CN209158426U - A kind of air-actuated jaw manipulator - Google Patents
A kind of air-actuated jaw manipulator Download PDFInfo
- Publication number
- CN209158426U CN209158426U CN201821956643.3U CN201821956643U CN209158426U CN 209158426 U CN209158426 U CN 209158426U CN 201821956643 U CN201821956643 U CN 201821956643U CN 209158426 U CN209158426 U CN 209158426U
- Authority
- CN
- China
- Prior art keywords
- bracket
- clamping
- mounting plate
- mobile
- cylinder
- 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
Links
- 230000007306 turnover Effects 0.000 claims abstract description 15
- 238000001514 detection method Methods 0.000 claims description 34
- 230000001360 synchronised effect Effects 0.000 claims description 27
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 6
- 238000012545 processing Methods 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of air-actuated jaw manipulators, including main body rack, two mobile brackets, shift mechanism, clamp system, servo turnover mechanism and spline guiding mechanism, shift mechanism is fixedly installed inside main body rack, two mobile brackets are symmetrical set below main body rack, shift mechanism is connected with mobile bracket, for driving the mobile bracket left right horizontal movement；It is provided with servo turnover mechanism on the mobile bracket in the left side, servo turnover mechanism is connected with the clamp system between two mobile brackets, for driving clamp system to rotate.The air-actuated jaw manipulator design is reasonable, compact-sized, can be used for the carrying of elevator industry part processing, reduces manual operation intensity；Convenient, flexible in use, stability and safety are higher.
Description
Technical field
The utility model relates to manipulators, and in particular to a kind of air-actuated jaw manipulator.
Background technique
Industry mechanical arm is a kind of high-tech automated production equipment that recent decades grow up.Industry mechanical arm is work
One important branch of industry robot.Its feature is that various expected job tasks can be completed by programming, in construction and
It has the advantage of people and machine respectively in performance concurrently, especially embodies the intelligence and adaptability of people.The accuracy of manipulator and various
The ability to fulfil assignment in environment has wide development and prospect in all fields of national economy.
Manipulator have clamp, accurate positioning, longevity of service can be the operation under hazardous environment the features such as, in each neck
Domain has been more and more widely used.The manipulator carried currently used for the processing of elevator industry part is more stupid in use process
Weight clamps, positions not accurate enough, is easy to damage frock clamp and process tool etc..Therefore, the utility model provides a kind of band
There is the novel pneumatic fixture manipulator of signal detection, convenient, flexible in use, stability and safety are higher.
Utility model content
The purpose of the utility model is to overcome defects in the prior art, provide a kind of gas that design is reasonable, compact-sized
Dynamic fixture manipulator, can be obviously improved handling precision and safety, improve production efficiency, reduce the loss and maintenance of equipment
Cost.
To solve the above-mentioned problems, the utility model uses following technical scheme:
A kind of air-actuated jaw manipulator, including main body rack, two mobile brackets, shift mechanism, clamp system, servos turn over
Rotation mechanism and spline guiding mechanism are fixedly installed shift mechanism, two mobile brackets or so inside the main body rack
It is symmetrically disposed below the main body rack, the shift mechanism is connected with the mobile bracket, for driving the movement
Bracket left right horizontal movement；Be provided with servo turnover mechanism on the mobile bracket in the left side, the servo turnover mechanism be located at
Clamp system between two mobile brackets is connected, for driving clamp system to rotate；The clamp system includes folder
Tight mounting plate, clamping cylinder, clamping finger and bolt, described clamping mounting plate one end are fixedly installed the clamping cylinder, institute
The piston rod for stating clamping cylinder is connect with the clamping finger, and the clamping mounting plate other end is fixedly installed bolt, and two
The mobile bracket lower inside opposite position is respectively arranged with left and right clamp system, and the left end clamp system passes through described
Left clamping mounting plate is connected with the servo turnover mechanism, and the right end clamp system passes through the right clamping mounting plate activity
It being set on the inside of the mobile bracket in the right side, described shaft one end is fixed at the left clamping mounting plate center, and described turn
The axis other end is connected by the spline guiding mechanism with the right clamping mounting plate；The spline guiding mechanism includes spline
Set and splined shaft, the spline housing are connected by screw to the shaft, and described splined shaft one end is set in the spline housing, institute
State the splined shaft other end has clamping mounting plate to be connected by screw to described.
