CN108393912B - Truss manipulator finger quick-change mechanism, and gas claw assembly and finger assembly provided with same - Google Patents
Truss manipulator finger quick-change mechanism, and gas claw assembly and finger assembly provided with same Download PDFInfo
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- CN108393912B CN108393912B CN201810474546.9A CN201810474546A CN108393912B CN 108393912 B CN108393912 B CN 108393912B CN 201810474546 A CN201810474546 A CN 201810474546A CN 108393912 B CN108393912 B CN 108393912B
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- claw
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- 230000007246 mechanism Effects 0.000 title claims abstract description 82
- 210000000078 claw Anatomy 0.000 title claims description 82
- 230000008859 change Effects 0.000 claims description 40
- 238000004519 manufacturing process Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 9
- 230000000903 blocking effect Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
- 210000001503 joint Anatomy 0.000 description 6
- 125000006850 spacer group Chemical group 0.000 description 4
- 229910052742 iron Inorganic materials 0.000 description 3
- 239000002173 cutting fluid Substances 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a finger quick-change mechanism, in particular to a truss manipulator finger quick-change mechanism, an air jaw assembly and a hand jaw assembly provided with the finger quick-change mechanism, which are mainly used for automatically processing clamp parts in an automobile brake. The quick-change machine comprises a finger quick-change machine seat, wherein a plurality of positioning bolts extending upwards are arranged in the finger quick-change machine seat, a locking piece guide plate which is elastically positioned with the finger quick-change machine seat is arranged in the finger quick-change machine seat, at least one locking hole which is movably locked with the locking piece guide plate is arranged in the finger quick-change machine seat, and the outer end of the locking piece guide plate extends out of the outer wall of the finger quick-change machine seat. Simple structure, convenient operation promotes its performance.
Description
Technical Field
The invention relates to a finger quick-change machine, in particular to a truss manipulator finger quick-change mechanism, an air jaw assembly and a hand jaw assembly provided with the finger quick-change mechanism, which are mainly used for automatically processing clamp parts in an automobile brake.
Background
The product of the truss line of reply multiple calliper product of needs processing is remodelled, original manual work remodelling, needs the manual work to change the mounting screw of paw and anchor clamps, still need use instrument such as loop wheel machine or many people to change the dress when changing the dress anchor clamps simultaneously, not only can take a large amount of time and manpower, can also lead to the production interruption of truss line lathe, influences production efficiency.
The common quick change dish in present market needs air supply, oil pressure source to realize butt joint clamp, has the risk of outage, fuel cut, and whole size is bigger, is not applicable to current equipment.
Meanwhile, the existing quick-change disc is directly connected with the air claw, and when the air claw and the hand claw are quickly replaced, the air claw and the quick-change master disc are required to be matched with each hand claw in a mode of integrally and quickly replacing the air claw and the hand claw, so that the cost is high; when the quick-change disc is in butt joint, the gas circuit of the gas claw and the electric control signal are required to be in butt joint, and the butt joint is complex; scrap iron and cutting fluid generated by machining are easy to enter the air path and the electric control signal interface to cause mechanical problems or circuit short circuit and other problems.
Disclosure of Invention
The invention mainly solves the defects existing in the prior art, and provides the quick-change mechanism of the truss manipulator fingers, the gas claw assembly provided with the quick-change mechanism of the fingers and the claw assembly, which are compact in structure, low in cost, simple in butt joint, small and reliable, replace manual type change and realize automatic quick-change of the truss manipulator.
The technical problems of the invention are mainly solved by the following technical proposal:
the utility model provides a truss manipulator finger quick change mechanism, includes finger quick change frame, finger quick change frame in be equipped with a plurality of upwards extending positioning bolt, finger quick change frame in be equipped with and be the locking piece baffle of elastic location with finger quick change frame, finger quick change frame in be equipped with at least one and be the locking hole of movable locking with the locking piece baffle, the outer end of locking piece baffle extend the outer wall of finger quick change frame.
