CN208826629U - A kind of new mechanical hand - Google Patents
A kind of new mechanical hand Download PDFInfo
- Publication number
- CN208826629U CN208826629U CN201821694382.2U CN201821694382U CN208826629U CN 208826629 U CN208826629 U CN 208826629U CN 201821694382 U CN201821694382 U CN 201821694382U CN 208826629 U CN208826629 U CN 208826629U
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- CN
- China
- Prior art keywords
- mounting rack
- shaft
- riser
- overturning
- driving
- 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
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Abstract
The utility model discloses a kind of new mechanical hands, its manipulator mounting rack includes mounting rack bottom plate and mounting rack left and right side riser, horizontal anomalous movement shaft is installed between mounting rack left and right side riser upper end, installing overturning driving cylinder between mounting rack left and right side riser, shaft actuator is installed between overturning driving cylinder and horizontal anomalous movement shaft, shaft actuator includes drive sleeve, driving swing arm, drive sleeve is set in horizontal anomalous movement shaft periphery, the piston rod extension end of overturning driving cylinder and driving swing arm pivot joint；Riser right end side is installed with the overturning movable plate being spirally connected with horizontal anomalous movement shaft on the right side of mounting rack, install the lifting portable plate driven by lift drive mechanism in overturning movable plate right end side, the vertical movable shaft driven by shaft driving mechanism is installed in lifting portable plate front end, and workpiece pneumatic clamper is installed in vertical movable shaft lower end.The utility model has the advantages that novel in structural design, high degree of automation, and can effectively realize workpiece grabbing operation.
Description
Technical field
The utility model relates to technical field of automation equipment more particularly to a kind of new mechanical hands.
Background technique
It is more and more to automate in industrialized production process as automatic technology constantly promotes and applies
Equipment starts to replace manual work mode.
It is noted that being many times by manipulator come grabbing workpiece, such as workpiece for automation equipment
Feeding or workpiece blanking etc., and the manipulator product being in various forms exists in the prior art.However, for existing manipulator
For product, the unreasonable defect of generally existing design.
Utility model content
The purpose of this utility model is that a kind of new mechanical hand is provided in view of the deficiencies of the prior art, the new mechanical
Hand novel in structural design, high degree of automation, and workpiece grabbing operation can be effectively realized.
In order to achieve the above objectives, the utility model is achieved through the following technical solutions.
A kind of new mechanical hand, includes manipulator mounting rack, and manipulator mounting rack includes to arrange in horizontal cross
Mounting rack bottom plate, the upper end side of mounting rack bottom plate are installed with respectively in riser, mounting rack right side on the left of the mounting rack being vertically arranged
Riser, riser on the left of mounting rack, the lower end of riser passes through lock screw spiral shell respectively and loads and is fixed in mounting rack bottom on the right side of mounting rack
Plate, mounting rack left side riser are located at the left end side of riser and mounting rack left side riser and a mounting rack right side riser left side on the right side of mounting rack
Right face arranged for interval；
It is installed between the upper end of riser and the upper end of mounting rack right side riser along left and right directions on the left of mounting rack
Horizontal-extending horizontal anomalous movement shaft, left part, the right part of horizontal anomalous movement shaft pass through bearing respectively and are installed on corresponding side
Riser, mounting rack right side riser on the left of mounting rack, the right part of horizontal anomalous movement shaft extends to the right end of riser on the right side of mounting rack
Side；Overturning driving cylinder is installed on the left of mounting rack between riser and mounting rack right side riser, the cylinder body of overturning driving cylinder divides
It Tong Guo not pivot and mounting rack left side riser, the riser pivot joint of mounting rack right side；Between overturning driving cylinder and horizontal anomalous movement shaft
It is installed with shaft actuator, shaft actuator includes to be set in horizontal anomalous movement shaft periphery and as horizontal anomalous movement shaft is synchronous
The drive sleeve of rotation, the outer circumference surface of drive sleeve are provided with the driving swing arm for protruding extension outwardly, drive sleeve and driving
Swing arm is structure as a whole, and the piston rod extension end of overturning driving cylinder passes through pivot and driving swing arm pivot joint；
The right end side of riser is installed in the overturning movable plate being vertically arranged on the right side of mounting rack, and overturning movable plate and level are living
The right part of turn axis is spirally connected, and the right end side for overturning movable plate can be installed with lifting portable plate relatively up and downly, and overturning is lived
Movable plate corresponds to lifting portable plate and is installed with lift drive mechanism, and lift drive mechanism and lifting portable plate are drivingly connected；Lifting is lived
The front end of movable plate is installed in the vertical movable shaft being vertically arranged, and lifting portable plate, which corresponds to vertical movable shaft and is installed with, to be turned
Axis driving mechanism, shaft driving mechanism and vertical movable shaft are drivingly connected, and the lower end of vertical movable shaft is installed with workpiece
Pneumatic clamper.
Wherein, the lift drive mechanism includes the cylinder link block for being screwed on the overturning movable plate, is screwed on institute
The cylinder mounting base of lifting portable plate is stated, cylinder mounting base is screwed with lifting driving cylinder, and lifting drives outside the piston rod of cylinder
Prolong end to connect with cylinder link block.
Wherein, it is installed with guiding mechanism between the lifting portable plate and the overturning movable plate, guiding mechanism includes
It is screwed on overturning movable plate and is in the guide rail being vertically arranged, lifting portable plate corresponding rails are screwed with sliding block, guide rail and sliding block phase
Cooperation.
Wherein, the shaft driving mechanism includes the motor mount for being screwed on the lifting portable plate, motor installation
Seat is screwed with shaft driving motor, and the power output shaft of shaft driving motor is installed with active synchronization belt wheel, the vertical movable
The upper end of shaft is installed with driven synchronous pulley, and the spaced winding stake of active synchronization belt wheel and driven synchronous pulley has drive coordination
Band.
The utility model has the following beneficial effects: a kind of new mechanical hand described in the utility model comprising there is manipulator
Mounting rack, manipulator mounting rack include the mounting rack bottom plate arranged in horizontal cross, and the upper end side of mounting rack bottom plate is installed with
It is respectively in riser on the left of the mounting rack being vertically arranged, riser on the right side of mounting rack, riser on the right side of mounting rack left side riser, mounting rack
Lower end, which passes through lock screw spiral shell respectively and loads, is fixed in mounting rack bottom plate, and riser is located at mounting rack right side riser on the left of mounting rack
Riser and mounting rack right side riser or so face arranged for interval on the left of left end side and mounting rack；The upper end of riser on the left of mounting rack
It is installed between the upper end of riser on the right side of mounting rack along the horizontal-extending horizontal anomalous movement shaft of left and right directions, horizontal anomalous movement
Left part, the right part of shaft pass through bearing respectively and are installed on riser on the left of the mounting rack of corresponding side, riser on the right side of mounting rack, water
The right part of flat movable rotation-shaft extends to the right end side of riser on the right side of mounting rack；Riser and mounting rack right side riser on the left of mounting rack
Between be installed with overturning driving cylinder, the cylinder body of overturning driving cylinder passes through riser, mounting rack on the left of pivot and mounting rack respectively
The pivot joint of right side riser；It is installed with shaft actuator between overturning driving cylinder and horizontal anomalous movement shaft, shaft actuator includes
It is set in horizontal anomalous movement shaft periphery and with the drive sleeve that horizontal anomalous movement shaft rotates synchronously, the outer circumference surface of drive sleeve
It is provided with the driving swing arm for protruding extension outwardly, drive sleeve is structure as a whole with driving swing arm, the piston of overturning driving cylinder
Bar extension end passes through pivot and driving swing arm pivot joint；The right end side of riser is installed in the overturning being vertically arranged on the right side of mounting rack
Movable plate, overturns movable plate and the right part of horizontal anomalous movement shaft is spirally connected, and the right end side for overturning movable plate can be relatively up and down
Ground is installed with lifting portable plate, and overturning movable plate correspond to lifting portable plate and is installed with lift drive mechanism, lift drive mechanism and
Lifting portable plate is drivingly connected；The front end of lifting portable plate is installed in the vertical movable shaft being vertically arranged, lifting activity
Plate corresponds to vertical movable shaft and is installed with shaft driving mechanism, and shaft driving mechanism and vertical movable shaft are drivingly connected, vertically
The lower end of movable rotation-shaft is installed with workpiece pneumatic clamper.By said structure design, the utility model have novel in structural design, from
The high advantage of dynamicization degree, and workpiece grabbing operation can be effectively realized.
Detailed description of the invention
The utility model is further detailed below with attached drawing, but the embodiment in attached drawing is not constituted pair
Any restrictions of the utility model.
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the structural schematic diagram at another visual angle of the utility model.
Fig. 3 is the partial structural diagram of the utility model.
Include in figs. 1 to 3:
1 --- manipulator mounting rack 11 --- mounting rack bottom plate
12 --- riser 13 on the left of mounting rack --- risers on the right side of mounting rack
21 --- horizontal anomalous movement shaft 22 --- bearings
31 --- overturning driving cylinder 32 --- shaft actuators
321 --- drive sleeves 322 --- drive swing arm
4 --- overturning movable plate 5 --- lifting portable plates
6 --- lift drive mechanism 61 --- cylinder link blocks
62 --- cylinder mounting bases 63 --- lifting driving cylinder
641 --- guide rail 642 --- sliding blocks
7 --- vertical movable shaft 8 --- shaft driving mechanisms
81 --- motor mount 82 --- shaft driving motors
83 --- active synchronization belt wheel 84 --- driven synchronous pulleys
85 --- drive coordination band 9 --- workpiece pneumatic clampers.
Specific embodiment
The utility model is illustrated below with reference to specific embodiment.
As shown in Figure 1 to Figure 3, a kind of new mechanical hand, includes manipulator mounting rack 1, and manipulator mounting rack 1 includes
In the mounting rack bottom plate 11 that horizontal cross is arranged, the upper end side of mounting rack bottom plate 11 is installed with respectively in the mounting rack being vertically arranged
Left side riser 12, riser 13 on the right side of mounting rack, riser 12 on the left of mounting rack, the lower end of riser 13 passes through respectively on the right side of mounting rack
Lock screw spiral shell, which loads, is fixed in mounting rack bottom plate 11, on the left of mounting rack riser 12 be located at mounting rack right side riser 13 left end side and
Riser 12 and mounting rack right side 13 or so face arranged for interval of riser on the left of mounting rack.
Further, it is installed between the upper end of riser 12 and the upper end of mounting rack right side riser 13 on the left of mounting rack
Along the horizontal-extending horizontal anomalous movement shaft 21 of left and right directions, left part, the right part of horizontal anomalous movement shaft 21 pass through axis respectively
Riser 12 on the left of the mounting rack that 22 are installed on corresponding side, riser 13 on the right side of mounting rack are held, the right part of horizontal anomalous movement shaft 21 is prolonged
Extend to the right end side of riser 13 on the right side of mounting rack；Overturning is installed between riser 12 and mounting rack right side riser 13 on the left of mounting rack
Cylinder 31 is driven, the cylinder body of overturning driving cylinder 31 passes through riser 12 on the left of pivot and mounting rack, riser on the right side of mounting rack respectively
13 pivot joints；It is installed with shaft actuator 32 between overturning driving cylinder 31 and horizontal anomalous movement shaft 21, shaft actuator 32 includes
Have and is set in 21 periphery of horizontal anomalous movement shaft and with the drive sleeve 321 that horizontal anomalous movement shaft 21 rotates synchronously, drive sleeve
321 outer circumference surface is provided with the driving swing arm 322 for protruding extension outwardly, and drive sleeve 321 and driving swing arm 322 are integrated knot
The piston rod extension end of structure, overturning driving cylinder 31 is pivotally connected by pivot and driving swing arm 322.It need to explain, actuating sleeve
The inner peripheral surface of pipe 321 and the outer circumference surface of horizontal anomalous movement shaft 21 offer keyway respectively, and drive sleeve 321 and level are living
Flat key is installed between turn axis 21, flat key is respectively protruding into the keyway of drive sleeve 321 and horizontal anomalous movement shaft 21, with
Realize that drive sleeve 321 is connect with 21 rotation stop of horizontal anomalous movement shaft, so that drive sleeve 321 and horizontal anomalous movement shaft 21 are same
Step rotation.
Further, the right end side of riser 13 is installed in the overturning movable plate 4 being vertically arranged, overturning on the right side of mounting rack
Movable plate 4 and the right part of horizontal anomalous movement shaft 21 are spirally connected, and the right end side of overturning movable plate 4 can be installed with relatively up and downly
Lifting portable plate 5, the corresponding lifting portable plate 5 of overturning movable plate 4 are installed with lift drive mechanism 6, lift drive mechanism 6 and lifting
Movable plate 5 is drivingly connected；The front end of lifting portable plate 5 is installed in the vertical movable shaft 7 being vertically arranged, lifting portable plate
5 corresponding vertical movable shafts 7 are installed with shaft driving mechanism 8, and shaft driving mechanism 8 and vertical movable shaft 7 are drivingly connected, erect
Workpiece pneumatic clamper 9 is installed with to the lower end of movable rotation-shaft 7.For the workpiece pneumatic clamper 9 of the utility model, it is used to clamp work
Part.As depicted in figs. 1 and 2, the vertical movable shaft 7 of the utility model is installed on by upper and lower spaced apart two bearing blocks
Lifting portable plate 5.
Wherein, lift drive mechanism 6 includes the cylinder link block 61 for being screwed on overturning movable plate 4, is screwed on lifting work
The cylinder mounting base 62 of movable plate 5, cylinder mounting base 62 are screwed with lifting driving cylinder 63, and lifting drives outside the piston rod of cylinder 63
Prolong end to connect with cylinder link block 61.To guarantee that the opposite overturning movable plate 4 of lifting portable plate 5 reliablely and stablely moves up and down,
The utility model is designed using following structures, specific: it is installed with guiding mechanism between lifting portable plate 5 and overturning movable plate 4,
Guiding mechanism includes to be screwed on overturning movable plate 4 and in the guide rail 641 being vertically arranged, 5 corresponding rails of lifting portable plate, 641 spiral shell
Equipped with sliding block 642, guide rail 641 is matched with sliding block 642.
In addition, shaft driving mechanism 8 includes the motor mount 81 for being screwed on lifting portable plate 5, motor mount 81
It is screwed with shaft driving motor 82, the power output shaft of shaft driving motor 82 is installed with active synchronization belt wheel 83, vertical movable
The upper end of shaft 7 is installed with driven synchronous pulley 84, and the spaced winding stake of active synchronization belt wheel 83 and driven synchronous pulley 84 has biography
Dynamic synchronous belt 85.It need to explain, axis hole is used between the power output shaft and active synchronization belt wheel 83 of shaft driving motor 82
Mode carries out assembly connection, and is installed with flat key structure between the two, so that active synchronization belt wheel 83 and shaft driving motor
82 power output shaft rotates synchronously；Likewise, between vertical movable shaft 7 and driven synchronous pulley 84 using axis hole mode into
Row assembly connection, and it is installed with flat key structure between the two, turn so that driven synchronous pulley 84 is synchronous with vertical movable shaft 7
It is dynamic.
It need to explain, the utility model is fitted with the PLC controller being electrically connected with external power supply, overturning driving cylinder
31, lifting driving cylinder 63, rotary drive motor are electrically connected with PLC controller respectively；When work, PLC controller control is turned over
Turn driving cylinder 31, lifting driving cylinder 63, rotary drive motor movement.
During utility model works, rotary movement, lifting action is may be implemented in the workpiece pneumatic clamper 9 of the utility model
And spinning movement.During the workpiece pneumatic clamper 9 of the utility model realizes rotary movement, PLC controller control overturning is driven
The piston rod pushing tow driving swing arm 322 of cylinder 31 of taking offence movement, overturning driving cylinder 31 acts, so that 321 band of drive sleeve
Dynamic horizontal anomalous movement shaft 21 rotates, and the horizontal anomalous movement shaft 21 of rotation drives overturning movable plate 4 is synchronous to carry out rotary movement, overturning
The overturning movable plate 4 of movement drives the synchronous rotary movement of lifting portable plate 5, vertical movable shaft 7 and workpiece pneumatic clamper 9.
During the workpiece pneumatic clamper 9 of the utility model realizes lifting action, PLC controller control lifting driving cylinder
63 movements, the piston rod push-and-pull action of lifting driving cylinder 63 are reacted in the cylinder link block 61 of overturning movable plate 4
Lifting portable plate 5 simultaneously moves up and down the opposite overturning movable plate 4 of lifting portable plate 5, and the lifting portable plate 5 moved up and down drives
Vertical movable shaft 7, which synchronizes, to be moved up and down, so that workpiece pneumatic clamper 9 carries out lifting action.
During the workpiece pneumatic clamper 9 of the utility model realizes spinning movement, PLC controller controls shaft driving motor
82 movements, shaft driving motor 82 pass through by 85 active synchronization belt wheel 83, driven synchronous pulley 84 and drive coordination band groups
At synchronous belt drive mechanism driving vertical movable shaft 7 rotate, the vertical movable shaft 7 of spinning movement drives workpiece pneumatic clamper 9
Carry out spinning movement.
Based on the above situation, it may be appreciated that the utility model has novel in structural design, automation journey by said structure design
High advantage is spent, and workpiece grabbing operation can be effectively realized.
The above content is only the preferred embodiment of the utility model, for those of ordinary skill in the art, according to this reality
With novel thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as
Limitations of the present invention.
Claims (4)
1. a kind of new mechanical hand, it is characterised in that: include manipulator mounting rack (1), manipulator mounting rack (1) includes to be in
The mounting rack bottom plate (11) of horizontal cross arrangement, the upper end side of mounting rack bottom plate (11) are installed with respectively in the installation being vertically arranged
Riser (12), mounting rack right side riser (13), the lower end of mounting rack left side riser (12), mounting rack right side riser (13) on the left of frame
Portion, which passes through lock screw spiral shell respectively and loads, to be fixed in mounting rack bottom plate (11), and riser (12) is located on the right side of mounting rack and erects on the left of mounting rack
Riser (12) and mounting rack right side riser (13) left and right face arranged for interval on the left of the left end side and mounting rack of plate (13)；
It is installed between the upper end of riser (12) and the upper end of mounting rack right side riser (13) along left and right on the left of mounting rack
The horizontal-extending horizontal anomalous movement shaft (21) in direction, left part, the right part of horizontal anomalous movement shaft (21) pass through bearing respectively
(22) riser (12) on the left of the mounting rack of corresponding side, riser (13) on the right side of mounting rack, the right side of horizontal anomalous movement shaft (21) are installed on
End extends to the right end side of riser (13) on the right side of mounting rack；On the left of mounting rack on the right side of riser (12) and mounting rack riser (13) it
Between be installed with overturning driving cylinder (31), the cylinder body of overturning driving cylinder (31) passes through riser on the left of pivot and mounting rack respectively
(12), riser (13) is pivotally connected on the right side of mounting rack；Shaft is installed between overturning driving cylinder (31) and horizontal anomalous movement shaft (21)
Actuator (32), shaft actuator (32) include to be set in horizontal anomalous movement shaft (21) periphery and with horizontal anomalous movement shaft
(21) drive sleeve (321) rotated synchronously, the outer circumference surface of drive sleeve (321) are provided with the driving pendulum for protruding extension outwardly
Arm (322), drive sleeve (321) are structure as a whole with driving swing arm (322), the piston rod epitaxial end of overturning driving cylinder (31)
Portion passes through pivot and driving swing arm (322) pivot joint；
The right end side of riser (13) is installed in the overturning movable plate (4) being vertically arranged on the right side of mounting rack, overturning movable plate (4) with
The right part of horizontal anomalous movement shaft (21) is spirally connected, and the right end side of overturning movable plate (4) can be installed with lifting relatively up and downly
Movable plate (5), overturning movable plate (4) corresponding lifting portable plate (5) are installed with lift drive mechanism (6), lift drive mechanism (6)
It is drivingly connected with lifting portable plate (5)；The front end of lifting portable plate (5) is installed in the vertical movable shaft being vertically arranged
(7), lifting portable plate (5) corresponding vertical movable shaft (7) is installed with shaft driving mechanism (8), shaft driving mechanism (8) and perpendicular
It is drivingly connected to movable rotation-shaft (7), the lower end of vertical movable shaft (7) is installed with workpiece pneumatic clamper (9).
2. a kind of new mechanical hand according to claim 1, it is characterised in that: the lift drive mechanism (6) includes
It is screwed on the cylinder link block (61) of overturning movable plate (4), is screwed on the cylinder mounting base of the lifting portable plate (5)
(62), cylinder mounting base (62) be screwed with lifting driving cylinder (63), lifting driving cylinder (63) piston rod extension end with
Cylinder link block (61) connection.
3. a kind of new mechanical hand according to claim 2, it is characterised in that: the lifting portable plate (5) is turned over described
It turns a work and is installed with guiding mechanism between movable plate (4), guiding mechanism includes to be screwed on overturning movable plate (4) and is in be vertically arranged
Guide rail (641), lifting portable plate (5) corresponding rails (641) are screwed with sliding block (642), and guide rail (641) and sliding block (642) match
It closes.
4. a kind of new mechanical hand according to claim 1, it is characterised in that: the shaft driving mechanism (8) includes
It is screwed on the motor mount (81) of the lifting portable plate (5), motor mount (81) is screwed with shaft driving motor (82),
The power output shaft of shaft driving motor (82) is installed with active synchronization belt wheel (83), the upper end of the vertical movable shaft (7)
Portion is installed with driven synchronous pulley (84), and the spaced winding stake of active synchronization belt wheel (83) and driven synchronous pulley (84) has drive coordination
Band (85).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821694382.2U CN208826629U (en) | 2018-10-19 | 2018-10-19 | A kind of new mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821694382.2U CN208826629U (en) | 2018-10-19 | 2018-10-19 | A kind of new mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208826629U true CN208826629U (en) | 2019-05-07 |
Family
ID=66319086
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821694382.2U Expired - Fee Related CN208826629U (en) | 2018-10-19 | 2018-10-19 | A kind of new mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208826629U (en) |
-
2018
- 2018-10-19 CN CN201821694382.2U patent/CN208826629U/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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190507 Termination date: 20191019 |