CN108393918A - A kind of workpiece holding structure - Google Patents
A kind of workpiece holding structure Download PDFInfo
- Publication number
- CN108393918A CN108393918A CN201810376141.1A CN201810376141A CN108393918A CN 108393918 A CN108393918 A CN 108393918A CN 201810376141 A CN201810376141 A CN 201810376141A CN 108393918 A CN108393918 A CN 108393918A
- Authority
- CN
- China
- Prior art keywords
- guide rod
- collet
- sheave
- supporter
- driving wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- 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
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Gripping On Spindles (AREA)
Abstract
A kind of workpiece holding structure of the present invention, sliding Seat cover is loaded on guide rod；A toothed rack is fixed on guide rod；In one end of guide rod, setting is equipped with the sliding slot perpendicular to guide rod glide direction；Crank is parallel with guide rod；The other end of crank is then coordinated by the socket cap of protrusion in sliding slot；Rack and driving wheel engaged transmission；The disk and round bar for protruding from end face are additionally provided on the same side end face of driving wheel；Straight slot is provided on sheave；It is respectively equipped with two arc-shaped curved surfaces in straight slot both sides；Arc-shaped curved surface coordinates intermittence with disk；Round bar coordinates with straight slot intermittence；Supporter is set to the side of sheave；Collet is mounted on supporter；Shaft is installed in the middle part of collet；One end of collet is bare terminal end, and the other end fixes a connecting rod；Torsional axis is set on supporter；The rotary surface of torsional axis is equipped with otic placode, and two connecting rods are hinged on the otic placode of corresponding side respectively by pull rod；Torsional spring is further sleeved on torsional axis；Torsional axis is coaxially fixed with sheave.
Description
Technical field
The present invention relates to hardware construction applications, more particularly to a kind of workpiece holding structure.
Background technology
Its collet of tradition machinery clamping jaw is rigidly connected with mechanical arm, and in water operation, clamping jaw grips the space of part
Position is pre-set, and when part gripping position is stacked with two or more parts, longitudinal height of part will
More than the pre-set part pickup height of manipulator, its clamping jaw position of mechanical grip will bump against on part, since mechanical arm is transported
Inertia force during work is very big, by part of damage, while damaging clamping jaw.
Invention content
One aspect of the present invention is to provide a kind of workpiece holding structure, including guide rod, sliding seat board, transmission
Wheel, sheave, collet, pull rod and torsional axis；Seat cover is slided loaded on guide rod；A toothed rack is fixed close to the lower surface of guide rod；
In one end of guide rod, setting is equipped with the sliding slot perpendicular to guide rod glide direction；The side of guide rod is provided with motor；Motor it is defeated
Outlet set is filled to one end of crank, and crank is parallel with guide rod；The other end of crank is then coordinated by the socket cap of protrusion in sliding slot
It is interior；Rack and driving wheel engaged transmission；The disk and round bar for protruding from end face are additionally provided on the same side end face of driving wheel；
Driving wheel coordinates with sheave；On the sheave straight slot is provided with along radial；It is respectively equipped with two arc-shaped curved surfaces in straight slot both sides；
Driving wheel is rotatably assorted sheave rotation, arc-shaped curved surface and disk for intermittence cooperation；The round bar coordinates with straight slot intermittence；
Supporter is set to the side of sheave；The collet is mounted on supporter；The collet is in Z-shaped structure；In collet
Portion is equipped with shaft；The both ends of shaft are mounted respectively on the supporter of its both sides；One end of the collet is bare terminal end, another
A connecting rod is fixed in one end；The bare terminal end of two collets is opposite and sets, and object is clamped when moving toward one another in two collets；The supporter
The upper setting torsional axis；Torsional axis is arranged between two connecting rods；Opposite ear there are two being set on the rotary surface of torsional axis
Plate, two otic placodes are using axis as symmetrical centre；Two connecting rods are hinged on the otic placode of corresponding side respectively by pull rod；The torsion
Torsional spring is further sleeved in shaft；Torsional axis is coaxially fixed with sheave.
Preferably, the sliding seat board fixed setting；The both side surface of guide rod is equipped with guide groove, and sliding seat board bottom portion
Tooth head is caught in the guide groove.
Preferably, the shaft of motor is located at same level height with guide rod；Four support ends are set on supporter；Shaft
Both ends be fixed on the support end by bearing part.
The beneficial effects of the invention are as follows：A kind of workpiece holding structure is provided, transmission is special, coordinates in specified machinery knot
In structure, the movement of rectilinear direction can be converted to incomplete rotary motion, clamping force controls flange, transmission reaction spirit
Quick, elastic torsion power can provide strength buffering and reset two effects, being capable of structural stability and operability.
Description of the drawings
Fig. 1 is a kind of structure chart of workpiece holding structure of the present invention；
Fig. 2 is collet and its structure chart of transmission；
The label of each component is as follows in attached drawing：1, guide rod；2, seat board is slided；3, driving wheel；4, sheave；5, collet；6, pull rod；7、
Torsional axis；8, supporter；9, rack；10, sliding slot；11, motor；12, crank；13, disk；14, round bar；15, straight slot；16, lead to
Slot；17, support end；18, shaft；19, connecting rod；20, torsional spring.
Specific implementation mode
The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, so as to make a clearer definition of the protection scope of the present invention.
Attached Fig. 1 and 2 is please referred to, the embodiment of the present invention includes：
A kind of workpiece holding structure, including guide rod 1, sliding seat board 2, driving wheel 3, sheave 4, collet 5, pull rod 6 and torsional axis 7.
Guide rod 1, driving wheel 3, sheave 4 provide chucking power, and be set on the support 8 collet 5 and torsional axis 7 chucking power is timely
Response is gone out.
Two sliding seat boards 2 are set on guide rod 1, are slided and are equipped with fixation fixing threaded hole on seat board 2.The two of guide rod 1
Side surface is equipped with guide groove, and the tooth head of 2 bottom of sliding seat board is caught in guide groove.The linear slide in the horizontal direction of guide rod 1 is not
The influence of sliding seat board 2 is will receive, seat board 2 is even slided and is fixed in other structures, it will not be because of docking structure
And hinder linear motion.A toothed rack 9 is fixed close to the lower surface of guide rod 1, flank of tooth transmission is used as most stable of drive mechanism,
Transmission variation and fit system are easy to control.In one end of guide rod 1, setting is equipped with the sliding slot 10 perpendicular to 1 glide direction of guide rod,
Sliding slot 10 is vertically arranged, and the side of guide rod 1 is provided with motor 11, is matched by crank 12 between motor 11 and sliding slot 10
It closes, crank 12 is parallel with guide rod 1.The output end of motor 11 is located at same level height with guide rod 1, is moved when the transmission of motor 11 generates
When power, the problem of centre of motion is deviateed not will produce.The output end set of motor 11 is filled to one end of crank 12, crank 12 it is another
End is then coordinated by the socket cap of protrusion in sliding slot 10.When motor 11 drives crank rotation, crank 12 just does turning for circular ring shape
Dynamic, when only the length of crank 12 is the half of 10 length of sliding slot, crank 12 could push sliding slot 10, to push entire guide rod
1 moves in a straight line.
Rack 9 and 3 engaged transmission of driving wheel, are additionally provided with the disk 13 for protruding from end face on the same side end face of driving wheel 3
With round bar 14.It is equipped with sheave 4 in the downside of driving wheel 3, is provided with straight slot 15 along radial on sheave 4.In 15 both sides of straight slot point
It does not set there are two arc-shaped curved surface 16, driving wheel 3 is rotatably assorted the rotation of sheave 4, and arc-shaped curved surface 16 matches intermittence with disk 13
It closes, round bar 14 and the intermittent cooperation of straight slot 15.The diameter of disk 13 is less than the diameter of driving wheel 3, and the setting of round bar 14 is being driven
The end face edge of wheel 3.For disk 13 with round bar 14 centered on the center of circle of driving wheel 3, the two is opposite and sets.When driving wheel 3 is in tooth
When producing rotation under the cooperation of item 9, driving wheel 3 occurs the complete revolution between counter clockwise direction clockwise or not exclusively returns
Turn, rotation is at the uniform velocity and controlled, and unstability is as when stress increases or retard motion, resistance can be directly transferred to
Force piece, and cause to damage firmly to force piece and transmission are whole.But coordinate sheave 4 on driving wheel 3, pass through disk 13 and arc
The cooperation of shape curved surface 16, resistance can be only operated on driving wheel 3, will not be caused to damage to other structures.And with round bar
14 with the cooperation of straight slot 15, the output rotation of sheave 4 be it is instantaneous, will not be hindered, be driven rapider.
Four support ends 17 stretched out straight down are set on supporter 8, and collet 5 is mounted on support end 17.Collet 5 is in Z
Font structure is equipped with shaft 18 at the middle part of collet 5, and the both ends of shaft 18 are installed by bearing part to the branch of its both sides respectively
It supports on end 17.One end of collet 5 is bare terminal end, piece connecting rod 19 of the other end.When opposite rotation occurs for two collets 5
When, the bare terminal end of two collets 5 moves synchronously, and object is clamped when moving toward one another in two collets 5, and object is similarly then decontroled when counter motion
Body.Torsional axis 7 is set on supporter 8, and torsional axis 7 is arranged between two connecting rods 19, and torsional axis 7 is coaxially fixed on sheave 4.
The endless full circle swinging of sheave 4 is the movement that torsional axis 7 provides instantaneous needle and both direction counterclockwise, to which torsional axis 7 obtains
The aid power of collet.
Opposite otic placode there are two being set on the rotary surface of torsional axis 7, two otic placodes are using axis as symmetrical centre.Two companies
Bar 19 is hinged on the otic placode of corresponding side respectively by pull rod 6, and one end of connecting rod 19 is soldered on collet 5, other end hinge
It is connected to one end of pull rod 6, and the other end of pull rod 6 is hinged on otic placode.When torsional axis 7 is rotated under power, otic placode
Circumferential movement is just produced, the otic placode of both sides will pull pull rod 6 simultaneously, and active force is transferred to connecting rod 19 by pull rod 6, even
Bar 19 drives collet 5 to rotate around its shaft 18.External force is excessive in order to prevent and rotates two problems resetted, in torsional axis
Torsional spring 20 is further sleeved on 7.One end of torsional spring 20 is fixed on torsional axis 7, and the other end is fixed on supporter 8, and elasticity is turned round
Strength buffering can be provided and reset two effects by turning power.
Example the above is only the implementation of the present invention is not intended to limit the scope of the invention, every to utilize this hair
Equivalent structure or equivalent flow shift made by bright description is applied directly or indirectly in other relevant technology necks
Domain is included within the scope of the present invention.
Claims (3)
1. a kind of workpiece holding structure, it is characterised in that：Including guide rod, sliding seat board, driving wheel, sheave, collet, pull rod and torsion
Shaft；Seat cover is slided loaded on guide rod；A toothed rack is fixed close to the lower surface of guide rod；In one end of guide rod, setting, which is equipped with, hangs down
Directly in the sliding slot of guide rod glide direction；The side of guide rod is provided with motor；The output end set of motor is filled to one end of crank, bent
Handle is parallel with guide rod；The other end of crank is then coordinated by the socket cap of protrusion in sliding slot；Rack is engaged with the driving wheel
Transmission；The disk and round bar for protruding from end face are additionally provided on the same side end face of driving wheel；Driving wheel coordinates with sheave；The slot
On wheel straight slot is provided with along radial；It is respectively equipped with two arc-shaped curved surfaces in straight slot both sides；Driving wheel be rotatably assorted sheave rotation,
Arc-shaped curved surface coordinates intermittence with disk；The round bar coordinates with straight slot intermittence；Supporter is set to the side of sheave；
The collet is mounted on supporter；The collet is in Z-shaped structure；Shaft is installed in the middle part of collet；The both ends of shaft
It is mounted respectively on the supporter of its both sides；One end of the collet is bare terminal end, and the other end fixes a connecting rod；Two folders
The bare terminal end of head is opposite and sets, and object is clamped when moving toward one another in two collets；The torsional axis is set on the supporter；Torsional axis
It is arranged between two connecting rods；Opposite otic placode there are two being set on the rotary surface of torsional axis, two otic placodes are symmetrical with axis
Center；Two connecting rods are hinged on the otic placode of corresponding side respectively by pull rod；It is further sleeved with torsional spring on the torsional axis；Torsion
Axis is coaxially fixed with sheave.
2. a kind of workpiece holding structure according to claim 1, it is characterised in that：The sliding seat board fixed setting；It leads
The both side surface of bar is equipped with guide groove, and the tooth head in sliding seat board bottom portion is caught in the guide groove.
3. a kind of workpiece holding structure according to claim 1 or 2, it is characterised in that：The shaft of motor is located at guide rod
Same level height；Four support ends are set on supporter；The both ends of shaft are fixed to by bearing part on the support end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810376141.1A CN108393918A (en) | 2018-04-25 | 2018-04-25 | A kind of workpiece holding structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810376141.1A CN108393918A (en) | 2018-04-25 | 2018-04-25 | A kind of workpiece holding structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108393918A true CN108393918A (en) | 2018-08-14 |
Family
ID=63099356
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810376141.1A Withdrawn CN108393918A (en) | 2018-04-25 | 2018-04-25 | A kind of workpiece holding structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108393918A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112374130A (en) * | 2020-11-11 | 2021-02-19 | 新昌县七星街道耀佳机械厂 | Flexible conveying line for production of supply strip lamp brackets |
| CN114411395A (en) * | 2022-03-07 | 2022-04-29 | 王美艳 | Electric clothes hanger |
-
2018
- 2018-04-25 CN CN201810376141.1A patent/CN108393918A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112374130A (en) * | 2020-11-11 | 2021-02-19 | 新昌县七星街道耀佳机械厂 | Flexible conveying line for production of supply strip lamp brackets |
| CN114411395A (en) * | 2022-03-07 | 2022-04-29 | 王美艳 | Electric clothes hanger |
| CN114411395B (en) * | 2022-03-07 | 2024-03-26 | 王美艳 | Electric clothes hanger |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180814 |