CN107363613A - A kind of crawl executive module of worm gear production line - Google Patents
A kind of crawl executive module of worm gear production line Download PDFInfo
- Publication number
- CN107363613A CN107363613A CN201710667749.5A CN201710667749A CN107363613A CN 107363613 A CN107363613 A CN 107363613A CN 201710667749 A CN201710667749 A CN 201710667749A CN 107363613 A CN107363613 A CN 107363613A
- Authority
- CN
- China
- Prior art keywords
- installing plate
- pneumatic
- worm gear
- crawl
- executive module
- 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
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 20
- 238000003754 machining Methods 0.000 claims abstract description 4
- 238000007664 blowing Methods 0.000 claims description 13
- 238000009434 installation Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 6
- 230000004308 accommodation Effects 0.000 claims description 3
- 230000006978 adaptation Effects 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 238000012545 processing Methods 0.000 abstract description 9
- 230000002262 irrigation Effects 0.000 abstract 1
- 238000003973 irrigation Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000010008 shearing Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241000237858 Gastropoda Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000017105 transposition Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/043—Construction of the grippers
-
- 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
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of crawl executive module of worm gear production line, its drip irrigation device is to include holder body, clamping device and bindiny mechanism, clamping device includes two pneumatic-fingers, bindiny mechanism includes also includes the motor that holder body can be driven to be rotated around the central axis of connecting seat with the rotatable connecting seat being fixedly connected of mechanical arm, the crawl executive module.Motor can drive two pneumatic-fingers being fixedly connected on holder body to rotate to realize the commutation of pneumatic-finger, after a pneumatic-finger on the crawl executive module removes the machined worm gear on a certain station, motor drives pneumatic-finger commutation, unprocessed worm gear on another pneumatic-finger is processed with regard to that can be placed on the station immediately, reduce on the station from the worm gear machined to be removed to the time interval that is reentered between unprocessed worm gear, the station can have the more time to be used for machining worm wheel, improve the processing efficiency of worm gear.
Description
Technical field
The present invention relates to a kind of automation equipment field, the crawl of more particularly to a kind of worm gear production line performs
Component.
Background technology
With economic and science and technology development, the utilization of automation equipment is more and more extensive in the industrial production, in worm gear
In production process, in order to improve processing efficiency and reduce human cost, worm gear can be captured and lay using manipulator, in worm gear
Process in, when station B spiral case making complete when, it is necessary to by manipulator by station B worm gear take out be placed into
Next station C, then capture by manipulator upper station A worm gear and be put into station B and be processed.
Operated in whole process according to a manipulator, then the manipulator needs to pass through station B twice, operates
Journey is complicated, and time-consuming, and manipulator just removes the machined worm gear on station B when starting, to the last just will be undressed
Worm gear be installed on station B and be processed, station B is constantly in idle condition in pilot process, reduces the processing of worm gear
Efficiency.
Operated according to two manipulators, not only increase the quantity of manipulator, increase processing cost, and two
No-float is needed between individual manipulator, after previous manipulator takes the machined worm gear on station B away, latter manipulator is then
The unprocessed worm gear on station A is installed on station B immediately, just can guarantee that station B be in idle condition time it is most short,
Therefore the complexity of manipulator control is added.
The content of the invention
In view of the deficienciess of the prior art, it is an object of the invention to provide a kind of crawl execution group of worm gear production line
Part, the crawl executive module can be realized the machined worm gear of a certain station is removed after can be in time by unprocessed worm gear
It is placed on the station, improves the processing efficiency of worm gear.
To achieve the above object, the invention provides following technical scheme：A kind of crawl executive module of worm gear production line,
The holder body can be connected including holder body and the clamping device being installed on holder body and with mechanical arm
Bindiny mechanism, the clamping device includes two pneumatic-fingers, and two pneumatic-fingers are respectively arranged in the phase of holder body
To both ends, and it is generally aligned in the same plane on two pneumatic-fingers for clamping the clamping face formed when the clamping part of worm gear abuts against
On, the clamping part opening of two pneumatic-fingers is towards the outside of holder body；
The bindiny mechanism includes to be fixedly connected on the rotatable connecting seat being fixedly connected of mechanical arm, the connecting seat
On holder body, and connecting seat is positioned at the centre position of the line of centres of two pneumatic-finger clamping parts, the crawl executive module
Also include the motor that holder body can be driven to be rotated around the central axis of connecting seat, the motor drives clamping
It is machined on station that the commutation of the i.e. achievable crawl executive modules of 180 ° of main body rotation make it that a pneumatic-finger has gripped
After worm gear, even if another pneumatic-finger is processed with undressed worm gear being put into the station.
As a further improvement on the present invention, the clamping part of the pneumatic-finger includes two and is easy to grip worm gear
Clamping jaw, " V " font neck is provided with the opposite face of two clamping jaws.
As a further improvement on the present invention, the holder body includes main installing plate, and two pneumatic-fingers are pacified respectively
Both ends loaded on main installing plate length direction, the pneumatic-finger are bolted with main installing plate, the pneumatic-finger with
It is provided with mounting hole on main installing plate, the mounting hole on the main installing plate is provided with multigroup, and multigroup mounting hole is along main peace
The length direction of loading board is set, and the pneumatic-finger is connected by mounting holes different from main installing plate can be adjusted pneumatically
Distance of the finger apart from main installing plate center.
As a further improvement on the present invention, the crawl executive module, which also includes, enables to the pneumatic-finger
Clamping part is accurately positioned the sensor of gripping position, is provided with sensing installing plate on the holder body, the sensor with
Sensing installing plate is fixedly connected.
As a further improvement on the present invention, the sensor is fixedly connected on sensing installing plate by mounting seat, institute
State sensor to be fixedly connected with the mounting seat, the mounting seat on the sensing installing plate with being coaxially arranged with connecting hole, institute
State connecting hole to be circlewise uniformly distributed, bolt is mounted on each connecting hole, an energy is provided between adjacent two connecting hole
Enough avoid mounting seat that alignment pin is installed in the positioning hole with sensing the positioning hole to be misplaced during installing plate installation.
As a further improvement on the present invention, the crawl executive module also includes blowing nozzle, and the blowing nozzle passes through
Valve installing plate is fixedly connected on holder body, and the mouthpiece face direction of the blowing nozzle and the detection direction phase of sensor
Together.
As a further improvement on the present invention, tracheae installing plate, the tracheae installation are also equipped with the main installing plate
Be provided with plate can the inserting hole that passes through of air supply pipe, the tracheae installing plate is respectively arranged in main peace with the sensing installing plate
The both sides of loading board width, the valve installing plate are installed between the tracheae installing plate and sensing installing plate, the gas
Mouth installing plate, tracheae installing plate and sensing installing plate are mounted between two pneumatic-fingers, the main installing plate, valve installation
A placing chamber that can dispose tracheae is formed between plate, tracheae installing plate, sensing installing plate and two pneumatic-fingers.
As a further improvement on the present invention, the both sides of the main installing plate width are arranged with for sensing installation respectively
The groove that plate and tracheae installing plate are caught in, the depth of the groove are adapted with the thickness of sensing installing plate and tracheae installing plate,
The length of the groove is adapted with the width of sensing installing plate and tracheae installing plate.
As a further improvement on the present invention, the connection of the main installing plate and connecting seat is provided with and can expanded
The through hole of the accommodation space of placing chamber, the through hole extend through circular groove and connecting pole.
As a further improvement on the present invention, the main installing plate is connected with multiple bolts that connecting seat is set by ring-type
Connect, and main installing plate is concavely provided with circular groove, the depth of the circular groove is less than the thickness of main installing plate, is convexly equipped with the connecting seat
The connecting pole being adapted with circular groove.
Beneficial effects of the present invention：By being provided with two pneumatic-fingers and and mechanical arm on the crawl executive module
The rotatable connecting seat being fixedly connected and the motor that holder body can be driven to be rotated around the central axis of connecting seat,
Motor is enabled to drive two pneumatic-fingers being fixedly connected on holder body to rotate to realize changing for pneumatic-finger
To, after a pneumatic-finger on the crawl executive module removes the machined worm gear on a certain station, motor band
Dynamic pneumatic-finger is commutated, and the unprocessed worm gear on another pneumatic-finger is processed with regard to that can be placed on the station immediately, is subtracted
Lack on the station from the worm gear machined to be removed to the time interval that is reentered between unprocessed worm gear, the station
There can be the more time to be used for machining worm wheel, improve the processing efficiency of worm gear.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of crawl executive module；
Fig. 2 is the dimensional structure diagram of the crawl executive module with mechanical arm；
Fig. 3 is the dimensional structure diagram of main installing plate；
Fig. 4 is the dimensional structure diagram of connecting seat.
Reference：1st, holder body；11st, main installing plate；111st, mounting hole；112nd, groove；113rd, circular groove；114th, lead to
Hole；12nd, installing plate is sensed；13rd, mounting seat；131st, connecting hole；132nd, positioning hole；14th, valve installing plate；15th, tracheae installing plate；
151st, inserting hole；16th, placing chamber；2nd, clamping device；21st, pneumatic-finger；22nd, clamping jaw；23rd, neck；3rd, bindiny mechanism；31st, even
Joint chair；32nd, connecting pole；4th, motor；5th, sensor；6th, blowing nozzle.
Embodiment
With reference to the accompanying drawings and examples, the present invention is described in more detail.Wherein identical parts identical
Reference represents.It should be noted that the word "front", "rear", "left", "right", the "up" and "down" that are used below in description
The direction in accompanying drawing is referred to, word " bottom surface " and " top surface ", " interior " and " outer " are referred respectively to towards or away from particular elements
The direction of geometric center.
Referring to figs. 1 to shown in 4, a kind of crawl executive module of worm gear production line of the present embodiment, including holder body 1,
With the clamping device 2 being installed on holder body 1 and the bindiny mechanism that the holder body 1 can be connected with mechanical arm
3, clamping device 2 includes two pneumatic-fingers 21, and two pneumatic-fingers 21 are respectively arranged in the opposite end of holder body 1,
And it is in the same plane for clamping the clamping face formed when the clamping part of worm gear abuts against on two pneumatic-fingers 21, two
The clamping part opening of individual pneumatic-finger 21 towards the outside of holder body 1, passes through the setting of two pneumatic-fingers 21 so that should
When one pneumatic-finger 21 of crawl executive module is clamped with unprocessed worm gear, another pneumatic-finger 21 can be by station
Machined worm gear clamp out, be easy to undressed worm gear to be put into station and be processed, avoid the crawl executive module and only have
During one pneumatic-finger 21, it is necessary to first by the machined worm gear gripping on the station on next station, by a upper station
Worm gear is clamped on the station and is processed, and process is complicated and required time is grown, and reduces the processing efficiency of worm gear.
Bindiny mechanism 3 includes is fixedly connected on folder with the rotatable connecting seat 31 being fixedly connected of mechanical arm, connecting seat 31
Hold in main body 1, and connecting seat 31 is positioned at the centre position of the line of centres of two clamping parts of pneumatic-finger 21, the crawl execution group
Part also includes motor 4, and motor 4 can drive holder body 1 to be rotated around the central axis of connecting seat 31, driving electricity
Machine 4, which can be selected, can control the servomotor of the anglec of rotation, because connecting seat 31 is positioned at two clamping parts of pneumatic-finger 21
The centre position of the line of centres so that when servomotor drive holder body 1 rotates 180 °, two gas of the crawl executive module
Starting to refer to 21 can just transposition, you can realizes the commutation of the crawl executive module.
After a pneumatic-finger 21 on the crawl executive module removes the machined worm gear on a certain station, servo
Motor driven pneumatic-finger 21 commutates, and the unprocessed worm gear on another pneumatic-finger 21 is enterprising with regard to that can be placed to the station immediately
Row processing, reduces and is removed on the station from by the worm gear machined between the time being reentered between unprocessed worm gear
Every the station can have the more time to be used for machining worm wheel, improve the processing efficiency of worm gear.
As a kind of improved embodiment, the clamping part of pneumatic-finger 21 includes two and is easy to grip worm gear
Clamping jaw 22, " V " font neck 23 is provided with the opposite face of two clamping jaws 22, when two clamping jaws 22 on pneumatic-finger 21
When moving towards to grip worm gear, the face of cylinder of worm gear can be snapped onto in neck 23 so that the folder that clamping jaw 22 can be more firm
Worm gear is held, worm gear is not easy to slide from clamping jaw 22.
As a kind of improved embodiment, holder body 1 includes main installing plate 11, and two pneumatic-fingers 21 divide
The both ends of the main length direction of installing plate 11 are not installed on, and pneumatic-finger 21 is bolted with main installing plate 11, pneumatic-finger
21 on main installing plate 11 with being provided with mounting hole 111, and the mounting hole 111 on main installing plate 11 is provided with multigroup, and multigroup peace
Length direction of the hole 111 along main installing plate 11 is filled to set, when bolt through the different mounting holes 111 on main installing plate 11 with it is pneumatic
When mounting hole 111 on finger 21 is connected, distance of the pneumatic-finger 21 apart from the main center of installing plate 11 is different, therefore pneumatic hand
Refer to 21 to adjust manually with the distance at the main center of installing plate 11 so that after mechanical arm is close to a certain station, if clamping jaw 22 and
When worm gear on station still has a certain distance, the distance of pneumatic-finger 21 and the main center of installing plate 11 can be tuned up so that gas
The clamping jaw 22 for starting to refer on 21 can grip worm gear, after mechanical arm is close to a certain station, if clamping jaw 22 can grip easily
When to worm gear and worm gear can be crossed, the distance of pneumatic-finger 21 and the main center of installing plate 11 can be turned down so that in pneumatic hand
Clamping jaw 22 on finger 21 can reduce the volume of the crawl executive module in the case of can gripping worm gear, be advantageous to the crawl
Executive module works in the occasion of narrow space.
As a kind of improved embodiment, crawl executive module also includes sensor 5, is set on holder body 1
Sensing installing plate 12 is equipped with, sensor 5 is fixedly connected with sensing installing plate 12 enables sensor 5 to be fixedly connected on clamping master
On body 1, gripping position can be accurately moved to by the clamping part of the positioning pneumatic-finger 21 of sensor 5 so that folder
The portion of holding can accurately clamp worm gear, accelerate the clamping efficiency of worm gear.
As a kind of improved embodiment, sensor 5 is fixedly connected on sensing installing plate 12 by mounting seat 13
On, sensor 5 is fixedly connected with mounting seat 13, and mounting seat 13 connects with being coaxially arranged with connecting hole 131 on sensing installing plate 12
Hole 131 is circlewise uniformly distributed, and bolt is mounted on each connecting hole 131, the bolt connecting mode connection fastening and it is removable
Unload, and connecting hole 131 is easy to process into being uniformly distributed, and is circlewise uniformly distributed yet with connecting hole 131 so that mounting seat 13
It is different so that mounting seat 13 and sensing installing plate from sensing installing plate 12 connecting hole 131 passed through in connection procedure due to bolt
Rotated between 12, and sensor 5 is fixedly connected with mounting seat 13, causes the detection direction of sensor 5 to deflect, therefore
A positioning hole 132 is provided between adjacent two connecting hole 131, alignment pin is installed in positioning hole 132 so that each mounting seat
13 with sensing installing plate 12 be fixedly connected when, the positioning hole 132 that bolt passes through immobilizes so that the detection direction of sensor 5
It will not deflect, sensor 5 is capable of the gripping position in correct positioning clamping portion so that clamping part can accurately clamp snail
Wheel.
As a kind of improved embodiment, crawl executive module also includes blowing nozzle 6, and blowing nozzle 6 passes through gas
Mouth installing plate 14 is fixedly connected on holder body 1, and the mouthpiece face direction of blowing nozzle 6 and the detection direction phase of sensor 5
Together, when sensor 5 starts positioning, blowing nozzle 6 can be blown against the detection direction of sensor 5 so that sensor 5
The debris such as the cutting swarf in test position are cleaned, and avoid the debris such as cutting swarf in the test position of sensor 5 to passing
The testing result of sensor 5 impacts so that clamping jaw 22 can not accurately clamp worm gear, cause the production efficiency of worm gear to reduce.
As a kind of improved embodiment, tracheae installing plate 15, tracheae installation are also equipped with main installing plate 11
Be provided with plate 15 can the inserting hole 151 that passes through of air supply pipe, tracheae installing plate 15 is respectively arranged in master with sensing installing plate 12
The both sides of the width of installing plate 11, valve installing plate 14 are installed between tracheae installing plate 15 and sensing installing plate 12, valve
Installing plate 14, tracheae installing plate 15 and sensing installing plate 12 are mounted between two pneumatic-fingers 21, main installing plate 11, valve
Placing chamber 16 is formed between installing plate 14, tracheae installing plate 15, sensing installing plate 12 and two pneumatic-fingers 21, tracheae can
It is extend into placing chamber 16 by inserting hole 151, then is connected with two pneumatic-fingers 21 and blowing nozzle 6, placing chamber 16 can
The junction of tracheae and tracheae and pneumatic-finger 21 and blowing nozzle 6 to inside is protected, and avoids foreign object from being expressed to tracheae
Or touch tracheae junction and make it that tracheae damages or junction connection loosens, cause the service life of the crawl executive module
Reduce.
As a kind of improved embodiment, the both sides of the main width of installing plate 11 are respectively arranged with for sensing peace
The groove 112 that loading board 12 and tracheae installing plate 15 are caught in, the depth of groove 112 is not less than sensing installing plate 12 and tracheae installing plate
15 thickness, the length of groove 112 are gentle not less than sensing installing plate 12 and the width of tracheae installing plate 15, sensing installing plate 12
Pipe installing plate 15 can be snapped onto first in neck 23 to be connected by bolt with main installing plate 11 again, avoids sensing the He of installing plate 12
When tracheae installing plate 15 is directly bolt-connected on main installing plate 11, it senses installing plate 12 and tracheae installing plate 15 will be convex
Located at the width both sides of main installing plate 11, the aesthetics of the crawl executive module is caused to reduce and the volume of the crawl executive module
Become big, the occasion for being unfavorable for the crawl executive module into narrow space is worked.
As a kind of improved embodiment, multiple bolts that main installing plate 11 and connecting seat 31 are set by ring-type
It is connected, because the rotation of main installing plate 11 is driven by connecting seat 31, therefore the bolt between connecting seat 31 and main installing plate 11
Need to bear larger shearing stress, set bolt as much as possible to improve in the junction of main installing plate 11 and connecting seat 31
The bonding strength of main installing plate 11 and connecting seat 31 so that bolt is not easy to damage because the shearing stress born is excessive, and main installation
Plate 11 is concavely provided with circular groove 113, and the depth of circular groove 113 is less than the thickness of main installing plate 11, connecting pole is convexly equipped with connecting seat 31
32, after connecting pole 32 inserts circular groove 113, the end face and side of connecting pole 32 can abut against with the bottom surface of circular groove 113 and side,
It further limit and relatively moved between connecting seat 31 and main installing plate 11, reduce the shearing stress that bolt is subjected to,
So that bolt is not easy to damage because the shearing stress born is excessive, the service life of the crawl executive module is added.
As a kind of improved embodiment, the connection of main installing plate 11 and connecting seat 31 is provided with through hole
114, the through hole 114 extends through circular groove 113 and connecting pole 32, and the through hole 114 can expand the accommodation space of placing chamber 16, keep away
Exempt from placing chamber 16 it is too small when tracheae in placing chamber 16 mutually extrude, be easily caused tracheae damage, and by setting through hole 114
The gravity of the crawl executive module is reduced, reduces the driving force for driving the crawl executive module so that the crawl execution group
The energy consumption of part reduces, and is advantageous to save production cost.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that for the art
For those of ordinary skill, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of crawl executive module of worm gear production line, including holder body (1) and the folder that is installed on holder body (1)
Hold mechanism (2) and the bindiny mechanism (3) that the holder body (1) can be connected with mechanical arm, it is characterised in that：It is described
Clamping device (2) includes two pneumatic-fingers (21), and two pneumatic-fingers (21) are respectively arranged in the relative of holder body (1)
Both ends, and for clamping the clamping face formed when the clamping part of worm gear abuts against positioned at same flat on two pneumatic-fingers (21)
On face, the clamping part opening of two pneumatic-fingers (21) is towards the outside of holder body (1)；
The bindiny mechanism (3) includes solid with the rotatable connecting seat (31) being fixedly connected of mechanical arm, the connecting seat (31)
Surely it is connected on holder body (1), and connecting seat (31) is positioned at the centre of the line of centres of two pneumatic-finger (21) clamping parts
Position, the crawl executive module also include the drive that holder body (1) can be driven to be rotated around the central axis of connecting seat (31)
Dynamic motor (4), the motor (4) drive holder body (1) to rotate 180 ° of commutations that the crawl executive module can be achieved
So that after a pneumatic-finger (21) has gripped the machined worm gear on station, another pneumatic-finger (21) is not even if will with energy
Machining worm wheel is put into the station and is processed.
A kind of 2. crawl executive module of worm gear production line according to claim 1, it is characterised in that：The pneumatic-finger
(21) clamping part includes two clamping jaws (22) for being easy to grip worm gear, is provided with the opposite face of two clamping jaws (22)
" V " font neck (23).
A kind of 3. crawl executive module of worm gear production line according to claim 1, it is characterised in that：The holder body
(1) main installing plate (11) is included, two pneumatic-fingers (21) are respectively arranged in the both ends of main installing plate (11) length direction, institute
State pneumatic-finger (21) to be bolted with main installing plate (11), the pneumatic-finger (21) on main installing plate (11) with being all provided with
It is equipped with mounting hole (111), the mounting hole (111) on the main installing plate (11) is provided with multigroup, and multigroup mounting hole (111) edge
The length direction of main installing plate (11) is set, the pneumatic-finger (21) by from the different mounting holes on main installing plate (11)
(111) be connected the distance that can adjust pneumatic-finger (21) apart from main installing plate (11) center.
A kind of 4. crawl executive module of worm gear production line according to claim 3, it is characterised in that：The crawl performs
Component also includes the sensor (5) for enabling to the clamping part of the pneumatic-finger (21) to be accurately positioned gripping position, institute
State and sensing installing plate (12) is provided with holder body (1), the sensor (5) is fixedly connected with sensing installing plate (12).
A kind of 5. crawl executive module of worm gear production line according to claim 4, it is characterised in that：The sensor
(5) it is fixedly connected on by mounting seat (13) on sensing installing plate (12), the sensor (5) is fixed with the mounting seat (13)
Connection, the mounting seat (13) on the sensing installing plate (12) with being coaxially arranged with connecting hole (131), the connecting hole
(131) circlewise it is uniformly distributed, bolt is mounted on each connecting hole (131), is provided between adjacent two connecting hole (131)
One can avoid mounting seat (13) with sensing the positioning hole (132) to be misplaced when installing plate (12) is installed, the positioning hole (132)
Alignment pin is inside installed.
A kind of 6. crawl executive module of worm gear production line according to claim 5, it is characterised in that：The crawl performs
Component also includes blowing nozzle (6), and the blowing nozzle (6) is fixedly connected on holder body (1) by valve installing plate (14),
And the mouthpiece face direction of the blowing nozzle (6) is identical with the detection direction of sensor (5).
A kind of 7. crawl executive module of worm gear production line according to claim 6, it is characterised in that：The main installing plate
(11) tracheae installing plate (15) is also equipped with, being provided with the tracheae installing plate (15) being capable of the inserting hole that passes through of air supply pipe
(151), the tracheae installing plate (15) is respectively arranged in main installing plate (11) width with the sensing installing plate (12)
Both sides, the valve installing plate (14) are installed between the tracheae installing plate (15) and sensing installing plate (12), the valve
Installing plate (14), tracheae installing plate (15) and sensing installing plate (12) are mounted between two pneumatic-fingers (21), the master
Installing plate (11), valve installing plate (14), tracheae installing plate (15), sensing installing plate (12) and two pneumatic-fingers (21) it
Between formed a placing chamber (16) that can dispose tracheae.
A kind of 8. crawl executive module of worm gear production line according to claim 7, it is characterised in that：The main installing plate
(11) both sides of width are arranged with the groove (112) being caught in for sensing installing plate (12) and tracheae installing plate (15) respectively,
The depth of the groove (112) is adapted with the thickness of sensing installing plate (12) and tracheae installing plate (15), the groove (112)
Length be adapted with sensing installing plate (12) and the width of tracheae installing plate (15).
A kind of 9. crawl executive module of worm gear production line according to claim 3, it is characterised in that：The main installing plate
(11) the multiple bolts set with connecting seat (31) by ring-type are connected, and main installing plate (11) is concavely provided with circular groove (113),
The depth of the circular groove (113) is less than the thickness of main installing plate (11), is convexly equipped with and circular groove (113) phase on the connecting seat (31)
The connecting pole (32) of adaptation.
A kind of 10. crawl executive module of worm gear production line according to claim 9, it is characterised in that：The main installation
The connection of plate (11) and connecting seat (31) is provided with the through hole (114) for the accommodation space that can expand placing chamber (16),
The through hole (114) extends through circular groove (113) and connecting pole (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710667749.5A CN107363613A (en) | 2017-08-07 | 2017-08-07 | A kind of crawl executive module of worm gear production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710667749.5A CN107363613A (en) | 2017-08-07 | 2017-08-07 | A kind of crawl executive module of worm gear production line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107363613A true CN107363613A (en) | 2017-11-21 |
Family
ID=60310299
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710667749.5A Pending CN107363613A (en) | 2017-08-07 | 2017-08-07 | A kind of crawl executive module of worm gear production line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107363613A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107838938A (en) * | 2017-12-08 | 2018-03-27 | 威海科莱默自动化设备有限公司 | A kind of robot gripper |
| CN108908302A (en) * | 2018-08-15 | 2018-11-30 | 杜宗英 | Aluminum alloy pattern plate intelligence welding multi-function robot manipulator |
| CN108908293A (en) * | 2018-07-06 | 2018-11-30 | 芜湖隆深机器人有限公司 | A kind of multidigit manipulator grabbing cylinder end piece |
| CN110561455A (en) * | 2019-09-18 | 2019-12-13 | 合肥工业大学 | Magic cube robot manipulator |
| CN111251331A (en) * | 2020-03-27 | 2020-06-09 | 浙江精力工具有限公司 | Multifunctional manipulator clamp for motor rotor production |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1275450A (en) * | 1999-05-28 | 2000-12-06 | 株式会社日立制作所 | Method and apparatus for making structural element |
| JP2002178218A (en) * | 2000-12-13 | 2002-06-25 | Nissan Motor Co Ltd | Chip removing device for broaching machine |
| CN201618853U (en) * | 2009-12-15 | 2010-11-03 | 武汉协和齿环有限公司 | Automatic feeding machine |
| CN203993514U (en) * | 2014-07-17 | 2014-12-10 | 高健生 | Polishing machine feeding mechanical hand |
| CN204938362U (en) * | 2015-08-20 | 2016-01-06 | 九牧厨卫股份有限公司 | A kind of S. A. feed, device for discharging |
| CN206068865U (en) * | 2016-06-29 | 2017-04-05 | 赵东厚 | A kind of Product transport machine |
| CN207027094U (en) * | 2017-08-07 | 2018-02-23 | 浙江硕和机器人科技有限公司 | A kind of crawl executive module of worm gear production line |
-
2017
- 2017-08-07 CN CN201710667749.5A patent/CN107363613A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1275450A (en) * | 1999-05-28 | 2000-12-06 | 株式会社日立制作所 | Method and apparatus for making structural element |
| JP2002178218A (en) * | 2000-12-13 | 2002-06-25 | Nissan Motor Co Ltd | Chip removing device for broaching machine |
| CN201618853U (en) * | 2009-12-15 | 2010-11-03 | 武汉协和齿环有限公司 | Automatic feeding machine |
| CN203993514U (en) * | 2014-07-17 | 2014-12-10 | 高健生 | Polishing machine feeding mechanical hand |
| CN204938362U (en) * | 2015-08-20 | 2016-01-06 | 九牧厨卫股份有限公司 | A kind of S. A. feed, device for discharging |
| CN206068865U (en) * | 2016-06-29 | 2017-04-05 | 赵东厚 | A kind of Product transport machine |
| CN207027094U (en) * | 2017-08-07 | 2018-02-23 | 浙江硕和机器人科技有限公司 | A kind of crawl executive module of worm gear production line |
Non-Patent Citations (1)
| Title |
|---|
| 上海市电动工具研究所, 上海科学技术情报研究所出版 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107838938A (en) * | 2017-12-08 | 2018-03-27 | 威海科莱默自动化设备有限公司 | A kind of robot gripper |
| CN107838938B (en) * | 2017-12-08 | 2024-04-12 | 威海科莱默自动化设备股份有限公司 | Robot gripper |
| CN108908293A (en) * | 2018-07-06 | 2018-11-30 | 芜湖隆深机器人有限公司 | A kind of multidigit manipulator grabbing cylinder end piece |
| CN108908302A (en) * | 2018-08-15 | 2018-11-30 | 杜宗英 | Aluminum alloy pattern plate intelligence welding multi-function robot manipulator |
| CN110561455A (en) * | 2019-09-18 | 2019-12-13 | 合肥工业大学 | Magic cube robot manipulator |
| CN111251331A (en) * | 2020-03-27 | 2020-06-09 | 浙江精力工具有限公司 | Multifunctional manipulator clamp for motor rotor production |
| CN111251331B (en) * | 2020-03-27 | 2023-12-08 | 瑞展动能(九江)有限公司 | Multifunctional manipulator clamp for motor rotor production |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107363613A (en) | A kind of crawl executive module of worm gear production line | |
| CN203356515U (en) | Static automatic riveting machine | |
| JP2019104092A (en) | Screwdriver tool, screwdriver device, method for conveying and fastening screw | |
| CN207027094U (en) | A kind of crawl executive module of worm gear production line | |
| CN215237856U (en) | Automatic produce spanner numerical control lathe processingequipment | |
| CN209256312U (en) | Full-automatic square end plate process line | |
| CN203156491U (en) | Robot deburring machine | |
| CN114188251A (en) | A automatic PIN production system of inserting for IGBT | |
| CN116551389B (en) | Automatic drilling equipment for outer shaft sleeve | |
| CN206011081U (en) | A kind of manipulator fixture device of electric motor end cap processing | |
| CN203751818U (en) | Automatic transporting clamp assembly | |
| CN104625710A (en) | Automatic screw taking and storing module for fastening robot | |
| CN215880923U (en) | Six-axis robot feeding and discharging mechanism | |
| CN201366613Y (en) | Screw holder of automatic screw fastening machine | |
| CN109532030B (en) | Welding detection integrated machine and welding detection method thereof | |
| CN210010508U (en) | Hammer machine tool | |
| CN210546437U (en) | A material loading transport mechanism for pitch inspection appearance | |
| CN208662748U (en) | A kind of square tube hoop process equipment | |
| CN210125734U (en) | Processing device | |
| CN113523315A (en) | Automatic produce spanner numerical control lathe processingequipment | |
| CN206731716U (en) | Aluminum hull dust arrester | |
| CN206316679U (en) | Special-shaped aluminum frame robot gripper | |
| CN218087804U (en) | Pneumatic clamping device for machine tool clamp | |
| CN113816135B (en) | Flexible strip end capping machine | |
| CN219235329U (en) | Mechanical gripper |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171121 |
|
| RJ01 | Rejection of invention patent application after publication |