CN106808487B - A kind of mechanical gripper mechanism of accurate steady operation - Google Patents
A kind of mechanical gripper mechanism of accurate steady operation Download PDFInfo
- Publication number
- CN106808487B CN106808487B CN201710120511.0A CN201710120511A CN106808487B CN 106808487 B CN106808487 B CN 106808487B CN 201710120511 A CN201710120511 A CN 201710120511A CN 106808487 B CN106808487 B CN 106808487B
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- Prior art keywords
- active
- driving
- slip portion
- plate
- driving member
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of mechanical gripper mechanism of accurate steady operation includes at least a set of clamping device, and clamping device includes sliding rail, sliding part, driving device, grasping plate and driving section；Sliding part includes active slip portion and follower slip portion, is slidably mounted at sliding rail；Grasping plate is respectively arranged in active slip portion and follower slip portion；Driving section includes active driving member, slave drive part, driving wheel and directive wheel；The lateral surface of active driving member and slave drive part is equipped with guide part and transition part, and intermediate location is in the end of guide part；Active driving member and slave drive part are respectively arranged in the opposite one end in active slip portion and follower slip portion；Active driving member and slave drive part are respectively arranged on the two sides of driving wheel, and its medial surface fits in driving wheel, and the medial surface of active driving member and slave drive part is driving face；The present invention proposes a kind of mechanical gripper mechanism of accurate steady operation according to above content, can accurately grab brick packet, and the operation is stable.
Description
Technical field
The present invention relates to ceramic tile production equipment technical field more particularly to a kind of mechanical gripping mobile phones of accurate steady operation
Structure.
Background technique
In Jian Tao factory production link, just storage storage after ceramic tile Flexible Container carton, storage is that Jian Tao factory produces most
The latter link.From there are since architectural ceramic industry, ceramic tile storage is always by the way of manual handling.It is offline simultaneously from workshop
Packaged ceramic tile is commonly called as brick packet, manually will the stacking in warehouse.And in the development tile production process of scientific and technological level,
In order to improve operating efficiency, generally requires and palletizing operation is carried out to tile by tile Palletizer.Mechanical gripper is stacking machine
Important component, effect is to pick up brick packet and carry out stacking, and still, existing mechanical gripper grabs brick packet precision
Low, job insecurity is unfavorable for the stacking to brick packet.
Summary of the invention
It is an object of the invention to propose a kind of mechanical gripper mechanism of accurate steady operation, brick can be accurately grabbed
Packet, and the operation is stable.
To achieve this purpose, the present invention adopts the following technical scheme:
A kind of mechanical gripper mechanism of accurate steady operation, includes at least a set of clamping device, and the clamping device includes
Sliding rail, sliding part, driving device, grasping plate and driving section；
The sliding part includes active slip portion and follower slip portion, is slidably mounted at the sliding rail；
The grasping plate is respectively arranged in the active slip portion and follower slip portion；
The driving section is set between the active slip portion and follower slip portion；
The driving section includes active driving member, slave drive part, driving wheel and directive wheel；
The lateral surface of the active driving member and slave drive part is equipped with guide part and transition part, and the intermediate location
In the end of the guide part；
The active driving member and slave drive part are respectively arranged in the active slip portion and follower slip portion is opposite
One end；
The active driving member and slave drive part are respectively arranged on the two sides of the driving wheel, and its medial surface fits in
The medial surface of the driving wheel, the active driving member and slave drive part is driving face；
The directive wheel is respectively arranged on the outside of the active driving member and slave drive part, and the active driving member and
The guide part of slave drive part fits in the directive wheel respectively；
The driving device passes through the transmission for driving the active slip portion to move in a straight line along the sliding rail
Portion drives the follower slip portion to move in a straight line along the sliding rail, thus drive be respectively arranged in the active slip portion and from
Grasping plate on dynamic sliding part does counter motion.
Further, the driving wheel is gear, and the active driving member and slave drive part are rack gear, and tooth is equipped in it
Side；
The active driving member is identical with the structure of slave drive part；
The guide part is the V-type face being made of ramp and lower inclined plane；
It is equipped with V-groove along the periphery of the directive wheel, the V-type face paste is together in the V-groove.
Further, the transition part includes upper transition face and lower transition face；
The upper transition face tilts upwards along the end of the ramp, and the lower transition face is along the end of the lower inclined plane
It tilts down, the slope surface of the upper transition face and lower transition face composition V-type.
Further, the active slip portion is identical with the structure in follower slip portion；
The active slip portion includes be slidably installed seat and sliding block；
The seat that is slidably installed is the rectangular hollow framework that top is equipped with avoiding hollow groove, and the two sides of the avoiding hollow groove are the cunning
The upper mounting surface of dynamic mounting base；
The sliding rail includes two strip sliding rails and connecting plate, and two sub- sliding rails are connected by connecting plate；
The sliding block is slidably mounted at two sub- sliding rails respectively, the cover for seat that is slidably installed on the sliding rail,
And the bottom of the upper mounting surface is installed at the top of the sliding block.
Further, the driving device includes cylinder and cylinder mounting base；
The cylinder mounting base includes front mounting plate, lower installation board and triangle stiffening plate；
The front mounting plate bottom end and lower installation board front end vertically connect；
The quantity of the triangle stiffening plate is at least one, and its two sides is respectively fixedly connected in the outer of the front mounting plate
The top surface of side and lower installation board；
The cylinder is installed on the medial surface of the front mounting plate.
Further, the active slip portion further includes footstock comprising foreboard, bottom plate and stiffening plate；
The bottom end of the foreboard and the front end of bottom plate vertically connect；
The quantity of the stiffening plate is two, and both ends are respectively fixedly connected with lateral surface and the bottom plate in the foreboard
Top surface；
The bottom plate is installed on the top of the upper mounting surface；
Limit space is formed between two pieces of stiffening plates, the driving end of the cylinder is installed on the foreboard by spacer
Outside, the spacer is limited in the limit space.
Further, the active slip portion further includes having grasping plate attachment base；
The grasping plate attachment base includes upper mounting plate and connection frame；
The upper mounting plate is installed on the bottom of the seat that is slidably installed, and the connection frame is set to the bottom of the upper mounting plate
Portion, the connection frame are equipped with the assistant reinforcement plate being connected with the upper mounting plate；
The grasping plate is installed on the outside of the connection frame.
Further, the quantity of the clamping device is two, and two sets of clamping devices are arranged side by side, the respectively first clamping
Mechanism and the second clamping device；
The driving device of first clamping device and the driving device of the second clamping device are respectively arranged in the sliding rail
Opposite side.
Further, the driving section further includes driving section mounting base, is set to the centre of the sliding rail；
The driving wheel and directive wheel are mounted on the top of the driving section mounting base, are equipped with axis in the driving wheel
It holds.
It is an object of the invention to propose a kind of mechanical gripper mechanism of accurate steady operation, brick can be accurately grabbed
Packet, and the operation is stable.
The driving device drives the active slip portion to move in a straight line along the sliding rail, and passes through the driving section band
It moves the follower slip portion to move in a straight line along the sliding rail, so that being respectively arranged in the active slip portion and follower slip portion
On grasping plate do counter motion simultaneously, improve the stability and precision of grasping plate crawl brick packet.The driving section is set to institute
It states between active slip portion and follower slip portion, can guarantee effective progress of transmission.
Particularly, the driving device drives the active drive member, and then the active driving member drives institute
Driving wheel movement is stated, the driving wheel drives the slave drive part to move again, due to the active driving member and slave drive
Part is respectively arranged in the opposite one end in the active slip portion and follower slip portion, so the final active driving member and driven
Driving member drives the active slip portion and follower slip portion to move respectively, so that the active slip portion and follower slip portion think
It is close or mutually separate, the grasping plate crawl can be realized and put down the operation of brick packet.
