CN201020716Y - Automatic-dumping manipulator - Google Patents

Automatic-dumping manipulator Download PDF

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Publication number
CN201020716Y
CN201020716Y CNU2007201190437U CN200720119043U CN201020716Y CN 201020716 Y CN201020716 Y CN 201020716Y CN U2007201190437 U CNU2007201190437 U CN U2007201190437U CN 200720119043 U CN200720119043 U CN 200720119043U CN 201020716 Y CN201020716 Y CN 201020716Y
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CN
China
Prior art keywords
cylinder
slide unit
advance
retreat
power source
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Expired - Lifetime
Application number
CNU2007201190437U
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Chinese (zh)
Inventor
彭峰
胡青林
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BYD Co Ltd
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BYD Co Ltd
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Priority to CNU2007201190437U priority Critical patent/CN201020716Y/en
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Publication of CN201020716Y publication Critical patent/CN201020716Y/en
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Abstract

The utility model relates to an automatic discharge mechanical hand, which comprises a primary forward and backward part, a secondary forward and backward part, a rotational part, a holding part and a base, wherein the primary forward and backward part is arranged on the base; the primary forward and backward part comprises a primary power source and a primary forward and backward slipway; the mobile module of the primary power source and the primary forward and backward slipway are fixedly connected; the secondary forward and backward part comprises a secondary power source; the secondary forward and backward part is fixed on the primary forward and backward slipway and moves along with movement of the primary forward and backward slipway; the rotational part comprises a rotational power source; the rotational part is fixed on the casing of the secondary power source and moves along with the movement of the casing of the secondary power source; and the holding part is arranged on the rotational module of the rotational assembly. The utility model has a simple structure, low cost of manufacture and flexible operation, and can obtain different work pieces from the friction welding machine.

