CN107457771A - A kind of streamline processes heavy-duty machinery arm device - Google Patents
A kind of streamline processes heavy-duty machinery arm device Download PDFInfo
- Publication number
- CN107457771A CN107457771A CN201710705169.0A CN201710705169A CN107457771A CN 107457771 A CN107457771 A CN 107457771A CN 201710705169 A CN201710705169 A CN 201710705169A CN 107457771 A CN107457771 A CN 107457771A
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- China
- Prior art keywords
- area
- forearm
- arm
- large arm
- pawl
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P15/00—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass
-
- 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
- B23Q41/00—Combinations or associations of metal-working machines not directed to a particular result according to classes B21, B23, or B24
- B23Q41/02—Features relating to transfer of work between machines
-
- 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
- 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
- B23Q7/048—Multiple gripper units
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
A kind of streamline processes heavy-duty machinery arm device, mainly includes：Pedestal, motor installing plate, motor, column, left-hand rotation arm seat, right-hand rotation arm seat, left large arm, right large arm, left forearm, right forearm, left parallel pawl, right parallel pawl, the motor installing plate is located at the pedestal upper surface, the motor is installed on motor installing plate, the column is installed on pedestal, described left-hand rotation arm seat one end is installed on column, the other end is connected with the left large arm, the left large arm other end is connected with the left forearm, the pawl connection parallel with the left side of the left forearm other end, described right-hand rotation arm seat one end is installed on column, the other end is connected with the right large arm, the right large arm other end is connected with the right forearm, the pawl connection parallel with the right side of the right forearm other end；The present invention uses state-of-the-art technology, realizes automatically working, ensure that the life security of worker, improve operating efficiency.
Description
Technical field
The present invention relates to a kind of production line device, particularly relates to a kind of streamline processing heavy mechanical hand dress
Put.
Background technology
At present, the production line of prior art is delivered by production line driving-chain, close from operator, so
By the workpiece volume sometimes processed is big, quality is big, disturbs operator and has threatened the life security of worker, drop
Low production efficiency.
Existing gripper has cylinder, piston, push rod, claw etc., by cylinder pressurizing urges piston machine push rod band
Pawl portion grabs conjunction and opened, or drives claw to grab conjunction and open by motor control pinion rotation, so as to realize grasping work
Part and the action for decontroling workpiece.But sometimes, need mobile workpiece when gripper does not pick up, or it is steady without folder so that
Workpiece stays put or is moved between initial position and final position, causes workpiece to stay in a pipeline, can be to streamline
In other workpiece, process unit and worker damage.
Such as be nearly all pellet type carrier during production automobile when being processed carrying to auto parts and components, automobile zero
Part is positioned on pallet, transportation tray also carrier vehicle parts simultaneously, and this form there is empty pallet due to carrying
Idle program and just progressively withdraw from the market.
The content of the invention
The technical problem of the solution of the present invention is zero of high quality for some large volumes in modern production streamline
Part processing difficulties, worker's life security around is threatened, and using modernization science and technology, realize that pipeline automation is given birth to
Production, alleviates the workload of worker, improves production efficiency.
