CN112659161A - Multi-posture conversion truss clamping manipulator compatible with two engine cylinder bodies - Google Patents
Multi-posture conversion truss clamping manipulator compatible with two engine cylinder bodies Download PDFInfo
- Publication number
- CN112659161A CN112659161A CN202011552210.3A CN202011552210A CN112659161A CN 112659161 A CN112659161 A CN 112659161A CN 202011552210 A CN202011552210 A CN 202011552210A CN 112659161 A CN112659161 A CN 112659161A
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- seat
- positioning
- cylinder
- base plate
- 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
- 238000006243 chemical reaction Methods 0.000 title claims abstract description 14
- 239000003638 chemical reducing agent Substances 0.000 claims description 21
- 238000001514 detection method Methods 0.000 claims description 12
- 239000000758 substrate Substances 0.000 claims description 6
- 230000036544 posture Effects 0.000 abstract description 4
- 230000000712 assembly Effects 0.000 abstract 3
- 238000000429 assembly Methods 0.000 abstract 3
- 210000001503 joint Anatomy 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Images
Landscapes
- Jigs For Machine Tools (AREA)
Abstract
The invention relates to a multi-posture conversion truss clamping manipulator compatible with two engine cylinder bodies, which comprises a base plate, wherein a rotary cylinder is arranged at the center of the upper end surface of the base plate: the side surface of the upper end of the base plate is provided with an air cylinder mounting seat, an upper air cylinder is arranged in the air cylinder mounting seat, two sides of the lower end of the base plate are fixedly provided with guide rail assemblies, sliding blocks are assembled on the guide rail assemblies in a sliding mode, the bottoms of the sliding blocks are fixedly connected with clamping jaw assemblies, each clamping jaw assembly comprises a driving clamping jaw and a driven clamping jaw, the upper end of the driving clamping jaw is provided with an air cylinder connecting seat, and the; a positioning and clamping tool is assembled between the driving clamping jaw and the driven clamping jaw, a servo motor is arranged on the outer side wall of the driving clamping jaw, and a balancing weight is correspondingly assembled on the side wall of the driven clamping jaw; the manipulator drives the cylinder body to convert various postures in space, can implement a clamping device in butt joint with various positioning devices, has the capability of being compatible with various cylinder body products, and reduces the design and development cost.
Description
Technical Field
The invention belongs to the field of truss carrying and conveying, and particularly relates to a multi-posture conversion truss clamping manipulator compatible with two engine cylinder bodies.
Background
At present, the cylinder body is carried manually, and the posture conversion of the cylinder body is realized by manually overturning an auxiliary mechanism; when the multi-posture conversion is carried out, the turnover mechanism is more, the manual operation is trivial, and the potential safety hazard is large.
Disclosure of Invention
The invention aims to design a clamping device which can be connected with a truss to drive a cylinder body to convert various postures in space, can be butted with various positioning devices, has the capability of being compatible with various cylinder body products and reduces the design and development cost.
In particular to a multi-posture conversion truss clamping manipulator compatible with two engine cylinder bodies, which is characterized in that,
including the base plate, base plate up end center is provided with revolving cylinder: the side surface of the upper end of the base plate is provided with a cylinder mounting seat, an upper cylinder is arranged in the cylinder mounting seat,
guide rail components are fixed on two sides of the lower end of the base plate, a sliding block is assembled on the guide rail components in a sliding way, the bottom of the sliding block is fixedly connected with a clamping jaw component,
the clamping jaw assembly comprises a driving clamping jaw and a driven clamping jaw, the upper end of the driving clamping jaw is provided with an air cylinder connecting seat, and the air cylinder connecting seat is connected with a piston rod of the upper air cylinder;
a positioning and clamping tool is assembled between the driving clamping jaw and the driven clamping jaw,
the initiative clamping jaw lateral wall is provided with servo motor, and driven clamping jaw lateral wall is corresponding to be equipped with the balancing weight.
Further, the positioning and clamping tool comprises a main positioning and clamping tool and an auxiliary positioning and clamping tool, wherein the main positioning and clamping tool comprises a right side substrate, a right positioning pin, a sensor, a support and a guide seat;
the auxiliary positioning and clamping tool comprises a left side base plate, a left positioning pin and a guide post; the left base plate is assembled on the inner wall of the driven clamping jaw through a connecting shaft;
a guide post is inserted into the guide seat, one end of the guide post is fixed on the left base plate, the other end of the guide post is inserted into the central cavity of the guide seat, the tail end of the guide seat is fixed on the inner wall of the right base plate,
the right side base plate is connected at the inner wall of initiative clamping jaw with the output shaft of reduction gear, and support upper portion sets up the outer wall at the right side base plate, and the support lower part is equipped with the sensor.
Further, the upper end of the driving clamping jaw is provided with a cylinder connecting seat and a limiting seat, and the upper end of the driving clamping jaw is fixedly connected with the right sliding block;
the outer wall of the driving clamping jaw is provided with a speed reducer and a zero-position bolt, wherein a servo motor is fixed on the outer side wall of the driving clamping jaw and is connected with the speed reducer;
the upper end of the driving clamping jaw is provided with a main clamping jaw connecting plate, the left side of the main clamping jaw connecting plate is provided with a pressing block, and the right side of the main clamping jaw connecting plate is provided with a position right signal detection block and a cylinder body of a cylinder;
two ends of the limiting seat are respectively provided with a limiting supporting head;
when the zero-position bolt is used for debugging, the zero-position bolt penetrates through the positioning hole of the driving clamping jaw, is inserted into the substrate of the main positioning clamping tool, and is provided with a mechanical zero point.
Furthermore, the upper end of the driven clamping jaw is fixedly connected with the sliding block on the left side, and the upper end of the driven clamping jaw is provided with a limiting seat; the outer side of the driven clamping jaw is provided with a balancing weight and a rotating device; an auxiliary positioning and clamping tool is arranged on the inner side of the driven clamping jaw;
a signal detection block and a connecting seat at the left side of the side edge are arranged on the side edge of the base;
the rotating device comprises a positioning seat, a bearing, a pressing block, a cover plate and a connecting shaft;
the positioning seat is installed in the outside of driven clamping jaw, and the bearing is placed to its inner chamber of positioning seat, and with the bearing inner race cooperation, the connecting axle location is at the bearing inner race, and briquetting and apron are fixed the bearing in the seat inner chamber, and connecting axle one end and left side base plate are connected.
Furthermore, the rotating device is coaxial with the speed reducer, one side of the rotating device is connected with the air cylinder and the connecting seat through a movable connecting head, and the other side of the rotating device is connected with the guide seat on the main positioning and clamping tool through a guide post on the auxiliary positioning and clamping tool;
the cylinder body is connected with the driving clamping jaw, and a piston rod of the cylinder body is connected with the connecting seat through a movable connecting head.
Further, a connecting shaft of the rotary cylinder is connected with the base plate; the body of revolving cylinder is connected with the truss connecting seat, be equipped with truss Z axle on the truss connecting seat, the connecting seat is connected with truss Z axle nose, and angle modulation seat and adjusting bolt are installed to revolving cylinder's connecting axle one side.
Has the advantages that:
the invention has the following advantages:
1. the clamping transmission of two cylinder bodies can be compatible, and the operation cost is reduced;
2. the structure is compact, the conversion of space multi-posture can be realized, and various positioning devices can be butted;
3. automatic transmission is realized, the high automation requirement of a factory is met, manual operation is not needed, and the quality and the efficiency of products are improved;
4. the clamping transmission signal is butted with the automation equipment, the running state of the automation equipment can be sensed, and different products and space postures can be identified;
5. the shaft A of the clamping manipulator device can rotate by 360 degrees, and is driven by a servo motor accelerator and decelerator, so that the clamping manipulator device has the characteristics of reliable operation, high repeated position precision, strong rotating load capacity and stable braking;
the B shaft of the clamping manipulator device is controlled by a 90-degree rotating cylinder, and the clamping manipulator device has the advantages of strong bearing capacity, quick driving and convenient angle precision adjustment;
6. clamping jaws at two ends of the clamping manipulator device are movable, so that the cylinder body can be accurately positioned on the clamping manipulator device, and a positioning pin can conveniently enter and exit.
Drawings
Fig. 1 is a schematic diagram of a movement explanation structure of the present invention.
Fig. 2 is a left side view of fig. 1.
Fig. 3 is a schematic structural view of the robot in a state of no workpiece clamping B-axis rotation by 90 degrees.
Fig. 4 is a schematic structural view of the present invention in a no-workpiece state and a maximum release open state of the jaws.
Fig. 5 is a schematic view of the structure of the present invention (first workpiece clamping state).
Fig. 6 is a schematic view of the structure of the present invention (second work clamping state).
FIG. 7 is a schematic view of the present invention in a no-work state with the jaw in a retracted minimum position.
Fig. 8 is a front view of the present invention.
Fig. 9 is a side view of the present invention.
Fig. 10 is a partial view of the secondary positioning and clamping tool of the present invention.
Figure 11 is an isometric view of the present invention looking at the inside wall of the active jaw.
Figure 12 is an isometric view of the present invention with the inner wall of the driven jaw seen.
Fig. 13 is a schematic cross-sectional view of the structure of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, common embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate orientations and positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention.
As shown in fig. 1-13: a multi-posture conversion truss clamping manipulator compatible with two engine cylinder bodies,
including base plate 7, base plate up end center is provided with revolving cylinder 15: the side surface of the upper end of the base plate is provided with an air cylinder mounting seat 48, an upper air cylinder 9 is arranged in the air cylinder mounting seat,
the substrate 7 is provided at one side thereof with attachment brackets 8 and 16, respectively, of the sensor 10, which are left and right attachment brackets.
Guide rail components are fixed on two sides of the lower end of the base plate, a sliding block 18 is assembled on the guide rail components in a sliding mode, a clamping jaw component is fixedly connected to the bottom of the sliding block 18,
the clamping jaw assembly comprises a driving clamping jaw 4 and a driven clamping jaw 23, the upper end of the driving clamping jaw 4 is provided with an air cylinder connecting seat 11, and the air cylinder connecting seat 11 is connected with a piston rod of an upper air cylinder 9;
a positioning and clamping tool is assembled between the driving clamping jaw and the driven clamping jaw,
the outer side wall of the driving clamping jaw is provided with a servo motor 3, and the side wall of the driven clamping jaw is correspondingly provided with a balancing weight 22;
the positioning and clamping tool comprises a main positioning and clamping tool and an auxiliary positioning and clamping tool,
the main positioning and clamping tool comprises a right base plate 25, right positioning pins (31, 32), a sensor 27, a bracket 26 and a guide seat 30;
the auxiliary positioning and clamping tool comprises a left side base plate 28, a left positioning pin 35 and a guide post 29; the left base plate 28 is assembled on the inner wall of the driven clamping jaw 23 through a connecting shaft 47;
the guide seat is inserted with a guide post 29, one end of the guide post 29 is fixed on the left base plate 28, the other end is inserted into the central cavity of the guide seat, the tail end of the guide seat is fixed on the inner wall of the right base plate 25,
the right base plate 25 is connected with the output shaft of the speed reducer 2 on the inner wall of the driving clamping jaw 4, the upper part of the bracket 26 is arranged on the outer wall of the right base plate 25, and the lower part of the bracket is provided with a sensor 27.
The signal detection block 6 is provided with two position detection points for detecting the extending and retracting states of the upper air cylinder 9, which respectively correspond to the clamping state and the releasing state of the active clamping jaw 4; the body of the cylinder 5 is connected with the driving clamping jaw 4, and the piston rod is connected with the driven clamping jaw 23.
The upper air cylinder 9 extends and retracts through the connecting seat 11 and the sliding block 18 to drive the driving clamping jaw 4 to move along the linear guide rail 19 (as shown in figure 1, the X axis moves back and forth), and the sensors 10 corresponding to two position detection points of the signal detection block 6 respectively detect the position of the driving clamping jaw 4.
The servo motor 3 drives the speed reducer 2, and the speed reducer 2 drives the main positioning and clamping tool to rotate 360 degrees around the X axis (as shown in figure 1). The speed reducer 2 can ensure that the main positioning clamping tool drives the workpiece 1 to slowly rotate at a constant speed, and the servo motor 3 has a brake function and can overcome inertia to ensure that the main positioning clamping tool drives the workpiece 1 to accurately stop at a set position.
The upper end of the driving clamping jaw 4 is provided with a cylinder connecting seat 11 and a limiting seat 37, and the upper end of the driving clamping jaw is fixedly connected with the right sliding block 18;
a speed reducer 2 and a zero-position bolt 24 are mounted on the outer wall of the driving clamping jaw 4, wherein a servo motor 3 is fixed on the outer side wall of the driving clamping jaw 4 and connected with the speed reducer 2, a connecting shaft of the speed reducer 2 penetrates through the driving clamping jaw 4, an output shaft of the speed reducer 2 is connected with a right side base plate 25 of a main positioning clamping tool, and the main positioning clamping tool is mounted on the inner side of the driving clamping jaw 4;
the upper end of the driving clamping jaw 4 is provided with a main clamping jaw connecting plate 4.1, the left side of the main clamping jaw connecting plate 4.1 is provided with a pressing block 49, and the right side of the main clamping jaw connecting plate is provided with a position right signal detection block 6 and a cylinder body of a cylinder 5;
the two ends of the limiting seat 37 are respectively provided with a limiting supporting head 38; the limiting blocks 39 and 42 are respectively arranged on the left limiting support head 38; the limiting blocks 36 and 40 are respectively arranged on the right limiting support head 38;
when the zero-position bolt 24 is used for debugging, the zero-position bolt penetrates through the positioning hole 4.2 of the driving clamping jaw 4 and is inserted into the base plate 25 of the main positioning clamping tool, and a mechanical zero point is set.
The upper end of the driven clamping jaw 23 is fixedly connected with the left sliding block 18, and the upper end of the driven clamping jaw is provided with a limiting seat 41; the outer side of the driven clamping jaw 23 is provided with a balancing weight 22 and a rotating device; an auxiliary positioning and clamping tool is arranged on the inner side of the driven clamping jaw 23;
a position left signal detection block 17 and a connecting seat 20 are arranged on the side edge of the base;
the rotating device comprises a positioning seat 43, a bearing 44, a pressing block 45, a cover plate 46 and a connecting shaft 47;
the positioning seat 43 is installed at the outer side of the driven clamping jaw 23, the bearing 44 is placed in the inner cavity of the positioning seat 43 and matched with the outer ring of the bearing 44, the connecting shaft 47 is positioned at the inner ring of the bearing 44, the pressing block 45 and the cover plate 46 fix the bearing 44 in the inner cavity of the positioning seat 43, and one end of the connecting shaft 47 is connected with the left base plate 28.
The slewing device is coaxial with the mounting speed reducer 2, one side of the slewing device is connected with the air cylinder 5 and the connecting seat 20 through the movable connecting head 21, and the other side of the slewing device is connected with the guide seat 30 on the main positioning and clamping tool through the guide post 29 on the auxiliary positioning and clamping tool;
the body of the cylinder 5 is connected with the driving clamping jaw 4, and the piston rod of the cylinder is connected with the connecting seat 20 through a movable connecting head 21. The cylinder 5 extends to drive the driven clamping jaw 23 to move along the linear guide rail 19 (as shown in fig. 1, the X axis moves back and forth), and the sensors 10 corresponding to the four position detection points of the signal detection block 17 respectively detect the position of the driven clamping jaw 23.
The movable connector 21 is connected only in the axial direction and does not limit the axial rotation.
The connecting shaft 12 of the rotary cylinder 15 is connected with the base plate 7; under the drive of air pressure, the connecting shaft 12 can rotate 0 degree and 90 degrees in the body of the rotary cylinder 15, the bolt 33 can adjust the position accuracy of the rotation angle of the connecting shaft, the body of the rotary cylinder 15 is connected with the truss connecting seat 13, the truss connecting seat is provided with a truss Z shaft, the connecting seat 13 is connected with the nose end of the truss Z shaft 14, and one side of the connecting shaft 12 of the rotary cylinder 15 is provided with an angle adjusting seat 34 and an adjusting bolt 33. Wherein
The servo motor 3 drives the speed reducer 2 to rotate, the speed reducer 2 drives the main positioning and clamping tool to rotate, and the main positioning and clamping tool drives the guide seat 30 to rotate together; the guide post 29 is sleeved in the inner cavity of the guide seat 30, and the guide seat 30 drives the auxiliary positioning and clamping tool to rotate around the connecting shaft 47.
Structural description:
as shown in fig. 1-2, the truss Z-axis 14 can drive the device of the present invention to move in the X-direction and the Z-direction; the servo motor 3 drives the main positioning clamping tool and the auxiliary positioning clamping tool to clamp the workpiece 1 to rotate 360 degrees along the X axis, and the workpiece 1 can be accurately controlled to rotate at any position in the X axis.
As shown in fig. 3, the rotary cylinder 15 of the device of the invention can drive the connecting shaft 12 to rotate 90 degrees in the Z direction, so as to drive the substrate 7, the driving clamping jaw 4, the driven clamping jaw 23, the workpiece 1 and other parts to rotate; the rotating range of the rotating cylinder 15 is 0-90 degrees, and the rotating cylinder can be reset, and the rotating cylinder 15 of the device is used in two states of 0 degree and 90 degrees.
As shown in fig. 4, the cylinder 9 is retracted, and the cylinder 5 is extended to drive the driving clamping jaw 4 and the driven clamping jaw 23 respectively, wherein the clamping jaws are in the maximum opening position, which is the working state before the workpiece is grabbed and clamped.
As shown in fig. 5 and 6, the cylinder 9 extends out to drive the positioning pins 31 and 32 of the main positioning and clamping tool at the inner side of the driving clamping jaw 4 to enter a workpiece; the cylinder 5 retracts to drive a positioning pin 35 of an auxiliary positioning and clamping tool on the driven clamping jaw 23 to enter a workpiece; under the driving of the driving clamping jaw 4 and the driven clamping jaw 23, the positioning pins 31, 32 and 35 enter the workpiece, and the end surfaces of the positioning pins mutually clamp the workpiece; the retracting stroke range of the cylinder 5 can meet the clamping requirements of workpieces with different lengths in the X direction. Wherein the first workpiece length is: 463.6mm, the second workpiece length is: 475.3 mm.
As shown in fig. 7, the cylinder 9 is extended, the cylinder 5 is retracted, and the driving clamping jaw 4 and the driven clamping jaw 23 are driven respectively, and the clamping jaws are in a retracted minimum position, which is a state of rapid movement on the truss when the device of the invention is in a non-workpiece state.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (6)
1. A multi-posture conversion truss clamping manipulator compatible with two engine cylinder bodies is characterized in that,
including base plate (7), base plate up end center is provided with revolving cylinder (15): the side surface of the upper end of the base plate is provided with a cylinder mounting seat (48), an upper cylinder (9) is arranged in the cylinder mounting seat,
guide rail components are fixed on two sides of the lower end of the base plate, a sliding block (18) is assembled on the guide rail components in a sliding mode, the bottom of the sliding block (18) is fixedly connected with a clamping jaw component,
the clamping jaw assembly comprises a driving clamping jaw (4) and a driven clamping jaw (23), an air cylinder connecting seat (11) is installed at the upper end of the driving clamping jaw (4), and the air cylinder connecting seat (11) is connected with a piston rod of an upper air cylinder (9);
a positioning and clamping tool is assembled between the driving clamping jaw and the driven clamping jaw,
the outer side wall of the driving clamping jaw is provided with a servo motor (3), and the side wall of the driven clamping jaw is correspondingly provided with a balancing weight (22).
2. The multi-attitude conversion truss clamping manipulator compatible with two engine cylinders as claimed in claim 1, wherein:
the positioning and clamping tool comprises a main positioning and clamping tool and an auxiliary positioning and clamping tool, wherein the main positioning and clamping tool comprises a right side base plate (25), a right positioning pin, a sensor (27), a bracket (26) and a guide seat (30);
the auxiliary positioning and clamping tool comprises a left side base plate (28), a left positioning pin (35) and a guide column (29); the left base plate (28) is assembled on the inner wall of the driven clamping jaw (23) through a connecting shaft (47);
a guide post (29) is inserted into the guide seat, one end of the guide post (29) is fixed on the left base plate (28), the other end is inserted into the central cavity of the guide seat, the tail end of the guide seat is fixed on the inner wall of the right base plate (25),
the right side base plate (25) is connected with an output shaft of the speed reducer (2) on the inner wall of the driving clamping jaw (4), the upper part of the bracket (26) is arranged on the outer wall of the right side base plate (25), and the lower part of the bracket is provided with a sensor (27).
3. The multi-attitude conversion truss clamping manipulator compatible with two engine cylinders as claimed in claim 2, wherein:
the upper end of the driving clamping jaw (4) is provided with a cylinder connecting seat (11) and a limiting seat (37), and the upper end of the driving clamping jaw is fixedly connected with a right sliding block (18);
a speed reducer (2) and a zero-position bolt (24) are installed on the outer wall of the driving clamping jaw (4), wherein a servo motor (3) is fixed on the outer side wall of the driving clamping jaw (4) and connected with the speed reducer (2), a connecting shaft of the speed reducer (2) penetrates through the driving clamping jaw (4), an output shaft of the speed reducer (2) is connected with a right side substrate (25) of a main positioning clamping tool, and the main positioning clamping tool is installed on the inner side of the driving clamping jaw (4);
the upper end of the driving clamping jaw (4) is provided with a main clamping jaw connecting plate (4.1), the left side of the main clamping jaw connecting plate (4.1) is provided with a pressing block (49), and the right side of the main clamping jaw connecting plate is provided with a position right signal detection block (6) and a cylinder body of a cylinder (5);
two ends of the limiting seat (37) are respectively provided with a limiting supporting head (38);
when the zero-position bolt (24) is used for debugging, the zero-position bolt penetrates through a positioning hole (4.2) of the driving clamping jaw (4) and is inserted into a base plate (25) of the main positioning clamping tool to set a mechanical zero point.
4. A multi-attitude transfer truss clamping manipulator compatible with two engine cylinders as claimed in claim 3, wherein:
the upper end of the driven clamping jaw (23) is fixedly connected with the sliding block (18) on the left side, and the upper end of the driven clamping jaw is provided with a limiting seat (41); a balancing weight (22) and a rotating device are arranged on the outer side of the driven clamping jaw (23); an auxiliary positioning and clamping tool is arranged on the inner side of the driven clamping jaw (23);
a left signal detection block (17) and a connecting seat (20) are arranged on the side edge of the base;
the rotating device comprises a positioning seat (43), a bearing (44), a pressing block (45), a cover plate (46) and a connecting shaft (47);
the positioning seat (43) is arranged on the outer side of the driven clamping jaw (23), the bearing (44) is placed in the inner cavity of the positioning seat (43) and matched with the outer ring of the bearing (44), the connecting shaft (47) is positioned on the inner ring of the bearing (44), the pressing block (45) and the cover plate (46) fix the bearing (44) in the inner cavity of the positioning seat (43), and one end of the connecting shaft (47) is connected with the left side base plate (28).
5. The multi-attitude conversion truss clamping manipulator compatible with two engine cylinders as claimed in claim 4, wherein:
the slewing device is coaxial with the mounting speed reducer (2), one side between the slewing device and the mounting speed reducer is used for connecting the air cylinder (5) with the connecting seat (20) through the movable connecting head (21), and the other side is connected with the guide seat (30) on the main positioning clamping tool through the guide post (29) on the auxiliary positioning clamping tool;
the body of the cylinder (5) is connected with the active clamping jaw (4), and the piston rod of the cylinder is connected with the connecting seat (20) through a movable connecting head (21).
6. The multi-attitude conversion truss clamping manipulator compatible with two engine cylinders as claimed in claim 5, wherein:
a connecting shaft (12) of the rotary cylinder (15) is connected with the substrate (7); the body of revolving cylinder (15) is connected with truss connecting seat (13), be equipped with truss Z axle on the truss connecting seat, connecting seat (13) are connected with truss Z axle (14) nose, and angle modulation seat (34) and adjusting bolt (33) are installed to connecting axle (12) one side of revolving cylinder (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011552210.3A CN112659161A (en) | 2020-12-24 | 2020-12-24 | Multi-posture conversion truss clamping manipulator compatible with two engine cylinder bodies |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011552210.3A CN112659161A (en) | 2020-12-24 | 2020-12-24 | Multi-posture conversion truss clamping manipulator compatible with two engine cylinder bodies |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112659161A true CN112659161A (en) | 2021-04-16 |
Family
ID=75410006
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011552210.3A Pending CN112659161A (en) | 2020-12-24 | 2020-12-24 | Multi-posture conversion truss clamping manipulator compatible with two engine cylinder bodies |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112659161A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101439465A (en) * | 2007-11-22 | 2009-05-27 | 比亚迪股份有限公司 | Cylinder tilter |
| CN107553096A (en) * | 2017-10-10 | 2018-01-09 | 广西玉柴机器股份有限公司 | Double servo turning devices of engine |
| CN208375132U (en) * | 2018-07-04 | 2019-01-15 | 长春市佳诺工艺装备有限公司 | Detecting tool turnover mechanism |
| CN208946187U (en) * | 2018-08-10 | 2019-06-07 | 中国一拖集团有限公司 | A kind of multi-function robot handgrip |
| CN111268406A (en) * | 2020-04-09 | 2020-06-12 | 潍坊大世智能科技有限公司 | 180-degree turnover device matched with engine cylinders of various models |
| CN112091568A (en) * | 2020-09-30 | 2020-12-18 | 广西玉柴机器股份有限公司 | Device for realizing 360-degree arbitrary overturning of engine assembly |
| CN215281966U (en) * | 2020-12-24 | 2021-12-24 | 无锡贝斯特精机股份有限公司 | Multi-posture conversion truss clamping manipulator compatible with two engine cylinder bodies |
-
2020
- 2020-12-24 CN CN202011552210.3A patent/CN112659161A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101439465A (en) * | 2007-11-22 | 2009-05-27 | 比亚迪股份有限公司 | Cylinder tilter |
| CN107553096A (en) * | 2017-10-10 | 2018-01-09 | 广西玉柴机器股份有限公司 | Double servo turning devices of engine |
| CN208375132U (en) * | 2018-07-04 | 2019-01-15 | 长春市佳诺工艺装备有限公司 | Detecting tool turnover mechanism |
| CN208946187U (en) * | 2018-08-10 | 2019-06-07 | 中国一拖集团有限公司 | A kind of multi-function robot handgrip |
| CN111268406A (en) * | 2020-04-09 | 2020-06-12 | 潍坊大世智能科技有限公司 | 180-degree turnover device matched with engine cylinders of various models |
| CN112091568A (en) * | 2020-09-30 | 2020-12-18 | 广西玉柴机器股份有限公司 | Device for realizing 360-degree arbitrary overturning of engine assembly |
| CN215281966U (en) * | 2020-12-24 | 2021-12-24 | 无锡贝斯特精机股份有限公司 | Multi-posture conversion truss clamping manipulator compatible with two engine cylinder bodies |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110509067B (en) | Large-scale complicated component normal position processing multi-robot system equips | |
| CN220404114U (en) | Mechanical arm, robot and minimally invasive surgery robot system | |
| CN108817391B (en) | Double-cladding-head laser cladding metal additive manufacturing equipment | |
| CN111844070B (en) | Movable hybrid robot for deep hole in-situ machining operation | |
| CN215281966U (en) | Multi-posture conversion truss clamping manipulator compatible with two engine cylinder bodies | |
| CN113386106A (en) | Three-degree-of-freedom workbench for workpiece assembly | |
| EP2263838B1 (en) | Clamp device and transfer robot | |
| CN213034154U (en) | Material taking and placing device of numerical control machine tool manipulator | |
| CN112659161A (en) | Multi-posture conversion truss clamping manipulator compatible with two engine cylinder bodies | |
| CN110657771B (en) | Shaft workpiece measuring robot and measuring method | |
| CN113651236B (en) | Self-positioning carrying equipment for aluminum profile of railway vehicle | |
| CN213999477U (en) | Turnover mechanism | |
| CN210361304U (en) | Multi-axis robot | |
| CN213730391U (en) | Satellite structure board embedded part mounting equipment | |
| CN110154068B (en) | A pneumatic anchor clamps of robot for porous part | |
| CN219293467U (en) | Auxiliary supporting device for grinding wheel of cylindrical grinding machine equipment | |
| CN213470256U (en) | Automatic drilling equipment for elevator rack | |
| CN112091568A (en) | Device for realizing 360-degree arbitrary overturning of engine assembly | |
| CN115302268B (en) | Torque converter clamp, turning equipment and system | |
| CN111360799A (en) | A telescopic multiaxis robot for 3C trade | |
| CN219633069U (en) | Tightening compensation mechanism and tightening equipment | |
| CN215511032U (en) | Six-degree-of-freedom hybrid robot | |
| CN216913865U (en) | 3D camera guide wheel hub feeding and discharging robot gripper and robot adopting gripper | |
| CN220886064U (en) | Rotary multi-station loading and unloading device | |
| CN112318182B (en) | Five-degree-of-freedom series-parallel machine tool |
Legal Events
| 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 |