CN207155823U - A kind of mechanical gripper - Google Patents

Abstract

The utility model discloses a kind of mechanical gripper, including body frame, mechanical arm and drive mechanism, the mechanical arm is symmetrically articulated with the front and rear sides of body frame, the drive mechanism includes motor, rotary shaft and folding bar, described folding bar one end is connected with mechanical arm, and the other end can drive rotary shaft to rotate with rotation axis connection, the motor, the drive shaft is rotated by itself drives folding bar to move forward and backward, and mechanical arm is opened or is closed.Using the utility model, parting bead can reliably be gripped, the transfer for the metal bar being easy on parting bead.

Description

A kind of mechanical gripper

Technical field

It the utility model is related to a kind of mechanical capture apparatus, more particularly to a kind of mechanical gripper.

Background technology

Existing metal bar processing enterprise, handling is carried out to metal bar usually using overhead traveling crane.Lifting during handling and under Material is by manual operation.But the quality of metal bar is big, and circular rod body is not fixed easily.Worker is using cable wire to metal Rod is bundled and needs to pay larger muscle power when being lifted by crane, and the position bundled determines by the experience of worker entirely, once deviate Center of gravity, or handling process swing too big, the possibility for having bar to drop, and the worker and equipment to surrounding produce harm.

The content of the invention

Technical problem to be solved in the utility model is, there is provided a kind of mechanical gripper, parting bead reliably can be held Hold, the transfer for the metal bar being easy on parting bead.

In order to solve the above-mentioned technical problem, the utility model provides a kind of mechanical gripper, including body frame, mechanical arm and drive Motivation structure, the mechanical arm are symmetrically articulated with the front and rear sides of body frame, and the drive mechanism includes motor, rotary shaft and opened Bar is closed, described folding bar one end is connected with mechanical arm, and the other end can drive rotary shaft with rotation axis connection, the motor Rotation, the drive shaft is rotated by itself drives folding bar to move forward and backward, and mechanical arm is opened or is closed.

As the improvement of such scheme, the mechanical arm includes barrier shape body, and the lower end of the barrier shape body is provided with Horizontally disposed crawl plate.

As the improvement of such scheme, the barrier shape body is by fulcrum rod hinge connection in the hinged seat of body frame both sides On.

As the improvement of such scheme, the motor is located at the centre of body frame, is connected with the middle part of rotary shaft, drives Dynamic rotary shaft rotation；The both ends of the rotary shaft are fixed with crank mechanism, and the crank mechanism is opened with what anterior-posterior horizontal was set Close bar connection.

As the improvement of such scheme, the left and right sides of the body frame is provided with guide wheel group, and each guide wheel group includes two Individual directive wheel, preset space length is provided between two directive wheels.

As the improvement of such scheme, movable pulley is additionally provided with the body frame.

As the improvement of such scheme, the inner side of the mechanical arm is provided with parting bead detection part, the parting bead detection part Switched including laser detection, the laser detection switch is concordant with crawl plate.

Implement the utility model, have the advantages that：

Mechanical gripper provided by the utility model includes body frame, mechanical arm and drive mechanism, and the mechanical arm is symmetrically hinged In the front and rear sides of body frame, the drive mechanism includes motor, rotary shaft and folding bar, described folding bar one end and machinery Arm connects, and the other end can drive rotary shaft to rotate with rotation axis connection, the motor, and the drive shaft is revolved by itself Turn to drive folding bar to move forward and backward, mechanical arm is opened or is closed, parting bead can reliably be gripped, the metal being easy on parting bead The transfer of rod.

Brief description of the drawings

Fig. 1 is a kind of overall structure diagram of automatic stacker of the present invention；

Fig. 2 is the overall structure diagram of the raising ground-engaging element of the present invention；

Fig. 3 is the overall structure diagram of the mechanical gripper of the present invention；

Fig. 4 is a kind of mechanical gripper seized condition schematic diagram of automatic stacker of the present invention；

Fig. 5 is a kind of mechanical gripper release conditions schematic diagram of automatic stacker of the present invention；

Fig. 6 is a kind of working state schematic representation of automatic stacker of the present invention.

