CN214238302U - Clamping and overturning manipulator - Google Patents
Clamping and overturning manipulator Download PDFInfo
- Publication number
- CN214238302U CN214238302U CN202023084772.8U CN202023084772U CN214238302U CN 214238302 U CN214238302 U CN 214238302U CN 202023084772 U CN202023084772 U CN 202023084772U CN 214238302 U CN214238302 U CN 214238302U
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Abstract
The utility model relates to the technical field of manipulators, a clamping turnover manipulator, wherein the front end of a base is provided with a linear slide rail, the middle part of the base is provided with a slide channel, a driving rod is inserted in the slide channel, a clamping jaw is installed on a slide block, the slide block is provided with a tooth structure towards one side of the slide rail, the slide block is installed on the linear slide rail in a sliding way, a transmission gear set comprises a plurality of gears, the plurality of gears are meshed in sequence, the driving rod is provided with a rack which is meshed with a first gear in the transmission gear set, and a last gear in the transmission gear set is meshed with the tooth structure on the slide block; when the driving rod slides in the sliding channel, the driving rod drives the sliding block to move oppositely or reversely on the sliding rail through the transmission gear set; the manipulator can accurately clamp workpieces, and the clamping jaws have better synchronous action capacity and compact structure.
Description
Technical Field
The utility model relates to a manipulator technical field, especially a centre gripping upset manipulator.
Background
The manipulator in the prior art clamps the workpiece and moves, a hydraulic transmission structure is mostly used, namely, the clamping jaws share one hydraulic oil cavity to move, the synchronism of the actions of the clamping jaws of the manipulator is poor, the position accuracy of the clamped workpiece is difficult to guarantee, the feeding position of the workpiece is inaccurate, and the machining precision of the workpiece is low.
SUMMERY OF THE UTILITY MODEL
In order to solve the above problem, the utility model provides a centre gripping upset manipulator, this manipulator can accurate centre gripping work piece, and clamping jaw synchronization action ability is better, compact structure.
In order to achieve the above object, the utility model adopts the following technical scheme:
a clamping and overturning manipulator comprises a base, a driving rod, two transmission gear sets, two sliders and two clamping jaws, wherein a linear slide rail is arranged at the front end of the base, a slide channel is arranged in the middle of the base, the driving rod is inserted into the slide channel, the driving rod can slide in the slide channel in a linear mode, the driving rod and the slide direction are perpendicular to the extension direction of the linear slide rail, the clamping jaws are installed on the sliders, a tooth structure is arranged on one side, facing the slide rail, of each slider, the sliders are installed on the linear slide rail in a sliding mode, each transmission gear set comprises a plurality of gears, the gears are meshed in sequence, racks meshed with the first gears in the transmission gear sets are arranged on the driving rod, and the last gear in the transmission gear sets is meshed with the tooth structure on the sliders;
when the driving rod slides in the sliding channel, the driving rod drives the sliding block to move oppositely or reversely on the sliding rail through the transmission gear set.
Preferably, the tail part of the driving rod is provided with a piston structure matched with the inner wall of the sliding channel.
Preferably, the drive gear set includes a first gear, a second gear, a third gear and a fourth gear, wherein the first gear is engaged with the rack and the fourth gear is engaged with the tooth structure.
Preferably, a connecting line of rotation centers of the first gear, the second gear and the third gear is a straight line, the connecting line of the rotation centers of the first gear, the second gear and the third gear is parallel to the extending direction of the slide rail, and the distance between the rotation center of the fourth gear and the slide rail is smaller than the distance between the rotation center of the third gear and the slide rail.
Preferably, the clamping jaws are detachably mounted on the slide.
Preferably, the front end of the clamping jaw is provided with a clamping block, and the clamping block is detachably arranged on the clamping jaw.
Preferably, the driving mechanism of the driving rod is an electric cylinder.
The utility model has the advantages that:
this manipulator adopts the limit structure of slider slide rail for the moving direction of clamping jaw can be accurate spacing, and branch line motion through the actuating lever, the drive slider rectilinear movement is organized through drive gear to the mode of actuating lever accessible tooth meshing, and through this kind of mode, the moving mode of clamping jaw is direct mechanical type transmission, and the synchronism of two clamping jaws is good, and the centre gripping work piece position is more accurate, avoids the poor problem of hydraulic transmission clamping jaw action synchronism.
The transmission part in the manipulator has a compact structure, and all gears in the transmission gear set are arranged close to a straight line, so that the width of the base is fully utilized, and the whole volume of the manipulator is reduced.
Drawings
Fig. 1 is a schematic structural view of the clamping and turning manipulator of the present invention.
The reference numerals include:
10-base, 11-sliding channel, 12-sliding rail, 20-driving rod, 21-piston structure, 22-rack, 30-transmission gear set, 31-first gear, 32-second gear, 33-third gear, 34-fourth gear, 40-sliding block, 41-tooth structure, 50-clamping jaw and 60-clamping block.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, the clamping and overturning manipulator provided by the present embodiment comprises a base 10, a driving rod 20, two transmission gear sets 30, two sliders 40 and two clamping jaws 50, wherein the front end of the base 10 is provided with a linear slide rail 12, the middle part of the base 10 is provided with a slide channel 11, the driving rod 20 is inserted in the slide channel 11, the driving rod 20 can slide in the slide channel 11 by a wire, the driving rod 20 and the sliding direction are perpendicular to the extending direction of the linear sliding rail 12, the clamping jaw 50 is installed on the sliding block 40, one side of the sliding block 40 facing the sliding rail 12 is provided with a tooth structure 41, the sliding block 40 is installed on the linear sliding rail 12 in a sliding way, the transmission gear set 30 comprises a plurality of gears, a plurality of gears are meshed in sequence, a rack 22 meshed with the first gear in the transmission gear set 30 is arranged on the driving rod 20, and the last gear in the transmission gear set 30 is meshed with the tooth structure 41 on the sliding block 40; when the driving rod 20 slides in the sliding channel 11, the driving rod 20 drives the sliding block 40 to move oppositely or reversely on the sliding rail 12 through the transmission gear set 30.
In the present embodiment, the transmission gear set 30 includes a first gear 31, a second gear 32, a third gear 33 and a fourth gear 34, wherein the first gear 31 is engaged with the rack 22, and the fourth gear 34 is engaged with the tooth structure 41. The connecting lines of the rotation centers of the first gear 31, the second gear 32 and the third gear 33 are straight lines, the connecting lines of the rotation centers of the first gear 31, the second gear 32 and the third gear 33 are parallel to the extending direction of the slide rail 12, and the distance between the rotation center of the fourth gear 34 and the slide rail 12 is smaller than the distance between the rotation center of the third gear 33 and the slide rail 12.
The rear portion of the driving rod 20 has a piston structure 21 engaged with the inner wall of the slide passage 11. The drive mechanism for the drive rod 20 is an electric cylinder.
The clamping jaw 50 is detachably mounted on the slide 40. The front end of the clamping jaw 50 is provided with a clamping block 60, the clamping block 60 is detachably arranged on the clamping jaw 50, when different workpieces are clamped, the clamping jaw 50 and the clamping block 60 can be detached and replaced, and meanwhile, the whole maintenance of the manipulator is facilitated.
The front end face of base 10 sets up slide rail 12, and slide channel 11 is seted up by the back of base 10, and the front end of slide channel 11 runs through the front end face of base 10, and the back end of slide channel 11 is cylindric piston cylinder, and the piston structure 21 of actuating lever 20 afterbody slidable installs in the piston cylinder, and after actuating lever 20 afterbody external electric jar, the power end of electric jar can promote actuating lever 20 and move back and forth in slide channel 11. The rack 22 is arranged on two opposite sides of the driving rod 20, the rack 22 is meshed with the first gear 31, the second gear 32, the third gear 33 and the fourth gear 34 are sequentially meshed, and when the driving rod 20 moves forwards, the rack 22 drives the two sliders 40 to move oppositely through the first gear 31, the second gear 32, the third gear 33 and the fourth gear 34, so that the clamping jaw 50 clamps a workpiece. When the driving rod 20 moves backwards, the rack 22 drives the two sliding blocks 40 to move reversely through the first gear 31, the second gear 32, the third gear 33 and the fourth gear 34, so that the clamping jaw 50 releases the workpiece.
The mechanical claw has compact structure, small volume and light weight, and can rotate in a way of applying torque force by matching of the gear and the bearing.
The above description is only a preferred embodiment of the present invention, and many changes can be made in the detailed description and the application scope according to the idea of the present invention for those skilled in the art, which all belong to the protection scope of the present invention as long as the changes do not depart from the concept of the present invention.
Claims (7)
1. The utility model provides a centre gripping upset manipulator which characterized in that: the clamping jaw type linear sliding clamp comprises a base, a driving rod, two transmission gear sets, two sliders and two clamping jaws, wherein a linear sliding rail is arranged at the front end of the base, a sliding channel is formed in the middle of the base, the driving rod is inserted into the sliding channel and can linearly slide in the sliding channel, the driving rod and the sliding direction are perpendicular to the extending direction of the linear sliding rail, the clamping jaws are installed on the sliders, a tooth structure is arranged on one side, facing the sliding rail, of each slider, the sliders are installed on the linear sliding rail in a sliding mode, each transmission gear set comprises a plurality of gears which are sequentially meshed, racks which are mutually meshed with the first gears in the transmission gear sets are arranged on the driving rod, and the last gear in the transmission gear sets is meshed with the tooth structure on the sliders;
when the driving rod slides in the sliding channel, the driving rod drives the sliding block to move oppositely or reversely on the sliding rail through the transmission gear set.
2. The grip-flipper robot of claim 1, further comprising: the tail part of the driving rod is provided with a piston structure matched with the inner wall of the sliding channel.
3. The grip-flipper robot of claim 1, further comprising: the transmission gear set comprises a first gear, a second gear, a third gear and a fourth gear, wherein the first gear is meshed with the rack, and the fourth gear is meshed with the tooth structure.
4. The grip-flip robot of claim 3, wherein: the connecting line of the rotation centers of the first gear, the second gear and the third gear is a straight line, the connecting line of the rotation centers of the first gear, the second gear and the third gear is parallel to the extending direction of the slide rail, and the distance between the rotation center of the fourth gear and the slide rail is smaller than the distance between the rotation center of the third gear and the slide rail.
5. The grip-flipper robot of claim 1, further comprising: the clamping jaw is detachably mounted on the sliding block.
6. The grip-flipper robot of claim 1, further comprising: the front end of the clamping jaw is provided with a clamping block, and the clamping block is detachably arranged on the clamping jaw.
7. The grip-flipper robot of claim 1, further comprising: the driving mechanism of the driving rod is an electric cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023084772.8U CN214238302U (en) | 2020-12-18 | 2020-12-18 | Clamping and overturning manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023084772.8U CN214238302U (en) | 2020-12-18 | 2020-12-18 | Clamping and overturning manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214238302U true CN214238302U (en) | 2021-09-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023084772.8U Active CN214238302U (en) | 2020-12-18 | 2020-12-18 | Clamping and overturning manipulator |
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| Country | Link |
|---|---|
| CN (1) | CN214238302U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114434404A (en) * | 2021-12-03 | 2022-05-06 | 浙江省送变电工程有限公司 | GIS pipeline butt joint device and using method thereof |
-
2020
- 2020-12-18 CN CN202023084772.8U patent/CN214238302U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114434404A (en) * | 2021-12-03 | 2022-05-06 | 浙江省送变电工程有限公司 | GIS pipeline butt joint device and using method thereof |
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