CN108638104A - A kind of multifunctional combination tooling paw - Google Patents
A kind of multifunctional combination tooling paw Download PDFInfo
- Publication number
- CN108638104A CN108638104A CN201810591929.4A CN201810591929A CN108638104A CN 108638104 A CN108638104 A CN 108638104A CN 201810591929 A CN201810591929 A CN 201810591929A CN 108638104 A CN108638104 A CN 108638104A
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- China
- Prior art keywords
- paw
- fixed plate
- tooling
- work
- paw fixed
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- 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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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
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
The invention discloses a kind of multifunctional combination tooling paws, including tooling paw fixed plate, it is provided with workpiece guide rod among the right side for the paw fixed plate that works, the periphery of workpiece guide rod is provided with the sucking disk bar of several annular spreads being mounted in work paw fixed plate, vacuum cup is provided in sucking disk bar, tooling paw connector is installed among the upside for the paw fixed plate that works, it is provided with gas nozzle connecting rod among the front side for the paw fixed plate that works, the lower end of gas nozzle connecting rod is equipped with plastics blowing nozzle, the front side left part of work paw fixed plate is provided with the electric transducer that diffuses, the left side for the paw fixed plate that works is in the installation of angular distribution there are three oil buffer, the downside left part of work paw fixed plate is equipped with three-jaw finger cylinder, the lower end of three-jaw finger cylinder is provided with clamping jaw.The structure setting of the present apparatus, specific general sexual function is simple in structure, easy for installation, replaces and is easy, detection sensitivity is high, and detection sensitivity is adjustable.
Description
Technical field
The present invention relates to tooling paw technical field, specifically a kind of multifunctional combination tooling paw.
Background technology
Tooling paw in the market has the characteristics that：Single-station paw, it is simple in structure, typically cylinder component or
Person's vacuum cup；That realizes has a single function and less, generally only captures no detection function, blowing function；Most tooling hands
The part of pawl crawl is all round bar, flat-type, carton etc.；It has the disadvantages that：For the versatility of plurality of specifications part
Not by force without cleaning function, part and lathe jig cannot be cleaned after processing part every time；It cannot be automatically accurately fixed by part
Inside position to the jig of lathe；The volume of part and quality of crawl are all less than normal；It is easy to damage processing table during crawl part
Face, for example catcher mark, collide with；Commutativity is not strong, and the six-joint robot or the nonstandard mechanical arm of four axis for different model cannot
Quick-replaceable paw；Paw cannot be detected either with or without part is caught, cannot detect whether part falls in the process of grasping.
Invention content
It is mentioned above in the background art to solve the purpose of the present invention is to provide a kind of multifunctional combination tooling paw
Problem.
To achieve the above object, the present invention provides the following technical solutions：
A kind of multifunctional combination tooling paw, including tooling paw fixed plate, the right side of the work paw fixed plate
Centre is provided with workpiece guide rod, and the periphery of the workpiece guide rod is provided with the solid mounted on work paw of several annular spreads
Sucking disk bar on fixed board is provided with vacuum cup in the sucking disk bar, and tooling is equipped among the upside for the paw fixed plate that works
Paw connector is provided with gas nozzle connecting rod among the front side for the paw fixed plate that works, the lower end installation of the gas nozzle connecting rod
There are plastics blowing nozzle, the front side left part of work paw fixed plate to be provided with the electric transducer that diffuses, work paw fixed plate
In the installation of angular distribution there are three oil buffer, the downside left part of work paw fixed plate is equipped with three-jaw finger for left side
The lower end of cylinder, the three-jaw finger cylinder is provided with clamping jaw.
As a further solution of the present invention：The three-jaw finger cylinder, oil buffer, reflects photoelectricity at sucking disk bar slowly
Sensor is fixed on by screw, locating slot, location hole in tooling paw fixed plate.
As further scheme of the invention：The lower end of the clamping jaw and vacuum cup is both provided with round piece.
Compared with prior art, the beneficial effects of the invention are as follows：The structure setting of the present apparatus, specific general sexual function, can
To realize the pick-and-place of plurality of specifications part, there is detection function, can detect whether part falls, can detect whether part captures,
With blowing function, the iron filings of piece surface can be cleared up, the iron filings above lathe localization tool can be cleared up, specific self-positioning work(
Can, part can be accurately positioned to the function inside lathe jig, the combination crawl of specific multiple functions, vacsorb and hand
The tight two kinds of frame modes of claw clip, which are combined, realizes automatic pick-and-place, clamps station and absorption station is symmetrical, ensure two works
Position is switched fast, and three jaw designs have positioning convex platform, and accurate installation is located in above three-jaw finger cylinder；Three-jaw surface inserting
There is soft material, piece surface is protected not stay catcher mark, vacuum cup and sucking disk bar that there is pooling feature, sucker can be made to stretch up and down
Contracting reduces part positioning accuracy request, and oil buffer stroke is adjustable, and different strokes will produce different pressures；From
And ensure automatically to head into part inside lathe localization tool, ensure that part bottom surface can be accurately fitted in lathe jig every time
Face ensures the accurate to dimension of part end face；Since processing part is aluminium alloy compression casting product, piece surface is clean, no
Put down, have spot etc., in order to detect whether part captures every time：The present invention uses slow retroreflective photoelectric sensor, passes through light
Electric signal is detected, simple in structure, easy for installation, is replaced and is easy, and detection sensitivity is high, and detection sensitivity is adjustable, for negative
It blames piece surface and is all easy detection.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the dimensional structure diagram of the present invention.
Fig. 3 is the vertical view of the present invention.
Specific implementation mode
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
In the description of the present invention, it is to be understood that, term "center", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as pair
The limitation of the present invention.In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply phase
To importance or implicitly indicate the quantity of indicated technical characteristic.The feature for defining " first ", " second " etc. as a result, can
To express or implicitly include one or more this feature.In the description of the present invention, unless otherwise indicated, " multiple "
It is meant that two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
Can also be electrical connection to be mechanical connection；It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in the present invention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Refering to fig. 1~3, in the embodiment of the present invention, a kind of multifunctional combination tooling paw, including tooling paw fixed plate 1,
Workpiece guide rod 7 is provided among the right side of the work paw fixed plate 1, the periphery of the workpiece guide rod 7 is provided with
The sucking disk bar 2 of several annular spreads being mounted in work paw fixed plate 1, is provided with vacuum cup, work in the sucking disk bar 2
Make that tooling paw connector 3 is installed among the upside of paw fixed plate 1, is provided among the front side of work paw fixed plate 1
The lower end of gas nozzle connecting rod 4, the gas nozzle connecting rod 4 is equipped with plastics blowing nozzle 9, the front side left part of work paw fixed plate 1
It is provided with the electric transducer 5 that diffuses, there are three oleo cushions in the installation of angular distribution for the left side of work paw fixed plate 1
The downside left part of device 6, work paw fixed plate 1 is equipped with three-jaw finger cylinder 11, and the lower end of the three-jaw finger cylinder 11 is set
It is equipped with clamping jaw 10.
The three-jaw finger cylinder 11, sucking disk bar 2, oil buffer 6, the electric transducer 5 that diffuses pass through screw, positioning
Slot, location hole are fixed in tooling paw fixed plate 1.
The lower end of the clamping jaw 10 and vacuum cup is both provided with round piece 8.
Tooling paw fixed plate 1：It is entire tooling paw main bodies part, is responsible for that gas nozzle connecting rod 4, three is fixedly mounted
Pawl finger cylinder 11, vacuum cup and sucking disk bar 2, oil buffer 6, the electric transducer 5 that diffuses, tooling paw connector 3.
Tooling paw connector 3：It is the connector between robot end's arm and tooling paw, wherein peace is fixed in one end
Above robot arm, tooling paw is fixedly mounted in other end, and the robot which can be directed to different model is fast
Speed installation and replacement.