Further technical solution, the servo turnover mechanism include servomotor, gear reducer, motor mounting plate, first
Synchronous pulley, the second synchronous pulley and rotating shaft, the motor mounting plate are fixed at the outside of the mobile bracket in the left side,
First synchronous pulley is set to the motor mounting plate side, and second synchronous pulley is set to outside the mobile bracket in left side
Side, and second synchronous pulley is located at below first synchronizing wheel, is provided with servo electricity on the inside of the mobile bracket in the left side
Machine is provided with speed reducer between the servo motor and the mobile bracket, the speed reducer output shaft is through the mobile branch
Frame and the motor mounting plate and the first synchronous pulley key connection, described rotating shaft one end are connect with second synchronous pulley,
The rotating shaft other end is connected through the mobile bracket in the left side with the clamping mounting plate in the left end clamp system, uses
In the driving left end clamp system rotation.
Further technical solution, the manipulator further include angle detection mechanism, and the angle detection mechanism includes inspection
It surveys screw and detection switch mounting bracket, the detection screw is mounted on the first synchronous pulley lateral surface, the detection
It switchs mounting bracket to be located at below first synchronous pulley, detection switch mounting bracket one end is fixed on the left side and moves
Dynamic stent outer, the detection switch bracket other end extend straight up, and the vertical position of detection switch bracket is towards institute
The side for stating detection screw is equipped with detection switch, is measured in real time for the rotation angle to detection screw.
Further technical solution, the shift mechanism include two displacement cylinders, two pushing block brackets, two guide rails and
Two sliding blocks, two displacement cylinders are symmetrical set inside the main body rack by cylinder connecting bracket, described
Piston rod is fixedly connected with the pushing block bracket for being located at one side in displacement cylinder, and main body rack bottom left and right ends are opened respectively
Equipped with guide rail, it is fixedly installed sliding block on the mobile pedestal upper end face, the sliding block horizontally slips in the guide rail, and two
The pushing block bracket is connected by screw to corresponding mobile bracket respectively.
Further technical solution, two clamping cylinders clamped on mounting plate and bolt or so correspond.
Further technical solution is provided with cylinder magnetic switch on the displacement cylinder and the clamping cylinder.
The utility model has the following beneficial effects:
Clamp system is formed by clamping cylinder, clamping finger, bolt in the utility model, guarantees Workpiece clamping, positioning
Accurately, the design for the shift mechanism being arranged inside main body rack realizes the control that left and right horizontal displacement is carried out to clamp system,
The design of servo turnover mechanism, which is realized, carries out rotation control to clamp system, using spline guiding mechanism simultaneously have guiding and
The effect for transmitting torque guarantees that left and right both sides clamp connecting plate rotation consistency.The air-actuated jaw manipulator design is reasonable, knot
Structure is compact, can be used for the carrying of elevator industry part processing, reduces manual operation intensity；Simultaneous with signal testing function to folder
The rotation angle of tight mechanism is measured in real time, and convenient, flexible in use, stability and safety are higher；Using this
Grabbing device can greatly improve handling precision and safety, to improve production efficiency, reduce the loss and maintenance of equipment
Cost brings scale and benefit.
Detailed description of the invention
The utility model is described in further detail with specific embodiment with reference to the accompanying drawing.
Fig. 1 is the perspective view of air-actuated jaw manipulator；
Fig. 2 is the cross-sectional view of air-actuated jaw manipulator；
Fig. 3 is the top view of air-actuated jaw manipulator；
Wherein, specific appended drawing reference is as follows: 1, main body rack；2, guide rail；3, sliding block；4, adjustment block；5, motor mounting plate；
6, the first synchronous pulley；7, screw is detected；8, detection switch mounting bracket；9, the second synchronous pulley；10, bracket is moved left；11,
Shaft；12, spline housing；13, splined shaft；14, cylinder is shifted；15, pushing block bracket；16, bracket is moved right；17, servo motor；
18, speed reducer；19, left clamping mounting plate；20, left tapered roller bearing；21, left axle bearing sleeve；22, the first rotating shaft；23, it clamps
Cylinder；24, finger is clamped；25, bolt；26, right clamping mounting plate；27, the second rotating shaft；28, right axle bearing sleeve；29, right circular cone
Roller bearing；30, locking nut；31, cylinder connecting bracket.
Specific embodiment
As shown in Figures 1 to 3, the utility model provides a kind of air-actuated jaw manipulator, including the detection of main body rack 1, angle
Device, shift mechanism, clamp system, servo turnover mechanism and spline guiding mechanism, main body rack 1 include connecting with robot
Flange and other mechanism datum clamp faces, two cylinder connecting brackets 31 are left and right to be symmetricly set on inside main body rack 1；Two
It shifts cylinder 14 to be arranged inside handgrip main body rack 1 by cylinder connecting bracket 31 respectively, displacement cylinder 14 is equipped with cylinder
Magnetic switch；1 bottom left and right ends of main body rack pass through screw respectively and are fixed with guide rail 2, move left bracket 10 and move right branch
16 upper surface of frame passes through screw respectively and is fixedly installed sliding block 3, and sliding block 3 left and right horizontal can slide in guide rail 2, shifts cylinder
14 piston rod is placed through the through-hole on the pushing block bracket 15 of one side, and piston rod is fixed by nut, two
Pushing block bracket 15 is connected by screw to corresponding mobile bracket respectively.
Servo turnover mechanism includes that servo motor 17, speed reducer 18, motor mounting plate 5, the first synchronous pulley 6, second are same
Step belt wheel 9 and the first rotating shaft 22, motor mounting plate 5 are fixed by screws in the outside for moving left bracket 10, and adjustment block 4 passes through
Screw, which is set to, to be moved left on bracket 10, and the first synchronous pulley 6 is set to 5 side of motor mounting plate, and the second synchronous pulley 9 is set
It is placed in and moves left 10 outside of bracket, and the second synchronous pulley 9 is located at below the first synchronizing wheel, moves left and is provided on the inside of bracket 10
Servo motor 17, servo motor 17 and moves left and is provided with speed reducer 18 between bracket 10, and 18 output shaft of speed reducer is through moving to left
Dynamic bracket 10 and motor mounting plate 5 and the first synchronous pulley 6 are keyed, and first axle bearing sleeve 21, which is fixed by screws in, moves left branch
10 screw of frame, the first tapered roller bearing 20 are mounted in 21 hole of first axle bearing sleeve, and 22 one end of the first rotating shaft passes through the first circle
20 inner hole of taper roller bearing, the second synchronous pulley 9 is mounted on 22 one end of the first rotating shaft, and is tightened by locking nut 30；The
Two bearing holder (housing, cover)s 28, which are fixed by screws in, moves right 16 inside of bracket, and the second tapered roller bearing 29 is mounted on second bearing set 28
In hole, 27 one end of the second rotating shaft passes through 29 inner hole of the second tapered roller bearing, is tightened by locking nut 30.
Two mobile bracket lower inside opposite positions are respectively arranged with left and right clamp system, in left clamping mounting plate 19
It is connect by screw with 22 one end of the first rotating shaft at the heart, left 19 one end of clamping mounting plate is fixedly installed clamping cylinder 23, folder
Tight cylinder 23 is equipped with cylinder magnetic switch, and the piston rod of clamping cylinder 23 is fixedly connected with by screw clamps finger 24, left
It clamps 19 other end of mounting plate and bolt 25 has been fixedly connected with by screw, right clamping mounting plate 26 is fixed by screws in second
27 one end of rotating shaft, right 26 one end of clamping mounting plate are fixedly installed clamping cylinder 23, pass through on the piston rod of clamping cylinder 23
Screw, which is fixedly connected with, clamps finger 24, and right 26 other end of clamping mounting plate is fixedly connected with bolt 25 by screw, wherein left
It clamps mounting plate 19 and clamping cylinder 23, bolt 25 on right clamping mounting plate 26 corresponds；Left 19 center of clamping mounting plate
Place is fixed with shaft 11 by screw, and 11 other end of shaft is connected by spline guiding mechanism with right clamping mounting plate 26；
Spline guiding mechanism includes spline housing 12 and splined shaft 13, and spline housing 12 is connected by screw to shaft 11,13 one end of splined shaft
In spline housing 12,13 other end of splined shaft is connected by screw to there is clamping mounting plate.
Manipulator further includes angle detection mechanism, and angle detection mechanism includes detection screw 7 and detection switch mounting bracket
8, detection screw 7 is connected through a screw thread with the first synchronous pulley 6, and detection switch mounting bracket 8 is located under the first synchronous pulley 6
Side, detection switch mounting bracket 8 are fixed on the mobile stent outer in left side, carry out for the rotation angle to detection screw 7 real-time
Detection.
The working principle of the utility model is: being moved left and right by the drive of displacement cylinder 14 being arranged inside main body rack 1
Bracket carries out the movement of left and right horizontal direction, and then regulates and controls clamp system to the clamping dynamics of object；It is driven by servo motor 17
The rotation of first rotating shaft 22, and then left 19 rotary motion of clamping mounting plate being set on the first rotating shaft 22 is driven, lead to simultaneously
Over-angle testing agency realizes the accurate positioning to finger 24 and the rotation angle of bolt 25 is clamped on left clamping mounting plate 19, left
Clamp mounting plate 19 and the right spline Guiding machine clamped between mounting plate 26 by having the function of guiding simultaneously and transmitting torque
Structure connection guarantees that left and right both sides clamp connecting plate rotation consistency；In addition, clamping cylinder 23, clamping finger 24,25 groups of bolt
At clamp system, clamping cylinder 23 and clamping finger 24 form link pin, guarantee Workpiece clamping, accurate positioning.
Air-actuated jaw manipulator design in the utility model is reasonable, compact-sized, can be used for the processing of elevator industry part
Carrying, reduce manual operation intensity；It is measured in real time simultaneous with rotation angle of the signal testing function to clamp system,
Convenient, flexible in use, stability and safety are higher；Using this grabbing device, handling precision can be greatly improved
And safety reduces the loss and maintenance cost of equipment, brings scale and benefit to improve production efficiency.
Use above specific case is illustrated the utility model, is merely used to help understand the utility model, and
Not to limit the utility model.Think of for those skilled in the art of the present invention, according to the utility model
Think, several simple deductions, deformation or replacement can also be made.
Claims (6)
1. a kind of air-actuated jaw manipulator, which is characterized in that including main body rack, two mobile bracket, shift mechanism, clamping machines
Structure, servo turnover mechanism and spline guiding mechanism are fixedly installed shift mechanism, two movements inside the main body rack
Bracket is symmetrical set below the main body rack, and the shift mechanism is connected with the mobile bracket, for driving
The mobile bracket left right horizontal movement；Servo turnover mechanism, the servo tipper are provided on the mobile bracket in the left side
Structure is connected with the clamp system between two mobile brackets, for driving clamp system to rotate；The clamping machine
Structure includes clamping mounting plate, clamping cylinder, clamping finger and bolt, described clamping mounting plate one end to be fixedly installed the clamping
Cylinder, the piston rod of the clamping cylinder are connect with the clamping finger, and the clamping mounting plate other end is fixedly installed slotting
Pin, two mobile bracket lower inside opposite positions are respectively arranged with left and right clamp system, the left end clamp system
It is connected by the left clamping mounting plate with the servo turnover mechanism, the right end clamp system passes through the right clamping peace
Loading board is movably set on the inside of the mobile bracket in the right side, and shaft one end is fixed at the left clamping mounting plate center, institute
It states the shaft other end and is connected by the spline guiding mechanism with the right clamping mounting plate；The spline guiding mechanism includes
Spline housing and splined shaft, the spline housing are connected by screw to the shaft, and described splined shaft one end is set to the spline housing
Interior, the splined shaft other end has clamping mounting plate to be connected by screw to described.
2. air-actuated jaw manipulator according to claim 1, which is characterized in that the servo turnover mechanism includes servo electricity
Machine, speed reducer, motor mounting plate, the first synchronous pulley, the second synchronous pulley and rotating shaft, the motor mounting plate fixed setting
In the outside of the mobile bracket in the left side, first synchronous pulley is set to the motor mounting plate side, and described second is same
Step belt wheel is set to the mobile stent outer in left side, and second synchronous pulley is located at below first synchronizing wheel, the left side
It is provided with servo motor on the inside of the mobile bracket in side, is provided with speed reducer between the servo motor and the mobile bracket, it is described
Speed reducer output shaft is keyed through the mobile bracket and the motor mounting plate and the first synchronous pulley, the rotating shaft one
End is connect with second synchronous pulley, and the rotating shaft other end is through the mobile bracket in the left side and the left end clamping machine
Clamping mounting plate in structure is connected, for driving the left end clamp system to rotate.
3. air-actuated jaw manipulator according to claim 2, which is characterized in that the manipulator further includes angle detection machine
Structure, the angle detection mechanism include that detection screw and detection switch mounting bracket, the detection screw are mounted on described first
On synchronous pulley lateral surface, the detection switch mounting bracket is located at below first synchronous pulley, the detection switch peace
Dress bracket one end is fixed on the mobile stent outer in the left side, and the detection switch bracket other end extends straight up, described
The side of the vertical position of detection switch bracket towards the detection screw is equipped with detection switch, for the rotation to detection screw
Angle is measured in real time.
4. air-actuated jaw manipulator according to claim 1 or 2, which is characterized in that the shift mechanism includes two shiftings
Position cylinder, two pushing block brackets, two guide rails and two sliding blocks, two displacement cylinders pass through cylinder connecting bracket or so pair
Title is set to inside the main body rack, and piston rod is fixedly connected with the pushing block bracket for being located at one side in the displacement cylinder,
Main body rack bottom left and right ends offer guide rail respectively, are fixedly installed sliding block on the mobile pedestal upper end face, institute
It states sliding block to horizontally slip in the guide rail, two pushing block brackets are connected by screw to corresponding mobile bracket respectively.
5. air-actuated jaw manipulator according to claim 1, which is characterized in that two clampings clamped on mounting plate
Cylinder and bolt or so correspond.
6. air-actuated jaw manipulator according to claim 4, which is characterized in that the displacement cylinder and the clamping cylinder
On be provided with cylinder magnetic switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821956643.3U CN209158426U (en) | 2018-11-26 | 2018-11-26 | A kind of air-actuated jaw manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821956643.3U CN209158426U (en) | 2018-11-26 | 2018-11-26 | A kind of air-actuated jaw manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209158426U true CN209158426U (en) | 2019-07-26 |
Family
ID=67340202
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821956643.3U Expired - Fee Related CN209158426U (en) | 2018-11-26 | 2018-11-26 | A kind of air-actuated jaw manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209158426U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561171A (en) * | 2019-08-01 | 2019-12-13 | 芜湖职业技术学院 | overturning and transferring mechanism for box body workpiece |
| CN111805155A (en) * | 2020-08-27 | 2020-10-23 | 哈尔滨北方防务装备股份有限公司 | Two sections tracked vehicle suspension truss composite frock structures |
| CN112571013A (en) * | 2020-12-22 | 2021-03-30 | 无锡新宏泰电器科技股份有限公司 | Frame circuit breaker equipment is with upset frock |
-
2018
- 2018-11-26 CN CN201821956643.3U patent/CN209158426U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561171A (en) * | 2019-08-01 | 2019-12-13 | 芜湖职业技术学院 | overturning and transferring mechanism for box body workpiece |
| CN111805155A (en) * | 2020-08-27 | 2020-10-23 | 哈尔滨北方防务装备股份有限公司 | Two sections tracked vehicle suspension truss composite frock structures |
| CN112571013A (en) * | 2020-12-22 | 2021-03-30 | 无锡新宏泰电器科技股份有限公司 | Frame circuit breaker equipment is with upset frock |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209158426U (en) | A kind of air-actuated jaw manipulator | |
| CN109807520A (en) | A kind of automobile assembling automatic welding machinery hand | |
| CN201208678Y (en) | Automatic welding machine | |
| CN113878398B (en) | Automatic feeding and discharging truss robot of numerical control lathe | |
| CN205950746U (en) | Portable transport six -shaft mechanical arm | |
| CN110498244A (en) | Long handle bevel gear finishing automatic assembly line | |
| US4921395A (en) | Apparatus for loading and/or unloading industrial presses | |
| CN206241631U (en) | A kind of urheen peg machine for automatic working | |
| CN208826149U (en) | A kind of automation loading and unloading manipulator | |
| CN203993335U (en) | A kind of bent axle fixture | |
| US5017083A (en) | Apparatus for loading and/or unloading industrial presses | |
| US4475863A (en) | Electric servo drive lift unit | |
| CN213795015U (en) | Multi-axis linkage automatic centering clamping welding displacement system | |
| CN206436243U (en) | A kind of production line of two Digit Control Machine Tools of mechanical hand-motion | |
| CN217097806U (en) | Automatic feeding manipulator | |
| CN206049175U (en) | Built-in four axis robot of glass finishing impression | |
| CN205008961U (en) | Location detection mechanism of lid type rotating member | |
| CN107552670B (en) | Stamping feeding robot | |
| CN209160902U (en) | Multifunctional material transfer device | |
| CN205919767U (en) | Detection apparatus for automotive brake caliper support circular arc is examined utensil and is had and to examine utensil | |
| CN109955153A (en) | A kind of overturning and positioning device and its working method | |
| CN210210383U (en) | Apposition sideslip feeding manipulator | |
| GB2121747A (en) | Apparatus for loading and/or unloading industrial presses or the like | |
| CN209303723U (en) | A kind of aluminium wheels basal plane automatic lathe | |
| CN112059694A (en) | Automatic processing equipment for fault diagnosis of special-shaped crankshaft |
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: 20190726 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |