CN208162476U - A kind of robot gripper disc spins micro-adjusting mechanism - Google Patents
A kind of robot gripper disc spins micro-adjusting mechanism Download PDFInfo
- Publication number
- CN208162476U CN208162476U CN201820667332.9U CN201820667332U CN208162476U CN 208162476 U CN208162476 U CN 208162476U CN 201820667332 U CN201820667332 U CN 201820667332U CN 208162476 U CN208162476 U CN 208162476U
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- CN
- China
- Prior art keywords
- connecting rod
- mould group
- reed
- handgrip
- length direction
- 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- Withdrawn - After Issue
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Abstract
The utility model provides a kind of robot gripper disc spins micro-adjusting mechanism, it is using the handgrip of terminal handgrip disk while pick-and-place object, it realizes because mold installation difference can make micro adjustment between upper and lower procedure, to guarantee that workpiece accurately falls into mold position location, it is ensured that the quality of workpiece to be machined.It includes the screw rod mould group being vertically arranged, handgrip disk fulcrum bearing is installed in the vertical guide rails of the screw rod mould group, the front end of the handgrip disk fulcrum bearing is provided with the connection frame of length direction arrangement, the length ends of the connection frame are by vertically connecting lower part handgrip disk to central rotating shaft, the handgrip disk fulcrum bearing connects the screw rod of the screw rod mould group by built-in attaching nut, it is characterised in that：The lower end surface of the connection frame of length direction arrangement is disposed with connecting rod, and the length direction of the connecting rod is parallel to the length direction of the connection frame, and one end close to the handgrip disk of the connecting rod is articulated with the one end for pushing connecting rod.
Description
Technical field
The utility model relates to the technical field of mechanical gripper dish structure, specially a kind of robot gripper disc spins fine tuning
Mechanism.
Background technique
The handgrip of terminal handgrip disk is while pick-and-place object, because mold installation difference has radial direction between upper and lower procedure
The difference of angle direction, existing handgrip disk can not carry out rotary fine adjustment, not can guarantee workpiece and accurately fall into mold position location,
So that there are flaws for the quality of workpiece to be machined.
Summary of the invention
In view of the above-mentioned problems, the utility model provides a kind of robot gripper disc spins micro-adjusting mechanism, terminal is utilized
The handgrip of handgrip disk is realized while pick-and-place object because mold installation difference can make micro adjustment between upper and lower procedure, to protect
Card workpiece accurately falls into mold position location, it is ensured that the quality of workpiece to be machined.
A kind of robot gripper disc spins micro-adjusting mechanism, technical solution are such：It includes the silk being vertically arranged
Bar mould group is equipped with handgrip disk fulcrum bearing in the vertical guide rails of the screw rod mould group, and the front end of the handgrip disk fulcrum bearing is set
It is equipped with the connection frame of length direction arrangement, the length ends of the connection frame are by vertically connecting lower part handgrip to central rotating shaft
Disk, the handgrip disk fulcrum bearing connect the screw rod of the screw rod mould group by built-in attaching nut, it is characterised in that：Length direction
The lower end surface of the connection frame of arrangement is disposed with connecting rod, and the length direction of the connecting rod is parallel to the length side of the connection frame
To one end close to the handgrip disk of the connecting rod is articulated with the one end for pushing connecting rod, the other end pivot for pushing connecting rod
Connect the non-center position of the handgrip disk, the promotion connecting rod and the not parallel setting of the connecting rod, the connecting rod and one of them
Handgrip angulation be β, the connecting rod close to the screw rod mould group one end it is affixed it is flexible fine tuning mould group length direction one end,
The length direction other end of the elasticity fine tuning mould group is connected with guide rod, and the handgrip disk branch is run through in the inner end of the guide rod
It holds and is arranged towards the middle part guide surface of the screw rod mould group after the outer wall of seat, the vertical direction middle section position of the middle part guide surface
It is provided with the cam bar of evagination from bottom to top, the connecting rod is set with reset bullet on the length direction of the handgrip disk
Spring, the corresponding position installation side that the both ends of the reset spring are mounted on connecting rod respectively is convex, preceding guiding connector of connecting rod.
It is further characterized by：The connecting rod is installed on the connection by preceding guiding connector, rear guiding connector
The lower end surface corresponding position of frame, the front end of the connecting rod are pivotally connected the promotion after the guide groove of the preceding guiding connector and connect
One end of bar, the rear end of the connecting rod is after the guide groove of the rear guiding connector before the affixed elasticity fine tuning mould group
End；
The elasticity fine tuning mould group includes the fixed pellet of two pieces of reeds, specially front end reed fixed pellet, rear end reed
Fixed pellet, the two sides that the fixed pellet of the front end reed, rear end reed fix pellet are fixedly connected by reed respectively, and every
Length one end of the reed passes through the side of the fixed pellet of the reed of affixed screw fastening corresponding position, two panels institute respectively
The length direction central side for stating reed is convex backwards to being symmetrical arranged, between the central side of reed described in two panels is convex by fine tuning screw rod,
Nut connection；
The rear end of the connecting rod affixed fixed pellet of the front end reed after the guide groove of the rear guiding connector
Front end portion, the rear end of the fixed pellet of the rear end reed is connected with guide rod；
The inner end of the guide rod is arc surface or spherical surface, it is ensured that the normal work of total；
The middle part of the guide rod is installed on the lower end surface of the connection frame, the guide rod by guiding connector guiding
Inner end through the guiding connector guide groove after towards the screw rod mould group middle part guide surface arrange.
It after the structure of the utility model, is moved upwardly or downwardly by screw rod mould group, guide rod is in screw rod mould group
It moves horizontally forward or backward under the action of fixed cam bar, and finely tunes mould group and connecting rod with dynamic elasticity while making front and back water
Flat movement；The pivot joint of the connecting rod other end pushes connecting rod, pushes the joining beam other end and handgrip disk to be pivotally connected, revolves handgrip disk along its axis center
Turn certain angle, has the function that change hands workpiece trace regulation clamped by disk；It is being grabbed using the handgrip of terminal handgrip disk
While putting object, realize because mold installation difference can make micro adjustment between upper and lower procedure, to guarantee that workpiece accurately falls into mould
Has position location, it is ensured that the quality of workpiece to be machined.
Detailed description of the invention
Fig. 1 is the bottom view structure schematic diagram of the utility model；
Fig. 2 is that the A-A of Fig. 1 cuts open structural schematic diagram；
Fig. 3 is the structural schematic diagram of the elasticity fine tuning mould group of the utility model；
Title corresponding to serial number is as follows in figure：
Screw rod mould group 1, handgrip disk fulcrum bearing 2, connection frame 3, vertically to central rotating shaft 4, handgrip disk 5, attaching nut 6, silk
Bar 7, connecting rod 8 push connecting rod 9, elasticity fine tuning mould group 10, guide rod 11, inner end 12, middle part guide surface 13, cam bar 14, reset
Spring 15, installation side be convex 16, preceding guiding connector 17, rear guiding connector 18, the fixed pellet 19 of front end reed, rear end reed are solid
Determine pellet 20, reed 21, fine tuning screw rod 22, nut 23, guiding connector 24, affixed screw 25.
Specific embodiment
A kind of robot gripper disc spins micro-adjusting mechanism, is shown in Fig. 1-Fig. 3：It includes the screw rod mould group 1 being vertically arranged, silk
Handgrip disk fulcrum bearing 2 is installed, the front end of handgrip disk fulcrum bearing 2 is provided with length direction cloth in the vertical guide rails of bar mould group 1
The connection frame 3 set, the length ends of connection frame 3 are by vertically connecting lower part handgrip disk 5, handgrip disk fulcrum bearing 2 to central rotating shaft 4
By built-in 1 group of 6 connection wire rod mould of attaching nut of screw rod 7, the lower end surface of the connection frame 3 of length direction arrangement is disposed with connecting rod
8, the length direction of connecting rod 8 is parallel to the length direction of connection frame 3, and one end of the close handgrip disk 5 of connecting rod 8 is articulated with promotion and connects
One end of bar 9 pushes the non-center position of the other end pivot joint handgrip disk 5 of connecting rod 9, pushes connecting rod 9 and connecting rod 8 is not parallel sets
It sets, connecting rod 8 and one of handgrip angulation are β, the affixed flexible fine tuning mould group 10 in one end of the close screw rod mould group 1 of connecting rod 8
Length direction one end, elasticity fine tuning mould group 10 the length direction other end be connected with guide rod 11, the inner end 12 of guide rod 11
It is arranged after the outer wall of handgrip disk fulcrum bearing 2 towards the middle part guide surface 13 of screw rod mould group 1, the Vertical Square of middle part guide surface 13
It is provided with the cam bar 14 of evagination from bottom to top to middle section position, is set on the length direction of the close handgrip disk 5 of connecting rod 8 multiple
Position spring 15, the corresponding position installation side that the both ends of reset spring 15 are mounted on connecting rod 8 respectively are convex 16, connecting rod 8 leading to even
Fitting 17.
Connecting rod 8 is installed on the lower end surface corresponding position of connection frame 3 by preceding guiding connector 17, rear guiding connector 18,
The pivot joint after the guide groove of preceding guiding connector 17 of the front end of connecting rod 8 pushes one end of connecting rod 9, after the rear end of connecting rod 8 is run through
The front end of affixed elasticity fine tuning mould group 10 after the guide groove of guiding connector 18；
Elasticity fine tuning mould group 10 includes the fixed pellet of two pieces of reeds, specially front end reed fixed pellet 19, rear end reed
Fixed pellet 20, the two sides that the fixed pellet 19 of front end reed, rear end reed fix pellet 20 pass through reed 21 respectively and are fixedly connected,
Length one end of every reed 21 passes through the side that affixed screw 25 fastens the fixed pellet of reed of corresponding position, two leaf springs respectively
The length direction central side of piece 21 is convex to pass through fine tuning screw rod 22, spiral shell between be symmetrical arranged, the central side of two panels reed 21 is convex
Mother 23 connects, and reed 21 is specially arch reed.
The working principle of elasticity fine tuning mould group：
1 unscrews fine tuning screw rod 22 using allen wrench, and arch reed is under bolt and nut effect, 21 spacing of two panels reed
B increases, and connects the fixed pellet spacing A of two pieces of reeds and shortens, the fixed pellet 19 of front end reed and the fixed pellet 20 of rear end reed it
Between entire length L shorten；
2 finely tune screw rod 22 using allen wrench counter-tightened, and arch reed is under bolt and nut effect, two panels reed 21
Spacing B shortens, and connects the fixed pellet spacing A of two pieces of reeds and increases, the fixed pellet 19 of front end reed and the fixed pellet of rear end reed
Entire length L between 20 increases；
3 before entering in lower one of mold cavity, shortens or increase according to actual needs L by above-mentioned movement, and then adjust
Whole handgrip and connecting rod are formed by the size of β angle, the workpiece accurate alignment for grabbing handgrip disk.
The front end of the fixed pellet 19 of the rear end of connecting rod 8 affixed front end reed after the guide groove of rear guiding connector 18
Point, the rear end of the fixed pellet 20 of rear end reed is connected with guide rod 11；
The inner end 12 of guide rod 11 is arc surface or spherical surface, it is ensured that the normal work of total；
The middle part of guide rod 11 is oriented to by guiding connector 24 and is installed on the lower end surface of connection frame 3, guide rod 11 it is interior
End is arranged after the guide groove of guiding connector 24 towards the middle part guide surface 13 of screw rod mould group 1.
Its working principle is as follows：It is moved upwardly or downwardly by screw rod mould group, guide rod is fixed convex in screw rod mould group
It moves horizontally forward or backward under the action of wheel item, and finely tunes mould group and connecting rod with dynamic elasticity while making anterior-posterior horizontal movement；
The pivot joint of the connecting rod other end pushes connecting rod, and the joining beam other end and handgrip disk is pushed to be pivotally connected, and keeps handgrip disk certain along the rotation of its axis center
Angle, have the function that change hands workpiece trace regulation clamped by disk；It is using the handgrip of terminal handgrip disk in pick-and-place object
While, it realizes because mold installation difference can make micro adjustment between upper and lower procedure, to guarantee that workpiece accurately falls into mold positioning
Position, it is ensured that the quality of workpiece to be machined.
Its specific works cyclic process is as follows：
A screw rod mould group downlink in place, handgrip disk grabbing workpiece；Mechanical hand-motion integrally retreats, and screw rod mould group starts uplink,
Guide rod slides upwards in middle part guide surface flat segments；
B manipulator entirety lateral displacement prepares mobile to next process mould；Screw rod mould group continues uplink, guide rod row
It to cam strip area, and is displaced outwardly upwards along cam bar surface direction, guide rod pushes connecting rod, and connecting rod pushes handgrip disk to turn
Dynamic, β angle becomes larger；
In place, manipulator is whole to move ahead c screw rod mould group uplink toward mold direction, and the workpiece of handgrip disk crawl is accurately aimed at work
Sequence mold cavity, puts down workpiece；
After d puts down workpiece, manipulator integrally starts to retreat screw rod mould group simultaneously and prepares downlink；
The mold of the upward station of e manipulator replys movement, and screw rod mould group continues traveling downwardly, and guide rod is displaced downwardly to cam bar position
It sets, screw rod mould group continues traveling downwardly, and guide rod moves inward downwards along cam bar, and connecting rod pushes the rotation of handgrip disk to set back, β
Angle homing；
F screw rod mould group downlink in place, guide rod middle part guide surface flat segments glide downwards in place, before manipulator entirety
Row replys a movement.
Specific embodiment of the utility model is described in detail above, but content is only what the utility model was created
Preferred embodiment should not be construed as limiting the practical range of the utility model creation.All create according to the utility model is applied
All the changes and improvements made by range etc., shall still fall within the scope of this patent.
Claims (6)
1. a kind of robot gripper disc spins micro-adjusting mechanism comprising the screw rod mould group being vertically arranged, the screw rod mould group
Handgrip disk fulcrum bearing is installed, the front end of the handgrip disk fulcrum bearing is provided with the connection of length direction arrangement in vertical guide rails
Frame, by vertically connecting lower part handgrip disk to central rotating shaft, the handgrip disk fulcrum bearing passes through the length ends of the connection frame
Built-in attaching nut connects the screw rod of the screw rod mould group, it is characterised in that：The lower end of the connection frame of length direction arrangement
Face is disposed with connecting rod, and the length direction of the connecting rod is parallel to the length direction of the connection frame, the connecting rod close to described
One end of handgrip disk is articulated with the one end for pushing connecting rod, and the other end for pushing connecting rod is pivotally connected the non-central position of the handgrip disk
It sets, the promotion connecting rod and the not parallel setting of the connecting rod, the connecting rod and one of handgrip angulation are β, the connecting rod
Close to length direction one end of the affixed flexible fine tuning mould group in one end of the screw rod mould group, the length of the elasticity fine tuning mould group
The direction other end is connected with guide rod, and the inner end of the guide rod is after the outer wall of the handgrip disk fulcrum bearing towards the silk
The middle part guide surface of bar mould group arranges, the vertical direction middle section position of the middle part guide surface is provided with the convex of evagination from bottom to top
Item is taken turns, the connecting rod is set with reset spring, the both ends point of the reset spring on the length direction of the handgrip disk
The corresponding position installation side for not being mounted on connecting rod is convex, preceding guiding connector of connecting rod.
2. a kind of robot gripper disc spins micro-adjusting mechanism as described in claim 1, it is characterised in that：Before the connecting rod passes through
Guiding connector, rear guiding connector are installed on the lower end surface corresponding position of the connection frame, and institute is run through in the front end of the connecting rod
Described one end for pushing connecting rod is pivotally connected before stating after the guide groove of guiding connector, the rear end of the connecting rod connects through the rear guiding
The front end of the affixed elasticity fine tuning mould group after the guide groove of fitting.
3. a kind of robot gripper disc spins micro-adjusting mechanism as claimed in claim 2, it is characterised in that：The elasticity fine tuning mould
Group includes the fixed pellet of two pieces of reeds, and specially the fixed pellet of front end reed, the fixed pellet of rear end reed, the front end reed are solid
The two sides for determining the fixed pellet of pellet, rear end reed are fixedly connected by reed respectively, length one end difference of the every reed
The side of pellet, the length direction central side of reed described in two panels are fixed by the reed that affixed screw fastens corresponding position
It is convex to pass through fine tuning screw rod, nut connection between be symmetrical arranged, the central side of reed described in two panels is convex.
4. a kind of robot gripper disc spins micro-adjusting mechanism as claimed in claim 3, it is characterised in that：The rear end of the connecting rod
The front end portion of the affixed fixed pellet of the front end reed, the rear end reed after the guide groove of the rear guiding connector
The rear end of fixed pellet is connected with guide rod.
5. a kind of robot gripper disc spins micro-adjusting mechanism as described in claim 1, it is characterised in that：The guide rod it is interior
End is arc surface or spherical surface.
6. a kind of robot gripper disc spins micro-adjusting mechanism as described in claim 1, it is characterised in that：In the guide rod
Portion is installed on the lower end surface of the connection frame by guiding connector guiding, and the inner end of the guide rod is connected through the guiding
It is arranged after the guide groove of part towards the middle part guide surface of the screw rod mould group.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820667332.9U CN208162476U (en) | 2018-05-07 | 2018-05-07 | A kind of robot gripper disc spins micro-adjusting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820667332.9U CN208162476U (en) | 2018-05-07 | 2018-05-07 | A kind of robot gripper disc spins micro-adjusting mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208162476U true CN208162476U (en) | 2018-11-30 |
Family
ID=64368419
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820667332.9U Withdrawn - After Issue CN208162476U (en) | 2018-05-07 | 2018-05-07 | A kind of robot gripper disc spins micro-adjusting mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208162476U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108555168A (en) * | 2018-05-07 | 2018-09-21 | 苏州神运机器人有限公司 | A kind of robot gripper disc spins micro-adjusting mechanism |
-
2018
- 2018-05-07 CN CN201820667332.9U patent/CN208162476U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108555168A (en) * | 2018-05-07 | 2018-09-21 | 苏州神运机器人有限公司 | A kind of robot gripper disc spins micro-adjusting mechanism |
| CN108555168B (en) * | 2018-05-07 | 2023-09-15 | 苏州神运机器人有限公司 | Robot gripper rotating fine adjustment mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20181130 Effective date of abandoning: 20230915 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20181130 Effective date of abandoning: 20230915 |