Since the weight of brick packet is big, when the grasping plate grabs brick packet, the weight of brick packet can be transferred to institute from the grasping plate
It states in active slip portion and follower slip portion, will affect the precision when active slip portion and the sliding of follower slip portion in this way,
To influence the precision and stability of grasping plate crawl brick packet, therefore, the active driving member and slave drive part are led
It fits in the directive wheel respectively to portion, can be improved the precision when active slip portion and the sliding of follower slip portion, thus
Improve the precision and stability of the grasping plate crawl brick packet；
Since the medial surface of the active driving member and slave drive part fits in the driving wheel, the directive wheel point
Not She Yu the active driving member and slave drive part outside, and the targeting part of the active driving member and slave drive part
The directive wheel is not fitted in, and in this case, the medial surface and lateral surface of the active driving member will be limited in the transmission
Between wheel and directive wheel, precision when can be improved the active drive member and to the strong of active driving member support
Degree, makes it not readily disengage from the driving wheel and directive wheel, similarly, the medial surface and lateral surface of the slave drive part also can
Limit improves the precision and intensity when can be improved the active drive member, makes between the driving wheel and directive wheel
It not readily disengages from the driving wheel and directive wheel, further increases the precision and stability of the grasping plate crawl brick packet；Institute
Intermediate location is stated in the end of the guide part, so that the length of the guide part is longer, improves the stroke of its guiding, the mistake
The setting in portion is crossed, the installation of the active driving member and slave drive part is also facilitated.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the one of embodiment of the present invention.
Fig. 2 is the structural schematic diagram of the one of embodiment of the present invention.
Fig. 3 is the structural schematic diagram of the one of embodiment of the present invention.
Fig. 4 is the structural schematic diagram of the one of embodiment of the present invention.
Fig. 5 is the front view of the one of embodiment of the present invention.
Fig. 6 is the partial enlarged view at the A of Fig. 5.
Wherein: clamping device 3, the first clamping device 301, the second clamping device 302, rack 303, connecting tube 3031, recessed
Slot 30311, outer frame body 304, side plate 3041, top plate 3042, aperture 3043, routing hole 3044, flange 3045, sliding rail 31, son are sliding
Rail 311, connecting plate 312, sliding part 32, active slip portion 321, the seat 3211 that is slidably installed, avoiding hollow groove 32111, upper mounting surface
32112, sliding block 3212, footstock 3213, foreboard 32131, bottom plate 32132, stiffening plate 32133, grasping plate attachment base 3214, upper installation
Plate 32141, connection frame 32142, assistant reinforcement plate 321421, follower slip portion 322, driving device 33, cylinder 331, driving end
3311, cylinder mounting base 332, front mounting plate 3321, lower installation board 3322, triangle stiffening plate 3323, grasping plate 34, protection offset plate
341, driving section 35, active driving member 351, guide part 3511, ramp 35111, lower inclined plane 35112, transition part 3512, upper mistake
Cross face 35121, lower transition face 35122, slave drive part 352, driving wheel 353, directive wheel 354, V-groove 3541, driving section peace
Fill seat 355.
Specific embodiment
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
Component of the embodiment of the present invention mechanical gripper mechanism as the stacking machine of ceramic tile packing line, in order to more clearly say
Bright the present embodiment, Fig. 1, Fig. 2 and Fig. 3 conceal the top plate 3042 of outer frame body 304 and the side plate 3041 of the left and right sides；Fig. 5 is hidden
The side plate 3041 in the front of outer frame body 304 is hidden.
As shown in Figures 1 to 6, a kind of mechanical gripper mechanism of accurate steady operation includes at least a set of clamping device 3,
The clamping device 3 includes sliding rail 31, sliding part 32, driving device 33, grasping plate 34 and driving section 35；
The sliding part 32 includes active slip portion 321 and follower slip portion 322, is slidably mounted at the sliding rail
31；
The grasping plate 34 is respectively arranged in the active slip portion 321 and follower slip portion 322；
The driving section 35 is set between the active slip portion 321 and follower slip portion 322；
The driving section 35 includes active driving member 351, slave drive part 352, driving wheel 353 and directive wheel 354；
The lateral surface of the active driving member 351 and slave drive part 352 is equipped with guide part 3511 and transition part 3512,
And the transition part 3512 is located at the end of the guide part 3511；
The active driving member 351 and slave drive part 352 are respectively arranged in the active slip portion 321 and follower slip
The opposite one end in portion 322；
The active driving member 351 and slave drive part 352 are respectively arranged on the two sides of the driving wheel 353, and its inside
Face fits in the driving wheel 353, and the medial surface of the active driving member 351 and slave drive part 352 is driving face；
The directive wheel 354 is respectively arranged on the outside of the active driving member 351 and slave drive part 352, and the master
The guide part 3511 of dynamic driving member 351 and slave drive part 352 fits in the directive wheel 354 respectively；
The driving device 33 passes through for driving the active slip portion 321 to move in a straight line along the sliding rail 31
The driving section 35 drives the follower slip portion 322 to move in a straight line along the sliding rail 31, is respectively arranged in institute to drive
The grasping plate 34 stated in active slip portion 321 and follower slip portion 322 does counter motion.
When work, the driving device 33 drives the active slip portion 321 to move in a straight line along the sliding rail 31, and leads to
Crossing the driving section 35 drives the follower slip portion 322 to move in a straight line along the sliding rail 31, so that being respectively arranged in described
Grasping plate 34 in active slip portion 321 and follower slip portion 322 does counter motion simultaneously, improves the grasping plate 34 and grabs brick packet
Stability and precision.The driving section 35 is set between the active slip portion 321 and follower slip portion 322, can guarantee biography
Dynamic effective progress.
Particularly, the driving device 33 drives the active driving member 351 to move, then the active driving member
351 drive the driving wheel 353 to move, and the driving wheel 353 drives the slave drive part 352 to move again, due to the master
Dynamic driving member 351 and slave drive part 352 be respectively arranged in the active slip portion 321 and follower slip portion 322 it is opposite one
End, so the final active driving member 351 and slave drive part 352 drive the active slip portion 321 and driven cunning respectively
Dynamic portion 322 moves, so that the active slip portion 321 thinks close or mutually separate with follower slip portion 322, can be realized described
Grasping plate 34 grabs and puts down the operation of brick packet.
Since the weight of brick packet is big, when the grasping plate 34 grabs brick packet, the weight of brick packet can be shifted from the grasping plate 34
To in the active slip portion 321 and follower slip portion 322, the active slip portion 321 and follower slip portion will affect in this way
Precision when 322 sliding, so that precision and stability that the grasping plate 34 grabs brick packet are influenced, therefore, the active transmission
The guide part 3511 of part 351 and slave drive part 352 fits in the directive wheel 354 respectively, can be improved the active slip
Precision when portion 321 and follower slip portion 322 are slided, to improve precision and stability that the grasping plate 34 grabs brick packet；
Since the medial surface of the active driving member 351 and slave drive part 352 fits in the driving wheel 353, institute
State the outside that directive wheel 354 is respectively arranged on the active driving member 351 and slave drive part 352, and the active driving member 351
The directive wheel 354 is fitted in respectively with the guide part 3511 of slave drive part 352, in this case, the active driving member 351
Medial surface and lateral surface will limit between the driving wheel 353 and directive wheel 354, can be improved the active driving member
Precision when 351 movement and the intensity to the active driving member 351 support, make it not readily disengage from 353 He of driving wheel
Directive wheel 354,
Similarly, the medial surface of the slave drive part 352 and lateral surface can also be limited in the driving wheel 353 and guiding
Between wheel 354, the precision and intensity when can be improved the active driving member 351 movement are improved, not readily disengages from it described
Driving wheel 353 and directive wheel 354 further increase precision and stability that the grasping plate 34 grabs brick packet；The transition part
3512 are located at the end of the guide part 3511, so that the length of the guide part 3511 is longer, improve the stroke of its guiding, institute
The setting of transition part 3512 is stated, the installation of the active driving member 351 and slave drive part 352 is also facilitated.
Further, driving wheel 353 is gear, and the active driving member 351 and slave drive part 352 are rack gear, and tooth is set
There is its medial surface；
The active driving member 351 is identical with the structure of slave drive part 352；
The guide part 3511 is the V-type face being made of ramp 35111 and lower inclined plane 35112；
It is equipped with V-groove 3541 along the periphery of the directive wheel 354, the V-type face paste is together in the V-groove 3541.
By the cooperation of rack-and-pinion, can be realized between the active driving member 351 and the slave drive part 352
Transmission；The active driving member 351 is identical with the structure of slave drive part 352, its more convenient production and processing improve production
Efficiency, also, being driven effect also can be more preferably；The V-type face is processed into the lateral surface in the active driving member 351, it is such
Words, the active driving member 351 will collect guiding and transmission agency in that together, can simplify its structure, its powerful function reduces
Manufacturing cost；The V-type face being made of the ramp 35111 and lower inclined plane 35112, can just fit in the directive wheel
The V-groove 3541 of 354 peripheries, realization are accurately oriented to.
Further, the transition part 3512 includes upper transition face 35121 and lower transition face 35122；
The upper transition face 35121 tilts upwards along the end of the ramp 35111, lower 35122 edge of transition face
The end of the lower inclined plane 35112 tilts down, the slope surface of the upper transition face 35121 and lower transition face 35112 composition V-type.
Since the upper transition face 35121 tilts upwards along the end of the ramp 35111, the lower transition face
35122 tilt down along the end of the lower inclined plane 35112, in this case, the active driving member 351 can be made in transition part
3512 cross-sectional area is gradually gradually increased to the upper transition face 35121 and the inclined direction of lower transition face 35122, so more
The end for facilitating the active driving member 351 is added to be mounted in the active slip portion 321 by bolt.And by the upper transition
Slope surface both appearance looks elegant in face 35121 and lower transition face 35112 composition V-type, also functions to protective effect, just in case unexpected feelings occur
Condition, the active driving member 351 is at work departing from the active slip portion 321, and the active driving member 351 is with described
When driving wheel 353 is moved to the guide part 3511, the slope of V-type is made of the upper transition face 35121 and lower transition face 35112
The card of active driving member 351 described in face handle is parked in the directive wheel 354, and that reduces that the mechanical gripper mechanism is damaged can
Energy.
Further, the active slip portion 321 is identical with the structure in follower slip portion 322；
The active slip portion 321 includes be slidably installed seat 3211 and sliding block 3212；
The seat 3211 that is slidably installed is the rectangular hollow framework that top is equipped with avoiding hollow groove 32111, the avoiding hollow groove 32111
Two sides be the seat 3211 that is slidably installed upper mounting surface 32112；
The sliding rail 31 includes two strip sliding rails 311 and connecting plate 312, and two sub- sliding rails 311 pass through connecting plate 312
Connection；
The sliding block 3212 is slidably mounted at two sub- sliding rails 311 respectively, and the seat 3211 that is slidably installed is placed on
On the sliding rail 31, and the top of the sliding block 3212 is installed on the bottom of the upper mounting surface 32112.
The active slip portion 321 is identical with the structure in follower slip portion 322, its more convenient manufacture and production.This reality
The sub- sliding rail 311 of example is applied as cylindrical sliding rail, the sliding block 3212 is round slider, and the sliding block 3212 is sliding in the son
When sliding on rail 311, the sliding block 3212 will drive the movement of seat 3211 that is slidably installed, and the seat 3211 that is slidably installed is top
Portion is equipped with avoiding hollow groove 32111, and the avoiding hollow groove 32111 can either facilitate the installation of the driving device 33, and can guarantee described
The seat 3211 that is slidably installed moves in the case where without hindrance, and the seat 3211 that is slidably installed is rectangular hollow framework, described in guarantee
The interference of position, the top peace of the sliding block 3212 do not occur in the process of moving with the sliding rail 31 for the seat 3211 that is slidably installed
Bottom loaded on the upper mounting surface 32112 makes the sliding block 3212 be able to drive the seat 3211 that is slidably installed mobile.
Further, the driving device 33 includes cylinder 331 and cylinder mounting base 332；
The cylinder mounting base 332 includes front mounting plate 3321, lower installation board 3322 and triangle stiffening plate 3323；
3321 bottom end of front mounting plate and 3322 front end of lower installation board vertically connect；
The quantity of the triangle stiffening plate 3323 is at least one, and its two sides is respectively fixedly connected in the front mounting plate
3321 lateral surface and the top surface of lower installation board 3322；
The cylinder 331 is installed on the medial surface of the front mounting plate 3321.
The quantity of the triangle stiffening plate 3323 of each of the present embodiment cylinder mounting base 332 is two, two sides point
It is not fixedly connected on the lateral surface of the front mounting plate 3321 and the top surface of lower installation board 3322, so that the cylinder installation
The structure of seat 332 is more stable, increases its service life, so that the cylinder 331 can more be stably installed at institute
The medial surface of front mounting plate 3321 is stated, even if using for a long time, described cylinder mounting base 332 will not there is a situation where loosen.
Further, the active slip portion 321 further includes footstock 3213 comprising foreboard 32131, bottom plate 32132 and add
Strong plate 32133；
The bottom end of the foreboard 32131 and the front end of bottom plate 32132 vertically connect；
The quantity of the stiffening plate 32133 be two, both ends be respectively fixedly connected in the foreboard 32131 lateral surface and
The top surface of the bottom plate 3213；
The bottom plate 32132 is installed on the top of the upper mounting surface 32112；
Limit space is formed between two pieces of stiffening plates 32133, the driving end 3311 of the cylinder 331 passes through spacer
3312 are installed on the outside of the foreboard 32131, and the spacer 3312 is limited in the limit space.
The bottom end of the foreboard 32131 and the front end of bottom plate 32132 vertically connect, and the quantity of the stiffening plate 32133 is
Two, both ends are respectively fixedly connected with the top surface of lateral surface and the bottom plate 3213 in the foreboard 32131, so that described
The structure of footstock 3213 is more stable, increases its service life；The bottom plate 3213 is installed on the top of the upper mounting surface 32112
Portion, the driving end 3311 of the cylinder 331 are installed on the outside of the foreboard 32131 by spacer 3312, the cylinder 331
Driving end 3311 is by driving the foreboard 32131 just can drive the movement of the seat 3211 that is slidably installed, the spacer 3312
Setting, enable the driving end 3311 of the cylinder 331 to be more firmly mounted to the outside of the foreboard 32131, institute
It states spacer 3312 to be limited in the limit space, further reinforces the stability when spacer 3312 work, avoid it
Double swerve.
Further, the active slip portion 321 further includes having grasping plate attachment base 3214；
The grasping plate attachment base 3214 includes upper mounting plate 32141 and connection frame 32142；
The upper mounting plate 32141 is installed on the bottom of the seat 3211 that is slidably installed, and the connection frame 32142 is set to institute
The bottom of upper mounting plate 32141 is stated, the connection frame 32142 is equipped with the auxiliary being connected with the upper mounting plate 32141 and adds
Strong plate 321421；
The grasping plate 34 is installed on the outside of the connection frame 32142.
The upper mounting plate 32141 is installed on the bottom of the seat 3211 that is slidably installed, when the seat 3211 that is slidably installed
When mobile, the grasping plate 34 in the outside more convenient to install in the connection frame 32142 is grabbed and is put down operation, institute to brick packet
The bottom that connection frame 32142 is set to the upper mounting plate 32141 is stated, the connection frame 32142 is equipped with and the upper mounting plate
The 32141 assistant reinforcement plates 321421 being connected, can increase the bonding strength of the grasping plate attachment base 3214, to increase it
Service life guarantees more reliable and more stable when the grasping plate 34 grabs brick packet.
Further, the quantity of the clamping device 3 is two, and two sets of clamping devices 3 are arranged side by side, the respectively first folder
Hold mechanism 301 and the second clamping device 302；
The driving device 33 of first clamping device 301 and the driving device 33 of the second clamping device 302 are installed respectively
In the opposite side of the sliding rail 31.
The quantity of the clamping device 3 is two, can be protected under the premise of reducing the mechanical gripper mechanism manufacturing cost
Demonstrate,prove quality and efficiency that the handgrip 34 grabs brick packet, the driving device 33 and the second clamping machine of first clamping device 301
The driving device 33 of structure 302 is respectively arranged in the opposite side of the sliding rail 31, so that the weight of the mechanical gripper mechanism reaches
To the effect of equilibrium assignmen, increase the stability of its work.
Further, the mechanical gripper mechanism further includes rack 303 and outer frame body 304；
The rack 303 is the rack of cube shape made of being connected with each other as a plurality of connecting tube 3031, the outer frame body
304 are installed on the outside of the rack 303, to block the top and all around four side of the rack 303；
The clamping device 3 is installed in the rack 303.
The rack 303 is that the clamping device 3 provides the position of an installation, and the rack 303 is by a plurality of connection
The rack of cuboid shape made of pipe 3031 is connected with each other, structural strength is big, facilitates installation；The outer frame body 304 is installed
In the outside of the rack 303, to block the top and all around four sides of the rack 303, it can protect and be mounted on
The clamping device 3 in the rack 303 will not hinder the movement of the grasping plate 34.
Further, the connecting tube 3031 is the aluminum profile that four sides are designed with groove 30311；
The framework 304 includes side plate 3041 and top plate 3042；
The side plate 3041 and top plate 3042 are fixed on the recessed of the connecting tube 3031 on the outside of the rack 303 by fixing piece
Slot 30311.
The fixing piece is square nut block, by the cooperation with the groove 30311, the side plate 3041 and top plate
3042 can more be stably installed in the groove 30311, also facilitate the disassembly of the side plate 3041 and top plate 3042.
Further, the inside of the grasping plate 34 is equipped with protection offset plate 341.
The protection offset plate 341 is soft material, while so that the grasping plate 34 is kept a firmer hand on when grabbing brick packet,
The structure of brick will not be destroyed.
Further, the driving section 35 further includes driving section mounting base 355, is set to the centre of the sliding rail 31；
The driving wheel 353 and directive wheel 354 are mounted on the top of the driving section mounting base 355, the driving wheel
Bearing is installed, the embodiment of the present invention bearing is deep groove ball bearing in 353.
The driving section mounting base 355 is set to the centre of the sliding rail 31, so that the active slip portion 321 and driven cunning
The dynamic sliding stroke having the same of portion 322, to guarantee to be respectively arranged in the active slip portion 321 and follower slip portion 322
The handgrip 34 can move synchronously crawl and put down brick packet, the deep groove ball bearing can support the driving wheel 353 again
The resistance when driving wheel 353 rotation can be reduced.
Further, the top of the outer frame body 304 is equipped with aperture 3043 and routing hole 3044, the routing hole 3044 it is outer
Week is equipped with flange 3045.
The quantity of the embodiment of the present invention aperture 3043 is four, and the aperture 3043 connects convenient for empty avoiding and the cylinder 331
The tracheae connect；The routing hole 3044 is convenient for the wiring of tracheae；The flange 3045 is convenient for the mechanical gripper mechanism and outside
The connection of equipment is installed.
The technical principle of the invention is described above in combination with a specific embodiment.These descriptions are intended merely to explain of the invention
Principle, and shall not be construed in any way as a limitation of the scope of protection of the invention.Based on the explanation herein, the technology of this field
Personnel can associate with other specific embodiments of the invention without creative labor, these modes are fallen within
Within protection scope of the present invention.
Claims (7)
1. a kind of mechanical gripper mechanism of accurate steady operation, includes at least a set of clamping device, the clamping device includes sliding
Rail, sliding part, driving device, grasping plate and driving section；
The sliding part includes active slip portion and follower slip portion, is slidably mounted at the sliding rail；
The grasping plate is respectively arranged in the active slip portion and follower slip portion；
The driving section is set between the active slip portion and follower slip portion；
It is characterized by: the driving section includes active driving member, slave drive part, driving wheel and directive wheel；
The lateral surface of the active driving member and slave drive part is equipped with guide part and transition part, and the intermediate location is in institute
State the end of guide part；
The active driving member and slave drive part are respectively arranged in the opposite one end in the active slip portion and follower slip portion；
The active driving member and slave drive part are respectively arranged on the two sides of the driving wheel, and its medial surface fit in it is described
The medial surface of driving wheel, the active driving member and slave drive part is driving face；
The directive wheel is respectively arranged on the outside of the active driving member and slave drive part, and the active driving member and driven
The guide part of driving member fits in the directive wheel respectively；
The driving device passes through the driving section band for driving the active slip portion to move in a straight line along the sliding rail
It moves the follower slip portion to move in a straight line along the sliding rail, is respectively arranged in the active slip portion and driven cunning to drive
Grasping plate in dynamic portion does counter motion；
The driving wheel is gear, and the active driving member and slave drive part are rack gear, and tooth is equipped with its medial surface；
The active driving member is identical with the structure of slave drive part；
The guide part is the V-type face being made of ramp and lower inclined plane；
It is equipped with V-groove along the periphery of the directive wheel, the V-type face paste is together in the V-groove；
The transition part includes upper transition face and lower transition face；
The upper transition face tilts upwards along the end of the ramp, and the lower transition face is downward along the end of the lower inclined plane
Inclination, the slope surface of the upper transition face and lower transition face composition V-type.
2. a kind of mechanical gripper mechanism of accurate steady operation according to claim 1, it is characterised in that: the active is sliding
Dynamic portion is identical with the structure in follower slip portion；
The active slip portion includes be slidably installed seat and sliding block；
The seat that is slidably installed is the rectangular hollow framework that top is equipped with avoiding hollow groove, and the two sides of the avoiding hollow groove are sliding peace
Fill the upper mounting surface of seat；
The sliding rail includes two strip sliding rails and connecting plate, and two sub- sliding rails are connected by connecting plate；
The sliding block is slidably mounted at two sub- sliding rails respectively, and the cover for seat that is slidably installed is on the sliding rail, and institute
State the bottom that the upper mounting surface is installed at the top of sliding block.
3. a kind of mechanical gripper mechanism of accurate steady operation according to claim 2, it is characterised in that: the driving dress
It sets including cylinder and cylinder mounting base；
The cylinder mounting base includes front mounting plate, lower installation board and triangle stiffening plate；
The front mounting plate bottom end and lower installation board front end vertically connect；
The quantity of the triangle stiffening plate is at least one, and its two sides is respectively fixedly connected in the lateral surface of the front mounting plate
With the top surface of lower installation board；
The cylinder is installed on the medial surface of the front mounting plate.
4. a kind of mechanical gripper mechanism of accurate steady operation according to claim 3, it is characterised in that: the active slip
Portion further includes footstock comprising foreboard, bottom plate and stiffening plate；
The bottom end of the foreboard and the front end of bottom plate vertically connect；
The quantity of the stiffening plate is two, and both ends are respectively fixedly connected with the top of lateral surface and the bottom plate in the foreboard
Face；
The bottom plate is installed on the top of the upper mounting surface；
Limit space is formed between two pieces of stiffening plates, the driving end of the cylinder is installed on the outer of the foreboard by spacer
Side, the spacer are limited in the limit space.
5. a kind of mechanical gripper mechanism of accurate steady operation according to claim 2, it is characterised in that: the active is sliding
Dynamic portion further includes having grasping plate attachment base；
The grasping plate attachment base includes upper mounting plate and connection frame；
The upper mounting plate is installed on the bottom of the seat that is slidably installed, and the connection frame is set to the bottom of the upper mounting plate,
The connection frame is equipped with the assistant reinforcement plate being connected with the upper mounting plate；
The grasping plate is installed on the outside of the connection frame.
6. a kind of mechanical gripper mechanism of accurate steady operation according to claim 1, it is characterised in that: the clamping machine
The quantity of structure is two, and two sets of clamping devices are arranged side by side, respectively the first clamping device and the second clamping device；
It is opposite that the driving device of first clamping device and the driving device of the second clamping device are respectively arranged in the sliding rail
Side.
7. a kind of mechanical gripper mechanism of accurate steady operation according to claim 1, it is characterised in that: the driving section
Further include driving section mounting base, is set to the centre of the sliding rail；
The driving wheel and directive wheel are mounted on the top of the driving section mounting base, are equipped with bearing in the driving wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710120511.0A CN106808487B (en) | 2017-03-02 | 2017-03-02 | A kind of mechanical gripper mechanism of accurate steady operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710120511.0A CN106808487B (en) | 2017-03-02 | 2017-03-02 | A kind of mechanical gripper mechanism of accurate steady operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106808487A CN106808487A (en) | 2017-06-09 |
| CN106808487B true CN106808487B (en) | 2019-07-23 |
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ID=59116034
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710120511.0A Active CN106808487B (en) | 2017-03-02 | 2017-03-02 | A kind of mechanical gripper mechanism of accurate steady operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106808487B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205602202U (en) * | 2016-04-08 | 2016-09-28 | 佛山市兰科机电设备有限公司 | Ceramic chip packing box pile up neatly machinery hand file grapple constructs |
| CN106041066A (en) * | 2016-08-10 | 2016-10-26 | 宁波百琪达自动化设备有限公司 | Feeding mechanism of neodymium iron boron magnetic field forming press |
-
2017
- 2017-03-02 CN CN201710120511.0A patent/CN106808487B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205602202U (en) * | 2016-04-08 | 2016-09-28 | 佛山市兰科机电设备有限公司 | Ceramic chip packing box pile up neatly machinery hand file grapple constructs |
| CN106041066A (en) * | 2016-08-10 | 2016-10-26 | 宁波百琪达自动化设备有限公司 | Feeding mechanism of neodymium iron boron magnetic field forming press |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106808487A (en) | 2017-06-09 |
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Inventor after: Yang Yang Inventor after: Ye Jinwei Inventor after: Yang Qin Inventor after: Liu Guoqing Inventor before: Yang Yang Inventor before: Ye Jinwei Inventor before: Yang Ruan Inventor before: Liu Guoqing |