CN104440885A - Grabbing pneumatic connecting rod arm with double-paw structure - Google Patents

Grabbing pneumatic connecting rod arm with double-paw structure Download PDF

Info

Publication number
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
Authority
CN
China
Prior art keywords
paw
cylinder
connection block
ear
rod
Prior art date
Application number
CN201410730621.5A
Other languages
Chinese (zh)
Other versions
CN104440885B (en
Inventor
黄康
洪健
赵福民
何春生
董宇
Original Assignee
合肥工业大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 合肥工业大学 filed Critical 合肥工业大学
Priority to CN201410730621.5A priority Critical patent/CN104440885B/en
Publication of CN104440885A publication Critical patent/CN104440885A/en
Application granted granted Critical
Publication of CN104440885B publication Critical patent/CN104440885B/en

Links

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

A kind of crawl Pneumatic connecting rod arm with both hands pawl structure

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.
CN201410730621.5A 2014-12-05 2014-12-05 A kind of crawl Pneumatic connecting rod arm with both hands pawl structure CN104440885B (en)

Priority Applications (1)

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

Applications Claiming Priority (1)

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

Publications (2)

Publication Number Publication Date
CN104440885A true CN104440885A (en) 2015-03-25
CN104440885B CN104440885B (en) 2015-10-07

Family

ID=52888035

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201410730621.5A CN104440885B (en) 2014-12-05 2014-12-05 A kind of crawl Pneumatic connecting rod arm with both hands pawl structure

Country Status (1)

Country Link
CN (1) CN104440885B (en)

Cited By (7)

* Cited by examiner, † Cited by third party
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
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
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

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3937512A (en) * 1973-11-06 1976-02-10 Baughman Harold E Grab-stick for litter
US4697839A (en) * 1986-11-28 1987-10-06 General Motors Corporation Flexible part-centering pneumatic gripper
US20110121502A1 (en) * 2009-11-23 2011-05-26 Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. Manipulator
CN102501255A (en) * 2011-11-14 2012-06-20 瞿鹏飞 Pneumatic mechanical paw for grabbing cylinder
CN103921280A (en) * 2014-01-26 2014-07-16 深圳市元博智能科技有限公司 Mechanical clamping jaw for catching conical objects
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

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3937512A (en) * 1973-11-06 1976-02-10 Baughman Harold E Grab-stick for litter
US4697839A (en) * 1986-11-28 1987-10-06 General Motors Corporation Flexible part-centering pneumatic gripper
US20110121502A1 (en) * 2009-11-23 2011-05-26 Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. Manipulator
CN102501255A (en) * 2011-11-14 2012-06-20 瞿鹏飞 Pneumatic mechanical paw for grabbing cylinder
CN103921280A (en) * 2014-01-26 2014-07-16 深圳市元博智能科技有限公司 Mechanical clamping jaw for catching conical objects
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

Cited By (10)

* Cited by examiner, † Cited by third party
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
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
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
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
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
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

Also Published As

Publication number Publication date
CN104440885B (en) 2015-10-07

Similar Documents

Publication Publication Date Title
CN101913076B (en) Industrial robot-based assembly method and device of piston, piston pin and connecting rod
CN104444360B (en) Five-axis hub transfer robot and clamping manipulator
CN203141076U (en) Automatic screw locking device used for assembling motor
CN104002304A (en) Novel pneumatic manipulator
CN103991084A (en) Robot hand
CN202684627U (en) Automatic feeding-discharging double-manipulator system
CN203665529U (en) Mechanical arm with crossed and staggered mechanical fingers
CN204893951U (en) Crossbeam formula manipulator
CN102398181B (en) Exhaust manifold milling large fixture
CN203792350U (en) Connecting rod slider type mechanical gripper
CN205497507U (en) Manipulator anchor clamps quick change device
CN205274660U (en) Battery transfer apparatus
CN105499953B (en) Industrial robot based automobile engine piston and cylinder body assembly system and method
CN204997665U (en) Four degree of freedom low pressure electric appliances transfer robots
CN204604344U (en) A kind of spring mechanical paw
CN105291097A (en) Three-freedom-degree overturning robot
US9120229B2 (en) Robot arm
CN104227729A (en) Clamping device
CN102550215A (en) Magnetorheological conformable clamp holder and robot for picking multiple types of fruits and vegetables
CN205075071U (en) Mechanical arm fixture
CN203778964U (en) High-efficiency single-robot double-overhead-door laser welding system
CN102527643A (en) Sorting manipulator structure and product sorting system
CN104385286B (en) A kind of bent axle grasping manipulation method, bent axle robot clamp system and assemble method thereof
US10537926B2 (en) Bending apparatus
CN103093910A (en) Automatic potentiometer assembling machine

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
GR01 Patent grant
C14 Grant of patent or utility model