CN104440885A - Grabbing pneumatic connecting rod arm with double-paw structure - Google Patents
Grabbing pneumatic connecting rod arm with double-paw structure Download PDFInfo
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- CN104440885A CN104440885A CN201410730621.5A CN201410730621A CN104440885A CN 104440885 A CN104440885 A CN 104440885A CN 201410730621 A CN201410730621 A CN 201410730621A CN 104440885 A CN104440885 A CN 104440885A
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Abstract
The invention relates to a grabbing pneumatic connecting rod arm with a double-paw structure. The grabbing pneumatic connecting rod arm comprises a paw A, a paw B, a shift cylinder seat, a shift cylinder, a mounting plate and the like. The paws A and B have the same structure, and each paw consists of a scissor type connecting rod mechanism and a cylinder bracket. The tail of the shift cylinder and the connecting hole end of the mounting plate are fixedly connected to the same plane end of the cylinder seat, the mounting plate is arranged below the shift cylinder, a single lug hole seat of the mounting plate is hinged to a second connecting seat lug of the paw A through a pin shaft, a first connecting seat lug of the paw A is hinged to a second connecting seat lug of the paw B, and the second connecting seat lug of the paw B is hinged to an extension rod of the shift cylinder through a pin shaft. The telescopic motion of the extension rod of the paw shift cylinder drives the two paws to shift, so that workpieces can be alternately charged or discharged. The grabbing pneumatic connecting rod arm is widely applicable to an automatic part processing production line. The mechanical paws are simple in structure, and a cylinder serves as a driving device, so that the cost is reduced on the premise that the operation can be realized. By using the grabbing pneumatic connecting rod arm, the production time can be shortened, and the production efficiency is improved.
Description
Technical field
The present invention relates to a kind of Pneumatic connecting rod arm, specifically a kind of crawl Pneumatic connecting rod arm with both hands pawl structure.
Background technology
At present, the many parts of domestic mechanical automobile industry are installed and produced is all complete at Automatic Production Line, but the demand of automation but proposes many requirements to automation equipment.Such as in the past the part that needs to carry out thermoforming processing such as automobile stabilizer bar owing to being under the environment of the not high high temperature of the degree of automation, the all multiple operation being worked into quenching from coming out of the stove to are all by artificially having clamped, not only efficiency is low but also had a strong impact on the quality of product because time of the cooling naturally of part is long, and the unfavorable factor of hot environment on human body also exists and directly or indirectly affect for a long time.Although domestic automobile industry improves to some extent in the process automation processing of thermoforming processing automobile stabiliser bar, but robot automation's equipment that automatic production uses singlehanded pawl is mostly processed in general thermoforming, and use singlehanded pawl once only can realize picking and placeing of a part, such as single captures a part, place processing, and the process of the wait of singlehanded pawl is also just meant to be in the process of processing parts, placement is taken off after machining, again next part is captured, so the beat of processing is extended, affect the efficiency of production, its result is just the increase in the production cost of enterprise.
Summary of the invention
For the deficiency that above-mentioned current condition exists, the invention provides a kind of crawl Pneumatic connecting rod arm with both hands pawl structure being adapted to high-temperature operation.
Object of the present invention is achieved by the following technical programs:
There is a crawl Pneumatic connecting rod arm for both hands pawl structure, comprise A paw, B paw, transposition cylinder block 1, transposition cylinder 2 and installing plate 3; A paw is made up of scissor linkage and air cylinder support.
Scissor linkage comprises that left hand refers to connecting rod, the right hand refers to connecting rod 9, left hand refers to refer to 10 with the right hand.Air cylinder support comprises cylinder 7, internal fixation plate 503, outer stationary plates 504 and A paw cylinder block 5.
A paw cylinder block 5 is wedge shape, and in its beveled end, forward and backward place is provided with A paw Connection Block ear 1 and A paw Connection Block ear 2 502.A paw Connection Block ear 1 and A paw Connection Block ear 2 502 are Double-ear-hole seat.A paw Connection Block ear 1 axis hole center is 60 ° with the angle of line relative A paw cylinder block 5 planar ends at A paw Connection Block ear 2 502 axis hole center.The afterbody of cylinder 7 is fixedly connected on the planar ends of A paw cylinder block 5.Inside and outside fixed head is the both sides that strip is separately positioned on cylinder 7, and its tail end is fixedly connected on the planar ends of A paw cylinder block 5, and its termination is hinged with the waist of left and right finger by round bar 505.The tail end head of left and right finger is hinged on one end of left and right finger connecting rod respectively, and the other end concurrent of left and right finger connecting rod is hinged on gas bar extension bar 8.The leading portion of left and right finger overhangs out outside air cylinder support, and the inner side edge of left and right finger leading portion is all fixedly connected high temperature resistant holddown groove 11.
Mechanism, the geomery of B paw and A paw are identical with connected mode.In the beveled end of B paw cylinder block 6, forward and backward place is provided with B paw Connection Block ear 1 and B paw Connection Block ear 2 602.B paw Connection Block ear 1 axis hole center is 60 ° with the angle of line relative B paw cylinder block 6 planar ends at B paw Connection Block ear 2 602 axis hole center.B paw cylinder block 6 and the unique difference of A paw cylinder block 5 are B paw Connection Block ears 1 is monaural hole seat, and remainder is identical with A paw cylinder block 5.
Installing plate 3 is bar shape, and its one end is provided with monaural hole seat, and its another termination is provided with connecting hole.The afterbody of transposition cylinder 2, the connection nose end of installing plate 3 are fixedly connected on transposition cylinder block 1 same plane end.Installing plate 3 is arranged on the below of transposition cylinder 2, and parallel with transposition cylinder extension bar 4.
Monaural hole seat and the A paw Connection Block ear 2 502 of installing plate 3 pass through together with hinge, A paw Connection Block ear 1 and B paw Connection Block ear 2 601 pass through together with hinge, and B paw Connection Block ear 2 602 passes through together with hinge with transposition cylinder extension bar 4.The distance at A paw Connection Block ear 1 axis hole center and A paw Connection Block ear 2 502 axis hole center is X, the distance at B paw Connection Block ear 1 axis hole center and B paw Connection Block ear 2 602 axis hole center is Y, the stroke of transposition cylinder extension bar 4 is Z, and Z=X=Y.
Advantageous Effects of the present invention is embodied in following several aspect:
1. mechanical paw of the present invention adopts parallelogram linkage, manipulator clamping end and power set and cylinder distant, system is subject to part temperatures involved little, can apply and capture with hot parts;
2. mechanical paw of the present invention has both hands pawl, can fetch another part, place undressed part taking off the part processed simultaneously, saved the time, improve productive temp and efficiency after machining in the process of part processing;
3. mechanical paw of the present invention can control the rotation of two paws by the rectilinear motion of cylinder, and without the need to motor or calibration encoder, directly can ensure that paw to rotate after certain distance workpiece can horizontal positioned, reduces the difficulty of control;
4. mechanical paw structure of the present invention is simple, adopts cylinder as drive unit, can realize reducing cost under the prerequisite operated.
Accompanying drawing explanation
Fig. 1 is the three-dimensional profile view of structure of the present invention.
Fig. 2 is the three-dimensional profile view of A paw.
Fig. 3 is the three-dimensional profile figure of B paw.
Fig. 4 is view when processing parts takes off.
View when Fig. 5 is the placement of undressed part.
Sequence number in figure, 1 transposition cylinder block, 2 transposition cylinders, 3 installing plates, 4 transposition cylinder extension bars, 5 A paw cylinder blocks, 501 A paw Connection Block ear one, 502 A paw Connection Block ear two, 503 internal fixation plates, 504 outer stationary plates, 505 round bars, 6 B paw cylinder blocks, 601 B paw Connection Block ear one, 602 B paw Connection Block ear two, 7 cylinders, 8 gas bar extension bars, 9 right hands refer to connecting rod, 10 right hands refer to, 11 high temperature resistant holddown grooves, 50 processing parts, 60 undressed parts.
Below in conjunction with accompanying drawing, by embodiment, the present invention is further described.
See Fig. 1.There is a crawl Pneumatic connecting rod arm for both hands pawl structure, comprise A paw, B paw, transposition cylinder block 1, transposition cylinder 2 and installing plate 3.
See Fig. 2.A paw is made up of scissor linkage and air cylinder support.Scissor linkage comprises that left hand refers to connecting rod, the right hand refers to connecting rod 9, left hand refers to refer to 10 with the right hand.Air cylinder support comprises cylinder 7, internal fixation plate 503, outer stationary plates 504 and A paw cylinder block 5.
A paw cylinder block 5 is wedge shape, and in its beveled end, forward and backward place is provided with A paw Connection Block ear 1 and A paw Connection Block ear 2 502.A paw Connection Block ear 1 and A paw Connection Block ear 2 502 are Double-ear-hole seat.A paw Connection Block ear 1 axis hole center is 60 ° with the angle of line relative A paw cylinder block 5 planar ends at A paw Connection Block ear 2 502 axis hole center.The afterbody of cylinder 7 is fixedly connected on the planar ends of A paw cylinder block 5.Internal fixation plate 503, outer stationary plates 504 are separately positioned on the both sides of cylinder 7 for strip, and its tail end is fixedly connected on the planar ends of A paw cylinder block 5, and its termination is referred to by round bar 505 and left hand, the right hand refers to that the waist of 10 is hinged.Left hand refers to refer to that with the right hand tail end head of 10 is hinged on left hand respectively and refers to that connecting rod and the right hand refer to one end of connecting rod 9, and left hand refers to that connecting rod and the right hand refer to that the other end concurrent of connecting rod 9 is hinged on gas bar extension bar 8.Left hand refers to refer to the right hand that the leading portion of 10 overhangs out outside air cylinder support, and left hand refers to that the inner side edge referring to 10 leading portions with the right hand is all fixedly connected high temperature resistant holddown groove, the high temperature resistant holddown groove 11 as shown in Figure 1, Figure 2.
Identical with connected mode see the mechanism of Fig. 3, B paw and A paw, geomery.In the beveled end of B paw cylinder block 6, forward and backward place is provided with B paw Connection Block ear 1 and B paw Connection Block ear 2 602.B paw Connection Block ear 1 axis hole center is 60 ° with the angle of line relative B paw cylinder block 6 planar ends at B paw Connection Block ear 2 602 axis hole center.B paw cylinder block 6 and the unique difference of A paw cylinder block 5 are B paw Connection Block ears 1 is monaural hole seat, and remainder is identical with A paw cylinder block 5.See Fig. 1, installing plate 3 is bar shape, and its one end is provided with monaural hole seat, and its another termination is provided with connecting hole.
See Fig. 1, Fig. 4, Fig. 5.The afterbody of transposition cylinder 2, the connection nose end of installing plate 3 are fixedly connected on transposition cylinder block 1 same plane end.Installing plate 3 is arranged on the below of transposition cylinder 2, and parallel with transposition cylinder extension bar 4.Monaural hole seat and the A paw Connection Block ear 2 502 of installing plate 3 pass through together with hinge, A paw Connection Block ear 1 and B paw Connection Block ear 2 601 pass through together with hinge, and B paw Connection Block ear 2 602 passes through together with hinge with transposition cylinder extension bar 4.The distance at A paw Connection Block ear 1 axis hole center and A paw Connection Block ear 2 502 axis hole center is X, the distance at B paw Connection Block ear 1 axis hole center and B paw Connection Block ear 2 602 axis hole center is Y, the stroke of transposition cylinder extension bar 4 is Z, and Z=X=Y.
Embodiment:
Use workflow of the present invention is as follows:
See Fig. 1 and 2.During paw holding parts, cylinder extension bar stretches out and promotes scissor connecting rod mechanism movement, makes left and right finger dehisce to increase gradually, left and right finger after opening is moved to part place, cylinder extension bar shrinks, and left hand and right hand dehisces to reduce gradually, and piece-holder is lived.
See Fig. 1 and 4.Part adds man-hour, and A paw captures part and waits for, after machining, paw transposition cylinder extension bar 4 stretches out, until B paw level, the connecting hole axis that now pedestal three place connects is equilateral triangle.B paw captures processing parts.
See Fig. 1 and 5.Paw rotation cylinder extension bar 4 is retracted, until A paw level, the connecting hole axis that now pedestal three place connects still is equilateral triangle.
Be horizontal the motion process that A paw is horizontal from B paw, paw transposition cylinder extension bar 4 rectilinear motion distance equals A paw cylinder block 5 two ear connecting hole axial line distance, also equals B paw cylinder block 6 two ear connecting hole axial line distance.Undressed part 60 is placed into Working position by A paw, and B paw grasps processing parts 50 and is placed into quenching processing place.Now A, B paw is all unloaded, and part is processed, and A paw captures part wait and machines, and realizes automation processing.
Claims (3)
1. there is a crawl Pneumatic connecting rod arm for both hands pawl structure, comprise A paw, B paw; Described A paw is made up of scissor linkage and air cylinder support; Described scissor linkage comprises that left hand refers to connecting rod, the right hand refers to connecting rod (9), left hand refers to refer to (10) with the right hand; Described air cylinder support comprises cylinder (7), internal fixation plate (503), outer stationary plates (504) and A paw cylinder block (5); Described A paw cylinder block (5) is wedge shape, and in its beveled end, forward and backward place is provided with A paw Connection Block ear one (501) and A paw Connection Block ear two (502); Described A paw Connection Block ear one (501) and A paw Connection Block ear two (502) are Double-ear-hole seat; The afterbody of described cylinder (7) is fixedly connected on the planar ends of A paw cylinder block (5); Described inside and outside fixed head is the both sides that strip is separately positioned on cylinder (7), and its tail end is fixedly connected on the planar ends of A paw cylinder block (5), and its termination is hinged with the waist of left and right finger by round bar (505); The tail end head of described left and right finger is hinged on one end of left and right finger connecting rod respectively, and the other end concurrent of left and right finger connecting rod is hinged on gas bar extension bar (8); The leading portion of described left and right finger overhangs out outside air cylinder support, and the inner side edge of left and right finger leading portion is all fixedly connected high temperature resistant holddown groove; Mechanism, the geomery of described B paw and A paw are identical with connected mode; In the beveled end of described B paw cylinder block (6), forward and backward place is provided with B paw Connection Block ear one (601) and B paw Connection Block ear two (602); Described B paw cylinder block (6) is B paw Connection Block ear one (601) with the unique difference of A paw cylinder block (5) is monaural hole seat, and remainder is identical with A paw cylinder block (5);
It is characterized in that: also comprise transposition cylinder block (1), transposition cylinder (2), installing plate (3); Described installing plate (3) is bar shape, and its one end is provided with monaural hole seat, and its another termination is provided with connecting hole;
The afterbody of described transposition cylinder (2), the connection nose end of installing plate (3) are fixedly connected on cylinder block (1) same plane end; Described installing plate (3) is arranged on the below of transposition cylinder (2), and parallel with transposition cylinder extension bar (4);
The monaural hole seat of described installing plate (3) and A paw Connection Block ear two (502) are by together with hinge, described A paw Connection Block ear one (501) and B paw Connection Block ear two (601) are by together with hinge, and described B paw Connection Block ear two (602) and transposition cylinder extension bar (4) are by together with hinge.
2. a kind of crawl Pneumatic connecting rod arm with both hands pawl structure according to claim 1, is characterized in that: described A paw Connection Block ear one (501) axis hole center is 60 ° with the angle of line relative A paw cylinder block (5) planar ends at A paw Connection Block ear two (502) axis hole center; Described B paw Connection Block ear one (601) axis hole center is 60 ° with the angle of line relative B paw cylinder block (6) planar ends at B paw Connection Block ear two (602) axis hole center.
3. a kind of crawl Pneumatic connecting rod arm with both hands pawl structure according to claim 1, it is characterized in that: the distance at described A paw Connection Block ear one (501) axis hole center and A paw Connection Block ear two (502) axis hole center is X, the distance at described B paw Connection Block ear one (601) axis hole center and B paw Connection Block ear two (602) axis hole center is Y, the stroke of described transposition cylinder extension bar (4) is Z, and Z=X=Y.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410730621.5A CN104440885B (en) | 2014-12-05 | 2014-12-05 | A kind of crawl Pneumatic connecting rod arm with both hands pawl structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410730621.5A CN104440885B (en) | 2014-12-05 | 2014-12-05 | A kind of crawl Pneumatic connecting rod arm with both hands pawl structure |
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| CN104440885A true CN104440885A (en) | 2015-03-25 |
| CN104440885B CN104440885B (en) | 2015-10-07 |
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| CN201410730621.5A Expired - Fee Related CN104440885B (en) | 2014-12-05 | 2014-12-05 | A kind of crawl Pneumatic connecting rod arm with both hands pawl structure |
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| CN105216000A (en) * | 2015-11-11 | 2016-01-06 | 无锡清杨机械制造有限公司 | A kind of clamping steel tube mechanism based on hydraulic control |
| CN105798928A (en) * | 2016-05-24 | 2016-07-27 | 范志杰 | Robot having book arranging function |
| CN106272506A (en) * | 2016-09-13 | 2017-01-04 | 苏州驱指自动化科技有限公司 | V-type folder ambulatory splint |
| CN106903610A (en) * | 2017-03-29 | 2017-06-30 | 北京华航唯实机器人科技有限公司 | Automatic clamping device is used in a kind of tap polishing |
| CN107658802A (en) * | 2017-11-21 | 2018-02-02 | 合肥工业大学 | A kind of cable peeling device being used under electrification in high voltage |
| CN108994396A (en) * | 2018-08-10 | 2018-12-14 | 合肥工业大学 | A kind of design of numerically controlled tooth grinding machine automatic loading/unloading |
| CN109262648A (en) * | 2018-11-14 | 2019-01-25 | 王水生 | It is a kind of to guarantee that object clamps stable machining mechanical grip |
| CN109648384A (en) * | 2018-12-29 | 2019-04-19 | 宁波开浦智能科技有限公司 | A kind of rotatable mechanical paw device |
| CN109732632A (en) * | 2019-01-21 | 2019-05-10 | 苏州优得精智装备有限公司 | A kind of three positions assembly gripper platform |
| CN110155874A (en) * | 2019-05-09 | 2019-08-23 | 杭州晨龙智能科技有限公司 | Bundled profile crawl arm and the crawl production line and method for using the crawl arm |
| CN110900649A (en) * | 2019-12-12 | 2020-03-24 | 腾讯科技（深圳）有限公司 | Manipulator device and intelligent chess playing robot |
| CN112640663A (en) * | 2020-12-27 | 2021-04-13 | 上海电机学院 | Automatic change accurate tea-leaf picking robot |
| CN112690092A (en) * | 2020-12-27 | 2021-04-23 | 上海电机学院 | Shearing mechanical arm for picking |
| CN112690095A (en) * | 2020-12-27 | 2021-04-23 | 上海电机学院 | Accurate harvesting device of crops |
| CN112996739A (en) * | 2018-09-12 | 2021-06-18 | 施密特默尔曼教授 & 柯林根律师事务所破产清算股份公司 | Package gripper system |
| CN114055361A (en) * | 2021-11-03 | 2022-02-18 | 芜湖普威技研有限公司 | Clamping mechanism for small space |
| CN114770563A (en) * | 2022-06-13 | 2022-07-22 | 首都儿科研究所 | AI intelligence medicine robot that send |
| CN117383246A (en) * | 2023-12-13 | 2024-01-12 | 烟台大学 | Bagged material carrying manipulator |
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| CN204295685U (en) * | 2014-12-05 | 2015-04-29 | 合肥工业大学 | A kind of crawl Pneumatic connecting rod arm with both hands pawl structure |
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Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105216000A (en) * | 2015-11-11 | 2016-01-06 | 无锡清杨机械制造有限公司 | A kind of clamping steel tube mechanism based on hydraulic control |
| CN105798928A (en) * | 2016-05-24 | 2016-07-27 | 范志杰 | Robot having book arranging function |
| CN106272506A (en) * | 2016-09-13 | 2017-01-04 | 苏州驱指自动化科技有限公司 | V-type folder ambulatory splint |
| CN106903610A (en) * | 2017-03-29 | 2017-06-30 | 北京华航唯实机器人科技有限公司 | Automatic clamping device is used in a kind of tap polishing |
| CN107658802B (en) * | 2017-11-21 | 2019-10-01 | 合肥工业大学 | A kind of cable peeling device under electrification in high voltage |
| CN107658802A (en) * | 2017-11-21 | 2018-02-02 | 合肥工业大学 | A kind of cable peeling device being used under electrification in high voltage |
| CN108994396A (en) * | 2018-08-10 | 2018-12-14 | 合肥工业大学 | A kind of design of numerically controlled tooth grinding machine automatic loading/unloading |
| CN108994396B (en) * | 2018-08-10 | 2020-01-31 | 合肥工业大学 | automatic feeding and discharging design of numerical control gear grinding machine |
| CN112996739A (en) * | 2018-09-12 | 2021-06-18 | 施密特默尔曼教授 & 柯林根律师事务所破产清算股份公司 | Package gripper system |
| CN109262648A (en) * | 2018-11-14 | 2019-01-25 | 王水生 | It is a kind of to guarantee that object clamps stable machining mechanical grip |
| CN109648384A (en) * | 2018-12-29 | 2019-04-19 | 宁波开浦智能科技有限公司 | A kind of rotatable mechanical paw device |
| CN109648384B (en) * | 2018-12-29 | 2023-11-21 | 宁波开浦智能科技有限公司 | Rotatable mechanical gripper device |
| CN109732632A (en) * | 2019-01-21 | 2019-05-10 | 苏州优得精智装备有限公司 | A kind of three positions assembly gripper platform |
| CN109732632B (en) * | 2019-01-21 | 2024-04-05 | 苏州优得精智装备有限公司 | Three-position assembling paw platform |
| CN110155874A (en) * | 2019-05-09 | 2019-08-23 | 杭州晨龙智能科技有限公司 | Bundled profile crawl arm and the crawl production line and method for using the crawl arm |
| CN110900649A (en) * | 2019-12-12 | 2020-03-24 | 腾讯科技（深圳）有限公司 | Manipulator device and intelligent chess playing robot |
| CN110900649B (en) * | 2019-12-12 | 2020-10-30 | 腾讯科技（深圳）有限公司 | Manipulator device and intelligent chess playing robot |
| CN112690095A (en) * | 2020-12-27 | 2021-04-23 | 上海电机学院 | Accurate harvesting device of crops |
| CN112690092A (en) * | 2020-12-27 | 2021-04-23 | 上海电机学院 | Shearing mechanical arm for picking |
| CN112640663B (en) * | 2020-12-27 | 2023-08-18 | 上海电机学院 | Automatic change accurate robot of picking tea-leaves |
| CN112690095B (en) * | 2020-12-27 | 2023-08-25 | 上海电机学院 | Accurate device of picking of crops |
| CN112640663A (en) * | 2020-12-27 | 2021-04-13 | 上海电机学院 | Automatic change accurate tea-leaf picking robot |
| CN114055361A (en) * | 2021-11-03 | 2022-02-18 | 芜湖普威技研有限公司 | Clamping mechanism for small space |
| CN114770563A (en) * | 2022-06-13 | 2022-07-22 | 首都儿科研究所 | AI intelligence medicine robot that send |
| CN114770563B (en) * | 2022-06-13 | 2022-09-09 | 首都儿科研究所 | AI intelligence medicine robot that send |
| CN117383246A (en) * | 2023-12-13 | 2024-01-12 | 烟台大学 | Bagged material carrying manipulator |
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