CN202137630U - Electric four-station rotary wrist - Google Patents
Electric four-station rotary wrist Download PDFInfo
- Publication number
- CN202137630U CN202137630U CN201120251215U CN201120251215U CN202137630U CN 202137630 U CN202137630 U CN 202137630U CN 201120251215 U CN201120251215 U CN 201120251215U CN 201120251215 U CN201120251215 U CN 201120251215U CN 202137630 U CN202137630 U CN 202137630U
- Authority
- CN
- China
- Prior art keywords
- output shaft
- frame
- wrist
- disk
- fixed
- 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.)
- Expired - Fee Related
Links
Images
Abstract
The utility model relates to auxiliary equipment in machining, in particular to an electric four-station rotary wrist, which comprises a frame of an electrical control device and a rotary wrist mounted on the frame. The electric four-station rotary wrist is characterized in that the rotary wrist comprises an output shaft, a positioning disk, a driven wheel and a rotation position ordering disk, the output shaft is rotatably mounted on the frame, and the positioning disk, the driven wheel and the rotation position ordering disk are fixed onto the output shaft. Four 'U'-shaped positioning grooves are uniformly distributed on the circumference of the positioning disk, a positioning pin matched with the 'U'-shaped positioning grooves is mounted at the end of a piston rod of a positioning cylinder, and the positioning cylinder is fixed onto the frame. A position sensor is mounted on the frame and matched with the rotation position ordering disk, a driving wheel is fixed onto an output shaft of a motor with a speed reducer, a cog belt or a chain is mounted between the driving wheel and a driven wheel, and a connecting plate for mounting of a claw is fixed to one end of the output shaft. The electric four-station rotary wrist has the advantages of simple and reliable structure, low cost, small size, simplicity in mounting and adjustment, easiness in maintenance, lightness in weight, convenience, attractiveness and the like.
Description
Technical field
The utility model relates to the auxiliary equipment in the machining, particularly a kind of electronic four stations rotation wrist.
Background technology
In the modern industrialization production process; It is very limited enhancing productivity through the performance that improves production equipment merely; And the intervention of automation auxiliary equipment; Can the mankind be freed from the numerous and diverse manual labor of dullness on the one hand, have only the industrialization of realization fully-automatic production on the other hand, be only the final solution of enhancing productivity and improving.
One of key technology of in mechanical processing process, enhancing productivity is to realize the function of automatic loading/unloading, and in each manufacturing procedure and in the logistics different placement attitudes is arranged automatically, wherein the most general position relation is exchanging of vertical, horizontal level like part.The truss manipulator mainly is made up of transverse axis, vertical pivot, wrist, paw, can realize that the vertical up and down of part position moves and horizontally rotate.Because the truss-like manipulator has simple in structure, easy to maintenance, processing ease, high performance-price ratio and to advantages such as the machine reformation amount are little; Mechanical processing industry is promoted rapidly at home just gradually; But this type of present manipulator is owing to can only realize the conversion of two stations of horizontal level; Promptly 0 ° → 90 ° or 0 ° → 180 ° or 0 ° → 270 ° rotations have restricted the user demand of truss-like manipulator to a certain extent.And can realize 0 ° → 90 ° → 180 ° three stations and four station manipulators of 0 ° → 90 ° → 180 ° → 270 ° of rotations; Mainly be to adopt import; And structure is very complicated, cost an arm and a leg, and physical dimension is all solidified simultaneously, and the integral body that is not easy to domestic existing equipment is arranged and installed.
Summary of the invention
The purpose of the utility model is to overcome above-mentioned existing in prior technology defective, and the electronic four stations rotation wrist that a kind of versatility is good, simple and reliable for structure, cost is low is provided.
The utility model is realized through following skill scheme: a kind of electronic four stations rotation wrist; Comprise electrical control gear, frame, rack-mounted rotatable wrist; It is characterized in that above-mentioned wrist by rotatable rack-mounted output shaft be fixed on discoid positioning disk, follower and transposition on the output shaft dish of issuing an order and form; On the circumference of discoid positioning disk, be uniformly distributed with and have 4 " U " shape locating slots, the alignment pin that matches with " U " shape locating slot is installed in the piston rod end in the positional cylinder, and positional cylinder is fixed on the frame; Rack-mounted position sensor and transposition are issued an order to coil and are matched; Driving wheel is fixed on the motor output shaft of band decelerator, and cog belt or chain are installed between driving wheel and the follower, is fixed with the terminal pad that is used to install paw at an end of output shaft.
