CN108555559A - A kind of hand-off table apparatus of paw - Google Patents
A kind of hand-off table apparatus of paw Download PDFInfo
- Publication number
- CN108555559A CN108555559A CN201810404946.2A CN201810404946A CN108555559A CN 108555559 A CN108555559 A CN 108555559A CN 201810404946 A CN201810404946 A CN 201810404946A CN 108555559 A CN108555559 A CN 108555559A
- Authority
- CN
- China
- Prior art keywords
- hand
- swing rod
- paw
- holder
- table apparatus
- 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
- 239000000428 dust Substances 0.000 claims abstract description 23
- 239000000203 mixture Substances 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a kind of hand-off table apparatus of paw, including hand-off holder, swing rod bearing, tie rod cylinders, switching device, the hand-off holder includes H-shaped holder and L-type support, the top of the H-shaped holder is provided with the support column and positioning pin of the fixed hand-off table apparatus of paw, the bar portion of the fixed pin is cylinder, one end of the swing rod is provided with and the matched circular hole of the fixed pin, the swing rod bearing is fixed on the upper end of the L-type support, the swing rod bearing forms revolute pair with the swing rod by the fixed pin, the outside of the L-type support is provided with tie rod cylinders, the tie rod cylinders are rotatably connected with the swing rod by the fixed pin.Quickly accurately gripper unit can be captured and be placed using the present apparatus, to quick-replaceable paw, save the time, efficiency is improved, and reasonably utilize dust cover, the pollution to gripper unit is effectively prevented, to improve the service life of gripper unit.
Description
Technical field
The invention belongs to mechanical equipment automatic fields, and in particular to a kind of hand-off table apparatus of paw.
Background technology
Now during most mechanic factory workers are in the clamping and dismounting for being processed part, still use
Manual type is operated, and this mode is produced for only knowing for small lot, but for large batch of mechanical processing, meeting
There are many problems, when artificial clamping, the precision of clamping is not also high, and alignment speed is also easy to malfunction slowly, seriously affects production
Efficiency, during the Machining operations with certain batch, when having single action, the high operational feature of repeatability, no
Suitable manual type is operated.
The carrying that applicable industry robot carries out workpiece uses in the factory more and more, and robot hand is for connecting
The important tool of welding robot and workpiece.Currently used robot hand is mainly the paw of pneumatic pinch, by translation or
The mode of person's rotation clamps workpiece.The robot hand used mostly uses greatly the mode of outer clip, i.e. paw is clamped in the outer of workpiece
Side makes clamping workpiece in this way, and when workpiece is placed into workbench, paw can interfere with the fixture on workbench, thus
Many limitations are designed with to fixture；In addition paw is external also results in that entire fixture is more huge, for larger workpiece
The activity space of industrial robot is influenced when processing.
High efficiency has very important effect in automobile manufacturing field, and the application of industrial robot paw unit is greatly
Improve this efficiency.It is quickly accurate since the different application of workpiece also requires difference in the gripper unit in robot
Replacement gripper unit, while reducing pollution to gripper unit, for improving the manufacture efficiency of assembling of vehicle key parts,
And improve the service life of gripper unit and have great significance, and when replacing gripper unit at present, positioning is inaccurate, paw
Unit does not account for dust-proof in waiting replacing construction inside cylinder.
Invention content
The purpose of the present invention is achieved through the following technical solutions.
The present invention provides a kind of hand-off table apparatus of paw to solve above-mentioned technical problem, and the technical solution specifically used is such as
Under：
A kind of hand-off table apparatus of paw, including：
Hand-off holder, the hand-off holder include H-shaped holder and L-type support, the L-type support and the H-shaped branch
It is fixedly connected in the middle part of frame, the top of the H-shaped holder is provided with support column and the positioning of the fixed hand-off table apparatus of paw
Pin；
The bar portion of fixed pin, the fixed pin is cylinder；
One end of swing rod, the swing rod is provided with and the matched circular hole of the fixed pin；
Swing rod bearing, the swing rod bearing are fixed on the upper end of the L-type support, and the swing rod bearing is logical with the swing rod
Cross the fixed pin composition revolute pair.
Preferably, the outside of the L-type support is provided with tie rod cylinders, and the tie rod cylinders pass through described with the swing rod
Fixed pin is rotatably connected.
Preferably, further include tie rod cylinders bearing, the tie rod cylinders bearing is arranged in the outside of the L-type support, institute
Tie rod cylinders are stated to be fixedly connected with the L-type support by the tie rod cylinders bearing.
Preferably, the lower part of the H-shaped holder is provided with switching device, and the switching device is fixed with the H-shaped holder
Connection.
Preferably, further include dust cover, the dust cover is detachably secured to the lower part of described swing rod one end, described dust-proof
Cover is contaminated by dust for effectively preventing parts below dust cover.
Preferably, the switching device includes electrical box, electromagnetic valve device and fixed plate, and the electrical box is detachably fixed
In the lower part of fixed plate, the electromagnetic valve device is fixed on the top of fixed plate, and the solenoid valve is used to control the pull rod
The direction of motion of cylinder and then the opening and closing for realizing the dust cover.
Preferably, the swing rod bearing is fixed on the top of the L-type support of the hand-off holder.
Preferably, the rectangular cross-section of the hand-off holder.
The advantage of the invention is that：
The hand-off table apparatus of paw of the present invention quickly accurately can be captured and be placed to gripper unit, to quick-replaceable
Paw saves the time, improves efficiency, and reasonably utilize dust cover, effectively prevents the pollution to gripper unit, to
The service life for improving gripper unit, is greatly improved to the manufacture efficiency of assembling of follow-up vehicle key parts, reduces
Production 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 the hand-off table apparatus embodiment of paw of the present invention；
Fig. 2 is a kind of stereoscopic schematic diagram of the hand-off table apparatus embodiment of paw of the present invention.
Reference numeral indicates explanation in description above：
1, hand-off holder；2, support column；3, positioning pin；4, tie rod cylinders；5, electrical box；6, electromagnetic valve device；7, L-type
Holder；8, H-type holder；9, fixed pin；10, swing rod；11, dust cover；12, swing rod bearing；13, fixed plate；14, gripper unit.
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. 1-2, it in preferred embodiments of the present invention, according to problems of the prior art, now provides a kind of
The hand-off table apparatus of paw, including：
Hand-off holder 1, hand-off holder 1 include H-shaped holder 8 and L-type support 7, L-type support 7 in H-shaped holder 8
Portion is fixedly connected, and the top of H-shaped holder 8 is provided with the support column 2 and positioning pin 3 of the hand-off table apparatus of fixed paw；
Fixed pin 9；The bar portion of fixed pin 9 is cylinder；
One end of swing rod 10, swing rod 10 is provided with and the matched circular hole of fixed pin；
Swing rod bearing 12, swing rod bearing 12 are fixed on the upper end of L-type support 7, and swing rod bearing 12 passes through fixation with swing rod 10
Pin bank is at revolute pair.
Specifically, the lower end of H-shaped holder 8 be equipped with square floor, the lower end of H-shaped holder 8 be horizontally arranged it is rectangular
Bottom plate is fixedly connected, and square floor is equipped with multiple through-holes with for being fixedly connected with ground.
In preferred embodiments of the present invention, the outside of L-type support 7 is provided with tie rod cylinders 4, tie rod cylinders 4 and swing rod 10
It is rotatably connected by fixed pin.
Specifically, tie rod cylinders 4 stretch rope bar by inside and are rotatably connected by fixed pin with swing rod 10.
Further include tie rod cylinders bearing in preferred embodiments of the present invention, tie rod cylinders bearing is arranged in L-type support 7
Outside, tie rod cylinders 4 are fixedly connected by tie rod cylinders bearing with L-type support 7.
Specifically, tie rod cylinders bearing is bolted on the lateral surface of L-type support 7, tie rod cylinders and cylinder branch
Seat is flexibly connected by axis pin.
In preferred embodiments of the present invention, the lower part of H-shaped holder 8 is provided with switching device, switching device and H-shaped holder 8
It is fixedly connected.
Further include dust cover 11 in preferred embodiments of the present invention, dust cover 11 is detachably secured to 10 one end of swing rod
Lower part, for effectively preventing dust cover 11, parts are contaminated by dust dust cover 11 below.
In preferred embodiments of the present invention, switching device includes electrical box 5, electromagnetic valve device 6 and fixed plate 13, electrical box
5 are detachably secured to the lower part of fixed plate 13, and electromagnetic valve device 6 is fixed on the top of fixed plate 13, and electromagnetic valve device 6 is for controlling
The direction of motion of tie rod cylinders 4 processed and then the opening and closing for realizing dust cover 11.
In preferred embodiments of the present invention, swing rod bearing 12 is fixed on the top of the L-type support 7 of hand-off holder 1.
In preferred embodiments of the present invention, the rectangular cross-section of hand-off holder 1.
Specifically, hand-off holder 1 is that rectangle stainless steel pipe is manufactured.
Specifically, shown in holding such as Fig. 2, when needing to place gripper unit, dust cover 11 is in the open state, gripper unit
14 place downwards along with 3 matched axis of positioning pin, and when being placed into the position close proximity to switch, proximity switch works,
Gripper unit 14 is set to be accurately located at positioning pin 3.Then the dust etc. in order to prevent in air pollutes in gripper unit 14
The cylinder in face, dust cover 11 needs to be in closed state, and when needing replacing gripper unit 14, scuffing of cylinder bore cylinder 4 drives dust cover
11 open up, and gripper unit 14 is picked up from hand-off holder 1.
The beneficial effects of the present invention are：
The hand-off table apparatus of paw of the present invention quickly accurately can be captured and be placed to gripper unit, to quick-replaceable
Paw saves the time, improves efficiency, while reasonably utilizing dust cover, effectively prevents the pollution to gripper unit, from
And the service life of gripper unit is improved, improve the manufacture efficiency of assembling of vehicle key parts.
The every other embodiment that those of ordinary skill in the art are obtained under the premise of not making creative work,
It shall fall within the protection scope of the present invention.It should be noted that in the absence of conflict, embodiment and embodiment in the present invention
In feature can be combined with each other.
Claims (8)
1. a kind of hand-off table apparatus of paw, which is characterized in that including：
Hand-off holder, the hand-off holder include H-shaped holder and L-type support, the L-type support and the H-shaped holder
Middle part is fixedly connected, and the top of the H-shaped holder is provided with the support column and positioning pin of the fixed hand-off table apparatus of paw；
The bar portion of fixed pin, the fixed pin is cylinder；
One end of swing rod, the swing rod is provided with and the matched circular hole of the fixed pin；
Swing rod bearing, the swing rod bearing are fixed on the upper end of the L-type support, and the swing rod bearing passes through institute with the swing rod
State fixed pin composition revolute pair.
2. the hand-off table apparatus of a kind of paw according to claim 1, which is characterized in that the external setting of the L-type support
There are tie rod cylinders, the tie rod cylinders to be rotatably connected by the fixed pin with the swing rod.
3. the hand-off table apparatus of a kind of paw according to claim 1, which is characterized in that further include tie rod cylinders bearing, institute
It states tie rod cylinders bearing to be arranged in the outside of the L-type support, the tie rod cylinders pass through the tie rod cylinders bearing and the L
Type holder is fixedly connected.
4. the hand-off table apparatus of a kind of paw according to claim 1, which is characterized in that the lower part of the H-shaped holder is arranged
There are switching device, the switching device to be fixedly connected with the H-shaped holder.
5. the hand-off table apparatus of a kind of paw according to claim 1, which is characterized in that further include dust cover, it is described dust-proof
Cover is detachably secured to the lower part of described swing rod one end, and the dust cover is grey for effectively preventing parts below dust cover
Dustiness contaminates.
6. the hand-off table apparatus of a kind of paw according to claim 4, which is characterized in that the switching device includes electrical
Box, electromagnetic valve device and fixed plate, the electrical box are detachably secured to the lower part of fixed plate, and the electromagnetic valve device is fixed on
The top of fixed plate, the solenoid valve are used to control the direction of motion of the tie rod cylinders and then realize the opening of the dust cover
And closure.
7. the hand-off table apparatus of a kind of paw according to claim 1, which is characterized in that the swing rod bearing is fixed on described
The top of the L-type support of hand-off holder.
8. the hand-off table apparatus of a kind of paw according to claim 1, which is characterized in that the section of the hand-off holder is
Rectangle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810404946.2A CN108555559A (en) | 2018-04-28 | 2018-04-28 | A kind of hand-off table apparatus of paw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810404946.2A CN108555559A (en) | 2018-04-28 | 2018-04-28 | A kind of hand-off table apparatus of paw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108555559A true CN108555559A (en) | 2018-09-21 |
Family
ID=63537304
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810404946.2A Pending CN108555559A (en) | 2018-04-28 | 2018-04-28 | A kind of hand-off table apparatus of paw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108555559A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112935904A (en) * | 2021-04-07 | 2021-06-11 | 湖南凯斯机械股份有限公司 | Automatic arm gripper of sewing machine head A surface and placing rack thereof |
| CN113021057A (en) * | 2021-04-07 | 2021-06-25 | 湖南凯斯机械股份有限公司 | Automatic mechanical arm gripper on front surface of flat plate of sewing machine and placing rack thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001138159A (en) * | 1999-11-17 | 2001-05-22 | Nissan Motor Co Ltd | Workpiece clamping device, and workpiece clamping method |
| CN101434040A (en) * | 2008-12-15 | 2009-05-20 | 镁联科技（芜湖）有限公司 | Pneumatic lever type clamping structure |
| CN203062146U (en) * | 2012-12-20 | 2013-07-17 | 济南吉利汽车有限公司 | Automobile welding fixture |
| CN204171608U (en) * | 2014-10-30 | 2015-02-25 | 东风汽车有限公司 | Positioning locking mechanism |
| CN205111380U (en) * | 2015-11-23 | 2016-03-30 | 宜都市仝鑫精密锻造有限公司 | Connecting rod bolt hole anchor clamps that drill and ream |
| CN208246182U (en) * | 2018-04-28 | 2018-12-18 | 上海发那科机器人有限公司 | A kind of hand-off device of gripper |
-
2018
- 2018-04-28 CN CN201810404946.2A patent/CN108555559A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001138159A (en) * | 1999-11-17 | 2001-05-22 | Nissan Motor Co Ltd | Workpiece clamping device, and workpiece clamping method |
| CN101434040A (en) * | 2008-12-15 | 2009-05-20 | 镁联科技（芜湖）有限公司 | Pneumatic lever type clamping structure |
| CN203062146U (en) * | 2012-12-20 | 2013-07-17 | 济南吉利汽车有限公司 | Automobile welding fixture |
| CN204171608U (en) * | 2014-10-30 | 2015-02-25 | 东风汽车有限公司 | Positioning locking mechanism |
| CN205111380U (en) * | 2015-11-23 | 2016-03-30 | 宜都市仝鑫精密锻造有限公司 | Connecting rod bolt hole anchor clamps that drill and ream |
| CN208246182U (en) * | 2018-04-28 | 2018-12-18 | 上海发那科机器人有限公司 | A kind of hand-off device of gripper |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112935904A (en) * | 2021-04-07 | 2021-06-11 | 湖南凯斯机械股份有限公司 | Automatic arm gripper of sewing machine head A surface and placing rack thereof |
| CN113021057A (en) * | 2021-04-07 | 2021-06-25 | 湖南凯斯机械股份有限公司 | Automatic mechanical arm gripper on front surface of flat plate of sewing machine and placing rack thereof |
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