CN109465838A - A kind of sheet-metal formed automatic assembly line plate conveyor tool hand - Google Patents
A kind of sheet-metal formed automatic assembly line plate conveyor tool hand Download PDFInfo
- Publication number
- CN109465838A CN109465838A CN201811602453.6A CN201811602453A CN109465838A CN 109465838 A CN109465838 A CN 109465838A CN 201811602453 A CN201811602453 A CN 201811602453A CN 109465838 A CN109465838 A CN 109465838A
- Authority
- CN
- China
- Prior art keywords
- pressure head
- sheet
- assembly line
- automatic assembly
- metal formed
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The present invention relates to a kind of manipulator, in particular to a kind of sheet-metal formed automatic assembly line plate conveyor tool hand.Including manipulator base and the sequentially connected clamping jaw cylinder, floating junction, link block, connecting plate and the pressure head that are set in manipulator base, the output axis connection of the floating junction and clamping jaw cylinder, the bottom end of the link block are also connect with the linear guide being fixed in manipulator base；One end of the connecting plate and link block are hinged, and the other end and pressure head of the connecting plate are hinged；The pressure head is set as class zigzag structure, and the tail portion of the pressure head and connecting plate are hinged, are hingedly fixed in manipulator base in the middle part of the pressure head, and upper holder block is provided at the top of the pressure head, is provided with lower lock block in the manipulator base.The present invention, which is realized, converts the very big clamping force of manipulator for the smaller push-pull effort of clamping jaw cylinder, and its structure is simple, easy for installation, requires part processing precision low, suitable popularization and application.
Description
Technical field
The present invention relates to a kind of manipulator, in particular to a kind of sheet-metal formed automatic assembly line plate conveyor tool hand.
Background technique
There are mainly two types of the manipulators that plate conveys in existing sheet-metal formed automatic assembly line, and one is cylinder integral types
Handgrip, another kind are the manipulators for controlling mechanical structure by cylinder to realize crawl.Two kinds of machinery of above-mentioned existing structure
Hand has the disadvantage that in the actual use process: cylinder integral type handgrip will appear clamping force in the actual use process
It is small, clamp unsteady problem.Also, the weight and volume of current cylinder integral type handgrip itself is larger, than cumbersome and
It will cause inconvenient for use.Mechanical structure is controlled by existing cylinder to realize the manipulator of crawl, was used actual
Also it is small to will appear clamping force in journey, hair offset or sliding are easy in plate transmission process, causes work pieces process is unqualified to wait one
Series of problems.Therefore, it is badly in need of currently on the market a kind of simple for structure, easy to use, the big sheet-metal formed of clamping force produces automatically
Line plate conveyor tool hand.
Summary of the invention
To solve the shortcomings of the prior art, the present invention provides a kind of simple for structure, easy to use, big metal plate of clamping force
Gold molding automatic assembly line plate conveyor tool hand.
The technical solution of the present invention is as follows:
A kind of sheet-metal formed automatic assembly line plate conveyor tool hand, including manipulator base and it is set to manipulator base
On sequentially connected clamping jaw cylinder, floating junction, link block, connecting plate and pressure head, the floating junction and clamping jaw cylinder
Axis connection is exported, the bottom end of the link block is also connect with the linear guide being fixed in manipulator base, and the link block can
It is moved horizontally in linear guide；One end of the connecting plate and link block are hinged, the other end and pressure head of the connecting plate
Hingedly；The pressure head is set as class zigzag structure, and the tail portion of the pressure head and connecting plate are hinged, and the middle part of the pressure head is hinged
It is fixed in manipulator base, upper holder block is provided at the top of the pressure head, be provided in the manipulator base and upper holder block
The lower lock block to match.
Further, the output shaft of unclamped state, the clamping jaw cylinder is in stretching state；Clamped condition, the folder
The output shaft of pawl cylinder is in retracted state.
Further, when in clamped condition, the angle between the connecting plate and vertical plane is 1-5 °.
Further, when in clamped condition, the tail portion and connecting plate hinged place of the pressure head and the middle part of pressure head are solid
Horizontal distance between fixed is the 2 of the middle part bearing of pressure head and the most short horizontal distance of middle part bearing of lower lock block and pressure head
Times.
Further, one end of the lower lock block is provided with flitch detection device.
Further, the concrete model of the flitch detection device is Omron E2B-M18KS08-M1-C1.
Further, further include support baseboard, the lifting air connecting with manipulator base is provided on the support baseboard
Cylinder, the manipulator base can be moved up and down by lifting cylinder.
Further, the both ends of the support baseboard and manipulator base are provided with the sliding rail to match.
Further, the bottom of the manipulator base is provided with elastic buffering mechanism.
Further, the elastic buffering mechanism is set as polyurethane buffering block.
The beneficial effects obtained by the present invention are as follows are as follows:
Sheet-metal formed automatic assembly line plate conveyor tool hand in the present invention is realized and is pushed away clamping jaw cylinder is smaller
Pulling force is converted into the very big clamping force of manipulator, and its structure is simple, easy for installation, requires part processing precision low.Together
When, the present invention is provided with lifting cylinder, initial position can be returned to below plate by lifting cylinder after finger feed in place,
Operation hours is saved, production efficiency is improved.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of clamped condition of the present invention.
Fig. 2 is the structural schematic diagram of unclamped state of the present invention.
Fig. 3 is left view of the invention.
Fig. 4 is the force analysis figure of link block, connecting plate and pressure head under clamped condition of the present invention.
Wherein, 1, clamping jaw cylinder；2, floating junction；3, link block；4, connecting plate；5, pressure head；6, upper holder block；7, it pushes
Block；8, flitch detection device；9, linear guide；10, sliding rail；11, manipulator base；12, support baseboard；13, lifting cylinder；
14, polyurethane buffering block.
Specific embodiment
For convenient for it will be understood by those skilled in the art that the present invention, illustrates specific embodiment party of the invention with reference to the accompanying drawing
Formula.
Embodiment 1
As shown in Figure 1-3, a kind of sheet-metal formed automatic assembly line plate conveyor tool hand, including manipulator base 11 and set
Sequentially connected clamping jaw cylinder 1, floating junction 2, link block 3, connecting plate 4 and the pressure head 5 being placed in manipulator base 11.It is described
The output axis connection of floating junction 2 and clamping jaw cylinder 1, the bottom end of the link block 3 also be fixed in manipulator base 11
Linear guide 9 connects, and the link block 3 can move horizontally in linear guide 9.One end of the connecting plate 4 and link block 3
Hingedly, the other end of the connecting plate 4 and pressure head 5 are hinged.The pressure head 5 is set as class zigzag structure, the tail of the pressure head 5
Portion and connecting plate 4 are hinged, and the middle part of the pressure head 5 is hingedly fixed in manipulator base 11, and the top of the pressure head 5 is provided with
Upper holder block 6 is provided with the lower lock block 7 to match with upper holder block 6 in the manipulator base 11, and one end of the lower lock block 7 is set
It is equipped with flitch detection device 8.The flitch detection device 8 is set as Omron E2B-M18KS08-M1-C1 or other brands are neat
Flat selects Omron E2B-M18KS08-M1-C1 close to switch, the present embodiment.Above-mentioned sheet-metal formed automatic assembly line plate is defeated
When manipulator being sent to be in unclamped state, the output shaft of clamping jaw cylinder 1 is in stretching state.When in clamped condition, clamping jaw gas
The output shaft of cylinder 1 is in retracted state.
When in clamped condition, the angle between connecting plate 4 and vertical plane is 1-5 °, the angle setting in the present embodiment
It is 5 °.When in clamped condition, between the tail portion and 4 hinged place of connecting plate and the middle part bearing of pressure head 5 of the pressure head 5
Horizontal distance is 2 times of the middle part bearing of pressure head 5 and the most short horizontal distance of middle part bearing of lower lock block 7 and pressure head.This reality
It applies in example, water when in clamped condition, between the tail portion and 4 hinged place of connecting plate and the middle part bearing of pressure head 5 of pressure head 5
Flat distance is 54mm, and the middle part bearing of pressure head 5 and lower lock block 7 and the most short horizontal distance of middle part bearing of pressure head 5 are 27mm.
Further include support baseboard 12, is provided with the lifting cylinder connecting with manipulator base 11 on the support baseboard 12
13, the manipulator base 11 can be moved up and down by lifting cylinder 13.Specifically, the support baseboard 12 and manipulator
The both ends of pedestal 11 are provided with the sliding rail 10 to match, and under the driving of lifting cylinder 13, the manipulator base 11 can be in cunning
It moves up and down on rail 10.The bottom of the manipulator base 11 is provided with elastic buffering mechanism, the elastic buffering mechanism setting
For polyurethane buffering block 14.
In the specific use process: under off working state, clamping jaw cylinder 1 is in stretching state, upper holder block 6 and lower lock block
7 are in contactless state.When plate detection device 8 has detected plate, clamping jaw cylinder 1 is retracted, and is driven by floating junction 2
Link block 3 retreats, and link block 3 drives connecting plate 4 to swing, and connecting plate 4 is hingedly fixed in manipulator bottom around it with dynamic head 5 in turn
Rotary shaft rotation on seat 11, makes being pressed in plate on lower lock block 7 tightly of upper holder block 6, then delivery board expects specific bit
It sets.After in place, upper holder block 6 and lower lock block 7 are in contactless state, and lifting cylinder 13 retracts, and manipulator drops to plate lower part,
Then initial position is returned to from plate lower part.
The principle of sheet-metal formed automatic assembly line plate conveyor tool hand of the invention with bigger clamping force is: such as
Shown in Fig. 4, the present invention can make the clamping force of manipulator reach infinitely great (theoretical using the extreme position principle in link mechanism
On).
Force analysis (such as Fig. 4, at 5 ° of angle, cylinder pulling force 82.5kg) at link block and connecting plate tie point, can
Know:
Connecting plate reaction force=cylinder pulling force/sin5 °=82.5/sin5 ° kg=82.5/0.087kg ≈ 948kg ≈ 1
Ton,
By link block and connecting plate, connecting plate and pressure head, pressure head, upper holder block and lower lock block relationship (such as Fig. 4), it is known that:
Connecting plate is to pressure head active force=connecting plate reaction force
Clamping force torque=connecting plate to pressure head active force torque,
Known to: clamping force=connecting plate reaction force × 1 × 2 ton of 54/27 ≈, 2 tons of ≈
Very big manipulator clamping force can be converted by lesser clamping jaw cylinder pulling force through this structure, to solve
Prior art manipulator clamping jaw clamping force is small, causes equipment often to break down and the shortcomings that problem.
Embodiment 2
On the basis of embodiment 1, unlike the first embodiment,
Force analysis (such as Fig. 4, at 2 ° of angle, cylinder pulling force 82.5kg) at link block and connecting plate tie point, can
Know:
Connecting plate reaction force=82.5/sin2 ° 2.4 tons of ≈ of kg=82.5/0.035kg ≈ 2357kg
Clamping force=connecting plate reaction force × 2.4 × 2 tons of 54/27 ≈, 4.8 tons of ≈
Therefore, angle is smaller, and clamping jaw clamping force is bigger, angle level off to 0 when, clamping force will be infinitely great.
The embodiments of the present invention described above are not intended to limit the scope of the present invention.It is any in the present invention
Spirit and principle within made modifications, equivalent substitutions and improvements etc., should be included in claim protection model of the invention
Within enclosing.
Claims (10)
1. a kind of sheet-metal formed automatic assembly line plate conveyor tool hand, it is characterised in that: including manipulator base and be set to
Sequentially connected clamping jaw cylinder, floating junction, link block, connecting plate and pressure head in manipulator base, the floating junction with
The output axis connection of clamping jaw cylinder, the bottom end of the link block are also connect with the linear guide being fixed in manipulator base, institute
Stating link block can move horizontally in linear guide；One end of the connecting plate and link block are hinged, the connecting plate it is another
One end is hinged with pressure head；The pressure head is set as class zigzag structure, and the tail portion of the pressure head and connecting plate are hinged, the pressure head
Middle part be hingedly fixed in manipulator base, upper holder block is provided at the top of the pressure head, is arranged in the manipulator base
There is the lower lock block to match with upper holder block.
2. a kind of sheet-metal formed automatic assembly line plate conveyor tool hand according to claim 1, it is characterised in that: non-folder
The output shaft of tight state, the clamping jaw cylinder is in stretching state；The output shaft of clamped condition, the clamping jaw cylinder is in retraction
State.
3. a kind of sheet-metal formed automatic assembly line plate conveyor tool hand according to claim 1, it is characterised in that: work as place
When clamped condition, the angle between the connecting plate and vertical plane is 1-5 °.
4. a kind of sheet-metal formed automatic assembly line plate conveyor tool hand according to claim 1, it is characterised in that: work as place
When clamped condition, the horizontal distance between the tail portion and connecting plate hinged place of the pressure head and the middle part bearing of pressure head is pressure
2 times of the most short horizontal distance of middle part bearing of the middle part bearing and lower lock block and pressure head of head.
5. a kind of sheet-metal formed automatic assembly line plate conveyor tool hand according to claim 1, it is characterised in that: described
One end of lower lock block is provided with flitch detection device.
6. a kind of sheet-metal formed automatic assembly line plate conveyor tool hand according to claim 5, it is characterised in that: described
The concrete model of flitch detection device is Omron E2B-M18KS08-M1-C1.
7. a kind of sheet-metal formed automatic assembly line plate conveyor tool hand according to claim 1, it is characterised in that: also wrap
Support baseboard is included, the lifting cylinder connecting with manipulator base is provided on the support baseboard, the manipulator base can lead to
Lifting cylinder is crossed to move up and down.
8. a kind of sheet-metal formed automatic assembly line plate conveyor tool hand according to claim 7, it is characterised in that: described
The both ends of support baseboard and manipulator base are provided with the sliding rail to match.
9. a kind of sheet-metal formed automatic assembly line plate conveyor tool hand, feature described according to claim 1 or 7 or 8 exist
In: the bottom of the manipulator base is provided with elastic buffering mechanism.
10. a kind of sheet-metal formed automatic assembly line plate conveyor tool hand according to claim 9, it is characterised in that: institute
It states elastic buffering mechanism and is set as polyurethane buffering block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811602453.6A CN109465838A (en) | 2018-12-26 | 2018-12-26 | A kind of sheet-metal formed automatic assembly line plate conveyor tool hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811602453.6A CN109465838A (en) | 2018-12-26 | 2018-12-26 | A kind of sheet-metal formed automatic assembly line plate conveyor tool hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109465838A true CN109465838A (en) | 2019-03-15 |
Family
ID=65677722
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811602453.6A Pending CN109465838A (en) | 2018-12-26 | 2018-12-26 | A kind of sheet-metal formed automatic assembly line plate conveyor tool hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109465838A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7188879B2 (en) * | 2001-11-06 | 2007-03-13 | Phd, Inc. | Slide gripper assembly |
| CN104097210A (en) * | 2013-04-07 | 2014-10-15 | 上海德梅柯汽车装备制造有限公司 | Mechanical type self-locking clamping mechanism for linear cylinder |
| CN105437252A (en) * | 2014-09-19 | 2016-03-30 | 特拉华资本形成公司 | Gripper |
| CN106541394A (en) * | 2017-01-23 | 2017-03-29 | 王安基 | Reinforcement jaw and mechanical hand |
| CN107866805A (en) * | 2017-11-20 | 2018-04-03 | 李万奎 | Light wallboard mounting machine device people |
| CN108818598A (en) * | 2018-08-30 | 2018-11-16 | 深圳市德业智能股份有限公司 | A kind of feed device |
| CN108857308A (en) * | 2018-06-25 | 2018-11-23 | 苏州富强科技有限公司 | A kind of pcb board assembly device |
-
2018
- 2018-12-26 CN CN201811602453.6A patent/CN109465838A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7188879B2 (en) * | 2001-11-06 | 2007-03-13 | Phd, Inc. | Slide gripper assembly |
| CN104097210A (en) * | 2013-04-07 | 2014-10-15 | 上海德梅柯汽车装备制造有限公司 | Mechanical type self-locking clamping mechanism for linear cylinder |
| CN105437252A (en) * | 2014-09-19 | 2016-03-30 | 特拉华资本形成公司 | Gripper |
| CN106541394A (en) * | 2017-01-23 | 2017-03-29 | 王安基 | Reinforcement jaw and mechanical hand |
| CN107866805A (en) * | 2017-11-20 | 2018-04-03 | 李万奎 | Light wallboard mounting machine device people |
| CN108857308A (en) * | 2018-06-25 | 2018-11-23 | 苏州富强科技有限公司 | A kind of pcb board assembly device |
| CN108818598A (en) * | 2018-08-30 | 2018-11-16 | 深圳市德业智能股份有限公司 | A kind of feed device |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Qiu Jianzheng Inventor after: He Yingkui Inventor after: Zhuang Haipo Inventor after: Lu Xiang Inventor before: Qiu Jianzheng Inventor before: Ying Kui Inventor before: Zhuang Haipo Inventor before: Lu Xiang |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190315 |