CN109794959A - A kind of part processing automatic loading and unloading robot gripper structure - Google Patents
A kind of part processing automatic loading and unloading robot gripper structure Download PDFInfo
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- CN109794959A CN109794959A CN201910250484.8A CN201910250484A CN109794959A CN 109794959 A CN109794959 A CN 109794959A CN 201910250484 A CN201910250484 A CN 201910250484A CN 109794959 A CN109794959 A CN 109794959A
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Abstract
The invention discloses a kind of part processing automatic loading and unloading robot gripper structures, it can solve existing rotor gripper structure when in use, due to the size of different types of part, shape is not identical, and part category is numerous, it wherein also include the substandard part of many shapes, and existing rotor gripper structure for part in irregular shape carry out crawl loading and unloading often can because part it is in irregular shape due to occurs clamp it is insecure, the case where being easy to fall off, parts locally protrusion in irregular shape is also easy to cause the part pawl arm in crawl to fracture simultaneously, the problem of damage.Including upper frame and the footstock being fixedly mounted at the top of it, there are four big pawls for the upper frame bottom installation, power supply is fixedly installed at the top of the footstock, PLC controller is fixedly installed at the top of the power supply, it is provided with side chute on the inner wall of the upper frame two sides, is provided with bottom sliding slot in the upper frame bottom outer wall.
Description
Technical field
The present invention relates to rotor gripper structure fields, and in particular to a kind of part processing automatic loading and unloading robot hand
Pawl structure.
Background technique
Rotor gripper structure and mechanical arm are often used for automatic loading/unloading use, wherein just adding including part
Work automatic loading and unloading robot gripper structure, but such rotor gripper structure is when in use there are still certain defect, by
It is not identical in size, the shape of different types of part, and part category is numerous, wherein also substandard comprising many shapes
Part, and existing rotor gripper structure for part in irregular shape carry out crawl loading and unloading often can be because of part
It is in irregular shape and occur clamping it is insecure, the case where being easy to fall off, at the same parts locally in irregular shape protrusion be also easy
Lead to the case where part pawl arm fractures, damages in crawl.
Summary of the invention
The purpose of the present invention is to provide a kind of part processing automatic loading and unloading robot gripper structure, can solve existing
When in use, since the size of different types of part, shape be not identical, and part category is many for some rotor gripper structures
It is more, wherein also include the substandard part of many shapes, and existing rotor gripper structure is being directed in irregular shape zero
Part carry out crawl loading and unloading often can because part it is in irregular shape due to occurs clamp it is insecure, the case where being easy to fall off, simultaneously
Parts locally protrusion in irregular shape is also easy to cause the problem of part pawl arm fractures, damages in crawl.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of part processing automatic loading and unloading robot gripper structure, including upper frame and is fixedly mounted at the top of it
Footstock, there are four big pawl, the footstock top is fixedly installed with power supply, fixed peace at the top of the power supply for the upper frame bottom installation
Equipped with PLC controller, it is provided with side chute on the inner wall of the upper frame two sides, it is sliding that bottom is provided in the upper frame bottom outer wall
Slot, is separately installed with two side slides corresponding with big pawl position in two side chutes, solid on the side slide side wall
Dingan County is equipped with an air pump, and the air pump bottom is connected with a Pneumatic extension bar, and Pneumatic extension bar bottom end is connected with one
Root clamping plate；
It is welded with two lever arms on the big pawl side wall, is worn between two lever arm tops and is connected to main shaft, it is described
Main shaft both ends are respectively sleeved on annular shaft, bevel gear shaft, are all connected in the annular shaft, bevel gear shaft top exterior walls
There is a strut, two strut tops are respectively connected with a bottom sliding block, and two bottom slider tops are solid by screw
On the sliding slot of bottom, the bevel gear shaft includes first bevel gear and second bevel gear, described first bevel gear one end for Dingan County
It is connected with main drive shaft, described main drive shaft one end is connected with main drive motor, and the main drive motor is solid by two
It is welded and fixed between fixed arm and one of strut side wall, described second bevel gear one end is connected with main shaft, the big pawl side
Several hydraulic pumps are installed, each hydraulic pump bottom is respectively connected with a hydraulic telescopic rod, and every described hydraulic on wall
Telescopic rod bottom end is respectively connected with a pawl arm perpendicular with it, and is respectively and fixedly provided on every hydraulic telescopic rod bottom end side wall
One bottom driving motor, inside the bottom driving motor locally embedding hydraulic telescopic rod, and bottom driving motor bottom
Portion is connected with a root bottom part drive shaft, and the lower drive shaft, which is worn, to be connect on axle sleeve, and the axle sleeve is connected with one end of pawl arm.
