CN209036282U - A kind of loading and unloading gripper - Google Patents
A kind of loading and unloading gripper Download PDFInfo
- Publication number
- CN209036282U CN209036282U CN201821350193.3U CN201821350193U CN209036282U CN 209036282 U CN209036282 U CN 209036282U CN 201821350193 U CN201821350193 U CN 201821350193U CN 209036282 U CN209036282 U CN 209036282U
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- CN
- China
- Prior art keywords
- gripper
- screw
- clamping plate
- pedestal
- transmission mechanism
- 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 relates to mechanical paw fields, more particularly to a kind of loading and unloading gripper, including pedestal and guide rail, guide rail is equipped with sliding block, the bottom of sliding block is equipped with the first gripper and the second gripper, pedestal is equipped with the first transmission mechanism, first transmission mechanism and the first gripper, the connection of second gripper, and the first gripper and the second gripper is driven to slide along the guide by sliding block, first gripper is equipped with the second transmission mechanism, first gripper is equipped with rotatable first clamping plate, second gripper is equipped with rotatable second clamping plate, first clamping plate and second clamping plate are oppositely arranged, second transmission mechanism connect with first clamping plate and first clamping plate is driven to be rotated.The utility model can be used for the silico briquette processing of photovoltaic industry, can complete loading and unloading movement and constant speed rotary workpiece to cooperate the processing of grinding machine, guarantee the precision of processing, reduce the disqualification rate of product.
Description
Technical field
The utility model relates to mechanical paw field more particularly to a kind of loading and unloading grippers.
Background technique
Grinding machine is a kind of using abrasive workpiece, to obtain required shape, size and the toolroom machine in Precision Machining face.
Manufacturing industry wish automatically to grinding machine charging by way of come substitute it is artificial improve production efficiency, however during the grinding process not only
Clamping workpiece is needed, and needs constant speed rotary workpiece to guarantee precision.The effect is no doubt able to achieve using six axis robot, but
It is that cost is too high；Existing some robot manipulator structures are simple, without the function of clamping and be able to maintain constant speed rotary workpiece.
Utility model content
The utility model provides a kind of loading and unloading gripper, can process, can complete using the silico briquette for photovoltaic industry
Blanking action, but can constant speed rotary workpiece to cooperate the processing of grinding machine, guarantee the precision of processing, reduce the disqualification rate of product；
The utility model is able to satisfy the clamping demand of different workpieces, is clamped by lead screw, synchronous belt pulley transmission rotational workpieces.
The technical solution of the utility model is；A kind of loading and unloading gripper, including pedestal and set on two sides below pedestal
Guide rail is provided with matched sliding block on the guide rail, and the bottom of the sliding block is equipped with the first gripper and the second gripper, described
First gripper and the second gripper set up the both ends below pedestal separately, and the pedestal is equipped with the first transmission mechanism, first transmission
Mechanism is connected with the first gripper, the second gripper, and the first gripper and the second gripper is driven to slide along the guide by sliding block,
First gripper is equipped with the second transmission mechanism, and first gripper is equipped with rotatable first clamping plate, second gripper
Equipped with rotatable second clamping plate, the first clamping plate and second clamping plate are oppositely arranged, second transmission mechanism and the first folder
Plate connects and first clamping plate is driven to be rotated.
First transmission mechanism drives the first gripper and the second gripper to slide along the guide by sliding block, the first gripper and
Second gripper is drawn close or is separated, and first clamping plate cooperation second clamping plate is made to be clamped or unclamp workpiece.It is pressing from both sides
Under tight state, the second transmission mechanism driving first clamping plate on the first gripper is rotated, first clamping plate and workpiece it
Between rotation friction drive workpiece to be rotated, rotation friction between workpiece and second clamping plate drives second clamping plate
The purpose that the rotatable polishing of workpiece between first clamping plate and second clamping plate is driven by the second transmission mechanism is realized in rotation.
Further, the pedestal includes upper cover plate, and the bottom of the pedestal is equipped with conduit, and the side fixation of the pedestal is set
Have a motor mounting plate, first transmission mechanism include first servo motor, the first synchronizing wheel, the first synchronous belt, Bidirectional-screw,
Screw mandrel support seat, screw rod nut, screw rodb base, the first servo motor are fixed on the side of pedestal, institute by motor mounting plate
It states there are two the first synchronizing wheel sets, the projecting shaft of the first servo motor is screwed with one of them first synchronizing wheel by screw
Connection, another first synchronizing wheel are fixedly connected with one end of Bidirectional-screw by screw, and two the first synchronizing wheels pass through first
Synchronous belt is driven, and the screw mandrel support seat sets there are two and be bolted on the both ends of the bottom of upper cover plate, described
Bidirectional-screw is set between two screw mandrel support seats and is fixed on right above conduit, and the screw rodb base sets there are two and is mounted on double
To the both ends of screw rod, the screw rod nut is fixed by screws in screw rodb base and is socketed with Bidirectional-screw screw thread, two silks
The bottom of pole socket is passed through conduit and is separately fixed at the top of the first gripper and the second gripper using bolt, first gripper and the
The top side of two grippers is fixedly connected with a slide block.
Starting first servo motor, the projecting shaft of first servo motor drives the first synchronizing wheel to be rotated, and two first
It is driven between synchronizing wheel by the first synchronous belt, the first synchronizing wheel drives Bidirectional-screw to be rotated again, due to two-way silk
Bar can realize left-hand screw and right-hand screw, two matched screw rod nuts for being socketed in Bidirectional-screw both ends can realize mutually draw close or
It separates, two screw rod nuts carry out drawing close or separating relatively under the drive of Bidirectional-screw, and screw rod nut drives screw rodb base, screw rod
The bottom of seat stretch out conduit drive the first gripper and the second gripper carries out drawing close relatively in conduit along guide rail by sliding block or
It separates, the first gripper and the second gripper immediately below conduit is made to be clamped or unclamp workpiece.
Further, the second transmission mechanism includes the second servo motor, the second synchronizing wheel, the second synchronous belt, described first-hand
The end of pawl and the second gripper is equipped with through-hole, and rotating shaft holder is equipped in through-hole and is fixed by screw, the rotary shaft
It holds and is equipped with bearing in seat, main shaft is socketed in bearing, second servo motor is bolted on the first gripper
Outside, there are two second synchronizing wheel is set, two second synchronizing wheels are driven by the second synchronous belt, and described second
The projecting shaft of servo motor is screwed by screw with one of them second synchronizing wheel and is connect, another second synchronizing wheel with it is first-hand
One end of the main shaft of pawl screws connection by screw, and the other end of the main shaft of first gripper stretches out the first gripper and passes through spiral shell
Nail is fixedly connected with first clamping plate, and the main shaft of second gripper stretches out the second gripper and connects by the way that screw and second clamping plate are fixed
It connects.
After the first gripper and the second gripper are clamped workpiece, start the second servo motor, the second servo motor
It drives the second synchronizing wheel to rotate, is driven by the second synchronous belt between two the second synchronizing wheels, the second synchronizing wheel drive the
The main shaft of one gripper is rotated, main shaft relative axle forward it is dynamic, main shaft drive first clamping plate rotated, due to first clamping plate with
Rotating friction force can be generated by carrying out rotation between one end of workpiece in the clamp state, so first clamping plate makes to add in rotation
Workpiece is rotated, and the other end and second clamping plate of workpiece also generate rotation friction, and the main shaft of the second gripper is due to second
Clamping plate drives and opposite bearing rotary, so that realizing makes between first clamping plate and second clamping plate under the drive of the second transmission mechanism
Workpiece carry out rotary-grinding.
Further, the surface of first clamping plate and second clamping plate is fixed with rubber sheet gasket.To further strengthen the first folder
The frictional force of plate, second clamping plate when clamping to workpiece, makes workpiece generate bigger rotating friction force when being rotated,
It is set to keep rotation firm when being polished.
Further, between the first gripper and one end of pedestal, between the first gripper and the second gripper, the second gripper and pedestal
The other end between be equipped with radiation fins.In the bottom of pedestal since there are conduits, conduit and the first gripper, the second gripper are two-by-two
Between there are gaps, when carrying out workpiece polishing, generated clast and dust enter in pedestal in order to prevent, have additional wave
Line set, radiation fins can achieve the effect that it is dust-proof, also due to the retractility of itself will not exist to the first gripper and the second gripper
It is had an impact when being clamped mobile.
The utility model has the beneficial effects that；The utility model is driven using motor driven synchronizing wheel, and realization makes first-hand
Pawl and the second gripper are clamped and rotate to workpiece, and structure is simple, low manufacture cost, and work efficiency is high, have
Dissemination.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the enlarged diagram of A in Fig. 1.
Fig. 3 is the left view of Fig. 1.
Fig. 4 is that the top view after upper cover plate is opened in Fig. 1.
Fig. 5 is the rearview removed after pedestal in Fig. 1.
Fig. 6 is the shaft side figure of Fig. 1.
Fig. 7 is to install another angle schematic diagram after radiation fins in Fig. 5 additional.
Fig. 8 is the implementation diagram clamped after workpiece.
Specific embodiment
The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；In order to better illustrate this embodiment, attached
Scheme certain components to have omission, zoom in or out, does not represent the size of actual product；To those skilled in the art,
The omitting of some known structures and their instructions in the attached drawings are understandable.Being given for example only property of positional relationship is described in attached drawing
Illustrate, should not be understood as the limitation to this patent.
Embodiment 1:
As Figure 1-Figure 8, a kind of loading and unloading gripper, the guide rail 2 including pedestal 1 and set on 1 lower section two sides of pedestal,
Matched sliding block 3 is provided on the guide rail 2, the bottom of the sliding block 3 is equipped with the first gripper 4 and the second gripper 5, described
First gripper 4 and the second gripper 5 set up the both ends below pedestal 1 separately, and the pedestal 1 is equipped with the first transmission mechanism, and described first
Transmission mechanism and the first gripper 4, the connection of the second gripper 5, and drive the first gripper 4 and the second gripper 5 by sliding block 3 along guide rail
2 are slided, and first gripper 4 is equipped with the second transmission mechanism, and first gripper 4 is equipped with rotatable first clamping plate 6,
Second gripper 5 is equipped with rotatable second clamping plate 7, and the first clamping plate 6 and second clamping plate 7 are oppositely arranged, and described second
Transmission mechanism connect with first clamping plate 6 and first clamping plate 6 is driven to be rotated.
First transmission mechanism drives the first gripper 4 and the second gripper 5 to be slided by sliding block 3 along guide rail 2, first-hand
Pawl 4 and the second gripper 5 are drawn close or are separated, make first clamping plate 6 cooperate second clamping plate 7 workpiece is clamped or pine
It opens.In the clamp state, the second transmission mechanism driving first clamping plate 6 on the first gripper 4 is rotated, first clamping plate 6
Rotation friction between workpiece drives workpiece to be rotated, the rotation friction between workpiece and second clamping plate 7
It drives second clamping plate 7 to rotate, realizes and drive the workpiece between first clamping plate 6 and second clamping plate 7 can by the second transmission mechanism
The purpose of rotary-grinding.
In the present embodiment, the pedestal 1 includes upper cover plate 8, can utilize Bolt plate and bolt in the upper surface of upper cover plate 8
It is fixed on grinding machine, the bottom of the pedestal 1 is equipped with conduit 9, and the side of the pedestal 1 is fixed with motor mounting plate 10, institute
Stating the first transmission mechanism includes first servo motor 11, the first synchronizing wheel 12, the first synchronous belt 13, Bidirectional-screw 14, screw rod branch
Seat 15, screw rod nut 16, screw rodb base 17 are supportted, the first servo motor 11 is fixed on the one of pedestal 1 by motor mounting plate 10
Side, there are two first synchronizing wheel 12 is set, the projecting shaft of the first servo motor 11 and one of them first synchronizing wheel 12
Connection is screwed by screw, another first synchronizing wheel 12 is fixedly connected with one end of Bidirectional-screw 14 by screw, and two
One synchronizing wheel 12 is driven by the first synchronous belt 13, and the screw mandrel support seat 15 sets there are two and is bolted on
The both ends of the bottom of cover board 8, the Bidirectional-screw 14 are set between two screw mandrel support seats 15 and are fixed on right above conduit 9,
The screw rodb base 17 sets there are two and is mounted on the both ends of Bidirectional-screw 14, and the screw rod nut 16 is fixed by screws in screw rod
It is socketed in seat 17 with 14 screw thread of Bidirectional-screw, the bottom of two screw rodb bases 17 is passed through conduit 9 and is separately fixed at using bolt
The top side of the top of first gripper 4 and the second gripper 5, first gripper 4 and the second gripper 5, which is fixed with sliding block 3, to be connected
It connects.
Starting first servo motor 11, the projecting shaft of first servo motor 11 drives the first synchronizing wheel 12 to be rotated, and two
It is driven between a first synchronizing wheel 12 by the first synchronous belt 13, the first synchronizing wheel 12 drives 14 turns of Bidirectional-screw again
It is dynamic, since Bidirectional-screw 14 can realize left-hand screw and right-hand screw, it is socketed in two matched screw rod spiral shells at 14 both ends of Bidirectional-screw
Cap 16, which can be realized, mutually to be drawn close or separates, and two screw rod nuts 16 carry out drawing close relatively or be divided under the drive of Bidirectional-screw 14
It opens, screw rod nut 16 drives screw rodb base 17, and the bottom of screw rodb base 17 stretches out conduit 9 and the first gripper 4 and the second gripper 5 is driven to pass through
Sliding block 3 carries out drawing close or separating relatively in conduit 9 along guide rail 2, makes the first gripper 4 and the second gripper 5 immediately below conduit 9
Workpiece is clamped or is unclamped.
In the present embodiment, the second transmission mechanism includes the second servo motor 18, the second synchronizing wheel 19, the second synchronous belt
20, the end of first gripper 4 and the second gripper 5 is equipped with through-hole, and rotating shaft holder 21 is equipped in through-hole and passes through spiral shell
Nail is fixed, and is equipped with bearing 22 in the rotating shaft holder 21, main shaft 23, second servo motor are socketed in bearing 22
18 are bolted on the outside of the first gripper 4, there are two second synchronizing wheel 19 is set, two second synchronizing wheels 19
It is driven by the second synchronous belt 20, the projecting shaft of second servo motor 18 passes through with one of them second synchronizing wheel 19
Screw screws connection, another second synchronizing wheel 19 is screwed by screw with one end of the main shaft 23 of the first gripper 4 and connect, described
The other end of the main shaft 23 of first gripper 4 stretches out the first gripper 4 and is fixedly connected by screw with first clamping plate 6, described second
The main shaft 23 of gripper 5 stretches out the second gripper 5 and is fixedly connected by screw with second clamping plate 7.
After the first gripper 4 and the second gripper 5 are clamped workpiece, start the second servo motor 18, the second servo
Motor 18 drives the rotation of the second synchronizing wheel 19, is driven between two the second synchronizing wheels 19 by the second synchronous belt 20, second
Synchronizing wheel 19 drives the main shaft 23 of the first gripper 4 to be rotated, and main shaft 23 is rotated relative to bearing 22, and main shaft 23 drives first clamping plate
6 are rotated, and can generate spin friction due to carrying out rotation between first clamping plate 6 and one end of workpiece in the clamp state
Power, so first clamping plate 6 rotates workpiece in rotation, the other end and second clamping plate 7 of workpiece also generate rotation
The main shaft 23 of frictional force, the second gripper 7 is rotated since second clamping plate 7 drives relative to bearing 22, to realize in the second transmission
The workpiece between first clamping plate 6 and second clamping plate 7 is set to carry out rotary-grinding under the drive of mechanism.
In the present embodiment, the surface of first clamping plate 6 and second clamping plate 7 is fixed with rubber sheet gasket.Further to add
The strong frictional force of first clamping plate 6, second clamping plate 6 when clamping to workpiece, generates workpiece when being rotated bigger
Rotating friction force makes it keep rotation firm when being polished.
In the present embodiment, between the first gripper 4 and one end of pedestal 1, between the first gripper 4 and the second gripper 5, second
Radiation fins 24 is equipped between gripper 5 and the other end of pedestal 1.In the bottom of pedestal 1 since there are conduit 9, conduits 9 and first
There is gap in gripper 4, the second gripper 5, in order to prevent generated clast and dust when carrying out workpiece polishing between any two
Into in pedestal 1, have additional radiation fins 24, radiation fins 24 can achieve the effect that it is dust-proof, also due to the retractility of itself is not
First gripper 4 and the second gripper 5 can be had an impact when being clamped mobile.
Obviously, the above embodiments of the present invention is merely examples for clearly illustrating the present invention, and
It is not limitations of the embodiments of the present invention.For those of ordinary skill in the art, in above description
On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments
Exhaustion.Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention etc., should be included in
Within the protection scope of the utility model claims.
Claims (5)
1. a kind of loading and unloading gripper, which is characterized in that the guide rail (2) including pedestal (1) and set on two sides below pedestal (1),
It is provided with matched sliding block (3) on the guide rail (2), the bottom of the sliding block (3) is equipped with the first gripper (4) and second-hand
Pawl (5), first gripper (4) and the second gripper (5) set up the both ends below pedestal (1) separately, and the pedestal (1) is equipped with first
Transmission mechanism, first transmission mechanism and the first gripper (4), the second gripper (5) connection, and drive the first gripper (4) and the
Two grippers (5) are slided by sliding block (3) along guide rail (2), and first gripper (4) is equipped with the second transmission mechanism, institute
The first gripper (4) are stated equipped with rotatable first clamping plate (6), second gripper (5) is equipped with rotatable second clamping plate (7),
The first clamping plate (6) and second clamping plate (7) are oppositely arranged, and second transmission mechanism connect and drives with first clamping plate (6)
First clamping plate (6) is rotated.
2. a kind of loading and unloading gripper according to claim 1, which is characterized in that the pedestal (1) includes upper cover plate (8),
The bottom of the pedestal (1) is equipped with conduit (9), and the side of the pedestal (1) is fixed with motor mounting plate (10), and described first
Transmission mechanism includes first servo motor (11), the first synchronizing wheel (12), the first synchronous belt (13), Bidirectional-screw (14), screw rod
Support base (15), screw rod nut (16), screw rodb base (17), the first servo motor (11) are fixed by motor mounting plate (10)
In the side of pedestal (1), there are two first synchronizing wheel (12) sets, the projecting shaft of the first servo motor (11) with wherein
One the first synchronizing wheel (12) screws connection by screw, and one end of another first synchronizing wheel (12) and Bidirectional-screw (14) is logical
It crosses screw to be fixedly connected, two the first synchronizing wheels (12) are driven by the first synchronous belt (13), the screw mandrel support seat
(15) both ends of the bottom of upper cover plate (8) are set there are two and are bolted on, the Bidirectional-screw (14) is set to two silks
It between bar support base (15) and is fixed on right above conduit (9), the screw rodb base (17) sets there are two and is mounted on Bidirectional-screw
(14) both ends, the screw rod nut (16) are fixed by screws in screw rodb base (17) and are socketed with Bidirectional-screw (14) screw thread,
The bottom of two screw rodb bases (17) passes through conduit (9) and is separately fixed at the first gripper (4) and the second gripper (5) using bolt
Top, the top side of first gripper (4) and the second gripper (5) is fixedly connected with sliding block (3).
3. a kind of loading and unloading gripper according to claim 1, which is characterized in that second transmission mechanism is watched including second
Take motor (18), the second synchronizing wheel (19), the second synchronous belt (20), the end of first gripper (4) and the second gripper (5) is equal
Equipped with through-hole, it is equipped with rotating shaft holder (21) in through-hole and is fixed by screw, is equipped in the rotating shaft holder (21)
Bearing (22), bearing (22) is interior to be socketed with main shaft (23), and second servo motor (18) is bolted on first-hand
The outside of pawl (4), there are two second synchronizing wheel (19) sets, two second synchronizing wheels (19) pass through the second synchronous belt
(20) it is driven, the projecting shaft of second servo motor (18) is screwed with one of them second synchronizing wheel (19) by screw
Connection, another second synchronizing wheel (19) screwed by screw with one end of the main shaft (23) of the first gripper (4) and connect, and described the
The other end of the main shaft (23) of one gripper (4) stretches out the first gripper (4) and is fixedly connected by screw with first clamping plate (6), institute
The main shaft (23) for stating the second gripper (5) stretches out the second gripper (5) and is fixedly connected by screw with second clamping plate (7).
4. a kind of loading and unloading gripper according to claim 1, which is characterized in that the first clamping plate (6) and second clamping plate
(7) surface is fixed with rubber sheet gasket.
5. a kind of loading and unloading gripper according to claim 1, which is characterized in that first gripper (4) and pedestal (1)
It is equipped between one end, between the first gripper (4) and the second gripper (5), between the second gripper (5) and the other end of pedestal (1)
Radiation fins (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821350193.3U CN209036282U (en) | 2018-08-21 | 2018-08-21 | A kind of loading and unloading gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821350193.3U CN209036282U (en) | 2018-08-21 | 2018-08-21 | A kind of loading and unloading gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209036282U true CN209036282U (en) | 2019-06-28 |
Family
ID=67031206
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821350193.3U Expired - Fee Related CN209036282U (en) | 2018-08-21 | 2018-08-21 | A kind of loading and unloading gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209036282U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109202703A (en) * | 2018-08-21 | 2019-01-15 | 东莞理工学院 | A kind of loading and unloading gripper |
-
2018
- 2018-08-21 CN CN201821350193.3U patent/CN209036282U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109202703A (en) * | 2018-08-21 | 2019-01-15 | 东莞理工学院 | A kind of loading and unloading gripper |
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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: 20190628 Termination date: 20210821 |
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| CF01 | Termination of patent right due to non-payment of annual fee |