CN102554912B - Pneumatic balance boosting manipulator for clamping cylinder - Google Patents

Pneumatic balance boosting manipulator for clamping cylinder Download PDF

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Publication number
CN102554912B
CN102554912B CN201110445211.2A CN201110445211A CN102554912B CN 102554912 B CN102554912 B CN 102554912B CN 201110445211 A CN201110445211 A CN 201110445211A CN 102554912 B CN102554912 B CN 102554912B
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China
Prior art keywords
cylinder
rotating shaft
fixture
clamping cylinder
upset
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CN201110445211.2A
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Chinese (zh)
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CN102554912A (en
Inventor
王絮
陈政弘
乔雪辉
宋力强
杨瑞华
高春洋
乔飒飒
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Honeycomb power system (Jiangsu) Co.,Ltd.
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Great Wall Motor Co Ltd
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Abstract

The invention discloses a kind of Pneumatic balance boosting manipulator for clamping cylinder, comprise controlling organization, the fixture assembly driven by controlling organization and pneumatic mechanism thereof, controlling organization can drive fixture to move in vertical direction, left and right directions, fore-and-aft direction, and can turn round in horizontal plane.The present invention can realize the spatial attitude upset of cylinder body workpiece and move, realize carrying effortlessly and assembling cylinder body, reduce the labour intensity of workman, increase work efficiency, reach the object of automated production, fixture is equipped with travel switch, only has and just can implement pinching action after absorption surface puts in place, effectively improve the security of mechanism's operation.The present invention is suitable for and does in auto production line in cylinder production process the automatic clamping operation of cylinder body.

Description

Pneumatic balance boosting manipulator for clamping cylinder
Technical field
The present invention relates to a kind of manipulator, be applied to automobile engine cylinder-body production process, specifically a kind of gripping cylinder body air-balance servomechanism hand.
Background technology
In the production process of motor cylinder block, after a procedure completion of processing, need upset and the movement of workpiece being carried out corresponding attitude, by workpiece grabbing material loading from roller-way, unload from fixture after completion of processing, move on roller-way, carry out the production and processing of lower one sequence.
The existing cylinder body production line device solving workpiece loading and unloading, most employing hand push drawer system realizes the transmission of workpiece to lathe, this kind of mode then cannot utilize when production line roller-way disconnects, a dead lift can only be relied on to complete the loading and unloading process of workpiece, this mode not only labour intensity is large, and inefficiency, automaticity is low.In addition, because the cylinder body of automobile engine is heavier, cylinder body overturn attitude is inserted in the alignment pin of fixture, need the locus of constantly adjustment cylinder body and attitude just can complete, and the positioning precision of this operation requirements is higher, general hoisting apparatus cannot reach required required precision.
Summary of the invention
The technical problem to be solved in the present invention, is to provide a kind of Pneumatic balance boosting manipulator for clamping cylinder, can realize the spatial attitude upset of cylinder body and move, can carry effortlessly and assemble cylinder body, reduce the labour intensity of workman, increase work efficiency, reach the object of automated production.
For solving the problems of the technologies described above, the technical solution used in the present invention is:
A kind of Pneumatic balance boosting manipulator for clamping cylinder, comprises controlling organization, the fixture assembly driven by controlling organization and pneumatic mechanism thereof, wherein
1. described fixture assembly comprises the 3rd rotating shaft, chuck body, chuck jaws, fixture crotch;
3rd rotating shaft is perpendicular puts, and its top is hinged with controlling organization, controlling organization drive the 3rd rotating shaft can vertically, left and right, to, front and back and can turn round to movement in horizontal plane;
3rd rotating shaft lower end is fixedly connected with handle; Chuck body with chuck jaws is the hydraulically operated fixture of processing work in lathe, and fixture crotch is fixed on chuck jaws end;
2. the pneumatic mechanism of fixture assembly comprises: fixture rotating shaft, upset cylinder, clamping cylinder;
The clamp base of fixture assembly is provided with travel switch, the resilience of travel switch by itself and work package surface contact and start;
Upset cylinder is driven by fixture rotating shaft; Clamping cylinder connects firmly the below due to fixture rotating shaft;
Fixture rotating shaft drives the upset of upset cylinder when putting in place, and chuck jaws stretches in workpiece and cylinder body, the surface contact of travel switch and workpiece and resilience, clamping cylinder clamping.
As restriction of the present invention, described controlling organization comprises I-steel, guide rail, roller, hanger bracket, main rotary shaft, rotary column;
I-steel is installed on the framework that is fixedly installed;
Guide rail is fixedly suspended to the below of I-steel and parallels setting with I-steel, and guide rail, built with roller, is slidably matched between the two;
Hanger bracket is loaded on below roller, is driven and have the revolution free degree by the perpendicular main rotary shaft put; Hanger bracket upper and lower is fixedly connected with rotary column;
The lower outside wall of rotary column is fixed with the control cabinet of gas control integrated system, gas control integrated system through control gas circuit respectively with main lifting cylinder, overturn cylinder, clamping cylinder is connected;
Main lifting cylinder is horizontally disposed with, and its stiff end and horizontally disposed main boom connect firmly; Mobile terminal and the master cylinder rotating shaft of main lifting cylinder connect firmly; (the vertical mobile flexible realization relying on main lifting cylinder of main boom, when main lifting cylinder shrinks, descent direction motion is done by mechanism; When main lifting cylinder stretches out, main boom does ascending motion; )
One end of main boom is hinged with the cantilever rotating shaft be located on rotary column; Its other end and secondary shaft are rotatably assorted;
Secondary shaft is vertically arranged, and the turning end of its underpart is fixedly connected with time cantilever, is rotatably assorted between the two;
Secondary cantilever level is arranged, and the top of its epitaxial end and the 3rd rotating shaft is hinged, is rotatably assorted between the two.
Limit as another kind of the present invention, described 3rd rotating shaft is provided with the 3rd rotating shaft brake gear, is fixed in the 3rd rotating shaft.
The present invention also has a kind of restriction, and described secondary shaft is provided with secondary shaft brake gear, is fixed on time cantilever.
Further feature of the present invention also has:
The bottom of handle is provided with upset 0 ° of button, upset 90 ° of buttons for controlling to overturn cylinder flip angle, and control clamping cylinder action loosen button, clamping button, brake button, they are electrically connected with the control element overturning cylinder.
Design feature of the present invention is: roller makes mechanism at slide on rails, can operate area coverage larger; Hanger bracket can realize 360 ° of rotations by main rotary shaft; Gas control integrated system connects main lifting cylinder, upset cylinder, clamping cylinder respectively, can realize air pressure balance/safeguard protection/fast lifting/fixture and overturn, clamps, the function such as to unclamp; Secondary shaft mechanism and the 3rd rotating shaft can realize the 360 ° of rotations being less than rotation (owing to there being the interference of connecting line, being actually the rotation in non-whole circle) within the scope of 360 ° and handle of time cantilever respectively; It is locked without motion when off working state that secondary shaft brake gear and the 3rd rotating shaft brake gear can realize time cantilever, main boom.
The setting of travel switch, ensure only after surface of the work and travel switch are fitted completely, travel switch resilience, clamping cylinder just can drive chuck jaws to move, with clamping work pieces; If workpiece is not in place, travel switch then not resilience, clamping cylinder attonity, mechanism cannot realize pinching action.Chuck jaws, by going deep into 1, No. 4 cylinder holes of cylinder body, after clamping cylinder clamping work pieces, is carried out locked by jaw crotch to workpiece, drops after preventing workpiece posture from overturning.
The course of work of the present invention is as follows: the hand steered handle of operating personnel, when after workpiece flow to this station, press upset 0 ° of button, upset cylinder turn to 0 °, chuck jaws is aimed at and is goed deep into cylinder holes, until travel switch contacts completely to surface of the work, after resilience, press clamping button, clamping cylinder shrinks, chuck jaws clamping work pieces, jaw crotch locking workpiece, prevents from dropping.Operating personnel press upset 90 ° of buttons, and the upset of upset cylinder, realize workpiece 90 ° upset, operating personnel realize the transverse shifting of workpiece by main rotary shaft, secondary shaft and the 3rd rotating shaft, are realized the movement in workplace vertical direction by main lifting cylinder.When workpiece is installed in after on lathe, presses and loosen button, clamping cylinder unclamps, the extended workpiece of chuck jaws, and another workpiece normal process on lathe, whole operating process is complete.
Owing to have employed above-mentioned technical scheme, compared with prior art, acquired technological progress is in the present invention
(1) labour intensity is reduced;
(2) workpiece space upset is realized, omnidistance air-balance state;
(3) this invention can realize workpiece posture clamping, attitude upset and assembling with the use of special fixture, fixture is equipped with travel switch, only has and just can realize pinching action after absorption surface puts in place, effectively improve the security of mechanism's operation.
The present invention is suitable for and does in auto production line in cylinder production process the automatic clamping operation of cylinder body.
The present invention is described in further detail below in conjunction with Figure of description and specific embodiment.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the embodiment of the present invention, and in figure, the direction of arrow is operative employee's face orientation;
Fig. 2 is the partial enlarged drawing of guide rail in Fig. 1 and roller portion;
Fig. 3 is the top view of Fig. 2;
Fig. 4 is the structural representation of middle fixture assembly embodiment illustrated in fig. 1;
Fig. 5 is the schematic diagram of middle secondary shaft embodiment illustrated in fig. 1 and surrounding member structural relation;
Fig. 6 is the right view of Fig. 4, namely operator directly faced by the structure chart of holder part;
Fig. 7 is the position view of middle fixture crotch clamping point A embodiment illustrated in fig. 1.
In figure: 1, framework, 2, I-steel, 3, guide rail, 4, roller, 5, hanger bracket, 6, main rotary shaft, 7, rotary column, 8, control cabinet, 9, cantilever rotating shaft, 10, master cylinder rotating shaft, 11, main boom, 12, main lifting cylinder, 13, secondary shaft, 14, secondary shaft brake gear, 15, secondary cantilever, 16, 3rd rotating shaft, 17, 3rd rotating shaft brake gear, 18, fixture rotating shaft, 19, upset cylinder, 20, clamping cylinder, 21, workpiece (cylinder body), 22, fixture, 23, chuck jaws, 24, jaw crotch, 25, handle, 26, overturn 90 ° of buttons, 27, clamping button, 28, brake button, 29, upset
0 ° of button, 30, loosen button, 31, travel switch, 32-clamp base, 111-brake disc, 112-brake; A, fixture crotch clamping point.
Detailed description of the invention
embodiment
Fig. 1-Figure 7 shows that a kind of Pneumatic balance boosting manipulator for clamping cylinder, comprises controlling organization, the fixture assembly driven by controlling organization and pneumatic mechanism thereof.Wherein:
1. fixture assembly comprises the 3rd rotating shaft 16, chuck body 22, chuck jaws 23, fixture crotch 24.
3rd rotating shaft 16 is perpendicular puts, and its top is hinged with controlling organization, controlling organization drive the 3rd rotating shaft 16 can behind vertical, left and right, front and back to moving, and can turn round in horizontal plane.
3rd rotating shaft 16 lower end is fixedly connected with handle 25.Chuck body 22 with chuck jaws 23 is the hydraulically operated fixture of processing work in lathe, and fixture crotch 24 is welded in chuck jaws 23 end.
Chuck jaws 23 is cylindrical structure, and perpendicular to clamp base 32, two fixture crotches are respectively welded in chuck jaws 23.Clamping work pieces process is: chuck jaws 23 drives fixture crotch to shrink, until clamping cylinder body.
2. the pneumatic mechanism of fixture assembly comprises: fixture rotating shaft 18, upset cylinder 19, clamping cylinder 20.
The clamp base 32 of fixture assembly is provided with travel switch 31.
Upset cylinder 19 is driven by fixture rotating shaft 18; Clamping cylinder 20 connects firmly the below due to fixture rotating shaft 18; Fixture rotating shaft 18 drives the upset of upset cylinder 19 when putting in place, and chuck jaws 23 is goed deep in workpiece 21 i.e. cylinder body, travel switch 31 and the surface contact of workpiece 21 and and resilience, clamping cylinder 20 realizes pinching action.
3. controlling organization comprises I-steel 2, guide rail 3, roller 4, hanger bracket 5, main rotary shaft 6, rotary column 7.
As shown in Fig. 1-Fig. 3, I-steel 2 is installed on the framework 1 that is fixedly installed.Guide rail 3 is fixedly suspended to the below of I-steel 2 and parallels setting with I-steel 2, and guide rail 3, built with roller 4, is slidably matched between the two.Hanger bracket 5 is loaded on below roller 4, is driven and have the revolution free degree by the perpendicular main rotary shaft 6 put.Hanger bracket 5 upper and lower is fixedly connected with rotary column 7.
The lower outside wall of rotary column 7 is fixed with the control cabinet 8 of gas control integrated system, gas control integrated system through control gas circuit respectively with main lifting cylinder 12, overturn cylinder 19, clamping cylinder 20 is connected.
Main lifting cylinder 12 is horizontally disposed with, and its stiff end and horizontally disposed main boom 11 connect firmly; Mobile terminal and the master cylinder rotating shaft 10 of main lifting cylinder 12 connect firmly.The vertical mobile flexible realization relying on main lifting cylinder 12 of main boom 11, when main lifting cylinder 12 shrinks, descent direction motion is done by mechanism; When main lifting cylinder 12 stretches out, main boom 11 does ascending motion.
One end of main boom 11 is hinged with the cantilever rotating shaft 9 be located on rotary column 7; Its other end and secondary shaft 13 are rotatably assorted.
Secondary shaft 13 is vertically arranged, and the turning end of its underpart is fixedly connected with time cantilever 15, is rotatably assorted between the two.
Secondary cantilever 15 is horizontally disposed with, and the top of its epitaxial end and the 3rd rotating shaft 16 is hinged, is rotatably assorted between the two.
3rd rotating shaft 16 is provided with the 3rd rotating shaft brake gear 17, is fixed in the 3rd rotating shaft 16.Secondary shaft 13 is provided with secondary shaft brake gear 14, is fixed on time cantilever 15.Rotating shaft 13 is relative with brake disc 111 fixing, and rotating shaft 13 drives brake disc 111 to rotate, and when mechanism is in idle inapplicable state, carries out close, until be adjacent to brake disc 111, realize lock function by brake 112 to brake disc 111.
The bottom of handle 25 is provided with upset 0 ° of button 29, upset 90 ° of buttons 26 for controlling to overturn cylinder 19 flip angle, and control clamping cylinder 20 corresponding actions loosen button 30, clamping button 27, brake button 28, these buttons are Non-follow control, and are electrically connected with the control element of upset cylinder 19 respectively.
The course of work of the present embodiment is as follows: the hand steered handle of operating personnel, when after workpiece flow to this station, presses upset
0 ° of button, upset cylinder turn to 0 °, and chuck jaws is aimed at and goed deep into cylinder holes, until travel switch contacts completely to surface of the work, after resilience, presses clamping button, and clamping cylinder shrinks, chuck jaws clamping work pieces, and jaw crotch locking workpiece, prevents from dropping.Operating personnel press upset 90 ° of buttons, and the upset of upset cylinder, realize workpiece 90 ° upset, operating personnel realize the transverse shifting of workpiece by main rotary shaft, secondary shaft and the 3rd rotating shaft, are realized the movement in workplace vertical direction by main lifting cylinder.When workpiece is installed in after on lathe, presses and loosen button, clamping cylinder unclamps, the extended workpiece of chuck jaws, and another workpiece normal process on lathe, whole operating process is complete.

Claims (5)

1. a Pneumatic balance boosting manipulator for clamping cylinder, is characterized in that: it comprises controlling organization, by controlling organization
The fixture assembly driven and pneumatic mechanism thereof, wherein
1. described fixture assembly comprises the 3rd rotating shaft, chuck body, chuck jaws, fixture crotch;
3rd rotating shaft is perpendicular puts, and its top is hinged with controlling organization, controlling organization drive the 3rd rotating shaft can vertically, left and right, to, front and back and can turn round to movement in horizontal plane;
3rd rotating shaft lower end is fixedly connected with handle; Chuck body with chuck jaws is the hydraulically operated fixture of processing work in lathe,
Fixture crotch is fixed on chuck jaws end;
2. the pneumatic mechanism of fixture assembly comprises: fixture rotating shaft, upset cylinder, clamping cylinder;
The clamp base of fixture assembly is provided with travel switch, the resilience of travel switch by itself and work package surface contact and open
Dynamic;
Upset cylinder is driven by fixture rotating shaft; Clamping cylinder connects firmly the below due to fixture rotating shaft;
When fixture rotating shaft drives the upset of upset cylinder to put in place, chuck jaws stretches in workpiece and cylinder body, travel switch and workpiece
Surface contact and resilience, clamping cylinder clamp;
3. described controlling organization comprises I-steel, guide rail, roller, hanger bracket, main rotary shaft, rotary column;
I-steel is installed on the framework that is fixedly installed;
Guide rail is fixedly suspended to the below of I-steel and parallels setting with I-steel, and guide rail, built with roller, is slidably matched between the two;
Hanger bracket is loaded on below roller, is driven and have the revolution free degree by the perpendicular main rotary shaft put; Hanger bracket upper and lower connects firmly
There is rotary column;
The lower outside wall of rotary column is fixed with the control cabinet of gas control integrated system, and gas control integrated system is through controlling gas circuit respectively
With main lifting cylinder, overturn cylinder, clamping cylinder is connected;
Main lifting cylinder is horizontally disposed with, and its stiff end and horizontally disposed main boom connect firmly; The mobile terminal of main lifting cylinder and master
Cylinder rotating shaft connects firmly; One end of main boom is hinged with the cantilever rotating shaft be located on rotary column; Its other end and secondary shaft are rotatably assorted;
Secondary shaft is vertically arranged, and the turning end of its underpart is fixedly connected with time cantilever, is rotatably assorted between the two;
Secondary cantilever level is arranged, and the top of its epitaxial end and the 3rd rotating shaft is hinged, is rotatably assorted between the two.
2. Pneumatic balance boosting manipulator for clamping cylinder according to claim 1, is characterized in that: described 3rd rotating shaft is provided with the 3rd rotating shaft brake gear, is fixed in the 3rd rotating shaft.
3. Pneumatic balance boosting manipulator for clamping cylinder according to claim 1, is characterized in that: described secondary shaft is provided with secondary shaft brake gear, is fixed on time cantilever.
4. Pneumatic balance boosting manipulator for clamping cylinder according to claim 2, is characterized in that: described secondary shaft
Be provided with secondary shaft brake gear, be fixed on time cantilever.
5. Pneumatic balance boosting manipulator for clamping cylinder according to claim 1, is characterized in that: the bottom of handle
Be provided with the upset 0 ° of button for controlling to overturn cylinder flip angle, upset 90 ° of buttons, and control clamping cylinder action loosen button, clamping button, brake button.
CN201110445211.2A 2011-12-28 2011-12-28 Pneumatic balance boosting manipulator for clamping cylinder Active CN102554912B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201110445211.2A CN102554912B (en) 2011-12-28 2011-12-28 Pneumatic balance boosting manipulator for clamping cylinder

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201110445211.2A CN102554912B (en) 2011-12-28 2011-12-28 Pneumatic balance boosting manipulator for clamping cylinder

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CN102554912B true CN102554912B (en) 2015-09-30

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CN102922361B (en) * 2012-10-25 2014-12-17 湖南泰嘉新材料科技股份有限公司 Received-material conveying device for saw-band gear milling machines
CN103042430A (en) * 2013-01-04 2013-04-17 江苏天宏自动化科技有限公司 Rotary shifting carrying gripper
CN103199658B (en) * 2013-02-28 2015-08-12 奇瑞汽车股份有限公司 The erecting device of electric machine casing
CN107030673A (en) * 2016-06-21 2017-08-11 上海勤琨信息科技有限公司 A kind of mechanical arm of specialized robot force mechanism
CN106239475B (en) * 2016-09-13 2018-07-31 渤海大学 Suspension type Pneumatic balance transfer manipulator
CN113172613B (en) * 2021-05-18 2021-12-10 内蒙古艾能智控科技有限公司 Spray pipe carrying manipulator

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DE10049149A1 (en) * 2000-10-04 2002-08-08 Smi Handling Systeme Gmbh Device for handling objects with auxiliary force has actuator motor driven by vacuum produced by vacuum generator in vacuum chamber that is connected to suction head
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CN201702777U (en) * 2010-02-27 2011-01-12 王明明 Cantilever type assistance mechanical arm
CN102126214A (en) * 2011-03-17 2011-07-20 清华大学 Manipulator for grabbing high-temperature steel plate spring

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Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5088176A (en) * 1990-03-16 1992-02-18 Fuji Jukogyo Kabushiki Kaisha Apparatus for aid in attaching work
EP0997426B1 (en) * 1998-09-17 2009-02-11 Toyota Jidosha Kabushiki Kaisha Work assist device
DE10049149A1 (en) * 2000-10-04 2002-08-08 Smi Handling Systeme Gmbh Device for handling objects with auxiliary force has actuator motor driven by vacuum produced by vacuum generator in vacuum chamber that is connected to suction head
FR2907440A1 (en) * 2006-10-19 2008-04-25 Ingenitec Sarl Load manipulator for displacing e.g. case, has control device carried by upper section of column, where upper, intermediate and lower sections are constituted by frames which are encased to one another and have C shaped transversal section
CN201389857Y (en) * 2009-03-28 2010-01-27 奇瑞汽车股份有限公司 Novel power assisting manipulator
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CN102126214A (en) * 2011-03-17 2011-07-20 清华大学 Manipulator for grabbing high-temperature steel plate spring

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Effective date of registration: 20201230

Address after: 868 Gangxing Road, Yangzhong Economic Development Zone, Zhenjiang City, Jiangsu Province

Patentee after: Honeycomb power system (Jiangsu) Co.,Ltd.

Address before: No.2266 Chaoyang South Street, Shijiazhuang, Hebei, 071000

Patentee before: Great Wall Motor Co.,Ltd.

TR01 Transfer of patent right