CN217837537U - Rotation driving mechanism of clamping hand and clamping hand device - Google Patents
Rotation driving mechanism of clamping hand and clamping hand device Download PDFInfo
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- CN217837537U CN217837537U CN202222312003.1U CN202222312003U CN217837537U CN 217837537 U CN217837537 U CN 217837537U CN 202222312003 U CN202222312003 U CN 202222312003U CN 217837537 U CN217837537 U CN 217837537U
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Abstract
A rotation driving mechanism of a clamping hand and a clamping hand device; the driving rotating block of the rotation driving mechanism is rotatably connected with the driving rotating shaft; the driven rotating block is connected with the driven rotating shaft in a synchronous rotating manner; the first end of the synchronous connecting rod is connected with the second rotating body of the driving rotating block, and the second end of the synchronous connecting rod is connected with the third rotating body of the driven rotating block; the second rotating body moves to drive the synchronous connecting rod to move, and the driven rotating block is driven to rotate by the third rotating body, so that the driven rotating shaft rotates; the driven spindle is used for being connected with the clamping hand. A gripper device, the gripper using the rotation driving mechanism; the scheme provides a rotation driving mechanism of a clamping hand, which drives a driven rotating block to rotate through the movement of the output end of a movement driver so as to drive the driven rotating shaft to rotate, can realize the rotation of the clamping hand driven by a single driving source, greatly optimizes the rotation driving mechanism of the existing clamping hand and solves the problems of complex structure, not concise structure and low rotation efficiency of the rotation driving mechanism.
Description
Technical Field
The utility model relates to a tong technical field especially relates to a rotation driving mechanism and tong device of tong.
Background
The existing clamping hand is used for clamping a material of a processing part at a certain position and transferring the material to another processing part so as to realize the transfer of the material; the existing clamping hand mainly uses a motor to drive the clamping hand to rotate so as to drive the material to rotate for realizing the angle adjustment of the material, but the motor drive easily causes the conditions of inaccurate positioning, large occupied space, slow rotation of the clamping hand and the like, so that the problems of complex structure, not concise structure and low rotation efficiency of the clamping hand are caused.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a rotation actuating mechanism of tong, its removal through the removal driver output drives the driven commentaries on classics piece and rotates to drive driven rotating shaft rotates, can realize that single driving source drive tong rotates, has optimized the rotation actuating mechanism of current tong by a wide margin.
The utility model also provides a tong device, its tong has used foretell rotation actuating mechanism.
To achieve the purpose, the utility model adopts the following technical proposal:
a rotational drive mechanism for a gripper comprising: the device comprises a driving rotating shaft, a driven rotating shaft, a movable driver, a driving rotating block, a driven rotating block and a synchronous connecting rod;
the driving rotating block is rotatably connected to the driving rotating shaft; the driven rotating block is connected with the driven rotating shaft in a synchronous rotating manner; the output end of the moving driver is connected with a first rotating body of the driving rotating block and is used for driving the first rotating body to move and driving the driving rotating block to rotate around the driving rotating shaft; the first end of the synchronous connecting rod is connected with the second rotating body of the driving rotating block, and the second end of the synchronous connecting rod is connected with the third rotating body of the driven rotating block; the second rotating body moves to drive the synchronous connecting rod to move, the third rotating body drives the driven rotating block to rotate, and the driven rotating shaft rotates;
the driven rotating shaft is used for being connected with the clamping hand.
Preferably, the method further comprises the following steps: rotating the positioning assembly;
the rotational positioning assembly comprises: positioning the head;
the driving rotating block and/or the driven rotating block are/is provided with a positioning block;
the driving rotating block or the driven rotating block rotates to drive the positioning block to abut against the positioning head, and the positioning head is in contact with the positioning block and used for limiting the driving rotating block or the driven rotating block to rotate continuously.
More preferably, the rotational positioning assembly comprises: positioning a base;
the positioning head is fixed on the positioning base in a position-adjustable manner, and the position of the positioning head is adjusted to be close to and far away from the positioning block.
Further preferably, the rotational positioning assembly comprises: a positioning rod and a positioning cap;
the positioning rod penetrates through a lifting hole of the positioning base; one end of the positioning rod is connected with the positioning head, and the other end of the positioning rod is matched with the positioning cap through a threaded structure.
Preferably, the method further comprises the following steps: a base;
the driving rotating shaft and the driven rotating shaft are respectively arranged on the base; the movable driver is an air cylinder, the fixed end of the movable driver is rotatably mounted on the base, and the output end of the movable driver is rotatably connected to the first rotating body.
Preferably, the method further comprises the following steps: a base and a bearing;
the base is provided with a rotating seat; two sides of the rotating seat are respectively provided with rotating holes aligned linearly; the inner ring of the bearing is sleeved on the driven rotating shaft; and the outer ring of the bearing is arranged in the rotating hole.
A gripping apparatus comprising: the clamping hand and the rotation driving mechanism of the clamping hand; one end of the driven rotating shaft is connected with the driven rotating block, and the other end of the driven rotating shaft is connected with the clamping hand.
Preferably, the gripper comprises: the clamping device comprises a clamping driver, a fixed clamping piece and a movable clamping piece;
the fixed end of the clamping driver is arranged at one end of the driven rotating shaft; the fixed clamping piece is connected to the fixed end of the clamping driver; the output end of the clamping driver is connected with the movable clamping piece and used for driving the movable clamping piece to move, and the size of a clamping opening formed between the movable clamping piece and the fixed clamping piece is adjusted.
The utility model provides a technical scheme can include following beneficial effect:
this scheme provides a rotation actuating mechanism of tong, and it drives driven commentaries on classics piece through the removal of removal driver output and rotates to drive driven rotating shaft rotates, can realize that single driving source drive tong rotates, has optimized the rotation actuating mechanism of current tong by a wide margin, with the problem of solving rotation actuating mechanism's structure complicacy and succinct inadequately and rotation inefficiency.
Drawings
FIG. 1 is a schematic view of one embodiment of a gripper apparatus;
fig. 2 is an exploded view of the base and the driven spindle.
Wherein:
a driving rotating shaft 11, a driven rotating shaft 12, a mobile driver 13, a driving rotating block 14, a driven rotating block 15 and a synchronous connecting rod 16; a rotational positioning assembly 17; a bearing 18; a first rotor 141, a second rotor 142, and a third rotor 143; a positioning block 170, a positioning head 171 and a positioning base 172; positioning rods 173, positioning caps 174;
a base 2; a rotary base 20; a rotary hole 21;
a gripper 3; a clamping driver 31, a fixed clamping piece 32 and a movable clamping piece 33.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", 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 to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
The technical solution of the present solution is further explained by the following embodiments with reference to the accompanying drawings.
A rotational drive mechanism for a gripper comprising: the driving rotating shaft 11, the driven rotating shaft 12, the moving driver 13, the driving rotating block 14, the driven rotating block 15 and the synchronous connecting rod 16;
the driving rotating block 14 is rotatably connected to the driving rotating shaft 11; the driven rotating block 15 is connected with the driven rotating shaft 12 in a synchronous rotating manner; the output end of the moving driver 13 is connected to the first rotating body 141 of the driving rotating block 14, and is configured to drive the first rotating body 141 to move, so as to drive the driving rotating block 14 to rotate around the driving rotating shaft 11; a first end of the synchronous connecting rod 16 is connected with the second rotating body 142 of the driving rotating block 14, and a second end of the synchronous connecting rod 16 is connected with the third rotating body 143 of the driven rotating block 15; the movement of the second rotating body 142 drives the synchronous connecting rod 16 to move, and the third rotating body 143 drives the driven rotating block 15 to rotate, so that the driven rotating shaft 12 rotates;
the driven rotating shaft 12 is used for being connected with the clamping hand 3.
The scheme provides a rotary driving mechanism of a gripper, which drives a driven rotating block 15 to rotate through the movement of an output end of a movable driver 13 so as to drive a driven rotating shaft 12 to rotate, can realize the rotation of a single driving source driving gripper 3, greatly optimizes the rotary driving mechanism of the existing gripper, and solves the problems of complex structure, not simple and low rotating efficiency of the rotary driving mechanism.
Specifically, when the gripper needs to be driven to rotate, only the mobile driver 13 needs to be started; the output end of the moving driver 13 moves to drive the first rotating body 141 of the driving rotating block 14 to move, and further, the driving rotating block 14 is driven to rotate around the driving rotating shaft 11; after the driving rotary block 14 rotates, the second rotary body 142 of the driving rotary block 14 can be driven to rotate synchronously; the second rotating body 142 is connected to the first end of the synchronization link 16, so that the movement of the second rotating body 142 drives the first end of the synchronization link 16 to move, so as to drive the second end of the synchronization link 16 to move; the movement of the second end of the synchronous connecting rod 16 drives the third rotating body 143 to move, so as to drive the driven rotating block 15 to rotate, and finally drive the driven rotating shaft 12 to rotate; the driven rotating shaft 12 is connected with a clamping hand 3, and the clamping hand is a known mechanism capable of realizing object grabbing; when the driven rotating shaft 12 rotates, the driven rotating shaft 12 drives the clamping hand to rotate, so that the angle adjustment of the clamping hand is realized. In the scheme, the synchronous connecting rod 16 connects the driving rotating block 14 with the driven rotating block 15, and the output end of the mobile driver 13 is connected with the driving rotating block 14, so that a plurality of components of the rotation driving mechanism can be arranged on the same side surface of the base 2, the components are reasonably and simply distributed, the structure of the rotation driving mechanism is greatly simplified, and the rotation driving mechanism is more optimized than the existing rotation driving mechanism.
The moving driver 13 is a well-known mechanism having a moving driving function, such as an air cylinder, a combination of a motor and a screw, a conveyer belt structure, etc., as long as the first rotating body 141 is driven to move.
Preferably, the method further comprises the following steps: a rotational positioning assembly 17;
the rotational positioning assembly 17 includes: a positioning head 171;
the driving rotating block 14 and/or the driven rotating block 15 are/is provided with a positioning block 170;
the driving rotating block 14 or the driven rotating block 15 rotates to drive the positioning block 170 to abut against the positioning head 171, and the positioning head 171 contacts with the positioning block 170 to limit the driving rotating block 14 or the driven rotating block 15 to rotate continuously.
Has the advantages that:
as shown in fig. 1, the driving rotary block 14 and/or the driven rotary block 15 may be provided with a positioning block 170, and when the driving rotary block 14 or the driven rotary block 15 is driven to rotate, the positioning block 170 is driven to abut against the positioning head 171; when the positioning block 170 abuts against the positioning head 171, one of the driving rotating block 14 and the driven rotating block 15 stops rotating, and the other of the driving rotating block and the driven rotating block is driven to stop rotating by the synchronous connecting rod 16; for example, in one embodiment, the positioning block 170 of the driving rotary block 14 rotates to abut against the positioning head 171, and the driven rotary block 15 cannot rotate under the limiting action of the synchronization link 16; similarly, in one embodiment, the positioning block 170 of the driven rotating block 15 rotates to abut against the positioning head 171, and the driving rotating block 14 cannot rotate under the limiting action of the synchronous connecting rod 16; therefore, the movement of the positioning head 171 can be adjusted, and more angles of the clamping hand can be adjusted.
More preferably, the rotational positioning assembly 17 comprises: a positioning base 172;
the positioning head 171 is fixed to the positioning base 172 in a position adjustable manner, and the positioning head 171 is adjusted to be close to and far from the positioning block 170.
The position adjusting structure of the positioning head 171 on the positioning base 172 can be used for adjusting the positioning head 171 to be close to or far from the positioning block 170, and can adjust the contact position of the positioning head 171 and the positioning block 170 to adjust the angle of the clamping hand; for example, as shown in fig. 1, when the positioning head 171 is pressed against the upper surface of the positioning block 170, the angle of the clamping hand is rotated by a °; when the position of the positioning head 171 is adjusted to be close to the positioning block 170, the positioning block 170 is pressed to the positioning head 171 through the side surface after being rotated, and the angle of the clamping hand is rotated by b degrees; when the positioning head 171 is adjusted to be away from the positioning block 170, the positioning block 170 does not contact the positioning head 171 after rotating, the rotation tracks of the driving rotating block 14 and the driven rotating block 15 are complete tracks, and the angle of the clamping hand rotates c °. Therefore, the multi-angle rotating positioning of the clamping hand can be realized only by adjusting the position of the positioning head 171.
Further preferably, the rotational positioning assembly 17 comprises: a positioning rod 173 and a positioning cap 174;
the positioning rod 173 passes through the lifting hole of the positioning base 172; one end of the positioning rod 173 is connected to the positioning head 171, and the other end of the positioning rod 173 is engaged with the positioning cap 174 through a screw structure.
The positioning cap 174 may have a threaded hole with an internal thread structure, the positioning rod 173 may have an external thread structure, and the positioning rod 173 is fitted to the positioning cap 174 through the threaded structure; when the position of the positioning head 171 needs to be adjusted, the position of the positioning cap 174 can be fixed (for example, the positioning cap 174 is abutted against the positioning base 172, or the positioning cap 174 is welded to the positioning base 172), the positioning rod 173 is rotated, and the position of the threaded structure is adjusted, so that the position of the positioning rod 173 is adjusted, and the positioning head 171 is driven to approach and depart from the positioning block 170.
Preferably, the method further comprises the following steps: a base 2;
the driving rotating shaft 11 and the driven rotating shaft 12 are respectively arranged on the base 2; the moving actuator 13 is an air cylinder, a fixed end of the moving actuator 13 is rotatably mounted on the base 2, and an output end of the moving actuator 13 is rotatably connected to the first rotating body 141.
The displacement actuator 13 of the present solution is preferably a pneumatic cylinder; the output end of the cylinder has two states, namely a contraction state and an extension state; the cylinder is in a contraction state and can be in an initial state, and the rotation angle of the clamping hand 3 is 0 degree; when the cylinder is in a telescopic state, the output end of the cylinder drives the first rotating body 141 to move, and further drives the driving rotating block 14 to rotate, so as to finally drive the driven rotating shaft 12 to rotate through the driven rotating block 15, and drive the clamping hand 3 to rotate by a specific angle. In the scheme, because the fixed end of the mobile driver 13 is rotatably mounted on the base 2, and the positioning action of the positioning head 171 and the positioning block 170 is matched, only the output end of the mobile driver 13 needs to be connected with the first rotating body 141, no matter how the mobile driver 13 is mounted, after the output end of the mobile driver 13 extends out, the active rotating block 14 or the driven rotating block 15 can be limited by the positioning head 171 after rotating; the mounting of the mobile driver 13 can be simpler and less difficult.
Preferably, the method further comprises the following steps: the base 2 and the bearing 18;
the base 2 is provided with a rotating seat 20; two sides of the rotating seat 20 are respectively provided with rotating holes 21 aligned linearly; the inner ring of the bearing 18 is sleeved on the driven rotating shaft 12; the outer race of the bearing 18 is mounted to the rotation hole 21.
The rotating base 20 can be used for installing a rotating shaft, and only the bearings 18 are required to be sleeved at two positions of the driven rotating shaft 12, and the driven rotating shaft 12 can be rotatably installed on the rotating base 20 through the bearings 18; because two rotating holes 21 are aligned in a straight line, the driven rotating shaft 12 can be kept horizontal when rotating, the driven rotating shaft 12 is prevented from deviating from the horizontal position in the rotating process, the position of the clamping hand 3 is kept aligned with the driven rotating shaft 12, and the rotating stability of the driven rotating shaft 12 is improved.
A hand clamping device comprising: the gripper 3 and the rotary driving mechanism of the gripper; one end of the driven rotating shaft 12 is connected with the driven rotating block 15, and the other end of the driven rotating shaft 12 is connected with the clamping hand 3.
The clamping hand is a known mechanism with a clamping function; one end of the driven rotating shaft 12 is driven by the driven rotating block 15 to rotate, so as to drive the gripper at the other end of the driven rotating shaft 12 to rotate, and further realize the rotation of the gripper.
Preferably, the gripper 3 comprises: a clamp driver 31, a fixed clamp 32 and a movable clamp 33;
the fixed end of the clamping driver 31 is arranged at one end of the driven rotating shaft 12; the fixed clamping member 32 is connected to the fixed end of the clamping driver 31; the output end of the clamping driver 31 is connected to the movable clamping member 33, and is used for driving the movable clamping member 33 to move, and adjusting the size of the clamping opening 30 formed between the movable clamping member 33 and the fixed clamping member 32.
The fixed end of the clamping driver 31 is mounted at one end of the driven rotating shaft 12; and the fixed clamp 32 is mounted on the fixed end of the clamp driver 31; therefore, when the driven rotating shaft 12 rotates, the driven rotating shaft 12 can drive the fixed end of the clamping driver 31 to rotate so as to drive the fixed clamping piece 32 to rotate, and can drive the movable clamping piece 33 to rotate through the output end of the clamping driver 31, the fixed clamping piece 32 and the movable clamping piece 33 can synchronously rotate, and the rotation stability is high.
The technical principle of the present solution is described above with reference to specific embodiments. These descriptions are only used to explain the principles of the present solution and should not be interpreted in any way as limiting the scope of the present solution. Based on the explanations provided herein, a person skilled in the art will be able to conceive of other embodiments of the present solution without inventive effort, which shall fall within the scope of protection of the present solution.
Claims (8)
1. A rotational drive mechanism for a gripper, comprising: the device comprises a driving rotating shaft, a driven rotating shaft, a movable driver, a driving rotating block, a driven rotating block and a synchronous connecting rod;
the driving rotating block is rotatably connected to the driving rotating shaft; the driven rotating block is connected with the driven rotating shaft in a synchronous rotating manner; the output end of the moving driver is connected with a first rotating body of the driving rotating block and is used for driving the first rotating body to move and driving the driving rotating block to rotate around the driving rotating shaft; the first end of the synchronous connecting rod is connected with the second rotating body of the driving rotating block, and the second end of the synchronous connecting rod is connected with the third rotating body of the driven rotating block; the second rotating body moves to drive the synchronous connecting rod to move, and the driven rotating block is driven to rotate by the third rotating body, so that the driven rotating shaft rotates;
the driven rotating shaft is used for being connected with the clamping hand.
2. A rotational drive mechanism for a gripper according to claim 1, further comprising: rotating the positioning assembly;
the rotational positioning assembly comprises: positioning the head;
the driving rotating block and/or the driven rotating block are/is provided with a positioning block;
the driving rotating block or the driven rotating block rotates to drive the positioning block to abut against the positioning head, and the positioning head is in contact with the positioning block and used for limiting the driving rotating block or the driven rotating block to continue rotating.
3. A gripper rotation drive mechanism as claimed in claim 2, wherein said rotational positioning assembly comprises: positioning a base;
the positioning head is fixed on the positioning base in a position-adjustable manner, and the position of the positioning head is adjusted to be close to and far away from the positioning block.
4. A gripper rotation drive mechanism according to claim 3, wherein said rotational positioning assembly comprises: a positioning rod and a positioning cap;
the positioning rod penetrates through a lifting hole of the positioning base; one end of the positioning rod is connected with the positioning head, and the other end of the positioning rod is matched with the positioning cap through a threaded structure.
5. A gripper rotation drive mechanism according to claim 2, further comprising: a base;
the driving rotating shaft and the driven rotating shaft are respectively arranged on the base; the movable driver is an air cylinder, the fixed end of the movable driver is rotatably mounted on the base, and the output end of the movable driver is rotatably connected to the first rotating body.
6. The rotational driving mechanism of a gripper according to any one of claims 1 to 5, further comprising: a base and a bearing;
the base is provided with a rotating seat; two sides of the rotating seat are respectively provided with rotating holes aligned linearly; the inner ring of the bearing is sleeved on the driven rotating shaft; and the outer ring of the bearing is arranged in the rotating hole.
7. A hand clamping device, comprising: a gripper and a gripper rotation drive mechanism as claimed in any one of claims 1 to 6; one end of the driven rotating shaft is connected with the driven rotating block, and the other end of the driven rotating shaft is connected with the clamping hand.
8. A gripping apparatus according to claim 7, characterised in that the gripper comprises: the clamping device comprises a clamping driver, a fixed clamping piece and a movable clamping piece;
the fixed end of the clamping driver is arranged at one end of the driven rotating shaft; the fixed clamping piece is connected to the fixed end of the clamping driver; the output end of the clamping driver is connected with the movable clamping piece and used for driving the movable clamping piece to move, and the size of a clamping opening formed between the movable clamping piece and the fixed clamping piece is adjusted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222312003.1U CN217837537U (en) | 2022-08-31 | 2022-08-31 | Rotation driving mechanism of clamping hand and clamping hand device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222312003.1U CN217837537U (en) | 2022-08-31 | 2022-08-31 | Rotation driving mechanism of clamping hand and clamping hand device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217837537U true CN217837537U (en) | 2022-11-18 |
Family
ID=84015458
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222312003.1U Active CN217837537U (en) | 2022-08-31 | 2022-08-31 | Rotation driving mechanism of clamping hand and clamping hand device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217837537U (en) |
-
2022
- 2022-08-31 CN CN202222312003.1U patent/CN217837537U/en active Active
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