Above-mentioned positional cylinder is cylinder or oil cylinder.Above-mentioned position sensor is two.
The magnetic valve that the motor of above-mentioned band decelerator, position sensor and control positional cylinder move is all controlled through electrical control gear.
The utlity model has following characteristics: this device rotates in 0 ° of-270 ° of scope through the driven by motor output shaft; Simultaneously on output shaft, installed the discoid positioning disk that can be accurately 0 °, 90 °, 180 °, 270 ° four positions be positioned and with the supporting alignment pin of positioning disk; So just can realize the accurate location of four stations; Through position sensor and the associated transposition dish of issuing an order, can realize the location of four stations, the close fit and the transposition rapidly of switching simultaneously.Issue an order through position sensor and associated transposition simultaneously and coil and electrical control gear, just can realize rapid location, switching and the transposition of four stations, utilize two position sensors to respond to the phase change of issuing an order and coiling simultaneously, tell four phase places of wrist.Two sensors are formed four composite signals according to sense state: 00,01,11,10; Four unique positions of four corresponding wrists of composite signal difference.Rotation is divided into: forward single action, reverse single action and leap are rotated, concrete relation such as following table of rotating;
In the last table, ↑: 90 ° of single step main storys, ↓: 90 ° of single step counter-rotatings, ↑ ↑: just changeing promptly 180 ° of 2 positions, ↓ ↓: two positions of reversing are-180 °, ↑ ↑ ↑: promptly 270 ° of 3 positions of main story, ↓ ↓ ↓: two positions of reversing are-270 °.Dish is installed in output shaft because location, transposition are issued an order; The terminal pad that is used to install paw simultaneously is installed in an end of output shaft; Characteristics such as it is simple and reliable for structure that this wrist is had, and cost is low, volume is little, the installation adjustment is simple, be easy to safeguard, light, attractive in appearance.
Description of drawings
Accompanying drawing 2 is 45 ° of structural representations of the utility model rotation.
The specific embodiment
As shown in Figure 1, be installed with the motor 12 of being with decelerator in the upper end of frame 3, on the output shaft 2 of the motor of being with decelerator, be installed with driving wheel 1.The rotatable output shaft 10 that is equipped with in the lower end of frame is installed with discoid positioning disk 7, follower 9 and the transposition dish 8 of issuing an order on output shaft, cog belt 11 is installed between driving wheel and the follower.On the circumference of discoid positioning disk, be uniformly distributed with and have 4 " U " shape locating slots, the alignment pin 5 that matches with " U " shape locating slot is installed in the piston rod end in the positional cylinder 4, and positional cylinder 4 is fixed on the frame.Position sensor 6 is installed in frame, and matches with the transposition dish of issuing an order, and is fixed with the terminal pad that is used to install paw at an end of output shaft.
Can adopt cylinder or oil cylinder according to the above-mentioned positional cylinder 4 of on-site actual situations.
During work, install corresponding paw, and make whole wrist be in 0 ° of position shown in Figure 1 at an end of output shaft 10; After sending instruction through electrical control gear, positional cylinder 4 moves up, and drives alignment pin 5 and upwards breaks away from " U " shape locating slot on the discoid positioning disk 7; As shown in Figure 2, the motor 12 of band decelerator rotates the paw that drives on the output shafts and rotates, and drives discoid positioning disk, the transposition dish 8 of issuing an order simultaneously and rotates; The position that position sensor 6 is issued an order and coiled through the detection transposition, and be the electrical control gear feedback signal, the rotation of the motor of control band decelerator; When turning to 90 ° of positions, the motor of band decelerator stops, and positional cylinder 4 moves down simultaneously; Drive alignment pin 5 and insert " U " shape locating slot on the discoid positioning disk 7 downwards, the work of a station is accomplished in the paw action, repeats said process then; Just carry out the rotation of 90 ° → 180 ° → 270 ° of two stations, get back to 0 ° original position then by 270 ° of reverse rotations, accomplish an operation cycle.
Claims (4)
1. electronic four stations rotate wrist; Comprise electrical control gear, frame, rack-mounted rotatable wrist; It is characterized in that above-mentioned wrist by rotatable be installed in the output shaft (10) on the frame (3) and be fixed on discoid positioning disk (7), follower (9) and transposition on the output shaft dish (8) of issuing an order form; On the circumference of discoid positioning disk (7), be uniformly distributed with and have 4 " U " shape locating slots; The alignment pin (5) that matches with " U " shape locating slot is installed in the piston rod end in the positional cylinder (4); Positional cylinder (4) is fixed on the frame (3), and rack-mounted position sensor (6) and the transposition dish (8) of issuing an order matches, and driving wheel (1) is fixed on motor (12) output shaft (2) of being with decelerator; Between driving wheel (1) and the follower (9) cog belt or chain are installed, are fixed with the terminal pad that is used to install paw at an end of output shaft (10).
2. electronic four stations rotation wrist according to claim 1 is characterized in that above-mentioned positional cylinder (4) is cylinder or oil cylinder.
3. electronic four stations rotation wrist according to claim 2 is characterized in that above-mentioned position sensor (6) is two.
4. electronic four stations rotation wrist according to claim 3 is characterized in that motor (12), position sensor (6) and the mobile magnetic valve of control positional cylinder (4) of above-mentioned band decelerator all controlled through electrical control gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120251215U CN202137630U (en) | 2011-07-18 | 2011-07-18 | Electric four-station rotary wrist |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120251215U CN202137630U (en) | 2011-07-18 | 2011-07-18 | Electric four-station rotary wrist |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202137630U true CN202137630U (en) | 2012-02-08 |
Family
ID=45548708
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201120251215U Expired - Fee Related CN202137630U (en) | 2011-07-18 | 2011-07-18 | Electric four-station rotary wrist |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202137630U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103433920A (en) * | 2013-09-04 | 2013-12-11 | 宁夏巨能机器人系统有限公司 | Heavy electric four-position wrist |
| CN104528378A (en) * | 2014-12-26 | 2015-04-22 | 中国重型机械研究院股份公司 | Pipe clamping taking structure and method |
| CN107718037A (en) * | 2017-09-28 | 2018-02-23 | 李从宾 | A kind of bascule of articulated robot |
-
2011
- 2011-07-18 CN CN201120251215U patent/CN202137630U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103433920A (en) * | 2013-09-04 | 2013-12-11 | 宁夏巨能机器人系统有限公司 | Heavy electric four-position wrist |
| CN103433920B (en) * | 2013-09-04 | 2015-11-11 | 宁夏巨能机器人系统有限公司 | Heavy type electric four station wrist |
| CN104528378A (en) * | 2014-12-26 | 2015-04-22 | 中国重型机械研究院股份公司 | Pipe clamping taking structure and method |
| CN107718037A (en) * | 2017-09-28 | 2018-02-23 | 李从宾 | A kind of bascule of articulated robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203792350U (en) | Connecting rod slider type mechanical gripper | |
| CN103612379B (en) | A kind of detent mechanism of clamping part of manipulator of bottle blowing machine | |
| CN203109692U (en) | Vertical-type numerically-controlled machine tool main shaft swinging device | |
| CN204036450U (en) | Feeding robot | |
| CN202621829U (en) | Three-arm housing manufacturing manipulator | |
| CN202137630U (en) | Electric four-station rotary wrist | |
| CN202481999U (en) | Lifting device for lead frame | |
| CN102284882B (en) | Gas-liquid linked four-station rotary wrist | |
| CN203637152U (en) | Locating mechanism for clamping section of bottle blowing machine manipulator | |
| CN205129491U (en) | Tool turning device | |
| CN202805194U (en) | Automatic manipulator for trundle bracket press line | |
| CN202147173U (en) | Gas-liquid-linked four-station rotary wrist | |
| CN205668438U (en) | A kind of transfer apparatus of full automatic Plastic Drum | |
| CN111003585B (en) | Directional rotating mechanical device of winding equipment | |
| CN206485900U (en) | A kind of circular conveyer | |
| CN202655576U (en) | Hydraulic intermittent indexing mechanism | |
| CN205290938U (en) | High efficiency robot | |
| CN205571413U (en) | Portable numerical control method is processingequipment even | |
| CN202846361U (en) | Rotating drive device of rotating rack | |
| CN204857446U (en) | Wire winding apparatus | |
| CN204685898U (en) | A kind of control system based on numerical control wire bending machine device people | |
| CN209466255U (en) | A kind of vanning robot | |
| CN203618432U (en) | Seed holding device of automatic seed-charging type self-positioning grating machine | |
| CN202921657U (en) | Steel bar splitting device | |
| CN202570493U (en) | Three-axis mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120208 Termination date: 20160718 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |