CN217172346U - Paw compatible with multiple cylinder turnover - Google Patents
Paw compatible with multiple cylinder turnover Download PDFInfo
- Publication number
- CN217172346U CN217172346U CN202220862340.5U CN202220862340U CN217172346U CN 217172346 U CN217172346 U CN 217172346U CN 202220862340 U CN202220862340 U CN 202220862340U CN 217172346 U CN217172346 U CN 217172346U
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- finger
- cylinder body
- guide rail
- turnover
- mounting panel
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Abstract
The utility model relates to the technical field of robot grippers, in particular to a gripper compatible with turnover of various cylinder bodies, which comprises a wrist assembly, two finger assemblies, a turnover mechanism and a synchronization mechanism, wherein the two finger assemblies are all slidably mounted at the bottom of the wrist assembly, each finger assembly comprises a splicing finger and a supporting finger, the supporting finger is slidably connected with the splicing finger, the two splicing fingers are respectively inserted into two ends of the cylinder body, the two supporting fingers support the bottom of the cylinder body, each finger assembly is provided with the turnover mechanism for driving the finger assemblies to turn over, and two ends of the synchronization mechanism are respectively connected with the two turnover mechanisms; the utility model discloses utilize the grafting finger in the finger subassembly to insert the cylinder body both ends, two support and hold the finger and hold the cylinder body bottom and realize snatching the cylinder body, and two tilting mechanism realize the synchronous upset that the synchronous rotation of finger subassembly drove the cylinder body through lazytongs, have replaced manual operation, have improved work efficiency and factor of safety.
Description
Technical Field
The utility model belongs to the technical field of robot tongs technique and specifically relates to a hand claw of compatible multiple cylinder body turn-over is related to.
Background
The cylinder block is a basic part and a framework of the engine and is one of the most important parts in the engine, and the quality of the cylinder block directly influences the quality of the engine.
In cylinder body production, workpieces need to be conveyed to different stations for processing, when the existing cylinder body is conveyed, a hook or a transport vehicle is usually adopted to convey an engine cylinder body to the next station, manual operation is needed in the process, however, the cylinder body is heavy in weight, no force points capable of exerting force are arranged on the surface of the cylinder body, the danger is high during manual operation, the engine cylinder body is easy to shake and fall off during transportation, the safety is low, and safety accidents are easy to cause; in addition, when some stations are processed, the cylinder body needs to be turned over by a certain angle, and the stability is poor by adopting a hook mode.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is: in order to overcome the problem that when the cylinder body is transferred by adopting the hook in the prior art, the cylinder body is easy to shake and fall off, the safety performance is poor, and safety accidents are easy to cause, the paw compatible with the turnover of various cylinder bodies is provided.
In order to solve the technical problem, the utility model discloses a following technical scheme: a paw compatible with turnover of various cylinder bodies comprises a wrist assembly, a finger assembly, a turnover mechanism and a synchronization mechanism;
the two finger assemblies are arranged and are all slidably mounted at the bottom of the wrist assembly, each finger assembly comprises an inserting finger and a supporting finger, the supporting fingers are slidably connected with the inserting fingers, the two inserting fingers are respectively inserted into two ends of the cylinder body, and the two supporting fingers support the bottom of the cylinder body.
Each finger assembly is provided with a turnover mechanism for driving the finger assembly to turn over;
and two ends of the synchronizing mechanism are respectively connected with the two turnover mechanisms and used for driving the two turnover mechanisms to synchronously act.
According to the technical scheme, the inserting fingers in the finger assemblies are inserted into two ends of the cylinder body, the two supporting fingers support the bottom of the cylinder body to grab the cylinder body, and the two turnover mechanisms synchronously rotate to drive the cylinder body through the synchronous mechanism to realize synchronous turnover of the finger assemblies.
Furthermore, each turnover mechanism comprises a synchronous gear, an idler gear and a plurality of turnover gears which are sequentially connected in a transmission manner, wherein one turnover mechanism is provided with a first driving mechanism and a driving gear, the output end of the first driving mechanism is connected with the driving gear in a transmission manner, the driving gear is connected with the corresponding synchronous gear in a transmission manner, and the turnover gears are connected with the finger assemblies; the first driving mechanism drives the driving gear to rotate, the driving gear is meshed with the idler gear to drive the idler gear to rotate, and the idler gear is meshed with the overturning gear to drive the overturning gear to rotate so as to drive the finger assembly to rotate.
