CN102284882A - Gas-liquid linked four-station rotary wrist - Google Patents
Gas-liquid linked four-station rotary wrist Download PDFInfo
- Publication number
- CN102284882A CN102284882A CN2011102004855A CN201110200485A CN102284882A CN 102284882 A CN102284882 A CN 102284882A CN 2011102004855 A CN2011102004855 A CN 2011102004855A CN 201110200485 A CN201110200485 A CN 201110200485A CN 102284882 A CN102284882 A CN 102284882A
- Authority
- CN
- China
- Prior art keywords
- cylinders
- frame
- output shaft
- gas
- plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Actuator (AREA)
- Manipulator (AREA)
Abstract
The invention relates to auxiliary equipment in machining, in particular to a gas-liquid linked four-station rotary wrist, which consists of an output shaft rotationally arranged on a frame, and a disk-shaped positioning plate, a chain wheel and a transposition starting plate, which are fixed on the output shaft, wherein the periphery of the disk-shaped positioning plate is uniformly provided with four U-shaped positioning grooves; positioning pins matched with the U-shaped positioning grooves are arranged on the end part of a piston rod of a positioning cylinder; the positioning cylinder is fixed on the frame; a position sensor arranged on the frame is matched with the transposition starting plate; two cylinders are parallelly arranged on the frame; a transmission chain moves round the chain wheel; two ends of the transmission chains are connected with end parts of piston rods of the two cylinders; and the other end of the output shaft is fixed with a connecting plate used for mounting a claw. The gas-liquid linked four-station rotary wrist has the characteristics of capacities of accurately positioning 0-degree, 90-degree, 180-degree and 270-degree four stations and quickly changing the stations, simple structure, low production cost, simple maintenance and adjustment and the like.
Description
Technical field
The present invention relates to the auxiliary equipment in the machining, particularly a kind of gas-liquid linked four stations rotation wrist.
Background technology
In the modern industrialization production process, it is very limited enhancing productivity by the performance that improves production equipment merely, and the intervention of automation auxiliary equipment, the mankind can be freed from the numerous and diverse manual labor of dullness on the one hand, have only the industrialization of realization fully-automatic production on the other hand, be only the final solution of enhancing productivity and improving.
One of key technology of enhancing productivity in mechanical processing process is to realize the function of automatic loading/unloading, and in each manufacturing procedure and in the logistics different placement attitudes is arranged automatically, wherein the most general position relation is exchanging of vertical, horizontal level as part.The truss manipulator mainly is made up of transverse axis, vertical pivot, wrist, paw, can realize that the vertical up and down of part position moves and horizontally rotate.Because the truss-like manipulator has simple in structure, easy to maintenance, processing ease, high performance-price ratio and to advantages such as the machine reformation amount are little, mechanical processing industry is promoted rapidly at home just gradually, but this type of present manipulator is owing to can only realize the conversion of two stations of horizontal level, promptly 0 ° → 90 ° or 0 ° → 180 ° or 0 ° → 270 ° rotations have restricted the user demand of truss-like manipulator to a certain extent.And can realize 0 ° → 90 ° → 180 ° three stations and four station manipulators of 0 ° → 90 ° → 180 ° → 270 ° of rotations, mainly be to adopt import, and structure is very complicated, cost an arm and a leg, and physical dimension is all solidified simultaneously, and the integral body that is not easy to domestic existing equipment is arranged and installed.
Summary of the invention
The objective of the invention is to overcome above-mentioned existing in prior technology defective, the electronic four stations rotation wrist that a kind of versatility is good, simple and reliable for structure, cost is low is provided.
The present invention realizes by following skill scheme: a kind of gas-liquid linked four stations rotation wrist, comprise electrical control gear, frame, rack-mounted rotatable wrist, it is characterized in that above-mentioned wrist is by rotatable rack-mounted output shaft and the discoid positioning disk that is fixed on the output shaft, sprocket wheel and transposition are issued an order to coil and are formed, uniformly on the circumference of discoid positioning disk have 4 " U " shape locating slots, the alignment pin that matches with " U " shape locating slot is installed in the piston rod end in the positioning cylinder, positioning cylinder is fixed on the frame, rack-mounted position sensor and transposition are issued an order to coil and are matched, two cylinders are installed on frame side by side, driving chain is walked around sprocket wheel, the two ends of driving chain link to each other with piston rod end in two cylinders respectively, are fixed with the terminal pad that is used to install paw at the other end of output shaft.
The end face of the piston rod external part of above-mentioned two cylinders of installing side by side, by the airtight connection of through plate, two piston rods stretch out through plate and and through plate between removable sealing, on through plate, have intercommunicating pore, the cylinder inner cavity of piston rod external part in two cylinders is communicated with, in the cylinder inner cavity that is communicated with, hydraulic oil is housed.Above-mentioned position sensor is two.
The magnetic valve that magnetic valve, position sensor and the control positioning cylinder that rack-mounted side by side two cylinders of above-mentioned control move moves is all controlled by electrical control gear.
The present invention has following characteristics: 1, this device drives output shaft by two cylinders of installing side by side and rotates in 0 ° of-270 ° of scope, having installed on output shaft simultaneously can be accurately to 0 °, 90 °, 180 °, the discoid positioning disk that 270 ° of four positions position and with the supporting alignment pin of positioning disk, so just can realize the accurate location of four stations, issue an order by position sensor and associated transposition simultaneously and coil and electrical control gear, just can realize the rapid location of four stations, switch and transposition, utilize the issue an order phase place of dish of two position sensors induction to change simultaneously, tell four phase places of wrist.Two sensors are formed four composite signals according to sense state: 00,01,11,10; Four unique positions of four corresponding wrists of composite signal difference.Rotation is divided into: forward single action, oppositely single action and leap rotation, concrete relation such as following table of rotating;
In the last table, ↑: 90 ° of single step main storys, ↓: 90 ° of single step counter-rotatings, ↑ ↑: just changeing promptly 180 ° of 2 positions, ↓ ↓: two positions of reversing are-180 °, ↑ ↑ ↑: promptly 270 ° of 3 positions of main story, ↓ ↓ ↓: two positions of reversing are-270 °.Characteristics such as 2, dish is installed in output shaft owing to issue an order in location, transposition, and the terminal pad that is used to install paw simultaneously is installed in an end of output shaft, and it is simple and reliable for structure that this wrist is had, and cost is low, volume is little.3, because the piston rod external part of two cylinders that will install side by side, be communicated with by through plate, and in two cylinders, in the cylinder inner cavity of piston rod external part hydraulic oil is housed, has so just guaranteed the coordination of these two cylinder actions, make also that simultaneously the installation adjustment is simple, be easy to safeguard.
Can under current state, directly forward the angle position that needs to by the processing of electrical control gear internal processes, and not need one one interrupted rotation that stops, run to designated phase fast, compactly.
Because the cylinder travel limits makes this output shaft to rotate in the angular range of appointment, arrange highly beneficial for the pipeline of the gas pawl on the output shaft like this, with the centre bore cabling of crossing output shaft, can prevent cable because large-scale rotary cable twines, ties a knot, stirs the appearance of disconnected situation, inner cabling, neat, succinct, attractive in appearance.
Description of drawings
Accompanying drawing 1 is a structural representation of the present invention.
The specific embodiment
As shown in Figure 1, upper end in frame 15 is installed with two cylinders side by side, on the frame of two cylinder lower ends, be equipped with by rotatable rack-mounted output shaft 11 and be fixed on discoid positioning disk 14, sprocket wheel 12 and transposition on output shaft dish 16 wrists of forming of issuing an order, uniformly on the circumference of discoid positioning disk have 4 " U " shape locating slots, the alignment pin 10 that matches with " U " shape locating slot is installed in the piston rod end in the positioning cylinder 9, positioning cylinder is fixed on the frame, and rack-mounted position sensor 13 is issued an order to coil with transposition and matched.Side by side in two cylinders of An Zhuaning, the cylinder 3 in left side is connected by through plate is airtight with the lower surface of the cylinder 4 on right side, about two piston rods in two cylinders stretch out through plate and and through plate between removable sealing, on through plate, have intercommunicating pore 6, with about the cylinder inner cavity of piston lower end in two cylinders be communicated with, in the cylinder inner cavity that is communicated with, hydraulic oil is housed.The left end of driving chain 8 links to each other with piston lower end in the left hand cylinder, and driving chain is walked around sprocket wheel 11 backs and the piston lower ends in the right cylinder link to each other, and is fixed with the terminal pad that is used to install paw at an end of output shaft.
During work, send instruction by electrical control gear, positioning cylinder 9 moves up, drive alignment pin 10 upwards breaks away from " U " shape locating slot on the discoid positioning disk, give the magnetic valve action of two cylinders about control then, gases at high pressure enter left hand cylinder by air inlet 1, the piston that promotes in the left hand cylinder moves down, driving the right hand piston bar by the hydraulic oil in the piston cavity of resorption moves up, driving sprocket wheel 12 by driving chain rotates, the drive output shaft rotates, and the paw of so just having realized being installed on the output shaft rotates.Output shaft drives discoid positioning disk when rotating, transposition is issued an order to coil and rotated, the position that position sensor is issued an order and coiled by the detection transposition, and be the electrical control gear feedback signal, the magnetic valve of two cylinders action about control.When discoid positioning disk turned over 90 °, left hand cylinder stopped to move, and positional cylinder moves down simultaneously, drove downward " U " shape locating slot that inserts on the discoid positioning disk of alignment pin, and the work of a station is finished in the paw action.Repeat said process, just can carry out the rotation of 90 ° → 180 ° → 270 ° of two stations, right cylinder feeds gases at high pressure by air inlet 2 then, and the piston that drives in the right cylinder moves down, make output shaft get back to 0 ° original position, finish a working cycles by 270 ° of reverse rotations.
Claims (4)
1. gas-liquid linked four stations rotate wrist, comprise electrical control gear, frame, rack-mounted rotatable wrist, it is characterized in that above-mentioned wrist is by being installed in the rotatable output shaft (11) on the frame (15) and being fixed on discoid positioning disk (14) on the output shaft, sprocket wheel (12) and the transposition dish (16) of issuing an order is formed, uniformly on the circumference of discoid positioning disk (14) have 4 " U " shape locating slots, the alignment pin (10) that matches with " U " shape locating slot is installed in the piston rod end in the positioning cylinder (9), positioning cylinder (9) is fixed on the frame, rack-mounted position sensor (13) and the transposition dish (16) of issuing an order matches, two cylinders are installed on frame side by side, driving chain is walked around sprocket wheel, the two ends of driving chain link to each other with piston rod end in two cylinders respectively, are fixed with the terminal pad that is used to install paw at the other end of output shaft.
2. gas-liquid linked four stations rotation wrist according to claim 1, it is characterized in that above-mentioned two cylinders of installing side by side the piston rod external part pass through the airtight connection of through plate (7), two piston rods stretch out through plate and and through plate between removable sealing, on through plate, have intercommunicating pore (6), the cylinder inner cavity of piston rod external part in two cylinders is communicated with, in the cylinder inner cavity that is communicated with, hydraulic oil is housed.
3. gas-liquid linked four stations rotation wrist according to claim 2 is characterized in that above-mentioned position sensor (13) is two.
4. gas-liquid linked four stations rotation wrist according to claim 4 is characterized in that magnetic valve, position sensor (13) and the mobile magnetic valve of control positioning cylinder (9) that rack-mounted side by side two cylinders of above-mentioned control move all control by electrical control gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110200485 CN102284882B (en) | 2011-07-18 | 2011-07-18 | Gas-liquid linked four-station rotary wrist |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110200485 CN102284882B (en) | 2011-07-18 | 2011-07-18 | Gas-liquid linked four-station rotary wrist |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102284882A true CN102284882A (en) | 2011-12-21 |
| CN102284882B CN102284882B (en) | 2012-12-05 |
Family
ID=45331776
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110200485 Expired - Fee Related CN102284882B (en) | 2011-07-18 | 2011-07-18 | Gas-liquid linked four-station rotary wrist |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102284882B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103433920A (en) * | 2013-09-04 | 2013-12-11 | 宁夏巨能机器人系统有限公司 | Heavy electric four-position wrist |
