CN105855981A - Manipulator floating grabbing claw - Google Patents
Manipulator floating grabbing claw Download PDFInfo
- Publication number
- CN105855981A CN105855981A CN201510024129.0A CN201510024129A CN105855981A CN 105855981 A CN105855981 A CN 105855981A CN 201510024129 A CN201510024129 A CN 201510024129A CN 105855981 A CN105855981 A CN 105855981A
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- China
- Prior art keywords
- paw
- floating
- claw
- mechanical hand
- mounting disc
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Abstract
The invention discloses a manipulator floating grabbing claw, comprising two floating claw mechanisms installed on a mounting plate. The floating claw mechanism comprises a claw used to grab a workpiece and a floating unit. The tail end of the claw is provided with a claw installing disk. One end of the floating unit is fixed on the mounting plate, and the other end is connected with the claw. The floating unit comprises a taper disk and an air cylinder which can drive the taper disk to stretch. After the taper disk and the claw installing disk are matched and abutted, the floating unit is opened, and the claw is fixed and does not move. After the taper disk and the claw installing disk are separated, the floating unit is closed, and the claw can move on a vertical direction. The manipulator floating grabbing claw can float on a vertical direction to adjust the claw according to actual use requirements, and ensures the workpiece on the claw to be aligned with the center line of a workpiece placing position, so as to improve precision of the claw.
Description
Technical field
The present invention relates to Machinery Tool Automation loading and unloading manipulator, more specifically, be a kind of machinery with float function
Hands floating graping chaw.
Background technology
The truss mechanical hand that Machinery Tool Automation loading and unloading at present use, when running into mechanical hand feeding machine chuck (interior expansion core
Axle or outer clip) workpiece diameter or external diameter the least with chuck gap time, such as 0.1 millimeter, mechanical hand is due to the cantilever of Z axis
Long, deformation that temperature etc. factor causes and cause manipulator paw center misaligned with machine tool chief axis center, do not weigh
The distance closed exceedes the gap of chuck and workpiece, causes workpiece feeding or extrusion friction firmly cannot to be entered thus can scratch work
Part.
Summary of the invention
Owing to prior art also exists the problems referred to above, the present invention proposes a kind of mechanical hand floating graping chaw, and it can have
Present in the solution prior art of effect when mechanical hand and lathe feeding, when workpiece and jig chuck feeding gap mistake
Little, (such as interior expansion core axle or the outer chuck of oblique post-tensioning), the precision of mechanical hand can not meet, it is impossible to is put into accurately by workpiece
Problem in jig chuck.
The present invention solves the problems referred to above by the following technical programs:
A kind of mechanical hand floating graping chaw, it includes two the floating paw mechanisms being arranged on an installing plate, institute
Stating floating paw structure to include: a paw, for grabbing workpiece, the end of described paw is provided with a paw mounting disc；
One floating unit, its one end is fixed on described installing plate, and the other end connects described paw, described floating unit bag
Include the cylinder that a tapering dish and can drive described tapering dish to stretch, described tapering dish and described paw mounting disc
After pairing connects, described floating unit is closed, and described paw is fixed from mobile, and described tapering dish is pacified with described paw
After sabot separates, described floating unit is opened, and described paw can be in movement in vertical direction.
Described paw mounting disc is provided with at least one tapered hole, and described tapering dish is provided with and described paw mounting disc
The taper shaft of coupling, after described cylinder promotes the docking of described tapering dish, described taper shaft inserts in described tapered hole,
Described paw the displacement of vertical direction be described tapered hole separate with described taper shaft time radial direction between
Gap.
It is additionally provided with one on described tapering dish and prevents described paw auxiliary positioning of rotation when floating unit open mode
Pin, is provided with the hole, location mated with described auxiliary positioning pin in described paw mounting disc.
The end face that described paw mounting disc is docked with described tapering dish is provided with an inner cover plate, and described paw and institute
Stating floating unit to be connected by a shell, described floating unit is externally provided with main casing, described shell and described main casing
One-body molded.
It is additionally provided with a sensor on described floating paw mechanism.
Sensor wire casing it is provided with in described shell.
Described floating paw structure includes two fast interfaces of gas circuit, the fast interface of this gas circuit be used for connecting fast insert unidirectional
Choke valve.
The perpendicular angle of said two floating paw mechanism is fixed on described installing plate.
The mechanical hand floating graping chaw of the present invention can float according to actually used needs and adjust in vertical direction
Joint paw, it can be ensured that the workpiece on paw overlaps with the centrage needing the position placed by workpiece, improves the essence of paw
Degree, it is to avoid due to workpiece with need the centrage of position placed by workpiece misaligned, gap too small and cannot feeding or
The extruding of rigidity is entered the scuffing problem causing workpiece.
Accompanying drawing explanation
Fig. 1 is the sectional view one of one embodiment of the invention；
Fig. 2 is the sectional view two of one embodiment of the invention；
Fig. 3 is the schematic perspective view of the present invention.
Detailed description of the invention
Below in conjunction with detailed description of the invention, describe the present invention in detail.
See shown in Fig. 1 and Fig. 3.Fig. 1 is the sectional view one of one embodiment of the invention；Fig. 2 is the one of the present invention
The sectional view two of embodiment；Fig. 3 is the schematic perspective view of the present invention.
The mechanical hand floating graping chaw of the present embodiment, it includes two the floating paws being arranged on an installing plate 1
Mechanism 2, two floating paw mechanism structures are identical.
Wherein, described floating paw structure 2 includes:
One paw 21, this paw is used for grabbing workpiece, and the end of described paw is provided with a paw mounting disc 22；
One floating unit 23, its one end is fixed on described installing plate 1, and the other end connects described paw 21.Described floating
Moving cell 23 includes tapering dish 231 and the cylinder 232 that described tapering dish can be driven to stretch.Described tapering dish 231
After docking with described paw mounting disc 22 coupling, described floating unit 23 is closed, and described paw is fixed from mobile,
After described tapering dish 231 separates with described paw mounting disc 22, described floating unit is opened, and described paw can be vertically
Move in direction.
See shown in Fig. 1 and Fig. 2.Described paw mounting disc 22 is provided with at least one tapered hole 221, described cone
Scale 231 is provided with the taper shaft 2311 mated with described paw mounting disc 22.When described cylinder 232 promotes described
After tapering dish 231 docking, described taper shaft 2311 inserts in described tapered hole 221, and described paw is in vertical direction
Displacement be described tapered hole gap a of radial direction when separating with described taper shaft, shown in Figure 2, b
Shift length for cylinder.
Being additionally provided with one on described tapering dish 231 prevents described paw auxiliary of rotation when floating unit open mode fixed
Position pin 24.Described paw mounting disc 22 is provided with the hole, location 222 mated with described auxiliary positioning pin.
It is shown in Figure 1, in end face that described paw mounting disc 22 is docked with described tapering dish 231 is provided with one
Cover plate 3, and described paw and described floating unit be connected by a shell 4, described floating unit is externally provided with main casing
5, described shell is one-body molded with described main casing.
Shown in Figure 3.It is additionally provided with a sensor, the sensing being connected with sensor on described floating paw mechanism 2
Line is provided with sensor wire casing 6 in being laid in described shell 4.Described floating paw structure 2 includes two fast grafting of gas circuit
Mouth 7, the fast interface of this gas circuit is used for connecting fast plug in one-way throttle valve.
As in figure 2 it is shown, the perpendicular angle of said two floating paw mechanism is fixed on described installing plate.
The mechanical hand floating graping chaw of the present invention coordinates reality by air cylinder driven tapering dish 231 and paw mounting disc 22
Existing paw installs interaction and the switching of stator locking state of end face.
Use principle illustrates:
When lathe feeding, (floating unit is locked, and does not have quick condition) paw grabbing workpiece moves in lathe
When swollen fixture guides position, (inner expension cap and inner hole of workpiece gap are too small, exceed mechanical hand feeding precision) floating unit gas
Cylinder is retracted, and floating unit is opened, and mechanical hand moves on, and now due to paw floating reason, workpiece can be along expansion set
Guide and advance in interior swollen fixture.Avoid owing to workpiece and expansion set center do not neutralize, gap too small and cannot feeding or rigidity
Extruding is entered, and causes and scratches inner hole of workpiece.
When paw feeding in expansion set, after paw clamping workpiece, floating unit is opened, and paw grabbing workpiece is along swollen
Set direction extract workpiece, after feeding completes, floating unit close, paw centrage again with floating unit centrage weight
Close, as shown in Figure 2.
Should be understood that these embodiments are merely to illustrate the present invention rather than limit the scope of the present invention.In addition should manage
Solving, after having read the content that the present invention lectures, the present invention can be made various change or repair by those skilled in the art
Changing, these equivalent form of values fall within the application appended claims limited range equally.
Claims (8)
1. a mechanical hand floating graping chaw, it includes two the floating paw mechanisms being arranged on an installing plate,
It is characterized in that, described floating paw structure includes:
One paw, for grabbing workpiece, the end of described paw is provided with a paw mounting disc；
One floating unit, its one end is fixed on described installing plate, and the other end connects described paw, described floating list
Unit includes that a tapering dish and can drive the cylinder that described tapering dish stretches, described tapering dish and described paw mounting disc
After coupling docking, described floating unit is closed, and described paw is fixed from mobile, and described tapering dish is pacified with described paw
After sabot separates, described floating unit is opened, and described paw can be in movement in vertical direction.
Mechanical hand floating graping chaw the most according to claim 1, it is characterised in that: in described paw mounting disc
Being provided with at least one tapered hole, described tapering dish is provided with the taper shaft mated with described paw mounting disc, when described gas
After cylinder promotes the docking of described tapering dish, described taper shaft inserts in described tapered hole, and described paw is in the shifting of vertical direction
The gap of radial direction when dynamic distance separates with described taper shaft for described tapered hole.
Mechanical hand floating graping chaw the most according to claim 2, it is characterised in that: also set on described tapering dish
Have one to prevent described paw auxiliary positioning pin of rotation when floating unit open mode, described paw mounting disc sets
There is the hole, location mated with described auxiliary positioning pin.
Mechanical hand floating graping chaw the most according to claim 1, it is characterised in that: described paw mounting disc with
The end face of described tapering dish docking is provided with an inner cover plate, and described paw is with described floating unit by a shell even
Connecing, described floating unit is externally provided with main casing, and described shell is one-body molded with described main casing.
Mechanical hand floating graping chaw the most according to claim 1, it is characterised in that: described floating paw mechanism
On be additionally provided with a sensor.
Mechanical hand floating graping chaw the most according to claim 4, it is characterised in that: it is provided with sensing in described shell
Device wire casing.
Mechanical hand floating graping chaw the most according to claim 1, it is characterised in that: described floating paw structure bag
Including two fast interfaces of gas circuit, the fast interface of this gas circuit is used for connecting fast plug in one-way throttle valve.
Mechanical hand floating graping chaw the most according to claim 1, it is characterised in that: said two floating paw machine
The perpendicular angle of structure is fixed on described installing plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510024129.0A CN105855981B (en) | 2015-01-18 | 2015-01-18 | A kind of manipulator floating graping chaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510024129.0A CN105855981B (en) | 2015-01-18 | 2015-01-18 | A kind of manipulator floating graping chaw |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105855981A true CN105855981A (en) | 2016-08-17 |
| CN105855981B CN105855981B (en) | 2018-09-25 |
Family
ID=56622801
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510024129.0A Active CN105855981B (en) | 2015-01-18 | 2015-01-18 | A kind of manipulator floating graping chaw |
Country Status (1)
| Country | Link |
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| CN (1) | CN105855981B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106239241A (en) * | 2016-08-26 | 2016-12-21 | 湖南飞沃新能源科技股份有限公司 | Industrial robot and machining center |
| CN108000505A (en) * | 2016-11-02 | 2018-05-08 | 浙江治丞智能机械科技有限公司 | A kind of precision positioning device |
| CN108127467A (en) * | 2017-12-15 | 2018-06-08 | 杭州三奥智能科技有限公司 | A kind of helical teeth floating loading and unloading grabbing device |
| CN111152061A (en) * | 2019-12-02 | 2020-05-15 | 江苏理工学院 | A on-line measuring device for unloading on auto parts |
| CN111451754A (en) * | 2020-05-09 | 2020-07-28 | 国电联合动力技术(连云港)有限公司 | Robot assembly platform for hub of wind driven generator and assembly method thereof |
| CN111590310A (en) * | 2020-05-09 | 2020-08-28 | 国电联合动力技术(连云港)有限公司 | Robot assembly platform and method for wind driven generator yaw system |