Description

A kind of automatic emptying machine tool hand
[technical field]
The utility model relates to a kind of industry mechanical arm, relates more specifically to the industry mechanical arm that a kind of discharging workpieces that is used for friction welding machine is used.
[background technology]
At present, manipulator is widely used in the every field of industry very much, and alternative workman's manual operations is used for clamping, charging, work such as discharging.5KG transfer robot as the production of company of China Haier, five joints and five frees degree are arranged, the motion in each joint all is made up of AC servomotor, RV decelerator and high-precision rotary bearing etc., whole intelligence system is controlled by industrial computer, and this robot has higher automatization level, but its price is very expensive, and for for the related work of friction welding machine, its a large amount of functions do not need, as use this robot, will cause great waste.For this reason, in the friction welding field, above-mentioned this robot is also inapplicable, adopt manually-operated and the existing discharging work that is used for friction welding machine is still most of, and the manipulator that uses in other present field there is not simple in structure, the cheap manipulator that is applicable to the friction welding field as yet.
In the friction welding field, welding as the safe automobile air bag housing, mostly adopt the hand clamp discharging now, make the workman when getting material, must be near workpiece, because poison, explosive chemicals are housed in the safety airbag casing, and so just the personal safety to the workman brings great unsafe factor; Simultaneously, when the workman adopts the mode discharging of hand clamp, may cause the damage of workpiece or friction welding machine clamp, have a strong impact on production efficiency.
[summary of the invention]
The purpose of this utility model is in order to solve these above-mentioned technical problems, proposed a kind of simple in structure, cheap, the automatic emptying machine tool hand that can on friction welding machine, take out plurality of different workpieces of flexible operation.
The technical scheme that the utility model adopted is: a kind of automatic emptying machine tool hand is characterized in that: comprise the first advance and retreat part, the second advance and retreat part, rotating part, grip portion and base; The described first advance and retreat part is installed on the base, and the first advance and retreat part comprises first power source and the first advance and retreat slide unit, and the movable component of first power source is fixedlyed connected with the first advance and retreat slide unit; The described second advance and retreat part comprises second power source, and the second advance and retreat partial fixing is on the above-mentioned first advance and retreat slide unit, with moving of the first advance and retreat slide unit; Described rotating part comprises rotating power source, and rotating part is fixed on the housing of above-mentioned second power source, with moving of the second power source housing; Described grip portion is installed on the rotary components of rotating power source.
Described first power source is the long cylinder of double acting, and the movable component of first power source is the piston rod of this cylinder; Described second power source is the slide unit cylinder, and the housing of second power source is the cylinder block of this cylinder; Described rotating power source is a rotary cylinder, and the rotary components of rotating power source is the rotating shaft of this cylinder; Described grip portion is an electromagnet.
The described first advance and retreat part also comprises first guiding mechanism and the first cylinder support; The long cylinder of described double acting is fixed on the base by the first cylinder support, be fixed with first guiding mechanism on the base away from cylinder block one side of the long cylinder of double acting of the long cylinder of this double acting, described first guiding mechanism comprises two guide rails of the piston rod both sides of the long cylinder of double acting that is fixed on the base; The lower surface of the described first advance and retreat slide unit, one end is fixed with and is set in two slide blocks on the guide rail, and an end of the piston rod of the long cylinder of double acting is fixedlyed connected with this slide block.The described second advance and retreat partial fixing is at the end away from the long cylinder of double acting of the first advance and retreat slide unit.
The described second advance and retreat part also comprises two slide unit fixed blocks; Described two slide unit fixed blocks are separately fixed at the two side ends away from an end of the long cylinder of double acting of the first advance and retreat slide unit, the two ends of two piston rods of described slide unit cylinder are separately fixed on described two slide unit fixed blocks, and the cylinder block of described slide unit cylinder is reciprocating along the axial direction of the piston rod of slide unit cylinder; On the cylinder block of described slide unit cylinder, also be fixed with the rotary cylinder support.
Described rotating part also comprises rotary cylinder, rotary cylinder support; Described rotary cylinder is installed on the cylinder block of slide unit cylinder by the rotary cylinder support, the end of the rotating shaft that passes this rotary cylinder support of described rotary cylinder is fixed with a fixed hub, above-mentioned electromagnet is fixed in this fixed hub, rotates synchronously with the rotating shaft of rotary cylinder.
The described first advance and retreat part also comprises two magnetic induction switches, is installed in the two ends of the cylinder block of the long cylinder of double acting respectively; The described first advance and retreat part also comprises two one-way throttle valves, is installed in the air inlet place of the long cylinder of double acting respectively.
The described second advance and retreat part also comprises three magnetic induction switches, be installed in the corresponding position of slide unit cylinder cylinder block respectively, corresponding respectively three positions can controlling slide unit cylinder cylinder block, these three relevant positions: promptly when electromagnet and workpiece position contacting, when workpiece breaks away from the position of friction welding machine clamp alignment pin, when the cylinder block of slide unit cylinder towards position that the direction away from workpiece begins to move.Two air inlet places of described slide unit cylinder are equipped with two one-way throttle valves respectively.
Described rotating part also comprises two magnetic induction switches, be installed in the corresponding position of rotary cylinder cylinder block respectively, this corresponding position is for controlling the position that described rotating shaft is begun to rotate to an angle and stopped by initial position respectively, and this anglec of rotation is the angle that workpiece is broken away from from the friction welding machine clamp.Two air inlet places of described rotary cylinder are equipped with two one-way throttle valves respectively.
Automatic emptying machine tool hand of the present utility model has the first advance and retreat part, second advance and retreat part and the rotating part, can realize the operation task of multidimensional angle, makes manipulator of the present utility model more flexible, and discharging work is more prone to realize.The each several part structure of this automatic emptying machine tool hand adopts various types of double-acting cylinders as power source respectively, and effectively utilizes the structure part of the structure of various cylinders as this manipulator own; The induced signal that utilizes magnetic induction switch to take place simultaneously can be controlled the stroke in the operation task process of each cylinder effectively, need not to use equipment such as industrial computer, so the utility model is not only simple in structure, and cheap.Prove that through practical probation the utility model can be competent at effectively in the operation task in friction welding field, can take out various workpieces on friction welding machine.
[description of drawings]
Fig. 1, Fig. 2 are the structural representations of automatic emptying machine tool hand of the present utility model.
Fig. 3 is the user mode figure of automatic emptying machine tool hand of the present utility model.
Fig. 4 is the anchor clamps of friction welding machine in the utility model and the scheme of installation of workpiece.
Fig. 5 is the A-A cutaway view of Fig. 4.
[specific embodiment]
Also in conjunction with the accompanying drawings the utility model is described in further detail below by specific embodiment.
A kind of automatic emptying machine tool hand, the first advance and retreat part, the second advance and retreat part, rotating part, grip portion and base 1; The described first advance and retreat part is installed on the base 1, and the first advance and retreat part comprises that the movable component 32 and first of first power source 3 and the first advance and retreat slide unit, 8, the first power sources 3 slide unit 8 of advancing and retreat fixedlys connected; The described second advance and retreat part comprises that second power source, 6, the second advance and retreat partial fixings are on the above-mentioned first advance and retreat slide unit 8, with moving of the first advance and retreat slide unit 8; Described rotating part comprises rotating power source 13, and rotating part is fixed on the housing 61 of above-mentioned second power source 6, with moving of the housing 61 of second power source 6, and with respect to moving on the parallel and vertical direction of unloaded workpiece 24; Described grip portion 15 is installed on the rotary components 29 of rotating power source 13.
Described first power source 3 is the long cylinder of double acting, and the movable component 32 of first power source 3 is the piston rod 32 of this cylinder 3; Described second power source 6 is the slide unit cylinder, and the housing 61 of second power source 6 is the cylinder block 61 of this cylinder 6; Described rotating power source 13 is a rotary cylinder, and the rotary components 29 of rotating power source 13 is the rotating shaft 29 of this cylinder 13; Described grip portion 15 is an electromagnet.
The described first advance and retreat part also comprises first guiding mechanism and the first cylinder support 2; The long cylinder 3 of described double acting is fixed on the base 1 by the first cylinder support 2, be fixed with first guiding mechanism on the base 1 of cylinder block 31 1 sides of long cylinder 3 away from double acting of this first cylinder support 2, described first guiding mechanism comprises two guide rails 5 of piston rod 32 both sides of the long cylinder 3 of the double acting that is fixed on the base 1; The lower surface of the described first advance and retreat slide unit, 8 one ends is fixed with and is set in two slide blocks 9 on the guide rail 5, and an end of the piston rod 32 of the long cylinder 3 of double acting is fixedlyed connected with this slide block 9.The described second advance and retreat partial fixing is at the end away from the long cylinder 3 of double acting of the first advance and retreat slide unit 8.
The described second advance and retreat part is at the long cylinder 3 of double acting and under the effect of first guiding mechanism, with the first advance and retreat slide unit 8 reciprocating synchronously (being X-direction); The described first advance and retreat part also comprises two magnetic induction switches 16,17, is installed in the two ends of the cylinder block 31 of the long cylinder 3 of double acting respectively, can be used for controlling the flexible stroke of long cylinder 3 piston rods 32 of double acting; The described first advance and retreat part also comprises two one-way throttle valves 18, is installed in the air inlet place of the long cylinder 3 of double acting respectively, can be used for adjusting the stretching speed of long cylinder 3 piston rods 32 of double acting.
The described second advance and retreat part also comprises two slide unit fixed blocks 63; Described two slide units are fixed 63 two side ends away from an end of the long cylinder 3 of double acting that are separately fixed at the first advance and retreat slide unit 8, the two ends of two piston rods 62 of described slide unit cylinder 6 are separately fixed on described two slide unit fixed blocks 63, and the cylinder block 61 of described slide unit cylinder 6 is along the axial direction of the piston rod 62 of slide unit cylinder 6 reciprocating (being Y direction).On the cylinder block 61 of described slide unit cylinder 6, also be fixed with rotary cylinder support 19.
The described second advance and retreat part also comprises three magnetic induction switches 11,20,21, being fixed in one installs in the sliding sleeve 22, this installation sliding sleeve 22 is installed on a side of slide unit cylinder 6, three magnetic induction switches 11 then, 20, three different corresponding positions that 21 correspond respectively to cylinder block 61 when moving, corresponding respectively three positions can controlling 61 actions of slide unit cylinder 6 cylinder block, these three relevant positions: promptly when electromagnet 15 and workpiece 24 position contacting, workpiece 24 after electromagnet 15 absorption breaks away from the position of the alignment pin 27 of friction welding machine clamps 25, when the cylinder block 61 of slide unit cylinder 6 along position that the Y-axis negative direction begins to move.
The air inlet place of described slide unit cylinder 6 is equipped with two one-way throttle valves 35 respectively, can be used for adjusting the translational speed of the cylinder block 61 of slide unit cylinder 6.
Described rotating part comprises rotary cylinder 13, rotary cylinder support 19; Described rotary cylinder 13 is installed in by rotary cylinder support 19 on the cylinder block 61 of slide unit cylinder 6, and the end of the rotating shaft that passes this rotary cylinder support 19 29 of described rotary cylinder 13 is fixed with a fixed hub 14.Above-mentioned electromagnet 15 is fixed in this fixed hub 14 by holding screw, rotates synchronously with the rotating shaft 29 of rotary cylinder 13.
Described rotating part also comprises two magnetic induction switches 7,28, be installed in the interior corresponding position of chute of 33 two of rotary cylinder 13 cylinder block respectively, described two relevant positions are for controlling the position that described rotating shaft 29 is begun to rotate to an angle and stopped by initial position respectively, this angle can make workpiece 24 throw off from friction welding machine clamp 25, in the present embodiment, these two magnetic induction switches 7 and two controllable angles in relevant position of 28 are preferably 30~60 °.The anchor clamps of friction welding machine can be changed according to the difference of workpiece, and at this moment, the anglec of rotation of the rotary cylinder of the rotating part of automatic emptying machine tool hand also should be adjusted, and the position that promptly only needs to adjust two magnetic induction switches gets final product.
Two air inlet places of described rotary cylinder 13 are equipped with two one-way throttle valves 34 respectively, can be used for adjusting the back and forth speed of rotation of rotary cylinder rotating shaft.
The course of work: when automatic emptying machine tool hand is started working, at first, the piston rod 32 of the long cylinder 3 of double acting stretches out from cylinder block 31, drive is fixed on second on the first advance and retreat slide unit 8 and advances and retreat part at the long cylinder 3 of double acting and under the effect of first guiding mechanism, 24 move along the X-axis positive direction towards workpiece synchronously with the first advance and retreat slide unit 8, after the magnetic induction switch on the cylinder block 31 that is installed in the long cylinder 3 of double acting 16,17 is sensed signal, the piston rod 32 of the long cylinder 3 of double acting stops action, and then the first advance and retreat slide unit 8 stops to move.Slide unit cylinder 6 moves along the Y-axis negative direction under the guide effect of its piston rod 62.After magnetic induction switch 21 was sensed signal, the cylinder block 61 of slide unit cylinder 6 stopped to move, and the end face of electromagnet 13 just contacts with workpiece 24.Simultaneously, electromagnet 15 energisings produce magnetic, and behind the sticking workpiece 24, slide unit cylinder 6 moves about 5~10mm along the Y-axis positive direction, and after magnetic induction switch 20 was sensed signal, slide unit cylinder 6 stopped to move, and make workpiece 24 break away from the alignment pin 27 of friction welding machine clamp 25.Then, the rotating shaft of rotary cylinder 13 29 is rotated counterclockwise along Y-axis, and the anglec of rotation is any angle between 30~60 °, makes workpiece 24 break away from the anchor clamps 25 of friction welding machines.At this moment, slide unit cylinder 6 continues to move along the Y-axis positive direction, and after magnetic induction switch 11 was sensed signal, slide unit cylinder 6 stopped to move.Then, the long cylinder 2 of double acting moves to along the X-axis negative direction and stops to move (being initial position) after magnetic induction switch 17 is sensed signal.At this moment, electromagnet 15 outages lose magnetism, and discharge workpiece 24, and workpiece 24 can be through delivery board (not showing) output, and rotary cylinder 13 goes to initial position along the Y-axis dextrorotation, finishes the process of automatic discharging.
Above content be in conjunction with concrete preferred implementation to further describing that the utility model is done, can not assert that concrete enforcement of the present utility model is confined to these explanations.For the utility model person of an ordinary skill in the technical field; under the prerequisite that does not break away from the utility model design; can also make some simple deduction or replace, all should be considered as belonging to the scope of patent protection that the utility model is determined by claims of being submitted to.

Claims (10)

1. an automatic emptying machine tool hand is characterized in that: comprise the first advance and retreat part, the second advance and retreat part, rotating part, grip portion and base;
The described first advance and retreat part is installed on the base, and the first advance and retreat part comprises first power source and the first advance and retreat slide unit, and the movable component of first power source is fixedlyed connected with the first advance and retreat slide unit;
The described second advance and retreat part comprises second power source, and the second advance and retreat partial fixing is on the above-mentioned first advance and retreat slide unit, with moving of the first advance and retreat slide unit;
Described rotating part comprises rotating power source, and rotating part is fixed on the housing of above-mentioned second power source, with moving of the second power source housing;
Described grip portion is installed on the rotary components of rotating power source.
2. automatic emptying machine tool hand as claimed in claim 1 is characterized in that: described first power source is the long cylinder of double acting, and the movable component of first power source is the piston rod of this cylinder; Described second power source is the slide unit cylinder, and the housing of second power source is the cylinder block of this cylinder; Described rotating power source is a rotary cylinder, and the rotary components of rotating power source is the rotating shaft of this cylinder; Described grip portion is an electromagnet.
3. automatic emptying machine tool hand as claimed in claim 2 is characterized in that: the described first advance and retreat part also comprises first guiding mechanism and the first cylinder support; The long cylinder of described double acting is fixed on the base by the first cylinder support, be fixed with first guiding mechanism on the base away from cylinder block one side of the long cylinder of double acting of the long cylinder of this double acting, described first guiding mechanism comprises two guide rails of the piston rod both sides of the long cylinder of double acting that is fixed on the base; The lower surface of the described first advance and retreat slide unit, one end is fixed with and is set in two slide blocks on the guide rail, and an end of the piston rod of the long cylinder of double acting is fixedlyed connected with this slide block.The described second advance and retreat partial fixing is at the end away from the long cylinder of double acting of the first advance and retreat slide unit.
4. automatic emptying machine tool hand as claimed in claim 2 is characterized in that: the described second advance and retreat part also comprises two slide unit fixed blocks; Described two slide unit fixed blocks are separately fixed at the two side ends away from an end of the long cylinder of double acting of the first advance and retreat slide unit, the two ends of two piston rods of described slide unit cylinder are separately fixed on described two slide unit fixed blocks, and the cylinder block of described slide unit cylinder is reciprocating along the axial direction of the piston rod of slide unit cylinder; On the cylinder block of described slide unit cylinder, also be fixed with the rotary cylinder support.
5. automatic emptying machine tool hand as claimed in claim 2 is characterized in that: described rotating part also comprises rotary cylinder, rotary cylinder support; Described rotary cylinder is installed on the cylinder block of slide unit cylinder by the rotary cylinder support, the end of the rotating shaft that passes this rotary cylinder support of described rotary cylinder is fixed with a fixed hub, above-mentioned electromagnet is fixed in this fixed hub, rotates synchronously with the rotating shaft of rotary cylinder.
6. automatic emptying machine tool hand as claimed in claim 3 is characterized in that: the described first advance and retreat part also comprises two magnetic induction switches, is installed in the two ends of the cylinder block of the long cylinder of double acting respectively; The described first advance and retreat part also comprises two one-way throttle valves, is installed in the air inlet place of the long cylinder of double acting respectively.
7. automatic emptying machine tool hand as claimed in claim 4, it is characterized in that: the described second advance and retreat part also comprises three magnetic induction switches, be installed in the corresponding position of slide unit cylinder cylinder block respectively, corresponding respectively three positions can controlling slide unit cylinder cylinder block, these three relevant positions: promptly when electromagnet and workpiece position contacting, when workpiece breaks away from the position of friction welding machine clamp alignment pin, when the cylinder block of slide unit cylinder towards position that the direction away from workpiece begins to move.
8. automatic emptying machine tool hand as claimed in claim 4 is characterized in that: two air inlet places of described slide unit cylinder are equipped with two one-way throttle valves respectively.
9. automatic emptying machine tool hand as claimed in claim 5, it is characterized in that: described rotating part also comprises two magnetic induction switches, be installed in the corresponding position of rotary cylinder cylinder block respectively, this corresponding position is for controlling the position that described rotating shaft is begun to rotate to an angle and stopped by initial position respectively, and this anglec of rotation is the angle that workpiece is broken away from from the friction welding machine clamp.
10. automatic emptying machine tool hand as claimed in claim 5 is characterized in that: two air inlet places of described rotary cylinder are equipped with two one-way throttle valves respectively.
CNU2007201190437U 2007-03-14 2007-03-14 Automatic-dumping manipulator Expired - Lifetime CN201020716Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNU2007201190437U CN201020716Y (en) 2007-03-14 2007-03-14 Automatic-dumping manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNU2007201190437U CN201020716Y (en) 2007-03-14 2007-03-14 Automatic-dumping manipulator

Publications (1)

Publication Number Publication Date
CN201020716Y true CN201020716Y (en) 2008-02-13

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Application Number Title Priority Date Filing Date
CNU2007201190437U Expired - Lifetime CN201020716Y (en) 2007-03-14 2007-03-14 Automatic-dumping manipulator

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103192400A (en) * 2012-01-05 2013-07-10 沈阳新松机器人自动化股份有限公司 End execution device of side-turn atmospheric mechanical hand
CN106956012A (en) * 2017-04-28 2017-07-18 杭州三奥智能科技有限公司 Traitorous spacing mechanism

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103192400A (en) * 2012-01-05 2013-07-10 沈阳新松机器人自动化股份有限公司 End execution device of side-turn atmospheric mechanical hand
CN106956012A (en) * 2017-04-28 2017-07-18 杭州三奥智能科技有限公司 Traitorous spacing mechanism

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Granted publication date: 20080213