CN104400404A - Multifunctional assembly claw and method for assembling parts by using same - Google Patents
Multifunctional assembly claw and method for assembling parts by using same Download PDFInfo
- Publication number
- CN104400404A CN104400404A CN201410558264.9A CN201410558264A CN104400404A CN 104400404 A CN104400404 A CN 104400404A CN 201410558264 A CN201410558264 A CN 201410558264A CN 104400404 A CN104400404 A CN 104400404A
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- CN
- China
- Prior art keywords
- suction
- suction unit
- gas passage
- cylinder
- pawl
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
Abstract
The invention discloses a multifunctional assembly claw and a method for assembling parts by using the same. The multifunctional assembly claw comprises a mechanical arm connecting end, two air cylinders, two suction platforms, a U-shaped fork, metal suckers, rubber suction nozzles and the like; during work, the rubber suction nozzles of the second suction platform are positioned right above a workbench, the first air cylinder moves downwards to drive the second suction platform to descend, the second suction platform opens a vacuum generator in the descending process, and the rubber suction nozzles suck a base and move the base to an appointed position; two groups of metal suckers on the first suction platform suck two groups of annular sheets in different diameters through corresponding first and second air channels; after the annular sheets are taken and put, the U-shaped fork is used for gripping a screwing block to be gripped, a pressing strip is driven to press the screwing block and is loosened after the screwing block is put to an appointed assembly station, and the U-shaped fork is used for tightening the screwing block and stopping after the preset torque is reached, so that the assembly action is finished. The multifunctional assembly claw is convenient to detach and clean and is high in practicability.
Description
Technical field
The present invention relates to a kind of to the taking, putting of different peculiar part, the crawl assembling device of to twist etc., particularly relate to a kind of multifunctional assembling tennis partner pawl and the method for Assembly part thereof.
Background technology
For being applicable to different tasks in engineering, design and develop different manipulator paws, as simply parallel, V-type paw, complicated multi-finger clever paw etc.Wherein, parallel, V-type paw is applicable to the clamping task of outline rule part, and can only carry out a kind of action; Though multi-finger clever paw can clamp complex-curved workpiece and can carry out the operation of Various Complex, the distance that achievement in research is very large in addition apart from practical requirement.Therefore, on different engineer applied, specific task need be completed with different paws.Sometimes the more and function of the part kind related in engineering project, comprises the part (biggest size of element ratio is more than 100) that special geometric size differs greatly, such as annular flake, and also will have functions such as screwing block.
When assembling paw of the prior art completes the assembling action taking, putting and tighten of above-mentioned all kinds of part, such as at the annular flake for absorption different-diameter size, most of suction nozzle of existing assembling paw can only draw the part of a class size, for adapting to engineering duty needs, multichannel improvement need be carried out to suction nozzle, make it adapt to the absorption of different-diameter size parts.
Summary of the invention
The object of the invention is to the shortcoming and defect overcoming above-mentioned prior art, a kind of multifunctional assembling tennis partner pawl and the method for Assembly part thereof are provided, can capture and adsorb multiple difform part.
The present invention is achieved through the following technical solutions:
A kind of multifunctional assembling tennis partner pawl, this multifunctional assembling tennis partner pawl is provided with manipulator link 1, first cylinder 2, first suction unit 3, second suction unit 4, connecting plate 13, second cylinder 12, U-shaped fork 10, compression bar 11,4 metal suction ends 5,6,8,18 and 3 rubber suction nozzles 7,9,19;
Manipulator link 1 is connected with external equipment, and connecting plate 13 and the first suction unit 3 are respectively by the both sides be bolted in manipulator link 1;
First cylinder 2 is arranged on the first suction unit 3 side, and is connected with the second suction unit 4 bolt, the elevating movement of flexible drive second suction unit 4 of the first cylinder 2 above-below direction;
Bottom the first suction unit 3, be provided with the screwed hole that 4 are installed metal suction end, metal suction end 5,6,8,18 is threaded connection the bottom being fixed on the first suction unit 3;
Have the gas passage that two-way is mutually isolated in first suction unit 3, every road gas passage is communicated with two metal suction ends respectively;
Second suction unit 4 is provided with 3 stepped holes, is respectively used to installation 3 rubber suction nozzles 7,9,19; These 3 stepped hole inner chambers are provided with the gas passage that a road is communicated with 3 rubber suction nozzles 7,9,19; The stepped hole of these 3 rubber suction nozzles 7,9,19 communicates, and these 3 stepped holes are located on same radius distribution circle.The internal diameter interference fit of these 3 rubber suction nozzle external diameters and its installing hole.
Second cylinder 12 is connected on connecting plate 13, and the screw of compression bar 11 is connected on the second cylinder 12, and the telescopic band of the second cylinder 12 fore-and-aft direction moves the compression of compression bar 11 or unclamps;
U-shaped fork 10 is bolted the bottom locking onto connecting plate 13.
For installing the position, hole of 4 screwed holes of 4 metal suction ends bottom first suction unit 3, be symmetrically distributed on the distribution circle of the same center of circle, different radii.
These 4 screwed holes, every two relative screwed holes are one group, make the subchannel of corresponding two groups of metal suction ends be communicated with formation first gas passage and the second gas passage with these two groups of screwed holes respectively.
Seal washer 14,17,20,23 is provided with between metal suction end and the first suction unit.The absorption end of this metal suction end scribbles flexible glue 15,16,21,22.
Adopt the method for above-mentioned multifunctional assembling tennis partner pawl Assembly part as follows:
During work, the rubber suction nozzle 7,9,19 of the second suction unit 4 is in directly over workbench, first cylinder 2 moves downward the decline of drive second suction unit 4, in the decline process of the second suction unit 4, open the vacuum generator of multifunctional assembling tennis partner pawl, rubber suction nozzle 7,9,19 is drawn base and is moved to assigned address; Two groups of metal suction ends 5,6,8,18 in first suction unit 3 draw the annular flake of two groups of different-diameter sizes by first, second corresponding gas passage; After completing the picking and placeing of annular flake, the block (not shown) that screws utilizing U-shaped fork 10 to treat crawl captures, after crawl completes, the second cylinder 12 shrinks, drive compression bar 11 to compress and screw block, prevent from moving process, screwing block to offset, will screw block be placed to specify assembling position after, unclamp compression bar 11 and utilize U-shaped fork 10 to tighten screwing block, stop action after being tightened to preset torque, thus complete assembling action.
When needing the annular flake of absorption two groups of different-diameters, then the corresponding with it gas passage opened in first, second gas passage carries out adsorbing and closes another gas passage.The passage that second suction unit 4 only has a road to communicate, for drawing base, external valve kind equipment controls its conducting and closedown.
The present invention, relative to prior art, has following advantage and effect:
The complicated feeding that the present invention can complete multiple object and the fittage of tightening, manipulator link, connecting plate, the first suction unit, the second suction unit, metal suction end all adopt metal material to make, easy to process, with low cost.And convenient disassembly, be convenient to clean, practicality is stronger.
A kind of multifunctional assembling tennis partner of the present invention pawl, changes the paw of different structure, can complete the assembling action taking, putting and tighten of all kinds of part according to actual requirement.Relative to prior art, not only technological means is simple and easy to do, and improves operating efficiency, realizes Automated assembly.
Accompanying drawing explanation
Fig. 1 is the front elevational schematic of multifunctional assembling tennis partner pawl of the present invention
Fig. 2 is the elevational schematic view of Fig. 1
Fig. 3 be in Fig. 2 A-A to cut-away illustration
Fig. 4 be in Fig. 2 B-B to cut-away illustration
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is more specifically described in detail.
Embodiment
As shown in Figures 1 to 4.Multifunctional assembling tennis partner pawl of the present invention, is provided with manipulator link 1, first cylinder 2, first suction unit 3, second suction unit 4, connecting plate 13, second cylinder 12, U-shaped fork 10, compression bar 11,4 metal suction ends 5,6,8,18 and 3 rubber suction nozzles 7,9,19;
Manipulator link 1 is connected with external equipment, is usually installed on industrial robot, and connecting plate 13 and the first suction unit 3 are respectively by the both sides be bolted in manipulator link 1;
First cylinder 2 is arranged on the first suction unit 3 side, and is connected with the second suction unit 4 bolt, the elevating movement of flexible drive second suction unit 4 of the first cylinder 2 above-below direction;
Bottom the first suction unit 3, be provided with the screwed hole that 4 are installed metal suction end, metal suction end 5,6,8,18 is threaded connection the bottom being fixed on the first suction unit 3;
Have the gas passage that two-way is mutually isolated in first suction unit 3, every road gas passage is communicated with two relative metal suction ends respectively, and (that is, as shown in Figure 3, the first gas passage is one group by metal suction end 5,8; First gas passage is by metal suction end 6,18 1 groups)), for drawing the annular flake of two groups of different-diameter sizes;
Second suction unit 4 is provided with 3 stepped holes, is respectively used to installation 3 rubber suction nozzles 7,9,19; These 3 stepped hole inner chambers are provided with the gas passage that a road is communicated with 3 rubber suction nozzles 7,9,19;
Second cylinder 12 is connected on connecting plate 13, and the screw of compression bar 11 is connected on the second cylinder 12, and the telescopic band of the second cylinder 12 fore-and-aft direction moves the compression of compression bar 11 or unclamps;
U-shaped fork 10 is bolted the bottom locking onto connecting plate 13.
For installing the position, hole of 4 screwed holes of 4 metal suction ends bottom first suction unit 3, be symmetrically distributed on the distribution circle of the same center of circle, different radii.These 4 screwed holes, every two relative screwed holes are one group, make the subchannel of corresponding two groups of metal suction ends be communicated with formation first gas passage and the second gas passage with these two groups of screwed holes respectively, thus realize the absorption of two groups of different-diameter size annular flakes.
Seal washer 14,17,20,23 is respectively equipped with, for preventing gas leakage between metal suction end 5,6,8,18 and first suction unit.Scribble flexible glue 15,16,21,22 at the absorption end of metal suction end 5,6,8,18, prevent from scratching part in adsorption process.The concrete installation site of metal suction end also will determine in conjunction with by the diameter dimension of adsorbent parts, and during to ensure metal suction end adsorbent parts, the air entry of suction nozzle aims at the annulus region of adsorbent parts, in order to avoid gas leakage.
Second suction unit is for drawing the base (not shown) of special shape, and the stepped hole of these 3 rubber suction nozzles 7,9,19 communicates, and these 3 stepped holes are located on same radius distribution circle.The internal diameter interference fit of these 3 rubber suction nozzle external diameters and its installing hole.Certainly, the concrete installation site of rubber suction nozzle also will determine according to by the shape of base drawn, and by each rubber suction nozzle and base contacts upon adsorption, each suction nozzle only acts in the annular region of base, and avoid the lead to the hole site of annular region, prevent from losing efficacy because of gas leakage.
The method of multifunctional assembling tennis partner pawl Assembly part of the present invention realizes by following steps:
During work, the rubber suction nozzle 7,9,19 of the second suction unit 4 is in directly over workbench, first cylinder 2 moves downward the decline of drive second suction unit 4, in the decline process of the second suction unit 4, open the vacuum generator of multifunctional assembling tennis partner pawl, rubber suction nozzle 7,9,19 is drawn base and is moved to assigned address; Two groups of metal suction ends 5,6,8,18 in first suction unit 3 draw the annular flake of two groups of different-diameter sizes by first, second corresponding gas passage; After completing the picking and placeing of annular flake, the block (not shown) that screws utilizing U-shaped fork 10 to treat crawl captures, after crawl completes, the second cylinder 12 shrinks, drive compression bar 11 to compress and screw block, prevent from moving process, screwing block to offset, will screw block be placed to specify assembling position after, unclamp compression bar 11 and utilize U-shaped fork 10 to tighten screwing block, stop action after being tightened to preset torque, thus complete assembling action.
When needing the annular flake of absorption two groups of different-diameters, then the corresponding with it gas passage opened in first, second gas passage carries out adsorbing and closes another gas passage and (can be connected with the valve kind equipment of outside and control its conducting or closedown by external valve kind equipment.The two paths of the first gas passage, the second gas passage is mutually isolated).The passage that second suction unit 4 only has a road to communicate, for drawing base, external valve kind equipment controls its conducting and closedown.
First suction unit 3 and the second suction unit 4 are equipped with tapped through hole, and for being connected with outside air extractor joint, metal suction end also communicates with outside air extractor joint, thus form air flue.When drawing annular flake, the metal suction end in the first suction unit 3 to be aimed at by the annular surface of part that adsorbs and the suction hole diameter of metal suction end is less than by the ring width of adsorbent parts, avoid suction nozzle because vacuum breaker cannot come off in adsorbent parts or adsorption process.
As mentioned above, just the present invention can be realized preferably.
Embodiments of the present invention are not restricted to the described embodiments; other are any do not deviate from Spirit Essence of the present invention and principle under do change, modification, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (9)
1. a multifunctional assembling tennis partner pawl, it is characterized in that, be provided with manipulator link (1), the first cylinder (2), the first suction unit (3), the second suction unit (4), connecting plate (13), the second cylinder (12), U-shaped fork (10), compression bar (11), 4 metal suction ends (5,6,8,18) and 3 rubber suction nozzles (7,9,19);
Manipulator link (1) is connected with external equipment, and connecting plate (13) and the first suction unit (3) are respectively by the both sides be bolted in manipulator link (1);
First cylinder (2) is arranged on the first suction unit (3) side, and is connected with the second suction unit (4) bolt, the elevating movement of flexible drive second suction unit (4) of the first cylinder (2) above-below direction;
Be provided with in the first suction unit (3) bottom the screwed hole that 4 are installed metal suction end, metal suction end (5,6,8,18) is threaded connection the bottom being fixed on the first suction unit (3);
Have the gas passage that two-way is mutually isolated in first suction unit (3), every road gas passage is communicated with two relative metal suction ends respectively;
Second suction unit (4) is provided with 3 stepped holes, is respectively used to installation 3 rubber suction nozzles (7,9,19); These 3 stepped hole inner chambers are provided with the gas passage that a road is communicated with 3 rubber suction nozzles (7,9,19);
Second cylinder (12) is connected on connecting plate (13), the screw of compression bar (11) is connected on the second cylinder (12), and the telescopic band of the second cylinder (12) fore-and-aft direction moves the compression of compression bar (11) or unclamps;
U-shaped fork (10) is bolted the bottom locking onto connecting plate (13).
2. multifunctional assembling tennis partner pawl as claimed in claim 1, is characterized in that, the first suction unit (3) bottom, for installing the position, hole of 4 screwed holes of 4 metal suction ends, is symmetrically distributed on the distribution circle of the same center of circle, different radii.
3. multifunctional assembling tennis partner pawl as claimed in claim 2, it is characterized in that, these 4 screwed holes, every two relative screwed holes are one group, make the subchannel of corresponding two groups of metal suction ends be communicated with formation first gas passage and the second gas passage with these two groups of screwed holes respectively.
4. multifunctional assembling tennis partner pawl as claimed in claim 1, is characterized in that, be arranged on the stepped hole of 3 rubber suction nozzles (7,9,19) of the second suction unit, communicate in its hole, and these 3 installing holes are located on the distribution circle of same Radius.
5. multifunctional assembling tennis partner pawl according to any one of Claims 1-4, is characterized in that, is provided with seal washer (14,17,20,23) between metal suction end and the first suction unit.
6. multifunctional assembling tennis partner pawl as claimed in claim 5, it is characterized in that, the absorption end of metal suction end scribbles flexible glue (15,16,21,22).
7. multifunctional assembling tennis partner pawl as claimed in claim 5, is characterized in that, the internal diameter interference fit of these 3 rubber suction nozzle external diameters and its installing hole.
8. adopt the method for multifunctional assembling tennis partner pawl Assembly part according to any one of claim 1 to 7, it is characterized in that following steps:
During work, the rubber suction nozzle (7,9,19) of the second suction unit (4) is in directly over workbench, first cylinder (2) moves downward the decline of drive second suction unit (4), in the decline process of the second suction unit (4), open the vacuum generator of multifunctional assembling tennis partner pawl, rubber suction nozzle (7,9,19) is drawn base and is moved to assigned address; Two groups of metal suction ends (5,6,8,18) in first suction unit (3) draw the annular flake of two groups of different-diameter sizes by first, second corresponding gas passage; After completing the picking and placeing of annular flake, the block that screws utilizing U-shaped fork (10) to treat crawl captures, after crawl completes, the second cylinder (12) shrinks, drive compression bar (11) to compress and screw block, prevent from moving process, screwing block to offset, to screw block be placed to specify assembling position after, unclamp compression bar (11) and utilize U-shaped fork (10) to tighten screwing block, stop action after being tightened to preset torque, thus complete assembling action.
9. method according to claim 8, is characterized in that: when needing the annular flake of absorption two groups of different-diameters, then the corresponding with it gas passage opened in first, second gas passage carries out adsorbing and closes another gas passage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410558264.9A CN104400404B (en) | 2014-10-20 | A kind of multifunctional assembling tennis partner's pawl and the method for Assembly part thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410558264.9A CN104400404B (en) | 2014-10-20 | A kind of multifunctional assembling tennis partner's pawl and the method for Assembly part thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104400404A true CN104400404A (en) | 2015-03-11 |
| CN104400404B CN104400404B (en) | 2017-01-04 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104787578A (en) * | 2015-04-23 | 2015-07-22 | 苏州博众精工科技有限公司 | Mechanism capable of sucking and clamping product |
| CN104803192A (en) * | 2015-04-23 | 2015-07-29 | 苏州博众精工科技有限公司 | Finished product carrying mechanism |
| CN109108602A (en) * | 2018-09-19 | 2019-01-01 | 天王电子（深圳）有限公司 | The gauge stand of clock and watch and the automatic assembling machine of bottom cover and assembly method |
| WO2020056636A1 (en) * | 2018-09-19 | 2020-03-26 | 天王电子（深圳）有限公司 | Automatic assembling machine and assembling method for clock base and bottom cover of clock |
| CN111037270A (en) * | 2019-12-26 | 2020-04-21 | 华南理工大学 | Part self-adaptive slice automatic assembly equipment and assembly method |
| CN113134845A (en) * | 2020-01-19 | 2021-07-20 | 汉达精密电子(昆山)有限公司 | Product taking and placing mechanism |
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| CN203125525U (en) * | 2013-03-11 | 2013-08-14 | 北京机械工业自动化研究所 | Vehicle lithium battery assembly manipulator for horizontal multi-joint robot |
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| JPS606327A (en) * | 1983-06-20 | 1985-01-14 | Matsushita Electric Ind Co Ltd | Separation and supply apparatus for headed rod materials |
| US5284416A (en) * | 1990-09-26 | 1994-02-08 | Adolf Schmidt | Vacuum lifter |
| CN101043981A (en) * | 2004-10-20 | 2007-09-26 | 赛德尔参与公司 | Manipulator robot tools with ramps bearing equipment items for gripping objects |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104787578A (en) * | 2015-04-23 | 2015-07-22 | 苏州博众精工科技有限公司 | Mechanism capable of sucking and clamping product |
| CN104803192A (en) * | 2015-04-23 | 2015-07-29 | 苏州博众精工科技有限公司 | Finished product carrying mechanism |
| CN109108602A (en) * | 2018-09-19 | 2019-01-01 | 天王电子（深圳）有限公司 | The gauge stand of clock and watch and the automatic assembling machine of bottom cover and assembly method |
| CN109108602B (en) * | 2018-09-19 | 2019-12-27 | 天王电子（深圳）有限公司 | Automatic assembling machine and assembling method for watch base and bottom cover of clock |
| WO2020056636A1 (en) * | 2018-09-19 | 2020-03-26 | 天王电子（深圳）有限公司 | Automatic assembling machine and assembling method for clock base and bottom cover of clock |
| CN111037270A (en) * | 2019-12-26 | 2020-04-21 | 华南理工大学 | Part self-adaptive slice automatic assembly equipment and assembly method |
| CN113134845A (en) * | 2020-01-19 | 2021-07-20 | 汉达精密电子(昆山)有限公司 | Product taking and placing mechanism |
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