Preferably, the power supply by several conducting wires respectively with PLC controller, hydraulic pump, bottom driving motor, main drive
It is electrically connected between dynamic motor and air pump, the PLC controller is electric with hydraulic pump, bottom driving respectively by several conducting wires
Wired connection between machine, main drive motor and air pump.
Preferably, the two big pawl positioned at the same side on the upper frame between bottom sliding block and upper frame bottom outer wall by sliding
Connection, by being slidably connected between side slide and upper frame side wall between two clamping plates of the same side on the upper frame.
Preferably, the clamping plate is between Pneumatic extension bar and upper frame by being flexibly connected, and clamping plate is towards pawl arm.
Preferably, the big pawl is flexibly connected between lever arm and upper frame by main shaft and two, and the main shaft passes through
It is sequentially connected between bevel gear shaft and main drive shaft and main drive motor, the first bevel gear is mutually nibbled with second bevel gear
It closes.
Preferably, the pawl arm between hydraulic telescopic rod and big pawl bottom by being flexibly connected.
Preferably, the pawl arm is rotatablely connected by lower drive shaft and axle sleeve and hydraulic telescopic rod bottom end.
Preferably, the application method of this kind of rotor gripper structure, specific steps are as follows:
Step 1: firstly, before carrying out the automatically grabbing of components loading and unloading, according to the shape of actually required crawl part
Every pawl arm height is adjusted, the control that corresponding hydraulic pump carries out height is controlled by PLC controller, hydraulic pump passes through
The flexible next band pawl arm for controlling hydraulic telescopic rod is up and down, when the decline of the pawl arm section of big pawl bottom, part rise, greatly
Pawl is deformed into shape compatible with part in irregular shape；
Step 2: being adjusted the orientation angle of pawl arm, by PLC controller control corresponding bottom driving motor into
Row adjustment makes big pawl while being able to carry out the deformation of pawl arm, and lower drive shaft rotation can be driven by bottom driving motor
Carry out band pawl arm in big pawl bottom adjustment direction；
Step 3: main drive motor is utilized using PLC controller control main drive motor starting after completing adjustment
Driving spindle rotation, main shaft drive the rotation of two lever arms in rotation, realize the function of driving big pawl overturning, and two opposite
Big pawl overturns and mutually draws close the crawl realized to part, controls air pump starting by PLC controller after crawl, utilizes air pump
Driving Pneumatic extension bar flexible is so that clamping plate comes the position from fixed the grabbed part in top close to pawl arm, in completion
Material, grab need blanking when, main drive motor is controlled by PLC controller to drive two opposite big pawls overturnings simultaneously phase
Blanking is realized in mutually separation.
