CN208034699U - A kind of nut class work piece holder of inside and outside loop self-adaptive gripping - Google Patents
A kind of nut class work piece holder of inside and outside loop self-adaptive gripping Download PDFInfo
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- CN208034699U CN208034699U CN201820413921.4U CN201820413921U CN208034699U CN 208034699 U CN208034699 U CN 208034699U CN 201820413921 U CN201820413921 U CN 201820413921U CN 208034699 U CN208034699 U CN 208034699U
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- fixture
- inner sleeve
- power plant
- outer tube
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Abstract
The utility model discloses a kind of nut class work piece holders of inside and outside loop self-adaptive gripping, inner sleeve including coaxial arrangement and outer tube, inner sleeve is arranged in outer tube, inner sleeve power plant is equipped in outer tube one end, inner sleeve power plant is connect with inner sleeve one end, drive inner sleeve with respect to outer tube axially reciprocating, inner sleeve pipe end is equipped with fixture at least three, and interior fixture is arranged circumferentially along inner sleeve tube wall；Housing pipe end is equipped with multiple outer fixtures, and outer fixture is arranged circumferentially along outer tube lateral surface.The utility model proposes nut class work piece holder using inner and outer ring transmit gripping design, first pass through the inner ring of interior fixture and interior fixture power plant fixing nut class workpiece, realize preliminary crawl, the outer ring of the female class workpiece captured again by interior fixture by outer fixture and outer fixture power plant locking screw realizes that crawl is transmitted；Meanwhile compared to existing nut class work piece holder, there is better adaptability, be conducive to improve crawl efficiency.
Description
Technical field
The utility model is related to clamp art more particularly to a kind of nut class workpiece clamps of inside and outside loop self-adaptive gripping
Tool is used for industrial robot end effector mechanism.
Background technology
Currently, most industrial robot end executive device refers to formula grabbing device using sucked type and two, for work
Part surface it is flat and without it is hollow, for environment of the workpiece periphery without other workpiece or interference, the end of above-mentioned two kinds of modes is held
Luggage, which is set, can be very good to be competent at.But sucked type and two finger formula grabbing devices have some limitations, if workpiece is upper
Surface is fluted, uneven, hollow.So sucked type end effector can not be then competent at.If the environment periphery that workpiece is placed
Also there are other workpiece and distance is too small between workpiece, two finger formula end executive devices can be made to touch other workpiece and led to not
It is acted at the gripping of workpiece.In the industrial production, nut class workpiece just there is hollow and multi-work piece to be placed with platform simultaneously
Feature, therefore have prodigious uncertainty using above-mentioned two end executive device gripping workpiece.If nut class workpiece simultaneously
Fixture work be in order to which nested screw rod prepares in next step, then above-mentioned two kinds of gripping methods can not all complete nut class workpiece
Nested task.
For drawback of the above-mentioned fixture in nut class workpiece holding and processing operation, the utility model designs a kind of mixing
The nut class work piece holder that the inside and outside loop self-adaptive of the industrial robot of dynamic Control grips.
Utility model content
The purpose of this utility model is to propose that a kind of industrial robot of hybrid power control is gripped with inside and outside loop self-adaptive
Nut class work piece holder, be used for industrial robot end effector mechanism, the fixture by inner and outer ring transmit grip, be adapted to
Various types nut class workpiece, while reducing the influence that ambient enviroment acts fixture.
To achieve the above object, the technical solution of the utility model is：A kind of nut class work of inside and outside loop self-adaptive gripping
Part fixture is used for industrial robot end effector mechanism, includes the inner sleeve and outer tube of coaxial arrangement, and inner sleeve is arranged outside
In casing, inner sleeve power plant is equipped in outer tube one end, inner sleeve power plant is connect with inner sleeve one end, drives inner sleeve
The opposite outer tube axially reciprocating of pipe, inner sleeve pipe end are equipped with three interior fixtures, and interior fixture is circumferentially uniform along inner sleeve tube wall
Arrangement, interior fixture are connected with interior fixture power plant, and interior fixture power plant drives interior fixture radial expansion；Housing pipe end is set
There are multiple outer fixtures, outer fixture to be arranged circumferentially along outer tube lateral surface, housing pipe end, which is additionally provided with, to be connect with outer fixture
Outer fixture power plant, outer fixture power plant drive outer fixture radial expansion；
The interior fixture includes supporting rod, and supporting rod is radially arranged along inner sleeve tube wall, and supporting rod is set close to axle center one end
There is connecting plate, and connecting plate lower end is tilted to axis direction, connecting plate is flexibly connected with the inner sleeve power plant, supporting rod
The other end is equipped with support portion, and support portion lateral surface is arc；
The interior fixture power plant includes imbedding cylinder, imbeds cylinder and is arranged outside the inner sleeve, and with it is described outer
Internal surface of sleeve pipe is slidably connected, and the flexible execution bar of interior fixture is equipped in inner sleeve, and the flexible bar that executes of interior fixture is coaxially set with inner sleeve
It sets, imbeds cylinder and connect with the flexible bar one end that executes of interior fixture by push rod, the flexible bar other end that executes of interior fixture is taper, cone
Shape face is equipped with T-slot, and T-slot is arranged along taper surface generatrix direction, the connecting plate match in the T-slot and with
T-slot is slidably connected；
The outer fixture includes outer fixture installing pipe, and outer fixture installing pipe is radially arranged along outer tube lateral surface, outer fixture
Telescopic rod is slidably connected in installing pipe, outer fixture installing pipe bottom is equipped with spring, and spring is connect with telescopic rod inner end, stretches
Bar outer end is to inner sleeve direction of extension bending, and end is connected with contraction flow region；
The outer fixture power plant includes driving motor, and driving motor is arranged in outer outside of sleeve face, driving motor
Shaft is arranged along outer fixture telescopic direction, and the shaft of driving motor is coaxially connected with lead screw, and ball is arranged with outside lead screw, and ball is logical
Connecting rod is crossed to be fixedly connected with the telescopic rod.
Further, the inner sleeve power plant includes propulsion cylinder, and propulsion cylinder is fixed on described outer tube one end
Inner wall, propulsion cylinder by push rod and the inner sleeve, imbed cylinder and be separately connected.
Further, the cylinder that imbeds is slidably connected with outer tube by roller devices, and roller devices include that setting exists
The T shape sliding slots of outer sleeve inner surface, T shape sliding slots bottom are equipped with idler wheel, the cunning being connect with roller-coaster are also equipped in T shape sliding slots
Plate, the cylinder that imbeds are fixed on slide plate.
Further, the outer fixture quantity is six.
The utility model has the beneficial effects that：The utility model proposes fixture using inner and outer ring transmit gripping design,
First pass through the inner ring of interior fixture and interior fixture power plant fixing nut class workpiece, realize preliminary crawl, then by outer fixture and
The outer ring for female class workpiece that outer fixture power plant locking screw is captured by interior fixture realizes that crawl is transmitted；In addition, robot is not necessarily to
Accurately calculate workpiece inner ring center location, it is only necessary to outer tube is imbedded in workpiece inner ring, interior handgrip can be realized workpiece adjustment and
Crawl has better adaptability compared to existing nut class work piece holder, is conducive to improve crawl efficiency.
Description of the drawings
Fig. 1 is the nut class work piece holder sectional side elevation of loop self-adaptive gripping inside and outside the utility model；
Fig. 2 is the sectional view of Section A-A in Fig. 1；
Fig. 3 is the structural schematic diagram of fixture in the utility model；
Fig. 4 is the left view of Fig. 3；
Fig. 5 is the flexible structural schematic diagram for executing bar of fixture in the utility model；
Fig. 6 is the sectional view of section B-B in Fig. 5；
Fig. 7 is the vertical view of the utility model pulley gear.
Specific implementation mode
Below in conjunction with attached drawing, the technical scheme in the utility model embodiment is clearly and completely described.
As shown in Figs. 1-2, a kind of nut class work piece holder of inside and outside loop self-adaptive gripping, holds for industrial robot end
Row mechanism includes the inner sleeve 1 and outer tube 2 of coaxial arrangement, and inner sleeve 1 is arranged in outer tube 2, and outer tube is set in 2 one end
There are inner sleeve power plant 3, inner sleeve power plant 3 to be connect with 1 one end of inner sleeve, drives inner sleeve 1 axial with respect to outer tube 2
It moves back and forth, 1 end of inner sleeve is set there are three interior fixture 4, and interior fixture 4 is arranged circumferentially along 1 tube wall of inner sleeve, interior fixture 4
It is connected with interior fixture power plant 5, interior fixture power plant 5 drives 4 radial expansion of interior fixture；There are six 2 end of outer tube is set
Outer fixture 6, outer fixture 6 are arranged circumferentially along 2 lateral surface of outer tube, 2 end of outer tube be additionally provided with connect with outer fixture 6 it is outer
Fixture power plant 7, outer fixture power plant 7 drive 6 radial expansion of outer fixture；
As shown in Figs 1-4, the interior fixture 4 includes supporting rod 41, and supporting rod 41 is radially arranged along 1 tube wall of inner sleeve, branch
Strut 41 close to axle center one end be equipped with connecting plate 42, and 42 lower end of connecting plate to axis direction tilt, connecting plate 42 with it is described interior
Casing power plant 3 is flexibly connected, and 41 other end of supporting rod is equipped with support portion 43, and 43 lateral surface of support portion is arc；Work as inner clip
When tool power plant 5 drives interior 4 circumferentially extending of fixture, interior fixture 4 may be implemented to fix the inner ring of nut class workpiece.
As shown in Fig. 1,2,5,6, the interior fixture power plant 5 includes imbedding cylinder 51, imbeds cylinder 51 and is arranged in institute
It states outside inner sleeve 1, and is slidably connected with 2 inner wall of the outer tube, the flexible execution bar 52 of interior fixture, inner clip are equipped in inner sleeve 1
The flexible bar 52 that executes of tool is coaxially disposed with inner sleeve 1, is imbedded cylinder 51 and is connected by flexible 52 one end of bar that executes of push rod and interior fixture
It connects, flexible 52 other end of bar that executes of interior fixture is taper, and taper surface is equipped with T-slot 53, and T-slot 53 is along taper surface generatrix direction
Setting, what the connecting plate 41 matched is slidably connected in T-slot 53 and with T-slot 53；It is driven when imbedding cylinder 51
Interior fixture is flexible when executing 52 downlink of bar, executes 52 tip radius of bar as interior fixture is flexible and gradually increases, push in 4 diameter of fixture
To stretching, extension, realize that the inner ring of nut class workpiece is fixed；When imbedding cylinder 51 and driving interior fixture is flexible to execute 52 uplink of bar, with
Flexible 52 tip radius of bar that executes of interior fixture is gradually reduced, and pulls 4 radial contraction of interior fixture, the no longer inner ring to nut class workpiece
Applied force.
As shown in Figs. 1-2, the outer fixture 6 includes outer fixture installing pipe 61, and outer fixture installing pipe 61 is along 2 outside of outer tube
Face diameter slidably connects telescopic rod 62 to setting in outer fixture installing pipe 61, and outer 61 bottom of fixture installing pipe is equipped with spring 63,
Spring 63 is connect with telescopic rod 62, and 62 outer end of telescopic rod is to 1 direction of extension bending of inner sleeve, and end is connected with contraction flow region 64；
Outer fixture power plant 7 drives 62 radial contraction of telescopic rod, to which telescopic rod 62 drives contraction flow region to be clamped in outside nut class workpiece
Surface is enclosed, may be implemented to fix the outer ring of nut class workpiece.
As shown in Figure 1, the outer fixture power plant 7 includes driving motor 71, driving motor 71 is arranged outside outer tube 2
The shaft of side, driving motor 71 is arranged along 6 telescopic direction of outer fixture, and the shaft of driving motor 71 is coaxially connected with lead screw 72,
It is arranged with ball 73 outside lead screw 72, ball 73 is fixedly connected by connecting rod 74 with the telescopic rod 62；Driving motor 71 passes through
Positive and negative rotation drives ball 73 to move reciprocatingly along lead screw 72, to drive outer 6 radial expansion of fixture.
As shown in Figure 1, the inner sleeve power plant 3 includes propulsion cylinder 31, propulsion cylinder 31 is fixed on the housing
2 one end inner wall of pipe, propulsion cylinder 31 by push rod and the inner sleeve 1, imbed cylinder 51 and be separately connected, when work, promote gas
Cylinder 31 drives inner sleeve 1, imbeds the upstream or downstream simultaneously of cylinder 51.
The cylinder 51 that imbeds is slidably connected with outer tube 2 by roller devices 8, and roller devices 8 include being arranged in housing
The T shapes sliding slot 81 of 2 inner surface of pipe, 81 bottom of T shapes sliding slot are equipped with idler wheel 82, are also equipped in T shapes sliding slot 81 and are slided with idler wheel 82
The slide plate 83 of connection, the cylinder 51 that imbeds are fixed on slide plate 83.
The utility model proposes fixture using inner and outer ring transmit gripping design, first pass through interior fixture and interior fixture power
The inner ring of device fixing nut class workpiece realizes preliminary crawl, then interior by outer fixture and outer fixture power plant locking screw
The outer ring of female class workpiece of fixture crawl realizes that crawl is transmitted；In addition, robot is without accurately calculating workpiece inner ring center of circle position
It sets, it is only necessary to imbed outer tube in workpiece inner ring, workpiece adjustment and crawl can be realized in interior handgrip, compared to existing nut class work
Part fixture has better adaptability, is conducive to improve crawl efficiency.
The described embodiments are only a part of the embodiments of the utility model, instead of all the embodiments.Based on this
Embodiment in utility model, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, belongs to the scope of the utility model.
Claims (4)
1. a kind of nut class work piece holder of inside and outside loop self-adaptive gripping, is used for industrial robot end effector mechanism, feature
It is, include the inner sleeve and outer tube of coaxial arrangement, inner sleeve is arranged in outer tube, and inner sleeve is equipped in outer tube one end
Power plant, inner sleeve power plant are connect with inner sleeve one end, drive inner sleeve with respect to outer tube axially reciprocating, inner sleeve
Pipe end is set there are three interior fixture, and interior fixture is arranged circumferentially along inner sleeve tube wall, and interior fixture is connected with interior fixture power dress
It sets, interior fixture power plant drives interior fixture radial expansion；Housing pipe end is equipped with multiple outer fixtures, and outer fixture is outside outer tube
Side is arranged circumferentially, and housing pipe end is additionally provided with the outer fixture power plant being connect with outer fixture, outer fixture power plant
Drive outer fixture radial expansion；
The interior fixture includes supporting rod, and supporting rod is radially arranged along inner sleeve tube wall, and supporting rod is equipped with close to axle center one end to be connected
Fishplate bar, and connecting plate lower end is tilted to axis direction, connecting plate is flexibly connected with the inner sleeve power plant, and supporting rod is another
End is equipped with support portion, and support portion lateral surface is arc；
The interior fixture power plant include imbed cylinder, imbed cylinder be arranged outside the inner sleeve, and with the outer tube
Inner wall is slidably connected, and the flexible execution bar of interior fixture is equipped in inner sleeve, the flexible bar that executes of interior fixture is coaxially disposed with inner sleeve, embedding
Inlet casing is connect by push rod with the flexible bar one end that executes of interior fixture, and the flexible bar other end that executes of interior fixture is taper, taper surface
Be equipped with T-slot, T-slot is arranged along taper surface generatrix direction, the connecting plate match in the T-slot and with T shapes
Slot is slidably connected；
The outer fixture includes outer fixture installing pipe, and outer fixture installing pipe is radially arranged along outer tube lateral surface, outer fixture installation
Telescopic rod is slidably connected in pipe, outer fixture installing pipe bottom is equipped with spring, and spring is connect with telescopic rod inner end, outside telescopic rod
It holds to inner sleeve direction of extension bending, and end is connected with contraction flow region；
The outer fixture power plant includes driving motor, and driving motor is arranged in outer outside of sleeve face, the shaft of driving motor
It is arranged along outer fixture telescopic direction, the shaft of driving motor is coaxially connected with lead screw, is arranged with ball outside lead screw, ball passes through company
Extension bar is fixedly connected with the telescopic rod.
2. a kind of nut class work piece holder of inside and outside loop self-adaptive gripping as described in claim 1, which is characterized in that in described
Casing power plant includes propulsion cylinder, and propulsion cylinder is fixed on described outer tube one end inner wall, propulsion cylinder by push rod with
The inner sleeve imbeds cylinder and is separately connected.
3. a kind of nut class work piece holder of inside and outside loop self-adaptive gripping as described in claim 1, which is characterized in that described embedding
Inlet casing is slidably connected with outer tube by roller devices, and roller devices include the T shape sliding slots being arranged in outer sleeve inner surface, T
Shape sliding slot bottom is equipped with idler wheel, is also equipped with the slide plate being connect with roller-coaster in T shape sliding slots, the cylinder that imbeds is fixed on cunning
On plate.
4. a kind of nut class work piece holder of inside and outside loop self-adaptive gripping as described in claim 1, which is characterized in that described outer
Fixture quantity is six.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820413921.4U CN208034699U (en) | 2018-03-26 | 2018-03-26 | A kind of nut class work piece holder of inside and outside loop self-adaptive gripping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820413921.4U CN208034699U (en) | 2018-03-26 | 2018-03-26 | A kind of nut class work piece holder of inside and outside loop self-adaptive gripping |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208034699U true CN208034699U (en) | 2018-11-02 |
Family
ID=63948915
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820413921.4U Active CN208034699U (en) | 2018-03-26 | 2018-03-26 | A kind of nut class work piece holder of inside and outside loop self-adaptive gripping |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208034699U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312165A (en) * | 2018-03-26 | 2018-07-24 | 福建工程学院 | A kind of nut class work piece holder of inside and outside loop self-adaptive gripping |
| CN109827853A (en) * | 2019-04-03 | 2019-05-31 | 河南交通职业技术学院 | A kind of pressure-shear test machine and its quick-locking device |
| CN111017549A (en) * | 2019-12-28 | 2020-04-17 | 芜湖固高自动化技术有限公司 | Unloading device on single-control flexible convertible ring |
-
2018
- 2018-03-26 CN CN201820413921.4U patent/CN208034699U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312165A (en) * | 2018-03-26 | 2018-07-24 | 福建工程学院 | A kind of nut class work piece holder of inside and outside loop self-adaptive gripping |
| CN109827853A (en) * | 2019-04-03 | 2019-05-31 | 河南交通职业技术学院 | A kind of pressure-shear test machine and its quick-locking device |
| CN111017549A (en) * | 2019-12-28 | 2020-04-17 | 芜湖固高自动化技术有限公司 | Unloading device on single-control flexible convertible ring |
| CN111017549B (en) * | 2019-12-28 | 2021-08-17 | 芜湖固高自动化技术有限公司 | Unloading device on single-control flexible convertible ring |
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