CN109129528A - A kind of tube conveyor tool hand - Google Patents
A kind of tube conveyor tool hand Download PDFInfo
- Publication number
- CN109129528A CN109129528A CN201811031431.9A CN201811031431A CN109129528A CN 109129528 A CN109129528 A CN 109129528A CN 201811031431 A CN201811031431 A CN 201811031431A CN 109129528 A CN109129528 A CN 109129528A
- Authority
- CN
- China
- Prior art keywords
- finger
- pulley
- fixed
- motor
- clamping head
- 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- Withdrawn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)
- Manipulator (AREA)
Abstract
The invention discloses a kind of tube conveyor tool hands, including support plate, motor, support base, transmission shaft, rope drum, pulley, wirerope and clamping head, the transmission shaft rotation is fixed in support base and one end is connected with the output shaft of motor, the clamping head includes bottom plate, cylinder, piston rod, supporting block, first finger, second finger and third finger, the wirerope is fixed on bottom plate after rope drum extraction around pulley again, drive sleeve rotation is driven by motor, make the wirerope in drive sleeve draw rear haulage clamping head through pulley to move up and down, it is matched by electromagnet and cylinder and the third finger of clamping head is attracted on metal thin wall pipe to be transported and firmly clamps tubing, it is easy to operate, tubing conevying efficiency is high, and when manipulator decline is obstructed, elastic on pulley pulls fixing axle to trigger travel switch , manipulator can be made to return to initial position in time, avoid weighing tubing wounded, good protective effect is played to tubing.
Description
[technical field]
The present invention relates to the technical field of manipulator, especially a kind of technical field of tube conveyor tool hand.
[background technique]
Manipulator can imitate certain holding functions of manpower and arm, to by fixed routine crawl, carrying object or operation
The automatic pilot of tool.Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, it can
The mechanization and automation of production are realized instead of the heavy labor of people, can be operated under hostile environment to protect personal safety,
Thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
The artificial shipment of metal thin wall pipe, it is time-consuming and laborious, and cost is also relatively high, and manipulator in the prior art exists
Unstable to pipe clamping when transport metal thin-wall pipes, clamping force is excessive, damages be easy to causeing tubing, furthermore works as machine
Tool subordinate demotion is equipped with deviation, is expressed to tubing, so that manipulator decline is obstructed, is easy to appear the case where tubing is bent.
[summary of the invention]
The object of the invention is to solve the problems of the prior art, proposes a kind of tube conveyor tool hand, can pass through
Motor drives drive sleeve rotation, so that the wirerope in drive sleeve is drawn rear haulage clamping head through pulley and moves up and down, passes through electromagnetism
Iron and cylinder, which are matched, to be attracted to the third finger of clamping head on metal thin wall pipe to be transported and firmly clamps tubing, behaviour
Facilitate, tubing conevying efficiency is high, and when manipulator decline is obstructed, the elastic on pulley pulls fixing axle triggering stroke to open
It closes, manipulator can be made to return to initial position in time, avoid weighing tubing wounded, good protective effect is played to tubing.
To achieve the above object, the invention proposes a kind of tube conveyor tool hand, including support plate, motor, support base,
Transmission shaft, rope drum, pulley, wirerope and clamping head, the motor, support base and pulley are fixed on the supporting plate, described
Transmission shaft rotation is fixed in support base and one end is connected with the output shaft of motor, and the clamping head includes bottom plate, cylinder, work
Stopper rod, supporting block, the first finger, second finger and third finger, the cylinder are fixed on bottom plate, the both ends of the piston rod
Be connected respectively with cylinder and supporting block, the top of first finger is hinge on the floor, the first finger other end with
The top of third finger is hinged, and the both ends of the second finger are hinged with supporting block and third finger respectively, the steel wire
Rope is fixed on bottom plate after rope drum extraction around pulley again.
Preferably, it is arc-shaped, arc-shaped section of the third finger that the upper section of the third finger, which is linear lower section,
Inner wall be equipped with electromagnet, the top of arc-shaped section of the third finger is equipped with rubber block.
Preferably, the quantity of the pulley is two, described two pulleys are located at the front of rope drum and and rope drum
It is parallel.
Preferably, the pulley includes pulley fixed seat, elastic seat, elastic, pulley body, fixing axle and stroke are opened
It closes, the side wall of the fixing seat is equipped with strip groove, and the fixing axle passes through strip groove and is fixed in fixing seat and can be along
Strip groove moves up and down, and the pulley body rotation is fixed on the center of fixing axle, and the elastic seat is fixed on fixing seat two sides
Side wall on and be located on same vertical line with fixing axle, the both ends of the elastic are respectively sleeved in elastic seat and fixing axle,
The travel switch is fixed on the side wall of fixing seat and can trigger travel switch when fixing axle is moved upwards along strip groove.
Preferably, the motor, cylinder and electromagnet are electrically connected with control unit.
Beneficial effects of the present invention: the present invention drives drive sleeve to rotate by motor, makes the wirerope in drive sleeve through cunning
Wheel draw rear haulage clamping head move up and down, matched by electromagnet and cylinder the third finger of clamping head is attracted to it is to be shipped
Tubing on defeated metal thin wall pipe and firmly is clamped, easy to operate, tubing conevying efficiency is high, and when manipulator decline is obstructed
When, the elastic on pulley pulls fixing axle to trigger travel switch, manipulator can be made to return to initial position in time, avoid weighing pipe wounded
Material plays good protective effect to tubing.
Feature and advantage of the invention will be described in detail by embodiment combination attached drawing.
[Detailed description of the invention]
Fig. 1 is a kind of main view of tube conveyor tool hand of the present invention；
Fig. 2 is main view when a kind of clamping head of tube conveyor tool hand of the present invention opens；
Fig. 3 is a kind of main view of the pulley of tube conveyor tool hand of the present invention；
Fig. 4 is a kind of left view of the pulley of tube conveyor tool hand of the present invention.
In figure: 1- support plate, 2- motor, 21- output shaft, 3- support base, 4- transmission shaft, 5- rope drum, 6- pulley, 61-
Pulley fixed seat, 611- strip groove, 62- elastic seat, 63- elastic, 64- pulley body, 65- fixing axle, 66- travel switch, 7-
Wirerope, 8- clamping head, 81- bottom plate, 82- cylinder, 83- piston rod, 84- supporting block, the first finger of 85-, 86- second finger,
87- third finger, 871- electromagnet and 872- rubber block.
[specific embodiment]
Refering to fig. 1, Fig. 2, Fig. 3 and Fig. 4, a kind of tube conveyor tool hand of the present invention, including support plate 1, motor 2, support
Seat 3, transmission shaft 4, rope drum 5, pulley 6, wirerope 7 and clamping head 8, the motor 2, support base 3 and pulley 6 are fixed on branch
On fagging 1, the rotation of transmission shaft 4 is fixed in support base 3 and one end is connected with the output shaft 21 of motor 2, the clamping
First 8 include bottom plate 81, cylinder 82, piston rod 83, supporting block 84, the first finger 85, second finger 86 and third finger 87, described
Cylinder 82 is fixed on bottom plate 81, and the both ends of the piston rod 83 are connected with cylinder 82 and supporting block 84 respectively, and described first
The top of finger 85 is hinged on bottom plate 81, and the top of 85 other end of the first finger and third finger 87 is hinged, described
The both ends of second finger 86 are hinged with supporting block 84 and third finger 87 respectively, the wirerope 7 from rope drum 5 extraction after around
It crosses pulley 6 to be fixed on again on bottom plate 81, the upper section of the third finger 87 is that linear lower section is arc-shaped, the third finger
87 arc-shaped sections of inner wall is equipped with electromagnet 871, and the top of 87 arc-shaped sections of the third finger is equipped with rubber block 872,
The quantity of the pulley 6 is two, and described two pulleys 6 are located at the front of rope drum 5 and, the cunning parallel with rope drum 5
Wheel 6 includes pulley fixed seat 61, elastic seat 62, elastic 63, pulley body 64, fixing axle 65 and travel switch 66, the fixation
The side wall of seat 61 is equipped with strip groove 611, and the fixing axle 65 passes through strip groove 611 and is fixed in fixing seat 61 and can be along
Strip groove 611 moves up and down, and the pulley body 64 rotates the center for being fixed on fixing axle 65, and the elastic seat 62 is fixed on
It is located on same vertical line on the side wall of 61 two sides of reservation and with fixing axle 65, the both ends of the elastic 63 are respectively sleeved at elastic
On seat 62 and fixing axle 65, the travel switch 66 is fixed on the side wall of fixing seat 61 and when fixing axle 65 is along strip groove
611 can trigger travel switch 66 when moving upwards, and the motor 2, cylinder 81 and electromagnet 871 are electrically connected with control unit.