Beneficial effects of the present invention: due to the presence of bottom sliding block, so that big pawl being capable of benefit after the fixed screw of disassembly
Slided on the sliding slot of bottom with bottom sliding block and adjust position, thus entire robot grab structure when in use and can be adjusted flexibly it is whole
Body width, so as to meet automatically grabbing for a variety of width part of different sizes；
Due to the presence of clamping plate, four big pawl is driven when cooperating the crawl for carrying out part using air pump
Pneumatic extension bar stretches, so that clamping plate comes to avoid falling from the position of fixed the grabbed part in top close to pawl arm；
Due to being equipped with several hydraulic pumps on big pawl side wall, each hydraulic pump bottom is respectively connected with a hydraulically extensible
Bar, every hydraulic telescopic rod bottom end is respectively connected with a pawl arm perpendicular with it, so that every pawl arm can when in use
Control the control that corresponding hydraulic pump carries out height by PLC controller, hydraulic pump by control hydraulic telescopic rod it is flexible come
Band pawl arm is up and down, when the decline of the pawl arm section of big pawl bottom, part rise, big pawl is enabled to be deformed into and shape
The compatible shape of irregular part, enables the crawl part in irregular shape that robot grapple structure is stable, and
And it can be deformed according to the actual situation；
Due to being respectively and fixedly provided with a bottom driving motor, bottom driving motor part on every hydraulic telescopic rod bottom end side wall
It is embedded in inside hydraulic telescopic rod, and bottom driving motor bottom is connected with a root bottom part drive shaft, lower drive shaft, which is worn, to be connect in axis
It puts on, axle sleeve is connected with one end of pawl arm, so that the angle of every pawl arm can control corresponding bottom by PLC controller
Portion's driving motor is adjusted, so that big pawl can be driven while being able to carry out the deformation of pawl arm by bottom driving motor
Lower drive shaft rotation carrys out band pawl arm in big pawl bottom adjustment direction, and pawl arm adjustment direction, which can not only play, to be shared load-bearing and mention
Rise stability effect, and can be realized avoid part protruding parts come preferably be suitable for crawl in irregular shape zero
Part.
Detailed description of the invention
In order to facilitate the understanding of those skilled in the art, the present invention will be further described below with reference to the drawings.
Fig. 1 is overall structure of the present invention；
Fig. 2 is side view of the present invention；
Fig. 3 is main view of the present invention；
Fig. 4 is top view of the present invention；
Fig. 5 is the big pawl structural schematic diagram of the present invention；
Fig. 6 is pawl arm configuration schematic diagram of the present invention；
Fig. 7 is bevel gear shaft schematic diagram of internal structure of the present invention；
In figure: 1, footstock；2, upper frame；3, big pawl；4, side chute；5, power supply；6, PLC controller；7, side slide；8, bottom is sliding
Block；9, bottom sliding slot；10, hydraulic pump；11, hydraulic telescopic rod；12, bottom driving motor；13, pawl arm；14, main drive motor；15,
Main drive shaft；16, fixed arm；17, strut；18, annular shaft；19, bevel gear shaft；20, main shaft；21, lever arm；22, gas
Pump；23, Pneumatic extension bar；24, clamping plate；25, lower drive shaft；26, axle sleeve；27, first bevel gear；28, second bevel gear.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with embodiment, it is clear that described reality
Applying example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is general
Logical technical staff all other embodiment obtained without creative efforts belongs to what the present invention protected
Range.
It please refers to shown in Fig. 1-7, including upper frame 2 and the footstock being fixedly mounted at the top of it 1,2 bottom of upper frame is equipped with
Four big pawl 3 is fixedly installed with power supply 5 at the top of footstock 1, is fixedly installed with PLC controller 6 at the top of power supply 5, in 2 two sides of upper frame
It is provided with side chute 4 on wall, bottom sliding slot 9 is provided in 2 bottom outer wall of upper frame, is separately installed with two in two side chutes 4
Side slide 7 corresponding with big 3 position of pawl is fixedly installed with an air pump 22 on 7 side wall of side slide, and 22 bottom of air pump is connected with
A piece Pneumatic extension bar 23,23 bottom end of Pneumatic extension bar are connected with a clamping plate 24；
Two lever arms 21 are welded on 3 side wall of big pawl, is worn between two 21 tops of lever arm and is connected to main shaft 20, main shaft 20
Both ends are respectively sleeved on annular shaft 18, bevel gear shaft 19, are all connected in annular shaft 18,19 top exterior walls of bevel gear shaft
There is a strut 17, two 17 tops of strut are respectively connected with a bottom sliding block 8, and two 8 tops of bottom sliding block are fixed by screw
Be mounted on bottom sliding slot 9, bevel gear shaft 19 include first bevel gear 27 and second bevel gear 28,27 one end of first bevel gear with
Main drive shaft 15 is connected, and 15 one end of main drive shaft is connected with main drive motor 14, and main drive motor 14 passes through two fixations
It is welded and fixed between 17 side wall of arm 16 and one of strut, 28 one end of second bevel gear is connected with main shaft 20, big 3 side wall of pawl
On several hydraulic pumps 10 are installed, each 10 bottom of hydraulic pump is respectively connected with a hydraulic telescopic rod 11, every hydraulically extensible
11 bottom end of bar is respectively connected with a pawl arm 13 perpendicular with it, and is respectively and fixedly provided with one on every 11 bottom end side wall of hydraulic telescopic rod
A bottom driving motor 12, inside 12 locally embedding hydraulic telescopic rod 11 of bottom driving motor, and 12 bottom of bottom driving motor
It is connected with a root bottom part drive shaft 25, lower drive shaft 25, which is worn, to be connect on axle sleeve 26, and axle sleeve 26 is connected with one end of pawl arm 13.
Power supply 5 is electric with PLC controller 6, hydraulic pump 10, bottom driving motor 12, main driving respectively by several conducting wires
It is electrically connected between machine 14 and air pump 22, so that PLC controller 6, hydraulic pump 10, bottom driving motor 12, main drive motor
14 and air pump 22 have enough power sources at runtime, PLC controller 6 by several conducting wires respectively with hydraulic pump
10, wired connection between bottom driving motor 12, main drive motor 14 and air pump 22, so that hydraulic pump 10, bottom driving electricity
Machine 12, the starting of main drive motor 14 and air pump 22, closing can carry out line traffic control by PLC controller 6.
Two big pawl 3 positioned at the same side on upper frame 2 between 2 bottom outer wall of bottom sliding block 8 and upper frame by being slidably connected, position
By being slidably connected between 2 side wall of side slide 7 and upper frame between two clamping plates 24 of the same side on upper frame 2, so that big pawl 3 exists
It can be slided on bottom sliding slot 9 using bottom sliding block 8 after dismantling fixed screw and adjust position, so that entire robot is grabbed
Overall width can be adjusted flexibly in structure when in use, so as to meet grabbing automatically for a variety of width part of different sizes
It takes, and clamping plate 24 corresponding with big 3 position of pawl can carry out together position adjustment with big pawl 3 on upper frame 2.
Clamping plate 24 between Pneumatic extension bar 23 and upper frame 2 by being flexibly connected, and clamping plate 24 is towards pawl arm 13, due to clamping plate
24 presence enables four big pawl 3 to drive Pneumatic extension bar using air pump 22 when cooperating the crawl for carrying out part
23 stretch, so that clamping plate 24 comes to fix from top close to pawl arm 13 position of grabbed part, avoids falling.
By being flexibly connected between main shaft 20 and two lever arms 21 and upper frame 2, main shaft 20 is turned big pawl 3 by bevel gear
It is sequentially connected between axis 19 and main drive shaft 15 and main drive motor 14, first bevel gear 27 is nibbled with 28 phase of second bevel gear
It closes.
Pawl arm 13 between hydraulic telescopic rod 11 and big 3 bottom of pawl by being flexibly connected, so that every pawl arm 13 is when in use
The control that corresponding hydraulic pump 10 carries out height can be controlled by PLC controller 6, hydraulic pump 10 passes through control hydraulically extensible
The flexible next band pawl arm 13 of bar 11 is up and down, when the decline of 13 part of pawl arm of big 3 bottom of pawl, part rise, can make
It obtains big pawl 3 and is deformed into shape compatible with part in irregular shape, the crawl for enabling robot grapple structure stable
Part in irregular shape, and can be deformed according to the actual situation.
Pawl arm 13 is rotatablely connected by lower drive shaft 25 and axle sleeve 26 and 11 bottom end of hydraulic telescopic rod, so that big pawl 3
While being able to carry out the deformation of pawl arm 13, the rotation of lower drive shaft 25 can be driven come band pawl by bottom driving motor 12
Arm 13 can not only play the role of sharing load-bearing improving stability in big 3 bottom adjustment direction of pawl, 13 adjustment direction of pawl arm, and
And it can preferably be suitable for grabbing part in irregular shape.
The application method of this kind of rotor gripper structure, specific steps are as follows:
Step 1: firstly, before carrying out the automatically grabbing of components loading and unloading, according to the shape of actually required crawl part
Every 13 height of pawl arm is adjusted, the control that corresponding hydraulic pump 10 carries out height is controlled by PLC controller 6, it is hydraulic
Pump 10 is by the flexible up and down come band pawl arm 13 of control hydraulic telescopic rod 11, when under 13 part of pawl arm of big 3 bottom of pawl
When drop, part rise, big pawl 3 is deformed into shape compatible with part in irregular shape；
Step 2: being adjusted the orientation angle of pawl arm 13, controls corresponding bottom by PLC controller 6 and drives electricity
Machine 12 is adjusted, and makes big pawl 3 while being able to carry out the deformation of pawl arm 13, can be passed through bottom driving motor 12 and be driven bottom
The rotation of drive shaft 25 carrys out band pawl arm 13 in big 3 bottom adjustment direction of pawl；
Step 3: main drive motor 14 is controlled using PLC controller 6 after completing adjustment and is started, main driving is utilized
The rotation of 14 driving spindle 20 of motor, main shaft 20 drive two lever arms 21 to rotate, realize the function for driving big pawl 3 to overturn in rotation
Can, two opposite big pawls 3 overturn and mutually draw close the crawl realized to part, control gas by PLC controller 6 after crawl
22 starting of pump, using air pump 22 drive Pneumatic extension bar 23 flexible so that clamping plate 24 close to pawl arm 13 to be fixed from top
The position of grabbed part, complete feeding, grab need blanking when, by PLC controller 6 control main drive motor 14 come
The opposite big pawl 3 of driving two overturns and is separated from each other, and realizes blanking.
The invention has the benefit that due to the presence of bottom sliding block 8, so that big pawl 3 energy after the fixed screw of disassembly
Enough slided on bottom sliding slot 9 and adjust position using bottom sliding block 8, thus entire robot grab structure when in use can be flexible
Overall width is adjusted, so as to meet automatically grabbing for a variety of width part of different sizes；
Due to the presence of clamping plate 24, four big pawl 3 is enabled to utilize air pump when cooperating the crawl for carrying out part
22 driving Pneumatic extension bars 23 stretch, so that clamping plate 24 comes the position from fixed the grabbed part in top close to pawl arm 13
It sets, avoids falling；
Due to being equipped with several hydraulic pumps 10 on big 3 side wall of pawl, each 10 bottom of hydraulic pump be respectively connected with one it is hydraulic
Telescopic rod 11, every 11 bottom end of hydraulic telescopic rod is respectively connected with a pawl arm 13 perpendicular with it, so that every pawl arm 13 exists
The control that corresponding hydraulic pump 10 carries out height can be controlled when use by PLC controller 6, hydraulic pump 10 passes through control liquid
Press the flexible next band pawl arm 13 of telescopic rod 11 up and down, when the decline of 13 part of pawl arm of big 3 bottom of pawl, part rise,
It enables to big pawl 3 to be deformed into shape compatible with part in irregular shape, robot grapple structure is stablized
Crawl part in irregular shape, and can be deformed according to the actual situation；
Due to being respectively and fixedly provided with a bottom driving motor 12, bottom driving motor on every 11 bottom end side wall of hydraulic telescopic rod
Inside 12 locally embedding hydraulic telescopic rods 11, and driving motor 12 bottom in bottom is connected with a root bottom part drive shaft 25, and bottom is driven
Moving axis 25, which is worn, to be connect on axle sleeve 26, and axle sleeve 26 is connected with one end of pawl arm 13, so that the angle of every pawl arm 13 can lead to
It crosses PLC controller 6 and controls corresponding bottom driving motor 12 and be adjusted, so that big pawl 3 is being able to carry out the deformation of pawl arm 13
Meanwhile, it is capable to drive the rotation of lower drive shaft 25 come band pawl arm 13 in big 3 bottom adjustment side of pawl by bottom driving motor 12
To 13 adjustment direction of pawl arm can not only play the role of sharing load-bearing improving stability, and can be realized and avoid part
Protruding parts is preferably suitable for grabbing part in irregular shape.
In the use of the present invention, being assembled firstly, grabbing structure to entire robot, it is fixedly mounted at the top of upper frame 2
Footstock 1 then installs four big pawl 3 respectively on two bottom sliding slots 9 of 2 bottom of upper frame, due to being welded on big 3 side wall of pawl
Two lever arms 21 are worn between 21 top of lever arm and connect main shaft 20, and 20 both ends of main shaft are socketed annular shaft 18, cone tooth respectively again
Shaft 19 is taken turns, it is solid using being welded between the strut 17 connected and bottom sliding block 8 in annular shaft 18,19 top exterior walls of bevel gear shaft
It is fixed, then will be fixedly mounted on bottom sliding slot 9 at the top of bottom sliding block 8 by screw, due to the presence of bottom sliding block 8, so that big pawl 3 is being torn open
It can be slided on bottom sliding slot 9 using bottom sliding block 8 after unloading fixed screw and adjust position, so that entire robot grabs knot
Overall width can be adjusted flexibly in structure when in use, so as to meet automatically grabbing for a variety of width part of different sizes,
Then, further according to installation site four clamping plates 24 of mating installation of four big pawl 3, clamping plate 24 during installation, is worn using side slide 7
Connect screw and be fixed in side chute 4, at the same install after clamping plate 24 towards pawl arm 13, due to the presence of clamping plate 24, so that four
A big pawl 3 can control air pump 22 by PLC controller 6 (model are as follows: CPM1A) when cooperating the crawl for carrying out part and open
It is dynamic, using the flexible of the driving Pneumatic extension bar 23 of air pump 22 so that clamping plate 24 is grabbed close to pawl arm 13 come the fixation from top
The position of part avoids falling, finally, by power supply 5 by several conducting wires respectively with PLC controller 6, hydraulic pump 10, bottom
It is electrically connected between driving motor 12, main drive motor 14 and air pump 22, PLC controller 6 is passed through into several conducting wire difference
The wired connection between hydraulic pump 10, bottom driving motor 12, main drive motor 14 and air pump 22, after completing assembling, machine
Manpower grabs structure and can come into operation.Firstly, pawl arm 13 is adjusted before carrying out the automatically grabbing of components loading and unloading,
Due to being equipped with several hydraulic pumps 10 on big 3 side wall of pawl, each 10 bottom of hydraulic pump is respectively connected with a hydraulic telescopic rod 11,
Every 11 bottom end of hydraulic telescopic rod is respectively connected with a pawl arm 13 perpendicular with it, so that every pawl arm 13 equal energy when in use
The control that corresponding hydraulic pump 10 carries out height is enough controlled by PLC controller 6, hydraulic pump 10 passes through control hydraulic telescopic rod 11
It is flexible come band pawl arm 13 it is up and down, when the decline of 13 part of pawl arm of big 3 bottom of pawl, part rise, enable to big
Pawl 3 is deformed into shape compatible with part in irregular shape, the crawl shape for enabling robot grapple structure stable
Irregular part, and can be deformed according to the actual situation；And due on every 11 bottom end side wall of hydraulic telescopic rod
It is respectively and fixedly provided with a bottom driving motor 12, inside 12 locally embedding hydraulic telescopic rod 11 of bottom driving motor, and bottom drives
12 bottom of motor is connected with a root bottom part drive shaft 25, and lower drive shaft 25, which is worn, to be connect on axle sleeve 26, axle sleeve 26 and pawl arm 13
One end is connected so that the angle of every pawl arm 13 can be controlled by PLC controller 6 corresponding bottom driving motor 12 into
Row adjustment, so that big pawl 3, which while being able to carry out the deformation of pawl arm 13, can pass through bottom driving motor 12, drives bottom driving