Further, the synchronizing mechanism comprises a spline shaft and a spline housing which are in sliding connection, the spline shaft and the spline housing are coaxially arranged and are respectively connected with the two synchronizing gears, the first driving mechanism drives one of the synchronizing gears to rotate, the synchronizing gear drives the spline housing to synchronously rotate, the spline housing drives the spline shaft to rotate, and the spline shaft drives the other synchronizing gear to synchronously rotate, so that two turnover mechanisms synchronously rotate, and the spline shaft and the spline housing can relatively slide to adapt to the distance between the two finger assemblies.
Further, be fixed with the slider mounting panel on the grafting finger, install second slider and second actuating mechanism on the slider mounting panel, the support is held the finger and is installed on the guide rail mounting panel, still be equipped with the second guide rail on the guide rail mounting panel, second actuating mechanism's output and guide rail mounting panel fixed connection, second slider and second guide rail sliding connection, second actuating mechanism drive guide rail mounting panel longitudinal motion drive the support on it and hold finger longitudinal motion to realize that the grafting finger is with holding the adjustable cylinder body that adapts to different heights of distance between the finger, both ends are fixed with the stroke scope that the barrier plate is used for limiting the guide rail mounting panel about the guide rail mounting panel.
Further, every finger subassembly top all is equipped with a finger mounting panel, be equipped with first guide rail and two third actuating mechanism on the wrist subassembly, install first slider on the finger mounting panel, two third actuating mechanism and two finger mounting panel one-to-ones and third actuating mechanism's output and finger mounting panel fixed connection, first slider and first guide rail sliding connection, two third actuating mechanism drive two finger mounting panels respectively and move in opposite directions or move in opposite directions that drive two finger subassemblies.
Furthermore, one of the inserting fingers is provided with an inserting shaft, the other inserting finger is provided with an inserting hole, one end of the crankshaft in the cylinder body is inserted into the inserting hole, the other end of the crankshaft is inserted by the inserting shaft, and the shape of the two inserting fingers is matched with the two ends of the crankshaft of the cylinder body to be inserted with the two ends of the cylinder body so as to realize the grabbing of the cylinder body.
Furthermore, it has U type groove to open on the guide rail mounting panel, the grafting finger is located the U-shaped inslot, under the unchangeable condition of second guide rail length, can make the finger subassembly structure more compact, saves space.
The utility model has the advantages that: the utility model discloses utilize the grafting finger in the finger subassembly to insert the cylinder body both ends, two support and hold the finger and hold the cylinder body bottom and realize snatching the cylinder body, and two tilting mechanism realize the synchronous upset that the synchronous rotation of finger subassembly drove the cylinder body through lazytongs, have replaced manual operation, have improved work efficiency and factor of safety.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a three-dimensional view of the present invention;
FIG. 2 is a front view of the present invention cooperating with the cylinder body;
FIG. 3 is a schematic view of the turnover mechanism, the synchronization mechanism and the finger assembly of the present invention;
FIG. 4 is a three-dimensional view of a finger assembly provided with a jack;
FIG. 5 is a three-dimensional view of a finger assembly provided with a spindle;
in the figure:
1. a wrist element; 101. a third drive mechanism; 102. a first guide rail;
2. a finger assembly; 201. inserting fingers; 2011. inserting a shaft; 2012. a jack; 202. supporting a finger; 203. a finger mounting plate; 204. a first slider; 205. a slider mounting plate; 206. a second slider; 207. a second drive mechanism; 208. a guide rail mounting plate; 2081. a U-shaped groove; 209. a second guide rail; 210. a blocking plate;
3. a turnover mechanism; 301. a synchronizing gear; 302. an idler pulley; 303. turning over the gear; 304. a first drive mechanism; 305. a driving gear;
4. a synchronization mechanism; 401. a spline shaft; 402. a spline housing;
5. a cylinder body;
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic drawings and illustrate the basic structure of the present invention only in a schematic manner, and thus show only the components related to the present invention.
The first embodiment is as follows:
as shown in fig. 1-5, the utility model relates to a paw compatible with the turnover of various cylinder bodies, which comprises a wrist assembly 1, a finger assembly 2, a turnover mechanism 3 and a synchronization mechanism 4;
the two finger assemblies 2 are arranged at the bottom of the wrist assembly 1 in a sliding mode, each finger assembly 2 comprises an inserting finger 201 and a supporting finger 202, the supporting finger 202 is connected with the inserting finger 201 in a sliding mode, the two inserting fingers 201 are inserted into two ends of the cylinder body 5 respectively, and the two supporting fingers 202 support the bottom of the cylinder body 5.
Every 2 tops of finger subassembly all are equipped with a finger mounting panel 203, be equipped with first guide rail 102 and two third actuating mechanism 101 on the wrist subassembly 1, install first slider 204 on the finger mounting panel 203, two third actuating mechanism 101 and two finger mounting panels 203 one-to-one and the output of third actuating mechanism 101 and finger mounting panel 203 fixed connection, first slider 204 and first guide rail 102 sliding connection, two third actuating mechanism 101 drive respectively two finger mounting panels 203 opposite or move in opposite directions and drive two opposite or the opposite directions motion of pointing subassembly 2.
The plug-in finger 201 is fixed with a slider mounting plate 205, the slider mounting plate 205 is provided with a second slider 206 and a second driving mechanism 207, the supporting finger 202 is mounted on a guide rail mounting plate 208, the guide rail mounting plate 208 is also provided with a second guide rail 209, the output end of the second driving mechanism 207 is fixedly connected with the guide rail mounting plate 208, the second slider 206 is in sliding connection with the second guide rail 209, the second driving mechanism 207 drives the guide rail mounting plate 208 to move longitudinally to drive the supporting finger 202 thereon to move longitudinally, so that the distance between the plug-in finger 201 and the supporting finger 202 can be adjusted to adapt to cylinder bodies 5 with different heights, and the upper end and the lower end of the guide rail mounting plate 208 are fixed with a blocking plate 210 for limiting the stroke range of the guide rail mounting plate 208. The guide rail mounting plate 208 is provided with a U-shaped groove 2081, the plugging fingers 201 are positioned in the U-shaped groove 2081, and under the condition that the length of the second guide rail 209 is not changed, the finger assembly 2 can be more compact in structure, and the space is saved.
One of the plug fingers 201 in the plug fingers 201 is provided with a plug shaft 2011, the other plug finger 201 is provided with a plug hole 2012, one end of a crankshaft in the cylinder body 5 is inserted into the plug hole 2012, the other end of the crankshaft is inserted by the plug shaft 2011, the length of the plug finger 201 provided with the plug shaft 2011 is greater than that of the plug finger 201 provided with the plug hole 2012, the length of the supporting finger 202 corresponding to the plug finger 201 provided with the plug shaft 2011 is greater than that of the supporting finger 202 corresponding to the plug finger 201 provided with the plug hole 2012, and the shapes and lengths of the two plug fingers 201 are matched with the two ends of the crankshaft of the cylinder body 5 to plug with the two ends of the cylinder body 5 so as to realize grabbing of the cylinder body 5.
Each finger component 2 is provided with a turnover mechanism 3 for driving the finger component 2 to turn over;
each turnover mechanism 3 comprises a synchronous gear 301, an idler gear 302 and a turnover gear 303 which are sequentially connected in a transmission manner, wherein a plurality of idler gears 302 are arranged, one turnover mechanism 3 is provided with a first driving mechanism 304 and a driving gear 305, the output end of the first driving mechanism 304 is connected with the driving gear 305 in a transmission manner, the driving gear 305 is connected with the corresponding synchronous gear 301 in a transmission manner, and the turnover gear 303 is connected with the finger assembly 2; the first driving mechanism 304 drives the driving gear 305 to rotate, the driving gear 305 is meshed with the idler gear 302 to drive the idler gear 302 to rotate, the idler gear 302 is meshed with the turnover gear 303 to drive the turnover gear 303 to rotate so as to drive the finger assembly 2 to rotate, the synchronizing gear 301, the idler gears 302 and the turnover gear 303 are arranged in an inclined mode, and the axes of the synchronizing gear 301, the idler gears 302 and the turnover gear 303 are not in the same vertical plane.
And two ends of the synchronizing mechanism 4 are respectively connected with the two turnover mechanisms 3 and used for driving the two turnover mechanisms 3 to synchronously act.
The synchronizing mechanism 4 comprises a spline shaft 401 and a spline housing 402 which are in sliding connection, the spline shaft 401 and the spline housing 402 are coaxially arranged and are respectively connected with the two synchronizing gears 301, the first driving mechanism 304 drives one of the synchronizing gears 301 to rotate, the synchronizing gear 301 drives the spline housing 402 to synchronously rotate, the spline housing 402 drives the spline shaft 401 to rotate, the spline shaft 401 drives the other synchronizing gear 301 to synchronously rotate, so that the two turnover mechanisms 3 synchronously rotate, and the spline shaft 401 and the spline housing 402 can relatively slide to adapt to the distance between the two finger assemblies 2.
The working principle is as follows:
firstly, connecting a wrist assembly 1 with a manipulator, then driving the wrist assembly 1 to move to a cylinder body 5 by the manipulator, driving a supporting finger 202 to descend to the maximum displacement position by a second driving mechanism 207, then driving two finger assemblies 2 to move oppositely by a third driving mechanism 101 until an inserting finger 201 is inserted into two ends of a crankshaft to realize the grabbing of the cylinder body 5, and then driving the supporting finger 202 to ascend by the second driving mechanism 207 to abut against the bottom of the cylinder body 5 so as to support the cylinder body 5; when the cylinder 5 needs to be turned over, the first driving mechanism 304 drives the driving gear 305 to rotate, the driving gear 305 is meshed with the idle gear 302 to drive the idle gear 302 to rotate, and the idle gear 302 is meshed with the turning gear 303 to drive the turning gear 303 to rotate so as to drive the finger assembly 2 to rotate to turn over the cylinder 5.
In light of the foregoing, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (7)
1. The utility model provides a compatible multiple cylinder body turn-over's hand claw which characterized in that: comprises a wrist component (1), a finger component (2), a turnover mechanism (3) and a synchronous mechanism (4);
the two finger assemblies (2) are arranged and are slidably mounted at the bottom of the wrist assembly (1), each finger assembly (2) comprises an inserting finger (201) and a supporting finger (202), the two inserting fingers (201) correspond to the two supporting fingers (202) one by one, the supporting fingers (202) are slidably connected with the corresponding inserting fingers (201), the two inserting fingers (201) are respectively inserted into two ends of the cylinder body (5), and the two supporting fingers (202) support the bottom of the cylinder body (5);
each finger component (2) is provided with a turnover mechanism (3) which is used for driving the finger component (2) to turn over;
and two ends of the synchronizing mechanism (4) are respectively connected with the two turnover mechanisms (3) and used for driving the two turnover mechanisms (3) to synchronously act.
2. The paw compatible with multiple cylinder reversals of claim 1, wherein: every tilting mechanism (3) are including synchronous gear (301), idler (302) and upset gear (303) that the transmission is connected in proper order, idler (302) have a plurality of, are equipped with first actuating mechanism (304) and driving gear (305) on one of them tilting mechanism (3), the output and the driving gear (305) transmission of first actuating mechanism (304) are connected, and driving gear (305) are connected with corresponding synchronous gear (301) transmission, and upset gear (303) are connected with finger subassembly (2).
3. The multi-cylinder-body-turnover-compatible paw as claimed in claim 2, characterized in that: the synchronizing mechanism (4) comprises a spline shaft (401) and a spline sleeve (402) which are in sliding connection, and the spline shaft (401) and the spline sleeve are coaxially arranged and are respectively connected with the two synchronizing gears (301).
4. The paw compatible with multiple cylinder reversals of claim 1, wherein: be fixed with slider mounting panel (205) on every grafting finger (201), install second slider (206) and second actuating mechanism (207) on slider mounting panel (205), hold in the palm and install finger (202) on guide rail mounting panel (208), still be equipped with second guide rail (209) on guide rail mounting panel (208), the output and guide rail mounting panel (208) fixed connection of second actuating mechanism (207), second slider (206) and second guide rail (209) sliding connection, both ends are fixed with barrier plate (210) about guide rail mounting panel (208).
5. The paw compatible with multiple cylinder reversals of claim 1, wherein: every finger subassembly (2) top all is equipped with a finger mounting panel (203), be equipped with first guide rail (102) and two third actuating mechanism (101) on wrist subassembly (1), install first slider (204) on finger mounting panel (203), the output and the finger mounting panel (203) fixed connection that corresponds of two third actuating mechanism (101) and two finger mounting panel (203) one-to-one and third actuating mechanism (101), first slider (204) and first guide rail (102) sliding connection.
6. The paw compatible with multiple cylinder reversals of claim 1, wherein: one of the inserting fingers (201) is provided with an inserting shaft (2011), the other inserting finger (201) is provided with an inserting hole (2012), one end of the crankshaft in the cylinder body (5) is inserted into the inserting hole (2012), and the other end of the crankshaft is inserted into the inserting shaft (2011).
7. The multi-cylinder-body-turnover-compatible paw as claimed in claim 4, characterized in that: u-shaped grooves (2081) are formed in the guide rail mounting plate (208), and the inserting fingers (201) are located in the U-shaped grooves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220862340.5U CN217172346U (en) | 2022-04-14 | 2022-04-14 | Paw compatible with multiple cylinder turnover |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220862340.5U CN217172346U (en) | 2022-04-14 | 2022-04-14 | Paw compatible with multiple cylinder turnover |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217172346U true CN217172346U (en) | 2022-08-12 |
Family
ID=82709651
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220862340.5U Active CN217172346U (en) | 2022-04-14 | 2022-04-14 | Paw compatible with multiple cylinder turnover |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217172346U (en) |
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2022
- 2022-04-14 CN CN202220862340.5U patent/CN217172346U/en active Active
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