Gas nozzle connecting rod 4：It is responsible for that blowing nozzle 9 is fixedly mounted, realizes blowing function, cleans part and lathe jig.
Clamping jaw 10：It is fixedly mounted on above three-jaw finger cylinder 11, realizes clamping/release part.
The structure setting of the present apparatus, specific general sexual function, may be implemented the pick-and-place of plurality of specifications part, have detection work(
Can, it can detect whether part falls, can detect whether part captures, there is blowing function, the iron filings of piece surface, energy can be cleared up
The iron filings above lathe localization tool are cleared up, part can be accurately positioned to inside lathe jig for specific self-locating function
Function, the combination crawl of specific multiple functions, vacsorb and paw clamp two kinds of frame modes and combine realization automatically
Pick-and-place, clamps station and absorption station is symmetrical, ensures that two stations are switched fast, and three jaw designs have positioning convex platform, accurate
Really installation is located in above three-jaw finger cylinder 11；Three-jaw surface inserting has soft material, and piece surface is protected not stay catcher mark, vacuum
Sucker and sucking disk bar 2 have pooling feature, can so that sucker is flexible up and down, reduce part positioning accuracy request, oleo cushion
6 stroke of device is adjustable, and different strokes will produce different pressures；To ensure that part is headed into lathe localization tool automatically
The inside ensures that part bottom surface can be accurately fitted in every time inside lathe jig, ensures the accurate to dimension of part end face；Due to
Processing part is aluminium alloy compression casting product, piece surface is clean, it is uneven, have spot etc., in order to detect part every time
Whether capture；The present invention is detected using the electric transducer 5 that diffuses by photosignal, simple in structure, easy for installation,
It replaces and is easy, detection sensitivity is high, and detection sensitivity is adjustable, and detection is all easy for responsible piece surface.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention god.
Claims (3)
1. a kind of multifunctional combination tooling paw, including tooling paw fixed plate, which is characterized in that the work paw fixed plate
Right side among be provided with workpiece guide rod, what the periphery of the workpiece guide rod was provided with several annular spreads is mounted on work
Make the sucking disk bar in paw fixed plate, vacuum cup is provided in the sucking disk bar, peace among the upside for the paw fixed plate that works
Equipped with tooling paw connector, it is provided with gas nozzle connecting rod among the front side for the paw fixed plate that works, the gas nozzle connecting rod
Lower end is equipped with plastics blowing nozzle, and the front side left part of work paw fixed plate is provided with the electric transducer that diffuses, and work paw
In the installation of angular distribution there are three oil buffer, the downside left part of work paw fixed plate is equipped with for the left side of fixed plate
The lower end of three-jaw finger cylinder, the three-jaw finger cylinder is provided with clamping jaw.
2. a kind of multifunctional combination tooling paw according to claim 1, which is characterized in that the three-jaw finger cylinder,
Sucking disk bar, oil buffer, slow retroreflective photoelectric sensor are fixed on tooling paw fixed plate by screw, locating slot, location hole
On.
3. a kind of multifunctional combination tooling paw according to claim 1, which is characterized in that the clamping jaw and vacuum cup
Lower end be both provided with round piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810591929.4A CN108638104A (en) | 2018-06-04 | 2018-06-04 | A kind of multifunctional combination tooling paw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810591929.4A CN108638104A (en) | 2018-06-04 | 2018-06-04 | A kind of multifunctional combination tooling paw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108638104A true CN108638104A (en) | 2018-10-12 |
Family
ID=63752075
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810591929.4A Pending CN108638104A (en) | 2018-06-04 | 2018-06-04 | A kind of multifunctional combination tooling paw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108638104A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109261776A (en) * | 2018-10-17 | 2019-01-25 | 广州数控设备有限公司 | A kind of multistation flexibility press work station |
| CN109502332A (en) * | 2018-11-23 | 2019-03-22 | 晋城鸿刃科技有限公司 | Blanking device |
| CN110587652A (en) * | 2019-09-26 | 2019-12-20 | 天永机械电子（太仓）有限公司 | Cylinder sleeve clamp |
| CN113954113A (en) * | 2021-11-19 | 2022-01-21 | 重庆江东机械有限责任公司 | Multifunctional online axial and radial precision forming manipulator |
| CN114130995A (en) * | 2021-11-29 | 2022-03-04 | 烟台朗文汽车零部件有限公司 | Automatic coring system and method of core making robot |
| CN114770904A (en) * | 2022-06-17 | 2022-07-22 | 宁波长阳科技股份有限公司 | Porous reflecting part forming equipment and porous reflecting part |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4667997A (en) * | 1984-10-31 | 1987-05-26 | Hitachi, Ltd. | Grip device |
| CN204639760U (en) * | 2015-04-30 | 2015-09-16 | 常州市巨人机器人科技有限公司 | Truss manipulator double-station horizontal paw device |
| JP2015222178A (en) * | 2014-05-22 | 2015-12-10 | 日立Ｇｅニュークリア・エナジー株式会社 | Nuclear reactor building structure handling system with articulated manipulator |
| CN106914911A (en) * | 2017-03-08 | 2017-07-04 | 浙江理工大学 | Kiln grabbing device on multifunctional glass insulator |
| CN107052863A (en) * | 2017-04-18 | 2017-08-18 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of flexible robot's handgrip and control method |
| CN107718032A (en) * | 2017-11-17 | 2018-02-23 | 广东天机工业智能系统有限公司 | Robot automatic loading/unloading handgrip |
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2018
- 2018-06-04 CN CN201810591929.4A patent/CN108638104A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4667997A (en) * | 1984-10-31 | 1987-05-26 | Hitachi, Ltd. | Grip device |
| JP2015222178A (en) * | 2014-05-22 | 2015-12-10 | 日立Ｇｅニュークリア・エナジー株式会社 | Nuclear reactor building structure handling system with articulated manipulator |
| CN204639760U (en) * | 2015-04-30 | 2015-09-16 | 常州市巨人机器人科技有限公司 | Truss manipulator double-station horizontal paw device |
| CN106914911A (en) * | 2017-03-08 | 2017-07-04 | 浙江理工大学 | Kiln grabbing device on multifunctional glass insulator |
| CN107052863A (en) * | 2017-04-18 | 2017-08-18 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of flexible robot's handgrip and control method |
| CN107718032A (en) * | 2017-11-17 | 2018-02-23 | 广东天机工业智能系统有限公司 | Robot automatic loading/unloading handgrip |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109261776A (en) * | 2018-10-17 | 2019-01-25 | 广州数控设备有限公司 | A kind of multistation flexibility press work station |
| CN109502332A (en) * | 2018-11-23 | 2019-03-22 | 晋城鸿刃科技有限公司 | Blanking device |
| CN110587652A (en) * | 2019-09-26 | 2019-12-20 | 天永机械电子（太仓）有限公司 | Cylinder sleeve clamp |
| CN113954113A (en) * | 2021-11-19 | 2022-01-21 | 重庆江东机械有限责任公司 | Multifunctional online axial and radial precision forming manipulator |
| CN113954113B (en) * | 2021-11-19 | 2024-05-07 | 重庆江东机械有限责任公司 | Multifunctional online axial and radial precision forming manipulator |
| CN114130995A (en) * | 2021-11-29 | 2022-03-04 | 烟台朗文汽车零部件有限公司 | Automatic coring system and method of core making robot |
| CN114130995B (en) * | 2021-11-29 | 2023-11-07 | 烟台朗文汽车零部件有限公司 | Automatic coring system and method for core making robot |
| CN114770904A (en) * | 2022-06-17 | 2022-07-22 | 宁波长阳科技股份有限公司 | Porous reflecting part forming equipment and porous reflecting part |
| CN114770904B (en) * | 2022-06-17 | 2022-09-13 | 宁波长阳科技股份有限公司 | Porous reflection part forming equipment and porous reflection part |
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Legal Events
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181012 |