The technical scheme is that：A kind of streamline processes heavy-duty machinery arm device, mainly includes：Pedestal, driving electricity
Machine installing plate, motor, column, left-hand rotation arm seat, right-hand rotation arm seat, left large arm, right large arm, left forearm, right forearm, a left side are parallel
Pawl, right parallel pawl, the motor installing plate are located at the pedestal upper surface, and the motor is installed on motor peace
In loading board, pedestal also includes：Support roller, bearing of conveyor idler, main frame, tape, screen, the bearing of conveyor idler be located at base bottom and from
Passed through in the support roller, the main frame is installed on base interior, and the tape is installed on main frame, and the screen is connected with main frame
And on the outer surface of pedestal side；The column is installed on pedestal, and column also includes：Fixing axle, rolling bearing, turn
Arm axle is held, claw, and the fixing axle is located at column center and inserted in pedestal, and the rolling bearing is installed on outside fixing axle,
The claw is installed on rolling bearing outer surface, and the rotary arm bearing has two, is respectively arranged in claw both ends；The left-hand rotation arm
Seat one end is installed on column, and the other end is connected with the left large arm, and the left large arm other end is connected with the left forearm, left forearm
Other end pawl connection parallel with the left side, left tumbler motor built in left-hand rotation arm seat, left large arm also include：Left large arm bearing, approach
Switch one, left large arm pitch motor, and the left large arm bearing is installed on through left-hand rotation arm seat and left large arm, the proximity switch one
Left large arm inner surface, the left large arm pitch motor and are installed on left large arm afterbody；Left forearm also includes：Proximity switch three, a left side are small
Arm axle is held, proximity switch four, left forearm pitch motor, and the proximity switch three and the proximity switch four are all installed on left forearm
Inner surface, the left forearm bearing pitch motor and are installed in left forearm through left large arm and left forearm, the left forearm；It is described
Left parallel pawl also includes：Left claw end, left claw arm, left claw bearing, the left claw bearing is through left forearm and left parallel pawl, the left side
Pawl arm is connected with left claw bearing, and the left claw end is connected with left claw arm；Described right-hand rotation arm seat one end is installed on column, the other end
It is connected with the right large arm, the right large arm other end is connected with the right forearm, the pawl connection parallel with the right side of the right forearm other end,
Right tumbler motor built in right-hand rotation arm seat, right large arm also include：Right large arm bearing, proximity switch two, right large arm pitch motor, described
Right large arm bearing is installed on right large arm inner surface through right-hand rotation arm seat and right large arm, the proximity switch two, and the right large arm is faced upward
Motor of bowing is installed on right large arm afterbody；Right forearm also includes：Proximity switch five, right forearm bearing, proximity switch six, right forearm are faced upward
Bow motor, the proximity switch five and the proximity switch six are all installed on right forearm inner surface, and the right forearm bearing runs through
Right large arm and right forearm, the right forearm pitch motor and are installed in right forearm；The parallel pawl in the right side also includes：Right pawl end, the right side
Pawl arm, right pawl bearing, through right forearm and right parallel pawl, the right pawl arm is connected the right pawl bearing with right pawl bearing, described
Right pawl end is connected with right pawl arm.
Further, making is processed in processing district, specific make step includes：Die casting, casting, cooling,
Punching, polishing and assembling；
The processing district includes：Base mold casting region, column die casting area, large arm die casting area, forearm mould
Casting region, parallel pawl die casting area, pedestal casting area, column casting area, large arm casting area, forearm casting area, parallel pawl pour
Cast area, pedestal cooling area, column cooling area, large arm cooling area, forearm cooling area, parallel pawl cooling area, pedestal punch area, column
It is punch area, large arm punch area, forearm punch area, parallel pawl punch area, pedestal polishing area, column polishing area, large arm polishing area, small
Arm polishing area, parallel pawl polishing area, assembling area, element installing zone, motor installing zone, finished product collecting region, finished product detection area；
Die casting：In the base mold casting region, column die casting area, large arm die casting area, forearm mould
Die casting is carried out in casting region, parallel pawl die casting area, is obtained small with the pedestal, column, left large arm, right large arm, a left side
Arm, right forearm, left parallel pawl, right parallel each self-corresponding mould of pawl；
Casting：Selected mould is placed in corresponding the pedestal casting area, large arm casting area, forearm casting area, parallel pawl
Cast, obtained and the pedestal, column, left large arm, right large arm, left forearm, right forearm, left parallel pawl, the right side in casting area
Parallel each self-corresponding cast of pawl；
Cooling：Pass through the pedestal cooling area, column cooling area, large arm cooling area, forearm cooling area, parallel pawl cooling area
Each corresponding part cast is cooled：
Punching：Pass through the pedestal punch area, column punch area, large arm punch area, forearm punch area, parallel pawl punch area
Processing is punched out to corresponding component；
Polishing：Pass through the pedestal polishing area, column polishing area, large arm polishing area, forearm polishing area, parallel pawl polishing area
Corresponding component is polished；
Assembling：Resulting pedestal, column, left large arm, right large arm, left forearm, right forearm, left parallel pawl, right parallel pawl
Assembled in the assembling area with the motor installing plate, left-hand rotation arm seat, right-hand rotation arm seat, then pacified by the element
Dress area is installed to each element in device, then the motor of motor is installed by the motor installing zone,
The finished product collecting region is finally collected into, the finished devices of collection carry out performance detection by the detection zone again.
Further, the parallel pawl in the left side uses electronic clamping jaw, because gripper generally there are three kinds of operating positions, waits to press from both sides
The location of workpiece is taken, gripped the location of workpiece and presss from both sides empty position, it is built-in in the left claw end for the normal work of protection device
Whether in place magnetic switch, the magnetic switch judge left parallel pawl by detecting the position at left claw end；The right pawl end
Whether in place middle built-in magnetic switch, the magnetic switch judge right parallel pawl by detecting the position at right pawl end, effectively
Ensure that accurately can arrive assigned work place by gripping workpiece by gripping, protect other workpiece in streamline, equipment and
The safety of worker.
Further, the claw uses bowl shaped structure, device is had more preferable bearing.
Further, the left-hand rotation arm seat each works independently with the right-hand rotation arm seat, full-featured, facilitates malfunction elimination
Repair.
Further, the left-hand rotation arm seat can make device carry out full side with the right-hand rotation arm seat with all-direction rotation
Position work.
Further, the support roller uses universal wheel, convenient that device is moved.
The present invention method of work be：The present invention is first moved to suitable Working position by worker, and then worker passes through screen
For curtain by workflow lead-in spiral, main frame controls corresponding proximity switch and motor by the processing to workflow in tape
Work, realize present invention automatically working in a pipeline.
With compared with prior art, beneficial effects of the present invention are embodied in：Rational in infrastructure, practical function of the invention, can be with
It is effectively ensured in streamline big to some volumes, the big object of quality is processed；Worker is inputted workflow by screen
In tape, main frame is carried out automatically working, ensure that the life security of worker, carry by the processing to workflow in tape
High operating efficiency.
Brief description of the drawings
Fig. 1 is the positive structure schematic that a kind of streamline processes heavy-duty machinery arm device；
Fig. 2 is the work flow schematic diagram that a kind of streamline processes heavy-duty machinery arm device；
A kind of left and right parallel pawl schematic diagram of streamline processing heavy-duty machinery arm device in Fig. 3 positions；
Wherein, 1- pedestals, 2- motors installing plate, 3- motors, 4- columns, 5- left-hand rotations arm seat, 6- right-hand rotations arm seat,
The left parallel pawl of the left large arm of 7-, the right large arm of 8-, the left forearms of 9-, the right forearms of 10-, 11-, the right parallel pawls of 12-, 13- processing districts, 14- magnetic
Property switch, 101- support rollers, 102- bearing of conveyor idler, 103- main frames, 104- tapes, 105- screens, 401- fixing axles, the 402- axis of rolling
Hold, 403- rotary arm bearings, 404- bowl-types claw, the left tumbler motors of 501-, the right tumbler motors of 601-, the left large arm bearings of 701-,
The left large arm of 702- proximity switches one, 703- pitches the right large arm of motor, 801 right large arm bearings, 802- proximity switches two, 803- and pitched
The left forearm of the left forearm bearing of motor, 901- proximity switches three, 902-, 903- proximity switches four, 904- pitches motor, 1001- connects
Nearly switch five, the right forearm bearings of 1002-, 1003- proximity switches six, the right forearms of 1004- pitch motor, 1101- left claws end,
1102- left claws arm, 1103- left claws bearing, the right pawl ends of 1201-, the right gripping arms of 1202-, the right pawl bearings of 1203-, 1301- base molds
Casting region, 1302- column die castings area, 1303- large arm die castings area, 1304- forearm die castings area, 1305- are parallel
Pawl die casting area, 1306- pedestals casting area, 1307- columns casting area, 1308- large arm casting area, 1309- forearms casting area,
The parallel pawl casting areas of 1310-, 1311- pedestals cooling area, 1312- columns cooling area, 1313- large arm cooling area, 1314- forearms drop
The parallel pawl cooling area of warm area, 1315-, 1316- pedestals punch area, 1317- columns punch area, 1318- large arm punch area, 1319-
Forearm punch area, the parallel pawl punch areas of 1320-, 1321- pedestals polishing area, 1322- columns polishing area, 1323- large arm polishing area,
1324- forearms polishing area, the parallel pawl polishing areas of 1325-, 1326- assemblings area, 1327- elements installing zone, the installation of 1328- motors
Area, 1329 finished product collecting regions, 1330- finished product detections area.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the accompanying drawing of the present invention, to this hair
Technical scheme in bright embodiment is clearly and completely described.
