CN104526711A - Clamping manipulator with two concentric rods - Google Patents
Clamping manipulator with two concentric rods Download PDFInfo
- Publication number
- CN104526711A CN104526711A CN201410809964.0A CN201410809964A CN104526711A CN 104526711 A CN104526711 A CN 104526711A CN 201410809964 A CN201410809964 A CN 201410809964A CN 104526711 A CN104526711 A CN 104526711A
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- China
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- fixed block
- cylinder
- gas pawl
- telescopic cylinder
- air cylinder
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Abstract
The invention discloses a clamping manipulator with two concentric rods. The clamping manipulator comprises two clamping plates and two mechanical arms. Each mechanical arm comprises a fixed block, a telescopic air cylinder, a pneumatic jaw air cylinder and pneumatic jaws, the two fixed blocks are installed between the two clamping plates at a certain included angle, each telescopic air cylinder is installed on the corresponding fixed block, each pneumatic jaw air cylinder is arranged below the telescopic rod of the corresponding telescopic air cylinder, and the pneumatic jaws in two pairs have the same extension end point. The clamping manipulator has the advantages that the two mechanical arms have the same extension end point, so workpieces are clamped and placed rapidly and conveniently, and the former workpiece and the latter rear workpiece are placed at the same position; air cylinder clamping plates can be used for finely adjusting the telescopic air cylinders; pneumatic jaw air cylinder mounting plates can be used for finely adjusting the positions of the pneumatic jaws.
Description
Technical field
The present invention relates to a kind of manipulator of non-standard equipment, specifically the concentric gripping manipulator of two bar.
Background technology
On current market, most number axis class cylindrical fine finishining uses common cylindrical grinder, and need artificial clamping loading and unloading, one man operation one, operating efficiency is entirely with the qualification of workman's clamping loading and unloading, and experienced operator is more and more rare, and cost of labor constantly rises; And operating environment is not good, staff Long Term Contact cutting fluid, young all displeased the going of workman eats this part of hardship.
In the face of common cylindrical grinder is also by reality that long-term existence and experienced operator reduce increasingly, the manipulator replacing staff is constantly developed, replacing replacing two gas from the rotary or horizontal that routine uses, to press from both sides gripping different, the application have developed to intersect the manipulator of the gripping alternately changed as the both hands of people, proper in gripping small axle diameter and the diameter of axle changes little axial workpiece, and the hollow pipe part of the class diameter of axle in comparison rule.
Summary of the invention
The present invention is directed to prior art deficiency, providing a kind of can use on cylindrical grinder, replaces the concentric gripping manipulator of two bars of staff automatic material taking and blowing on grinding machine chuck.
In order to solve the problems of the technologies described above, the present invention is solved by following technical proposals: the concentric gripping manipulator of two bar comprises two clamping plate and two manipulators, described manipulator comprises fixed block, telescopic cylinder, the gentle pawl of gas pawl cylinder, fixed block described in two is between the clamping plate that are arranged on described in two of certain angle, described telescopic cylinder is arranged on described fixed block, described gas pawl cylinder is arranged on the below of the expansion link of described telescopic cylinder, and two have same stretching, extension limit to described gas grippers.
The center of described fixed block is provided with one for placing the central channel of described telescopic cylinder, the both sides of described central channel respectively have one for placing the side through hole of lead, the both sides up and down of described telescopic cylinder are respectively arranged with cylinder clamp and air cylinder fixed plate, and be arranged in the both ends of the surface up and down of described fixed block, the top and bottom of the lead described in two are respectively arranged with block board and lower block board, the below of described lower block board is disposed with the gentle pawl cylinder mounting plate of cushion block, the below of described gas pawl cylinder mounting plate is provided with the gentle pawl of gas pawl cylinder.
Two end faces up and down of described fixed block are respectively arranged with oil buffer, and described oil buffer can be touched with described upper block board and described lower block board respectively.
One-sided or the bilateral of described cushion block is provided with the convex platform of plane extension, and described gas pawl cylinder mounting plate two angles or four angles are respectively provided with a rectangular post raised up, and the rectangular post that described convex platform is arranged on described in two is interior and adjustable.
Described clamping plate are provided with four strip holes, left side fixed block be arranged on left side the strip hole described in two on and fix with bolt, right side fixed block be arranged on right side the strip hole described in two on and fix with bolt, the line of the line of two strip holes in left side and two strip holes on right side is an angle.
Described telescopic cylinder is provided with multiple monitoring probe.
The present invention compared with prior art, has following beneficial effect: 1) two manipulators have same stretching, extension limit, gripping and place work piece fast, the putting position of former and later two workpiece is consistent; 2) cylinder clamp can be finely tuned telescopic cylinder; 3) gas pawl cylinder mounting plate can be finely tuned the position of gas pawl.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the embodiment of the present invention.
Fig. 2 is the part explosive view one of the manipulator of the embodiment of the present invention.
Fig. 3 is the part explosive view two of the manipulator of the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing and detailed description of the invention, the present invention is described in further detail: shown in Fig. 1 ~ 3, in figure, mark is as follows: manipulator a, clamping plate 1, strip hole 1a, fixed block 2, central channel 2a, telescopic cylinder 3, gas pawl cylinder 4, gas pawl 5, expansion link 6, lead 7, cylinder clamp 8, air cylinder fixed plate 9, upper block board 10, lower block board 11, gas pawl cylinder mounting plate 12, rectangular post (12a), oil buffer 13, monitoring probe 14, cushion block 15, convex platform 15a.
The concentric gripping manipulator of two bar can pick and place workpiece from grinding machine chuck, be appropriate to comparatively regular small axle diameter rod class and tubing workpiece especially, it comprises two clamping plate 1 and two manipulator a, manipulator a comprises fixed block 2, telescopic cylinder 3, the gentle pawl 5 of gas pawl cylinder 4, two fixed blocks 2 are arranged between two clamping plate 1 in certain angle, telescopic cylinder 3 is arranged on fixed block 2, gas pawl cylinder 4 is arranged on the below of the expansion link 6 of telescopic cylinder 3, two pairs of gas pawls 5 have same stretching, extension limit, the processing installation site of former and later two workpiece is consistent like this, contribute to promote batch quality stability.
The center of fixed block 2 is provided with one for placing the central channel 2a of telescopic cylinder 3, the both sides of central channel 2a respectively have one for placing the side through hole of lead 7, the both sides up and down of telescopic cylinder 3 are respectively arranged with cylinder clamp 8 and air cylinder fixed plate 9, and be arranged in the both ends of the surface up and down of fixed block 2, the top and bottom of two leads 7 are respectively arranged with block board 10 and lower block board 11, the below of lower block board 11 is disposed with the gentle pawl cylinder mounting plate 12 of cushion block 15, the below of gas pawl cylinder mounting plate 12 is provided with the gentle pawl 5 of gas pawl cylinder 4, the position of telescopic cylinder gentle pawl cylinder co-controlling gas pawl.
Two end faces up and down of fixed block 2 are respectively arranged with oil buffer 13, and oil buffer 13 can be touched with lower block board 11 with upper block board 10 respectively, prevents excessively flexible; Telescopic cylinder 3 can also be arranged multiple monitoring probe 14.
One-sided or the bilateral of cushion block is provided with the convex platform 15a of plane extension, and gas pawl cylinder mounting plate 12 two angles or four angles are respectively provided with a rectangular post 12a raised up, and it is interior and adjustable that convex platform 15a is arranged on two rectangular post 12a.
Clamping plate 1 are provided with four strip hole 1a, left side fixed block 2 be arranged on left side two strip hole 1a on and fix with bolt, right side fixed block 2 be arranged on right side two strip hole 1a on and fix with bolt, the line of two strip hole 1a and the line of two strip hole 1a on right side in left side are an angle, can the installation position of ground vapour pawl regulate.
Claims (6)
1. the concentric gripping manipulator of pair bar, it is characterized in that: comprise two front and back to the clamping plate (1) arranged and about two manipulators (a) to setting, described manipulator (a) comprises fixed block (2), telescopic cylinder (3), gas pawl cylinder (4) gentle pawl (5), fixed block (2) described in two is arranged between the clamping plate (1) described in two in certain angle, described telescopic cylinder (3) is arranged on described fixed block (2), described gas pawl cylinder (4) is arranged on the below of the expansion link (6) of described telescopic cylinder (3), gas pawl (5) described in two pairs has same stretching, extension limit.
2. as the concentric gripping manipulator of claim 1 pair bar, it is characterized in that: the center of described fixed block (2) is provided with one for placing the central channel (2a) of telescopic cylinder (3), the both sides of described central channel (2a) respectively have one for placing the side through hole of lead (7), the both sides up and down of described telescopic cylinder (3) are respectively arranged with cylinder clamp (8) and air cylinder fixed plate (9), and be arranged in the both ends of the surface up and down of fixed block (2), the top and bottom of the lead (7) described in two are respectively arranged with block board (10) and lower block board (11), the below of described lower block board (11) is disposed with the gentle pawl cylinder mounting plate (12) of cushion block (15), the below of described gas pawl cylinder mounting plate (12) is provided with described gas pawl cylinder (4) and described gas pawl (5).
3. as the concentric gripping manipulator of claim 2 pair bar, it is characterized in that: two end faces up and down of described fixed block (2) are respectively arranged with oil buffer (13), described oil buffer (13) can be touched with described upper block board (10) and described lower block board (11) respectively.
4. as the concentric gripping manipulator of two bars that claim 2 is stated, it is characterized in that: the one-sided or bilateral of described cushion block (15) is provided with the convex platform (15a) of plane extension, described gas pawl cylinder mounting plate (12) two angles or four angles are respectively provided with a rectangular post (12a) raised up, and the rectangular post (12a) that described convex platform (15a) is arranged on described in two is interior and adjustable.
5. as the concentric gripping manipulator of claim 1 pair bar, it is characterized in that: described clamping plate (1) are provided with four strip holes (1a), it is upper and fix with bolt that the fixed block (2) in left side is arranged on the strip hole (1a) described in two in left side, it is upper and fix with bolt that the fixed block (2) on right side is arranged on the strip hole (1a) described in two on right side, and the line of the line of two strip holes (1a) in left side and two strip holes (1a) on right side is an angle.
6. as the concentric gripping manipulator of claim 1 pair bar, it is characterized in that: described telescopic cylinder (3) is provided with multiple monitoring probe (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410809964.0A CN104526711B (en) | 2014-12-24 | 2014-12-24 | The concentric gripping manipulator of double-rod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410809964.0A CN104526711B (en) | 2014-12-24 | 2014-12-24 | The concentric gripping manipulator of double-rod |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104526711A true CN104526711A (en) | 2015-04-22 |
| CN104526711B CN104526711B (en) | 2016-08-17 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410809964.0A Expired - Fee Related CN104526711B (en) | 2014-12-24 | 2014-12-24 | The concentric gripping manipulator of double-rod |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104526711B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104889801A (en) * | 2015-07-03 | 2015-09-09 | 台州伟立机电设备有限公司 | Automatic loading-unloading device of machine tool |
| CN107673071A (en) * | 2017-09-12 | 2018-02-09 | 敏实汽车技术研发有限公司 | A kind of chain gear transmission servo translates grasping mechanism |
| CN108746882A (en) * | 2018-06-25 | 2018-11-06 | 浙江屹立机器人科技有限公司 | A kind of auto-guider for precision hobbing machine |
| CN109129054A (en) * | 2018-09-12 | 2019-01-04 | 芜湖中驰机床制造有限公司 | A kind of loading and unloading mechanical arm of stepped grinding machine |
| CN111244524A (en) * | 2020-01-17 | 2020-06-05 | 镇江成泰自动化技术有限公司 | Battery clamping mechanism |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3141724A1 (en) * | 1981-08-04 | 1983-03-03 | Rheiner Maschinenfabrik Windhoff Ag, 4440 Rheine | Travelling manipulator |
| CN2925776Y (en) * | 2006-07-21 | 2007-07-25 | 河北理工大学 | Automatic gear-changing manipulator of speed-variator testboard for automobile |
| CN202147279U (en) * | 2011-06-14 | 2012-02-22 | 广州友益电子科技有限公司 | Double mechanical arms for sealing IGBT (Insulated Gate Bipolar Transistor) module |
| CN103449176A (en) * | 2013-09-04 | 2013-12-18 | 杭州厚达自动化系统有限公司 | Capturing terminal RS232 plug device |
| CN204354140U (en) * | 2014-12-24 | 2015-05-27 | 宁波沃特美逊机器人科技有限公司 | The concentric gripping manipulator of two bar |
-
2014
- 2014-12-24 CN CN201410809964.0A patent/CN104526711B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3141724A1 (en) * | 1981-08-04 | 1983-03-03 | Rheiner Maschinenfabrik Windhoff Ag, 4440 Rheine | Travelling manipulator |
| CN2925776Y (en) * | 2006-07-21 | 2007-07-25 | 河北理工大学 | Automatic gear-changing manipulator of speed-variator testboard for automobile |
| CN202147279U (en) * | 2011-06-14 | 2012-02-22 | 广州友益电子科技有限公司 | Double mechanical arms for sealing IGBT (Insulated Gate Bipolar Transistor) module |
| CN103449176A (en) * | 2013-09-04 | 2013-12-18 | 杭州厚达自动化系统有限公司 | Capturing terminal RS232 plug device |
| CN204354140U (en) * | 2014-12-24 | 2015-05-27 | 宁波沃特美逊机器人科技有限公司 | The concentric gripping manipulator of two bar |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104889801A (en) * | 2015-07-03 | 2015-09-09 | 台州伟立机电设备有限公司 | Automatic loading-unloading device of machine tool |
| CN104889801B (en) * | 2015-07-03 | 2018-08-17 | 台州伟立智能设备有限公司 | A kind of automatic loading and unloading device of lathe |
| CN107673071A (en) * | 2017-09-12 | 2018-02-09 | 敏实汽车技术研发有限公司 | A kind of chain gear transmission servo translates grasping mechanism |
| CN108746882A (en) * | 2018-06-25 | 2018-11-06 | 浙江屹立机器人科技有限公司 | A kind of auto-guider for precision hobbing machine |
| CN108746882B (en) * | 2018-06-25 | 2024-01-30 | 浙江屹立机器人科技有限公司 | Automatic guiding device for precise gear hobbing machine |
| CN109129054A (en) * | 2018-09-12 | 2019-01-04 | 芜湖中驰机床制造有限公司 | A kind of loading and unloading mechanical arm of stepped grinding machine |
| CN111244524A (en) * | 2020-01-17 | 2020-06-05 | 镇江成泰自动化技术有限公司 | Battery clamping mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104526711B (en) | 2016-08-17 |
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| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160817 Termination date: 20161224 |