failure to actuate, jaw will not be opened because of the effect of other perturbed forces, be mainly used in
On the metallurgical machine for cutting charge into pieces of color, crawl and carrying for titanium starting sheet or stainless steel blank.
Brief description of the drawings
Fig. 1 is front view of the present utility model when jaw is in clamped condition；
Fig. 2 is front view of the present utility model when jaw is in releasing orientation；
Fig. 3 is the new left view of this practicality.
In figure：1- clamp bodies；2- cylinders；3- hinge fixed seats；4- chain bars I；5- chain bars II；6- clamps swing arm support shaft；
7- clamps swing arm；Hinge in 8-；9- clamps parallels；10- support bases；11- down hinges；Earrings before 12- cylinders；13- kind plates；14-
Upper hinge；15- adpting flanges；16- clamps backing plate；Hinge before 17-.
Embodiment
The utility model is described in further detail with specific embodiment below in conjunction with the accompanying drawings, but guarantor of the present utility model
Shield scope is not limited to the content.
Embodiment 1
Described in the present embodiment with mechanical self-locking device handling gripper include clamp body 1, cylinder 2, hinge fixed seat 3,
Chain bar I 4, chain bar II 5, clamping swing arm support shaft 6, clamping swing arm 7, clamping parallels 9, support base 10, down hinge 11, cylinder vestibule
Ring 12, kind plate 13, upper hinge 14, clamping backing plate 16；The upper end adpting flange 15 of clamp body 1, for being connected with industrial robot；
Hinge fixed seat 3 is fixed on clamp body 1, and cylinder 2 is articulated and connected with hinge fixed seat 3, the front end connection of the piston rod of cylinder 2
There are earrings 12 before cylinder；Chain bar I 4, chain bar II 5 and earrings before cylinder 12 are hinged, and chain bar I 4, chain bar II 5 are located at cylinder
The both sides of preceding earrings 12；The hole for clamping the middle part of swing arm 7 is slidably matched with clamping swing arm support shaft 6, clamps swing arm support shaft 6 by pressing from both sides
Specific 1 support, upper end and the chain bar I 4 for clamping swing arm 7 is hinged with hinge 14, and the lower end for clamping swing arm 7 is fixed with folder
Tight parallels 9；Clamp backing plate 16 to be fixed on clamp body 1, chain lever axis support base 10 is fixed on clamp body 1, chain lever axis support base
10 and the down hinge 11 of chain bar II 5 be slidably connected, as shown in Fig. 1 ~ 3.
Embodiment 2
Described in the present embodiment with mechanical self-locking device handling gripper include clamp body 1, cylinder 2, hinge fixed seat 3,
Chain bar I 4, chain bar II 5, clamping swing arm support shaft 6, clamping swing arm 7, clamping parallels 9, support base 10, down hinge 11, cylinder vestibule
Ring 12, kind plate 13, upper hinge 14, clamping backing plate 16；Manufactured for weldment, its upper end adpting flange 15 is used for and industrial machine
People connects；
Hinge fixed seat 3 is fixed on clamp body 1, and cylinder 2 is articulated and connected by preceding hinge 17 and hinge fixed seat 3, gas
The front end of the piston rod of cylinder 2 is connected with earrings 12 before cylinder；Chain bar I 4, chain bar II 5 are cut with scissors by middle hinge 8 and earrings before cylinder 12
It is connected together, chain bar I 4, chain bar II 5 are located at the both sides of earrings 12 before cylinder；The two ends tight fit for clamping swing arm support shaft 6 is installed
In the hole of the biside plate of clamp body 1, the hole for clamping the middle part of swing arm 7 is slidably connected with clamping swing arm support shaft 6, clamps swing arm
7 upper end is hinged with hinge 14 with chain bar I 4, and the lower end for clamping swing arm 7 is fixed with clamping parallels 9；Clamp backing plate 16
It is fixed on clamp body 1, chain lever axis support base 10 is fixed by bolts on clamp body 1, under chain lever axis support base 10 and chain bar II 5
Hinge 11 is slidably connected, as shown in Fig. 1 ~ 3.
Handling gripper described in the present embodiment when in use, with adpting flange 15 of the bolt by clamp body 1, is installed jaw
In the connecting portion of industrial robot, the motion of cylinder 2 is controlled using solenoid directional control valve, so as to reach the mesh of control fixture folding
's；Fixture is responsible for clamping with unclamping kind of a plate, and industrial robot completes the transhipment of kind of Board position.
Claims (4)
1. a kind of handling gripper with mechanical self-locking device, it is characterised in that：Including clamp body（1）, cylinder（2）, hinge it is solid
Reservation（3）, chain bar I（4）, chain bar II（5）, clamp swing arm support shaft（6）, clamp swing arm（7）, clamp parallels（9）, support base
（10）, down hinge（11）, earrings before cylinder（12）, plant plate（13）, upper hinge（14）, clamp backing plate（16）；Hinge fixed seat（3）
It is fixed on clamp body（1）On, cylinder（2）With hinge fixed seat（3）It is articulated and connected, cylinder（2）The front end of piston rod be connected with
Earrings before cylinder（12）；Chain bar I（4）, chain bar II（5）With earrings before cylinder（12）It is hinged, chain bar I（4）, chain bar II
（5）The earrings before cylinder（12）Both sides；Clamp swing arm（7）The hole at middle part is with clamping swing arm support shaft（6）It is slidably matched, presss from both sides
Tight swing arm support shaft（6）By clamp body（1）Support, clamps swing arm（7）Upper end and chain bar I（4）Use hinge（14）It is hinged on
Together, swing arm is clamped（7）Lower end be fixed with clamping parallels（9）；Clamp backing plate（16）It is fixed on clamp body（1）On, chain lever axis
Support base（10）It is fixed on clamp body（1）On, chain lever axis support base（10）With chain bar II（5）Down hinge（11）The company of being slidably matched
Connect.
2. the handling gripper of mechanical self-locking device is carried according to claim 1, it is characterised in that：Clamp body（1）Upper end
Adpting flange（15）, for being connected with industrial robot.
3. the handling gripper of mechanical self-locking device is carried according to claim 1, it is characterised in that：Cylinder（2）Pass through preceding hinge
Axle（17）With hinge fixed seat（3）It is articulated and connected.
4. the handling gripper of mechanical self-locking device is carried according to claim 1, it is characterised in that：Chain bar I（4）, chain bar II
（5）Pass through middle hinge（8）With earrings before cylinder（12）It is hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720054678.7U CN206568172U (en) | 2017-01-18 | 2017-01-18 | A kind of handling gripper with mechanical self-locking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720054678.7U CN206568172U (en) | 2017-01-18 | 2017-01-18 | A kind of handling gripper with mechanical self-locking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206568172U true CN206568172U (en) | 2017-10-20 |
Family
ID=60061581
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720054678.7U Expired - Fee Related CN206568172U (en) | 2017-01-18 | 2017-01-18 | A kind of handling gripper with mechanical self-locking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206568172U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366511A (en) * | 2018-12-12 | 2019-02-22 | 昆明理工大学 | A kind of sheet nickel fixture |
-
2017
- 2017-01-18 CN CN201720054678.7U patent/CN206568172U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366511A (en) * | 2018-12-12 | 2019-02-22 | 昆明理工大学 | A kind of sheet nickel fixture |
| CN109366511B (en) * | 2018-12-12 | 2023-09-19 | 昆明理工大学 | Electrolytic nickel plate clamp |
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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: 20171020 Termination date: 20190118 |