Embodiment：As shown in figure 1, a kind of streamline processing heavy-duty machinery arm device, mainly includes：Pedestal 1, motor
Installing plate 2, motor 3, column 4, left-hand rotation arm seat 5, right-hand rotation arm seat 6, left large arm 7, right large arm 8, left forearm 9, right forearm 10,
Left parallel pawl 11, right parallel pawl 12.
As shown in figure 1, motor installing plate 2 is located at the upper surface of pedestal 1, motor 3 is installed on motor installation
On plate 2, pedestal 1 also includes：Support roller 101, bearing of conveyor idler 102, main frame 103, tape 104, screen 105, bearing of conveyor idler 102 are located at
The bottom of pedestal 1 and passed through from support roller 101, main frame 103 is installed on inside pedestal 1, and tape 104 is installed on main frame 103, screen
Curtain 105 is connected with main frame 103 and on the outer surface of pedestal side.
As shown in figure 1, column 4 is installed on pedestal 1, column 4 also includes：Fixing axle 401, rolling bearing 402, tumbler shaft
403, claw 404 is held, fixing axle 401 is located at the center of column 4 and inserted in pedestal 1, and rolling bearing 402 is installed on fixing axle
Outside 401, claw 404 is installed on the outer surface of rolling bearing 402, and rotary arm bearing 403 has two, is respectively arranged in the both ends of claw 404.
As shown in figure 1, the one end of left-hand rotation arm seat 5 is installed on column 4, the other end is connected with left large arm 7, and left large arm 7 is another
End is connected with left forearm 9, and the left other end of forearm 9 connects with left parallel pawl 11, left tumbler motor 501, Zuo great built in left-hand rotation arm seat 5
Arm 7 also includes：Left large arm bearing 701, proximity switch 1, left large arm pitch motor 703, and left large arm bearing 701 is through left-hand rotation
Arm seat 5 and left large arm 7, proximity switch 1 are installed on the left inner surface of large arm 7, and left large arm pitches motor 703 and is installed on left large arm
7 afterbodys；Left forearm 9 also includes：Proximity switch 3 901, left forearm bearing 902, proximity switch 4 903, left forearm pitch motor
904, proximity switch 3 901 and proximity switch 4 903 are all installed on the left inner surface of forearm 9, and left forearm bearing 902 runs through left large arm
7 pitch motor 904 and are installed in left forearm 9 with left forearm 9, left forearm；
As shown in Figure 1 and Figure 2, left parallel pawl 11 also includes：Left claw end 1101, left claw arm 1102, left claw bearing 1103, it is left
Pawl bearing 1103 is connected through left forearm 9 and left parallel pawl 11, left claw arm 1102 with left claw bearing 1103, left claw end 1101 and a left side
Pawl arm 1102 connects.
As shown in figure 1, the one end of right-hand rotation arm seat 6 is installed on column 4, the other end is connected with right large arm 8, and right large arm 8 is another
End is connected with right forearm 10, and the right other end of forearm 10 connects with right parallel pawl 12, and right tumbler motor 601 built in right-hand rotation arm seat 6 is right
Large arm 8 also includes：Right large arm bearing 801, proximity switch 2 802, right large arm pitch motor 803, and right large arm bearing 801 is through the right side
Pivoted arm seat 6 and right large arm 8, proximity switch 2 802 are installed on the right inner surface of large arm 8, and right large arm pitches motor 803 and is installed on the right side greatly
The afterbody of arm 8；Right forearm 10 also includes：Proximity switch 5 1001, right forearm bearing 1002, proximity switch 6 1003, right forearm are faced upward
Bow motor 1004, proximity switch 5 1001 and proximity switch 6 1003 are all installed on the right inner surface of forearm 10, right forearm bearing
1002 pitch motor 1004 and are installed in right forearm 10 through right large arm 8 and right forearm 10, right forearm；
As shown in Figure 1 and Figure 2, right parallel pawl 12 also includes：Right pawl end 1201, right pawl arm 1202, right pawl bearing 1203, it is right
Pawl bearing 1203 is connected through right forearm 10 and right parallel pawl 12, right pawl arm 1202 with right pawl bearing 1203, right pawl end 1201 and
Right pawl arm 1202 connects.
Wherein, making is processed in processing district 13, specific make step includes：Die casting, casting, cooling, punching
Hole, polishing and assembling；
Processing district 13 includes：Base mold casting region, column die casting area, large arm die casting area, the casting of forearm mould
Make area, parallel pawl die casting area, pedestal casting area, column casting area, large arm casting area, forearm casting area, the casting of parallel pawl
Area, pedestal cooling area, column cooling area, large arm cooling area, forearm cooling area, parallel pawl cooling area, pedestal punch area, column punching
Porose area, large arm punch area, forearm punch area, parallel pawl punch area, pedestal polishing area, column polishing area, large arm polishing area, forearm
Polishing area, parallel pawl polishing area, assembling area, element installing zone, motor installing zone, finished product collecting region, finished product detection area,
Die casting：Base mold casting region 1301, column die casting area 1302, large arm die casting area 1303,
Carry out die casting in forearm die casting area 1304, parallel pawl die casting area 1305, obtain with the pedestal 1, column 4,
Left large arm 7, right large arm 8, left forearm 9, right forearm 10, left parallel pawl 11, the right parallel each self-corresponding mould of pawl 12,
Casting：Selected mould is placed in corresponding pedestal casting area 1306, large arm casting area 1308, forearm casting area
1309th, cast, obtained and pedestal 1, column 4, left large arm 7, right large arm 8, left forearm 9, the right side in parallel pawl casting area 1310
Forearm 10, left parallel pawl 11, the right parallel each self-corresponding cast of pawl 12；
Cooling：Pass through the pedestal cooling area 1311, column cooling area 1312, large arm cooling area 1313, forearm cooling area
1314th, parallel pawl cooling area 1315 cools to each corresponding part cast：
Punching：By pedestal punch area 1316, column punch area 1317, large arm punch area 1318, forearm punch area 1319,
Parallel pawl punch area 1320 is punched out processing to corresponding component；
Polishing：By pedestal polishing area 1321, column polishing area 1322, large arm polishing area 1323, forearm polishing area 1324,
Parallel pawl polishing area 1325 is polished to corresponding component；
Assembling：Resulting pedestal 1, column 4, left large arm 7, right large arm 8, left forearm 9, right forearm 10, left parallel pawl 11,
Right parallel pawl 12 is assembled with motor installing plate 2, left-hand rotation arm seat 5, right-hand rotation arm seat 6 in assembling area 1326, is then passed through
Element installing zone 1327 is installed to each element in device, then the electricity by motor installing zone 1328 to motor 3
Machine is installed, and is finally collected into finished product collecting region 1329, and the finished devices of collection carry out performance inspection by detection zone 1330 again
Survey；
Left parallel pawl 11 uses electronic clamping jaw, because gripper generally there are three kinds of operating positions, the location of workpiece to be gripped,
The location of workpiece and folder empty position have been gripped, for the normal work of protection device, built-in magnetic switchs 14 in left claw end 1101,
Whether in place magnetic switch 14 judges left parallel pawl 11 by detecting the position at left claw end 1101；It is built-in in right pawl end 1201
Whether in place magnetic switch 14, magnetic switch 14 judge right parallel pawl 12 by detecting the position at right pawl end 1201, effectively
Ensure that accurately can arrive assigned work place by gripping workpiece by gripping, protect other workpiece in streamline, equipment and
The safety of worker；Claw 404 uses bowl shaped structure, device is had more preferable bearing；Left-hand rotation arm seat 5 and right-hand rotation arm seat 6 are each
It is full-featured from autonomous working, facilitate malfunction elimination to repair；Left-hand rotation arm seat 5 and right-hand rotation arm seat 6 can be with all-direction rotations, can be with
Device is set to carry out comprehensive work；Support roller 101 uses universal wheel, convenient that device is moved.
The present invention method of work be：The present invention is first moved to suitable Working position by worker, and then worker passes through screen
By in workflow lead-in spiral 104, main frame 103 is accordingly connect curtain 105 by the processing to workflow in tape 104, control
The work of nearly switch and motor, realize the automatically working of the present invention in a pipeline.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in previous embodiment, or equivalent substitution is carried out to which part technical characteristic；And
These modifications are replaced, and the essence of appropriate technical solution is departed from the spirit and model of technical scheme of the embodiment of the present invention
Enclose.
Claims (8)
1. a kind of streamline processes heavy-duty machinery arm device, it is characterised in that mainly includes：Pedestal (1), motor installing plate
(2), motor (3), column (4), left-hand rotation arm seat (5), right-hand rotation arm seat (6), left large arm (7), right large arm (8), left forearm
(9), right forearm (10), left parallel pawl (11), right parallel pawl (12), the motor installing plate (2) are located at the pedestal (1)
Upper surface, the motor (3) are installed on motor installing plate (2), and pedestal (1) also includes：Support roller (101), support roller
Bearing (102), main frame (103), tape (104), screen (105), the bearing of conveyor idler (102) be located at pedestal (1) bottom and
Passed through from the support roller (101), the main frame (103) is installed on pedestal (1) inside, and the tape (104) is installed on main frame
(103) on, the screen (105) is connected with main frame (103) and on the outer surface of pedestal side；Column (4) peace
Loaded on pedestal (1), column (4) also includes：Fixing axle (401), rolling bearing (402), rotary arm bearing (403), claw
(404), the fixing axle (401) is located at column (4) center and inserted in pedestal (1), and the rolling bearing (402) is installed on
Outside, the claw (404) is installed on rolling bearing (402) outer surface to fixing axle (401), and the rotary arm bearing (403) has two,
It is respectively arranged in claw (404) both ends；Described left-hand rotation arm seat (5) one end is installed on column (4), the other end and the left large arm
(7) connect, left large arm (7) other end is connected with the left forearm (9), left forearm (9) other end pawl (11) parallel with the left side
Connection, left tumbler motor (501) built in left-hand rotation arm seat (5), left large arm (7) also include：Left large arm bearing (701), proximity switch
One (702), left large arm pitch motor (703), and the left large arm bearing (701) is through left-hand rotation arm seat (5) and left large arm (7), institute
State proximity switch one (702) and be installed on left large arm (7) inner surface, the left large arm pitches motor (703) and is installed on left large arm (7)
Afterbody；Left forearm (9) also includes：Proximity switch three (901), left forearm bearing (902), proximity switch four (903), left forearm are faced upward
To bow motor (904), the proximity switch three (901) is all installed on left forearm (9) inner surface with the proximity switch four (903),
The left forearm bearing (902) is installed on left small through left large arm (7) and left forearm (9), the left forearm flexion-extension motor (904)
In arm (9)；The parallel pawl (11) in the left side also includes：Left claw end (1101), left claw arm (1102), left claw bearing (1103), it is described
Left claw bearing (1103) connects through left forearm (9) and left parallel pawl (11), the left claw arm (1102) with left claw bearing (1103)
Connect, the left claw end (1101) is connected with left claw arm (1102)；Described right-hand rotation arm seat (6) one end is installed on column (4), another
End be connected with the right large arm (8), right large arm (8) other end is connected with the right forearm (10), right forearm (10) other end and
Parallel pawl (12) connection in the right side, right tumbler motor (601) built in right-hand rotation arm seat (6), right large arm (8) also include：Right big arm axle
(801), proximity switch two (802), right large arm flexion-extension motor (803) are held, the right large arm bearing (801) runs through right-hand rotation arm seat
(6) right large arm (8) inner surface is installed on right large arm (8), the proximity switch two (802), the right large arm pitches motor
(803) it is installed on right large arm (8) afterbody；Right forearm (10) also includes：Proximity switch five (1001), right forearm bearing (1002),
Proximity switch six (1003), right forearm pitch motor (1004), the proximity switch five (1001) and the proximity switch six
(1003) right forearm (10) inner surface is all installed on, the right forearm bearing (1002) runs through right large arm (8) and right forearm (10),
The right forearm pitches motor (1004) and is installed in right forearm (10)；The parallel pawl (12) in the right side also includes：Right pawl end
(1201), right pawl arm (1202), right pawl bearing (1203), the right pawl bearing (1203) is through right forearm (10) and right parallel pawl
(12), the right pawl arm (1202) is connected with right pawl bearing (1203), and the right pawl end (1201) is connected with right pawl arm (1202).
A kind of 2. streamline processing heavy-duty machinery arm device as claimed in claim 1, it is characterised in that the processing of described device
Preparation method is：Making is processed in processing district (13), specific make step includes：Die casting, casting, cooling, punching
Hole, polishing and assembling；
The processing district (13) includes：Base mold casting region (1301), column die casting area (1302), large arm die casting
Area (1303), forearm die casting area (1304), parallel pawl die casting area (1305), pedestal casting area (1306), column pour
Cast area (1307), large arm casting area (1308), forearm casting area (1309), parallel pawl casting area (1310), pedestal cooling area
(1311), column cooling area (1312), large arm cooling area (1313), forearm cooling area (1314), parallel pawl cooling area (1315),
Pedestal punch area (1316), column punch area (1317), large arm punch area (1318), forearm punch area (1319), the punching of parallel pawl
Porose area (1320), pedestal polishing area (1321), column polishing area (1322), large arm polishing area (1323), forearm polishing area
(1324), parallel pawl polishing area (1325), assembling area (1326), element installing zone (1327), motor installing zone (1328), finished product
Collecting region (1329), finished product detection area (1330)；
Die casting：In the base mold casting region (1301), column die casting area (1302), large arm die casting area
(1303) die casting, is carried out in forearm die casting area (1304), parallel pawl die casting area (1305), is obtained and the base
Seat (1), column (4), left large arm (7), right large arm (8), left forearm (9), right forearm (10), left parallel pawl (11), right parallel pawl
(12) each self-corresponding mould；
Casting：Selected mould is placed in corresponding the pedestal casting area (1306), large arm casting area (1308), forearm casting area
(1309), cast, obtained big with the pedestal (1), column (4), left large arm (7), the right side in parallel pawl casting area (1310)
Arm (8), left forearm (9), right forearm (10), left parallel pawl (11), right parallel each self-corresponding cast of pawl (12)；
Cooling：Cooled by the pedestal cooling area (1311), column cooling area (1312), large arm cooling area (1313), forearm
Area (1314), parallel pawl cooling area (1315) cool to each corresponding part cast；
Punching：Pass through the pedestal punch area (1316), column punch area (1317), large arm punch area (1318), forearm punching
Area (1319), parallel pawl punch area (1320) are punched out processing to corresponding component；
Polishing：Polished by the pedestal polishing area (1321), column polishing area (1322), large arm polishing area (1323), forearm
Area (1324), parallel pawl polishing area (1325) are polished to corresponding component；
Assembling：It is resulting pedestal (1), column (4), left large arm (7), right large arm (8), left forearm (9), right forearm (10), left
Parallel pawl (11), right parallel pawl (12) are with the motor installing plate (2), left-hand rotation arm seat (5), right-hand rotation arm seat (6) described
Assembling area (1326) is assembled, and then each element in device is installed by the element installing zone (1327),
The motor of motor (3) is installed by the motor installing zone (1328) again, the finished product is finally collected into and collects
Area (1329), the finished devices of collection carry out performance detection by the detection zone (1330) again.
A kind of 3. streamline processing heavy-duty machinery arm device as claimed in claim 1, it is characterised in that the parallel pawl in the left side
(11) electronic clamping jaw is used, because gripper generally there are three kinds of operating positions, the location of workpiece to be gripped, has gripped the location of workpiece
And folder empty position, for the normal work of protection device, built-in magnetic switch (14), the magnetic in the left claw end (1101)
Property switch (14) by detecting the position at left claw end (1101) whether in place judge the parallel pawl (11) in a left side；The right pawl end
(1201) built-in magnetic switch (14) in, the magnetic switch (14) are judged right by detecting the position of right pawl end (1201)
In place whether parallel pawl (12).
A kind of 4. streamline processing heavy-duty machinery arm device as claimed in claim 1, it is characterised in that the claw (404)
Using bowl shaped structure.
A kind of 5. streamline processing heavy-duty machinery arm device as claimed in claim 1, it is characterised in that the claw (404)
Using non-bowl shaped structure.
A kind of 6. streamline processing heavy-duty machinery arm device as claimed in claim 1, it is characterised in that the left-hand rotation arm seat
(5) each worked independently with the right-hand rotation arm seat (6).
A kind of 7. streamline processing heavy-duty machinery arm device as claimed in claim 1, it is characterised in that the left-hand rotation arm seat
(5) can be with all-direction rotation with the right-hand rotation arm seat (6).
A kind of 8. streamline processing heavy-duty machinery arm device as claimed in claim 1, it is characterised in that the support roller (101)
Using universal wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710705169.0A CN107457771B (en) | 2017-08-17 | 2017-08-17 | Heavy manipulator device of assembly line processing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710705169.0A CN107457771B (en) | 2017-08-17 | 2017-08-17 | Heavy manipulator device of assembly line processing |
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| CN107457771A true CN107457771A (en) | 2017-12-12 |
| CN107457771B CN107457771B (en) | 2020-11-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710705169.0A Active CN107457771B (en) | 2017-08-17 | 2017-08-17 | Heavy manipulator device of assembly line processing |
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| CN109877346A (en) * | 2019-04-15 | 2019-06-14 | 苏州珈玛自动化科技有限公司 | Manipulator handling equipment |
| CN111844090A (en) * | 2020-07-10 | 2020-10-30 | 重庆工程职业技术学院 | Aluminum alloy mechanical gripper and processing method thereof |
| CN112621211A (en) * | 2020-12-14 | 2021-04-09 | 大金制冷(苏州)有限公司 | Automatic assembly robot is used in refrigeration unit production |
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| CN112621211A (en) * | 2020-12-14 | 2021-04-09 | 大金制冷(苏州)有限公司 | Automatic assembly robot is used in refrigeration unit production |
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| Publication number | Publication date |
|---|---|
| CN107457771B (en) | 2020-11-17 |
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