Preferably, the finger quick-change stand in be equipped with the locking piece with locking hole looks movable locking, the both ends on the locking piece be equipped with the position stopping round pin respectively, the locking piece baffle in be equipped with the position stopping groove, the position stopping round pin carry out spacing slip along the position stopping groove, the finger quick-change stand in be equipped with the spacer pin, the locking piece baffle in be equipped with the spacing groove, the spacing groove carry out horizontal displacement along the spacer pin, locking piece baffle and finger quick-change stand pass through rectangular spring elastic connection.
Preferably, the stop grooves are distributed in an inclined mode, the limit grooves are distributed in a horizontal mode, and the finger quick-change machine base is internally provided with spring plugs which are elastically connected with the rectangular springs.
Preferably, two side walls of the finger quick-change machine seat are respectively provided with a sliding block blocking plate which is distributed corresponding to the locking pieces, and the sliding block blocking plates are fixed with the finger quick-change machine seat through a plurality of bolts;
the locking piece in be equipped with the locking hole, the locking hole in, the finger quick change frame in be equipped with the auxiliary positioning hole corresponding with the locking hole, the positioning bolt overcoat have the locating bush.
The utility model provides an install gas claw assembly of finger quick change mechanism, includes gas claw, finger quick change mechanism and paw support, the both ends of gas claw bottom be equipped with finger quick change mechanism respectively, the paw support in be equipped with the card and go into the groove, the paw support in be equipped with the paw that equals with finger quick change mechanism quantity, the paw on be equipped with a plurality of finger quick change blind rivet, finger quick change mechanism card go into to the card and go into the groove, finger quick change blind rivet stretch into locking hole and auxiliary positioning hole in, the jam plate baffle be elastic positioning with the card go into the groove.
Preferably, the paw is provided with a paw limit groove, the paw support is provided with a pin, and the paw limit groove is displaced along the pin.
The operation method of the air jaw assembly provided with the finger quick-change mechanism comprises the following steps:
(1) initial state: the outside of the locking piece guide plate is powerless, so that the locking piece guide plate is in an extending state;
(2) the air claw is in an open state, the sliding blocks of the air claw extend outwards, the finger quick-change mechanism assembly extends outwards along with the sliding blocks of the air claw, and the locking piece guide plate of the finger quick-change mechanism assembly is blocked by the hand claw bracket and contracts inwards, so that the locking piece is in a loose state; the finger quick-change blind rivet is not inserted into the hole corresponding to the finger quick-change mechanism assembly yet;
(3) the pin is fixed on the paw support, and the paw is placed on the paw support by utilizing a groove machined on the paw body;
(4) after the air claw descends, the finger quick-change blind rivet is inserted into a hole corresponding to the finger quick-change mechanism assembly;
(5) after the finger quick-change blind rivet is inserted into the finger quick-change mechanism assembly in place; in the closing process of the air claw, the locking piece guide plate of the finger quick-change mechanism assembly leaves the claw support and is not blocked any more, the locking piece guide plate extends outwards, the locking piece is gradually locked, and the locking piece completely locks the claw quick-change blind rivet; simultaneously, along with the closing of the air claw, the claw moves from two sides to the middle, the groove on the claw body and the pin fixed on the claw bracket are positioned at the outlet of the groove on the claw body;
(6) after the groove outlet of the paw body is aligned with the pin on the paw support, the paw locked by the finger quick-change mechanism assembly can be carried by the gas paw, and lifted to leave the paw support for subsequent production actions.
The gripper assembly for installing the finger quick-change mechanism comprises a gripper bracket, an air gripper and a finger quick-change mechanism, wherein the two ends of the bottom of the air gripper are respectively provided with the finger quick-change mechanism, the gripper bracket is provided with a pair of gripper blocks which are distributed at intervals, the gripper blocks are provided with gripper jaws which are sleeved with the gripper blocks, the gripper jaws are provided with finger quick-change nails which are movably locked with the finger quick-change mechanism, and the locking sheet guide plate is movably and elastically connected with the gripper blocks.
Preferably, the clamp paw support is provided with a guide groove, the clamp paw is provided with a movable pin which is locked along the guide groove in a displacement mode, and the upper portion of the tail end of the guide groove is provided with a ball plunger which is movably locked with the movable pin.
The operation method of the paw assembly provided with the finger quick-change mechanism comprises the following steps:
the movable pin is fixed on the clamp paw, and the clamp paw bracket is provided with a groove for placing the clamp paw; the ball plunger is arranged in the clamp paw support, the movable pin of the clamp paw in place can be clamped and limited, the clamp paw is prevented from moving due to vibration external factors, and the risk that the finger quick-change blind rivet on the clamp paw cannot be aligned with the corresponding hole on the finger quick-change mechanism assembly to collide is avoided.
The finger quick-change mechanism can realize quick change of the truss wire paw and quick change of the clamp by a caliper machine and an automatic truss wire paw.
By utilizing the finger quick-change mechanism, the change time of the paw and the clamp can be greatly shortened when the product is changed, the interruption production time of a machine tool is shortened, and the production efficiency of the truss wire is improved. Meanwhile, the automatic replacement of the truss manipulator completely reduces the input of manpower, and can be used as an important technical basis for the development of subsequent unmanned intelligent workshops.
The finger quick-change mechanism can be applied to the same type of production and application, and improves the production condition.
Meanwhile, the finger quick-change mechanism is small in structure and applicable to truss manipulators with limited space; the invention realizes mechanical locking by the spring, does not need air source and oil pressure, prevents possible risks caused by air and oil interruption, and increases reliability.
Furthermore, the finger quick-change mechanism solves the problems of high cost, complex butt joint of gas circuits and electric signals and influence of scrap iron and cutting fluid in the whole quick-change of the gas claw and the hand claw.
The locking piece guide plate can slide in the cavity of the finger quick-change machine seat, and the sliding direction is consistent with the extending and contracting direction of the rectangular spring.
The locking piece can slide in the cavity of the finger quick-change stand, and the sliding direction is perpendicular to the sliding direction of the locking piece guide plate.
The pin is connected with the locking piece into a whole through interference fit. The pin can slide along the guide slideway of the locking piece guide plate.
The limiting pin is used for limiting the inward shrinking and outward stretching positions of the locking piece guide plate.
The outside of the locking piece guide plate is not stressed, and the locking piece guide plate is pushed outwards to an overhanging position under the action of the rectangular spring. Since the pin and the locking piece are integrally connected, the degree of freedom in the extending and contracting direction of the rectangular spring is limited, and the rectangular spring can be moved only in the direction perpendicular to the extending and contracting direction of the rectangular spring. During the outward extension of the lock tab guide, the pin slides along the guide rail of the lock tab guide. The two locking pieces are closed under the drive of the pin, and the locking pieces reach the locking state.
The sliding block blocking plate is used for blocking the mounting hole of the sliding locking piece after being mounted in the finger quick-change machine base. Scrap iron and scrap liquid generated by machining are prevented from entering the cavity of the finger quick-change machine seat, and the functions of an internal mechanism are affected.
After the rectangular spring is put in, the spring plug is used for compressing the rectangular spring and sealing the cavity of the quick finger-changing machine base.
The positioning bushing and the socket head cap screw are used for connecting and positioning the gas claw.
The outer side of the locking piece guide plate is stressed, and the locking piece guide plate is pushed out to the retracted position under the action of external force. During retraction of the lock tab guide, the pin slides along the guide slide of the lock tab guide. The two locking sheets are driven by the pin to open, and the locking sheets reach an unclamped state.
Therefore, the truss manipulator finger quick-change mechanism, the gas claw assembly and the hand claw assembly provided with the finger quick-change mechanism are simple in structure, convenient to operate and capable of improving the usability of the truss manipulator finger quick-change mechanism.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic cross-sectional view of the present invention;
FIG. 3 is a schematic view of the cross-sectional structure B-B of FIG. 2;
FIG. 4 is a schematic cross-sectional view of the present invention in assembly;
FIG. 5 is a schematic view of the cross-sectional structure B-B of FIG. 4;
FIG. 6 is a schematic view of the gas claw assembly of the invention;
FIG. 7 is a schematic view of the partial cross-sectional structure of FIG. 6;
FIG. 8 is another partial cross-sectional structural schematic of FIG. 6;
FIG. 9 is a schematic view of the pawl assembly of the present invention;
fig. 10 is a partial structural schematic diagram of fig. 9.
Detailed Description
The technical scheme of the invention is further specifically described below through examples and with reference to the accompanying drawings.
Example 1: as shown in the figure, the truss manipulator finger quick-change mechanism comprises a finger quick-change machine seat 1, wherein a plurality of positioning bolts 2 extending upwards are arranged in the finger quick-change machine seat 1, a locking sheet guide plate 3 elastically positioned with the finger quick-change machine seat 1 is arranged in the finger quick-change machine seat 1, at least one locking hole 4 movably locked with the locking sheet guide plate 3 is arranged in the finger quick-change machine seat 1, and the outer end of the locking sheet guide plate 3 extends out of the outer wall of the finger quick-change machine seat 1.
The finger quick change machine seat 1 in be equipped with locking piece (5) of locking hole 4 looks activity locking, the both ends on the locking piece 5 be equipped with respectively and stop the position round pin 6, locking piece baffle (3) in be equipped with and stop the position groove 7, stop the position round pin 6 and carry out spacing slip along stopping the position groove 7, finger quick change machine seat (1) in be equipped with spacer pin 8, locking piece baffle 3 in be equipped with spacing groove 9, spacing groove (9) carry out horizontal displacement along spacer pin 8, locking piece baffle 3 and finger quick change machine seat 1 pass through rectangular spring 10 elastic connection.
The stop grooves 7 are distributed in an inclined mode, the limit grooves 9 are distributed in a horizontal mode, and the finger quick-change machine seat 1 is internally provided with spring plugs 11 which are elastically connected with rectangular springs 10.
The two side walls of the finger quick-change stand 1 are respectively provided with a sliding block plugging plate 12 distributed corresponding to the locking pieces 5, and the sliding block plugging plates 12 are fixed with the finger quick-change stand 1 through a plurality of bolts 13;
the locking piece 5 is provided with a locking hole 14, the locking hole 14 is positioned in the locking hole 4, the finger quick-change machine seat 1 is provided with an auxiliary positioning hole 15 corresponding to the locking hole 4, and the positioning bolt 2 is sleeved with a positioning bushing 16.
The gas claw assembly for installing the finger quick-change mechanism comprises a gas claw 17, a finger quick-change mechanism 18 and a claw support 19, wherein the two ends of the bottom of the gas claw 17 are respectively provided with the finger quick-change mechanism 18, the claw support 19 is provided with clamping grooves 20, the claw support 19 is provided with claws 21 equal to the finger quick-change mechanism 18 in number, the claws 21 are provided with a plurality of finger quick-change nails 22, the finger quick-change mechanism 18 is clamped into the clamping grooves 20, the finger quick-change nails 22 extend into the locking holes 4 and the auxiliary positioning holes 15, and the locking sheet guide plate 3 and the clamping grooves 20 are elastically positioned.
The paw 21 is provided with a paw limit groove 23, the paw support 19 is provided with a pin 24, and the paw limit groove 23 displaces along the pin 24.
The operation method of the air jaw assembly provided with the finger quick-change mechanism comprises the following steps:
(1) initial state: the outside of the locking piece guide plate is powerless, so that the locking piece guide plate is in an extending state;
(2) the air claw is in an open state, the sliding blocks of the air claw extend outwards, the finger quick-change mechanism assembly extends outwards along with the sliding blocks of the air claw, and the locking piece guide plate of the finger quick-change mechanism assembly is blocked by the hand claw bracket and contracts inwards, so that the locking piece is in a loose state; the finger quick-change blind rivet is not inserted into the hole corresponding to the finger quick-change mechanism assembly yet;
(3) the pin is fixed on the paw support, and the paw is placed on the paw support by utilizing a groove machined on the paw body;
(4) after the air claw descends, the finger quick-change blind rivet is inserted into a hole corresponding to the finger quick-change mechanism assembly;
(5) after the finger quick-change blind rivet is inserted into the finger quick-change mechanism assembly in place; in the closing process of the air claw, the locking piece guide plate of the finger quick-change mechanism assembly leaves the claw support and is not blocked any more, the locking piece guide plate extends outwards, the locking piece is gradually locked, and the locking piece completely locks the claw quick-change blind rivet; simultaneously, along with the closing of the air claw, the claw moves from two sides to the middle, the groove on the claw body and the pin fixed on the claw bracket are positioned at the outlet of the groove on the claw body;
(6) after the groove outlet of the paw body is aligned with the pin on the paw support, the paw locked by the finger quick-change mechanism assembly can be carried by the gas paw, and lifted to leave the paw support for subsequent production actions.
The gripper assembly for installing the finger quick-change mechanism comprises a gripper bracket 25, an air gripper 17 and a finger quick-change mechanism 18, wherein the two ends of the bottom of the air gripper 17 are respectively provided with the finger quick-change mechanism 18, a pair of gripper stoppers 26 which are distributed at intervals are arranged in the gripper bracket 25, gripper fingers 27 sleeved with the gripper stoppers 26 are arranged in the gripper stoppers 26, the gripper fingers 27 are provided with finger quick-change blind nails 22 which are movably locked with the finger quick-change mechanism 18, and a locking sheet guide plate 3 is movably and elastically connected with the gripper stoppers 26.
The clamp paw support 25 is provided with a guide groove 28, the clamp paw 27 is provided with a movable pin 29 which is locked along the guide groove 28, and the upper part of the tail end of the guide groove 28 is provided with a ball plunger 30 which is locked with the movable pin 29.
The operation method of the paw assembly provided with the finger quick-change mechanism comprises the following steps:
the movable pin is fixed on the clamp paw, and the clamp paw bracket is provided with a groove for placing the clamp paw; the ball plunger is arranged in the clamp paw support, the movable pin of the clamp paw in place can be clamped and limited, the clamp paw is prevented from moving due to vibration external factors, and the risk that the finger quick-change blind rivet on the clamp paw cannot be aligned with the corresponding hole on the finger quick-change mechanism assembly to collide is avoided.
Claims (7)
1. A truss manipulator finger quick change mechanism which characterized in that: the finger quick-change machine seat (1) is provided with a plurality of positioning bolts (2) extending upwards, the finger quick-change machine seat (1) is internally provided with a locking sheet guide plate (3) elastically positioned with the finger quick-change machine seat (1), the finger quick-change machine seat (1) is internally provided with at least one locking hole (4) movably locked with the locking sheet guide plate (3), and the outer end of the locking sheet guide plate (3) extends out of the outer wall of the finger quick-change machine seat (1);
the finger quick-change machine seat (1) is internally provided with a locking piece (5) which is movably locked with the locking hole (4), two ends of the locking piece (5) are respectively provided with a stop pin (6), the locking piece guide plate (3) is internally provided with a stop groove (7), the stop pins (6) slide in a limiting way along the stop grooves (7), the finger quick-change machine seat (1) is internally provided with a limiting pin (8), the locking piece guide plate (3) is internally provided with a limiting groove (9), the limiting groove (9) carries out horizontal displacement along the limiting pin (8), and the locking piece guide plate (3) is elastically connected with the finger quick-change machine seat (1) through a rectangular spring (10);
the stop grooves (7) are distributed in an inclined mode, the limit grooves (9) are distributed in a horizontal mode, and a spring plug (11) which is elastically connected with the rectangular spring (10) is arranged in the finger quick-change machine seat (1);
the two side walls of the finger quick-change machine seat (1) are respectively provided with a sliding block blocking plate (12) which is distributed corresponding to the locking pieces (5), and the sliding block blocking plates (12) are fixed with the finger quick-change machine seat (1) through a plurality of bolts (13);
the locking piece (5) in be equipped with locking hole (14), locking hole (14) be arranged in locking hole (4), finger quick change machine seat (1) in be equipped with auxiliary positioning hole (15) corresponding with locking hole (4), positioning bolt (2) overcoat have locating bushing (16).
2. An air jaw assembly for installing a finger quick change mechanism, which is characterized in that: the truss manipulator finger quick change mechanism comprises the truss manipulator finger quick change mechanism (18), air pawls (17) and a finger support (19), wherein the finger quick change mechanism (18) is respectively arranged at two ends of the bottom of each air pawl (17), a clamping groove (20) is formed in each finger support (19), the fingers (21) equal to the finger quick change mechanisms (18) in number are arranged in each finger support (19), a plurality of finger quick change blind nails (22) are arranged on each finger (21), the finger quick change mechanisms (18) are clamped into the clamping grooves (20), the finger quick change blind nails (22) extend into the locking holes (4) and the auxiliary positioning holes (15), and the locking sheet guide plates (3) are elastically positioned with the clamping grooves (20).
3. The air jaw assembly for installing a quick finger change mechanism as set forth in claim 2, wherein: the hand claw (21) is provided with a hand claw limiting groove (23), the hand claw support (19) is provided with a pin (24), and the hand claw limiting groove (23) displaces along the pin (24).
4. A method of operating a finger quick change mechanism mounted air jaw assembly according to claim 2 or 3, comprising the steps of:
(1) initial state: the outside of the locking piece guide plate is powerless, so that the locking piece guide plate is in an extending state;
(2) the air claw is in an open state, the sliding blocks of the air claw extend outwards, the finger quick-change mechanism assembly extends outwards along with the sliding blocks of the air claw, and the locking piece guide plate of the finger quick-change mechanism assembly is blocked by the hand claw bracket and contracts inwards, so that the locking piece is in a loose state; the finger quick-change blind rivet is not inserted into the hole corresponding to the finger quick-change mechanism assembly yet;
(3) the pin is fixed on the paw support, and the paw is placed on the paw support by utilizing a groove machined on the paw body;
(4) after the air claw descends, the finger quick-change blind rivet is inserted into a hole corresponding to the finger quick-change mechanism assembly;
(5) after the finger quick-change blind rivet is inserted into the finger quick-change mechanism assembly in place; in the closing process of the air claw, the locking piece guide plate of the finger quick-change mechanism assembly leaves the claw support and is not blocked any more, the locking piece guide plate extends outwards, the locking piece is gradually locked, and the locking piece completely locks the claw quick-change blind rivet; simultaneously, along with the closing of the air claw, the claw moves from two sides to the middle, the groove on the claw body and the pin fixed on the claw bracket are positioned at the outlet of the groove on the claw body;
(6) after the groove outlet of the paw body is aligned with the pin on the paw support, the paw locked by the finger quick-change mechanism assembly can be carried by the gas paw, and lifted to leave the paw support for subsequent production actions.
5. The utility model provides an install finger quick change mechanism's paw assembly which characterized in that: the truss mechanical finger quick-change mechanism comprises the truss mechanical finger quick-change mechanism (18), a clamp claw support (25) and an air claw (17), wherein the two ends of the bottom of the air claw (17) are respectively provided with the finger quick-change mechanism (18), a pair of clamp claw check blocks (26) which are distributed at intervals are arranged in the clamp claw support (25), clamp claws (27) which are sleeved with the clamp claw check blocks (26) are arranged in the clamp claw check blocks (26), finger quick-change nails (22) which are movably locked with the finger quick-change mechanism (18) are arranged in the clamp claws (27), and a locking sheet guide plate (3) is movably and elastically connected with the clamp claw check blocks (26).
6. The finger assembly for mounting a finger quick change mechanism as defined in claim 5, wherein: the clamp is characterized in that a guide groove (28) is formed in the clamp paw support (25), a movable pin (29) for performing displacement locking along the guide groove (28) is arranged in the clamp paw (27), and a ball plunger (30) movably locked with the movable pin (29) is arranged at the upper part of the tail end of the guide groove (28).
7. A method of operating a finger assembly based on the finger quick change mechanism of claim 5 or 6, comprising the steps of:
the movable pin is fixed on the clamp paw, and the clamp paw bracket is provided with a groove for placing the clamp paw; the ball plunger is arranged in the clamp paw support, the movable pin of the clamp paw in place can be clamped and limited, the clamp paw is prevented from moving due to vibration external factors, and the risk that the finger quick-change blind rivet on the clamp paw cannot be aligned with the corresponding hole on the finger quick-change mechanism assembly to collide is avoided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810474546.9A CN108393912B (en) | 2018-05-17 | 2018-05-17 | Truss manipulator finger quick-change mechanism, and gas claw assembly and finger assembly provided with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810474546.9A CN108393912B (en) | 2018-05-17 | 2018-05-17 | Truss manipulator finger quick-change mechanism, and gas claw assembly and finger assembly provided with same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108393912A CN108393912A (en) | 2018-08-14 |
| CN108393912B true CN108393912B (en) | 2024-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810474546.9A Active CN108393912B (en) | 2018-05-17 | 2018-05-17 | Truss manipulator finger quick-change mechanism, and gas claw assembly and finger assembly provided with same |
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| CN (1) | CN108393912B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110666824B (en) * | 2019-10-24 | 2024-06-11 | 博众精工科技股份有限公司 | Quick-change fixing structure |
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| CN203579671U (en) * | 2013-11-07 | 2014-05-07 | 上海通彩自动化设备有限公司 | Quick switching mechanism of manipulator assembly clamp |
| CN105965532A (en) * | 2016-07-25 | 2016-09-28 | 易拓威（上海）机器人科技有限公司 | Automatic mechanical arm for grabbing clutch |
| CN106514685A (en) * | 2017-01-11 | 2017-03-22 | 中国科学院合肥物质科学研究院 | Finger quick replacing structure of robot |
| CN209599239U (en) * | 2018-05-17 | 2019-11-08 | 杭州亚太智能装备有限公司 | The pneumatic clamper assembly of truss Quick-change mechanism for manipulator fingers and installation finger quick-changing mechanism, gripper assembly |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150306742A1 (en) * | 2014-04-25 | 2015-10-29 | Anthony Amrecki | Clamping Mechanism For Automotive Check Fixture |
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2018
- 2018-05-17 CN CN201810474546.9A patent/CN108393912B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203579671U (en) * | 2013-11-07 | 2014-05-07 | 上海通彩自动化设备有限公司 | Quick switching mechanism of manipulator assembly clamp |
| CN105965532A (en) * | 2016-07-25 | 2016-09-28 | 易拓威（上海）机器人科技有限公司 | Automatic mechanical arm for grabbing clutch |
| CN106514685A (en) * | 2017-01-11 | 2017-03-22 | 中国科学院合肥物质科学研究院 | Finger quick replacing structure of robot |
| CN209599239U (en) * | 2018-05-17 | 2019-11-08 | 杭州亚太智能装备有限公司 | The pneumatic clamper assembly of truss Quick-change mechanism for manipulator fingers and installation finger quick-changing mechanism, gripper assembly |
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| CN108393912A (en) | 2018-08-14 |
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