Embodiment

To make the object, technical solutions and advantages of the present invention clearer, the present invention is made into one below in conjunction with accompanying drawing It is described in detail on step ground.Only this is stated, appearance in the text of the invention or the side such as the up, down, left, right, before and after that will appear from, inside and outside Position word, only on the basis of the accompanying drawing of the present invention, it is not the specific restriction to the present invention.

As Figure 1-Figure 5, the embodiments of the invention provide a kind of automatic stacker, including raising ground-engaging element 1, guiding Part 2 and mechanical gripper 3, the raising ground-engaging element 1 are connected by steel wire rope 4 with mechanical gripper 3, the water of driving mechanical handgrip 3 Translation is moved and vertical lifting；The guiding parts 2 stretches out straight down from the bottom of raising ground-engaging element 1, for limit mechanical Handgrip 3 with respect to raising ground-engaging element 1 swing and move horizontally；The mechanical gripper 3 is used to capture and discharge parting bead；

The raising ground-engaging element 1 includes traction part 11 and ground-engaging element 12, and the traction part 11 passes through folding and unfolding steel The vertical lifting of the control machinery handgrip 3 of cord 4, the ground-engaging element 12 by being slided on default slide rail, grab by driving mechanical The integral translation of hand 3；

The mechanical gripper 3 includes body frame 31, mechanical arm 32 and drive mechanism 33, and the mechanical arm 32 is symmetrically articulated with master The front and rear sides of frame 31, the drive mechanism 33 include motor 331, rotary shaft 332 and folding bar 333, the folding bar 333 one end are connected with mechanical arm 32, and the other end is connected with rotary shaft 332, and the motor 331 can drive rotary shaft 332 Rotation, the rotary shaft 332 is rotated by itself drives folding bar 333 movable, mechanical arm 32 is opened or is closed.

Automatic stacker provided by the invention is provided with guiding parts 2, can ensure that machine when bias occurs for handling load Beat does not occur for tool handgrip 3, ensures lifting safety.

Automatic stacker provided by the invention can automatic material taking, it is automatic stack, the automatic stacker stacks efficiency high, pole The big waste for reducing human resources, improves enterprise competitiveness, and the automatic stacker is safe and reliable, reduces accident Occur, ensured the safety of people and machine.

The concrete structure of the application is specifically described below：The ground-engaging element 12 includes walking chassis 121, and its corner is provided with Road wheel 122, the road wheel 122 are driven by movable motor 123.Road wheel 122 works as walking on factory building loop wheel machine slide rail When wheel 122 rotates, it can drive ground-engaging element 12 is overall to be moved along loop wheel machine slide rail.The traction part 11 includes traction motor 111st, reductor 112, brake 113, roller 114 and fixed pulley 115；The traction motor 111 passes through reductor 112 and roller 114 are connected, and steel wire rope 4 is wound with the roller 114.The guiding parts 2 is located at the following table of walking chassis 121 to be symmetrical The rectangular shaft 21 in face, the front and rear sides of rectangular shaft 21 are provided with directive slide track 22；The left and right sides of the body frame 31, which is provided with, to be oriented to Wheel group, each guide wheel group include two directive wheels 34, and groups of two directive wheels 34 are located at the front and rear sides of rectangular shaft 21, with Directive slide track 22 abuts.When mechanical gripper 3 lifts, the directive wheel 34 slides on directive slide track 22, the directive wheel 34 Groove is provided with the contact surface of directive slide track 22, the groove sinks into directive slide track 22, prevents directive wheel 34 to be oppositely oriented cunning Rail 22 moves left and right.The mechanical arm 32 includes barrier shape body 321, and the lower end of the barrier shape body 321 is set provided with level The crawl plate 322 put.The barrier shape body 321 is articulated with by fulcrum connecting rod 323 on the hinged seat 324 of the both sides of body frame 31. The motor 331 is located at the centre of body frame 31, is connected with the middle part of rotary shaft 332, and driving rotary shaft 332 rotates；Institute The both ends for stating rotary shaft 332 are fixed with crank mechanism 334, the folding bar 333 that the crank mechanism 334 is set with anterior-posterior horizontal Connection.Movable pulley 35 is additionally provided with the body frame 31, the guiding from the steel wire rope 4 that traction part 11 stretches out by fixed pulley 115 Movable pulley 35 is passed through afterwards, drives body frame 31 to lift.The inner side of the mechanical arm 32 is provided with parting bead detection part 36, the parting bead inspection Surveying part 36 includes laser detection switch 37, and the laser detection switch 37 is concordant with crawl plate 322.

It is as follows with reference to Fig. 6, the operation principle of this automatic stacker：

1st, parting bead is taken.

Automatic stacker runs to the top of parting bead storehouse 5, is rotated, made wound on rolling by the driving drum 114 of traction motor 111 Steel wire rope 4 on cylinder 114 rolls out, and steel wire rope 4 is directed to movable pulley 35 by fixed pulley 115, and control machinery handgrip 3 declines, extremely The top of parting bead storehouse 5；Motor 331 on mechanical gripper 3 drives rotary shaft 332 to rotate, and control folding bar 333 bounces back, and makes machine Tool arm 32 opens in the presence of fulcrum connecting rod 323；Pass through the inspection of laser detection switch 37 on parting bead detection part 36 Parting bead is surveyed, control machinery arm 32 is parked in the parting bead bottom of the top of parting bead storehouse 5, control accuracy 3mm, under mechanical gripper 3 stops Drop；Motor 331 on mechanical gripper 3 drives rotary shaft 332 to rotate, and control folding bar 333 stretches out, and is propping up mechanical arm 32 Closed in the presence of point connecting rod 323, the parting bead of the top of crawl parting bead storehouse 5；Rotated by the driving drum 114 of traction motor 111, It is involved in the steel wire rope 4 on roller 114, steel wire rope 4 is directed to movable pulley 35 by fixed pulley 115, and control machinery is grabbed Hand 3 rises, by limit switch 38 above and below the mechanical gripper on body frame 31, control machinery handgrip 3 be parked in upper limit ( It is exactly at the automatic maximum height for stacking function raising)；

2nd, rod is filled.

Hoofing part gear 124 of the drive installation of movable motor 123 on left ground-engaging element and right ground-engaging element, driving row Wheel 122 is walked toward traveling at parting bead locating rack 6, limit switch 125 makes automatic stacker be parked on parting bead locating rack 6 by walking Side, positioning precision 3mm；Rotated by the driving drum 114 of traction motor 111, make the steel wire rope volume 4 on roller 114 Go out, steel wire rope 4 is directed to movable pulley 35 by fixed pulley 115, and control machinery handgrip 3 declines, and parting bead positioning is placed on to parting bead After on frame 6, position and controlled by the encoder in traction motor 111 herein；Motor 331 on mechanical gripper 3 drives Dynamic rotary shaft 332 rotates, and control folding bar 333 shrinks, after mechanical arm 32 is opened in the presence of fulcrum connecting rod 323；Pass through The driving drum 114 of traction motor 111 rotates, and is involved in the steel wire rope 4 on roller 114, steel wire rope 4 passes through fixed pulley 115 are directed to movable pulley 35, and control machinery handgrip 3 rises, and pass through limit switch above and below the mechanical gripper on body frame 31 38, control machinery handgrip 3 is parked in upper limit；After one layer of billet is sequenced on one layer of parting bead, pass through the driving drum of traction motor 111 114 rotate, and roll out the steel wire rope 4 on roller 114, and steel wire rope 4 is directed to movable pulley 35 by fixed pulley 115, control Mechanical gripper 3 processed is dropped to below the parting bead of parting bead locating rack 6, is switched by the laser detection on parting bead detection part 36 37 detection parting beads, control machinery arm 32 are parked in parting bead bottom, and manipulator stops declining；Motor 331 on mechanical gripper 3 drives Dynamic rotary shaft 332 rotates, and control folding bar 333 stretches out, and mechanical arm 32 is closed in the presence of fulcrum connecting rod 323；By draging Draw the driving drum 114 of motor 111 to rotate, be involved in the steel wire rope 4 on roller 114, steel wire rope 4 passes through fixed pulley 115 Movable pulley 35 is directed to, control machinery handgrip 3 rises, by limit switch 38 above and below the mechanical gripper on body frame 31, Control machinery handgrip 3 is parked in upper limit；

