CN105945939A - Rotary automatic mechanical arm - Google Patents
Rotary automatic mechanical arm Download PDFInfo
- Publication number
- CN105945939A CN105945939A CN201610504947.5A CN201610504947A CN105945939A CN 105945939 A CN105945939 A CN 105945939A CN 201610504947 A CN201610504947 A CN 201610504947A CN 105945939 A CN105945939 A CN 105945939A
- Authority
- CN
- China
- Prior art keywords
- rotary shaft
- pawl
- installing plate
- gas pawl
- mechanical hand
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The invention relates to a rotary automatic mechanical arm. The mechanical arm comprises an air cylinder, a positioning device, a fixed pneumatic claw and a following pneumatic claw. The upper end of the fixed pneumatic claw and the upper end of the following pneumatic claw are connected to the two sides of an installing plate. A rotating shaft penetrates the inner side of the fixed pneumatic claw, and the fixed pneumatic claw can synchronously rotate with the rotating shaft. One end of the rotating shaft is connected with the air cylinder through a rotary disc, and a positioning block matched with the positioning device is arranged at the other end of the rotating shaft. When the air cylinder lifts or contracts, the rotary disc rotates, the rotating shaft is driven to rotate, the rotating shaft rotates within a certain range through the positioning device, the fixed pneumatic claw is driven to rotate through rotation of the rotating shaft, and the following pneumatic claw is driven by the installing plate to rotate. Compared with the prior art, the rotary automatic mechanical arm is high in flexibility and suitable for various components of different specifications, it is guaranteed that a workpiece is closely attached to a positioning chuck of a machine tool through the following pneumatic claw, feeding is stable and reliable, and a good foundation is laid for finish machining of the machine tool.
Description
Technical field
The present invention relates to automatic field, be specifically related to a kind of rotatable automatic mechanical hand.
Background technology
At present, along with being gradually increased of human cost, industrial automation application is increasingly popularized.At lathe
In processing line system, the attitudes vibration of workpiece is to realize pipeline system processing operation, the base of raising processing and manufacturing efficiency
Plinth.In automatization's loading and unloading systems more of today, between lathe, typically place a placement table, or peace
Fill a switching mechanism to change to the many attitude realizing workpiece, which increase the action of mechanical hand, also increase
The work tempo of mechanical hand loading and unloading.Existing rotary paw, is generally used for the heavy types such as cylinder body or profile is more multiple
Miscellaneous workpiece, but, these paws are adjusted by multiple sensors, and structure is relative complex, and manufacturing cost is high,
Final cost is caused to raise.
Summary of the invention
Defect that the purpose of the present invention is contemplated to overcome above-mentioned prior art to exist and a kind of simple in construction is provided, makes
With the most rotatable automatic mechanical hand.
The purpose of the present invention can be achieved through the following technical solutions: a kind of rotatable automatic mechanical hand, should
Mechanical hand includes cylinder, installing plate, positioner, fixes gas pawl and with pawl of taking offence, the upper end of described fixing gas pawl
It is connected to the side of installing plate, is slidably connected at the opposite side of installing plate, described fixing gas pawl with the upper end of pawl of taking offence
Inner side run through have rotary shaft and can with this rotary shaft synchronous axial system, one end of described rotary shaft pass through rotating disk and cylinder
Connecting, the other end of rotary shaft is provided with the locating piece matched with described positioner；Described installing plate upper end sets
Having fixed block, the described upper end fixed random motion block with pawl of taking offence, described fixed block and follower block are connected by spring.
Described rotary shaft is fixing with the center of rotating disk to be connected, and described cylinder is fixing with the outside of rotating disk to be connected；Work as gas
When cylinder jacking or contraction, rotating disk rotates, drives described rotary shaft to rotate, and make rotary shaft one by positioner
Rotating in the range of Ding, the fixing gas pawl of rotation drive of rotary shaft rotates, and is driven with pawl rotation of taking offence by installing plate.
Described fixing gas pawl and with being equipped with two guide rails being parallel to described rotary shaft below pawl of taking offence, and often
Article one, be slidably connected in guide rail mechanical finger, and the plane that two mechanical fingers on same gas pawl are formed is with described
Rotary shaft is parallel.
Described positioner is L-type collision block, and described locating piece can do circular arc moving between the two of collision block limit
Dynamic.
The operation principle of the present invention is as follows:
Workpiece feeding process: with the finger of take offence pawl and fixing gas pawl all in open configuration, and finger is in vertical
Straight state.Cylinder jacking, thus drive rotating disk to rotate, drive described rotary shaft to rotate, and made by positioner
Rotary shaft rotates in the range of 90 °, and the rotation of rotary shaft drives fixing gas pawl to rotate, and by installing plate drive with
Pawl of taking offence rotates.Then move along guide rail with the finger of take offence pawl and fixing gas pawl and close, grabbing workpiece.
Then, cylinder shrinks, and drives fixing gas pawl and rotates with pawl integral inverted direction of taking offence, until recovering to plumbness.
Mechanical hand drives workpiece to move integrally, and when absorption surface positioning chuck, the finger of fixing gas pawl is opened, machine
Tool hands still drives workpiece slowly to move to positioning chuck.Now, owing to workpiece displacement in chuck is short, machine
The displacement of tool hands is long, so being compressed with the spring connect with ZHUANLIAN of taking offence, the spring of compression is by with pawl of taking offence
Retroaction, on workpiece, is strengthened the fastening force of workpiece, is fixed on positioning chuck by Work-sheet pressing.Treat that workpiece is fixed
After good position, with taking offence, pawl opens, spring reset, will back down with pawl of taking offence, and mechanical hand recovers to original state.
Workpiece blanking process: after receiving blanking order, mechanical hand moves to lathe, with pawl of taking offence with fixing
The finger of gas pawl is proceeded by closing motion, grabbing workpiece by complete deployed position；Tail stock for machine tool is return, and gas pawl is grabbed
Walk workpiece and be positioned over blanking position.
Compared with prior art, beneficial effects of the present invention is embodied in following several respects:
(1) work efficiency is improved: claw rotates in moving process and changes workpiece posture, it is ensured that between lathe
Continuity；
(2) product yields is improved: workpiece can be close on positioning chuck, is advantageous to the finishing axially positioned
Work operation, it is ensured that precision；
(3) closed loop control, in real time monitoring: claw is in monitor state in real time, and action executing is respond well；
(4) range is wide: the grip portion of this claw can be changed flexibly, and the spacing of two gas pawls can be adjusted
Whole, adapt to all kinds of parts of different size.
Accompanying drawing explanation
Fig. 1 is the perspective view of the present invention；
Fig. 2 is the front view of Fig. 1；
Fig. 3 is the rearview of Fig. 1.
Wherein, 1 for taking offence pawl, and 11 is servo-actuated finger, and 2 is follower block, and 3 is spring, and 4 is fixed block, and 5
For cylinder, 6 is collision block, and 7 is installing plate, and 8 is locating piece, and 9 is guide rail, and 10 is fixing gas pawl, and 101 is solid
Determining finger, 12 is rotating disk.
Detailed description of the invention
Elaborating embodiments of the invention below, the present embodiment enters under premised on technical solution of the present invention
Row is implemented, and gives detailed embodiment and concrete operating process, but under protection scope of the present invention is not limited to
The embodiment stated.
Embodiment
A kind of rotatable automatic mechanical hand, as shown in Figure 1, Figure 2 and Figure 3, this mechanical hand includes its structure
Cylinder 5, installing plate 7, L-type collision block 6, fixing gas pawl 10 and with pawl 1 of taking offence, the upper end of fixing gas pawl 10 is even
It is connected to the side of installing plate 7, is slidably connected at the opposite side of installing plate 7 with the upper end of pawl 1 of taking offence, fixing gas pawl
Inner side run through have rotary shaft and can with this rotary shaft synchronous axial system, one end of rotary shaft pass through rotating disk 12 and cylinder
5 connect, and rotary shaft is fixing with the center of rotating disk 12 to be connected, and cylinder 5 is fixing with the outside of rotating disk to be connected；Rotate
The other end of axle is provided with the locating piece 8 matched with collision block 6, and locating piece 8 can do between the two of collision block 6 limit
Circular arc moves；Installing plate 7 upper end is provided with fixed block 4, with the upper end fixed random motion block 2 of pawl 1 of taking offence, fixing
Block 4 and follower block 2 are connected by spring 3；Fixing gas pawl 10 and the lower section with pawl 1 of taking offence are equipped with two and put down
Row is in the guide rail 9 of described rotary shaft, and the mechanical finger that is slidably connected in each guide rail, is denoted as fixing hands respectively
Finger 101 and servo-actuated finger 11, the plane that two mechanical fingers on same gas pawl are formed and described rotary shaft
Parallel.
The operation principle of the present invention is as follows:
Workpiece feeding process: with the finger of take offence pawl 1 and fixing gas pawl 10 all in open configuration, and at finger
In plumbness.Cylinder 5 jacking, thus drive rotating disk 12 to rotate, drive described rotary shaft to rotate, and pass through
L-type collision block 6 and the effect of locating piece 8 so that rotary shaft rotates in the range of 90 °, the rotation of rotary shaft drives
Fixing gas pawl 10 rotates, and is driven by installing plate 7 and rotate with pawl 1 of taking offence.Then with taking offence pawl 1 and solid
The finger determining gas pawl 10 moves along guide rail 9 and closes, grabbing workpiece.Then, cylinder 5 shrinks, and drives solid
Determine gas pawl 10 and rotate with pawl 1 integral inverted direction of taking offence, until recovering to plumbness.
Mechanical hand drives workpiece to move integrally, when absorption surface positioning chuck, and the fixed finger of fixing gas pawl 10
101 open, and mechanical hand still drives workpiece slowly to move to positioning chuck.Now, due to workpiece shifting in chuck
Dynamic apart from short, the displacement of mechanical hand is long, so spring 3 is compressed, the spring 3 of compression is by with pawl of taking offence
1 retroaction, on workpiece, is strengthened the fastening force of workpiece, is fixed on positioning chuck by Work-sheet pressing.Treat that workpiece is solid
Locating and postpone, with taking offence, pawl 1 opens, and spring 3 resets, and will back down with pawl 1 of taking offence, and mechanical hand recovers to just
Beginning state.
Workpiece blanking process: after receiving blanking order, mechanical hand moves to lathe, with pawl 1 of taking offence with solid
The finger determining gas pawl 10 is proceeded by closing motion, grabbing workpiece by complete deployed position；Tail stock for machine tool is return,
Gas pawl is caught away workpiece and is positioned over blanking position.
Claims (5)
1. a rotatable automatic mechanical hand, it is characterised in that this mechanical hand include cylinder, installing plate,
Positioner, fixing gas pawl and with pawl of taking offence, the upper end of described fixing gas pawl is connected to the side of installing plate, servo-actuated
The upper end of gas pawl is slidably connected at the opposite side of installing plate, and the inner side of described fixing gas pawl is run through rotary shaft can be with
This rotary shaft synchronous axial system, one end of described rotary shaft is connected with cylinder by rotating disk, and the other end of rotary shaft is provided with
The locating piece matched with described positioner；Described installing plate upper end is provided with fixed block, described with pawl of taking offence
Upper end fixed random motion block, described fixed block and follower block are connected by spring.
The rotatable automatic mechanical hand of one the most according to claim 1, it is characterised in that described
Rotary shaft is fixing with the center of rotating disk to be connected, and described cylinder is fixing with the outside of rotating disk to be connected；When cylinder jacking or receipts
During contracting, rotating disk rotates, and drives described rotary shaft to rotate, and makes rotary shaft turn within the specific limits by positioner
Dynamic, the fixing gas pawl of rotation drive of rotary shaft rotates, and is driven with pawl rotation of taking offence by installing plate.
The rotatable automatic mechanical hand of one the most according to claim 1, it is characterised in that described
Fix gas pawl and with being equipped with two guide rails being parallel to described rotary shaft below pawl of taking offence, and in each guide rail
Be slidably connected mechanical finger, and the plane that two mechanical fingers on same gas pawl are formed is put down with described rotary shaft
OK.
The rotatable automatic mechanical hand of one the most according to claim 4, it is characterised in that described
Inside mechanical finger volume corrugated.
The rotatable automatic mechanical hand of one the most according to claim 1, it is characterised in that described
Positioner is L-type collision block, and described locating piece can do circular arc between the two of collision block limit and move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610504947.5A CN105945939A (en) | 2016-06-30 | 2016-06-30 | Rotary automatic mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610504947.5A CN105945939A (en) | 2016-06-30 | 2016-06-30 | Rotary automatic mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105945939A true CN105945939A (en) | 2016-09-21 |
Family
ID=56901958
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610504947.5A Pending CN105945939A (en) | 2016-06-30 | 2016-06-30 | Rotary automatic mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105945939A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106346502A (en) * | 2016-11-09 | 2017-01-25 | 芜湖市恒浩机械制造有限公司 | Dispatching and clamping device |
| CN106761794A (en) * | 2017-03-06 | 2017-05-31 | 东北大学 | A kind of shield machine disk cutter tool changing robot arm end effector |
| CN107053135A (en) * | 2017-03-15 | 2017-08-18 | 西安多杰机器人有限公司 | A kind of four shaft industrial robots |
| CN107351116A (en) * | 2017-08-22 | 2017-11-17 | 安徽智森电子科技有限公司 | A kind of robot device for automating feeding |
| CN107738248A (en) * | 2017-10-20 | 2018-02-27 | 深圳市精实机电科技有限公司 | A kind of manipulator and its control method with two-pawl structure |
| CN107838570A (en) * | 2017-12-08 | 2018-03-27 | 威海科莱默自动化设备有限公司 | A kind of Pseudobulbus Bletillae (Rhizoma Bletillae) automatic assembly line and production line control method |
| CN107901076A (en) * | 2017-12-20 | 2018-04-13 | 无锡特恒科技有限公司 | For drawing the swing type mechanical arm of gauge |
| CN107984285A (en) * | 2016-10-26 | 2018-05-04 | 济南西格玛数控设备有限公司 | A kind of press strip saw saw blade pumps material clamping mechanism automatically |
| CN108297077A (en) * | 2017-12-30 | 2018-07-20 | 芜湖慧盈自动化设备有限公司 | A kind of multi-freedom robot |
| CN109807921A (en) * | 2019-03-28 | 2019-05-28 | 广州市申发机电有限公司 | A kind of full-automatic loading and unloading manipulator device |
| CN110815267A (en) * | 2019-11-29 | 2020-02-21 | 航天科技控股集团股份有限公司 | Clamping jaw structure capable of accurately positioning pointer |
| CN112518404A (en) * | 2020-11-12 | 2021-03-19 | 珠海格力智能装备有限公司 | Flange feeding and discharging clamp for machining comprehensive hole positions and flange machining automatic line |
| CN114474117A (en) * | 2022-02-17 | 2022-05-13 | 宁波科达精工科技股份有限公司 | Get a clamping jaw clearance adjustable manipulator |
-
2016
- 2016-06-30 CN CN201610504947.5A patent/CN105945939A/en active Pending
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107984285A (en) * | 2016-10-26 | 2018-05-04 | 济南西格玛数控设备有限公司 | A kind of press strip saw saw blade pumps material clamping mechanism automatically |
| CN106346502A (en) * | 2016-11-09 | 2017-01-25 | 芜湖市恒浩机械制造有限公司 | Dispatching and clamping device |
| CN106346502B (en) * | 2016-11-09 | 2018-11-09 | 芜湖市恒浩机械制造有限公司 | A kind of allocation and transportation clamp device |
| CN106761794A (en) * | 2017-03-06 | 2017-05-31 | 东北大学 | A kind of shield machine disk cutter tool changing robot arm end effector |
| CN107053135A (en) * | 2017-03-15 | 2017-08-18 | 西安多杰机器人有限公司 | A kind of four shaft industrial robots |
| CN107351116A (en) * | 2017-08-22 | 2017-11-17 | 安徽智森电子科技有限公司 | A kind of robot device for automating feeding |
| CN107351116B (en) * | 2017-08-22 | 2023-04-11 | 安徽智森电子科技有限公司 | Automatic change manipulator device of getting material |
| CN107738248A (en) * | 2017-10-20 | 2018-02-27 | 深圳市精实机电科技有限公司 | A kind of manipulator and its control method with two-pawl structure |
| CN107838570A (en) * | 2017-12-08 | 2018-03-27 | 威海科莱默自动化设备有限公司 | A kind of Pseudobulbus Bletillae (Rhizoma Bletillae) automatic assembly line and production line control method |
| CN107901076A (en) * | 2017-12-20 | 2018-04-13 | 无锡特恒科技有限公司 | For drawing the swing type mechanical arm of gauge |
| CN108297077A (en) * | 2017-12-30 | 2018-07-20 | 芜湖慧盈自动化设备有限公司 | A kind of multi-freedom robot |
| CN109807921A (en) * | 2019-03-28 | 2019-05-28 | 广州市申发机电有限公司 | A kind of full-automatic loading and unloading manipulator device |
| CN110815267A (en) * | 2019-11-29 | 2020-02-21 | 航天科技控股集团股份有限公司 | Clamping jaw structure capable of accurately positioning pointer |
| CN112518404A (en) * | 2020-11-12 | 2021-03-19 | 珠海格力智能装备有限公司 | Flange feeding and discharging clamp for machining comprehensive hole positions and flange machining automatic line |
| CN114474117A (en) * | 2022-02-17 | 2022-05-13 | 宁波科达精工科技股份有限公司 | Get a clamping jaw clearance adjustable manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160921 |
|
| WD01 | Invention patent application deemed withdrawn after publication |