CN207522632U - A kind of multi-claw type pencil grabbing device - Google Patents
A kind of multi-claw type pencil grabbing device Download PDFInfo
- Publication number
- CN207522632U CN207522632U CN201721513464.8U CN201721513464U CN207522632U CN 207522632 U CN207522632 U CN 207522632U CN 201721513464 U CN201721513464 U CN 201721513464U CN 207522632 U CN207522632 U CN 207522632U
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- Prior art keywords
- pencil
- cleft hand
- claw type
- grabbing device
- crawled
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Abstract
The utility model discloses a kind of multi-claw type pencil grabbing devices, including erecting bed, driving device, cleft hand, the cleft hand refers to including at least three pawls, the multi-claw type pencil grabbing device further includes positioning disk, thrust ring set, spring, and the guiding disk center is arranged on for the fixed locating piece for being crawled pencil position, the locating piece center is equipped with the guide frame being adapted with being crawled pencil head；The positioning disk is equipped with guide rail, and the cleft hand is slidably connected by the guide rail and the positioning disk；The thrust ring set provides power by the driving device and moves reciprocatingly on the cleft hand outer shroud, and the cleft hand is made to be slided on the positioning disk, realizes the cleft hand with being crawled the cooperation of pencil or detaching.Multi-claw type pencil grabbing device described in the utility model will can accurately capture pencil, and will be crawled pencil and accurately be placed on designated position, and precision is higher.
Description
Technical field
The utility model belongs to industrial automation equipment technical field, relates generally to a kind of multi-claw type pencil grabbing device.
Background technology
Grabbing device can be applied to the crawl of product in production field.Manipulator is very common auxiliary in industrial production
Equipment is mainly used to capture industrial products, it can replace people to obtain heavy labor to realize the mechanization of production and automation, extensively
It is general to be applied to manufacture, metallurgy, electronics, medicine and other fields.
Chinese CN20152045784.4 patents disclose a kind of three-jaw grabbing device, it is characterised in that the device includes
Scroll chuck, three-jaw clamp, telescopic rod and three pawls refer to, and the top of telescopic rod is fixed on scroll chuck, the lower part of telescopic rod
It is connect with three-jaw clamp, the top that three pawls refer to is separately fixed in the holding tank of scroll chuck, the lower part difference that three pawls refer to
It is fixed in the holding tank of three-jaw clamp；The scroll chuck is uniformly distributed circumferentially there are three pawl, between two neighboring pawl
Angle is 120 °, and scroll chuck center is equipped with central through hole, is provided with linear bearing in the central through hole, scroll chuck it is every
Holding tank there are one being all provided on the outside of a pawl, the both sides of holding tank are equipped with tapped through hole, in the tapped through hole to scroll chuck
The distance of heart through-hole is equal；The shape and structure of the three-jaw clamp is identical with the shape and structure of scroll chuck, on three-jaw clamp
Screw thread is equipped in central through hole.The utility model realizes the opening and closing of three-jaw, such three claw robot by piston motion
It is related to radial direction and the axial bidirectional-movement that pawl refers to, is unfavorable for grasping manipulation.
Chinese CN201510490564.2 patent applications disclose a kind of handgrip, reaction tube grabbing device and analyzer,
More particularly to a kind of handgrip, reaction tube grabbing device and analyzer, the handgrip has one and the matched bare terminal end of reaction tube,
With with the matched driving portion of driving device, the driving device makes the handgrip real by driving the driving portion of the handgrip
Show the cooperation of bare terminal end and reaction tube or detach, rotation dress is additionally provided between the driving portion of the handgrip and the driving device
It puts, the driving portion and/or driving device of the tumbler and the handgrip form rolling friction cooperation.It is described in the utility model
Device does not have the function of fixed pipe fitting position in crawl pipe fitting, and precision is not high.
In current pencil grabbing device, be mainly made of driving device and cleft hand, the driving device directly with it is described
Cleft hand coordinates, and realizes crawl pipe fitting and places the action of pipe fitting, and cleft hand can only realize clamping, can not realize the function of positioning, when
When driving device drives handgrip, relative displacement can occur between driving device and handgrip at its mating surface, i.e., in driving device
Movable friction can occur between handgrip, pipe fitting is caused to generate deviation when placing, following process program is caused to seriously affect, because
This, is badly in need of designing a kind of pencil grabbing device with positioning function.
Utility model content
The purpose of this utility model is to provide a kind of multi-claw type pencil grabbing device, by the thrust collar described
It moves reciprocatingly on cleft hand, crawl structure is made more to fasten；Simultaneously in the centrally disposed of multi-claw type structure with being crawled pencil phase
The locating piece of adaptation enables the multi-claw type pencil grabbing device accurately fixed position for being crawled pencil, accurate to complete
Pencil captures and is placed into the action of designated position.
The above-mentioned purpose of the utility model is achieved by the following technical programs.
A kind of multi-claw type pencil grabbing device, including erecting bed, driving device, cleft hand, the cleft hand includes at least three
Pawl refers to, and the multi-claw type pencil grabbing device further includes to fix the positioning disk of the cleft hand, be sleeved on the cleft hand outer shroud
The upper thrust ring set being connect with the driving device, the spring being arranged between the driving device and the thrust ring set, with
And the guiding disk center is arranged on for the fixed locating piece for being crawled pencil position, the locating piece center is equipped with being grabbed
The guide frame that tube head of getting it filled is adapted；The positioning disk is equipped with guide rail, and the cleft hand is led by the guide rail with described
It is slidably connected to disk；The thrust ring set provides power by the driving device and moves reciprocatingly on the cleft hand outer shroud, makes
The cleft hand slides on the positioning disk, realizes the cleft hand with being crawled the cooperation of pencil or detaching.
The utility model is by the centrally disposed locating piece with guide frame of the positioning disk, in the multi-claw type medicine
When pipe grabbing device captures pencil, the guide frame and the head clamping for being crawled pencil, the cleft hand will be crawled pencil
Clamp, locating piece fixation is crawled the position of pencil, the locating piece and cleft hand cooperation prevent from being crawled pencil with
Relative displacement occurs for the multi-claw type pencil grabbing device, enables the multi-claw type pencil grabbing device that will be crawled pencil essence
True is placed on designated position.
The thrust ring is put on equipped with sliding slot, and the erecting bed is equipped with the sliding block for adapting to the sliding slot.The driving
Device provides power for the thrust ring set, and the thrust ring set is made to do reciprocal fortune on the cleft hand outer shroud by the slideway
Dynamic, when thrust ring set, which compresses the spring, to be moved downward, the cleft hand opens crawl pencil, when the thrust ring set to
When the upper movement spring restores reset condition, the cleft hand is promptly crawled pencil and is placed into designated position；The sliding slot
Mutually being clamped with the sliding block can prevent the thrust collar from being rotated on the erecting bed.
The locating piece is cylindrical structure, and the guide frame is the boss for being arranged on the locating piece center, described
The one end of boss for clamping to be crawled pencil is groove structure.
When the multi-claw type pencil grabbing device captures pencil, the guide frame is contacted with being crawled pencil, described
Pencil head is connected in the groove, realize be accurately positioned, the cleft hand clamps pencil at this time, the locating piece with it is described
Cleft hand coordinates, and effectively prevents from being crawled pencil and be slided on the multi-claw type pencil grabbing device, can accurately complete medicine
The action that pipe is captured and placed, precision are higher.
The locating piece is removable connection with the positioning disk.
Preferably, the locating piece is threadedly coupled with the positioning disk.
The locating piece can be replaced according to parameters such as size, the shapes for being crawled pencil, and described device is made to have more
The wide scope of application, and it is easy to operate.
Preferably, the pawl refers to as L-type structure, and the cleft hand bare terminal end is rubbing surface, and the cleft hand bare terminal end is equipped with
Rubber cushion.
When the cleft hand captures pencil, the pawl refers to can increase the cleft hand bare terminal end with being crawled for L-type structure
The contact area of pencil, increasing friction force；The cleft hand bare terminal end is rubbing surface, further increases cleft hand and is crawled pencil
Frictional force, crawl structure is made more to fasten；The cleft hand bare terminal end is equipped with rubber cushion, make the cleft hand and be crawled pencil it
Between there is certain cushioning effect, prevent from being crawled pencil deformation.
Compared with prior art, the utility model advantageous effect is：
1st, the utility model is accurately fixed by the locating piece with guide frame when described device captures pencil
Pencil position, prevents from being crawled pencil relative displacement occurs on such devices, makes described device that will be crawled pencil accurate
Designated position is placed on, precision is higher；
2nd, the utility model is sleeved on the cleft hand outer shroud by the thrust ring and moved reciprocatingly, realize the cleft hand with
The cooperation or separation of pencil are crawled, structure novel is easy to operate；
3rd, positioning disk described in the utility model and the removable connection of the locating piece, can according to be crawled pencil size,
The parameters such as shape replace the locating piece, and the multi-claw type pencil grabbing device is made to have the scope of application of bigger；
4th, the utility model is improved cleft hand structure, using L-shaped structure and facing design, makes crawl structure more
Fastening.
Description of the drawings
Fig. 1 is a kind of structure diagram of multi-claw type pencil grabbing device described in the utility model；
Fig. 2 is the vertical view of positioning disk described in the utility model；
Fig. 3 is the connection diagram of thrust collar described in the utility model and the erecting bed；
In figure：1st, driving device；2nd, cleft hand；3rd, positioning disk；4th, thrust ring set；5th, spring；6th, locating piece；7th, it is oriented to knot
Structure；8th, guide rail；9th, bare terminal end；10th, erecting bed.
Specific embodiment
Clear, complete description is carried out to the technical solution of various embodiments of the utility model below with reference to attached drawing, it is clear that
Described embodiment is only the part of the embodiment that the utility model is created, instead of all the embodiments.Based on this reality
With novel embodiment, those of ordinary skill in the art are obtained all other under the premise of creative work is not made
Embodiment belongs to the utility model and creates protected range.
In the description of the present invention, it should be noted that term the instructions such as " on ", " under ", " interior ", " outer " orientation
Or position relationship is based on orientation shown in the drawings or position relationship, is for only for ease of description the utility model and simplification is retouched
It states rather than indicates or imply signified device or element must have specific orientation, with specific azimuth configuration and operation,
Therefore it is not intended that limitation to the utility model.
The utility model is further described in detail below through specific implementation examples and in conjunction with the accompanying drawings.
Embodiment 1
A kind of multi-claw type pencil grabbing device, including erecting bed 10, driving device 1, cleft hand 2, the cleft hand 2 includes three
Pawl refers to, and the multi-claw type pencil grabbing device further includes to fix the positioning disk 3 of the cleft hand 2, be sleeved on outside the cleft hand 2
The thrust ring set 4 being connect on ring with the driving device 1, the bullet being arranged between the driving device 1 and the thrust ring set 4
Spring 5 and be arranged on 3 center of positioning disk for fixation be crawled the locating piece 6 of pencil position, 6 center of locating piece
Equipped with the guide frame 7 being adapted with being crawled pencil head；The positioning disk 3 is equipped with guide rail 8, and the cleft hand 2 passes through institute
Guide rail 8 is stated to be slidably connected with the positioning disk 3；The thrust ring set 4 provides power in the cleft hand 2 by the driving device 1
It moves reciprocatingly on outer shroud, the cleft hand 2 is made to be slided on the positioning disk 3, realize the cleft hand 2 with being crawled matching for pencil
It closes or detaches.
The guide frame 7 is for the fixed position for being crawled pencil, when the multi-claw type pencil grabbing device captures medicine
Guan Shi, the guide frame 7 and the head clamping for being crawled pencil, the cleft hand 2 will be crawled pencil clamping, the locating piece
6 prevent from being crawled pencil and multi-claw type pencil grabbing device generation relative displacement with the cleft hand 2 cooperation, make described device
It can will be crawled pencil and accurately be placed on designated position.
The thrust ring set 4 is equipped with sliding slot, and the erecting bed 10 is equipped with the sliding block for adapting to the sliding slot.
The driving device 1 provides power for the thrust ring set 4, makes the thrust ring set 4 on 2 outer shroud of cleft hand
It moves reciprocatingly, when the thrust ring set 4, which moves downward, compresses the spring 5, the cleft hand 2 gradually opens, the positioning
Part 6 is with being crawled pencil head butt junction location, when the thrust ring set 4, which moves upwards the spring 5, to restore to the original state, the cleft hand
2 clamp, and the locating piece 6 will be crawled pencil positioning clamping with the cleft hand 2 cooperation and be placed into designated position；The sliding slot
Mutually being clamped with the sliding block can prevent the thrust collar 4 from being rotated on the erecting bed 10.
Preferably, the pawl refers to as L-type structure, and 2 bare terminal end 9 of cleft hand is rubbing surface, and 2 bare terminal end 9 of cleft hand is pacified
Equipped with rubber cushion.
Embodiment 2
The utility model provides a kind of improvement type pencil transmission device, and compared with Example 1, the difference lies in described fixed
Position part 6 is cylindrical structure, and the guide frame 7 is the boss for being arranged on 6 center of locating piece, and the boss is grabbed for being clamped
One end of drug taking tube is groove structure；The cleft hand 2 refers to including four pawls.
When described device captures pencil, the guide frame 7 is contacted with being crawled pencil, and the pencil head is connected to
It in the groove, realizes and is accurately positioned, the locating piece 6 coordinates with the cleft hand 2, effectively avoids being crawled pencil in the dress
Slip is put, accurate completion pencil crawl and the action placed, precision are higher；By increasing the pawl exponential quantity, utilize
Multi-claw type makes crawl structure more fasten.
Embodiment 3
The utility model provides a kind of improvement type pencil transmission device, and compared with Example 1, the difference lies in described fixed
Position part 6 is removable connection with the positioning disk 3.
Preferably, the locating piece 6 is threadedly coupled with the positioning disk 3.
The locating piece 6 can be replaced according to parameters such as size, the shapes for being crawled pencil, and described device is made to have more
The wide scope of application.
Finally it should be noted that：Above example is only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that：
It can still modify to the technical solution recorded in previous embodiment either to which part or all technical features
Carry out equivalent replacement；And these modifications or replacement, the utility model embodiment that it does not separate the essence of the corresponding technical solution
Technical solution.
Claims (9)
1. a kind of multi-claw type pencil grabbing device, including erecting bed (10), driving device (1), cleft hand (2), it is characterised in that：Institute
It states cleft hand (2) including at least three pawls to refer to, the multi-claw type pencil grabbing device further includes to fix leading for the cleft hand (2)
To disk (3), be sleeved on the thrust ring set (4) being connect on the cleft hand (2) outer shroud with the driving device (1), be arranged on it is described
Spring (5) between driving device (1) and the thrust ring set (4) and the positioning disk (3) center is arranged on for fixing
The locating piece (6) of pencil position is crawled, locating piece (6) center is equipped with the guiding knot being adapted with being crawled pencil head
Structure (7)；The positioning disk (3) is equipped with guide rail (8), and the cleft hand (2) is sliding by the guide rail (8) and the positioning disk (3)
Dynamic connection；The thrust ring set (4) provides power by the driving device (1) and moves reciprocatingly on the cleft hand (2) outer shroud,
The cleft hand (2) is made to be slided on the positioning disk (3), realizes the cleft hand (2) with being crawled the cooperation of pencil or detaching.
2. a kind of multi-claw type pencil grabbing device according to claim 1, it is characterised in that：On the thrust ring set (4)
Equipped with sliding slot, the erecting bed (10) is equipped with the sliding block for adapting to the sliding slot.
3. a kind of multi-claw type pencil grabbing device according to claim 1, it is characterised in that：The locating piece (6) is cylinder
Shape structure.
4. a kind of multi-claw type pencil grabbing device according to claim 1, it is characterised in that：The guide frame (7) is sets
The boss at locating piece (6) center is put, the one end of the boss for clamping to be crawled pencil is groove structure.
5. a kind of multi-claw type pencil grabbing device according to claim 1, it is characterised in that：The locating piece (6) with it is described
Positioning disk (3) is removable connection.
6. a kind of multi-claw type pencil grabbing device according to claim 5, it is characterised in that：The locating piece (6) with it is described
Positioning disk (3) is threadedly coupled.
7. a kind of multi-claw type pencil grabbing device according to claim 1, it is characterised in that：The pawl refers to as L-shaped structure.
8. a kind of multi-claw type pencil grabbing device according to claim 1, it is characterised in that：Cleft hand (2) bare terminal end (9)
For rubbing surface.
9. a kind of multi-claw type pencil grabbing device according to claim 1, it is characterised in that：Cleft hand (2) bare terminal end (9)
Rubber cushion is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721513464.8U CN207522632U (en) | 2017-11-14 | 2017-11-14 | A kind of multi-claw type pencil grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721513464.8U CN207522632U (en) | 2017-11-14 | 2017-11-14 | A kind of multi-claw type pencil grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207522632U true CN207522632U (en) | 2018-06-22 |
Family
ID=62582205
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721513464.8U Expired - Fee Related CN207522632U (en) | 2017-11-14 | 2017-11-14 | A kind of multi-claw type pencil grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207522632U (en) |
-
2017
- 2017-11-14 CN CN201721513464.8U patent/CN207522632U/en not_active Expired - Fee Related
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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 |
Granted publication date: 20180622 Termination date: 20201114 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |