CN207564480U - A kind of manipulator fixture and double-station machinery clamp hand - Google Patents
A kind of manipulator fixture and double-station machinery clamp hand Download PDFInfo
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- CN207564480U CN207564480U CN201721599083.6U CN201721599083U CN207564480U CN 207564480 U CN207564480 U CN 207564480U CN 201721599083 U CN201721599083 U CN 201721599083U CN 207564480 U CN207564480 U CN 207564480U
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- pedestal
- manipulator
- manipulator fixture
- plate
- clamp
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 92
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- 239000000463 material Substances 0.000 abstract description 2
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 8
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- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
A kind of double-station machinery clamp hand, including pedestal (18), translation motor (19) and two manipulator fixtures, pedestal (18) is equipped with the linear guide, translation motor (19) is equipped with gear (20) on pedestal (18) lower part, universal driving shaft；Two manipulator fixtures are buckled in the linear guide and respectively by the rack (8) of pedestal (1) side by sliding block are engaged with gear (20) respectively, and the second cover board (28) the cover is above two manipulator fixtures.The utility model is by setting double-station clamp hand, instead of artificial, use manpower and material resources sparingly, improves homework precision and production efficiency.
Description
Technical field
The utility model belongs to mechanical manufacturing field more particularly to a kind of manipulator applied to robot automation's production
Fixture and double-station machinery clamp hand.
Background technology
As what the proposition of industry 4.0 and industrial robot were applied popularizes, conventional plant is also badly in need of automate changing
It makes.Still based on manual production, supplemented by automatic production line, factory of Geng You nuclear families is by hand entirely for China Partial factory at present
On the one hand production is difficult to meet the production requirement increasingly accelerated, be on the other hand also difficult to meet client for workpiece quality will
It asks, therefore many manufacturers meet modern production demand there is an urgent need to improve the automatization level of factory.At present for factory
Automatic improving is mainly engaged in industrial production with robot for people, by Industry Control come overall arrangement, can not only solve
Put labour, and can the uninterrupted operation of twenty four hours at high temperature under high pressure, improve the production efficiency of factory, thus
The welcome of enterprise is arrived.However, for different production lines, need to design different manipulator fixtures to meet automation need
It asks.
Invention content
In view of the above problems, the purpose of this utility model is to provide a kind of manipulator fixture and double-station machinery clamp hand,
So that robot during automated production, can capture object, and designed by double-station, improve working efficiency.
To achieve the above object, the utility model takes following technical scheme.According to the utility model proposes a kind of machine
Tool hand fixture, including pedestal, motor, clamp, two oblique wedges, motor is mounted in pedestal, and universal driving shaft is connect with leading screw, silk
Thick stick nut is connect with oblique wedge；The beveled end of the oblique wedge abuts the inclined surface of clamp lower part, and is formed positioned at clamp lower part
Angle in；Clamp is articulated in the forepart of pedestal.
To achieve the above object, the utility model also takes following technical measures.
The clamp includes a pair of of tong arm of elastic connection, and two tong arms are oppositely arranged and the underarm of the two is formed and accommodated tiltedly
The angle of wedge beveled end；Each tong arm is articulated in pedestal forepart by shaft respectively, and underarm is located in pedestal, and medial surface is
With the oblique matched inclined surface of wedge beveled end, upper arm protrudes from pedestal.
The medial surface of the tong arm upper arm is equipped with the first venthole, and the first venthole passes through set by soft air pipe and pedestal top
Gas-tpe fitting connection；The pedestal is equipped with the sealing flange being sleeved on soft air pipe.
Straight slot is equipped at the top of the pedestal, the first travel switch is installed in straight slot；It is equipped with and hits at the top of oblique wedge rearward
The contacts mates of block, collision block and the first travel switch.
The pedestal side is equipped with rack, the limiting slot below rack, and opposite side is equipped with the first groove, is installed in the
The first sliding block in one groove, bottom are equipped with the second groove, the second sliding block being installed in the second groove.
The triangle angle of protrusion is additionally provided at the top of the pedestal
To achieve the above object, the utility model also takes following technical scheme.According to the utility model proposes one kind
Double-station machinery clamp hand, including pedestal, translation motor and two manipulator fixtures, pedestal is equipped with the linear guide, translation motor
Mounted on pedestal lower part, gear is installed on universal driving shaft；Two manipulator fixtures are buckled in the linear guide by sliding block respectively
It above and is respectively engaged by the rack and pinion of pedestal side, the second cover board the cover is above two manipulator fixtures.
To achieve the above object, the utility model also takes following technical measures.
The pedestal is in mountain font, has bottom plate, the baffle positioned at base plate rear end, the driving plate positioned at bottom plate top, two
A guide plate, driving plate are located between two guide plates；
The medial surface of each guide plate is equipped with first straight line guide rail, is set on the bottom plate there are two second straight line guide rail, two
Second straight line guide rail is located at the both sides of driving plate respectively；It is straight that first sliding block of the manipulator fixture pedestal side is buckled in first
On line guide rail, the second sliding block of bottom is buckled on second straight line guide rail；
Gear is installed, end is equipped with limited block in the middle part of driving plate；The both sides of limited block are arranged with a protrusion,
The protrusion holding is in the limiting slot of pedestal side；
The top surface of each guide plate is equipped with the second travel switch, contact and three set by pedestal top of the second travel switch
Angular angle cooperation；
The front end of bottom plate is set there are two U-type groove, and two U-type grooves are located at the both sides of driving plate respectively.
Each manipulator fixture is positioned by ripple pearl screw, and ripple pearl screw is mounted on phase by holding screw
On the guide plate answered, positioning is realized in the side that steel ball abuts pedestal.
The lower part of the pedestal is additionally provided with three-way pipe, two solenoid valves, and the import of three-way pipe is connected with air source, two goes out
The mouth inlet communication with a solenoid valve respectively, the outlet of each solenoid valve and the tracheae at the top of corresponding manipulator fixture pedestal
Fittings.
By the utility model proposes manipulator fixture and double-station machinery clamp hand, by setting double-station clamp hand, generation
For artificial, use manpower and material resources sparingly, improve homework precision and production efficiency.
The above description is merely an outline of the technical solution of the present invention, in order to better understand the skill of the utility model
Art means, and being implemented in accordance with the contents of the specification, and in order to allow the above and other purpose, feature of the utility model
It can be clearer and more comprehensible with advantage, special below to lift preferred embodiment, and coordinate attached drawing, detailed description are as follows.
Description of the drawings
Fig. 1 is a kind of vertical view of manipulator fixture of the utility model.
Fig. 2 is the sectional schematic diagram of Fig. 1.
Fig. 3 is a kind of stereoscopic schematic diagram of manipulator fixture of the utility model.
Fig. 4 is a kind of stereoscopic schematic diagram of double-station machinery clamp hand of the utility model.
Fig. 5 is a kind of vertical view of double-station machinery clamp hand of the utility model.
Fig. 6 is the A-A sectional views of Fig. 5.
【Main element symbol description】
1：Pedestal 2：Motor
3：Clamp 4：Oblique wedge
5：Motor cover 6：Shaft
7：Leading screw 8：Rack
9：Limiting slot 10：First groove
11：Second groove 12：Gas-tpe fitting
13：First venthole
15：Leading screw fixed plate 16：First sliding block
17：Second sliding block 18：Pedestal
19：Translation motor 20：Gear
21：Limited block 2101：Protrusion
2201：First travel switch 2202：Second travel switch
23：Ripple pearl screw 24：Positioning column
25：First cover board 26：Three-way pipe
27：Solenoid valve 28：Second cover board
29：Triangle angle W：Workpiece
Specific embodiment
For the purpose of this utility model, technical solution and advantage is more clearly understood, below in conjunction with specific embodiment, and
With reference to attached drawing, the utility model is further described.
Embodiment one
A kind of manipulator fixture of the utility model, including pedestal 1, motor 2, clamp 3, oblique wedge 4, motor 2 is mounted on base
In seat 1, universal driving shaft is connect with leading screw 7, and the feed screw nut 701 coordinated with leading screw 7 is connect with oblique wedge 4.Clamp 3 includes elasticity
A pair of of tong arm 301 of connection, two tong arms 301 are oppositely arranged and the underarm of the two forms the angle for accommodating oblique 4 beveled end of wedge；
Each tong arm 301 is articulated in 1 forepart of pedestal by shaft 6 respectively, and underarm is located in pedestal 1, the medial surface of underarm be set as and
The oblique matched inclined surface of 4 beveled end of wedge, upper arm protrude from pedestal 1.The beveled end of the oblique wedge 4 is abutted under tong arm 301
The medial surface (i.e. inclined surface) of arm, and in the angle that two 301 underarms of tong arm are formed.
As the further improvement of the present embodiment, the rear end of motor 2 protrudes from pedestal 1 and passes through 5 the cover of motor cover, motor
Cover 5 is affixed with the rear end of pedestal 1, and the rubbish such as iron filings is avoided to fall into motor and its corollary equipment (such as speed reducer).
As the further improvement of the present embodiment, two tong arms 301 can by spring 302 or other with spring function
Component connection, when after oblique wedge 4 move when two tong arms 301 workpiece W is unclamped under the action of the spring 302 in compressive state.
As the further improvement of the present embodiment, 1 top of pedestal is equipped with straight slot 101, and first is equipped in straight slot 101
Travel switch 2201；Oblique 4 top of wedge is equipped with collision block 401, and oblique wedge 4 collision block 401 during Forward once touches first
The contact of travel switch 2201, the first travel switch 2201 will send out signal and disconnect control circuit, and motor 2 stops, pressing from both sides at this time
Pincers 3 have clamped workpiece W.
As the further improvement of the present embodiment, through-hole 102, through-hole 102 are equipped with inside the pedestal 1 along its length
It is connected with straight slot 101；Motor 2 is mounted on 102 rear portion of through-hole by multistage ladder seat, bearing；Leading screw 7 passes through leading screw fixed plate 15
Mounted on 102 middle part of through-hole, it is ensured that leading screw 7 will not move in 2 rotation process of motor；Clamp 3 is mounted on through-hole by shaft 6
102 foreparts.
As the further improvement of the present embodiment, pedestal 1 can be split as the first mounting base 103 for loading motor 2,
For loading the second mounting base 104 of clamp 3, the first mounting base 103 is higher than (being preferably slightly higher than) second mounting base 104.
7 one end of leading screw is located in the first mounting base 103, the other end is located in the second mounting base 104, and two oblique wedges 4 are located at the second peace
It fills in seat 104.And two mounting bases is are detachably connected, easy to process, assembling.
As the further improvement of the present embodiment, 1 side of pedestal is equipped with rack 8, the limiting slot positioned at 8 lower section of rack
9, opposite side is equipped with the first groove 10, the first sliding block 16 being installed in the first groove 10, and bottom is equipped with the second groove 11, peace
The second sliding block 17 being located in the second groove 10.The rack and sliding block, groove are convenient for translation motor driving and later conversion,
Manipulator fixture is moved forward and backward.
As the further improvement of the present embodiment, 1 top of pedestal is additionally provided with the triangle angle 29 of protrusion, the triangle
Shape angle 29 is located at the rear of straight slot 101, is acted on unanimously with the collision block 401 at oblique 4 top of wedge.The utility model does not limit simultaneously
The shape of angle.
As the further improvement of the present embodiment, 1 top of pedestal is additionally provided with gas-tpe fitting 12, each tong arm 301
Medial upper arm is equipped with the first venthole 13, and the first venthole 13 is connected with gas-tpe fitting 12 by the air flue set by 1 inside of pedestal.
In operation process after the completion of certain procedure, air flue, the first venthole inside compressed air transtracheal connector 12, pedestal 1
The iron filings left on 13 cleaning tong arms 301, ensure cleannes, extend the service life of fixture.
First venthole 13 is connected by soft air pipe 1301 with the air flue in pedestal 1, which is equipped with and is sleeved on
Sealing flange 1302 on soft air pipe 1301 is installed for the sealing of soft air pipe.
The utility model proposes manipulator fixture grip workpiece when, motor 1 rotates forward, leading screw 7 output rotate in the forward direction movement,
Oblique wedge 4 moves forward under the drive of feed screw nut (not rotating), and beveled end steps into the folder that two 301 underarms of tong arm are formed
In angle, the underarm of two tong arms 301 is all displaced outwardly, and the upper arm of two tong arms 301 all moves inwards under the positioning of shaft 6,
So as to fulfill the closure of clamp 3, workpiece is gripped.Spring 302 is in compressive state at this time.
The utility model proposes manipulator fixture unclamp workpiece when, motor 1 inverts, leading screw 7 export reverse rotation motion,
It is moved after tiltedly wedge 4 is under the drive of feed screw nut (not rotating), beveled end gradually exits the folder that two 301 underarms of tong arm are formed
Angle, the upper arm of two tong arms 301 are displaced outwardly in counter push of compressed spring 302, two pincers under the positioning of shaft 6
The underarm of arm 301 all moves inwards, so as to fulfill the opening of clamp 3, unclamps workpiece.Spring is in normal condition at this time.
Embodiment two
On the basis of embodiment one, the utility model it is further proposed that a kind of double-station machinery clamp hand, including pedestal 18,
Translation motor 19 and two manipulator fixtures, pedestal 18 are equipped with the linear guide, and translation motor 19 is mounted on 18 lower part of pedestal,
Gear 20 is installed on its universal driving shaft；Two manipulator fixtures are buckled in the linear guide by sliding block and pass through base respectively respectively
The rack 8 of 1 side of seat is engaged with gear 20.
The section of the pedestal 18 be in mountain font, have bottom plate 1801, positioned at 1801 rear end of bottom plate baffle 1802, be located at
1803, two guide plates 1804 of driving plate on 1801 top of bottom plate, driving plate 1803 are located between two guide plates 1804.
The medial surface of each guide plate 1804 is equipped with first straight line guide rail 1805, is set on the bottom plate 1801 straight there are two second
Line guide rail 1806, two second straight line guide rails 1806 are located at the both sides of driving plate 1803 respectively.1 side of manipulator fixture pedestal
First sliding block 16 in face is buckled on first straight line guide rail 1805, and the second sliding block 17 of bottom is buckled in second straight line guide rail 1806
On, two manipulator fixtures are separately mounted to the both sides of driving plate 1803.
Gear 20 is mounted on 1803 middle part of driving plate, engages, is translating with the rack of two manipulator fixture sides 8 respectively
Mobile and the two moving direction is opposite simultaneously for two manipulator fixtures when motor 19 starts.The end of driving plate 1803 is equipped with
Limited block 21, the both sides of limited block 21 are arranged with a protrusion 2101, and 2101 holding of protrusion is in the limiting slot 9 of 1 side of pedestal
In (limited length), one of effect is limition orientation, and the two of effect is that there are kept away when deviation or power failure suddenly when installation
Exempt from manipulator fixture to throw away from pedestal 1.
The top surface of each guide plate 1804 is equipped with the second travel switch 2202, the triangle at 1 top of manipulator fixture pedestal
When angle 29 touches the contact of the second travel switch 2202, the second travel switch 2202 will send out signal and disconnect control circuit,
Translation motor 19 stops.
Each manipulator fixture is positioned by ripple pearl screw 23, and ripple pearl screw 23 is mounted on phase by holding screw
On the guide plate 1804 answered, positioning is realized in the side that steel ball abuts pedestal 1.
It is opened up on baffle 1802 there are two receiving hole 1807, when shifting after manipulator fixture, motor cover 5 can enter this
In receiving hole 1807, increase the moving range of manipulator fixture with this.Further, the rear end of the baffle 1802 is connected with first
Cover board 25 simultaneously passes through positioning column 24 and positions.
The front end of the bottom plate 1801 is set there are two U-type groove 1808, and two U-type grooves 1808 are located at driving plate 1803 respectively
Both sides, when the clamp 3 of manipulator fixture drives workpiece movement, U-type groove 1808 provides space for the movement of workpiece, avoids touching
Damage.
As the further improvement of the present embodiment, second straight line guide rail 1806 is located at a U-type groove 1808 and driving respectively
Between plate 1803, design is advantageous in that in this way：First straight line guide rail 1805 supports the side of manipulator fixture, and second straight line is led
Rail 1806 supports the opposite side of manipulator fixture, and stress balance ensures that the moving process of fixture is more steady.
As the further improvement of the present embodiment, the lower part of the pedestal 18 is additionally provided with 26, two Non-return air valves of three-way pipe
27, the import of three-way pipe 26 is connected with air source, two exports the inlet communication with a solenoid valve 27 respectively, solenoid valve 27
It exports and is connected with the gas-tpe fitting 12 at corresponding 1 top of manipulator fixture pedestal, in gas-tpe fitting 12 and two 301 upper arm of tong arm
First venthole 13 of side connects, for blowing away the iron filings generated in process.
As the further improvement of the present embodiment, two manipulator fixtures pass through the second cover board 28 after being mounted on pedestal 18
The cover avoids in operation process the rubbish such as iron filings from falling into and fixture is damaged in manipulator fixture.
The above, is only the preferred embodiment of the utility model patent, any person skilled in the art,
It is not departing from the art of this patent aspects, the technical spirit according to this patent is made to the above embodiment any simply to repair
Change, equivalent variations and modification, in the range of still falling within the art of this patent scheme.
Claims (10)
1. a kind of manipulator fixture, it is characterised in that including pedestal (1), motor (2), clamp (3), oblique wedge (4), motor (2)
In pedestal (1), universal driving shaft is connect with leading screw (7), and feed screw nut (701) is connect with oblique wedge (4)；The oblique wedge
(4) beveled end abuts the inclined surface of clamp (3) lower part, and in the angle that clamp (3) lower part is formed；Clamp (3) is pivotally connected
In the forepart of pedestal (1).
2. manipulator fixture according to claim 1, it is characterised in that a pair of of pincers of the clamp (3) including elastic connection
Arm (301), two tong arms (301) are oppositely arranged and the underarm of the two forms the angle for accommodating oblique wedge (4) beveled end；Each pincers
Arm (301) is articulated in pedestal (1) forepart by shaft (6) respectively, and underarm is located in pedestal (1), and medial surface is set as with tiltedly carving
Block (4) matched inclined surface of beveled end, upper arm protrude from pedestal (1).
3. manipulator fixture according to claim 2, it is characterised in that the medial surface of each tong arm (301) upper arm is set
There are the first venthole (13), gas-tpe fitting (12) of the first venthole (13) set by by soft air pipe (131) and pedestal (1) top
Connection；The pedestal (1) is equipped with the sealing flange (132) being sleeved on soft air pipe (131).
4. manipulator fixture according to claim 1, it is characterised in that straight slot (101) is equipped at the top of the pedestal (1), is led to
The first travel switch (2201) is installed in slot (101)；Be equipped with collision block (401) at the top of the oblique wedge (4), collision block (401) with
The contacts mates of first travel switch (2201).
5. manipulator fixture according to claim 1, it is characterised in that pedestal (1) side is equipped with rack (8), is located at
The limiting slot (9) of 8 lower section of rack, opposite side are equipped with the first groove (10), the first sliding block being installed in the first groove (10)
(16), bottom is equipped with the second groove (11), the second sliding block (17) being installed in the second groove (10).
6. manipulator fixture according to claim 1, it is characterised in that the triangle of protrusion is additionally provided at the top of the pedestal (1)
Shape angle (29).
7. a kind of double-station machinery clamp hand, it is characterised in that including pedestal (18), translation motor (19) and two manipulator fixtures,
Pedestal (18) is equipped with the linear guide, and translation motor (19) is equipped with gear on pedestal (18) lower part, universal driving shaft
(20)；Two manipulator fixtures are buckled in the linear guide by sliding block and respectively respectively by the racks (8) of pedestal (1) side
It is engaged with gear (20), the second cover board (28) the cover is above two manipulator fixtures.
8. double-station machinery clamp hand according to claim 7, it is characterised in that the pedestal (18) has bottom in mountain font
Plate (1801), the baffle (1802) positioned at bottom plate (1801) rear end, the driving plate (1803) positioned at bottom plate (1801) top, two
Guide plate (1804), driving plate (1803) is between two guide plates (1804)；
The medial surface of each guide plate (1804) is equipped with first straight line guide rail (1805), is set on bottom plate (1801) straight there are two second
Line guide rail (1806), two second straight line guide rails (1806) are located at the both sides of driving plate (1803) respectively；The manipulator fixture
First sliding block (16) of pedestal (1) side is buckled on first straight line guide rail (1805), and the second sliding block (17) of bottom is buckled in
On second straight line guide rail (1806)；
Gear (20) is installed, end is equipped with limited block (21) in the middle part of driving plate (1803)；The both sides of limited block (21)
One raised (2101) are arranged with, protrusion (2101) holding is in the limiting slot (9) of pedestal (1) side；
The top surface of each guide plate (1804) is equipped with the second travel switch (2202), the contact and base of the second travel switch (2202)
Triangle angle (29) cooperation set by the top of seat (1)；
The front end of bottom plate (1801) is set there are two U-type groove (1808), and two U-type grooves (1808) are located at driving plate (1803) respectively
Both sides.
9. double-station machinery clamp hand according to claim 8, it is characterised in that each manipulator fixture passes through wave
Pearl screw (23) is positioned, and ripple pearl screw (23) is mounted on by holding screw on corresponding guide plate (1804), steel ball
Realize positioning in the side for abutting pedestal (1).
10. double-station machinery clamp hand according to claim 8, it is characterised in that the lower part of the pedestal (18) is additionally provided with three
Siphunculus (26), two solenoid valves (27), the import of three-way pipe (26) are connected with air source, two outlet respectively with a solenoid valve
(27) inlet communication, the outlet of each solenoid valve (27) and the gas-tpe fitting at the top of corresponding manipulator fixture pedestal (1)
(12) it connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721599083.6U CN207564480U (en) | 2017-11-24 | 2017-11-24 | A kind of manipulator fixture and double-station machinery clamp hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721599083.6U CN207564480U (en) | 2017-11-24 | 2017-11-24 | A kind of manipulator fixture and double-station machinery clamp hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207564480U true CN207564480U (en) | 2018-07-03 |
Family
ID=62692290
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721599083.6U Expired - Fee Related CN207564480U (en) | 2017-11-24 | 2017-11-24 | A kind of manipulator fixture and double-station machinery clamp hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207564480U (en) |
-
2017
- 2017-11-24 CN CN201721599083.6U patent/CN207564480U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180703 Termination date: 20211124 |