CN108406837A - A kind of cylinder cap sand removal transfer robot paw - Google Patents
A kind of cylinder cap sand removal transfer robot paw Download PDFInfo
- Publication number
- CN108406837A CN108406837A CN201810402418.3A CN201810402418A CN108406837A CN 108406837 A CN108406837 A CN 108406837A CN 201810402418 A CN201810402418 A CN 201810402418A CN 108406837 A CN108406837 A CN 108406837A
- Authority
- CN
- China
- Prior art keywords
- finger
- threaded hole
- block
- seat
- seam allowance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000004576 sand Substances 0.000 title claims abstract description 40
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 32
- 239000010959 steel Substances 0.000 claims abstract description 32
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 238000007667 floating Methods 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 239000003110 molding sand Substances 0.000 description 7
- 238000005520 cutting process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 239000000428 dust Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000002360 preparation method 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
- B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Pistons, Piston Rings, And Cylinders (AREA)
Abstract
The invention discloses a kind of cylinder cap sand removal transfer robot paws, including flange, two refer to parallel cylinder, the two fingers parallel cylinder is fastenedly connected by bolt with first threaded hole to match on the bottom surface of the flange, the both ends of the two fingers parallel cylinder are respectively arranged with sliding block, and the second threaded hole for fixing a finger block is respectively provided on the sliding block；The finger block includes the first finger block and second finger seat, and first finger block and second finger seat are oppositely arranged, and the finger includes the first finger and second finger；It is fixedly installed relocation mechanism mounting groove on the inside of the other end of first finger；A trend tooth form steel ball threaded hole is fixedly installed on the inside of the other end of the second finger, the relocation mechanism includes rotating seat, shaft and two trend tooth form steel balls, and the rotating seat is arranged in the relocation mechanism mounting groove of the inside of first finger.It can lower entreprise cost using the present invention, by robot charge, improve production efficiency.
Description
Technical field
The invention belongs to automated machine equipment technical fields, and in particular to a kind of cylinder cap sand removal transfer robot paw.
Background technology
With the continuous improvement of industrial automatization, automatic manipulator is widely used in flow production line operation, carries
High efficiency ensures finished product assembling quality.Automatic manipulator includes mechanical arm and adapts to the gripper of crawl various parts, and one
A mechanical arm can be equipped with a variety of grippers, and in order to complete a work flow, mechanical arm may repeatedly replace gripper.It passes
The method of the replacement gripper of system needs artificial participation, and the degree of automation is not high, and working efficiency is low.In-particular its in automotive engine cylinder
In lid manufacturing process, automobile engine cylinder head after casting, needs to remove molding sand inside cylinder cap, cuts off dead head.By by cylinder
The special plane that material is covered to automatic shakeout machine and cutting riser realizes above-mentioned technique, and the cylinder cap weight with molding sand and riser is usually
More than 30kg, even if artificial loading is usually also needed to using booster, but since shakeout and riser cutting machine have Gesture
Manpower carries out feeding to special plane.Live dust is more, noise is big, workpiece quality weight, has damage to personnel's health of work, and
Production efficiency is difficult to improve by manpower, and enterprises using the labor cost also increases year by year.And existing automatical feeding system, use industrial machine
People then terminates because cylinder cap is just cast on carrying paw, and appearance and size has relatively large deviation, and paw clamping face consistency is poor, and
And burr is more on workpiece so that paw is difficult to reach stable clamping effect, and the molding sand carried on workpiece so that hand
Pawl executive item cylinder after a period of use, has been easy sand and has entered space of slider, worn cylinder, and shorten cylinder uses the longevity
Life.Two special planes need corresponding compatible more money cylinder cap workpiece in the factory, but since robot handling process has a large amount of molding sand
It falls, robot is not suitable for carrying out the quick-replaceable of paw using the fast exchange device of paw, it is difficult to compatible more money workpiece.
Invention content
The object of the present invention is to provide a kind of cylinder cap sand removal transfer robot paws to solve to ask present in existing equipment
Topic.
Specific technical solution is as follows：
A kind of cylinder cap sand removal transfer robot paw, including：
The bottom surface of flange, the flange is equipped with multiple first threaded holes；
Two refer to parallel cylinders, match on the bottom surface that the two finger parallel cylinder passes through bolt and the flange described in
First threaded hole is fastenedly connected, and the both ends of the two fingers parallel cylinder are respectively arranged with sliding block, are respectively equipped on the sliding block
The second threaded hole for fixing a finger block；
The finger block includes the first finger block and second finger seat, and first finger block and the second finger seat divide
It is not arranged at the both ends of the finger block, and is oppositely arranged；
One end of first finger block is provided with the first seam allowance locating slot, and the other end of first finger block is provided with
The third threaded hole to match with second threaded hole on the sliding block corresponding to first finger block, described first
Finger block is fixed by bolts and is connected to corresponding to first finger by second threaded hole and the third threaded hole
On the sliding block of seat；
One end of the second finger seat is provided with the second seam allowance locating slot, and the other end of the second finger seat is provided with
The 4th threaded hole to match with second threaded hole on the sliding block corresponding to the second finger seat, described second
Finger block is fixed by bolts and is connected to corresponding to the second finger by second threaded hole and the 4th threaded hole
On the sliding block of seat；
Finger, the finger include the first finger and second finger；
One end of first finger be equipped with the first seam allowance, first seam allowance on corresponding first finger block
The seam allowance locating slot is fixedly connected, and relocation mechanism mounting groove is fixedly installed on the inside of the other end of first finger；
One end of the second finger be equipped with the second seam allowance, second seam allowance on the corresponding second finger seat
The seam allowance locating slot is fixedly connected, and a trend tooth form steel ball screw thread is fixedly installed on the inside of the other end of the second finger
Hole.
Preferably, first seam allowance and second seam allowance are rectangular.
Preferably, further include relocation mechanism, the relocation mechanism includes rotating seat, shaft and two trend tooth form steel balls,
The rotating seat is arranged in the relocation mechanism mounting groove of the inside of first finger, and will be described by the shaft
Rotating seat is fixedly connected with first finger rotation, and the two trend tooth form steel balls are respectively equipped on the inside of the rotating seat
Threaded hole, two trend tooth form steel balls are separately positioned on the both ends of the rotating seat.
Preferably, one end of two trend tooth form steel balls is respectively arranged with the spiral shell with the inside of the rotating seat
The external screw thread that pit matches, two trend tooth form steel balls are solid with the threaded hole rotation on the inside of the rotating seat respectively
Fixed connection.
Preferably, the rotating seat and the relocation mechanism mounting groove be provided with gap 2mm or so floating space.
Preferably, described trend tooth form steel ball one end is equipped with and matches with the threaded hole on the inside of the second finger
External screw thread, the trend tooth form steel ball and the second finger are fastenedly connected by screw thread rotation.
Preferably, further include sand control case, the sand control case is arranged in the outside of the finger block, and the sand control
Case is bolted to connection with the finger block, and the sand control case includes the anti-layer of sand of two-layer laminate.
Preferably, the trend tooth form steel ball is spherical surface tooth-shape structure.
The advantage of the invention is that：
Sand removal after the present invention can be such that realization cylinder cap casts, the automatic loading/unloading for cutting riser, will be manually from more dust, big
It is discharged in the working environment of noise and again physical demands, and lowers enterprises using the labor cost, by robot charge, can also improved
Production efficiency.
For paw of the present invention using 3 points of clampings, contact point makes it possible to be adjacent to using trend tooth form steel ball holds clamping face,
Increasing friction force, the relocation mechanism on finger can compensate the nonuniformity error of cast member, and paw grasping workpiece is allowed to reach steady
Fixed, reliable effect.
Finger of the present invention is positioned and is fixed with finger block by seam allowance and bolt, can quickly carry out dismounting replacement,
The demand for realizing compatible variety classes workpiece solves the difficult point of Pneumatic paw quick change not easy to use in the environment for be full of molding sand.
Sand control case of the present invention ensures that the molding sand trickled down in handling process is not dropped directly and refers to parallel cylinder two
On, extend the service life of cylinder, reduces the cost safeguarded and used.
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 structural schematic diagram of cylinder cap sand removal transfer robot paw embodiment of the present invention；
Fig. 2 is a kind of finger relocation mechanism sectional view of cylinder cap sand removal transfer robot paw embodiment of the present invention；
Fig. 3 is a kind of sand control case scheme of installation of cylinder cap sand removal transfer robot paw embodiment of the present invention；
Fig. 4 is a kind of finger block scheme of installation of cylinder cap sand removal transfer robot paw embodiment of the present invention.
Reference numeral indicates explanation in description above：
1, flange；2, two refer to parallel cylinder；3, finger block；4, finger；5, relocation mechanism；6, sand control case；7, rotating seat；
8, shaft；9, trend tooth form steel ball.
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 embodiments of the present invention, according to problems of the prior art, now provides a kind of
Cylinder cap sand removal transfer robot paw, including：
The bottom surface of flange 1, flange 1 is equipped with multiple first threaded holes；
Two refer to parallel cylinders 2, the first screw thread to match on the bottom surface that two finger parallel cylinders 2 pass through bolt and flange 1
Hole is fastenedly connected, and the both ends of two finger parallel cylinders 2 are respectively arranged with sliding block, are respectively provided on sliding block and fix a finger block
3 the second threaded hole；
Finger block 3 includes the first finger block and second finger seat, and the first finger block and second finger seat are separately positioned on hand
Refer to the both ends of seat 3, and is oppositely arranged；
One end of first finger block is provided with the first seam allowance locating slot, and the other end of the first finger block is provided with and corresponds to
The third threaded hole that the second threaded hole on the sliding block of first finger block matches, the first finger block pass through the second threaded hole and
Three threaded holes are fixed by bolts and are connected on the sliding block corresponding to the first finger block；
One end of second finger seat is provided with the second seam allowance locating slot, and the other end of second finger seat is provided with and corresponds to
The 4th threaded hole that the second threaded hole on the sliding block of second finger seat matches, second finger seat pass through the second threaded hole and
Four threaded holes are fixed by bolts and are connected on the sliding block corresponding to second finger seat；
Finger 4, finger 4 include the first finger and second finger；
One end of first finger is equipped with the first seam allowance, and the first seam allowance and the seam allowance locating slot on corresponding first finger block are solid
It is fixed to connect, it is fixedly installed relocation mechanism mounting groove on the inside of the other end of the first finger；
One end of second finger is equipped with the second seam allowance, and the second seam allowance and the seam allowance locating slot on corresponding second finger seat are solid
It is fixed to connect, it is fixedly installed a trend tooth form steel ball threaded hole on the inside of the other end of second finger.
In preferred embodiments of the present invention, the first seam allowance and the second seam allowance are rectangular.
Further include relocation mechanism 5 in preferred embodiments of the present invention, relocation mechanism 5 includes rotating seat 7, shaft 8 and two
Trend tooth form steel ball 9, rotating seat 7 are arranged in the relocation mechanism mounting groove of the inside of first finger, and will by shaft 8
The rotation of rotating seat 7 and the first finger is fixedly connected, and the inside of rotating seat 7 is respectively equipped with the threaded hole of two trend tooth form steel balls 9, and two
A trend tooth form steel ball 9 is separately positioned on the both ends of rotating seat 7.
In preferred embodiments of the present invention, one end of two trend tooth form steel balls 9 is respectively arranged with the inside with rotating seat 7
The external screw thread that matches of threaded hole, two trend tooth form steel balls 9 respectively with the threaded hole rotation of 7 inside of rotating seat is fixed connects
It connects.
In preferred embodiments of the present invention, the rotating seat 7 is provided with gap on the left sides 2mm with the relocation mechanism mounting groove
Right floating space.
In preferred embodiments of the present invention, 9 one end of trend tooth form steel ball is equipped with and the threaded hole phase on the inside of second finger
The external screw thread matched, trend tooth form steel ball 9 and second finger are fastenedly connected by screw thread rotation.
Further include sand control case 6 in preferred embodiments of the present invention, sand control case 6 is arranged in the outside of finger block, and
Sand control case 6 is bolted to connection with finger block, and sand control case 6 includes the anti-layer of sand of two-layer laminate.
In preferred embodiments of the present invention, trend tooth form steel ball 9 is spherical surface tooth-shape structure.
The beneficial effects of the present invention are：
Sand removal after the present invention can be such that realization cylinder cap casts, the automatic loading/unloading for cutting riser, will be manually from more dust, big
It is discharged in the working environment of noise and again physical demands, and lowers enterprises using the labor cost, by robot charge, can also improved
Production efficiency.For paw of the present invention using 3 points of clampings, contact point makes it possible to be adjacent to using trend tooth form steel ball holds clamping
Face, increasing friction force, the relocation mechanism on finger can compensate the nonuniformity error of cast member, and paw grasping workpiece is allowed to reach
Stable, reliable effect.Finger is positioned and is fixed with finger block by seam allowance and bolt, can quickly carry out dismounting replacement, real
It is now compatible with the demand of variety classes workpiece, solves the difficult point of the Pneumatic paw quick change not easy to use in the environment of molding sand
Based on the embodiments of the present invention, those of ordinary skill in the art institute under the premise of not making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.It should be noted that in the absence of conflict, this
The feature in embodiment and embodiment in invention can be combined with each other.
Claims (8)
1. a kind of cylinder cap sand removal transfer robot paw, which is characterized in that including
The bottom surface of flange, the flange is equipped with multiple first threaded holes；
Two refer to parallel cylinders, described first to match on the bottom surface that the two finger parallel cylinder passes through bolt and the flange
Threaded hole is fastenedly connected, and the both ends of the two fingers parallel cylinder are respectively arranged with sliding block, are respectively provided on the sliding block
Fix the second threaded hole of a finger block；
The finger block includes the first finger block and second finger seat, and first finger block and the second finger seat are set respectively
It sets at the both ends of the finger block, and is oppositely arranged；
One end of first finger block is provided with the first seam allowance locating slot, the other end of first finger block be provided with it is right
The third threaded hole that second threaded hole on the sliding block of first finger block described in Ying Yu matches, first finger
Seat is fixed by bolts and is connected to corresponding to first finger block by second threaded hole and the third threaded hole
On the sliding block；
One end of the second finger seat is provided with the second seam allowance locating slot, the other end of the second finger seat be provided with it is right
The 4th threaded hole that second threaded hole on the sliding block of second finger seat described in Ying Yu matches, the second finger
Seat is fixed by bolts and is connected to corresponding to the second finger seat by second threaded hole and the 4th threaded hole
On the sliding block；
Finger, the finger include the first finger and second finger；
One end of first finger be equipped with the first seam allowance, first seam allowance with it is described on corresponding first finger block
Seam allowance locating slot is fixedly connected, and relocation mechanism mounting groove is fixedly installed on the inside of the other end of first finger；
One end of the second finger be equipped with the second seam allowance, second seam allowance with it is described on the corresponding second finger seat
Seam allowance locating slot is fixedly connected, and a trend tooth form steel ball threaded hole is fixedly installed on the inside of the other end of the second finger.
2. a kind of cylinder cap sand removal transfer robot paw according to claim 1, which is characterized in that first seam allowance and
Second seam allowance is rectangular.
3. a kind of cylinder cap sand removal transfer robot paw according to claim 1, which is characterized in that further include floating engine
Structure, the relocation mechanism include rotating seat, shaft and two trend tooth form steel balls, and the rotating seat is arranged in first finger
Inside the relocation mechanism mounting groove in, and by the shaft by the rotating seat and first finger rotation fix
It connects, the threaded hole of the two trend tooth form steel balls, two trend tooth form steel balls is respectively equipped on the inside of the rotating seat
It is separately positioned on the both ends of the rotating seat.
4. a kind of cylinder cap sand removal transfer robot paw according to claim 3, which is characterized in that two trend teeth
One end of shape steel ball is respectively arranged with the external screw thread to match with the threaded hole of the inside of the rotating seat, and two described dynamic
It is fixedly connected respectively with the threaded hole rotation on the inside of the rotating seat to tooth form steel ball.
5. a kind of cylinder cap sand removal transfer robot paw according to claim 3, which is characterized in that the rotating seat and institute
State relocation mechanism mounting groove be provided with gap 2mm or so floating space.
6. a kind of cylinder cap sand removal transfer robot paw according to claim 1, which is characterized in that the trend tooth form steel
Pearl one end is equipped with the external screw thread that matches with the threaded hole on the inside of the second finger, the trend tooth form steel ball and described
Second finger is fastenedly connected by screw thread rotation.
7. a kind of cylinder cap sand removal transfer robot paw according to claim 1, which is characterized in that further include sand cap
Shell, the sand control case is arranged in the outside of the finger block, and the sand control case and the finger block are solid by bolt
Fixed connection, the sand control case includes the anti-layer of sand of two-layer laminate.
8. a kind of cylinder cap sand removal transfer robot paw according to claim 1, which is characterized in that the trend tooth form steel
Pearl is spherical surface tooth-shape structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810402418.3A CN108406837A (en) | 2018-04-28 | 2018-04-28 | A kind of cylinder cap sand removal transfer robot paw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810402418.3A CN108406837A (en) | 2018-04-28 | 2018-04-28 | A kind of cylinder cap sand removal transfer robot paw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108406837A true CN108406837A (en) | 2018-08-17 |
Family
ID=63137192
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810402418.3A Pending CN108406837A (en) | 2018-04-28 | 2018-04-28 | A kind of cylinder cap sand removal transfer robot paw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108406837A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112453134A (en) * | 2020-09-17 | 2021-03-09 | 上海发那科机器人有限公司 | Pipe fitting rotating clamp holder and robot pipe bending workstation comprising same |
| CN115674235A (en) * | 2022-06-22 | 2023-02-03 | 上海智药科技有限公司 | Clamping jaw and clamping device and mobile robot with clamping jaw |
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| CN206445822U (en) * | 2016-12-23 | 2017-08-29 | 深圳市中科誉明机器人有限公司 | A kind of Novel shaft class relocation mechanism |
| CN206854684U (en) * | 2017-05-27 | 2018-01-09 | 苏州勤堡精密机械有限公司 | A kind of three-jaw clamping device |
-
2018
- 2018-04-28 CN CN201810402418.3A patent/CN108406837A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200360467Y1 (en) * | 2004-02-28 | 2004-08-30 | 서중교 | A structure of hand for robot |
| CN104440932A (en) * | 2014-11-28 | 2015-03-25 | 金石机器人常州有限公司 | Combined servo drive gripper with floating function |
| CN204585239U (en) * | 2015-05-07 | 2015-08-26 | 海安天润机械科技有限公司 | A kind of secure mechanical paw |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112453134A (en) * | 2020-09-17 | 2021-03-09 | 上海发那科机器人有限公司 | Pipe fitting rotating clamp holder and robot pipe bending workstation comprising same |
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| CN115674235A (en) * | 2022-06-22 | 2023-02-03 | 上海智药科技有限公司 | Clamping jaw and clamping device and mobile robot with clamping jaw |
| WO2023246857A1 (en) * | 2022-06-22 | 2023-12-28 | 深圳晶泰科技有限公司 | Clamping jaw, gripping device having same, and mobile robot |
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