The course of work of the present invention:
A kind of tube conveyor tool hand of the present invention during the work time, motor 2 by output shaft 21 drive transmission shaft 4 and its
On rope drum 5 rotate, the downward unwrapping wire of wirerope 7, clamping head 8 declines therewith.Period, when clamping head 8 normally declines, steel wire
7 hauling block ontologies 64 of restricting make fixing axle 65 be located at the bottom end of strip groove 611 far from travel switch, when clamping head 8 is expressed to gold
When category thin-wall pipes decline is obstructed, wirerope 7 weakens the tractive force of pulley body 64, and elastic 63 pulls fixing axle 65 along item
Shape slot 611 moves upwards and triggers travel switch 66, and the operating of motor 2 drives clamping head 8 back up into initial position.Head to be held
8 drop near metal thin wall pipe, and cylinder 82 drives piston rod 83 to extend downwards, and clamping head 8 opens, and electromagnet 871 will press from both sides
It holds first 8 to be attracted on metal thin wall pipe, cylinder 82 drives piston rod 83 to shrink upwards, and the closure of clamping head 8 clamps metal foil
Wall tube material, motor 2 drive rope drum 5 to rotate, and the upward take-up of wirerope, clamping head 8 clips metal thin wall pipe and rises with it.
The present invention drives drive sleeve rotation by motor, and the wirerope in drive sleeve is made to draw rear haulage clamping head through pulley
It moves up and down, is matched by electromagnet and cylinder and be attracted to the third finger of clamping head on metal thin wall pipe to be transported simultaneously
Tubing is firmly clamped, easy to operate, tubing conevying efficiency is high, and when manipulator decline is obstructed, the elastic on pulley is pulled
Fixing axle triggers travel switch, manipulator can be made to return to initial position in time, avoid weighing tubing wounded, played to tubing good
Protective effect.
Above-described embodiment is the description of the invention, is not limitation of the invention, after any pair of simple transformation of the present invention
Scheme all belong to the scope of protection of the present invention.
Claims (5)
1. a kind of tube conveyor tool hand, it is characterised in that: including support plate (1), motor (2), support base (3), transmission shaft
(4), rope drum (5), pulley (6), wirerope (7) and clamping head (8), the motor (2), support base (3) and pulley (6) are solid
It is scheduled on support plate (1), transmission shaft (4) rotation is fixed in support base (3) and the output shaft (21) of one end and motor (2)
Be connected, the clamping head (8) include bottom plate (81), cylinder (82), piston rod (83), supporting block (84), the first finger (85),
Second finger (86) and third finger (87), the cylinder (82) are fixed on bottom plate (81), the both ends of the piston rod (83)
It is connected respectively with cylinder (82) and supporting block (84), the top of first finger (85) is hinged on bottom plate (81), described
First finger (85) other end and the top of third finger (87) are hinged, the both ends of the second finger (86) respectively with support
Block (84) and third finger (87) are hinged, and the wirerope (7) is fixed on after drawing from rope drum (5) around pulley (6) again
On bottom plate (81).
2. a kind of tube conveyor tool hand as described in claim 1, it is characterised in that: the upper section of the third finger (87) is
Linear lower section be it is arc-shaped, the inner wall of arc-shaped section of the third finger (87) is equipped with electromagnet (871), the third hand
The top of arc-shaped section of finger (87) is equipped with rubber block (872).
3. a kind of tube conveyor tool hand as described in claim 1, it is characterised in that: the quantity of the pulley (6) is two,
Described two pulleys (6) are located at the front of rope drum (5) and parallel with rope drum (5).
4. a kind of tube conveyor tool hand as described in claim 1, it is characterised in that: the pulley (6) includes that pulley is fixed
Seat (61), elastic seat (62), elastic (63), pulley body (64), fixing axle (65) and travel switch (66), the fixing seat
(61) side wall is equipped with strip groove (611), and the fixing axle (65) passes through strip groove (611) and is fixed on fixing seat (61) simultaneously
And can move up and down along strip groove (611), pulley body (64) rotation is fixed on the center of fixing axle (65), the rubber
Muscle seat (62) is fixed on the side wall of fixing seat (61) two sides and is located on same vertical line with fixing axle (65), the elastic
(63) both ends are respectively sleeved on elastic seat (62) and fixing axle (65), and the travel switch (66) is fixed on fixing seat (61)
Side wall on and when fixing axle (65) is moved upwards along strip groove (611) can trigger travel switch (66).
5. a kind of tube conveyor tool hand as described in claim 1, it is characterised in that: the motor (2), cylinder (81) and electricity
Magnet (871) is electrically connected with control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811031431.9A CN109129528A (en) | 2018-09-05 | 2018-09-05 | A kind of tube conveyor tool hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811031431.9A CN109129528A (en) | 2018-09-05 | 2018-09-05 | A kind of tube conveyor tool hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109129528A true CN109129528A (en) | 2019-01-04 |
Family
ID=64827051
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811031431.9A Withdrawn CN109129528A (en) | 2018-09-05 | 2018-09-05 | A kind of tube conveyor tool hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109129528A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040239133A1 (en) * | 2003-05-29 | 2004-12-02 | Yakov Kushnir | Gripping device |
| CN201777792U (en) * | 2010-06-23 | 2011-03-30 | 佛山市南海科西亚数码电气有限公司 | Entangled-wire prevention device during lifting of cargo lift of vending machine |
| CN203665542U (en) * | 2014-01-08 | 2014-06-25 | 安徽江淮汽车股份有限公司 | Carrying clamping device for cylindrical objects |
| CN205953022U (en) * | 2016-07-17 | 2017-02-15 | 威海贯标信息科技有限公司 | Novel transport manipulator of tubular article |
| CN107718033A (en) * | 2017-11-21 | 2018-02-23 | 惠州市利尔康精密五金有限公司 | A kind of manipulator of hardware production and application |
| CN207087904U (en) * | 2017-07-10 | 2018-03-13 | 宿迁学院 | A kind of safety robot tool |
| CN207155788U (en) * | 2017-07-20 | 2018-03-30 | 安徽省雄峰起重机械有限公司 | A kind of Mobile pipe assembling and disassembling manipulator |
| CN108436953A (en) * | 2018-03-20 | 2018-08-24 | 河南工学院 | A kind of mechanical grip for machine-building |
-
2018
- 2018-09-05 CN CN201811031431.9A patent/CN109129528A/en not_active Withdrawn
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040239133A1 (en) * | 2003-05-29 | 2004-12-02 | Yakov Kushnir | Gripping device |
| CN201777792U (en) * | 2010-06-23 | 2011-03-30 | 佛山市南海科西亚数码电气有限公司 | Entangled-wire prevention device during lifting of cargo lift of vending machine |
| CN203665542U (en) * | 2014-01-08 | 2014-06-25 | 安徽江淮汽车股份有限公司 | Carrying clamping device for cylindrical objects |
| CN205953022U (en) * | 2016-07-17 | 2017-02-15 | 威海贯标信息科技有限公司 | Novel transport manipulator of tubular article |
| CN207087904U (en) * | 2017-07-10 | 2018-03-13 | 宿迁学院 | A kind of safety robot tool |
| CN207155788U (en) * | 2017-07-20 | 2018-03-30 | 安徽省雄峰起重机械有限公司 | A kind of Mobile pipe assembling and disassembling manipulator |
| CN107718033A (en) * | 2017-11-21 | 2018-02-23 | 惠州市利尔康精密五金有限公司 | A kind of manipulator of hardware production and application |
| CN108436953A (en) * | 2018-03-20 | 2018-08-24 | 河南工学院 | A kind of mechanical grip for machine-building |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203184372U (en) | Automatic robot bending system | |
| CN105417111B (en) | A kind of small-sized storage lid balance system | |
| CN107804782A (en) | A kind of permanent magnetic suck metal hoisting machine | |
| CN109109003A (en) | A kind of secured catching robot | |
| CN205998638U (en) | Fixture assembly and Material Transportation trailer | |
| CN109178916A (en) | It is a kind of for orienting and grasping the device of sack | |
| CN108639919A (en) | A kind of two-way thruster for the single-ended disengaging mine car of cage and two-way cart method | |
| CN109129528A (en) | A kind of tube conveyor tool hand | |
| CN203373020U (en) | Pneumatic electromagnetic transloading device | |
| CN108943002A (en) | A kind of catching robot | |
| CN205438549U (en) | Multistation pile up neatly machinery hand | |
| US2545063A (en) | Dispensing pump having motor-driven hose retraction | |
| CN106241704A (en) | A kind of pail pack promotes travel mechanism | |
| CN205998898U (en) | Fixture assembly and Material Transportation trailer | |
| CN106114579B (en) | Fixture assembly and Material Transportation trailer | |
| CN209289284U (en) | A kind of high-stroke manipulator | |
| CN209778027U (en) | Lifting machine with follow-up type door opening and closing function | |
| CN201659164U (en) | Traction device for copper pipe stretcher | |
| CN206960109U (en) | A kind of Full-automatic lever block device for testing tensile force | |
| CN207418048U (en) | A kind of spool thread cutting device | |
| CN205835386U (en) | Vacuum adsorption type mechanical hand | |
| CN214495456U (en) | Crane part anti-collision device | |
| CN107053239A (en) | The quick catching robot of coordinated type | |
| CN210654791U (en) | Automatic hook conveying device | |
| CN209322349U (en) | A kind of hoisting loop chain device |
Legal Events
| 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 |
Application publication date: 20190104 |
|
| WW01 | Invention patent application withdrawn after publication |