CN102717388A - Front manipulator and workpiece grabbing and overturning device - Google Patents
Front manipulator and workpiece grabbing and overturning device Download PDFInfo
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- CN102717388A CN102717388A CN2012102310944A CN201210231094A CN102717388A CN 102717388 A CN102717388 A CN 102717388A CN 2012102310944 A CN2012102310944 A CN 2012102310944A CN 201210231094 A CN201210231094 A CN 201210231094A CN 102717388 A CN102717388 A CN 102717388A
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Abstract
The invention provides a front manipulator which comprises a base ring, a grabbing cylinder fixedly arranged at the upper side of the base ring, a rotating shaft support arranged at the lower side of the base ring, a left drag bar, a right drag bar, a left reverse press rod and a right reverse press rod, wherein the grabbing cylinder comprises a piston rod connector which passes through the base ring; the initial ends of the left and right drag bars are hinged with the piston rod connector of the grabbing cylinder; the tail ends of the left and right drag bars are hinged with the middle of the left and right reverse press rods; the initial ends of the left and right reverse press rods are hinged at the lower end of the rotating shaft support; the tail ends of the left and right reverse press rods are provided with outward claws; and the claws at the tail ends of the left and right reverse press rods can press a workpiece from a direction reverse to the back of the workpiece, and is matched with a positive force applied to the workpiece through the base ring so as to axially and reliably locate the workpiece. The device provided by the invention can be used for solving the problem of non-clamping rapid grabbing and on-line overturning of large and special workpieces; the front manipulator is high in efficiency; the workpiece grabbing accuracy is stable; and the workpiece is not damaged.
Description
[technical field]
The present invention relates to mechanical field, refer in particular to the mechanical device of the manipulator of a kind of front grabbing workpiece and the workpiece that can grasp and overturn.
[background technology]
Motor is carried out in the Assembling Production process; Many times need be to the workpiece turning operation, the technology of grabbing workpiece has for example sucked type extraction and open-close type to grasp on the existing assembly line, and wherein the sucked type method for distilling is directed against the extraction of glass especially; The unable upset that is applied to motor; And open-close type grasps the extraction be applied to tire sometimes, and is simple in structure because of it, exert oneself for a short time, can not be applied to grip and upset in the motor assembling.
At present, prior motor body turnover technology is general to adopt operating process as shown in Figure 1, and it must leave workpiece under order assembly line operation (otherwise can damage assembly line), treat that workpiece turning operation purpose realizes after, again workpiece is hung back assembly line.The upset order that this technology realizes is as shown in Figure 1, and when needs become attitude for sleeping in workpiece by upright attitude, 1 at first draws four jiaos of workpiece with four suspension hooks, and the workpiece of slinging moves horizontally loop wheel machine, leaves workpiece under order assembly line and moves to ground surface platform; 2 shed two suspension hooks of workpiece one side, draw separately with other two suspension hooks to make workpiece tilt, and the continuation traction make workpiece near founding attitude; When horizontally tracting is ineffective; Be aided with the people and try hard to recommend workpiece top, let the workpiece center of gravity rotation direction side of tumbling, this moment can be with obvious impulsion; Put rope, fit until workpiece bottom and ground; 3 again with above the suspension hook traction workpiece, and workpiece is retracted assembly line.This technical disadvantages is that efficient is low, length consuming time; The workpiece that collides with easily during operation causes damage; Erect and have the center sudden change in the process of workpiece, workpiece rocks acutely during operation, makes crane gear overwork, and personal security is constituted a threat to.
Be used for also having a kind of clamp-type manipulator at present, two chopsticks roughly the same, the frictional force clamping workpiece that relies on huge normal pressure to derive from than the extracting of large-mass workpiece; Mostly the motion of its completion is that three-dimensional moves, and this Technology Need expends greater than a lot of clamping forces doubly of workpiece quality just can accomplish the clamping operation, wastes energy; Efficient is low; And can cause damage to workpiece, also be not easy upset, this plant bulk is also huge to can't bear.
Therefore need provide the grip turning device that a kind of efficient is high, workpiece damages less, handling safety is stable real for necessary.
[summary of the invention]
The object of the present invention is to provide the front manipulator that a kind of efficient is high, grabbing workpiece is accurately stable, do not damage workpiece.
Another object of the present invention is to provide the extracting turning device that a kind of efficient is high, handling safety is stable, do not damage workpiece.
For realizing the object of the invention, following technical scheme is provided:
The present invention provides a kind of front manipulator; It comprises basic ring, be fixed on the extracting cylinder of this basic ring upside, be located at the shaft seating of this basic ring downside, left draw bar and right draw bar, the reverse depression bar in a left side and right reverse depression bar; This extracting cylinder includes piston rod attachment, and this piston rod attachment passes basic ring; The top of this left and right draw bar is hinged with the piston rod attachment that grasps cylinder, and the terminal of this left and right draw bar is hinged with the middle part of this left and right reverse depression bar; The top of this left and right reverse depression bar is articulated in this shaft seating lower end; The end of this left and right reverse depression bar is provided with outside pawl and colludes.
The terminal pawl of this left and right reverse depression bar colludes and can oppositely fasten workpiece from back of work, matches with the positive force that puts on workpiece through basic ring, and workpiece is reliably located in axial.The invention solves containment type large-scale, special-shaped workpiece and grasp rapidly and an online upset difficult problem, this front manipulator efficient is high, grabbing workpiece is accurately stable, the workpiece damage is few.
In some embodiments, this basic ring is a vault type roof type, can avoid colliding between basic ring and the workpiece, for example avoids colliding with the Circular Winding of swelling.This basic ring is as the carrier is carrier that connects each other member.
In some embodiments, the top and the terminal of this left and right draw bar are respectively equipped with pan, and the top of this left and right draw bar is realized coaxial hinged through total axis of traction and the piston rod attachment that grasps cylinder, form three bar intersection states.The middle part of this left and right reverse depression bar also is provided with pan, and the terminal pan of this left and right draw bar is realized said hinged with the middle part pan of this left and right reverse depression bar through hinge.
This shaft seating lower end is provided with the bearing pin installing hole, and the top of this left and right reverse depression bar is articulated in the bearing pin installing hole of this shaft seating lower end through public bearing pin.
In some embodiments, this shaft seating is the chevron bearing.The bearing pin installing hole of this shaft seating lower end and the distance between the basic ring are greater than the move distance of piston rod attachment; The piston rod attachment of motion is in the overall process that its work is stretched vertically; Down with the bearing pin installing hole, between the last and basic ring, all remain enough safe distances.
This public bearing pin, total axis of traction and cylinder piston knock-off joint on same straight line, thereby make structure compactness especially.
In some embodiments, this left and right reverse depression bar square that is as the criterion, and/or this left and right draw bar square that is as the criterion.The left and right reverse depression bar of collimation dihedral satisfies the effective avoidance to " access way aperture " when it is drawn in, when opening, can realize the ideal from the front power source is transformed, and implements the brute force of hole, assembly back side shoulder is compressed.The left and right draw bar of collimation dihedral, because its turning design, in time transmitting tractive power can be evaded a bit interference of its material and its place ahead depression bar hinge etc. again.
Front of the present invention manipulator can be located workpiece at six-freedom degree entirely.
The present invention also provides a kind of grip turning device, and it comprises suspender, and comprises the above-mentioned front manipulator that is connected on the suspender; This suspender includes suspension rod; This suspension rod connects these basic ring both sides, and the junction is provided with hanging axis, can relatively rotate between this front manipulator and the suspension rod.With behind this front manipulator grabbing workpiece, sling through this suspension rod, can realize online upset.
In some embodiments; Also be provided with otic placode on the basic ring of said front manipulator; This suspension rod is fixedly connected said otic placode through the hanging axis seat, and this hanging axis is fixed in the hanging axis seat, and this suspension rod end is provided with the suspension ring hole; Can relatively rotate between hanging axis and the suspension ring hole, realize relatively rotating between front manipulator and the suspension rod through this structure.Relatively rotating also between front manipulator and the suspension rod can be adopted other implementations, and for example the relative hanging axis of basic ring is rotatable, and fixing between hanging axis and the suspension rod.
In some embodiments; This grip turning device also comprises switching mechanism; Said switching mechanism comprises the upset cylinder that is connected on the suspension rod, the flipping block that links to each other with the piston rod of upset cylinder; This flipping block flexibly connects through actuated peg with the piston-rod end of upset cylinder, and the otic placode on this flipping block and the basic ring is fixed.This switching mechanism can be realized the grabbing workpiece and the upset workpiece repertoire of grip turning device of the present invention.
The contrast prior art, the present invention has the following advantages:
The invention solves containment type large-scale, special-shaped workpiece and grasp and an online upset difficult problem safety, efficient rapidly; Through verification experimental verification, adopt apparatus of the present invention to grasp and the upset workpiece, in 90 ° of 3 seconds of time of pure upset, about 30 seconds of non-cutting time of operation before and after adding, improve 8 times than the efficient of off-line upset before this.This front manipulator efficient is high, grabbing workpiece is accurately stable, do not damage workpiece.
[description of drawings]
Fig. 1 is the operation chart of prior art upset workpiece;
Fig. 2 prepares the structural representation of grabbing workpiece for front of the present invention manipulator rounding state;
Fig. 3 is the structural representation of front of the present invention manipulator grabbing workpiece state;
Fig. 4 is the structural representation of grip turning device of the present invention;
Fig. 5 is the phantom of grip turning device of the present invention.
[specific embodiment]
See also Fig. 2 and Fig. 3; Front of the present invention manipulator comprises basic ring 6, is fixed on the extracting cylinder 7 of these basic ring 6 upsides, is located at shaft seating 9, left draw bar 4 and the right draw bar 10 of these basic ring 6 downsides, left reverse depression bar 2 and right reverse depression bar 14; This basic ring 6 is a vault type roof type; Can avoid colliding between basic ring and the workpiece, this extracting cylinder 7 includes piston rod attachment 8, and this piston rod attachment 8 passes basic ring 6.
The top of this left and right reverse depression bar 2,14 is articulated in this shaft seating 9 lower ends; The end of this left and right reverse depression bar 2,14 is provided with outside pawl and colludes.These left and right reverse depression bar 2,14 terminal pawls collude and can oppositely fasten workpiece from back of work, match with the positive force that puts on workpiece through basic ring, and workpiece is reliably located in axial.
The top of this left and right draw bar 4,10 and terminal are respectively equipped with pan (not indicating), and the top of this left and right draw bar is realized coaxial hinged through total axis of traction 5 and the piston rod attachment that grasps cylinder 78, form three bar intersection states.The middle part of this left and right reverse depression bar 2,14 also is provided with pan (not indicating), and the terminal pan of this left and right draw bar 4,10 is realized said hinged with the middle part pan of this left and right reverse depression bar 2,14 through hinge 3,13.
This shaft seating 9 is the chevron bearing, and this shaft seating lower end is provided with bearing pin installing hole (not indicating), and the top of this left and right reverse depression bar 2,14 is articulated in the bearing pin installing hole of these shaft seating 9 lower ends through public bearing pin 11.
Distance between the bearing pin installing hole of these shaft seating 9 lower ends and basic ring 6 domes is greater than the move distance of piston rod attachment 8; The piston rod attachment 8 of motion is in the overall process that its work is stretched vertically; Down with the bearing pin installing hole, between the last and basic ring 6, all remain enough safe distances.
This public bearing pin 11, total axis of traction 5 and cylinder piston knock-off joint 8 on same straight line, thereby make structure compact especially.
As shown in Figure 2, this left and right reverse depression bar 2,14 and this left and right draw bar 4,10 are the collimation dihedral.The left and right reverse depression bar of collimation dihedral satisfies the effective avoidance to " access way aperture " when it is drawn in, when opening, can realize the ideal from the front power source is transformed, and implements the brute force of hole, assembly back side shoulder is compressed.The left and right draw bar of collimation dihedral, because its turning design, in time transmitting tractive power can be evaded a bit interference of its material and its place ahead depression bar hinge etc. again.
The big seam cylindrical of this basic ring 6 gos deep in the support hole of workpiece, fits with workpiece front inner stopper, defines workpiece with respect to this front manipulator one-movement-freedom-degree along X, Y both direction in horizontal plane.
Please consult Fig. 4 and Fig. 5 in the lump, grip turning device of the present invention, it comprises suspender 20; And be connected the above-mentioned front manipulator on the suspender 20, and this suspender 20 includes suspension rod 21, and this suspension rod 21 connects basic ring 6 both sides of this front manipulator; Also be provided with otic placode 15 on the basic ring 6 of said front manipulator, this suspension rod 20 is fixedly connected said otic placode 15 through hanging axis seat 22, and the junction is provided with hanging axis 12; This hanging axis 12 is fixed in hanging axis seat 22; These suspension rod 20 ends are provided with suspension ring hole 23, can relatively rotate between hanging axis 12 and the suspension ring hole 23, realize relatively rotating between front manipulator and the suspension rod through this structure.With behind this front manipulator grabbing workpiece, sling through this suspension rod, can realize online upset.
This grip turning device also comprises switching mechanism; Said switching mechanism comprises the upset cylinder 19 that is connected on the suspension rod 20, the flipping block 16 that links to each other with the piston rod of upset cylinder; This flipping block 16 flexibly connects through actuated peg 17 with the piston-rod end of upset cylinder 19, and this flipping block 16 is fixing with the otic placode 15 on the basic ring 6.
Front of the present invention manipulator can be located workpiece at six-freedom degree entirely, is respectively three one-movement-freedom-degrees and three rotational freedoms:
Basic ring big seam cylindrical down gos deep in the support hole of workpiece, defines workpiece with respect to this front manipulator one-movement-freedom-degree along X, Y both direction in horizontal plane;
The pawl of left and right reverse depression bar colludes between plane and the big down seam of the basic ring plane (annular) the locking of workpiece motion s, define workpiece phase frontal manipulator along vertical Z to another free degree that moves;
Suitably, make workpiece can not rotate, one of this limit rotational freedom around the Z axle greater than the master cylinder thrust of workpiece quality;
With the big seam of basic ring plane is backing, and exerting pressure of left and right reverse depression bar held concurrently and prevented workpiece around the X axle, around the rotation of Y axle again effectively, and this limits two rotational freedoms again.
This switching mechanism can be realized the grabbing workpiece and the upset workpiece repertoire of grip turning device of the present invention; And turning workpiece is arbitrarily angled to rotate freely; For example can the workpiece of putting be held with facing upward, become upright attitude behind the half-twist and put down, the concrete operations principle is following:
1) grasp the inflation of cylinder 7 back cavities, short piston rod and piston rod attachment 8 stretch out;
2) total axis of traction 5 push away left and right draw bar 4,10 affect left and right reverse depression bar 2,14 simultaneously constant speed collude the tip distance less than support aperture (pawl is a passage) to center line deflection up to two pawls of left and right reverse depression bar 2,14;
3) loosen the hitching machinery hand gently, make basic ring 6 big seams and workpiece front inner stopper fit, at this moment, two pawls that drawn in collude the below that is positioned at back of work hole shoulder naturally;
4) grasp the inflation of cylinder 7 ante-chambers, piston rod attachment 8 is packed up;
5) piston rod attachment 8 affects reverse Strut Part 2,14 through left and right drawbar member 4,10 is simultaneously left and right, makes it towards away from centerline direction deflection; Collude in the plane blocked by back of work hole shoulder up to two pawls of left and right reverse depression bar 2,14; The piston rod attachment 8 that grasps cylinder 7 still has no small upward stroke not cover; So two pawls collude just under the support of basic ring 6, and workpiece has been accomplished reliable localization;
6) the front manipulator that will locate the workpiece 6DOF entirely by suspender 20 winch to and can rotate freely height;
7) the piston rod telescopic movable of upset cylinder 19; The flipping block 16 that connects through actuated peg 17 is rotated for the axle center around hanging axis 12, and 12 of the suspension ring hole 23 of suspension rod 21 lower ends and hanging axises are slidingly matched, and the actuated peg 17 on it is to the distance at hanging axis 12 centers; Radius is actuated in formation; Under the condition of upset cylinder 19 inflations, can facilitate whole manipulator to take the smooth rotation of workpiece, hanging axis seat 22, otic placode 15 and the basic ring 6 and the workpiece that are fixedly connected with flipping block 16 also rotate;
8) wait to rotate upset cylinder 19 will grip the light half-twist of front manipulator of workpiece after, put down in the upright attitude workpiece, front manipulator reverse operating above-mentioned steps unclamp, draw in action, the operator can easily draw this manipulator away from workpiece.
The above is merely preferred embodiment of the present invention, and protection scope of the present invention is not limited thereto, and anyly all belongs within the protection domain of the present invention based on the equivalent transformation on the technical scheme of the present invention.
Claims (10)
1. front manipulator is characterized in that it comprises:
Basic ring;
Grasp cylinder, include piston rod attachment, this extracting cylinder is fixed on this basic ring upside, and this piston rod attachment passes basic ring;
Be located at the shaft seating of this basic ring downside;
Left side draw bar and right draw bar;
Reverse depression bar in a left side and right reverse depression bar;
The top of this left and right draw bar is hinged with the piston rod attachment that grasps cylinder, and the terminal of this left and right draw bar is hinged with the middle part of this left and right reverse depression bar; The top of this left and right reverse depression bar is articulated in this shaft seating lower end; The end of this left and right reverse depression bar is provided with outside pawl and colludes.
2. front as claimed in claim 1 manipulator is characterized in that, this basic ring is a vault type roof type.
3. front as claimed in claim 2 manipulator; It is characterized in that; The top and the terminal of this left and right draw bar are respectively equipped with pan; The top of this left and right draw bar is realized coaxial hinged through total axis of traction and the piston rod attachment that grasps cylinder, the middle part of this left and right reverse depression bar also is provided with pan, and the terminal pan of this left and right draw bar is realized said hinged with the middle part pan of this left and right reverse depression bar through hinge.
4. front as claimed in claim 3 manipulator is characterized in that, this shaft seating is the chevron bearing.
5. front as claimed in claim 4 manipulator is characterized in that, this shaft seating lower end is provided with the bearing pin installing hole, and the top of this left and right reverse depression bar is articulated in the bearing pin installing hole of this shaft seating lower end through public bearing pin.
6. front as claimed in claim 5 manipulator is characterized in that, the bearing pin installing hole of this shaft seating lower end and the distance between the basic ring are greater than the move distance of piston rod attachment.
7. front as claimed in claim 1 manipulator is characterized in that, this left and right reverse depression bar square that is as the criterion, and/or this left and right draw bar square that is as the criterion.
8. grip turning device; It is characterized in that it comprises suspender, and comprise be connected on the suspender like each described front manipulator of claim 1 ~ 7; This suspender includes suspension rod; This suspension rod connects these basic ring both sides, and the junction is provided with hanging axis, can relatively rotate between this front manipulator and the suspension rod.
9. grip turning device as claimed in claim 8; It is characterized in that; Also be provided with otic placode on the basic ring of said front manipulator, this suspension rod is fixedly connected said otic placode through the hanging axis seat, and this hanging axis is fixed in the hanging axis seat; This suspension rod end is provided with the suspension ring hole, can relatively rotate between hanging axis and the suspension ring hole.
10. grip turning device as claimed in claim 9; It is characterized in that; It further comprises switching mechanism; Said switching mechanism comprises the upset cylinder that is connected on the suspension rod, the flipping block that links to each other with the piston rod of upset cylinder, and this flipping block flexibly connects through actuated peg with the piston-rod end of upset cylinder, and the otic placode on this flipping block and the basic ring is fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210231094.4A CN102717388B (en) | 2012-07-05 | 2012-07-05 | Front manipulator and workpiece grabbing and overturning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210231094.4A CN102717388B (en) | 2012-07-05 | 2012-07-05 | Front manipulator and workpiece grabbing and overturning device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102717388A true CN102717388A (en) | 2012-10-10 |
| CN102717388B CN102717388B (en) | 2015-06-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210231094.4A Active CN102717388B (en) | 2012-07-05 | 2012-07-05 | Front manipulator and workpiece grabbing and overturning device |
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| CN (1) | CN102717388B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109592560A (en) * | 2019-01-31 | 2019-04-09 | 河南省东风起重机械有限公司 | A kind of self-locking self-opening type special hanger for dam |
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| JPH09174479A (en) * | 1995-12-19 | 1997-07-08 | Juko Cho | Pinch detecting system utilizing pressure difference |
| US20050179273A1 (en) * | 2004-02-17 | 2005-08-18 | Yi-Chiang Yang | Pawl for move and catch machine |
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| 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 |
| CN202271151U (en) * | 2011-06-27 | 2012-06-13 | 成都飞机工业（集团）有限责任公司 | Dismounting device for sliding bearing |
| CN202781171U (en) * | 2012-07-05 | 2013-03-13 | 日立电梯电机（广州）有限公司 | Front mechanical hand and workpiece grabbing turnover device |
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2012
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Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09174479A (en) * | 1995-12-19 | 1997-07-08 | Juko Cho | Pinch detecting system utilizing pressure difference |
| US20050179273A1 (en) * | 2004-02-17 | 2005-08-18 | Yi-Chiang Yang | Pawl for move and catch machine |
| CN201405355Y (en) * | 2009-05-15 | 2010-02-17 | 路松 | Connecting rod-lever type pneumatic manipulator |
| CN201792335U (en) * | 2010-02-08 | 2011-04-13 | 大同铸石工业（集团）有限责任公司 | Stripping manipulator for cast stone production lines |
| CN201686403U (en) * | 2010-05-18 | 2010-12-29 | 巨力索具股份有限公司 | Bearing lifting tool |
| CN202271151U (en) * | 2011-06-27 | 2012-06-13 | 成都飞机工业（集团）有限责任公司 | Dismounting device for sliding bearing |
| 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 |
| CN202781171U (en) * | 2012-07-05 | 2013-03-13 | 日立电梯电机（广州）有限公司 | Front mechanical hand and workpiece grabbing turnover device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109592560A (en) * | 2019-01-31 | 2019-04-09 | 河南省东风起重机械有限公司 | A kind of self-locking self-opening type special hanger for dam |
| CN109592560B (en) * | 2019-01-31 | 2023-09-26 | 河南省东风起重机械有限公司 | Self-locking and self-opening type special lifting appliance for dam |
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| Publication number | Publication date |
|---|---|
| CN102717388B (en) | 2015-06-17 |
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