| CN106034770A (en) * | 2016-06-24 | 2016-10-26 | 天津迈克重工有限公司 | 360-degree rotating device for multifunctional trimming robot |
| CN111185926A (en) * | 2020-01-07 | 2020-05-22 | 宁波海迈克自动化科技有限公司 | Pneumatic rotating device with large load and switchable positioning mode |
| CN116978295A (en) * | 2023-09-21 | 2023-10-31 | 合肥国源展览展示有限公司 | Display screen for science and technology museum |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62259726A (en) * | 1986-05-03 | 1987-11-12 | Nippon Denso Co Ltd | Product conveying pallet |
| US5985029A (en) * | 1996-11-08 | 1999-11-16 | Speedline Technologies, Inc. | Conveyor system with lifting mechanism |
| JP3500443B2 (en) * | 1995-02-16 | 2004-02-23 | 尚武 毛利 | Multi-degree-of-freedom machining system |
| CN2871091Y (en) * | 2006-02-21 | 2007-02-21 | 天津市建科机械制造有限公司 | Net welder with draw net transmission mechanism |
| CN202147173U (en) * | 2011-07-18 | 2012-02-22 | 宁夏巨能机器人系统有限公司 | Gas-liquid-linked four-station rotary wrist |
-
2011
- 2011-07-18 CN CN 201110200485 patent/CN102284882B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62259726A (en) * | 1986-05-03 | 1987-11-12 | Nippon Denso Co Ltd | Product conveying pallet |
| JP3500443B2 (en) * | 1995-02-16 | 2004-02-23 | 尚武 毛利 | Multi-degree-of-freedom machining system |
| US5985029A (en) * | 1996-11-08 | 1999-11-16 | Speedline Technologies, Inc. | Conveyor system with lifting mechanism |
| CN2871091Y (en) * | 2006-02-21 | 2007-02-21 | 天津市建科机械制造有限公司 | Net welder with draw net transmission mechanism |
| CN202147173U (en) * | 2011-07-18 | 2012-02-22 | 宁夏巨能机器人系统有限公司 | Gas-liquid-linked four-station rotary wrist |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103433920A (en) * | 2013-09-04 | 2013-12-11 | 宁夏巨能机器人系统有限公司 | Heavy electric four-position wrist |
| CN103433920B (en) * | 2013-09-04 | 2015-11-11 | 宁夏巨能机器人系统有限公司 | Heavy type electric four station wrist |
| CN106034770A (en) * | 2016-06-24 | 2016-10-26 | 天津迈克重工有限公司 | 360-degree rotating device for multifunctional trimming robot |
| CN111185926A (en) * | 2020-01-07 | 2020-05-22 | 宁波海迈克自动化科技有限公司 | Pneumatic rotating device with large load and switchable positioning mode |
| CN116978295A (en) * | 2023-09-21 | 2023-10-31 | 合肥国源展览展示有限公司 | Display screen for science and technology museum |
| CN116978295B (en) * | 2023-09-21 | 2024-04-05 | 合肥国源展览展示有限公司 | Display screen for science and technology museum |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102284882B (en) | 2012-12-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203792350U (en) | Connecting rod slider type mechanical gripper | |
| CN102284882B (en) | Gas-liquid linked four-station rotary wrist | |
| CN202155882U (en) | Carrying manipulator system | |
| CN203109692U (en) | Vertical-type numerically-controlled machine tool main shaft swinging device | |
| CN102848387A (en) | Conveying manipulator system | |
| CN204036450U (en) | Feeding robot | |
| CN104608116A (en) | Mobile mechanical arm with seven-connecting-rod five-freedom-degree controllable mechanism | |
| CN105033965A (en) | Swinging worktable | |
| CN202147173U (en) | Gas-liquid-linked four-station rotary wrist | |
| CN102601563A (en) | Intelligent positioning system for vehicle white body production line | |
| CN202137630U (en) | Electric four-station rotary wrist | |
| CN204322273U (en) | A kind of former of rebar cylinder mould combined wall board | |
| CN105710804B (en) | A kind of detent mechanism on streamline | |
| CN201969800U (en) | Automatic stirring device | |
| CN201277983Y (en) | Pressing lifting integrated manual veneer fixture | |
| CN201969825U (en) | Multi-point rotary riveting tool | |
| CN207021872U (en) | A kind of rotating disk mechanism of multistation wire binding machine | |
| CN108750653A (en) | A kind of multi-trace electric cam pick and place machine tool hand and its control method | |
| CN209466255U (en) | A kind of vanning robot | |
| CN100479990C (en) | Pedal control gem shaping machine | |
| CN202292025U (en) | Automatic hinge installing mechanism | |
| CN202570493U (en) | Three-axis mechanical arm | |
| CN203653105U (en) | Large-diameter large-modulus flexible adjustable rotary driving device | |
| CN201122567Y (en) | Lamp cap housing positioning device in manufacturing process of fluorescent lamp cap | |
| CN202291298U (en) | Automatic multi-station rocking type case making machine for investment casting |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121205 Termination date: 20170718 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |