CN208614805U - A kind of controllable more fingerstall tube kind part picking manipulator pawls - Google Patents

Abstract

The utility model relates to mechanical paw technical fields, more particularly to a kind of controllable more fingerstall tube kind part picking manipulator pawls, including rack components, lifting assembly, for grabbing the gripper component of sleeve part, promote motor and fast removable disk, fast removable disk, motor is promoted to be fixed in rack components, lifting assembly includes leadscrew-nut mechanism and mounting plate, it promotes motor and drives mounting plate to move up and down by leadscrew-nut mechanism, gripper component is two or more, each gripper component passes through rotating electric machine respectively and is indirectly attached on mounting plate, it promotes motor and drives gripper component to move up and down by mounting plate, rotating electric machine drives the rotation of gripper component, the application can grab more than two sleeve parts, working efficiency is higher, in addition, each gripper component in the application corresponds to a rotating electric machine, electric rotating can be passed through Machine carries out individually rotation control to each gripper component.

Description

A kind of controllable more fingerstall tube kind part picking manipulator pawls

Technical field

The utility model relates to mechanical paw technical fields more particularly to a kind of controllable more fingerstall tube kind parts to pick up machinery Gripper.

Background technique

Carrying and the assembly problem of sleeve part are typically encountered in industrial production, existing sleeve part picks up mechanical Gripper is typically only capable to for grabbing a sleeve part, and working efficiency is lower, and hole location check and correction control can not be carried out to part System, in addition, common mechanical gripper be by cylinder perhaps motor provide aid power when in use process gas circuit occur leakage or Motor power-off, part are possible to fall off from mechanical paw, cause the damage of part, there are some potential safety problemss.

Utility model content

The purpose of the utility model is to overcome the problemss of the above-mentioned prior art, provide a kind of controllable mostly finger sleeve type zero Part picking manipulator pawl can grab simultaneously multiple parts, and can individually be controlled each part.

The technical scheme adopted by the utility model to solve the technical problem is as follows: a kind of controllable more fingerstall tube kind parts pick up Mechanical paw including rack components, lifting assembly, the gripper component for grabbing sleeve part, promotes motor and fast removable disk, Fast removable disk, promotion motor are fixed in rack components, and lifting assembly includes leadscrew-nut mechanism and mounting plate, are promoted motor and are passed through Leadscrew-nut mechanism drives mounting plate to move up and down, and gripper component is two or more, and each gripper component passes through electric rotating respectively Machine is indirectly attached on mounting plate, is promoted motor and is driven gripper component to move up and down by mounting plate, rotating electric machine drives gripper Component rotation.

The gripper component includes main support rod, slotted disk support component, spring, hinge support component, the first support plate, Two support plates and third support plate, rotating electric machine is by supporting grillage to be fixed on above mounting plate plate face, one end of main support rod Through-hole on self installation plate passes through to be connected with the output shaft of rotating electric machine afterwards, between the shaft of main support rod and the through-hole of mounting plate It is rotatably assorted by bearing realization, slotted disk support component is mounted in the middle part of main support rod, and hinge support component is mounted on main support The other end of bar, spring are arranged on main support rod, and one end of spring is contacted with slotted disk support component, the other end and hinge of spring The contact of chain support component, the first support plate are connected with slotted disk support component, hinge support component simultaneously, and the second support plate is simultaneously It is connected with slotted disk support component, hinge support component, third support plate while and slotted disk support component, hinge support component phase Connection, the first support plate, the second support plate is consistent with the plate length direction of third support plate and three is centered on main support rod Line circumferentially arrange by uniform intervals, the distance of the first support plate to main support rod, the distance of the second support plate to main support rod, the Elastic telescopic can occur for the distance of three support plates to main support rod.

The slotted disk support component includes slotted disk, the first spring, the first guide rod, the first mounting base, second spring, second Guide rod, the second mounting base, third spring, third guide rod and third mounting base, the first guide rod are mounted in the first mounting base, The other end of first guide rod is T-type and the end holding in the first T-slot of slotted disk, the T-type end of the first guide rod to the first T shape The distance between slot bottom of slot is scalable, and the first spring is arranged on the first guide rod, one end of the first spring and the first mounting base Contact, the other end of the first spring contacts with slotted disk, and the second guide rod is mounted in the second mounting base, the second guide rod it is another End is

The T-type and end holding is in the second T-slot of slotted disk, the slot bottom of the T-type end of the second guide rod to the second T-slot it Between distance it is scalable, second spring be arranged on the second guide rod, one end of second spring is contacted with the second mounting base, the second bullet The other end of spring is contacted with slotted disk, and third guide rod is mounted in third mounting base, and the other end of third guide rod is T-type and should Hold holding in the third T-slot of slotted disk, the T-type end of third guide rod is scalable to the distance between the slot bottom of third T-slot, Third spring is arranged on third guide rod, and one end of third spring is contacted with third mounting base, the other end and slot of third spring Disk contact, the first mounting base, the second mounting base and third mounting base are separately fixed at the second support plate, the second support plate and third In support plate, slotted disk is open column shape, and main support rod is passed freely through from the hollow cavity of slotted disk, the first T-slot, the second T-slot It is arranged with third T-slot along the outer peripheral surface uniform intervals of slotted disk, the first guide rod hangs down with the second support plate, main support rod respectively Directly, the second guide rod is vertical with the second support plate, main support rod respectively, and third guide rod hangs down with third support plate, main support rod respectively Directly.

The hinge support component includes hexagon linear bearing, hexagon bottom plate, first axle axis, first axle Plate, second hinge axis, second hinge plate, third hinge axis and third hinge plate, hexagon linear bearing and hexagon bottom plate are flat Line space arrangement, the center of main support rod from hexagon linear bearing makes end and the hexagon of main support rod after passing freely through The plate face of bottom plate is fixedly linked, and one end of first axle axis and one side of hexagon linear bearing are hinged, and first axle axis is another End with it is hinged in the middle part of first axle plate, one end of first axle plate and one side of hexagon bottom plate are hinged, first axle plate it is another One end and the plate face of the second support plate are hinged, and one end of second hinge axis and one side of hexagon linear bearing are hinged, the second hinge Hinged in the middle part of the other end and second hinge plate of chain rivet, one end of second hinge plate and one side of hexagon bottom plate are hinged, and second The other end of flap and the plate face of the second support plate are hinged, the hinge on one side of third hinge axis one end and hexagon linear bearing It connects, the middle part of the other end and third hinge plate of third hinge axis is hinged, one end of third hinge plate and the one of hexagon bottom plate Side is hinged, and the third hinge plate other end and the plate face of third support plate are hinged, first axle axis, second hinge axis and third hinge Axis arranges that first axle plate, second hinge plate and third hinge plate are on six sides in the surrounding uniform intervals of hexagon linear bearing The surrounding uniform intervals of shape bottom plate are arranged.

Second support plate, the second support plate and third support plate are stripe board and three's structure is identical, and second The same end of fagging, the second support plate and third support plate is to center line bending and the end and hinge support where main support rod The end arranged adjacent of main support rod where component.

The rack components include upper mounted plate, the first fixed flange, motor mounting plate, the second fixed flange, Guide rod I, guide rod II, cross bottom plate, third fixed flange, bearing, the 4th fixed flange, the 5th fixed flange and Six fixed flanges, guide rod I and II parallel spacing of guide rod arrangement, upper mounted plate pass through the first fixed flange and the 6th fixation Blue disk is fixed on the top of guide rod I and guide rod II, and motor mounting plate is solid by the second fixed flange and the 5th fixed flange It is scheduled on the middle part of guide rod I and guide rod II, cross bottom plate is fixed on and is led by third fixed flange and the 4th fixed flange The bottom of bar I and guide rod II, bearing are mounted in the middle part of the plate face of cross bottom plate, are promoted motor and are fixed on motor mounting plate, Fast removable disk is fixed on upper mounted plate.

The lifting assembly includes lead screw, first straight line bearing, feed screw nut and second straight line bearing, and mounting plate is cross Type, feed screw nut are fixed on the middle part of mounting plate, and first straight line bearing and second straight line bearing are mounted on cross mounting plate, First straight line bearing and second straight line bearing are symmetrically distributed in the two sides of feed screw nut, and lead screw is mounted in feed screw nut, lead screw One end couple with the output shaft for promoting motor, the other end of lead screw is mounted on cross bottom plate by bearing, and guide rod I is from the It is passed through in one linear bearing, guide rod II is passed through from second straight line bearing, and gripper component is four, and four gripper components are solid respectively It is scheduled in four plate end faces of cross mounting plate, opens up through-hole, gripper component respectively in four plate end faces of cross bottom plate It is passed freely through from through-hole.

The utility model has the advantages that the application is connected by fast removable disk with manipulator when installation, gripper component is two or more, gripper Component is used to grab sleeve part, therefore the application can grab more than two sleeve parts, working efficiency It is higher, when specific works, promotes motor and drive all gripper components to move up and down by leadscrew-nut mechanism, mounting plate, i.e., Gripper component can be driven to move in and out from sleeve part, the pickup to sleeve part and removal are realized, in addition, this Shen Please in each gripper component correspond to a rotating electric machine, each gripper component can individually be revolved by rotating electric machine Turn control, when crawl part (such as flange type), after part is moved to designated position, can use rotating electric machine and part is carried out Rotation, it is more convenient to place after being positioned the mounting hole on part, it can further improve working efficiency.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of the utility model.

Fig. 2 is the rack components schematic diagram of the utility model.

Fig. 3 is the lifting assembly schematic diagram of the utility model.

Fig. 4 is the schematic diagram of the gripper component of the utility model.

Fig. 5 is the slotted disk support component schematic diagram of the utility model.

Fig. 6 is the hinge support component diagram of the utility model.

Specific embodiment

Below with reference to Fig. 1-6, the utility model will be further described.

A kind of controllable more fingerstall tube kind part picking manipulator pawls, including rack components 1, lifting assembly 2, for grabbing The gripper component 3 of sleeve part promotes motor 7 and fast removable disk 8, and fast removable disk 8, promotion motor 7 are fixed in rack components 1, Lifting assembly 2 includes leadscrew-nut mechanism and mounting plate 22, promotes motor 7 by leadscrew-nut mechanism and drives about 22 mounting plate Mobile, gripper component 3 is two or more, and each gripper component 3 is indirectly attached on mounting plate 22 by rotating electric machine 4 respectively, It promotes motor 7 and drives gripper component 3 to move up and down by mounting plate 22, rotating electric machine 4 drives gripper component 3 to rotate.Installation When, the application is connected by fast removable disk 8 with manipulator, and gripper component 3 is two or more, and gripper component 3 is used to grab sleeve type Part, therefore the application can grab more than two sleeve parts, working efficiency is higher, when specific works, mentions Lifting motor 7 drives all gripper components 3 to move up and down by leadscrew-nut mechanism, mounting plate 22, it can drives gripper group Part 3 is moved in and out from sleeve part, the pickup to sleeve part and removal is realized, in addition, each hand in the application Claw assembly 3 corresponds to a rotating electric machine 4, can carry out individually rotating control to each gripper component 3 by rotating electric machine 4, When crawl part (such as flange type), after part is moved to designated position, it can use rotating electric machine 4 and part rotated, It is more convenient to place after being positioned the mounting hole on part, it can further improve working efficiency.

Further, the gripper component 3 includes main support rod 31, slotted disk support component 32, spring 33, hinge support group Part 34, the first support plate 35, the second support plate 36 and third support plate 37, rotating electric machine 4 is by supporting grillage 5 to be fixed on installation Above 22 plate face of plate, the through-hole on one end self installation plate 22 of main support rod 31 passes through to be connected with the output shaft of rotating electric machine 4 afterwards, It is rotatably assorted between the shaft of main support rod 31 and the through-hole of mounting plate 22 by bearing realization, slotted disk support component 32 is installed At 31 middle part of main support rod, hinge support component 34 is mounted on the other end of main support rod 31, and spring 33 is arranged in main support rod On 31, one end of spring 33 is contacted with slotted disk support component 32, and the other end of spring 33 is contacted with hinge support component 34, and first Support plate 35 is connected with slotted disk support component 32, hinge support component 34 simultaneously, and the second support plate 36 is supported with slotted disk simultaneously Component 32, hinge support component 34 are connected, third support plate 37 while and slotted disk support component 32,34 phase of hinge support component Connection, the first support plate 35, the second support plate 36 is consistent with the plate length direction of third support plate 37 and three is with main support rod 31 be that center line circumferentially arrange by uniform intervals, distance, the second support plate 36 to master of the first support plate 35 to main support rod 31 Elastic telescopic can occur for the distance of support rod 31, the distance of third support plate 37 to main support rod 31.Rotating electric machine 4 passes through Drive the rotation of main support rod 31 that entire gripper component 3 is driven to rotate.When designing the gripper component 3 of the application, according to sleeve The size of class inner bore of part, the first support plate 35 of design, the second support plate 36 and third support plate 37 to main support rod 31 away from From enabling the first support plate 35, the second support plate 36 and third support plate 37 to first pass through compression and assign into sleeve part Inner hole in, then the first support plate 35, the second support plate 36 and third support plate 37 are upheld so that the first support plate 35, second Support plate 36 and third support plate 37 are interference fitted with sleeve part inner hole.

Preferably, the slotted disk support component 32 includes slotted disk 321, the first spring 322, the first guide rod 323, first Mounting base 324, second spring 325, the second guide rod 326, the second mounting base 327, third spring 328, third guide rod and third peace Seat 329 is filled, 323 one end of the first guide rod is mounted in the first mounting base 324, and the other end of the first guide rod 323 is T-type and the end In the first T-slot of slotted disk 321, the distance between the slot bottom of T-type end to the first T-slot of the first guide rod 323 can for holding Flexible, the first spring 322 is arranged on the first guide rod 323, and one end of the first spring 322 is contacted with the first mounting base 324, the The other end of one spring 322 is contacted with slotted disk 321, and 326 one end of the second guide rod is mounted in the second mounting base 327, the second guide rod 326 other end is T-type and the end holding in the second T-slot of slotted disk 321, the T-type end of the second guide rod 326 to the 2nd T The distance between the slot bottom of shape slot is scalable, second spring 325 be arranged on the second guide rod 326, one end of second spring 325 with The contact of second mounting base 327, the other end of second spring 325 are contacted with slotted disk 321, and third guide rod is mounted on third installation On seat 329, the other end of third guide rod is T-type and the end holding is in the third T-slot of slotted disk 321, the T-type of third guide rod End is scalable to the distance between the slot bottom of third T-slot, and third spring 328 is arranged on third guide rod, third spring 328 One end contacted with third mounting base 329, the other end of third spring 328 is contacted with slotted disk 321, the first mounting base 324, second Mounting base 327 and third mounting base 329 are separately fixed in the first support plate 35, the second support plate 36 and third support plate 37, Slotted disk 321 is open column shape, and main support rod 31 passes freely through from the hollow cavity of slotted disk 321, the first T-slot, the second T-slot and Third T-slot along slotted disk 321 outer peripheral surface uniform intervals arrange, the first guide rod 323 respectively with the second support plate 36, main support Bar 31 is vertical, and the second guide rod 326 is vertical with the second support plate 36, main support rod 31 respectively, and third guide rod is supported with third respectively Plate 37, main support rod 31 are vertical.Wherein, the T-type end of the first guide rod 323 can be stretched to the distance between the slot bottom of the first T-slot Contracting, the second guide rod 326 T-type end to the distance between the slot bottom of the second T-slot is scalable and the T-type end of third guide rod Portion is scalable to the distance between the slot bottom of third T-slot, it is ensured that the first support plate 35, the second support plate 36 and third For support plate 37 when being squeezed, distance, the second support plate 36 of the first support plate 35 to main support rod 31 arrive main support rod 31 Distance, the distance of third support plate 37 to main support rod 31 elastic telescopic can occur.

Preferably, the hinge support component 34 includes hexagon linear bearing 343, the hinge of hexagon bottom plate 344, first Chain rivet 342, first axle plate 341, second hinge axis 345, second hinge plate 346, third hinge axis 347 and third hinge plate 348, hexagon linear bearing 343 and 344 parallel spacing of hexagon bottom plate arrangement, main support rod 31 is from hexagon linear bearing 343 center makes the end of main support rod 31 and the plate face of hexagon bottom plate 344 be fixedly linked after passing freely through, first axle One end of axis 342 and one side of hexagon linear bearing 343 are hinged, in 342 other end of first axle axis and first axle plate 341 Portion is hinged, and one end of first axle plate 341 and one side of hexagon bottom plate 344 are hinged, the other end of first axle plate 341 and The plate face of two support plates 36 is hinged, and one end of second hinge axis 345 and one side of hexagon linear bearing 343 are hinged, the second hinge The other end of chain rivet 345 and 346 middle part of second hinge plate are hinged, one end of second hinge plate 346 and the one of hexagon bottom plate 344 Side is hinged, and the other end of second hinge plate 346 and the plate face of the second support plate 36 are hinged, 347 one end of third hinge axis and six sides One side of shape linear bearing 343 is hinged, and the middle part of the other end and third hinge plate 348 of third hinge axis 347 is hinged, third hinge One end of carrier bar 348 and one side of hexagon bottom plate 344 are hinged, the plate of third hinge plate 348 other end and third support plate 37 Face is hinged, and first axle axis 342, second hinge axis 345 and third hinge axis 347 are equal in the surrounding of hexagon linear bearing 343 Even arranged for interval, first axle plate 341, second hinge plate 346 and third hinge plate 348 are equal in the surrounding of hexagon bottom plate 344 Even arranged for interval.Many places in hinge support component 34 are hinged, are equally to guarantee the first support plate 35, the second support plate 36 and the For three support plates 37 when being squeezed, distance, the second support plate 36 of the first support plate 35 to main support rod 31 arrive main support rod Elastic telescopic can occur for 31 distance, the distance of third support plate 37 to main support rod 31.

First support plate 35, the second support plate 36 and third support plate 37 are stripe board and three's structure is identical, The same end of second support plate 36, the second support plate 36 and third support plate 37 is bent to 31 place center line of main support rod And the end arranged adjacent of the main support rod 31 where the end and hinge support component 34.When work, the first support plate 35, The folded end of two support plates 36 and third support plate 37 is firstly inserted into the inner hole of sleeve part, so that insertion is convenient.

Further, the rack components 1 includes upper mounted plate 11, the first fixed flange 12, motor mounting plate 13, the second fixed flange 14, guide rod I 15, guide rod

II 16, cross bottom plate 17, third fixed flange 18, bearing 19, the 4th fixed flange 1a, the 5th fixation Blue disk 1b and the 6th fixed flange 1c, guide rod I 15 and II 16 parallel spacing of guide rod arrangement, upper mounted plate 11 are fixed by first Ring flange 12 and the 6th fixed flange 1c are fixed on the top of guide rod I 15 and guide rod II 16, and motor mounting plate 13 passes through second Fixed flange 14 and the 5th fixed flange 1b are fixed on the middle part of guide rod I 15 and guide rod II 16, and cross bottom plate 17 passes through Third fixed flange 18 and the 4th fixed flange 1a are fixed on the bottom of guide rod I 15 and guide rod II 16, and bearing 19 is mounted on In the middle part of the plate face of cross bottom plate 17, promotes motor 7 and be fixed on motor mounting plate 13, fast removable disk 8 is fixed on upper mounted plate 11 On.

Preferably, the lifting assembly 2 includes lead screw 21, first straight line bearing 23, feed screw nut 24 and second straight line axis Hold 25, mounting plate 22 be it is cross, feed screw nut 24 is fixed on the middle part of mounting plate 22, first straight line bearing 23 and second straight line Bearing 25 is mounted on cross mounting plate 22, and first straight line bearing 23 and second straight line bearing 25 are symmetrically distributed in feed screw nut 24 two sides, lead screw 21 are mounted in feed screw nut 24, and one end of lead screw 24 couples with the output shaft for promoting motor 7, lead screw 25 The other end be mounted on cross bottom plate 17 by bearing 19, guide rod I 15 is passed through from first straight line bearing 23, guide rod II 16 It is passed through from second straight line bearing 25, gripper component 3 is four, and four gripper components 3 are separately fixed at cross mounting plate 22 Four plate end faces on, open up through-hole 171 in four plate end faces of cross bottom plate 17 respectively, gripper component 3 is from through-hole 171 In pass freely through.

Specifically, control promotes motor 7 and rotates forward when grabbing part, promotes motor 7 and pass through lead screw 21 and feed screw nut 24 Cooperation drive lifting assembly 2 mobile to 17 direction of cross bottom plate of rack components 1, it is mobile in place after, multiple gripper components 3 In the first support plate 35, the second support plate 36 and 37 folded end of third support plate be inserted into multiple sleeve parts respectively In inner hole, first axle plate 341, second hinge plate 346 and third hinge plate 348 is driven to shrink to main support rod 31, thus It pushes hexagon linear bearing 343 to move up, compresses spring 33, while the first spring in slotted disk support component 32

322, second spring 325 and third spring 328 are also compacted, and slotted disk support component 32 and hinge support component 34 elastic force itself make the inner wall of the first support plate 35, the second support plate 36 and third support plate 37 and sleeve part It compresses, realizes the pickup simultaneously to multiple sleeve parts.After sleeve part is moved to designated position, when needing to adjust certain When the hole location of a sleeve part, it is only necessary to start corresponding rotating electric machine 4, control part rotation.Removal part later When, control promotes motor 7 and inverts, and drives lifting assembly 2 mobile to 17 direction of cross bottom plate far from rack components 1, gripper Part on component 3 is detached from gripper component 3 under the blocking of cross bottom plate 17, realizes the removal of multiple sleeve parts.

In addition, the application utilizes the elastic telescopic of the first support plate 4, the second support plate 7 and third support plate 8 by gripper Component 3 and sleeve part are fitted close, and effective crawl to sleeve part can be realized, and use is more convenient, safe, and It is more energy saving without other actuating units, so that the working efficiency of crawl and removal is higher.

It should be appreciated that specific embodiment described above is only used for explaining the utility model, it is not used to limit this reality With novel.By the utility model the obvious changes or variations extended out of spirit still in the utility model protection Among range.

Claims (7)

1. a kind of controllable more fingerstall tube kind part picking manipulator pawls, it is characterised in that: including rack components (1), lifting assembly (2), for grabbing the gripper component (3) of sleeve part, promoting motor (7) and fast removable disk (8), fast removable disk (8) promotes motor (7) it is fixed on rack components (1), lifting assembly (2) includes leadscrew-nut mechanism and mounting plate (22), and it is logical to promote motor (7) Crossing leadscrew-nut mechanism drives mounting plate (22) to move up and down, and gripper component (3) is two or more, each gripper component (3) point Not Tong Guo rotating electric machine (4) be indirectly attached on mounting plate (22), promoted motor (7) by mounting plate (22) drive gripper component (3) it moves up and down, rotating electric machine (4) drives gripper component (3) rotation.

2. controllable more fingerstall tube kind part picking manipulator pawls according to claim 1, it is characterised in that: the gripper group Part (3) includes main support rod (31), slotted disk support component (32), spring (33), hinge support component (34), the first support plate (35), the second support plate (36) and third support plate (37), rotating electric machine (4) is by supporting grillage (5) to be fixed on mounting plate (22) above plate face, the through-hole on one end self installation plate (22) of main support rod (31) passes through rear and rotating electric machine (4) output Axis is connected, and is rotatably assorted between the shaft of main support rod (31) and the through-hole of mounting plate (22) by bearing realization, slotted disk support Component (32) is mounted in the middle part of main support rod (31), and hinge support component (34) is mounted on the other end of main support rod (31), bullet Spring (33) be arranged on main support rod (31), one end of spring (33) is contacted with slotted disk support component (32), spring (33) it is another One end is contacted with hinge support component (34), the first support plate (35) while and slotted disk support component (32), hinge support component (34) it is connected, the second support plate (36) is connected with slotted disk support component (32), hinge support component (34) simultaneously, third branch Fagging (37) is connected with slotted disk support component (32), hinge support component (34) simultaneously, the first support plate (35), the second support Plate (36) is consistent with the plate length direction of third support plate (37) and three is circumferentially uniform for center line with main support rod (31) Arranged for interval, the first support plate (35) to the distance of main support rod (31), the second support plate (36) to main support rod (31) away from Elastic telescopic can occur with a distance from, third support plate (37) to main support rod (31).

3. controllable more fingerstall tube kind part picking manipulator pawls according to claim 2, it is characterised in that: the slotted disk Support component (32) includes slotted disk (321), the first spring (322), the first guide rod (323), the first mounting base (324), the second bullet Spring (325), the second guide rod (326), the second mounting base (327), third spring (328), third guide rod and third mounting base (329), the first guide rod (323) one end is mounted on the first mounting base (324), and the other end of the first guide rod (323) is T-type and should Hold holding in the first T-slot of slotted disk (321), the T-type end of the first guide rod (323) is between the slot bottom of the first T-slot Apart from scalable, the first spring (322) is arranged on the first guide rod (323), one end of the first spring (322) and the first mounting base (324) it contacts, the other end of the first spring (322) is contacted with slotted disk (321), and the second guide rod (326) one end is mounted on the second peace It filling on seat (327), the other end of the second guide rod (326) is T-type and the end holding is in the second T-slot of slotted disk (321), and second The T-type end of guide rod (326) is scalable to the distance between the slot bottom of the second T-slot, and second spring (325) setting is led second On bar (326), one end of second spring (325) is contacted with the second mounting base (327), the other end and slot of second spring (325) Disk (321) contact, third guide rod are mounted on third mounting base (329), and the other end of third guide rod is T-type and the end card It sets in the third T-slot of slotted disk (321), the distance between T-type end of third guide rod to the slot bottom of third T-slot can stretch Contracting, third spring (328) are arranged on third guide rod, and one end of third spring (328) is contacted with third mounting base (329), the The other end of three springs (328) is contacted with slotted disk (321), the first mounting base (324), the second mounting base (327) and third installation Seat (329) is separately fixed in the second support plate (36), the second support plate (36) and third support plate (37), and slotted disk (321) is Open column shape, main support rod (31) are passed freely through from the hollow cavity of slotted disk (321), the first T-slot, the second T-slot and the 3rd T Shape slot along slotted disk (321) outer peripheral surface uniform intervals arrange, the first guide rod (323) respectively with the second support plate (36), main branch Strut (31) vertically, the second guide rod (326) respectively with the second support plate (36), main support rod (31) vertically, third guide rod difference It is vertical with third support plate (37), main support rod (31).

4. controllable more fingerstall tube kind part picking manipulator pawls according to claim 3, it is characterised in that: the hinge Support component (34) includes hexagon linear bearing (343), hexagon bottom plate (344), first axle axis (342), first axle Plate (341), second hinge axis (345), second hinge plate (346), third hinge axis (347) and third hinge plate (348), six sides Shape linear bearing (343) and hexagon bottom plate (344) parallel spacing arrangement, main support rod (31) is from hexagon linear bearing (343) center makes the end of main support rod (31) and the plate face of hexagon bottom plate (344) be fixedly linked after passing freely through, the One end of one hinge axis (342) and one side of hexagon linear bearing (343) are hinged, first axle axis (342) other end and Hinged in the middle part of one flap (341), one end of first axle plate (341) and one side of hexagon bottom plate (344) are hinged, the first hinge The other end of carrier bar (341) and the plate face of the second support plate (36) are hinged, one end of second hinge axis (345) and hexagon straight line One side of bearing (343) is hinged, hinged in the middle part of the other end of second hinge axis (345) and second hinge plate (346), second hinge One end of plate (346) and one side of hexagon bottom plate (344) are hinged, the other end and the second support plate of second hinge plate (346) (36) plate face is hinged, and third hinge axis (347) one end and one side of hexagon linear bearing (343) are hinged, third hinge axis (347) the other end and the middle part of third hinge plate (348) are hinged, one end of third hinge plate (348) and hexagon bottom plate (344) one side is hinged, and third hinge plate (348) other end and the plate face of third support plate (37) are hinged, first axle axis (342), the surrounding uniform intervals cloth of second hinge axis (345) and third hinge axis (347) in hexagon linear bearing (343) It sets, first axle plate (341), second hinge plate (346) and third hinge plate (348) are equal in the surrounding of hexagon bottom plate (344) Even arranged for interval.

5. controllable more fingerstall tube kind part picking manipulator pawls according to claim 4, it is characterised in that: described second Fagging (36), the second support plate (36) and third support plate (37) are stripe board and three's structure is identical, the second support plate (36), the same end of the second support plate (36) and third support plate (37) to center line bending where main support rod (31) and is somebody's turn to do The end arranged adjacent of main support rod (31) where end and hinge support component (34).

6. controllable more fingerstall tube kind part picking manipulator pawls according to claim 5, it is characterised in that: the rack Component (1) include upper mounted plate (11), the first fixed flange (12), motor mounting plate (13), the second fixed flange (14), Guide rod I (15), guide rod II (16), cross bottom plate (17), third fixed flange (18), bearing (19), the 4th mounting flange Disk (1a), the 5th fixed flange (1b) and the 6th fixed flange (1c), guide rod I (15) and guide rod II (16) parallel spacing cloth It sets, upper mounted plate (11) is fixed on guide rod I (15) and is led by the first fixed flange (12) and the 6th fixed flange (1c) The top of bar II (16), motor mounting plate (13) are fixed on by the second fixed flange (14) and the 5th fixed flange (1b) The middle part of guide rod I (15) and guide rod II (16), cross bottom plate (17) pass through third fixed flange (18) and the 4th fixation Blue disk (1a) is fixed on the bottom of guide rod I (15) and guide rod II (16), and bearing (19) is mounted on the plate face of cross bottom plate (17) Middle part promotes motor (7) and is fixed on motor mounting plate (13), and fast removable disk (8) is fixed on upper mounted plate (11).

7. controllable more fingerstall tube kind part picking manipulator pawls according to claim 6, it is characterised in that: the promotion group Part (2) includes lead screw (21), first straight line bearing (23), feed screw nut (24) and second straight line bearing (25), mounting plate (22) To be cross, feed screw nut (24) is fixed on the middle part of mounting plate (22), first straight line bearing (23) and second straight line bearing (25) it is mounted on cross mounting plate (22), first straight line bearing (23) and second straight line bearing (25) are symmetrically distributed in lead screw The two sides of nut (24), lead screw (21) are mounted in feed screw nut (24), one end of lead screw (21) and the output for promoting motor (7) Axis connection, the other end of lead screw (21) are mounted on cross bottom plate (17) by bearing (19), and guide rod I (15) is from first straight line Bearing passes through in (23), and guide rod II (16) is passed through from second straight line bearing (25), and gripper component (3) is four, four grippers Component (3) is separately fixed in four plate end faces of cross mounting plate (22), in four plate end faces of cross bottom plate (17) It opens up respectively through-hole (171), gripper component (3) is passed freely through from through-hole (171).