CN209536399U - Mobile clamp hand device - Google Patents

Abstract

The utility model relates to a kind of mobile clamp hand devices, for automatically continuously carrying workpiece, wherein moving clamp hand device includes: slide, are set to above mobile clamp hand device；Driving mechanism is connect with slide, and driving mechanism is for driving slide to move back and forth；Multiple clamp hand mechanisms, are set on slide, and multiple clamp hand mechanisms are the direction uniform intervals settings moved back and forth along slide, and multiple clamp hand mechanisms are driven by slide and moved back and forth, and multiple clamp hand mechanisms are for carrying workpiece；And multiple stations, it is correspondingly arranged in below multiple clamp hand mechanisms, multiple stations are for successively workpieces processing.Wherein, after multiple stations complete the process workpiece, multiple clamp hand mechanisms clamp the workpiece on corresponding station, and driving mechanism drives multiple clamp hand mechanisms to be moved to the top of next station by slide.The mobile clamp hand device design of the utility model is reasonable, close structure, reliable performance, easy to spread and use.

Description

Mobile clamp hand device

Technical field

The utility model relates to a kind of clamp hand devices, more particularly to a kind of for automatically continuously carrying the mobile folder of workpiece Arm device.

Background technique

Currently, being developed rapidly with advances in technology with development, the industry in China, field of machinery automation is even more By leaps and bounds develop.There are three types of currently used carrying systems, and one is simple transfers, including simple jacking transferring From machine and some manipulators are grabbed from A to B, jacking transferring machine is directly used in the transmission of right angle turn, for than relatively short distance Transfer；Another carrying system is directed to bigger object, such carrying system is not high to required precision.Above-mentioned several shiftings Not only working efficiency is low for loading system, and often due to its position inaccurate, and does not adapt to multistation automatic positioning crawl and limit Make its application.

Summary of the invention

The technical problem to be solved by the utility model is to provide a kind of mobile clamp hand devices, are asked with solving above-mentioned technology Topic, specific technical solution are as follows: a kind of mobile clamp hand device are provided, for automatically continuously carrying workpiece, wherein moving clamp hand Device includes: slide, is set to above mobile clamp hand device；Driving mechanism is connect with slide, and driving mechanism is for driving slide It moves back and forth；Multiple clamp hand mechanisms, are set on slide, multiple clamp hand mechanisms be along slide move back and forth direction it is uniform between Every setting, multiple clamp hand mechanisms are driven by slide and are moved back and forth, and multiple clamp hand mechanisms are for carrying workpiece；And multiple works Position is correspondingly arranged in below multiple clamp hand mechanisms, and multiple stations are for successively workpieces processing.Wherein, when multiple stations process After workpiece, multiple clamp hand mechanisms clamp the workpiece on corresponding station, and driving mechanism drives multiple clamp hands by slide Mechanism is moved to the top of next station, and multiple clamp hand mechanisms place workpiece on station thereunder, and driving mechanism passes through Slide drives multiple clamp hand resets.

Further including crossbeam in a kind of possible design, is set to above mobile clamp hand device, slide is slidably connected to crossbeam, Driving mechanism is fixed on crossbeam.

In a kind of possible design, further include multiple columns, connect with crossbeam, multiple columns are used to support crossbeam.

In a kind of possible design, the distance that driving mechanism drives slide to move back and forth is at a distance from adjacent two stations Equal, the distance that slide drives multiple clamp hand mechanisms to move back and forth is equidistant with adjacent two stations.

In a kind of possible design, driving mechanism further include driving rack, the transmission gear engaged with driving rack and Driving motor for driving transmission gear to rotate, driving rack is fixedly connected with slide, driving motor by transmission gear with Driving rack is driven and slide is driven to move back and forth.

The utility model has had the advantage that compared with prior art:

The mobile clamp hand device of the utility model drives multiple clamp hands to make alternate reciprocating motion by being acted by driving mechanism, To realize the purpose carried to workpieces processing, and accurate positioning, reduces clamp hand conveying stroke, saves room and time, And production efficiency is improved, it is widely used in the automatic positioning crawl of multistation.In addition, the mobile clamp hand device of the utility model Design is reasonable, close structure, reliable performance, easy to spread and use.

Detailed description of the invention

Using attached drawing, the utility model is described in further detail, but the content in attached drawing does not constitute and appoints to the utility model What is limited.

Fig. 1 is the schematic front view of the mobile clamp hand device of an embodiment of the present invention.

Fig. 2 is the schematic side view of the mobile clamp hand device of an embodiment of the present invention.

Fig. 3 is the partial enlargement diagram in Fig. 2 of an embodiment of the present invention at A.

Fig. 4 is the structural schematic diagram of the middle clamp assemblies of an embodiment of the present invention.

Structural schematic diagram when Fig. 5 is the middle clamp assemblies clamping special-shaped workpiece of an embodiment of the present invention.

Fig. 6 be in Fig. 5 of an embodiment of the present invention A-A to schematic cross-sectional view.

Specific embodiment

The utility model discloses a kind of mobile clamp hand device 1 of an embodiment, please refers to shown in Fig. 1-6, for connecting automatically Continuous to carry workpiece, mobile clamp hand device 1 includes slide 2, driving mechanism 3, multiple clamp hand mechanisms 4 and multiple stations 5, in which:

It please refers to shown in Fig. 1, slide 2 is set to mobile 1 top of clamp hand device, and slide 2 is mainly used for driving multiple clamp hands The reciprocating movement of mechanism 4, particular/special requirement no for the selection of slide 2 in the present invention, referring to those skilled in the art Conventional selection.

In a preferred embodiment, Fig. 1 is please referred to, shown in 2, mobile clamp hand device 1 further includes crossbeam 6, and crossbeam 6 is set to Mobile 1 top of clamp hand device, slide 2 are slidably connected to crossbeam 6, and preferred slide 2 is slidably connected to by a sliding rail in crossbeam 6, but not As limit, driving mechanism 3 is fixed on crossbeam 6.Further disclosed mobile clamp hand device 1 further includes multiple vertical to the present embodiment Column 7, multiple columns 7 are connect with crossbeam 6, and multiple columns 7 are used to support crossbeam 6, and one end interval of preferred multiple columns 7 is uniform The lower section for being set to crossbeam 6, the other end of multiple columns 7 is supported on ground, to realize support beam 6, but not with this It is limited.

It please refers to shown in Fig. 1, driving mechanism 3 is connect with slide 2, and driving mechanism 3 is asked for driving slide 2 to move back and forth Refering to what is shown in Fig. 3, the transmission gear that driving mechanism 3 disclosed in the present embodiment includes driving rack 31, engages with driving rack 31 32 and the driving motor 33 for driving transmission gear 32 to rotate, driving rack 31 is fixedly connected with slide 2, and connection type can To be to be connected by screw to, it is also possible to that integral structure is made, but be not limited thereto.Driving motor disclosed in the present embodiment 33 it is fixed but be not limited thereto on the cross beam 6, those skilled in the art also can choose other, and to be able to achieve driving motor 33 solid The fixed driving motor 33 in fixed position.Driving motor 33 is turned and rotating and reverse with nutating gear 32 forward or backwards It is dynamic, and then driving rack 31 is driven to move back and forth, since driving rack 31 is fixedly connected with slide 2, thus driving rack 31 It drives slide 2 to move back and forth, realizes that driving motor 33 drives slide 2 to move back and forth.

In a preferred embodiment, driving mechanism 3 drive slide 2 move back and forth distance and adjacent two stations 5 away from From equal, distance that slide 2 drives multiple clamp hand mechanisms 4 to move back and forth is equidistant with adjacent two stations 5, more to realize Workpiece on a station 5 is simultaneously continuously carried, but is not limited thereto, and those skilled in the art can add according to actual production The reciprocating movement distance of corresponding slide 2 and multiple clamp hand mechanisms 4 is arranged in work demand.

It please refers to shown in Fig. 1, multiple clamp hand mechanisms 4 are set on slide 2, and multiple clamp hand mechanisms 4 are reciprocal along slide 2 Mobile direction uniform intervals setting, clamp hand mechanism 4 is connect with slide 2 preferably through screw, to facilitate clamp hand mechanism 4 more It changes and safeguards, but be not limited thereto.Multiple clamp hand mechanisms 4 are driven by slide 2 to be moved back and forth, and multiple clamp hand mechanisms 4 use In carrying workpiece.

It please refers to shown in Fig. 1, multiple stations 5 are correspondingly arranged in multiple 4 lower sections of clamp hand mechanism, and a preferred station 5 is set It is placed in the lower section of a clamp hand mechanism 4, but is not limited thereto.Multiple stations 5 are for successively workpieces processing, the present embodiment to disclose Multiple stations 5 be followed successively by 45 degree according to 51,45 degree of cutting position finish-milling station 52, bore mortise station 53, glue spraying and beat tenon station 54, it is right Workpiece successively carry out 45 degree according to cut, 45 degree finish-millings, brill mortise and glue spraying make tenon, but be not limited thereto.As for each station 5 Specific structure is not the protection scope of the application, therefore herein without repeating.

After multiple stations 5 complete the process workpiece, multiple clamp hand mechanisms 4 clamp the workpiece on corresponding station 5, drive Dynamic motor 33 drives driving rack 31 along workpiece by rotating forward positive (reversed) rotation of (reversion) band nutating gear 32 Machine direction is mobile, and driving rack 31 drives slide 2 to move along work pieces process direction, and slide 2 drives multiple 4 edges of clamp hand mechanism Work pieces process direction it is mobile, so that multiple clamp hand mechanisms 4 is moved to the top of next station 5, workpiece is put in multiple clamp hand mechanisms 4 It sets on station 5 thereunder, carries out the next step processing of workpiece, driving motor 33 passes through reversion (rotating forward) band nutating gear 32 reversed (forward directions) rotation, and then driving rack 31 is driven to reset, driving rack 31 drives slide 2 to reset, and slide 2 drives multiple Clamp hand mechanism 4 resets.

In a preferred embodiment, it please refers to shown in Fig. 1, mobile clamp hand device 1 further includes discharging platform 8, and discharging platform 8 is arranged In the end of mobile clamp hand device 1, distance of the preferred discharging platform 8 apart from outermost station 5 and adjacent two stations 5 away from From equal so that after the clamp hand mechanism 4 of 5 top of outermost station clamps workpiece, can by workpiece handling to discharging platform 8, The set-up mode of right discharging platform 8 is not limited thereto, and those skilled in the art can process situation according to actual production and select it His set-up mode.Discharging platform 8 disclosed in the present embodiment is pulley structure, but is not limited thereto, those skilled in the art It can choose other suitable 8 structures of discharging platform.

In a preferred embodiment, it please refers to shown in Fig. 4-6, clamp hand mechanism 4 further includes at least one set of centering clamp assemblies 41, clamp assemblies 41 further include intermediate clamp hand body 411, to middle gear 412, two to middle rack 413, two intermediate clamp hands 414 With clamping cylinder 415, in which:

It please refers to shown in Fig. 6, intermediate clamp hand body 411 has an accommodating space 4111, which can be It is formed directly into inside intermediate clamp hand body 411, is also possible to manually on intermediate clamp hand body 411 when forming intermediate clamp hand body 411 The accommodating space 4111 is processed, but is not limited thereto.The disclosed intermediate clamp hand body 411 of this implementation is rectangular parallelepiped structure, but It is not limited thereto, those skilled in the art also can choose the intermediate clamp hand body 411 of other shapes, such as cylindrical body.This reality Applying example, further disclosed accommodating space 4111 is located at the middle part of intermediate clamp hand body 411, but is not limited thereto, art technology Personnel can introduction selection according to the present utility model accommodating space 4111 is arranged on intermediate clamp hand body 411 other are suitable Position at.

It please refers to shown in Fig. 6, intermediate clamp hand body 411 is equipped with two parallel channels 4112, two parallel channels 4112 are connected to accommodating space 4111, and the both ends in channel 4112 disclosed in the present embodiment are located at the two of intermediate clamp hand body 411 Intermediate clamp hand body 411 is run through in side, i.e. channel 4112, and the middle part in channel 4112 is connected to accommodating space 4111, but not as Limit.Preferably, two channels 4112 are located in same level, but are not limited thereto.

It please refers to shown in Fig. 6, middle gear 412 is set in accommodating space 4111 and is connect with intermediate clamp hand body 411, this Embodiment is disclosed to connect middle gear 412 by gear shaft 42 with centre clamp hand body 411, so that can be with to middle gear 412 It rotates, but is not limited thereto centered on gear shaft 42, those skilled in the art also can choose other suitable connection types.

It please refers to shown in Fig. 6, two are correspondingly arranged in two parallel channels 4112 middle rack 413, signified herein Be correspondingly arranged and be one middle rack 413 is placed in a channel 4112, two are located to middle rack to middle gear 412 It is engaged between 413 and with two to middle rack 413, two real by the engaged transmission effect to middle gear 412 to middle rack 413 Moved back and forth simultaneously in its corresponding channel 4112 now, when one of them to middle rack 413 in its corresponding channel 4112 It moves back and forth, drives and middle gear 412 is rotated, and drive another to middle rack 413 at it and rotating to middle gear 412 Moved back and forth in corresponding channel 4112, disclosed in the present embodiment two it is identical to the tooth form of middle rack 413 so that two centerings Rack gear 413 is with respect to equidistance motion.

Please refer to Fig. 4, shown in 5, two intermediate clamp hands 414 are set to the two sides of intermediate clamp hand body 411, intermediate clamp hand 414 Preferably plate-like structure, but be not limited thereto.Two intermediate clamp hands 414 are correspondingly connected with middle rack 413 with two, herein Signified being correspondingly connected with is that an intermediate clamp hand 414 connect middle rack 413 with one, intermediate clamp hand disclosed in the present embodiment 414 be to connect with the end vertical to middle rack 413, but be not limited thereto, and those skilled in the art can be according to practical need It asks and selects other corresponding suitable connection types.Two intermediate clamp hands 414 pass through two reciprocating movements to middle rack 413 Its reciprocating movement is driven, two intermediate clamp hands 414 are used for clamping workpiece.

In a preferred embodiment, it please refers to shown in Fig. 6, clamp assemblies 41 further include multiple first screws 43, centering tooth Item 413 is connect by the first screw 43 with intermediate clamp hand 414, but is not limited thereto, and those skilled in the art also can choose Other suitable connection types, such as will be linked together to middle rack 413 and intermediate clamp hand 414 by welding manner.

Please refer to Fig. 4, shown in 5, one of intermediate clamp hand 414 in clamping cylinder 415 and two intermediate clamp hands 414 connects It connects, clamping cylinder 415 is by two to middle rack 413 and to the drive of the middle gear 412 two intermediate reciprocating movement of clamp hands 414 folders Hold or discharge workpiece.

When clamping cylinder 415 drives an intermediate clamp hand 414 mobile to intermediate clamp hand body 411, intermediate clamp hand 414 is driven It is connected to it that middle rack 413 is moved into channel 4112, and then drive and middle gear 412 is rotated, and by middle gear 412 rotation and drive another pair middle rack 413 to move into channel 4112, and then drive another intermediate clamp hand 414 in Between clamp hand body 411 it is mobile so that two intermediate clamp hands 414 move towards and clamping workpiece.

When clamping cylinder 415 drives an intermediate clamp hand 414 mobile backwards to intermediate clamp hand body 411, intermediate 414 band of clamp hand Move it is connected to it middle rack 413 is moved from inside to outside in channel 4112, and then drive to middle gear 412 rotate, and by pair The rotation of middle gear 412 and drive another pair middle rack 413 to move from inside to outside in channel 4112, and then drive another intermediate folder Hand 414 is mobile backwards to intermediate clamp hand body 411 so that two intermediate opposite movements of clamp hand 414 and discharge workpiece.

In a preferred embodiment, Fig. 4 is please referred to, shown in 5, clamp assemblies 41 further include two guiding axis 44, and two are led The two sides of intermediate clamp hand body 411 are set to axis 44, one end of two guiding axis 44 is fixedly connected with intermediate clamp hand body 411, Connection type can be welding manner connection, be also possible to snap fit connection.In the other end and two of two guiding axis 44 Between clamp hand 414 connect, and two intermediate clamp hands 414 can slide on two guiding axis 44, intermediate folder disclosed in the present embodiment Hand 414 is equipped with pilot hole corresponding with guiding axis 44, and the other end of guiding axis 44 is pressed from both sides by being set in pilot hole with centre Hand 414 connects, so that intermediate clamp hand 414 can slide on guiding axis 44, but is not limited thereto.

In a preferred embodiment, Fig. 4 is please referred to, shown in 5, clamp assemblies 41 further include two movable hands 46, two work It starts 46 ends for being correspondingly arranged in two intermediate clamp hands 414, signified be correspondingly arranged is that a movable hand 46 is set to herein The end of one intermediate clamp hand 414, two movable hands 46 clamp or discharge workpiece by the drive of two intermediate clamp hands 414, Movable hand 46 disclosed in the present embodiment is the structure of right angle tyoe being made of the first plate 461 and the second plate 462, the first plate 461 and second plate 462 be preferably an integral structure, the first plate 461 is connect with the end of intermediate clamp hand 414, right movable hand 46 structure is not limited thereto, and those skilled in the art also can choose the movable hand 46 of other suitable constructions.

In a preferred embodiment, it please refers to shown in Fig. 5, movable hand 46 is connected by the second screw 47 and intermediate clamp hand 414 It connects, the first plate 461 disclosed in the present embodiment is connect by the second screw 47 with intermediate clamp hand 414, right movable hand 46 and centre The connection type of clamp hand 414 is not limited thereto, and those skilled in the art also can choose other suitable connection types, such as Movable hand 46 and intermediate clamp hand 414 are linked together by welding manner.

In a preferred embodiment, it please referring to shown in Fig. 5, clamp assemblies 41 further include two auxiliary clamp cylinders 48, and two A auxiliary clamp cylinder 48 is correspondingly arranged in the outside of two movable hands 46, and being correspondingly arranged for meaning is an auxiliary clamp herein Cylinder 48 is set to the outside of a movable hand 46, when two auxiliary clamp cylinders 48 work, two auxiliary clamp cylinders 48 Piston rod 131 pass through 46 clamping workpiece of movable hand, auxiliary clamp cylinder 48 for special-shaped workpiece 45 auxiliary clamp.

Several preferred embodiments of the utility model have shown and described in above description, but as previously described, it should be understood that The utility model is not limited to forms disclosed herein, and is not to be taken as the exclusion to other embodiments, and can be used for Other combinations, modifications, and environments, and above-mentioned introduction or correlation can be passed through within the scope of the inventive concept described herein The technology or knowledge in field are modified.And changes and modifications made by those skilled in the art do not depart from the spirit of the utility model And range, then it all should be in the protection scope of the appended claims for the utility model.

Claims (5)

1. a kind of mobile clamp hand device, for automatically continuously carrying workpiece, which is characterized in that the mobile clamp hand device includes:

Slide is set to above the mobile clamp hand device；

Driving mechanism is connect with the slide, and the driving mechanism is for driving the slide to move back and forth；

Multiple clamp hand mechanisms, are set on the slide, and the multiple clamp hand mechanism is the side moved back and forth along the slide It is arranged to uniform intervals, the multiple clamp hand mechanism is driven by the slide to be moved back and forth, and the multiple clamp hand mechanism uses In the carrying workpiece；And

Multiple stations are correspondingly arranged in below the multiple clamp hand mechanism, and the multiple station is for successively processing the workpiece；

Wherein, after the multiple station completes the process the workpiece, the multiple clamp hand mechanism clamps corresponding described The workpiece on station, the driving mechanism drive the multiple clamp hand mechanism to be moved to next work by the slide The top of position, the multiple clamp hand mechanism place the workpiece on the station thereunder, and the driving mechanism passes through The slide drives the multiple clamp hand reset.

2. mobile clamp hand device according to claim 1, which is characterized in that further include crossbeam, be set to the mobile folder Above arm device, the slide is slidably connected to the crossbeam, and the driving mechanism is fixed on the crossbeam.

3. mobile clamp hand device according to claim 2, which is characterized in that further include multiple columns, connect with the crossbeam It connects, the multiple column is used to support the crossbeam.

4. mobile clamp hand device according to claim 1, which is characterized in that the driving mechanism drives the slide reciprocal Mobile distance is equidistant with adjacent two stations, and the slide drives the multiple clamp hand mechanism to move back and forth Distance is equidistant with adjacent two stations.

5. mobile clamp hand device according to claim 1, which is characterized in that the driving mechanism further include driving rack, The transmission gear engaged with the driving rack and the driving motor for driving the transmission gear rotation, the driving rack It is fixedly connected with the slide, the driving motor drives the cunning by the transmission gear and driving rack transmission Seat moves back and forth.