CN205148346U - Novel bar machinery tongs - Google Patents

Abstract

The utility model discloses a novel bar material mechanical gripper, which comprises a base, a wrist rotating device, a fixed gripper, a movable gripper and a gripper opening and closing module. The wrist rotating device includes a wrist worm wheel, The wrist worm and the wrist drive motor, the wrist worm gear is fixed on the upper end of the fixed gripper, the wrist worm is installed on the base and connected with the drive motor, the wrist drive motor is installed on the base through the motor support, the The handle opening and closing module includes opening and closing screw, opening and closing guide rail and opening and closing motor. The opening and closing screw and opening and closing guide rail are installed on the fixed gripper. The opening and closing screw is connected with the opening and closing motor. The support is installed on the fixed gripper, and the movable gripper is connected with the nut of the opening and closing lead screw and the linear bearing of the opening and closing guide rail. The utility model utilizes the motor to drive the worm gear, which can realize the overturning operation of the mechanical gripper; the bar material grabbing part of the movable gripper is composed of a plurality of arc-shaped gripping teeth, which is more suitable for the bar material grabbing operation.

Description

A new type of bar mechanical gripper

technical field

The utility model relates to a robot device, in particular to a novel bar mechanical gripper.

Background technique

The manipulator is a new type of device developed in the process of mechanization and automation, and is widely used in automatic production lines. It can imitate certain action functions of human hands and arms, and is used to grasp and carry objects or operate tools according to fixed procedures. It can replace human heavy labor to realize mechanization and automation of production, and can operate in harmful environments to protect personal safety. , which is characterized by being able to complete various expected tasks through programming, and has the advantages of both humans and machines in terms of structure and performance, especially reflecting the intelligence and adaptability of humans. In the modern production process, it is often necessary to perform operations such as grabbing, transporting, and stacking the bar, while the traditional mechanical gripper has a complex structure and is unstable in grabbing the bar. Therefore it is necessary to improve the existing mechanical gripper.

Contents of the invention

The utility model aims to solve the problem that it is necessary to simply and repeatedly grab the bar material to the designated position in industrial production, but it is easy to cause fatigue if the manual is used, and provides a bar material machine that can replace the operation of the worker, has a simple structure, is convenient and durable gripper.

In order to achieve the above object, the utility model adopts the following technical solutions: a novel bar mechanical gripper, comprising a base, a wrist rotating device, a fixed gripper, a movable gripper and a gripper opening and closing module, the wrist The internal rotation device includes a wrist worm gear, a wrist worm and a wrist driving motor. The wrist worm gear is fixed on the upper end of the fixed gripper. The wrist worm is installed on the base and connected with the driving motor. The wrist driving motor passes through the motor support. Installed on the base, the handle opening and closing module includes opening and closing screw, opening and closing guide rail and opening and closing motor, the opening and closing screw and opening and closing guide rail are installed on the fixed gripper, the opening and closing screw and opening and closing The motor is connected, and the opening and closing motor is installed on the fixed gripper through the motor support, and the movable gripper is connected with the nut of the opening and closing lead screw and the linear bearing of the opening and closing guide rail.

Preferably, there is a flange seat on the base to facilitate the connection with the mechanical arm.

Preferably, the wrist rotation mechanism has a keyway on the wrist shaft, and the wrist worm wheel is connected to the fixed gripper through a key, so that driven by the wrist worm, the wrist worm wheel drives the fixed gripper to rotate around the wrist shaft .

Preferably, the bar material grabbing part of the movable gripper is composed of a plurality of arc-shaped grab teeth, and there is a certain distance between the grab teeth, so as to suitably grab the bar material.

Preferably, the nut of the split lead screw is a flange nut.

Therefore, the utility model has the following beneficial effects: (1) can replace worker's operation; (2) simple in structure, convenient and durable.

Description of drawings

Fig. 1 is the schematic structural view of the bar mechanical gripper described in the utility model

Fig. 2 is a schematic diagram of a working state of the utility model

In the figure: 1-base; 2-wrist worm; 3-wrist worm gear; 4-wrist drive motor; 5-fixed gripper; 6-movable gripper; 7-opening and closing screw; 8-opening and closing Guide rail; 9-opening and closing motor; 10-bar stock.

detailed description

Below in conjunction with accompanying drawing, the utility model is further described.

As shown in Figure 1, a new type of bar mechanical gripper is composed of a connecting base 1, a wrist rotation device, a fixed gripper 5, a movable gripper 6 and a gripper opening and closing module. Including wrist worm 2, wrist worm gear 3 and wrist drive motor 4, wrist worm gear 3 is fixed on the upper end of fixed gripper 5, wrist worm 2 is installed on the base 1 and connected with drive motor 4, and the wrist drives The motor 4 is installed on the base 1 through the motor support, and the gripper opening and closing module includes the opening and closing screw 7, the opening and closing guide rail 8 and the opening and closing motor 9, and the opening and closing screw 7 and the opening and closing guide rail 8 are installed on the On the fixed gripper 5, the opening and closing screw 7 is connected with the opening and closing motor 9, and the opening and closing motor 9 is installed on the fixed gripper 5 through the motor support, and the nut and the opening and closing of the movable gripper 6 and the opening and closing leading screw 7 The linear bearing of the combined guide rail 8 is connected.

The specific implementation process is that when starting work, the movable gripper 6 is in an open state, and the fixed gripper 5 is in a vertical state. When the fixed gripper 5 is aligned with the bar, the bar is placed between the fixed gripper 5 and the movable gripper 6. At the same time, the opening and closing motor 9 drives the opening and closing screw 7 to rotate, and the movable gripper 6 is closed, so that the bar material between the movable gripper 6 and the fixed gripper 5 is inserted into the gripping groove of the movable gripper 6 and Clamp. Then the wrist drive motor 4 drives the worm gear to drive the fixed gripper 5 to rotate around the wrist shaft, so that the fixed gripper 5 is in a horizontal state, as shown in Fig. 2 working state schematic diagram. The mechanical gripper with the bar material walks under the drive of the mechanical arm. After reaching the designated position, the wrist drive motor 4 drives the worm gear to make the fixed gripper 5 rotate to a vertical state. Then, the gripper descends a certain distance, and the opening and closing motor 9 drives the movable gripper 6 to open, and the bar falls to a designated position, and the gripper rises and moves away, thereby realizing the grabbing and carrying operations of the bar.

Claims (4)

1. A new type of bar mechanical gripper, comprising a base, a wrist rotation device, a fixed gripper, a movable gripper and a gripper opening and closing module, characterized in that: the wrist rotation device includes a wrist worm gear , Wrist worm and wrist driving motor, the wrist worm gear is fixed on the upper end of the fixed gripper, the wrist worm is installed on the base and connected with the driving motor, the wrist driving motor is installed on the base through the motor support, so The opening and closing module of the gripper includes the opening and closing screw, the opening and closing guide rail and the opening and closing motor. The opening and closing screw and the opening and closing guide rail are installed on the fixed gripper. The opening and closing screw is connected with the opening and closing motor. The motor support is installed on the fixed gripper, and the movable gripper is connected with the nut of the opening and closing lead screw and the linear bearing of the opening and closing guide rail. 2. The novel mechanical gripper for bar material according to claim 1, characterized in that: a connecting flange is installed on the base. 3. The novel mechanical gripper for bar material according to claim 1, characterized in that: the wrist rotation mechanism has a keyway on the wrist shaft, and the wrist worm wheel is connected to the fixed gripper through a key. 4. The new bar mechanical gripper according to claim 1, characterized in that: the bar gripping part of the movable gripper is composed of a plurality of arc-shaped gripping teeth, and the gripping teeth are separated by a certain distance.