| CN113182889A (en) * | 2021-05-06 | 2021-07-30 | 江苏威马悦达智能装备有限公司 | High-precision positioning system and positioning method for connecting rod machining feeding |
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| JPH08141956A (en) * | 1994-11-17 | 1996-06-04 | Sanyo Electric Co Ltd | Method for controlling object gripping robot |
| CN2796935Y (en) * | 2005-06-29 | 2006-07-19 | 宝山钢铁股份有限公司 | Floating mechanical hand |
| CN201940858U (en) * | 2011-01-11 | 2011-08-24 | 天津市精诚机床制造有限公司 | Automatic feeding and discharging device for numerical control gear chamfering machine |
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| CN102950304A (en) * | 2011-08-17 | 2013-03-06 | Smw-奥托布洛克紧固系统有限责任公司 | Manually operated tensioning nut |
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| CN203439702U (en) * | 2013-08-26 | 2014-02-19 | 天珩机械股份有限公司 | Spinning yarn cake grabbing mechanism |
| CN104015195A (en) * | 2014-06-23 | 2014-09-03 | 缪慰时 | Double-acting inclined shaft gripping system of charging-discharging manipulator of numerical-control machine tool |
| CN204584842U (en) * | 2015-01-18 | 2015-08-26 | 杭州三沃机器人有限公司 | A kind of manipulator floats graping chaw |
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2015
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Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH08141956A (en) * | 1994-11-17 | 1996-06-04 | Sanyo Electric Co Ltd | Method for controlling object gripping robot |
| CN2796935Y (en) * | 2005-06-29 | 2006-07-19 | 宝山钢铁股份有限公司 | Floating mechanical hand |
| CN201950516U (en) * | 2010-12-20 | 2011-08-31 | 大连四达高技术发展有限公司 | Rotation interchangeable clamp |
| CN201940858U (en) * | 2011-01-11 | 2011-08-24 | 天津市精诚机床制造有限公司 | Automatic feeding and discharging device for numerical control gear chamfering machine |
| CN102950304A (en) * | 2011-08-17 | 2013-03-06 | Smw-奥托布洛克紧固系统有限责任公司 | Manually operated tensioning nut |
| CN102653069A (en) * | 2012-05-15 | 2012-09-05 | 马丁路德机器人（上海）有限公司 | Plate-type part exchanging mechanical hand |
| CN203045735U (en) * | 2012-10-12 | 2013-07-10 | 深圳市美兰精密机械有限公司 | Pneumatic jaw device |
| CN203439702U (en) * | 2013-08-26 | 2014-02-19 | 天珩机械股份有限公司 | Spinning yarn cake grabbing mechanism |
| CN104015195A (en) * | 2014-06-23 | 2014-09-03 | 缪慰时 | Double-acting inclined shaft gripping system of charging-discharging manipulator of numerical-control machine tool |
| CN204584842U (en) * | 2015-01-18 | 2015-08-26 | 杭州三沃机器人有限公司 | A kind of manipulator floats graping chaw |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106239241A (en) * | 2016-08-26 | 2016-12-21 | 湖南飞沃新能源科技股份有限公司 | Industrial robot and machining center |
| CN108000505A (en) * | 2016-11-02 | 2018-05-08 | 浙江治丞智能机械科技有限公司 | A kind of precision positioning device |
| CN108127467A (en) * | 2017-12-15 | 2018-06-08 | 杭州三奥智能科技有限公司 | A kind of helical teeth floating loading and unloading grabbing device |
| CN111152061A (en) * | 2019-12-02 | 2020-05-15 | 江苏理工学院 | A on-line measuring device for unloading on auto parts |
| CN111152061B (en) * | 2019-12-02 | 2021-01-19 | 江苏理工学院 | A on-line measuring device for unloading on auto parts |
| CN111451754A (en) * | 2020-05-09 | 2020-07-28 | 国电联合动力技术(连云港)有限公司 | Robot assembly platform for hub of wind driven generator and assembly method thereof |
| CN111590310A (en) * | 2020-05-09 | 2020-08-28 | 国电联合动力技术(连云港)有限公司 | Robot assembly platform and method for wind driven generator yaw system |
| CN113182889A (en) * | 2021-05-06 | 2021-07-30 | 江苏威马悦达智能装备有限公司 | High-precision positioning system and positioning method for connecting rod machining feeding |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105855981B (en) | 2018-09-25 |
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Legal Events
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170419 Address after: 311201 Zhejiang, Xiaoshan District, Xintang street, South Road, No., No. 3089 Applicant after: Hangzhou three Olympic Intelligent Technology Co., Ltd. Address before: Hangzhou City, Zhejiang province 310053 Binjiang District Puyan Street West Hunan Road No. 56 Building 1 floor 3 Applicant before: Robot Co., Ltd is irrigated in Hangzhou three |
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| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A floating grasping claw of manipulator Effective date of registration: 20220407 Granted publication date: 20180925 Pledgee: Xiaoshan Branch of Agricultural Bank of China Ltd. Pledgor: HANGZHOU SANAO INTELLIGENT TECHNOLOGY CO.,LTD. Registration number: Y2022330000471 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |