CN105033184A - Fixture device for automatic shell production line manipulator loading station - Google Patents
Fixture device for automatic shell production line manipulator loading station Download PDFInfo
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- CN105033184A CN105033184A CN201510541105.2A CN201510541105A CN105033184A CN 105033184 A CN105033184 A CN 105033184A CN 201510541105 A CN201510541105 A CN 201510541105A CN 105033184 A CN105033184 A CN 105033184A
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- jig
- spacing
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- clamp device
- bearing
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Abstract
The invention discloses a fixture device for an automatic shell production line manipulator loading station, and belongs to the technical field of automatic shell production line equipment. The fixture device, provided by the invention, comprises a fixture upper base, a fixture bent bracket and a linkage mechanism, wherein a bearing is arranged in the fixture upper base; a chuck is arranged outside the fixture upper base; a limiting groove is formed in the chuck; and the fixture bent bracket is in an arc bent structure, one end is connected with the fixture upper base through a bearing to realize the rotation of the fixture bent bracket around the bearing, and the other end is provided with a groove in the arc inner side for connecting with a mold shell base. The linkage mechanism is connected with the fixture bent bracket through a limiting rod pin, and the connection with and the separation from the fixture upper base are achieved through the fit between the limiting clamp rod and the limiting groove. The fixture device can widen a manipulator moving range, and reduces the manual hanging loading difficulty.
Description
Technical field
The present invention relates to a kind of clamp device in automatic Zhi Kexian manipulator loading depot, belong to shell line equipment technical field processed automatically.
Background technology
Automation formwork production line is the equipment that extensive hot investment casting at present needs to use, manual adjustments loading depot is in use needed to load formwork group, along with the foundry goods produced is more and more diversified, so to the angular adjustment of manipulator also more and more diversity, the angle that manipulator captures needs to make corresponding adjustment according to different foundry goods, to reach best crawl and duty.The loading hanging frame device of current domestic Zhi Ke line loading depot mostly is vertical pattern, brings a lot of restrictions can to like this angle of manipulator, and need to control multiple mechanism to realize the change of hanger position when controlling hanging frame device.So not only limit the flexibility ratio of manipulator but also add difficulty to during manual carry.
Summary of the invention
For solving clamp device limit mechanical hand scope of activities in existing automatic Zhi Kexian manipulator loading depot, during manual carry, difficulty is large, unhandy problem, the invention provides a kind of framework simple, can increase the crawl operating angle of manipulator and the clamp device of the convenient control multi-direction location of hanger, the technical scheme taked is as follows:
The object of the present invention is to provide a kind of clamp device in automatic Zhi Kexian manipulator loading depot.This clamp device comprises the jig seat of honour 2, the curved support 3 of jig and linkage 4.Wherein, inside, the jig seat of honour 2 is provided with bearing 21, and outside is provided with chuck 24, and chuck 24 is provided with stopper slot 241.The curved support 3 of jig is arc-shaped bend structure, to reduce the obstruction of support to manipulator scope of activities, thus expands the angle of manipulator activity.This arc-shaped bend structure can be arc structure, can be " C " type structure, also can be the warp architecture that the circular arc of different radian combines.One end of the curved support 3 of jig is connected with the jig seat of honour 2 by bearing 21, and can realize the curved support 3 of jig and rotate around bearing 21, the arc shaped inside of the other end is provided with groove 31 for connection mode shell block 9.Linkage 4 is connected by the curved support 3 of spacing lever pin 46 and jig, by spacing kelly 44 and the cooperation realization of stopper slot 241 and the connection at the jig seat of honour 2 be separated, fixing and unclamping before and after formwork seat 9 is being blocked to realize clamp device, and fixing and unclamping when the curved support 3 of jig turns to.
Further, the described jig seat of honour 2 specifically comprises bearing 21, shell body 22, flange 23 and chuck 24.The jig seat of honour 2 is fixed in the loading station rack 1 of loading depot by flange 23, and shell body 22 is assemblied in outside bearing 21, and chuck 24 is fixed on shell body 22, and the edge of chuck 24 is provided with stopper slot 241, and bearing 21 passes and is connected on the curved support 3 of jig.
Preferably, the edge even circumferential distribution of the chuck 24 of described stopper slot 241, quantity is more than or equal to two.Can according to quantity and the position needing situation about shifting specifically to set stopper slot in loading process.
Preferably, described chuck 24 place plane and bearing 21 is axial vertical.
Further, the curved support of described jig 3 specifically comprises two identical arc-shaped bend supports 32 be arranged in parallel and the rectangular connecting panels 33 being connected arc-shaped bend support 32.Wherein, rectangular connecting panels 33 is connected to outside one end of arc-shaped bend support 32, the upper surface of rectangular connecting panels 33 is provided with round platform 331 for being connected with bearing 21.Be provided with spacing hole 34 in the inner side of the arc-shaped bend support 32 being connected with rectangular connecting panels 33 one end, for stationary links mechanism 4, the inner side of the arc-shaped bend support 32 of the other end is provided with groove 31, for being connected with formwork seat 9, so that the transfer of formwork.
Further, described linkage 4 specifically comprises: formwork seat gag lever post 41, draw ring handle 42, kinematic link 43, spacing kelly 44, pin 45, spacing lever pin 46 and spring 47.Wherein, spacing lever pin 46 is connected by the curved support 3 of spacing hole 34 and jig, one end of spacing kelly 44 is connected on formwork gag lever post 41 by pin 45, the other end freely makes spacing kelly 44 can rotate around pin 45, kinematic link 43 one end is connected with pin 45, the other end is connected with draw ring handle 42, and the two ends of spring 47 are connected with spacing kelly 44 respectively at spacing lever pin 46 or formwork seat gag lever post 41.
Preferably, described spring 47 is in compressive state, to realize after kinematic link 43 pulls spacing kelly 44, and automatically replying of spacing kelly 44 position.
More preferably, described spacing kelly 44 is cross, and wherein, the length of montant is greater than cross bar, and one end of montant is connected with pin 45.
Preferably, described spacing kelly 44, block with stopper slot 241 and time, cross bar is positioned at the side of chuck 24 towards flange 23, departs from from stopper slot 241 to prevent limiting card bar 44.
Further, it is fit that described formwork seat gag lever post 41 is specifically set to four-part form connection rod set, the centre being fixed on spacing lever pin 46 that one end of first paragraph is vertical, the other end is connected with second segment, and junction is provided with circular hole, so that pin 45 passes, second segment and the 3rd section of junction are also provided with circular hole, being convenient to connect draw ring handle the 42, three section and the 4th section by pin be structure as a whole, being provided with fixed groove outside the free end of the 4th section for fixing with formwork seat 9.
It is as follows that the present invention obtains beneficial effect:
Compared to prior art, the supporting structure of main body is set to case of bending by clamp device of the present invention, avoid vertical structure conventional in prior art to the restriction of manipulator activity point of view, expand the scope of activities of manipulator, go for the loading of more foundry goods.
Meanwhile, existing clamp device often needs at least two frees degree when changing hanger position, and needs multiple mechanism could realize the change of hanger position, and complex structure operation inconvenience, the difficulty of manual carry is larger.On the contrary, clamp device of the present invention simplifies organization establishes, by drag link mechanism, realizes position transition such as turning to simply and rapidly, easy to operate.
Accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram of clamp device of the present invention.
Fig. 2 is the perspective view of clamp device of the present invention.
Fig. 3 is the top view of Fig. 1.
Fig. 4 is the structural representation of the curved support of jig;
(wherein, a, front view; B, right view; C, stereogram).
Fig. 5 is the perspective view of linkage.
Fig. 6 is the state diagram of clamp device when formwork seat being transferred to manipulator.
Fig. 7 is state when formwork seat being transferred to after the curved holder pivots of jig 90 degree manipulator in Fig. 6.
In figure, 1, load station rack; 2, the jig seat of honour; 3, the curved support of jig; 4, linkage; 9, formwork seat; 10, manipulator; 21, bearing; 22, shell body; 23, flange; 24, chuck; 31, groove; 32, arc-shaped bend support; 33, rectangular connecting panels; 34, spacing hole; 41, formwork seat gag lever post; 42, draw ring handle; 43, kinematic link; 44, spacing kelly; 45, pin; 46, spacing lever pin; 47, spring; 241, stopper slot; 331, round platform.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention will be further described, but the present invention is not by the restriction of embodiment.
Following examples material therefor, method and instrument, without specified otherwise, be this area conventional material, method and instrument, those of ordinary skill in the art all obtain by commercial channel.
In description below the present invention, it should be noted that, term " " center ", " longitudinal direction ", " transverse direction ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " top ", " end ", " interior ", orientation or the position relationship of the instruction such as " outward " and " endways " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.
In description below the present invention, it should be noted that, unless otherwise expressly provided and limit, term " installation ", " being connected ", " connection " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be direct connection, can also be indirectly connected by intermediary, can be the connection of two components interior.For the ordinary skill in the art, concrete condition above-mentioned term concrete meaning in the present invention can be understood.
In addition, in the description below the present invention, except as otherwise noted, the implication of " multiple ", " many groups ", " many " is two or more.
Below in conjunction with accompanying drawing to clamp device provided by the present invention and utilize the process of this device to be described in detail.
Fig. 1-Fig. 3 is the structural representation of the different angles of clamp device in a kind of preferred version of the present invention.As can be seen from Fig. 1-Fig. 3, the structure of clamp device provided by the present invention mainly comprises: the jig seat of honour 2, the curved support 3 of jig and linkage 4.Wherein, the jig seat of honour 2 is connected with the guide rail bracket (being marked loading station rack 1) in loading depot by the bolt on ring flange, and whole like this clamp device can be followed loading depot and be moved, to realize different formworks to be transported to diverse location.The center at the jig seat of honour 2 is provided with bearing 21, and one end of bearing 21 is connected with the curved support 3 of jig, thus drives the rotation of the curved support 3 of jig by the rotation of bearing 21, to realize turning to of clamp device.The outside of bearing 21 is provided with shell body 22, shell body 22 is provided with the chuck 24 of annular, is provided with stopper slot 241 at the edge of chuck 24.As can be seen from Figure 2, this chuck is at least provided with two stopper slots, the circular arc radian wherein between visible two stopper slots is 90 degree.What the below at the jig seat of honour 2 was arranged is the curved support 3 of jig and linkage 4.
Fig. 4 gives front view, right view and the perspective view of the curved support 3 of jig.As can be seen from Fig. 1-3 and Fig. 4, the agent structure of the curved support of jig 3 is made up of, in the one end contacted with the jig seat of honour 2 two parallel arc-shaped bend supports 32 in " C " type.A rectangular connecting panels 33 is fixedly connected with outside two arc-shaped bend support 32 tops.A round platform 331 matched with bearing 21 is provided with, for being connected with bearing 21 in the middle of the upper surface of rectangular connecting panels 33.The arc shaped inside being positioned at below rectangular connecting panels 33 two arc-shaped bend supports 32 corresponding near end points place be provided with a spacing hole 34, so that be connected with linkage 4.End points place inside the other end of two arc-shaped bend supports 32 is respectively provided with the groove 31 of " V " type, is used for being connected with round bar fixing on formwork seat 9, thus picking-up formwork is convenient to transhipment.
Fig. 5 is the perspective view of linkage.As can be seen from Fig. 1-3 and Fig. 5, linkage 4 comprises the formwork seat gag lever post 41 of a four-part form, perpendicular to the spacing lever pin 46 of formwork seat gag lever post 41 place plane, pin 45, one end is connected to the spacing kelly 44 on pin 45, kinematic link 43, two draw ring handles 42 and two ends are connected to the spring 47 of spacing kelly 44 and formwork seat gag lever post 41 one end.Wherein, the C type structure of curved support 3 is close with jig on the whole, to avoid the activity of linkage limit mechanical hand for the formwork seat gag lever post 41 of four-part form.At the first paragraph that the one end connecting spacing lever pin 46 and spring 47 is formwork seat gag lever post 41, pin 45 is arranged in the circular hole of the junction of formwork seat gag lever post 41 first paragraph and second segment, the junction of the second segment of formwork seat gag lever post 41 and the 3rd section is also provided with circular hole, middle through larger ring-shaped handle, less ring-shaped handle is connected to outside circular hole by quarter butt.The quarter butt be connected with less ring-shaped handle is connected with kinematic link 43, the other end of kinematic link 43 is connected on the parallel shelf that is connected with pin 45, thus realize by pulling less ring-shaped handle, drive kinematic link 43, thus the band spacing kelly 44 be automatically connected on pin 45 rotates.The 3rd section of formwork seat gag lever post 41 and the 4th section is structure as a whole, the groove 31 of an indent is provided with the end outer fix of the 4th section, for contacting with the round bar on formwork seat 9, to fix formwork seat 9 and clamp device, be that formwork is more firm in transport process.
The spacing kelly 44 be connected with pin 45 is cross, and wherein the length of montant is greater than the length of cross bar.In the one end contacted with pin 45, side is connected with kinematic link 43 by parallel quarter butt, and one end that opposite side is connected with spacing lever pin 46 by spring 47 and formwork seat gag lever post 41 is connected.Spring 47 is in compressive state all the time, and like this after opposite side shackle rod 43 outwards provides pulling force, spring 47 can provide a reverse restoring force, to realize automatically replying of spacing kelly 44 position.
Fig. 6 is the state diagram of clamp device when formwork seat being transferred to manipulator, and Fig. 7 is state when formwork seat being transferred to after the curved holder pivots of jig 90 degree manipulator in Fig. 6.Below in conjunction with Fig. 6 and Fig. 7, the course of work of clamp device of the present invention is described.
Before loading, first clamp device is fixed on by bolt and loads in station rack 1, then be connected with round bar fixing on formwork seat 9 by the groove 31 of the curved support 3 of jig.Pull larger draw ring handle 42 that the limited impression card outside formwork seat gag lever post 41 the 4th section of end points is pressed on the round bar of formwork seat 9, thus fix formwork seat 9 and clamp device.Then, pull less draw ring handle 42, it is made to drive shackle rod 43, thus spacing kelly 44 is rotated to the direction of kinematic link 43, adjust after angle makes spacing kelly 44 aim at stopper slot 241 and unclamp less draw ring handle 42 again, make spacing kelly 44 snap in stopper slot 241 under the effect of the restoring force of spring 47, to realize linkage 4 and the connection at the jig seat of honour 2, fix the curved support 3 of jig simultaneously and make it no longer rotate around bearing 21.Subsequently, under the drive of loading depot, formwork is transported to the position at manipulator 10 place by clamp device.
When behind the position under the drive of clamp device in loading depot, formwork being transported to manipulator 10 place, the position of formwork seat 9 meets completely with the position of manipulator.Now, less draw ring handle 42 can be pulled, make spacing kelly 44 depart from stopper slot 241, clamp device can be rotated around bearing 21.Control the rotation of clamp device around bearing 21, after the position and formwork seat 9 position of adjusting to manipulator 10 are applicable to completely, unclamping less draw ring handle 42, spacing kelly 44 is being snapped in stopper slot 241 under the effect of spring 47 thus fixes clamp device.After last manipulator 10 catches on the round bar on formwork seat 9, pull larger draw ring handle 42, make the limited impression of formwork seat gag lever post 41 depart from round bar, depart from the round bar of formwork seat 9 at the groove 31 made further on jig bending rack 3, thus realize being separated of clamp device and formwork seat 9.
Although the present invention with preferred embodiment openly as above; but it is also not used to limit the present invention, any person skilled in the art, without departing from the spirit and scope of the present invention; can do various change and modification, what therefore protection scope of the present invention should define with claims is as the criterion.
Claims (10)
1. the clamp device in automatic Zhi Kexian manipulator loading depot, it is characterized in that, comprise the jig seat of honour (2), the curved support of jig (3) and linkage (4), wherein, the jig seat of honour (2) inside is provided with bearing (21), and outside is provided with chuck (24), and chuck (24) is provided with stopper slot (241); The curved support of jig (3) is arc-shaped bend structure, one end is connected with the jig seat of honour (2) by bearing (21), rotate around bearing (21) to realize the curved support of jig (3), the arc shaped inside of the other end is provided with groove (31) for connection mode shell block (9); Linkage (4) is connected with the curved support of jig (3) by spacing lever pin (46), by spacing kelly (44) and the cooperation realization of stopper slot (241) and the connection of the jig seat of honour (2) be separated.
2. a kind of clamp device in automatic Zhi Kexian manipulator loading depot according to claim 1, it is characterized in that, the described jig seat of honour (2) comprises bearing (21), shell body (22), flange (23) and chuck (24), the jig seat of honour (2) is fixed on by flange (23) loads in station rack (1), shell body (22) is assemblied in bearing (21) outward, chuck (24) is fixed on shell body (22), the edge of chuck (24) is provided with stopper slot (241), bearing (21) passes and is connected on the curved support of jig (3).
3. a kind of clamp device in automatic Zhi Kexian manipulator loading depot according to claim 2, is characterized in that, the edge even circumferential distribution of the chuck (24) of described stopper slot (241), quantity is more than or equal to two.
4. a kind of clamp device in automatic Zhi Kexian manipulator loading depot according to claim 2, it is characterized in that, described chuck (24) place plane is axial vertical with bearing (21).
5. a kind of clamp device in automatic Zhi Kexian manipulator loading depot according to claim 1, it is characterized in that, the curved support of described jig (3) comprises two identical arc-shaped bend supports (32) be arranged in parallel and the rectangular connecting panels (33) being connected arc-shaped bend support (32), wherein, rectangular connecting panels (33) is connected to outside one end of arc-shaped bend support (32), the upper surface of rectangular connecting panels (33) is provided with round platform (331) be connected with bearing (21), spacing hole (34) is provided with in the inner side of the arc-shaped bend support (32) being connected with rectangular connecting panels (33) one end, the inner side of the arc-shaped bend support (32) of the other end is provided with groove (31).
6. a kind of clamp device in automatic Zhi Kexian manipulator loading depot according to claim 1, it is characterized in that, described linkage (4) comprises, formwork seat gag lever post (41), draw ring handle (42), kinematic link (43), spacing kelly (44), pin (45), spacing lever pin (46) and spring (47), wherein, spacing lever pin (46) is connected with the curved support of jig (3) by spacing hole (34), one end of spacing kelly (44) is connected on formwork gag lever post (41) by pin (45), the other end freely makes spacing kelly (44) can rotate around pin (45), kinematic link (43) one end is connected with pin (45), the other end is connected with draw ring handle (42), the two ends of spring (47) are connected with spacing kelly (44) respectively at spacing lever pin (46) or formwork seat gag lever post (41).
7. a kind of clamp device in automatic Zhi Kexian manipulator loading depot according to claim 6, it is characterized in that, described spring (47) is in compressive state, to realize after kinematic link (43) pulls spacing kelly (44), automatically replying of spacing kelly (44) position.
8. a kind of clamp device in automatic Zhi Kexian manipulator loading depot according to claim 6, it is characterized in that, described spacing kelly (44) is cross, wherein, the length of montant is greater than cross bar, and one end of montant is connected with pin (45).
9. a kind of clamp device in automatic Zhi Kexian manipulator loading depot according to claim 8, it is characterized in that, described spacing kelly (44), block with stopper slot (241) and time, cross bar is positioned at the side of chuck (24) towards flange (23), departs from from stopper slot (241) to prevent limiting card bar (44).
10. a kind of clamp device in automatic Zhi Kexian manipulator loading depot according to claim 6, it is characterized in that, described formwork seat gag lever post (41) is four-part form connection rod set zoarium, the centre being fixed on spacing lever pin (46) that one end of first paragraph is vertical, the other end is connected with second segment, junction is provided with circular hole, so that pin (45) passes, second segment and the 3rd section of junction are also provided with circular hole, be convenient to connect draw ring handle (42) by pin, 3rd section and the 4th section is structure as a whole, fixed groove is provided with for fixing with formwork seat (9) outside the free end of the 4th section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510541105.2A CN105033184B (en) | 2015-08-28 | 2015-08-28 | A kind of clamp device in automatic Zhi Kexian manipulators loading depot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510541105.2A CN105033184B (en) | 2015-08-28 | 2015-08-28 | A kind of clamp device in automatic Zhi Kexian manipulators loading depot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105033184A true CN105033184A (en) | 2015-11-11 |
| CN105033184B CN105033184B (en) | 2017-07-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510541105.2A Expired - Fee Related CN105033184B (en) | 2015-08-28 | 2015-08-28 | A kind of clamp device in automatic Zhi Kexian manipulators loading depot |
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| CN (1) | CN105033184B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2372953A (en) * | 2001-03-09 | 2002-09-11 | Howmet Res Corp | Accurate positioning of a mould in a casting chamber |
| CN201932704U (en) * | 2010-11-30 | 2011-08-17 | 深圳市大族光电设备有限公司 | Automatic bracket grasping device and automatic bracket loading system |
| CN103001406A (en) * | 2012-11-29 | 2013-03-27 | 苏州博德自动化科技有限公司 | Rotor loading mechanism of automatic rotor commutator pressing machine |
| CN204148775U (en) * | 2014-09-29 | 2015-02-11 | 北京航天海鹰星航机电设备有限公司 | A kind of framework welding clamp |
| CN205074477U (en) * | 2015-08-28 | 2016-03-09 | 航天海鹰(哈尔滨)钛业有限公司 | A fixture device that is used for automatic shell line manipulator loading location of making |
-
2015
- 2015-08-28 CN CN201510541105.2A patent/CN105033184B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2372953A (en) * | 2001-03-09 | 2002-09-11 | Howmet Res Corp | Accurate positioning of a mould in a casting chamber |
| CN201932704U (en) * | 2010-11-30 | 2011-08-17 | 深圳市大族光电设备有限公司 | Automatic bracket grasping device and automatic bracket loading system |
| CN103001406A (en) * | 2012-11-29 | 2013-03-27 | 苏州博德自动化科技有限公司 | Rotor loading mechanism of automatic rotor commutator pressing machine |
| CN204148775U (en) * | 2014-09-29 | 2015-02-11 | 北京航天海鹰星航机电设备有限公司 | A kind of framework welding clamp |
| CN205074477U (en) * | 2015-08-28 | 2016-03-09 | 航天海鹰(哈尔滨)钛业有限公司 | A fixture device that is used for automatic shell line manipulator loading location of making |
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| Publication number | Publication date |
|---|---|
| CN105033184B (en) | 2017-07-11 |
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