CN214643721U

CN214643721U - Carousel formula manipulator hand claw

Info

Publication number: CN214643721U
Application number: CN202120460139.XU
Authority: CN
Inventors: 倪洪启
Original assignee: Qinhuangdao Zhifang Technology Co ltd
Current assignee: Qinhuangdao Zhifang Technology Co ltd
Priority date: 2021-03-03
Filing date: 2021-03-03
Publication date: 2021-11-09
Anticipated expiration: 2031-03-03

Abstract

The utility model provides a carousel formula manipulator hand claw relates to the manipulator field, the claw mechanism of the settlement specification of laying including angles such as disk body and multiunit, wherein claw mechanism includes vertical cylinder, the slip table, the second motor, the lead screw, the Z shape jack catch that ejector pad and two sets of symmetries set up, the disk body passes through rotary reducer and is connected with the coaxial rotation of arm, and the claw mechanism that the multiunit was set for the specification is laid to the equidistance on the disk body, it can be used to snatch the material of different models, when snatching, vertical cylinder promotes the slip table downwards, second motor drive lead screw rotates, the lead screw passes through ejector pad push-pull Z shape jack catch, and then avoid frequently changing the manipulator, realize snatching and unloading of different model materials.

Description

Carousel formula manipulator hand claw

Technical Field

The utility model relates to a manipulator field especially relates to a carousel formula manipulator hand claw.

Background

The industrial robot is a robot system for manufacturing production, the definition of the industrial robot is automatic and programmable, the automatic device is provided with three or more motion axes, along with the high-speed development of economy in China, the industrial robot gradually moves into each production workshop, and each process of grabbing or transferring materials and the like is effectively replaced by manual work.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that overcome not enough that exists among the prior art, provide a carousel formula manipulator hand claw, it can realize snatching and unloading of different model materials.

The utility model discloses a realize through following technical scheme: a rotary disc type manipulator paw comprises a disc body and a plurality of groups of claw mechanisms which are arranged at equal angles and are set to have specifications, the disc body is coaxially and rotatably connected with a mechanical arm through a rotary speed reducer, the rotary speed reducer drives the disc body to rotate, a plurality of groups of station grooves matched with the claw mechanisms are formed in the disc body, each claw mechanism comprises a vertical air cylinder, a sliding table, a second motor, a lead screw, a push block and two groups of Z-shaped claws which are symmetrically arranged, the sliding tables are slidably connected with the station grooves, the vertical air cylinders are fixed in the station grooves, the vertical air cylinders push the sliding tables, the second motors, the lead screw, the push block and main bodies of the Z-shaped claws are all positioned in the sliding tables, the second motors drive the lead screws to rotate, the push blocks are in threaded fit with the lead screws, each Z-shaped claw comprises a push rod fixedly connected and a clamping block fixedly connected with the lower end of the push rod, each sliding table is provided with a sliding groove matched with the push rod, and the push block is hinged with the push block, the clamp splice is used for centre gripping material.

According to above-mentioned technical scheme, preferably, the outside of push rod is seted up and is supported the breach portion of spout mouth, and breach portion is wide-mouth triangle-shaped.

According to the technical scheme, the automatic resetting device further comprises a resetting component matched with the Z-shaped clamping jaw, the resetting component comprises a sliding rod and a spring part, the spring part is sleeved on the sliding rod, and the spring abuts against the upper end of the Z-shaped clamping jaw.

According to the technical scheme, preferably, a plurality of groups of sliding grooves are formed in the inner side of the station groove, and a plurality of groups of sliding strips matched with the sliding grooves are arranged on the outer side of the sliding table.

The utility model has the advantages that: the utility model discloses a disk body passes through rotary reducer and is connected with the coaxial rotation of arm, and the claw hand mechanism of specification is set for to the multiunit laid to the first-class angle on the disk body, and it can be used to snatch the material of different models, and when snatching, vertical cylinder promotes the slip table downwards, and second motor drive lead screw rotates, and the lead screw passes through ejector pad push-and-pull Z shape jack catch, and then avoids frequently changing the manipulator, realizes snatching and unloading of different model materials.

Drawings

Fig. 1 shows a front view of the gripper mechanism according to an embodiment of the present invention.

Fig. 2 shows a schematic top view of an embodiment according to the present invention.

Fig. 3 shows a schematic front view of a Z-shaped jaw according to an embodiment of the present invention.

In the figure: 1. a tray body; 2. a claw mechanism; 3. a slewing reducer; 4. a station groove; 5. a vertical cylinder; 6. a sliding table; 7. a second motor; 8. a lead screw; 9. a push block; 10. a Z-shaped jaw; 11. a notch portion; 12. a reply component; 13. a slide bar; 14. a spring member; 15. a slide bar; 16. a push rod; 17. and (5) clamping blocks.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the utility model, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the utility model.

As shown in the figure, the utility model provides a turntable type manipulator paw, which comprises a disk body 1 and a plurality of groups of equiangularly arranged paw mechanisms 2 with set specifications, wherein the disk body 1 is coaxially and rotationally connected with an mechanical arm (not shown in the figure) through a rotary reducer 3, the rotary reducer 3 drives the disk body 1 to rotate, the disk body 1 is provided with a plurality of groups of station grooves 4 matched with the paw mechanisms 2, the paw mechanisms 2 comprise a vertical cylinder 5, a sliding table 6, a second motor 7, a lead screw 8, a pushing block 9 and two groups of symmetrically arranged Z-shaped claws 10, the sliding table 6 is in sliding connection with the station grooves 4, the vertical cylinder 5 is fixed in the station grooves 4, the vertical cylinder 5 pushes the sliding table 6, the main bodies of the second motor 7, the lead screw 8, the pushing block 9 and the Z-shaped claws 10 are all positioned in the sliding table 6, the second motor 7 drives the lead screw 8 to rotate, the pushing block 9 is in threaded fit with the lead screw 8, z shape jack catch 10 includes fixed connection's push rod 16 and with 16 lower extreme fixed connection's clamp splice 17 of push rod, the spout with 16 looks adaptations of push rod is seted up to slip table 6, push rod 16 is connected with ejector pad 9 is articulated, clamp splice 17 is used for the centre gripping material, the breach portion 11 that supports the spout mouth is seted up in the outside of push rod 16, breach portion 11 is wide-mouthed triangle-shaped, when breach portion 11 supports the spout mouth, Z shape jack catch 10 is in the state of opening this moment.

The working process is as follows:

the tray body 1 is coaxially and rotatably connected with the mechanical arm through a rotary speed reducer 3, and a plurality of groups of claw mechanisms 2 with set specifications are distributed on the tray body 1 at equal angles; when different materials need to be grabbed, the rotary speed reducer 3 drives the rotary table to rotate, so that the corresponding claw mechanism 2 rotates to a position right above the materials; when grabbing, vertical cylinder 5 pushes sliding table 6 downwards, second motor 7 drives lead screw 8 to rotate, and lead screw 8 pushes and pulls Z-shaped clamping jaw 10 through ejector pad 9, and then realizes grabbing of material.

According to the above embodiment, it is preferable that the material clamping device further comprises a restoring assembly 12 matched with the Z-shaped jaw 10, the restoring assembly 12 comprises a sliding rod 13 and a spring part 14, the spring part 14 is sleeved on the sliding rod 13, the spring abuts against the upper end of the Z-shaped jaw 10, and the spring part 14 is used for assisting the Z-shaped jaw 10 in clamping the material.

Further, a plurality of groups of sliding grooves are formed in the inner side of the station groove 4, a plurality of groups of sliding strips 15 matched with the sliding grooves are arranged on the outer side of the sliding table 6, and the sliding strips 15 are matched with the sliding grooves, so that the sliding precision of the sliding table 6 can be effectively improved.

The utility model has the advantages that: the utility model discloses a disk body 1 is connected through rotary reducer 3 and the coaxial rotation of arm, and disk body 1 is gone up to wait the angle and has laid the cleft hand mechanism 2 that the specification was set for to the multiunit, and it can be used to snatch the material of different models, and when snatching, vertical cylinder 5 promotes slip table 6 downwards, and second motor 7 drive lead screw 8 rotates, and lead screw 8 passes through 9 push-and-pull Z shape jack catchs 10 of ejector pad, and then avoids frequently changing the manipulator, realizes snatching and unloading of different model materials.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "connected" and "connected" are to be interpreted broadly, e.g. as a fixed connection, a detachable connection or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the utility model can be understood in specific cases to those of ordinary skill in the art.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the utility model, but not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The rotary disc type manipulator paw is characterized by comprising a disc body and a plurality of groups of paw mechanisms which are arranged at equal angles and are set to have specifications, wherein the disc body is connected with a mechanical arm through a rotary speed reducer in a coaxial rotating manner, the rotary speed reducer drives the disc body to rotate, a plurality of groups of station grooves matched with the paw mechanisms are formed in the disc body, each paw mechanism comprises a vertical air cylinder, a sliding table, a second motor, a lead screw, a pushing block and two groups of Z-shaped jaws which are symmetrically arranged, the sliding table is in sliding connection with the station grooves, the vertical air cylinder is fixed in the station grooves, the vertical air cylinder pushes the sliding table, main bodies of the second motor, the lead screw, the pushing block and the Z-shaped jaws are all located in the sliding table, the second motor drives the lead screw to rotate, the pushing block is in threaded fit with the lead screw, each Z-shaped jaw comprises a fixedly connected push rod and a clamping block fixedly connected with the lower end of the push rod, the sliding table is provided with a sliding groove matched with the push rod, the push rod is hinged with the push block, and the clamping block is used for clamping materials.

2. The manipulator claw according to claim 1, wherein a notch part for abutting against the notch is formed on the outer side of the push rod, and the notch part is in a shape of a wide-mouth triangle.

3. The manipulator claw according to claim 2, further comprising a return assembly cooperating with the Z-shaped claw, wherein the return assembly comprises a slide bar and a spring member, the spring member is sleeved on the slide bar, and the spring abuts against the upper end of the Z-shaped claw.

4. The rotary disc type mechanical hand claw according to claim 3, wherein a plurality of groups of sliding grooves are formed in the inner side of the station groove, and a plurality of groups of sliding strips matched with the sliding grooves are arranged on the outer side of the sliding table.