CN102653069A - Plate-type part exchanging mechanical hand - Google Patents
Plate-type part exchanging mechanical hand Download PDFInfo
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- CN102653069A CN102653069A CN2012101535781A CN201210153578A CN102653069A CN 102653069 A CN102653069 A CN 102653069A CN 2012101535781 A CN2012101535781 A CN 2012101535781A CN 201210153578 A CN201210153578 A CN 201210153578A CN 102653069 A CN102653069 A CN 102653069A
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Abstract
The invention provides a plate-type part exchanging mechanical hand. The plate-type part exchanging mechanical hand is characterized by comprising a fixed triangular block (1), a rotary air cylinder (2), a rotary triangular block (3) and a grasping assembly (4), wherein the rotary air cylinder (2) is mounted on the fixed triangular block (1); the rotary triangular block (3) is mounted on a rotary head of the rotary air cylinder (2); and the rotary triangular block (3) is provided with the grasping assembly (4). According to the invention, a plate-type part is grasped by a manner of combining a rigid structure with an elastic structure; automatic material feeding and discharging of the plate-type part in the conventional plate-type part machining process can be realized and the axial high-precision positioning of the plate-type part is guaranteed; and the whole device is simple in structure and is easy to operate.
Description
Technical field
The invention belongs to the Machining Technology field, specifically just relate to a kind of automated production process processing disk-like accessory manipulator that changes the outfit that is used for.
Background technology
Along with industrial expansion; Automation equipment has been widely used in the various production fields; A kind of some holding function that can imitate staff and arm is arranged in the automated production process, be called manipulator in order to the automatic pilot that grasps, carries object or operation tool by fixed routine, manipulator is the industrial robot that occurs the earliest; Also be the modern machines people who occurs the earliest; It can replace people's mechanization and the automation of heavy work to realize producing, and can under hostile environment, operate with the protection personal safety, thereby be widely used in departments such as machine-building, metallurgy, electronics, light industry and atomic energy.Manipulator mainly is made up of hand, motion and control system three parts.Hand is the parts that are used for grasping workpiece (or instrument), according to the shape that is grasped object, size, weight, material and job requirements multiple version is arranged, like clamp-type, holding type and absorbent-type etc.Motion makes hand accomplish various rotations (swing), move or compound motion is realized specified action, changes the position and the posture that are grasped object, and self-movement modes such as the up-down of motion, flexible, rotation are called the free degree of manipulator.In order to grasp the object of optional position and orientation in the space, 6 frees degree need be arranged, the free degree is the key parameter of manipulator design; The free degree is many more, and the flexibility of manipulator is big more, and versatility is wide more; Its structure is also more complicated, and general special manipulator has 2～3 frees degree.The control system is through the control to the motor of each free degree of manipulator, accomplishes specific action, and the receiving sensor feedack forms stable closed-loop control simultaneously.The core of control system normally is made up of microcontroller chips such as single-chip microcomputer or DSP; Through its programming is realized the function of wanting, the great advantage of manipulator is can be according to predefined movement locus motion, and loading and unloading, the part that is widely used in lathe, production line overturns, part changes preface and anchor clamps change the outfit etc.; The main effect of existing robot in industry and other fields is the carrying part; In automated production, much lower ordinary robot's extracting positioning accuracy requires with respect to the hi-Fix of part in process, directly guarantee that through robot the accurate location of part is difficult to reach; Especially for disk-like accessory; Owing to grasp the difficulty of free degree restriction, the position error that changes the outfit of disk-like accessory is bigger at present, is difficult to once reach the machining accuracy positioning requirements.
Summary of the invention
The purpose of this invention is to provide a kind of disk-like accessory manipulator that changes the outfit, it can realize the automatic loading/unloading of disk-like accessory in the disk-like accessory process, and has guaranteed the high precision location that disk-like accessory is axial, and whole apparatus structure is simple, easy operating.
Technical scheme
In order to realize above-mentioned technical purpose, the present invention designs a kind of disk-like accessory manipulator that changes the outfit, and it is characterized in that: it comprises fixed triangle piece, rotary cylinder, rotary triangle piece and grabbing assembly.
Said rotary cylinder is installed on the fixed triangle piece, and the rotary triangle piece is installed on the swivel head of rotary cylinder, on the rotary triangle piece grabbing assembly is installed.
Said grabbing assembly comprises three points centering gas pawl, and paw is installed on the clamp jaw of three points centering gas pawl, and location-plate is fixed on the head of three points centering gas pawl; Guide post passes the through hole on the location-plate, can in through hole, slide, and the guide post right-hand member is positioned at the location-plate through hole has boss outward; Left end fixedly is equipped with push pedal; The compression spring housing is on guide post, and between push pedal and location-plate, the compression spring is in compressive state.
Said fixed triangle piece is an isosceles right triangle that interior angle is, said rotary cylinder is installed on the hypotenuse face of fixed triangle piece.
Said rotary triangle piece is an isosceles right triangle that interior angle is, the inclined-plane of rotary triangle piece is installed on the swivel head of rotary cylinder, on the right angle face of rotary triangle piece grabbing assembly is installed.
Said rotary cylinder can rotate 180 ° along self axis.
Beneficial effect
The present invention grasps disk-like accessory through the mode that rigid structure and elastic construction combine; The automatic loading/unloading of disk-like accessory in the existing disk-like accessory process; And having guaranteed the high precision location that disk-like accessory is axial, whole apparatus structure is simple, easy operating.
Description of drawings
Accompanying drawing 1 is a front view of the present invention.
Accompanying drawing 2 is left views of the present invention.
Accompanying drawing 3 is grabbing assembly structural representations of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment, the present invention is further specified.
As attach shown in Fig. 1 and 2, a kind of disk-like accessory manipulator that changes the outfit, wherein, it comprises fixed triangle piece 1, rotary cylinder 2, rotary triangle piece 3 and grabbing assembly 4;
Said rotary cylinder 2 is installed on the fixed triangle piece 1, and rotary triangle piece 3 is installed on the swivel head of rotary cylinder 2, and grabbing assembly 4 is installed on the rotary triangle piece 3;
Said grabbing assembly 4 comprises three points centering gas pawl 401; Paw 402 is installed on the clamp jaw 401a of three points centering gas pawl 401, and location-plate 403 is fixed on the head of three points centering gas pawl 401, and guide post 404 passes the through hole on the location-plate 403; Can in through hole, slide; Guide post 404 right-hand members are positioned at location-plate 403 through holes has boss 404a outward, and left end fixedly is equipped with push pedal 405, and compression spring 406 is enclosed within on the guide post 404; Between push pedal 405 and location-plate 403, compression spring 406 is in compressive state.
Said fixed triangle piece 1 is that an interior angle is 45 ° a isosceles right triangle, and said rotary cylinder 2 is installed on the hypotenuse face of fixed triangle piece 1.
Said rotary triangle piece 3 is that an interior angle is 45 ° a isosceles right triangle, and the inclined-plane of rotary triangle piece 3 is installed on the swivel head of rotary cylinder 2, and grabbing assembly 4 is installed on the right angle face of rotary triangle piece 3.
Said rotary cylinder 2 can rotate 180 ° along self axis.
During work, the disk-like accessory of the present invention manipulator that changes the outfit grasped part blank before this, and process was divided into for two steps: the first step is that the push pedal 405 of manipulator three points centering gas pawl 401 vertically compresses part blank, guaranteed that compression spring 406 decrements increase 1mm; Second goes on foot then, and three points centering gas pawl 401 clamps part blank.Then carry out changing the outfit of part, the three points centering gas pawl 401 ' of robot utilization horizontal direction grasps manufactured finished part on the machine chuck, and robot retreats to the safety zone, 3 rotations of rotary triangle piece, the position of change parts finished product and part blank.At last, robot delivers to the machine chuck center to part blank, and the distance of the end face of assurance part blank and machine chuck location end face is between 0.3～0.6mm; The three points centering gas pawl of horizontal direction unclamps, part blank the compression spring 406 ', effect under by push pedal 405 '; Be pressed on the location end face of machine chuck; Machine chuck clamps part blank, and robot withdraws from, and completion changes the outfit.
The present invention grasps disk-like accessory through the mode that rigid structure and elastic construction combine; The automatic loading/unloading of disk-like accessory in the existing disk-like accessory process; And having guaranteed the high precision location that disk-like accessory is axial, whole apparatus structure is simple, easy operating.
Claims (4)
1. disk-like accessory manipulator that changes the outfit, it is characterized in that: it comprises fixed triangle piece (1), rotary cylinder (2), rotary triangle piece (3) and grabbing assembly (4);
Said rotary cylinder (2) is installed on the fixed triangle piece (1), and rotary triangle piece (3) is installed on the swivel head of rotary cylinder (2), and grabbing assembly (4) is installed on the rotary triangle piece (3);
Said grabbing assembly (4) comprises three points centering gas pawl (401); Paw (402) is installed on the clamp jaw (401a) of three points centering gas pawl (401), and location-plate (403) is fixed on the head of three points centering gas pawl (401), and guide post (404) passes the through hole on the location-plate (403); Can in through hole, slide; Guide post (404) right-hand member is positioned at location-plate (403) through hole has boss (404a) outward, and left end fixedly is equipped with push pedal (405), and compression spring (406) is enclosed within on the guide post (404); Be positioned between push pedal (405) and the location-plate (403), compression spring (406) is in compressive state.
2. a kind of disk-like accessory as claimed in claim 1 manipulator that changes the outfit, it is characterized in that: said fixed triangle piece (1) is that an interior angle is 45 ° a isosceles right triangle, and said rotary cylinder (2) is installed on the hypotenuse face of fixed triangle piece (1).
3. a kind of disk-like accessory as claimed in claim 1 manipulator that changes the outfit; It is characterized in that: said rotary triangle piece (3) is that an interior angle is 45 ° a isosceles right triangle; The inclined-plane of rotary triangle piece (3) is installed on the swivel head of rotary cylinder (2), and grabbing assembly (4) is installed on the right angle face of rotary triangle piece (3).
4. a kind of disk-like accessory as claimed in claim 1 manipulator that changes the outfit is characterized in that: said rotary cylinder (2) can rotate 180 ° along self axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101535781A CN102653069A (en) | 2012-05-15 | 2012-05-15 | Plate-type part exchanging mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101535781A CN102653069A (en) | 2012-05-15 | 2012-05-15 | Plate-type part exchanging mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102653069A true CN102653069A (en) | 2012-09-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012101535781A Pending CN102653069A (en) | 2012-05-15 | 2012-05-15 | Plate-type part exchanging mechanical hand |
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| Country | Link |
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| CN (1) | CN102653069A (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102941484A (en) * | 2012-11-29 | 2013-02-27 | 山东滨州渤海活塞股份有限公司 | Automatic clamping and positioning mechanism and method for processing top surface and excircle of piston |
| CN103240718A (en) * | 2013-05-08 | 2013-08-14 | 广西大学 | Inclined adjustable worktable with synchronous loading and unloading function |
| CN103801976A (en) * | 2014-02-11 | 2014-05-21 | 喻铁军 | Automatic carrying clamp hand assembly |
| CN103802121A (en) * | 2014-02-11 | 2014-05-21 | 喻铁军 | Positioning structure of clamp assembly |
| CN104015089A (en) * | 2014-06-17 | 2014-09-03 | 雍自玲 | Clamp for automatically clamping and positioning flange |
| CN104229489A (en) * | 2014-09-01 | 2014-12-24 | 宁波宫铁精机有限公司 | Stacking manipulator |
| CN104227030A (en) * | 2014-09-01 | 2014-12-24 | 宁波宫铁精机有限公司 | Rotary pneumatic gripper device |
| CN104440361A (en) * | 2014-12-05 | 2015-03-25 | 重庆朗正科技有限公司 | Mechanical hand grip |
| CN105563218A (en) * | 2015-12-10 | 2016-05-11 | 宁波大正工业机器人技术有限公司 | Automatic feeding and dischargingoperation equipment of machine tool |
| CN105855981A (en) * | 2015-01-18 | 2016-08-17 | 杭州三沃机器人有限公司 | Manipulator floating grabbing claw |
| CN107097096A (en) * | 2017-06-24 | 2017-08-29 | 安徽海之纳科技有限公司 | A kind of discoid machine components special intelligent manipulator |
| CN108621178A (en) * | 2018-04-25 | 2018-10-09 | 东莞市翔实信息科技有限公司 | Clamping device, mechanical paw and the method for carrying implemented by the mechanical paw |
| CN109048957A (en) * | 2018-08-30 | 2018-12-21 | 江苏新光数控技术有限公司 | A kind of manipulator has with pawl |
| CN111468977A (en) * | 2019-01-24 | 2020-07-31 | 鹤壁裕展精密科技有限公司 | Carrying mechanism in machining machine and numerical control machine tool |
| CN112571171A (en) * | 2020-12-09 | 2021-03-30 | 马鞍山市恒永利机械科技有限公司 | Machining method of three-pin shaft type universal joint |
| CN112638584A (en) * | 2018-09-04 | 2021-04-09 | 施耐德两合公司 | Treatment system for treating spectacle lenses |
| CN112621240A (en) * | 2020-12-09 | 2021-04-09 | 浙江博威汽车空调有限公司 | Automatic bottom sealing machine for liquid storage drying bottle of automobile air conditioner and machining method of automatic bottom sealing machine |
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| GB2283189A (en) * | 1993-10-13 | 1995-05-03 | Smc Corp | Three fingered chuck |
| CN201950516U (en) * | 2010-12-20 | 2011-08-31 | 大连四达高技术发展有限公司 | Rotation interchangeable clamp |
| CN102357886A (en) * | 2011-08-31 | 2012-02-22 | 日立电梯电机（广州）有限公司 | Manipulator and workpiece grabbing and turning device |
| CN202878011U (en) * | 2012-05-15 | 2013-04-17 | 马丁路德机器人（上海）有限公司 | Disc type part reloading manipulator |
-
2012
- 2012-05-15 CN CN2012101535781A patent/CN102653069A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2283189A (en) * | 1993-10-13 | 1995-05-03 | Smc Corp | Three fingered chuck |
| CN201950516U (en) * | 2010-12-20 | 2011-08-31 | 大连四达高技术发展有限公司 | Rotation interchangeable clamp |
| CN102357886A (en) * | 2011-08-31 | 2012-02-22 | 日立电梯电机（广州）有限公司 | Manipulator and workpiece grabbing and turning device |
| CN202878011U (en) * | 2012-05-15 | 2013-04-17 | 马丁路德机器人（上海）有限公司 | Disc type part reloading manipulator |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102941484A (en) * | 2012-11-29 | 2013-02-27 | 山东滨州渤海活塞股份有限公司 | Automatic clamping and positioning mechanism and method for processing top surface and excircle of piston |
| CN103240718B (en) * | 2013-05-08 | 2015-10-28 | 广西大学 | A kind of tilt adjustable formula workbench with synchronous Multi Loading and Unloading Functions |
| CN103240718A (en) * | 2013-05-08 | 2013-08-14 | 广西大学 | Inclined adjustable worktable with synchronous loading and unloading function |
| CN103801976A (en) * | 2014-02-11 | 2014-05-21 | 喻铁军 | Automatic carrying clamp hand assembly |
| CN103802121A (en) * | 2014-02-11 | 2014-05-21 | 喻铁军 | Positioning structure of clamp assembly |
| CN104015089A (en) * | 2014-06-17 | 2014-09-03 | 雍自玲 | Clamp for automatically clamping and positioning flange |
| CN104227030A (en) * | 2014-09-01 | 2014-12-24 | 宁波宫铁精机有限公司 | Rotary pneumatic gripper device |
| CN104229489B (en) * | 2014-09-01 | 2016-06-08 | 宁波宫铁智能科技有限公司 | A kind of buttress code mechanical hand |
| CN104229489A (en) * | 2014-09-01 | 2014-12-24 | 宁波宫铁精机有限公司 | Stacking manipulator |
| CN104440361A (en) * | 2014-12-05 | 2015-03-25 | 重庆朗正科技有限公司 | Mechanical hand grip |
| CN105855981B (en) * | 2015-01-18 | 2018-09-25 | 杭州三奥智能科技有限公司 | A kind of manipulator floating graping chaw |
| CN105855981A (en) * | 2015-01-18 | 2016-08-17 | 杭州三沃机器人有限公司 | Manipulator floating grabbing claw |
| CN105563218A (en) * | 2015-12-10 | 2016-05-11 | 宁波大正工业机器人技术有限公司 | Automatic feeding and dischargingoperation equipment of machine tool |
| CN107097096A (en) * | 2017-06-24 | 2017-08-29 | 安徽海之纳科技有限公司 | A kind of discoid machine components special intelligent manipulator |
| CN107097096B (en) * | 2017-06-24 | 2018-11-13 | 曹桂宝 | A kind of discoid machine components special intelligent manipulator |
| CN108621178A (en) * | 2018-04-25 | 2018-10-09 | 东莞市翔实信息科技有限公司 | Clamping device, mechanical paw and the method for carrying implemented by the mechanical paw |
| CN109048957A (en) * | 2018-08-30 | 2018-12-21 | 江苏新光数控技术有限公司 | A kind of manipulator has with pawl |
| CN109048957B (en) * | 2018-08-30 | 2023-10-31 | 江苏新光数控技术有限公司 | Claw for mechanical arm |
| CN112638584A (en) * | 2018-09-04 | 2021-04-09 | 施耐德两合公司 | Treatment system for treating spectacle lenses |
| CN111468977A (en) * | 2019-01-24 | 2020-07-31 | 鹤壁裕展精密科技有限公司 | Carrying mechanism in machining machine and numerical control machine tool |
| CN111468977B (en) * | 2019-01-24 | 2021-08-31 | 鹤壁裕展精密科技有限公司 | Carrying mechanism in machining machine and numerical control machine tool |
| CN112571171A (en) * | 2020-12-09 | 2021-03-30 | 马鞍山市恒永利机械科技有限公司 | Machining method of three-pin shaft type universal joint |
| CN112621240A (en) * | 2020-12-09 | 2021-04-09 | 浙江博威汽车空调有限公司 | Automatic bottom sealing machine for liquid storage drying bottle of automobile air conditioner and machining method of automatic bottom sealing machine |
| CN112621240B (en) * | 2020-12-09 | 2021-12-10 | 浙江博威汽车空调有限公司 | Automatic bottom sealing machine for liquid storage drying bottle of automobile air conditioner and machining method of automatic bottom sealing machine |
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Application publication date: 20120905 |