CN108406817A - A kind of knuckle grasp handling robot both hands jaw arrangement - Google Patents
A kind of knuckle grasp handling robot both hands jaw arrangement Download PDFInfo
- Publication number
- CN108406817A CN108406817A CN201810402385.2A CN201810402385A CN108406817A CN 108406817 A CN108406817 A CN 108406817A CN 201810402385 A CN201810402385 A CN 201810402385A CN 108406817 A CN108406817 A CN 108406817A
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- Prior art keywords
- finger
- knuckle
- cylinder
- hands
- jaw
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Classifications
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- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of knuckle grasp handling robot both hands jaw arrangements, including：Flange, the bottom surface of the flange is equipped with multiple first threaded holes, the paw frame is arranged in the lower part of the flange, workpiece positions grasping mechanism, floating junction is installed on the third finger, the solenoid valve and the electrical appliance kit are electrically connected, the workpiece positioning grasping mechanism realizes the crawl to workpiece by the solenoid valve control, positioning and crawl of the completion that knuckle grasp handling of the present invention robot both hands jaw arrangement can be stablized using three-jaw cylinder finger detent mechanism and two finger detent mechanisms to workpiece, using two-sided both hands pawl grabbing device, the crawl of two feeding workpiece can be rapidly completed in one face both hands pawl, the crawl of two blanking workpiece can be rapidly completed in another side both hands pawl after reversion.Using present invention greatly enhances work efficiency rates, the degree of automation of knuckle casting is improved, stability when improving to knuckle grasp handling improves grasp handling efficiency, reduces cost.
Description
Technical field
The present invention relates to a kind of Industrial Robot Technology field more particularly to a kind of knuckle grasp handling robot both hands
Jaw arrangement.
Background technology
The casting process of spindle is an important link in spindle process for making, quickly right
Knuckle, which carries out grasp handling, for improving the efficiency of this link has very important meaning, and robot hand is answered in recent years
With effectively raising spindle process for making the degree of automation, currently, since knuckle is complex-shaped irregular,
It is unstable it to be easy positioning when capturing knuckle workpiece；A workpiece can only be captured every time, increased working hour, reduced efficiency, carry
The degree of automation of high knuckle casting；Stability when improving to knuckle grasp handling；Grasp handling efficiency is improved, is reduced
Cost is people's problem anxious to be resolved.
Invention content
The present invention provides a kind of knuckle grasp handling robot both hands jaw arrangements to solve above-mentioned technical problem, specifically adopts
Technical solution is as follows：
A kind of knuckle grasp handling robot both hands jaw arrangement, including：
The bottom surface of flange, the flange is equipped with multiple first threaded holes；
Paw frame, the paw frame are arranged in the lower part of the flange, and the top surface of the paw frame is equipped with multiple
The first threaded hole to match with the bottom surface of the flange；
Workpiece positions grasping mechanism, and the workpiece positioning grasping mechanism is arranged in the both sides of the paw frame, Mei Yisuo
It includes a three-jaw cylinder finger detent mechanism and a two finger detent mechanisms, the three-jaw gas to state workpiece positioning grasping mechanism
Cylinder finger detent mechanism is arranged in the outer end of the paw frame, and the two fingers detent mechanism is arranged in the paw frame
It is internal.
Preferably, the two sides of the paw frame are respectively arranged with multiple fixations three-jaw cylinder finger detent mechanism
The second threaded hole and the fixed two fingers detent mechanism third threaded hole, the three-jaw cylinder finger detent mechanism and institute
Two finger detent mechanisms are stated respectively by second threaded hole to match on bolt and paw frame two sides and institute
Third is stated to be screwed connection.
Preferably, solenoid valve and electrical appliance kit, the solenoid valve and the electric appliance are installed on the top surface of the paw frame
Box is separately positioned on the both sides of the flange.
Preferably, the two fingers detent mechanism includes that one two finger parallel cylinder ontology refers to being separately positioned on described two
Two first cylinder compression sliding blocks at the both ends of parallel cylinder ontology are set respectively on two the first cylinder compression sliding block end faces
There are multiple 4th threaded holes.
Preferably, the both ends of two the first cylinder compression sliding blocks are respectively equipped with the first finger and second finger, described
One end of first finger and the second finger is respectively equipped with the 4th threaded hole to match with the first cylinder compression sliding block,
Two the first cylinder compression sliding blocks are fixedly connected by bolt with first finger and the second finger respectively, described
First finger and the second finger are oppositely arranged.
Preferably, the three-jaw cylinder finger localization machine includes a three-jaw machine cylinder ontology and three third fingers, described
Three-jaw cylinder finger localization machine includes a three-jaw machine cylinder ontology and three third fingers, and three third finger difference are uniform
It is distributed on the circumference on the inside of the three-jaw machine cylinder ontology, each three-jaw cylinder body includes being arranged in the three-jaw machine cylinder
Three the second cylinder compression sliding blocks on ontology, three described second cylinder compression sliding block one end are respectively equipped with multiple 5th screw threads
Hole.
Preferably, the third finger includes the fingerhold face being arranged on the inside of the third finger and is mounted on described
Floating junction on third fingerhold face, the fingerhold face have certain drafting angle.
Preferably, be respectively equipped on three third fingers with match on the second cylinder compression sliding block the 5th
Threaded hole, three third fingers use spiral shell with three the second cylinder compression sliding blocks by the 5th threaded hole respectively
Bolt is fixedly connected.
Preferably, the solenoid valve and the electrical appliance kit are electrically connected, and the workpiece positioning grasping mechanism passes through the electricity
The crawl to workpiece is realized in magnet valve control.
Preferably, respectively there are two workpiece to position grasping mechanism for fixed setting for paw frame both sides.
The advantage of the invention is that：
Knuckle grasp handling of the present invention robot both hands jaw arrangement utilizes three-jaw cylinder finger detent mechanism and two
Positioning and crawl of the completion that finger detent mechanism can be stablized to workpiece, using two-sided both hands pawl grabbing device, a face both hands
The crawl of two feeding workpiece can be rapidly completed in pawl, and two blanking workpiece can be rapidly completed in another side both hands pawl after reversion
Crawl greatly improves work efficiency rate, improves the degree of automation of knuckle casting, steady when improving to knuckle grasp handling
Qualitative raising grasp handling efficiency, reduces cost.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is a kind of front view of knuckle grasp handling of the invention robot both hands jaw arrangement embodiment；
Fig. 2 is a kind of stereogram of knuckle grasp handling of the invention robot both hands jaw arrangement embodiment；
Fig. 3 is that three-jaw cylinder finger localization machine is implemented in a kind of knuckle grasp handling of the invention robot both hands jaw arrangement
The stereogram of example；
Fig. 4 is two finger detent mechanism embodiments in a kind of knuckle grasp handling of the invention robot both hands jaw arrangement
Stereogram.
Reference numeral indicates explanation in description above：
1, flange；2, paw frame；3, three-jaw cylinder finger localization machine；4, two finger detent mechanism；5, solenoid valve；6, electric
Device box；7, the first finger；8, second finger；9, third finger；10, floating junction.11, workpiece.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of not making creative work it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The invention will be further described in the following with reference to the drawings and specific embodiments, but not as limiting to the invention.
As shown in Figs 1-4, it in preferred embodiment of the invention, according to the above-mentioned problems in the prior art, now carries
For a kind of knuckle grasp handling robot both hands jaw arrangement, including：
The bottom surface of flange 1, flange is equipped with multiple first threaded holes；
Paw frame 2, paw frame 2 are arranged in the lower part of flange 1, and the top surface of paw frame 2 is equipped with multiple and flange 1
The first threaded hole that bottom surface matches；
Specifically, remaining region complete resection in addition to original paper occupied area of paw frame 2, not only alleviates weight, but also one
Determine to increase working space in degree.
Workpiece positions grasping mechanism, and workpiece positioning grasping mechanism is arranged in the both sides of paw frame 2, and each workpiece positioning is grabbed
It includes a three-jaw cylinder finger detent mechanism 3 and a two finger detent mechanisms 4, three-jaw cylinder finger detent mechanism to take mechanism
3 are arranged in the outer end of paw frame 2, and two finger detent mechanisms 4 are arranged in the inside of the paw frame 2.
In the preferred embodiment of the present invention, the two sides of paw frame 2 are respectively arranged with multiple fixed three-jaw cylinder hands
Second threaded hole of specific bit mechanism 3 and the third threaded hole for fixing two finger detent mechanisms 4, three-jaw cylinder finger detent mechanism
3 and two the second threaded holes and third screw thread by matching on bolt and 2 two sides of paw frame respectively of finger detent mechanism 4
It is fixedly connected.
In the preferred embodiment of the present invention, solenoid valve 5 and electrical appliance kit 6, solenoid valve are installed on the top surface of paw frame 2
5 and electrical appliance kit 6 be separately positioned on the both sides of flange 1.
In the preferred embodiment of the present invention, two finger detent mechanisms 4 include one two and refer to parallel cylinder ontology and difference
Two first cylinder compression sliding blocks at the both ends for referring to parallel cylinder ontologies two are set, on two the first cylinder compression sliding block end faces
It is respectively equipped with multiple 4th threaded holes.
In the preferred embodiment of the present invention, the both ends of two the first cylinder compression sliding blocks are respectively equipped with 7 He of the first finger
One end of second finger 8, the first finger 7 and second finger 8 is respectively equipped with to match with the first cylinder compression sliding block
Four threaded holes, two the first cylinder compression sliding blocks are fixedly connected by bolt with the first finger 7 and second finger 8 respectively, and first
Finger 7 and second finger 8 are oppositely arranged.
In the preferred embodiment of the present invention, three-jaw cylinder finger localization machine 3 includes a three-jaw machine cylinder ontology and three
Third finger 9, three third fingers 3 are evenly distributed on the circumference on the inside of three-jaw machine cylinder ontology respectively, each three-jaw cylinder sheet
Body includes three the second cylinder compression sliding blocks being arranged on three-jaw machine cylinder ontology, three second cylinder compression sliding block one end difference
Equipped with multiple 5th threaded holes.
In the preferred embodiment of the present invention, third finger 9 include the fingerhold face that is arranged on the inside of third finger and
Floating junction 10 on third fingerhold face, fingerhold face have certain drafting angle.
Specifically, when being clamped crawl to workpiece, knuckle it is coniform on one side use three-jaw cylinder finger pair
It is clamped, and wherein fingerhold face is designed to the drafting angle for having certain, can increase the contact area to retained part,
Improve clamping stability.When the other two sides of knuckle is clamped, it is clamped using two finger detent mechanisms, finger
On floating junction is installed, can preferably be contacted with knuckle clamping face.Two kinds of positioning and clamping mechanisms cooperate, can
To realize the stable holding to knuckle.
In the preferred embodiment of the present invention, it is respectively equipped on three third fingers 9 and phase on the second cylinder compression sliding block
Matched 5th threaded hole, three third fingers 9 use spiral shell with three the second cylinder compression sliding blocks by the 5th threaded hole respectively
Bolt is fixedly connected.
In the preferred embodiment of the present invention, solenoid valve 5 and electrical appliance kit 6 are electrically connected, and workpiece positioning grasping mechanism passes through
The crawl to workpiece is realized in the control of solenoid valve 5.
Specifically, three-jaw cylinder finger detent mechanism 3 is by solenoid valve control, solenoid valve 5 it is electric when, three the
The past center movement that three fingers 9 can synchronize simultaneously, clamps target workpiece, and when solenoid valve powers off, three third fingers 9 synchronize
It unclamps.
Specifically, three-jaw cylinder finger detent mechanism 3 is to push the second cylinder compression sliding block to act by compressed air,
By the second cylinder compression sliding block, the action three-jaw cylinder finger detent mechanism 3 for completing to clamp and decontrol is to use compressed air
Be used as power source, and commutation action is completed by using solenoid valve 5.
In the preferred embodiment of the present invention, respectively there are two workpiece to position grasping mechanism for fixed setting for 2 both sides of paw frame.
The beneficial effects of the present invention are：
Knuckle grasp handling of the present invention robot both hands jaw arrangement utilizes three-jaw cylinder finger detent mechanism and two
Positioning and crawl of the completion that finger detent mechanism can be stablized to workpiece, using two-sided both hands pawl grabbing device, a face both hands
The crawl of two feeding workpiece can be rapidly completed in pawl, and two blanking workpiece can be rapidly completed in another side both hands pawl after reversion
Crawl greatly improves work efficiency rate, improves the degree of automation of knuckle casting, steady when improving to knuckle grasp handling
Qualitative raising grasp handling efficiency, reduces cost.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses, to those skilled in the art, should can appreciate that all with made by description of the invention and diagramatic content
Equivalent replacement and obviously change obtained scheme, should all be included within the scope of the present invention.
Claims (10)
1. a kind of knuckle grasp handling robot both hands jaw arrangement, which is characterized in that including：
The bottom surface of flange, the flange is equipped with multiple first threaded holes；
Paw frame, the paw frame are arranged in the lower part of the flange, and the top surface of the paw frame is equipped with multiple and institute
State the first threaded hole that the bottom surface of flange matches；
Workpiece positions grasping mechanism, and the workpiece positioning grasping mechanism is arranged in the both sides of the paw frame, each work
It includes a three-jaw cylinder finger detent mechanism and a two finger detent mechanisms, the three-jaw cylinder hand that part, which positions grasping mechanism,
Specific bit mechanism is arranged in the outer end of the paw frame, and the two fingers detent mechanism is arranged in the paw frame
Portion.
2. a kind of knuckle grasp handling robot according to claim 1 both hands jaw arrangement, which is characterized in that the hand
The two sides of pawl frame are respectively arranged with the second threaded hole of multiple fixations three-jaw cylinder finger detent mechanism and fixed institute
State the third threaded hole of two finger detent mechanisms, the three-jaw cylinder finger detent mechanism and two fingers detent mechanism difference
It is screwed and connect with second threaded hole and the third to match on paw frame two sides by bolt.
3. a kind of knuckle grasp handling robot according to claim 1 both hands jaw arrangement, which is characterized in that the hand
Solenoid valve and electrical appliance kit are installed, the solenoid valve and the electrical appliance kit are separately positioned on the flange on the top surface of pawl frame
Both sides.
4. a kind of knuckle grasp handling robot according to claim 1 both hands jaw arrangement, which is characterized in that described two
Finger detent mechanism includes one two and refers to parallel cylinder ontology and be separately positioned on described two both ends for referring to parallel cylinder ontology
Two the first cylinder compression sliding blocks are respectively equipped with multiple 4th threaded holes on two the first cylinder compression sliding block end faces.
5. a kind of knuckle grasp handling robot according to claim 4 both hands jaw arrangement, which is characterized in that two institutes
The both ends for stating the first cylinder compression sliding block are respectively equipped with the first finger and second finger, first finger and the second finger
One end be respectively equipped with the 4th threaded hole to match with the first cylinder compression sliding block, two first cylinder compressions are slided
Block is fixedly connected by bolt with first finger and the second finger respectively, first finger and the second finger
It is oppositely arranged.
6. a kind of knuckle grasp handling robot according to claim 1 both hands jaw arrangement, which is characterized in that described three
Pawl cylinder finger localization machine includes a three-jaw machine cylinder ontology and three third fingers, and three third fingers uniformly divide respectively
For cloth on the circumference on the inside of the three-jaw machine cylinder ontology, each three-jaw cylinder body includes being arranged in the three-jaw machine cylinder sheet
Three the second cylinder compression sliding blocks on body, three described second cylinder compression sliding block one end are respectively equipped with multiple 5th screw threads
Hole.
7. a kind of knuckle grasp handling robot according to claim 6 both hands jaw arrangement, which is characterized in that described
Three fingers include that the fingerhold face on the inside of the third finger and floating on third fingerhold face is arranged
Dynamic connector, the fingerhold face have certain drafting angle.
8. a kind of knuckle grasp handling robot according to claim 7 both hands jaw arrangement, which is characterized in that three institutes
State the 5th threaded hole for being respectively equipped on third finger and matching on the second cylinder compression sliding block, three third hands
Finger is fixed by bolts with three the second cylinder compression sliding blocks by the 5th threaded hole respectively to be connect.
9. a kind of knuckle grasp handling robot according to claim 3 both hands jaw arrangement, which is characterized in that the electricity
Magnet valve and the electrical appliance kit are electrically connected, and the workpiece positioning grasping mechanism grabs workpiece by solenoid valve control realization
It takes.
10. a kind of knuckle grasp handling robot according to claim 1 both hands jaw arrangement, which is characterized in that described
Respectively there are two workpiece to position grasping mechanism for fixed setting for paw frame both sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810402385.2A CN108406817A (en) | 2018-04-28 | 2018-04-28 | A kind of knuckle grasp handling robot both hands jaw arrangement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810402385.2A CN108406817A (en) | 2018-04-28 | 2018-04-28 | A kind of knuckle grasp handling robot both hands jaw arrangement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108406817A true CN108406817A (en) | 2018-08-17 |
Family
ID=63137250
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810402385.2A Pending CN108406817A (en) | 2018-04-28 | 2018-04-28 | A kind of knuckle grasp handling robot both hands jaw arrangement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108406817A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318080A (en) * | 2018-09-11 | 2019-02-12 | 中北大学 | A kind of automatic preparation method of chip metallographic test specimen |
| CN109434424A (en) * | 2018-12-05 | 2019-03-08 | 东莞市为尔润机械设备科技有限公司 | A kind of automation insertion apparatus of drive shaft |
| CN111216150A (en) * | 2020-03-11 | 2020-06-02 | 江苏天宏智能装备有限公司 | Four paws of casting aftertreatment robot transport |
| CN113119070A (en) * | 2020-01-10 | 2021-07-16 | 丰汉电子(上海)有限公司 | Three-jaw tooth robot |
| CN114734476A (en) * | 2022-03-08 | 2022-07-12 | 丰汉电子(上海)有限公司 | Novel robot conveying clamp for corresponding various products in shot blasting line of die casting |
| WO2023241239A1 (en) * | 2022-06-15 | 2023-12-21 | 深圳市富士杰智能技术有限公司 | Automatic-turning joint robot for numerical control apparatus |
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| CN208246846U (en) * | 2018-04-28 | 2018-12-18 | 上海发那科机器人有限公司 | A kind of knuckle grasp handling robot both hands jaw arrangement |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318080A (en) * | 2018-09-11 | 2019-02-12 | 中北大学 | A kind of automatic preparation method of chip metallographic test specimen |
| CN109434424A (en) * | 2018-12-05 | 2019-03-08 | 东莞市为尔润机械设备科技有限公司 | A kind of automation insertion apparatus of drive shaft |
| CN113119070A (en) * | 2020-01-10 | 2021-07-16 | 丰汉电子(上海)有限公司 | Three-jaw tooth robot |
| CN111216150A (en) * | 2020-03-11 | 2020-06-02 | 江苏天宏智能装备有限公司 | Four paws of casting aftertreatment robot transport |
| CN114734476A (en) * | 2022-03-08 | 2022-07-12 | 丰汉电子(上海)有限公司 | Novel robot conveying clamp for corresponding various products in shot blasting line of die casting |
| WO2023241239A1 (en) * | 2022-06-15 | 2023-12-21 | 深圳市富士杰智能技术有限公司 | Automatic-turning joint robot for numerical control apparatus |
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