CN106586545A - Quick changing device of grippers - Google Patents
Quick changing device of grippers Download PDFInfo
- Publication number
- CN106586545A CN106586545A CN201710038837.9A CN201710038837A CN106586545A CN 106586545 A CN106586545 A CN 106586545A CN 201710038837 A CN201710038837 A CN 201710038837A CN 106586545 A CN106586545 A CN 106586545A
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- CN
- China
- Prior art keywords
- pin
- installing plate
- bearing
- cross
- handgrip
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a quick changing device of grippers. The quick changing device comprises a gear, a bearing, a bearing support, rhombic locating pins, a cross-shaped camping block, an oil-free sleeve A, sleeve supports, a connecting disc, a small pneumatic sliding table, limiting blocks and a rack, wherein one side of a mounting plate is fixedly connected with a flange plate A; the cross-shaped camping block is composed of a cross-shaped bracket and a rotating shaft which is perpendicularly connected with the center on one side of the cross-shaped bracket; the middle part of the rotating shaft is connected with the bearing support through the bearing; the bearing support is fixedly mounted in a through hole in the center of the mounting plate; the end part of the rotating shaft is connected with the gear on one side of the mounting plate; the cross-shaped bracket is arranged on the other side of the mounting plate; the gear is in mesh connection with the rack; and one end of the rack is fixedly connected with an output end of the small pneumatic sliding table fixed to the mounting plate. According to the quick changing device, the whole process of gripper changing action can be controlled to be mechanically and automatically operated through an electric signal of the entire device system, and the quick changing device is quite applicable to medium and large gripper mechanisms which are not suitable for manual operation.
Description
Technical field
The present invention relates to multi-shaft interlocked handling system or robot transportation system apparatus field, specifically a kind of handgrip quick change
Device.
Background technology
With the trend of industrial intelligentization development in recent years, more and more product manufacturing industries are constantly from Traditional Man
Production line to automation equipment production line changes.During automatic production line is integrated, the circulation of material becomes wherein the key link,
Therefore multi-shaft interlocked handling system or robot transportation system equipment be widely used in automatic production line it is integrated in.It is directed to not
Workpiece/product the handgrip of the product type of disconnected change, multi-shaft interlocked handling system or robot transportation system needs to be continually changing
To meet the bindiny mechanism between the needs of actual production, therefore multi-axes synchronous mechanism end or robot end and mobile handgrip
Must possess quick, accurate, safe and reliable handoff functionality.
The content of the invention
It is an object of the invention to provide one kind possesses quick, accurate, reliable handgrip fast replacing device, its particular technique side
Case is as follows：
A kind of handgrip fast replacing device, including gear, bearing, bearing spider, diamond positioning pin, cross clamping block, oil-free bushing A,
Support bushing block, terminal pad, installing plate, circular alignment pin, mounting flange A, miniature pneumatic slide unit, limited block and tooth bar, it is described
The side of installing plate is fixedly connected mounting flange A, and side center is vertical is connected by cross bracket and with its for cross clamping block
Rotating shaft constitute, by bearing connection bearing spider, bearing spider is fixedly mounted in the through hole at installing plate center at rotating shaft middle part,
The wherein gear of roller end connection plate side, and cross bracket is arranged on the opposite side of installing plate, gear engagement connects
Connect tooth bar, one end of tooth bar is fixedly connected the output end of miniature pneumatic slide unit fixed on installing plate, the installing plate it is another
Side is fixedly connected symmetrically arranged diamond positioning pin and circular alignment pin, and diamond positioning pin and circular alignment pin are positioned at cross
In two relative open areas of frame, diamond positioning pin and circular alignment pin are plugged in corresponding oil-free bushing A, oil-free bushing
A is fixedly installed on the center bore inner wall of support bushing block.
As further scheme of the invention：The support bushing block is fixedly connected with mounting flange B, ring flange B
Upper connection terminal pad, is arranged at every bar of cross bracket and rotates radian identical boss in terminal pad, boss is located at cross
Between support and installing plate.
As further scheme of the invention：The opposite side of the installing plate arranges sensing pin, and the one end for sensing pin is slided
It is connected in the pin bearing of installing plate side fixation, and spring, the side of the pin bearing is connected between sensing pin and pin bearing
Face opens up the through hole connected with sensing pin sliding eye, and inductive switch is installed in through hole.