3rd, handling.

Hoofing part gear 124 of the drive installation of movable motor 123 on left ground-engaging element and right ground-engaging element, driving row Wheel 122 is walked toward traveling at roadside material terrace 7, automatic stacker is parked in the top of roadside material terrace 7 by limit switch 125 of walking；By draging Draw the driving drum 114 of motor 111 to rotate, roll out the steel wire rope 4 on roller 114, steel wire rope 4 passes through fixed pulley 115 Movable pulley 35 is directed to, control machinery handgrip 3 declines, and after controlling parting bead and billet to be placed on roadside material terrace 7, positions herein by pacifying Encoder control in traction motor 111；Motor 331 on mechanical gripper 3 drives rotary shaft 332 to rotate, and controls Folding bar 333 shrinks, after mechanical arm 32 is opened in the presence of fulcrum connecting rod 323；Pass through the driving drum of traction motor 111 114 rotate, and are involved in the steel wire rope 4 on roller 114, and steel wire rope 4 is directed to movable pulley 35 by fixed pulley 115, control Mechanical gripper 3 processed rises, and by limit switch 38 above and below the mechanical gripper on body frame 31, control machinery handgrip 3 is parked in Upper limit；Then automatic stacker is travelled to the top of parting bead storehouse 5, so far automatic stacker working cycles completion.

The above disclosed power for being only a kind of preferred embodiment of the present invention, the present invention can not being limited with this certainly Sharp scope, therefore the equivalent variations made according to the claims in the present invention, still belong to the scope that the present invention is covered.

Claims (7)

1. a kind of mechanical gripper, it is characterised in that including body frame, mechanical arm and drive mechanism, the mechanical arm is symmetrically articulated with The front and rear sides of body frame, the drive mechanism include motor, rotary shaft and folding bar, described folding bar one end and mechanical arm Connection, the other end can drive rotary shaft to rotate with rotation axis connection, the motor, and the drive shaft is rotated by itself Drive folding bar to move forward and backward, mechanical arm is opened or is closed.

2. mechanical gripper as claimed in claim 1, it is characterised in that the mechanical arm includes barrier shape body, the barrier The lower end of shape body is provided with horizontally disposed crawl plate.

3. mechanical gripper as claimed in claim 2, it is characterised in that the barrier shape body is by fulcrum rod hinge connection in master On the hinged seat of frame both sides.

4. mechanical gripper as claimed in claim 3, it is characterised in that the motor is located at the centre of body frame, with rotation The middle part connection of rotating shaft, driving rotary shaft rotation；The both ends of the rotary shaft are fixed with crank mechanism, the crank mechanism with The folding bar connection that anterior-posterior horizontal is set.

5. mechanical gripper as claimed in claim 4, it is characterised in that the left and right sides of the body frame is provided with guide wheel group, often Individual guide wheel group includes two directive wheels, and preset space length is provided between two directive wheels.

6. mechanical gripper as claimed in claim 5, it is characterised in that be additionally provided with movable pulley on the body frame.

7. mechanical gripper as claimed in claim 6, it is characterised in that the inner side of the mechanical arm is provided with parting bead detection part, The parting bead detection part switchs including laser detection, and the laser detection switch is concordant with crawl plate.