CN102806562A - Manipulator for clamping workpiece - Google Patents
Manipulator for clamping workpiece Download PDFInfo
- Publication number
- CN102806562A CN102806562A CN2012103308299A CN201210330829A CN102806562A CN 102806562 A CN102806562 A CN 102806562A CN 2012103308299 A CN2012103308299 A CN 2012103308299A CN 201210330829 A CN201210330829 A CN 201210330829A CN 102806562 A CN102806562 A CN 102806562A
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- manipulator
- bearing pin
- connecting rod
- jaw seat
- jaws
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Abstract
The invention discloses a manipulator for clamping a workpiece, and belongs to the field of manipulators. The manipulator comprises a connecting rod, a supporting component and two clamping jaws which are matched with each other, wherein a telescopic dynamical component is fixed at the tail end of the supporting component, and a clamping jaw seat is fixed at the front end of the supporting component; the two clamping jaws are symmetrically hinged on the clamping jaw seat; the tail end of the connecting rod is fixedly connected with a piston rod of the telescopic dynamic component; the tail parts of the two clamping jaws are crossed and provided with slideways; a pin shaft inserted in the clamping jaw seat is inserted in the two slideways and is connected with the front end of the connecting rod; and a pin guide mechanism is arranged on the clamping jaw seat. The manipulator has a large clamping range and a strong clamping force, and is not liable to loosen a clamped object and capable of exchanging different clamping jaws.
Description
Technical field
The present invention relates to a kind of manipulator that is used for the workpiece gripping, belong to the manipulator field.
Background technology
At present, the manipulator of prior art is for structural simple; Usually realize directly by pneumatic or hydraulic claw directly that perhaps mix executive components such as sucker, electromagnet at executing agency's end, the manipulator gripping object of this structure can not be too big; The scope of application is limited, and clamping force is not strong yet, and iff improves head it off from the power of cylinder; Then technical costs can be multiplied, and still has the low problem of reliability.Simultaneously, can't make adaptation to the profile or the change in size of hot forging workpiece, when workpiece profile or change in size, can only change driving mechanism, increase the complexity and the cost of The field as the pneumatic or hydraulic claw of driving mechanism.
When the manipulator of this structure is worked under normal temperature environment, the carrying demand that can be competent at the corresponding types workpiece respectively; But when the workpiece hot forging high temperature workpiece of required carrying and working environment were high dust state, the mechanical paw of prior art just can lose efficacy because of the influence that receives high temperature and dust very soon.
Summary of the invention
Technical problem to be solved by this invention is the defective that overcomes prior art, provides a kind of gripping scope big, and clamping force is strong, is not easy that gripping object is got loose and can changes the manipulator that is used for the workpiece gripping of different jaws.
The present invention solves the problems of the technologies described above the technical scheme that is adopted: a kind of manipulator that is used for the workpiece gripping, comprise connecting rod, supporting component and two jaws that cooperatively interact, and the tail end of supporting component is fixed with flexible power spare; The front end of supporting component is fixed with the jaw seat, and two jaws become symmetry shape to be hinged on the jaw seat, and the tail end of connecting rod is fixedly connected with the piston rod of flexible power spare; The afterbody of described two jaws becomes cross-like; And the afterbody of jaw all has chute, is fitted with bearing pin on the jaw seat, and this bearing pin is inserted in two chutes; Bearing pin is connected with the front end of connecting rod, and the jaw seat is provided with the bearing pin guiding mechanism.
Further, described supporting component is provided with the arm tube, and described connecting rod passes the arm tube.
Further, described bearing pin guiding mechanism comprises gathering sill pressing plate and the guide runner of driving the gathering sill in jaw seat and gathering sill pressing plate and can in gathering sill, sliding, and guide runner is sleeved on the bearing pin.
Further, described flexible power spare is the range-adjustable cylinder.
After having adopted technique scheme, flexible power spare makes connecting rod travel forward, and two jaws open or closure under the cooperation of chute and bearing pin drives; The stretching degree of two jaws depends on the length of chute, and chute is long more, and the stretching degree of two jaws is big more; Make that like this present invention can the bigger gripping object of gripping, and two jaws use bearing pin to connect, be convenient to change the jaw of different model; Make the scope of application of the present invention become big, clamping force is strong, is not easy to make gripping object to get loose; In addition because flexible power spare links to each other with jaw through connecting rod, make its can be fully away from the high temperature forging part or have the gripping object that endangers personal safety; Thereby guarantee its service life, also guaranteed its security; The setting of range-adjustable cylinder also can be so that the present invention changes the opening angle of jaw through changing flexible power spare stroke, thereby is easy to adapt to the variation of gripping object outside dimension; The arm tube can shield dust or other environmental contaminants of workplace, thereby strengthens service life of the present invention and reliability.
Description of drawings
Fig. 1 is the structural representation that is used for the manipulator of workpiece gripping of the present invention;
Fig. 2 is the A-A cutaway view of Fig. 1;
Fig. 3 is the B-B cutaway view of Fig. 1.
The specific embodiment
For content of the present invention is expressly understood more easily,, the present invention is done further detailed explanation below according to specific embodiment and combine accompanying drawing.
Shown in Fig. 1～3, a kind of manipulator that is used for the workpiece gripping comprises connecting rod 1, supporting component 2 and two jaws that cooperatively interact 3; The tail end of supporting component 2 is fixed with flexible power spare 4, and the front end of supporting component 2 is fixed with 3 one-tenth symmetry shapes of 5, two jaws of jaw seat and is hinged on the jaw seat 5; The tail end of connecting rod 1 is fixedly connected with the piston rod of flexible power spare 4, and the afterbody of two jaws 3 becomes cross-like, and the afterbody of jaw 3 all has chute 3-1; Be fitted with bearing pin 6 on the jaw seat 5, and this bearing pin 6 is inserted in two chute 3-1, bearing pin 6 is connected with the bearing pin gripper shoe 1-1 of connecting rod 1 front end; The front end of connecting rod 1 has two bearing pin gripper shoe 1-1, and the two ends of bearing pin 6 are through on two bearing pin gripper shoe 1-1, and jaw seat 5 is provided with the bearing pin guiding mechanism; This structure makes that the present invention can the bigger gripping object of gripping, and two jaws 3 use bearing pins 6 to connect, and is convenient to change the jaw 3 of different model; Make the scope of application of the present invention become big, clamping force is strong, is not easy to make gripping object to get loose; In addition because flexible power spare 4 links to each other with jaw 3 through connecting rod 1, make its can be fully away from the high temperature forging part or have the gripping object that endangers personal safety; Thereby guarantee its service life, also guaranteed its security.
In order can dust or other environmental contaminants of workplace to be shielded, as shown in Figure 2, supporting component 2 is provided with arm tube 2-1, and connecting rod 1 passes arm tube 2-1.
The bearing pin guiding mechanism can realize that the bearing pin guiding mechanism comprises gathering sill pressing plate 7 and open gathering sill 8 in jaw seat 5 and gathering sill pressing plate 7 and the guide runner 9 that can in gathering sill 8, slide that guide runner 9 is sleeved on the bearing pin 6 through following structure.
For can be so that the present invention changes the opening angle of jaw 3 through changing flexible power spare 4 strokes, thereby be easy to adapt to the variation of gripping object outside dimension, flexible power spare 4 is the range-adjustable cylinder.
Operation principle of the present invention is following:
Flexible power spare 4 makes connecting rod 1 travel forward, and two jaws 3 open or closure under the cooperation of chute 3-1 and bearing pin 6 drives, and the stretching degree of two jaws 3 depends on the length of chute 3-1, and chute 3-1 is long more, and the stretching degree of two jaws 3 is big more.
Above-described specific embodiment; The object of the invention, technical scheme and beneficial effect have been carried out further explain, and institute it should be understood that the above is merely specific embodiment of the present invention; Be not limited to the present invention; All within spirit of the present invention and principle, any modification of being made, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (4)
1. manipulator that is used for the gripping of hot forging high temperature workpiece; Comprise connecting rod (1), supporting component (2) and two jaws that cooperatively interact (3), the tail end of supporting component (2) is fixed with flexible power spare (4), and the front end of supporting component (2) is fixed with jaw seat (5); Two jaws (3) become symmetry shape to be hinged on the jaw seat (5); The tail end of connecting rod (1) is fixedly connected with the piston rod of flexible power spare (4), it is characterized in that: the afterbody of described two jaws (3) becomes cross-like, and the afterbody of jaw (3) all has chute (3-1); Be fitted with bearing pin (6) on the jaw seat (5); And this bearing pin (6) is inserted in two chutes (3-1), and bearing pin (6) is connected with the front end of connecting rod (1), and jaw seat (5) is provided with the bearing pin guiding mechanism.
2. the manipulator that is used for the workpiece gripping according to claim 1 is characterized in that: described supporting component (2) is provided with arm tube (2-1), and described connecting rod (1) passes arm tube (2-1).
3. the manipulator that is used for the workpiece gripping according to claim 1; It is characterized in that: the guide runner (9) that described bearing pin guiding mechanism comprises gathering sill pressing plate (7) and drives the gathering sill (8) in jaw seat (5) and gathering sill pressing plate (7) and can in gathering sill (8), slide, guide runner (9) is sleeved on the bearing pin (6).
4. the manipulator that is used for the workpiece gripping according to claim 1 and 2 is characterized in that: described flexible power spare (4) is the range-adjustable cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012103308299A CN102806562A (en) | 2012-09-10 | 2012-09-10 | Manipulator for clamping workpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012103308299A CN102806562A (en) | 2012-09-10 | 2012-09-10 | Manipulator for clamping workpiece |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102806562A true CN102806562A (en) | 2012-12-05 |
Family
ID=47230516
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012103308299A Pending CN102806562A (en) | 2012-09-10 | 2012-09-10 | Manipulator for clamping workpiece |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102806562A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103273478A (en) * | 2013-05-31 | 2013-09-04 | 安徽省巢湖铸造厂有限责任公司 | Feed manipulator of spring bars former |
| CN105858198A (en) * | 2016-06-07 | 2016-08-17 | 湖南三石油科技有限公司 | Workover treatment integrated equipment, tubular column holding device and grabbing hand thereof |
| CN116766238A (en) * | 2023-08-28 | 2023-09-19 | 国网江苏省电力有限公司常州供电分公司 | Intelligent inspection robot for transformer substation |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1456703A (en) * | 1973-03-26 | 1976-11-24 | Dresser Ind | Gripper for pipe handling apparatus machine for spi |
| JPS61216828A (en) * | 1985-03-22 | 1986-09-26 | Toyota Motor Corp | Handling machine |
| EP1048372A2 (en) * | 1999-04-29 | 2000-11-02 | Schuler Pressen GmbH & Co. KG | Transfer device |
| US20020093211A1 (en) * | 2001-01-17 | 2002-07-18 | Filipiak Michael A. | Workpiece gripper |
| CN100574927C (en) * | 2005-07-15 | 2009-12-30 | 米勒魏因加滕股份公司 | The device that is used for when bulk forming clamping and operation workpiece |
| CN202278584U (en) * | 2011-10-10 | 2012-06-20 | 余胜东 | Crossed hand part of manipulator |
| CN202862225U (en) * | 2012-09-10 | 2013-04-10 | 江南现代工业研究院 | Mechanical arm used for workpiece clamping |
-
2012
- 2012-09-10 CN CN2012103308299A patent/CN102806562A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1456703A (en) * | 1973-03-26 | 1976-11-24 | Dresser Ind | Gripper for pipe handling apparatus machine for spi |
| JPS61216828A (en) * | 1985-03-22 | 1986-09-26 | Toyota Motor Corp | Handling machine |
| EP1048372A2 (en) * | 1999-04-29 | 2000-11-02 | Schuler Pressen GmbH & Co. KG | Transfer device |
| US20020093211A1 (en) * | 2001-01-17 | 2002-07-18 | Filipiak Michael A. | Workpiece gripper |
| CN100574927C (en) * | 2005-07-15 | 2009-12-30 | 米勒魏因加滕股份公司 | The device that is used for when bulk forming clamping and operation workpiece |
| CN202278584U (en) * | 2011-10-10 | 2012-06-20 | 余胜东 | Crossed hand part of manipulator |
| CN202862225U (en) * | 2012-09-10 | 2013-04-10 | 江南现代工业研究院 | Mechanical arm used for workpiece clamping |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103273478A (en) * | 2013-05-31 | 2013-09-04 | 安徽省巢湖铸造厂有限责任公司 | Feed manipulator of spring bars former |
| CN105858198A (en) * | 2016-06-07 | 2016-08-17 | 湖南三石油科技有限公司 | Workover treatment integrated equipment, tubular column holding device and grabbing hand thereof |
| CN105858198B (en) * | 2016-06-07 | 2018-08-07 | 湖南三一石油科技有限公司 | Workover treatment integration apparatus, tubing string supporting device and its handgrip |
| CN116766238A (en) * | 2023-08-28 | 2023-09-19 | 国网江苏省电力有限公司常州供电分公司 | Intelligent inspection robot for transformer substation |
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|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C05 | Deemed withdrawal (patent law before 1993) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20121205 |