CN108544519B - Feeding and discharging clamping claw for piston salt core - Google Patents
Feeding and discharging clamping claw for piston salt core Download PDFInfo
- Publication number
- CN108544519B CN108544519B CN201810671410.7A CN201810671410A CN108544519B CN 108544519 B CN108544519 B CN 108544519B CN 201810671410 A CN201810671410 A CN 201810671410A CN 108544519 B CN108544519 B CN 108544519B
- Authority
- CN
- China
- Prior art keywords
- claw
- clamping jaw
- clamping
- feeding
- core
- 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.)
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Links
- 210000000078 claw Anatomy 0.000 title claims abstract description 49
- 150000003839 salts Chemical group 0.000 title claims abstract description 45
- 238000007599 discharging Methods 0.000 title claims abstract description 18
- 238000007789 sealing Methods 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 description 4
- 210000004243 sweat Anatomy 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- 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
Abstract
The invention relates to the technical field of automatic equipment, in particular to a feeding and discharging clamping jaw of a piston salt core, which comprises a six-axis mechanical arm, and a feeding clamping jaw and a discharging clamping jaw which are arranged on the six-axis mechanical arm; the feeding clamping jaw and the discharging clamping jaw are arranged in opposite directions; the feeding clamping claw comprises an upper clamping block, an O-shaped ring, a lower clamping block, a pushing disc and a standard air claw; the standard gas claw is a three-claw gas claw, the center of the standard gas claw is provided with a spring rod, the spring rod is connected with the pushing disc, three claw heads of the standard gas claw are respectively connected with three arc-shaped lower clamping blocks, square holes are milled on the bottom surfaces of the lower clamping blocks and are matched with the claw heads to realize accurate positioning, the three lower clamping blocks and the three upper clamping blocks are used for fixing three sections of O-shaped rings through respective V-shaped grooves, and the feeding clamping claw is used for clamping a salt core by taking the arc surfaces of the three sections of O-shaped rings as contact surfaces through opening and closing of the standard gas claw. The device can realize automatic feeding and discharging of salt core turning, and reduces manual repeated labor.
Description
Technical Field
The invention relates to the technical field of automatic equipment, in particular to a feeding and discharging clamping jaw for a piston salt core.
Background
At present, the salt core is a product with strong brittleness and smaller thickness, so that the automatic clamping is difficult to realize, the loading and unloading of the salt core in lathe processing is mainly finished by manpower at present, but after the salt core is dried and the like, the surface cannot be stained with sweat stains on hands, and the possibility that the salt core is stained with the sweat stains on hands exists in manual loading and turning. On the other hand, the turning time of one salt ring is only about 15 seconds, the labor intensity of manual feeding and discharging is too high, and after the salt ring is turned, the dust in a workshop is much, so that the salt ring is not suitable for people to work in the salt ring for a long time.
Disclosure of Invention
The invention aims to overcome the defects of the technology, and provides a feeding and discharging clamping claw of a piston salt core, which realizes feeding and discharging of the salt core.
The invention adopts the following technical scheme to realize the aim: the utility model provides a last unloading clamping jaw of piston salt core which characterized in that: the feeding clamping jaw and the discharging clamping jaw are arranged on the six-axis mechanical arm; the feeding clamping jaw and the discharging clamping jaw are arranged in opposite directions; the feeding clamping claw comprises an upper clamping block, an O-shaped ring, a lower clamping block, a pushing disc and a standard air claw; the standard gas claw is a three-claw gas claw, the center of the standard gas claw is provided with a spring rod, the spring rod is connected with the pushing disc, three claw heads of the standard gas claw are respectively connected with three arc-shaped lower clamping blocks, square holes are milled on the bottom surfaces of the lower clamping blocks and are matched with the claw heads to realize accurate positioning, the three lower clamping blocks and the three upper clamping blocks are used for fixing three sections of O-shaped rings through respective V-shaped grooves, and the feeding clamping claw is used for clamping a salt core by taking the arc surfaces of the three sections of O-shaped rings as contact surfaces through opening and closing of the standard gas claw;
the blanking clamping claw comprises an upper round cover, an upper sealing block, a guide pin, a spring, a sliding core, a piston limiting column, a jacking core, a fixing sleeve and an air cylinder; the cylinder body of cylinder links to each other with fixed cover, and the piston rod of cylinder is connected with the top core, and the top core has four inclined planes, and four inclined planes cooperate with the inclined plane of smooth core, are equipped with four upper seal pieces on the fixed cover, and upper seal piece has a guiding hole, can regard as the guide part through the guide pin, and upper dome is connected on the fixed cover, guarantees smooth core and removes at a plane, and the spring makes the smooth core that stretches out can automatic retraction, and fixed cover front end external diameter is less than the internal diameter of salt core hole.
Preferably, the piston limit post is fixed at the bottom of the upper round cover, and the piston limit post limits the displacement of the piston rod of the cylinder within a usable range.
Preferably, a flange is mounted on a sixth shaft of the six-shaft manipulator, the flange is connected with a connecting plate through a switching arm, two clamping jaw connecting plates are arranged on the connecting plate in a facing direction, and the two clamping jaw connecting plates are respectively fixed on the feeding clamping jaw and the discharging clamping jaw.
The automatic feeding and discharging device has the advantages that (1) automatic feeding and discharging is realized by turning the salt cores, and manual repeated labor is reduced;
(2) Flexible grabbing reduces the breakage rate;
(3) The feeding clamping claw is convenient to maintain, and the O-shaped ring is easy to replace;
(4) Compact structure is applicable to the salt core of lathe processing of relative small-size.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
fig. 2 is a schematic view of the structure of the end jaw according to the invention;
FIG. 3a is a side view of a loading jaw of the present invention;
FIG. 3b is a cross-sectional view taken along the direction A-A in FIG. 3 a;
FIG. 3c is a perspective view of a loading jaw according to the present invention;
FIG. 3d is an enlarged view at I in FIG. 3 b;
FIG. 4a is a side view of the blanking jaw of the present invention;
FIG. 4B is a cross-sectional view in the direction B-B of FIG. 4 a;
fig. 4c is a perspective view of the blanking jaw of the present invention.
Detailed Description
The following detailed description of the invention refers to the accompanying drawings and preferred embodiments. As shown in fig. 1, the end clamping jaw 2 is arranged in the six-axis manipulator 1 to form a set of integral manipulator grabbing equipment. As shown in fig. 2, the connecting flange 3 is fixed on the sixth shaft of the manipulator, and the coaxiality of the connecting flange and the sixth shaft of the manipulator is ensured through the matching of the boss and the hole. The switching arm 4 links to each other with flange 3, likewise guarantees coaxially through the cooperation of boss and hole, and the switching arm 4 other end is connected with connecting plate 5, distributes two clamping jaw connecting plates 7 above connecting plate 5, and two clamping jaw connecting plates 7 have fixed respectively and have gone up material loading clamp claw 8 and unloading clamp claw 6, and it has the interference to go up the clamp claw that does not work when material loading and unloading to go up clamp claw 8 and unloading clamp claw 6 opposite arrangement in order to prevent, carries out the material loading after the unloading is accomplished, only needs six mechanical arm 1 sixth axle rotations 180, goes up the coincidence of material loading clamp claw 8 axle center and unloading clamp claw 6 axle center.
In order to solve the problem of flexible grabbing of the clamping jaw, the feeding clamping jaw 8 is designed by means of a standard air jaw, and flexible grabbing of the clamping jaw is achieved by adding a flexible O-shaped ring into the grabbing position of the clamping jaw. As shown in fig. 3a-3d, the standard gas jaw 15 is a three-jaw gas jaw with a spring rod in the center, which is connected to the push plate 14 and is concentric by a shaft-to-groove fit. The three claw heads of the standard air claw 15 are respectively connected with the three arc-shaped lower clamping blocks 13, and square holes are milled on the bottom surface of the lower clamping blocks 13 and matched with the claw heads to realize accurate positioning. The three lower clamping blocks 13 and the three upper clamping blocks 11 are respectively provided with V-shaped grooves for fixing three sections of O-shaped rings 12, the feeding clamping claws are opened and closed through the standard air claws 15, the arc surfaces of the three sections of O-shaped rings 12 are used as contact surfaces for clamping salt cores, the O-shaped rings have flexible characteristics, the salt cores are not easy to damage during clamping, the requirements of flexible feeding are met, the O-shaped ring arc surfaces are used as contact surfaces for clamping the salt cores, and the grabbing precision of the salt cores is not high, so that the problem is solved by using the standard air claw with the spring rod in the center. Because the feeding clamping jaw 8 is required to press down to grasp when grasping the salt core, the upper surface of the salt core is almost contacted with the end face 16 of the lower clamping block 13, the pushing disc 14 and the spring rod are contracted when pressing down, the standard air jaw 15 is contracted to clamp the salt core, when the feeding clamping jaw 8 places the salt core into the lathe chuck, the outer end face of the grasped salt core is not necessarily close to the end face of the lathe chuck, at the moment, the standard air jaw is opened, the outer end face of the salt core is tightly attached to the lathe chuck through the thrust of the spring rod and the pushing disc 14, and the axial positioning of the salt core on the lathe chuck is completed.
The thickness of the salt core can be clamped when the clamping jaw is used for feeding, but the clamping jaw has no grabbing space after the lathe is turned, so that another mode is needed for feeding when the clamping jaw is used for feeding. According to the design, the blanking is realized by positioning the inner hole of the salt core and limiting the moving mode of the salt core. As shown in fig. 4a-4c, the cylinder body of the cylinder 29 is connected with the fixed sleeve 28, the piston rod of the cylinder 29 is connected with the top core 27, the top core 27 is provided with four inclined planes, the four inclined planes are matched with the inclined planes of the sliding core 25, the fixed sleeve 28 is provided with four upper sealing blocks 22, the upper sealing blocks 22 are provided with a guide hole, the upper sealing blocks can be connected with the sliding core 25 through the guide pin 23, the guide pin 23 is used as a guide part, the upper round cover 21 is connected with the fixed sleeve 28, the sliding core 25 is ensured to move in a plane, the spring 24 enables the extending sliding core to retract automatically, and the piston limiting post 26 limits the displacement of the piston rod of the cylinder 29 within a usable range. When the blanking clamping jaw 6 works, the front end of the fixed sleeve 28 extends into a salt core hole clamped by the lathe, the outer diameter of the front end of the fixed sleeve 28 is slightly smaller than that of the salt core hole, after the fixed sleeve moves to a certain position, a piston rod of the air cylinder 29 extends out, the top core 27 acts on the sliding core 25 through four inclined planes to enable the sliding core 25 to extend out under the guidance of the guide pin and the plane of the sliding core, the extending sliding core 25 enables the salt core not to axially move, at the moment, the lathe chuck clamping jaw is opened, the blanking clamping jaw 6 moves to the blanking position, the blanking tool is a circular shaft, the outer diameter of the circular shaft is slightly smaller than that of the salt core hole, a certain included angle is formed between the circular shaft and the horizontal plane, the axial center of the fixed sleeve 28 and the axial center of the blanking tool circular shaft are only required to be coaxial, the piston rod of the air cylinder 29 is retracted, the sliding core 25 is retracted under the action of the spring 23, and the salt core can slide to the blanking tool circular shaft under the action of gravity to complete blanking.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (3)
1. The utility model provides a last unloading clamping jaw of piston salt core which characterized in that: the feeding clamping jaw and the discharging clamping jaw are arranged on the six-axis mechanical arm; the feeding clamping jaw and the discharging clamping jaw are arranged in opposite directions; the feeding clamping claw comprises an upper clamping block, an O-shaped ring, a lower clamping block, a pushing disc and a standard air claw; the standard gas claw is a three-claw gas claw, the center of the standard gas claw is provided with a spring rod, the spring rod is connected with the pushing disc, three claw heads of the standard gas claw are respectively connected with three arc-shaped lower clamping blocks, square holes are milled on the bottom surfaces of the lower clamping blocks and are matched with the claw heads to realize accurate positioning, the three lower clamping blocks and the three upper clamping blocks are used for fixing three sections of O-shaped rings through respective V-shaped grooves, and the feeding clamping claw is used for clamping a salt core by taking the arc surfaces of the three sections of O-shaped rings as contact surfaces through opening and closing of the standard gas claw;
the blanking clamping claw comprises an upper round cover, an upper sealing block, a guide pin, a spring, a sliding core, a piston limiting column, a jacking core, a fixing sleeve and an air cylinder; the cylinder body of cylinder links to each other with fixed cover, and the piston rod of cylinder is connected with the top core, and the top core has four inclined planes, and four inclined planes cooperate with the inclined plane of smooth core, are equipped with four upper seal pieces on the fixed cover, and upper seal piece has a guiding hole, can regard as the guide part through the guide pin, and upper dome is connected on the fixed cover, guarantees smooth core and removes at a plane, and the spring makes the smooth core that stretches out can automatic retraction, and fixed cover front end external diameter is less than the internal diameter of salt core hole.
2. The piston salt core loading and unloading clamping jaw according to claim 1, wherein: the piston limiting column is fixed at the bottom of the upper round cover, and the piston limiting column limits the displacement of the piston rod of the cylinder within a usable range.
3. The piston salt core loading and unloading clamping jaw according to claim 1, wherein: the six-axis mechanical arm is characterized in that a flange is arranged on a sixth axis of the six-axis mechanical arm and connected with a connecting plate through a switching arm, two clamping jaw connecting plates are arranged on the connecting plate in a facing direction, and the two clamping jaw connecting plates are respectively fixed with a feeding clamping jaw and a discharging clamping jaw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810671410.7A CN108544519B (en) | 2018-06-26 | 2018-06-26 | Feeding and discharging clamping claw for piston salt core |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810671410.7A CN108544519B (en) | 2018-06-26 | 2018-06-26 | Feeding and discharging clamping claw for piston salt core |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108544519A CN108544519A (en) | 2018-09-18 |
| CN108544519B true CN108544519B (en) | 2023-12-01 |
Family
ID=63493256
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810671410.7A Active CN108544519B (en) | 2018-06-26 | 2018-06-26 | Feeding and discharging clamping claw for piston salt core |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108544519B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333561B (en) * | 2018-11-20 | 2022-03-22 | 青岛铸造机械有限公司 | Robot polishing system |
| CN110328611A (en) * | 2019-07-25 | 2019-10-15 | 德屹智能科技(扬州)有限公司 | Clamp the robot polishing handgrip of circular feature workpiece |
| CN112496886B (en) * | 2020-11-30 | 2021-12-10 | 德阳市泰山机电设备工程有限公司 | Intelligent multifunctional electromechanical equipment processing platform |
| CN113211482B (en) * | 2021-04-29 | 2022-09-23 | 南京埃斯顿智能系统工程有限公司 | Automatic quick-exchange wing-shaped bearing seat special fixture |
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| DE102004025781A1 (en) * | 2003-12-17 | 2005-07-28 | Daimlerchrysler Ag | Gripping element of robot arm holding object with suction cup, comprising control valve initiating two individual functions |
| WO2006002995A1 (en) * | 2004-07-06 | 2006-01-12 | Wolfgang Laufenberg | Pneumatic gripping mechanism |
| CN102527989A (en) * | 2011-11-30 | 2012-07-04 | 杭州英若飞科技有限公司 | Automatic pick-up robot |
| CN106671118A (en) * | 2016-12-24 | 2017-05-17 | 合肥知常光电科技有限公司 | Grabbing device and grabbing method for optical filter and positioning tool |
| CN107009369A (en) * | 2017-04-23 | 2017-08-04 | 金华市宝琳工贸有限公司 | A kind of multi-functional taking mechanical hand |
| CN108000539A (en) * | 2017-11-29 | 2018-05-08 | 宁波开浦智能科技有限公司 | A kind of manipulator pneumatic clamper angle regulator |
| WO2018092180A1 (en) * | 2016-11-15 | 2018-05-24 | 株式会社Ｆｕｊｉ | Chuck device for robot hand of arm robot |
| CN208497023U (en) * | 2018-06-26 | 2019-02-15 | 天津龙创恒盛实业有限公司 | The loading and unloading clamping jaw of piston salt core |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004009151A (en) * | 2002-06-03 | 2004-01-15 | Smc Corp | Three-way opening and closing chuck |
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2018
- 2018-06-26 CN CN201810671410.7A patent/CN108544519B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004025781A1 (en) * | 2003-12-17 | 2005-07-28 | Daimlerchrysler Ag | Gripping element of robot arm holding object with suction cup, comprising control valve initiating two individual functions |
| WO2006002995A1 (en) * | 2004-07-06 | 2006-01-12 | Wolfgang Laufenberg | Pneumatic gripping mechanism |
| CN102527989A (en) * | 2011-11-30 | 2012-07-04 | 杭州英若飞科技有限公司 | Automatic pick-up robot |
| WO2018092180A1 (en) * | 2016-11-15 | 2018-05-24 | 株式会社Ｆｕｊｉ | Chuck device for robot hand of arm robot |
| CN106671118A (en) * | 2016-12-24 | 2017-05-17 | 合肥知常光电科技有限公司 | Grabbing device and grabbing method for optical filter and positioning tool |
| CN107009369A (en) * | 2017-04-23 | 2017-08-04 | 金华市宝琳工贸有限公司 | A kind of multi-functional taking mechanical hand |
| CN108000539A (en) * | 2017-11-29 | 2018-05-08 | 宁波开浦智能科技有限公司 | A kind of manipulator pneumatic clamper angle regulator |
| CN208497023U (en) * | 2018-06-26 | 2019-02-15 | 天津龙创恒盛实业有限公司 | The loading and unloading clamping jaw of piston salt core |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108544519A (en) | 2018-09-18 |
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