The rotation of axis 25 carrys out band pawl arm 13 in big 3 bottom adjustment direction of pawl, and 13 adjustment direction of pawl arm, which can not only play, to be shared load-bearing and mention
The effect of stability is risen, and can preferably be suitable for grabbing part in irregular shape, it is i.e. available after completing adjustment
PLC controller 6 controls main drive motor 14 and starts, and is rotated using 14 driving spindle 20 of main drive motor, and main shaft 20 is in rotation
It drives two lever arms 21 to rotate, realizes the function of driving big pawl 3 to overturn, two opposite big pawls 3 overturn and mutually draw close reality
Now to the crawl of part, air pump 22 is controlled by PLC controller 6 after crawl and is started, drives Pneumatic extension bar using air pump 22
23 it is flexible so that clamping plate 24 comes the position from fixed the grabbed part in top close to pawl arm 13, completion feeding is grabbing
It is complete when needing blanking, main drive motor 14 is controlled by PLC controller 6 to drive two opposite big pawls 3 to overturn and mutually divide
From realization blanking.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification,
It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to better explain the present invention
Principle and practical application, so that skilled artisan be enable to better understand and utilize the present invention.The present invention is only
It is limited by claims and its full scope and equivalent.
Claims (8)
1. a kind of part processing automatic loading and unloading robot gripper structure, including upper frame (2) and it is fixedly mounted on its top
Footstock (1), there are four big pawl (3) for upper frame (2) bottom installation, which is characterized in that is fixedly mounted at the top of the footstock (1)
Have power supply (5), is fixedly installed with PLC controller (6) at the top of the power supply (5), is provided on the inner wall of upper frame (2) two sides
Side chute (4) is provided with bottom sliding slot (9) in upper frame (2) bottom outer wall, is separately installed on two side chutes (4)
Two side slides (7) corresponding with big pawl (3) position are fixedly installed with an air pump (22) on side slide (7) side wall,
Air pump (22) bottom is connected with a Pneumatic extension bar (23), and Pneumatic extension bar (23) bottom end is connected with a clamping plate
(24)；
It is welded with two lever arms (21) on big pawl (3) side wall, is worn between two lever arm (21) tops and is connected to master
Axis (20), main shaft (20) both ends are respectively sleeved on annular shaft (18), bevel gear shaft (19), the annular shaft
(18), a strut (17) is respectively connected in bevel gear shaft (19) top exterior walls, two strut (17) tops are all connected with
There is a bottom sliding block (8), is fixedly mounted on bottom sliding slot (9) by screw at the top of two bottom sliding blocks (8), the cone tooth
It takes turns shaft (19) and includes first bevel gear (27) and second bevel gear (28), described first bevel gear (27) one end and main drive shaft
(15) it is connected, described main drive shaft (15) one end is connected with main drive motor (14), and the main drive motor (14) passes through
It is welded and fixed between two fixed arms (16) and one of strut (17) side wall, described second bevel gear (28) one end and main shaft
(20) it is connected, several hydraulic pumps (10) is installed on big pawl (3) side wall, each hydraulic pump (10) bottom connects
It is connected to a hydraulic telescopic rod (11), every hydraulic telescopic rod (11) bottom end is respectively connected with a pawl arm perpendicular with it
(13), a bottom driving motor (12), the bottom and on every hydraulic telescopic rod (11) bottom end side wall are respectively and fixedly provided with
Driving motor (12) locally embedding hydraulic telescopic rod (11) is internal, and the bottom driving motor (12) bottom is connected with a foundation
Portion's drive shaft (25), the lower drive shaft (25), which is worn, to be connect on axle sleeve (26), one end of the axle sleeve (26) and pawl arm (13)
It is connected.
2. a kind of part processing automatic loading and unloading robot gripper structure according to claim 1, which is characterized in that institute
State power supply (5) by several conducting wires respectively with PLC controller (6), hydraulic pump (10), bottom driving motor (12), main driving
Be electrically connected between motor (14) and air pump (22), the PLC controller (6) by several conducting wires respectively with hydraulic pump
(10), wired connection between bottom driving motor (12), main drive motor (14) and air pump (22).
3. a kind of part processing automatic loading and unloading robot gripper structure according to claim 1, which is characterized in that position
Two big pawl (3) in the same side on the upper frame (2) passes through to be slidably connected between bottom sliding block (8) and upper frame (2) bottom outer wall,
Pass through the company of sliding between side slide (7) and upper frame (2) side wall between two clamping plates (24) of the same side on the upper frame (2)
It connects.
4. a kind of part processing automatic loading and unloading robot gripper structure according to claim 1, which is characterized in that institute
Clamping plate (24) are stated by being flexibly connected between Pneumatic extension bar (23) and upper frame (2), and clamping plate (24) is towards pawl arm (13).
5. a kind of part processing automatic loading and unloading robot gripper structure according to claim 1, which is characterized in that institute
Big pawl (3) are stated by being flexibly connected between main shaft (20) and two lever arms (21) and upper frame (2), the main shaft (20) passes through
It is sequentially connected between bevel gear shaft (19) and main drive shaft (15) and main drive motor (14), the first bevel gear (27)
It is meshed with second bevel gear (28).
6. a kind of part processing automatic loading and unloading robot gripper structure according to claim 1, which is characterized in that institute
Pawl arm (13) are stated by being flexibly connected between hydraulic telescopic rod (11) and big pawl (3) bottom.
7. a kind of part processing automatic loading and unloading robot gripper structure according to claim 1, which is characterized in that institute
Pawl arm (13) are stated to be rotatablely connected by lower drive shaft (25) and axle sleeve (26) and hydraulic telescopic rod (11) bottom end.
8. a kind of part processing automatic loading and unloading robot gripper structure according to claim 1, which is characterized in that should
The application method of kind rotor gripper structure, specific steps are as follows:
Step 1: firstly, before carrying out the automatically grabbing of components loading and unloading, according to the shape of actually required crawl part to every
Root pawl arm (13) is highly adjusted, and controls the control that corresponding hydraulic pump (10) carries out height, liquid by PLC controller (6)
Press pump (10) is by the flexible up and down come band pawl arm (13) of control hydraulic telescopic rod (11), when the pawl of big pawl (3) bottom
When the decline of arm (13) part, part rise, big pawl (3) is deformed into shape compatible with part in irregular shape；
Step 2: being adjusted the orientation angle of pawl arm (13), controls corresponding bottom by PLC controller (6) and drives electricity
Machine (12) is adjusted, and is made big pawl (3) while being able to carry out pawl arm (13) deformation, can be passed through bottom driving motor (12)
Lower drive shaft (25) rotation is driven to carry out band pawl arm (13) in big pawl (3) bottom adjustment direction；
Step 3: start using PLC controller (6) control main drive motor (14) after completing adjustment, utilize main driving
Motor (14) driving spindle (20) rotation, main shaft (20) drive two lever arm (21) rotations in rotation, realize and drive big pawl
(3) function of overturning, two opposite big pawls (3) overturn and mutually draw close the crawl realized to part, pass through PLC after crawl
Controller (6) controls air pump (22) starting, utilizes the flexible so that clamping plate (24) leans on of air pump (22) driving Pneumatic extension bar (23)
Nearly pawl arm (13) is to come the position from fixed the grabbed part in top, completion feeding, grabbed need blanking when, pass through
PLC controller (6) controls main drive motor (14) to drive two opposite big pawls (3) to overturn and be separated from each other, and realizes blanking.
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| CN201910250484.8A CN109794959B (en) | 2019-03-29 | 2019-03-29 | Part machining is with unloading machine staff claw structure in automation |
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| CN109794959B (en) | 2020-01-03 |
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