As further scheme of the invention：Corresponding installing plate and the sliding eye inwall at the top of pin bearing are sold in the sensing
On be respectively provided with oil-free bushing B and oil-free bushing C.
As further scheme of the invention：Magnetic valve is installed on the installing plate.
Compared with prior art, the invention has the beneficial effects as follows：This practicality adopts this handgrip fast replacing device, and handgrip switching is dynamic
Make that inconvenient artificial operation can be particularly well-suited to by the whole process mechanical automation operation of integral device system electrical signal control realization
Medium-and-large-sized handgrip mechanism.Book practicality is complete in the automation equipment such as multi-shaft interlocked handling system or robot transportation system
Quick, accurate, the safe and reliable switching requirement of handgrip can be reached, productive temp linking and product in equipment production process is met
Type conversion is required.
Description of the drawings
Fig. 1 is the structural front view of the present invention；
Fig. 2 is the structure dorsal view of the present invention；
Fig. 3 is the cross-sectional view of A-A in Fig. 2；
Fig. 4 is the structural representation of B-B in Fig. 2；
Fig. 5 is the dimensional structure diagram in a direction of the invention；
Fig. 6 is the dimensional structure diagram in another direction of the invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1～6 are referred to, in the embodiment of the present invention, a kind of handgrip fast replacing device, including gear 1, bearing 2, bearing spider
3rd, diamond positioning pin 4, cross clamping block 5, mounting flange B6, oil-free bushing A7, support bushing block 8, terminal pad 9, installing plate 10,
Circular alignment pin 11, excessively mounting flange A12, line protective cover 13, miniature pneumatic slide unit 14, limited block 15, tooth bar 16, magnetic valve
17th, inductive switch 18, oil-free bushing B19, spring 20, pin bearing 21, oil-free bushing C22 and sensing pin 23, the installing plate 10
Side be fixedly connected mounting flange A12, cross clamping block 5 by cross bracket and with connected vertically turn of its side center
Axle is constituted, and rotating shaft middle part connects bearing spider 3 by bearing 2, and bearing spider 3 is fixedly mounted on the through hole at the center of installing plate 10
It is interior, the wherein gear 1 of the side of roller end connection plate 10, and cross bracket is arranged on the opposite side of installing plate 10, tooth
The engagement connection tooth bar 16 of wheel 1, one end of tooth bar 16 is fixedly connected the output end of miniature pneumatic slide unit 14 fixed on installing plate 10,
So as to the output end telescopic band moving gear 1 for passing through miniature pneumatic slide unit 14 is rotated, i.e., cross clamping block 5 is rotated.
The opposite side of the installing plate 10 is fixedly connected symmetrically arranged diamond positioning pin 4 and circular alignment pin 11, rhombus
Alignment pin 4 is located in two relative open areas of cross bracket with circular alignment pin 11, and diamond positioning pin 4 and circle are positioned
Pin 11 is plugged in corresponding oil-free bushing A7, and oil-free bushing A7 is fixedly installed on the center bore inner wall of support bushing block 8,
The support bushing block 8 is fixedly connected with mounting flange B6, and terminal pad 9 is connected on ring flange B6, is arranged in terminal pad 9
Every bar of cross bracket rotates radian identical boss, and boss is located between cross bracket and installing plate 10.
The opposite side of the installing plate 10 arranges sensing pin 23, and the one end for sensing pin 23 is slidably connected at the side of installing plate 10
In fixed pin bearing 21, and spring 20 is connected between sensing pin 23 and pin bearing 21, the side of the pin bearing 21 opens up
With the sensing through hole that connect of the sliding eye of pin 23, installation inductive switch 18 in through hole, by inductive switch sensitive pin 23 whether
It is mobile.
Oil-free bushing B19 is respectively provided with the sensing pin 23 and the sliding eye inwall at installing plate 10 and the top of pin bearing 21
With oil-free bushing C22.
Magnetic valve 17 is installed on the installing plate 10.
The present invention operation principle be：
This handgrip fast replacing device can be divided into separation and one two states according to 2 groups of signal detection component signals outputs.Separate shape
During state：Cross clamping block 5 is located at original state, and now it pushes one group of signal detection component sensing output signal of pin 23, now
One group of signal detection component not output signal, 2 groups of signals combination output switching signals.During one state：Small-sized startup slide unit
14 promotion tooth bars 16 rotate to final position clamping switch sides, the pressure sensitive of cross clamping block 5 with moving gear 1 and cross clamping block 5
Should pin 23 return not output signal and while another group of signal detection component sensing pin output letter of 9 times pressures of switch sides terminal pad
Number, 2 groups of signal combination output normal mounting signals.Handgrip switches installation process with fast replacing device：First, small-sized startup slide unit 14
Action drives cross clamping block 5 to return switch sides from gap position, unloads handgrip and fast replacing device switch sides, composite signal output
Change；Second, switch sides are according to affixed side circle/diamond positioning pin group fast accurate location and installation, small-sized startup slide unit 14
Action drives the clamping switch sides of cross clamping block 5, composite signal exporting change to complete switch operating.Handgrip fast replacing device 2
Planting composite signal Real-time Feedback guarantees that the connection of handgrip fast replacing device is safe and reliable.
In sum, using this handgrip fast replacing device, handgrip switching action can pass through integral device system electrical signal control
System realizes whole mechanical automation operation, is particularly well-suited to the manually-operated medium-and-large-sized handgrip mechanism of inconvenience.This handgrip changes the outfit soon
Put be fully able to reach in the automation equipment such as multi-shaft interlocked handling system or robot transportation system handgrip it is quick, precisely,
Safe and reliable switching requires, meets productive temp linking and product type conversion in equipment production process and require.This practicality has
Body provides the apparatus for fast switching between a kind of connection multi-axes synchronous mechanism end or robot end and mobile handgrip.Its feature
It is can to realize quick, accurate, the reliable switching between multi-axes synchronous mechanism end or robot end and mobile handgrip,
Multi-shaft interlocked handling system or robot transportation system apparatus field can be widely used in.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of spirit or essential attributes without departing substantially from the present invention, the present invention can be in other specific forms realized.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit is required rather than described above is limited, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as and limit involved claim.
Moreover, it will be appreciated that although this specification is been described by according to embodiment, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that for clarity those skilled in the art should
Using specification as an entirety, the technical scheme in each embodiment can also Jing it is appropriately combined, form those skilled in the art
Understandable other embodiment.
Claims (5)
1. a kind of handgrip fast replacing device, including gear, bearing, bearing spider, diamond positioning pin, cross clamping block, oil-free bushing
A, support bushing block, terminal pad, installing plate, circular alignment pin, mounting flange A, miniature pneumatic slide unit, limited block and tooth bar, its
Be characterised by, the side of the installing plate is fixedly connected mounting flange A, cross clamping block by cross bracket and with its side
Center rotating shaft connected vertically is constituted, and rotating shaft middle part connects bearing spider by bearing, and bearing spider is fixedly mounted on installing plate
In the through hole at center, the wherein gear of roller end connection plate side, and cross bracket is arranged on the another of installing plate
Side, gear engagement connection tooth bar, one end of tooth bar is fixedly connected the output end of miniature pneumatic slide unit fixed on installing plate, described
The opposite side of installing plate is fixedly connected symmetrically arranged diamond positioning pin and circular alignment pin, diamond positioning pin and circular alignment pin
In two relative open areas of cross bracket, diamond positioning pin and circular alignment pin are plugged on corresponding oil-free bushing
In A, oil-free bushing A is fixedly installed on the center bore inner wall of support bushing block.
2. a kind of handgrip fast replacing device according to claim 1, it is characterised in that the support bushing block is fixedly connected with
On mounting flange B, terminal pad is connected on ring flange B, every bar rotation radian of cross bracket is arranged in terminal pad identical
Boss, boss be located between cross bracket and installing plate.
3. a kind of handgrip fast replacing device according to claim 1 and 2, it is characterised in that the opposite side of the installing plate sets
Sensing pin is put, the one end for sensing pin is slidably connected in the pin bearing of installing plate side fixation, and is sensed between pin and pin bearing
Spring is connected with, the side of the pin bearing opens up the through hole connected with sensing pin sliding eye, inductive switch is installed in through hole.
4. a kind of handgrip fast replacing device according to claim 3, it is characterised in that the corresponding installing plate of the sensing pin and
Oil-free bushing B and oil-free bushing C are respectively provided with sliding eye inwall at the top of pin bearing.
5. a kind of handgrip fast replacing device according to claim 1, it is characterised in that be provided with electromagnetism on the installing plate
Valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710038837.9A CN106586545B (en) | 2017-03-10 | 2017-03-10 | Tongs quick change device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710038837.9A CN106586545B (en) | 2017-03-10 | 2017-03-10 | Tongs quick change device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106586545A true CN106586545A (en) | 2017-04-26 |
| CN106586545B CN106586545B (en) | 2023-03-31 |
Family
ID=58584934
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710038837.9A Active CN106586545B (en) | 2017-03-10 | 2017-03-10 | Tongs quick change device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106586545B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018992A (en) * | 2018-07-23 | 2018-12-18 | 格力电器（武汉）有限公司 | A kind of compressor automatic wire charging tooling |
| CN112776000A (en) * | 2021-03-04 | 2021-05-11 | 内蒙古硕博自动化科技有限公司 | Electrically-driven permanent magnet adsorption type robot terminal quick-change device |
| CN113103251A (en) * | 2021-04-09 | 2021-07-13 | 北京石油化工学院 | Irradiation-resistant nuclear emergency multifunctional disassembling robot |
| CN115234546A (en) * | 2022-09-26 | 2022-10-25 | 烟台中宇航空液压有限公司 | Hydraulic part platform position quick change device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3703113A (en) * | 1970-07-16 | 1972-11-21 | Fischer Ag Georg | Quick-change device for clamping apparatus on turning machines |
| EP0333923A2 (en) * | 1988-03-23 | 1989-09-27 | Emuge-Werk Richard Glimpel Fabrik für Präzisionswerkzeuge (vormals Moschkau & Glimpel) | Quick change chuck, specially for cutting internal- and external threads |
| CN101474697A (en) * | 2009-01-16 | 2009-07-08 | 重庆机床(集团)有限责任公司 | Gear-shaving machine knife quick change mechanism |
| CN204935438U (en) * | 2015-08-18 | 2016-01-06 | 北京精雕科技集团有限公司 | A kind of fast replacing device at zero point of rack-and-pinion type |
| CN206494516U (en) * | 2017-03-10 | 2017-09-15 | 广州松兴电气股份有限公司 | A kind of handgrip fast replacing device |
-
2017
- 2017-03-10 CN CN201710038837.9A patent/CN106586545B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3703113A (en) * | 1970-07-16 | 1972-11-21 | Fischer Ag Georg | Quick-change device for clamping apparatus on turning machines |
| EP0333923A2 (en) * | 1988-03-23 | 1989-09-27 | Emuge-Werk Richard Glimpel Fabrik für Präzisionswerkzeuge (vormals Moschkau & Glimpel) | Quick change chuck, specially for cutting internal- and external threads |
| CN101474697A (en) * | 2009-01-16 | 2009-07-08 | 重庆机床(集团)有限责任公司 | Gear-shaving machine knife quick change mechanism |
| CN204935438U (en) * | 2015-08-18 | 2016-01-06 | 北京精雕科技集团有限公司 | A kind of fast replacing device at zero point of rack-and-pinion type |
| CN206494516U (en) * | 2017-03-10 | 2017-09-15 | 广州松兴电气股份有限公司 | A kind of handgrip fast replacing device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018992A (en) * | 2018-07-23 | 2018-12-18 | 格力电器（武汉）有限公司 | A kind of compressor automatic wire charging tooling |
| CN112776000A (en) * | 2021-03-04 | 2021-05-11 | 内蒙古硕博自动化科技有限公司 | Electrically-driven permanent magnet adsorption type robot terminal quick-change device |
| CN113103251A (en) * | 2021-04-09 | 2021-07-13 | 北京石油化工学院 | Irradiation-resistant nuclear emergency multifunctional disassembling robot |
| CN113103251B (en) * | 2021-04-09 | 2023-07-07 | 北京石油化工学院 | Irradiation-resistant nuclear emergency multifunctional disassembly robot |
| CN115234546A (en) * | 2022-09-26 | 2022-10-25 | 烟台中宇航空液压有限公司 | Hydraulic part platform position quick change device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106586545B (en) | 2023-03-31 |
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