CN202781171U - Front mechanical hand and workpiece grabbing turnover device - Google Patents
Front mechanical hand and workpiece grabbing turnover device Download PDFInfo
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- CN202781171U CN202781171U CN 201220322989 CN201220322989U CN202781171U CN 202781171 U CN202781171 U CN 202781171U CN 201220322989 CN201220322989 CN 201220322989 CN 201220322989 U CN201220322989 U CN 201220322989U CN 202781171 U CN202781171 U CN 202781171U
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- rod
- basic ring
- depression bar
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Abstract
The utility model provides a front mechanical hand which comprises a base ring, a grabbing air cylinder which is fixed on the upper side of the base ring, a rotating shaft support seat which is arranged on the lower side of the base ring, a left drag rod, a right drag rod, a left reversing compression rod and a right reversing compression rod. The grabbing air cylinder comprises a piston rod connection head which penetrates through the base ring, starting ends of the left drag rod and the right drag rod are hinged with the piston rod connection head of the grabbing air cylinder, and the final ends of the left drag rod and the right drag end are hinged with middle portions of the left reversing compression rod and the right reversing compression rod. Starting ends of the left reversing compression rod and the right reversing compression rod are hinged at the lower end of the rotating shaft support seat, and outward grabbing hooks are arranged at tail ends of the left reversing compression rod and the right reversing compression rod. The grabbing hooks which are arranged at the tail ends of the left reversing compression rod and the right reversing compression rod can firmly press workpieces in a reversing mode from the back of the workpieces, and is matched with positive force to reliably position the workpieces in an axial mode, wherein the positive force is exerted on the workpieces through the base ring. The front mechanical hand solves the problems of non-clamping rapid grabbing and on-line turnover of large and abnormal-shaped workpieces, is high in efficiency, can accurately and stably grab the workpieces, and does not damage the workpieces.
Description
[technical field]
The utility model relates to mechanical field, refers in particular to the mechanical device of the manipulator of a kind of front grabbing workpiece and the workpiece that can grasp and overturn.
[background technology]
Motor is carried out in the Assembling Production process, many times need workpiece turning is operated, the technology of grabbing workpiece has for example sucked type extraction and open-close type crawl on the existing assembly line, wherein the sucked type extracting method is especially for the extraction of glass, the unable upset that is applied to motor, and open-close type crawl is applied to the extraction of tire sometimes, and is simple in structure because of it, exert oneself littlely, can not be applied to workpiece grabbing and upset in the motor assembling.
At present, the general operating process that adopts as shown in Figure 1 of existing motor body turnover technology, it must leave workpiece under order assembly line operation (otherwise can damage assembly line), after workpiece turning operation purpose realizes, again workpiece is hung back assembly line.The upset order that this technology realizes as shown in Figure 1, when needs become sleeping attitude with workpiece by vertical attitude, 1 at first draws four jiaos of workpiece with four suspension hooks, the workpiece of slinging moves horizontally loop wheel machine, leaves workpiece under order assembly line and moves to ground surface platform; 2 shed two suspension hooks of workpiece one side, make workpiece tilt with the independent traction of other two suspension hooks, and the continuation traction makes workpiece approach vertical attitude, when horizontally tracting is ineffective, be aided with the people and try hard to recommend workpiece top, allow the workpiece center of gravity rotation direction side of tumbling, this moment can be with obvious impulsion, put rope, until fit in workpiece bottom and ground; 3 again with above the suspension hook traction workpiece, and workpiece is retracted assembly line.This technical disadvantages is that efficient is low, length consuming time; The workpiece that collides with easily during operation, injury; Erect and have the center sudden change in the process of workpiece, workpiece rocks acutely during operation, makes crane gear overwork, and personal security is constituted a threat to.
Be used at present also having a kind of clamp-type manipulator than the crawl of large-mass workpiece, two chopsticks roughly the same, the frictional force holding workpiece that relies on huge normal pressure to derive from, mostly its motion of finishing is that three-dimensional moves, and this Technology Need expends greater than a lot of clamping forces doubly of workpiece quality just can finish the clamping operation, wastes energy, efficient is low, and to workpiece meeting injury, also be not easy upset, this plant bulk is also huge to can't bear.
Therefore need to provide the workpiece grabbing turning device that a kind of efficient is high, workpiece damages less, handling safety is stable real in necessary.
[utility model content]
The purpose of this utility model is the front manipulator that a kind of efficient height, grabbing workpiece accurate stable is provided, do not damage workpiece.
Another purpose of the present utility model is to provide the crawl turning device that a kind of efficient is high, handling safety is stable, do not damage workpiece.
For realizing the utility model purpose, provide following technical scheme:
The utility model provides a kind of front manipulator, it comprises basic ring, be fixed on the crawl cylinder of this basic ring upside, be located at the shaft seating of this basic ring downside, left draw bar and right draw bar, left oppositely depression bar and right oppositely depression bar, this crawl cylinder includes piston rod attachment, and this piston rod attachment passes basic ring; The top of this left and right draw bar is hinged with the piston rod attachment of crawl cylinder, and the terminal of this left and right draw bar is hinged with the middle part of this left and right reverse depression bar; The top of this left and right reverse depression bar is articulated in this shaft seating lower end; The end of this left and right reverse depression bar is provided with outside pawl and colludes.
The pawl of this left and right reverse depression bar end colludes and can oppositely fasten workpiece from back of work, matches with the positive force that puts on workpiece by basic ring, and workpiece is reliably located in axial.The utility model has solved, and containment type large-scale, abnormal workpieces grasps rapidly and the difficult problem of overturning online, and this front manipulator efficient height, grabbing workpiece accurate stable, workpiece damage are lacked.
In some embodiments, this basic ring is vault type roof type, can avoid colliding between basic ring and the workpiece, for example avoids colliding with the Circular Winding of swelling.This basic ring is as the carrier is carrier that connects each other member.
In some embodiments, top and the terminal of this left and right draw bar are respectively equipped with pan, and the top of this left and right draw bar is realized coaxial hinged by total axis of traction and the piston rod attachment of crawl cylinder, form three bar intersection states.The middle part of this left and right reverse depression bar also is provided with pan, and the terminal hinge hole of this left and right draw bar is realized described hinged with the middle part pan of this left and right reverse depression bar by hinge.
This shaft seating lower end is provided with the bearing pin installing hole, and the top of this left and right reverse depression bar is articulated in the bearing pin installing hole of this shaft seating lower end by public bearing pin.
In some embodiments, this shaft seating is the chevron bearing.The bearing pin installing hole of this shaft seating lower end and the distance between the basic ring are greater than the move distance of piston rod attachment, the piston rod attachment of motion is in the overall process that its work is stretched vertically, lower and bearing pin installing hole, go up and basic ring between, all remain enough safe distances.
This public bearing pin, total axis of traction and cylinder piston knock-off joint on the same straight line, thereby make especially compactness of structure.
In some embodiments, this left and right reverse depression bar square that is as the criterion, and/or this left and right draw bar square that is as the criterion.The left and right reverse depression bar of collimation dihedral satisfies the effective avoidance to " access way aperture " when it is drawn in, when opening, can realize the ideal from the front power source is transformed, and implements the brute force of hole, assembly back side shoulder is compressed.The left and right draw bar of collimation dihedral, because its turning design, in time transmitting tractive power can be evaded again a bit interference of its material and its place ahead depression bar hinge etc.
The utility model front manipulator can be located workpiece at six-freedom degree entirely.
The utility model also provides a kind of workpiece grabbing turning device, and it comprises suspender, and comprises the above-mentioned front manipulator that is connected on the suspender, this suspender includes suspension rod, this suspension rod connects this basic ring both sides, and the junction is provided with hanging axis, can relatively rotate between this front manipulator and the suspension rod.Behind this front manipulator crawl workpiece, sling by this suspension rod, can realize online upset.
In some embodiments, also be provided with otic placode on the basic ring of described front manipulator, this suspension rod is fixedly connected with described otic placode by the hanging axis seat, this hanging axis is fixed in the hanging axis seat, this suspension rod end is provided with the suspension ring hole, can relatively rotate between hanging axis and the suspension ring hole, realize relatively rotating between front manipulator and the suspension rod by this structure.Relatively rotating also between front manipulator and the suspension rod can be adopted other implementations, and for example the relative hanging axis of basic ring is rotatable, and fixing between hanging axis and the suspension rod.
In some embodiments, this workpiece grabbing turning device also comprises switching mechanism, described switching mechanism comprises the upset cylinder that is connected on the suspension rod, the flipping block that links to each other with the piston rod of upset cylinder, this flipping block is flexibly connected by actuated peg with the piston-rod end of upset cylinder, and the otic placode on this flipping block and the basic ring is fixed.This switching mechanism can be realized grabbing workpiece and the upset workpiece repertoire of the utility model workpiece grabbing turning device.
The contrast prior art the utlity model has following advantage:
The utility model has solved, and containment type large-scale, abnormal workpieces grasps rapidly and the difficult problem of overturning online safety, efficient; Through verification experimental verification, adopt the crawl of the utility model device and upset workpiece, in 90 ° of 3 seconds of time of pure upset, about 30 seconds of non-cutting time of operation before and after adding, improve 8 times than before this off-line upset efficient.This front manipulator efficient height, grabbing workpiece accurate stable, do not damage workpiece.
[description of drawings]
Fig. 1 is the operation chart of prior art upset workpiece;
Fig. 2 is the structural representation that the utility model front manipulator rounding state is prepared grabbing workpiece;
Fig. 3 is the structural representation of the utility model front manipulator crawl work status;
Fig. 4 is the structural representation of the utility model workpiece grabbing turning device;
Fig. 5 is the phantom of the utility model workpiece grabbing turning device.
[specific embodiment]
See also Fig. 2 and Fig. 3, the utility model front manipulator comprises basic ring 6, is fixed on the crawl cylinder 7 of these basic ring 6 upsides, is located at shaft seating 9, left draw bar 4 and the right draw bar 10 of these basic ring 6 downsides, left oppositely depression bar 2 and right oppositely depression bar 14, this basic ring 6 is vault type roof type, can avoid colliding between basic ring and the workpiece, this crawl cylinder 7 includes piston rod attachment 8, and this piston rod attachment 8 passes basic ring 6.
This left and right reverse depression bar 2,14 top are articulated in this shaft seating 9 lower ends; This left and right reverse depression bar 2,14 end are provided with outside pawl and collude.The pawl of this left and right reverse depression bar 2,14 ends colludes and can oppositely fasten workpiece from back of work, matches with the positive force that puts on workpiece by basic ring, and workpiece is reliably located in axial.
This left and right draw bar 4,10 top and terminal are respectively equipped with pan (indicating), and the top of this left and right draw bar is coaxial hinged with piston rod attachment 8 realizations of crawl cylinder 7 by total axis of traction 5, forms three bar intersection states.This left and right reverse depression bar 2,14 middle part also are provided with pan (indicating), and this left and right draw bar 4,10 terminal hinge hole and this left and right reverse depression bar 2,14 middle part pan are described hinged by hinge 3,13 realizations.
This shaft seating 9 is the chevron bearing, and this shaft seating lower end is provided with bearing pin installing hole (indicate), and this left and right reverse depression bar 2,14 top are articulated in the bearing pin installing hole of these shaft seating 9 lower ends by public bearing pin 11.
Distance between the bearing pin installing hole of these shaft seating 9 lower ends and basic ring 6 domes is greater than the move distance of piston rod attachment 8, the piston rod attachment 8 of motion is in the overall process that its work is stretched vertically, lower and bearing pin installing hole, go up and basic ring 6 between, all remain enough safe distances.
This public bearing pin 11, total axis of traction 5 and cylinder piston knock-off joint 8 on the same straight line, thereby make structure compact especially.
As shown in Figure 2, this left and right reverse depression bar 2,14 and this left and right draw bar 4,10 be the collimation dihedral.The left and right reverse depression bar of collimation dihedral satisfies the effective avoidance to " access way aperture " when it is drawn in, when opening, can realize the ideal from the front power source is transformed, and implements the brute force of hole, assembly back side shoulder is compressed.The left and right draw bar of collimation dihedral, because its turning design, in time transmitting tractive power can be evaded again a bit interference of its material and its place ahead depression bar hinge etc.
The large seam cylindrical of this basic ring 6 gos deep in the support hole of workpiece, fits with workpiece front inner stopper, defines workpiece with respect to this front manipulator one-movement-freedom-degree along X, Y both direction in horizontal plane.
See also Fig. 4 and Fig. 5, the utility model workpiece grabbing turning device, it comprises suspender 20, and be connected to above-mentioned front manipulator on the suspender 20, this suspender 20 includes suspension rod 21, this suspension rod 21 connects basic ring 6 both sides of this front manipulator, also be provided with otic placode 15 on the basic ring 6 of described front manipulator, this suspension rod 20 is fixedly connected with described otic placode 15 by hanging axis seat 22, the junction is provided with hanging axis 12, and this hanging axis 12 is fixed in hanging axis seat 22, and these suspension rod 20 ends are provided with suspension ring hole 23, can relatively rotate between hanging axis 12 and the suspension ring hole 23, realize relatively rotating between front manipulator and the suspension rod by this structure.Behind this front manipulator crawl workpiece, sling by this suspension rod, can realize online upset.
This workpiece grabbing turning device also comprises switching mechanism, described switching mechanism comprises the upset cylinder 19 that is connected on the suspension rod 20, the flipping block 16 that links to each other with the piston rod of upset cylinder, this flipping block 16 is flexibly connected by actuated peg 17 with the piston-rod end of upset cylinder 19, and this flipping block 16 is fixing with the otic placode 15 on the basic ring 6.
The utility model front manipulator can be located workpiece at six-freedom degree entirely, is respectively three one-movement-freedom-degrees and three rotational freedoms:
Basic ring large seam cylindrical down gos deep in the support hole of workpiece, defines workpiece with respect to this front manipulator one-movement-freedom-degree along X, Y both direction in horizontal plane;
The pawl of left and right reverse depression bar collude plane and basic ring down between the large seam plane (annular) to the locking of workpiece motion s, define another free degree that workpiece moves along the vertical Z-direction relative to the front manipulator;
Suitably greater than the master cylinder thrust of workpiece quality, make workpiece can not rotate around Z axis, one of this limit rotational freedom;
Take the large seam of basic ring plane as backing, exerting pressure of left and right reverse depression bar held concurrently and effectively prevented again workpiece around X-axis, around the rotation of Y-axis, and this limits again two rotational freedoms.
This switching mechanism can be realized grabbing workpiece and the upset workpiece repertoire of the utility model workpiece grabbing turning device, and turning workpiece is arbitrarily angled to be rotated freely, for example can the workpiece of putting be held with facing upward, become vertical attitude behind the half-twist and put down, the concrete operations principle is as follows:
1) crawl cylinder 7 back cavities inflation, short piston rod and piston rod attachment 8 stretch out;
2) total axis of traction 5 push away left and right draw bar 4,10 affect left and right reverse depression bar 2,14 simultaneously constant speed to center line deflection, until left and right reverse depression bar 2, two pawls of 14 collude the tip distance less than support aperture (pawl is passage);
3) loosen gently the hitching machinery hand, make basic ring 6 large seams and workpiece front inner stopper fit, at this moment, two pawls that drawn in collude the below that naturally is positioned at back of work hole shoulder;
4) crawl cylinder 7 ante-chambers inflation, piston rod attachment 8 is packed up;
5) piston rod attachment 8 makes its court away from centerline direction deflection by left and right drawbar member 4, the left and right reverse Strut Part 2,14 that affects of 10 whiles; Until left and right reverse depression bar 2,14 two pawls collude in the plane blocked by back of work hole shoulder, the piston rod attachment 8 of crawl cylinder 7 still has no small upward stroke not cover, so two pawls collude just under the support of basic ring 6, and workpiece has been finished reliable location;
6) the front manipulator that will entirely locate the workpiece 6DOF by suspender 20 winch to and can rotate freely height;
7) the piston rod telescopic movable of upset cylinder 19, the flipping block 16 that connects by actuated peg 17 is rotated for the axle center around hanging axis 12,12 of the suspension ring hole 23 of suspension rod 21 lower ends and hanging axises are slidingly matched, actuated peg 17 on it is to the distance at hanging axis 12 centers, radius is actuated in formation, under the condition of upset cylinder 19 inflations, can facilitate whole manipulator to take the smooth rotation of workpiece, hanging axis seat 22, otic placode 15 and the basic ring 6 and the workpiece that are fixedly connected with flipping block 16 also rotate;
8) after rotary turning cylinder 19 will grip the light half-twist of front manipulator of workpiece, put down in the vertical attitude workpiece, front manipulator reverse operating above-mentioned steps unclamp, draw in action, the operator can easily draw this manipulator away from workpiece.
The above only is preferred embodiment of the present utility model, and protection domain of the present utility model is not limited to this, anyly all belongs within the utility model protection domain based on the equivalent transformation on the technical solutions of the utility model.
Claims (10)
1. front manipulator is characterized in that it comprises:
Basic ring;
The crawl cylinder includes piston rod attachment, and this crawl cylinder is fixed on this basic ring upside, and this piston rod attachment passes basic ring;
Be located at the shaft seating of this basic ring downside;
Left draw bar and right draw bar;
Left oppositely depression bar and right oppositely depression bar;
The top of this left and right draw bar is hinged with the piston rod attachment of crawl cylinder, and the terminal of this left and right draw bar is hinged with the middle part of this left and right reverse depression bar; The top of this left and right reverse depression bar is articulated in this shaft seating lower end; The end of this left and right reverse depression bar is provided with outside pawl and colludes.
2. front as claimed in claim 1 manipulator is characterized in that this basic ring is vault type roof type.
3. front as claimed in claim 2 manipulator, it is characterized in that, top and the terminal of this left and right draw bar are respectively equipped with pan, the top of this left and right draw bar is realized coaxial hinged by total axis of traction and the piston rod attachment of crawl cylinder, the middle part of this left and right reverse depression bar also is provided with pan, and the terminal hinge hole of this left and right draw bar is realized described hinged with the middle part pan of this left and right reverse depression bar by hinge.
4. front as claimed in claim 3 manipulator is characterized in that this shaft seating is the chevron bearing.
5. front as claimed in claim 4 manipulator is characterized in that this shaft seating lower end is provided with the bearing pin installing hole, and the top of this left and right reverse depression bar is articulated in the bearing pin installing hole of this shaft seating lower end by public bearing pin.
6. front as claimed in claim 5 manipulator is characterized in that the bearing pin installing hole of this shaft seating lower end and the distance between the basic ring are greater than the move distance of piston rod attachment.
7. front as claimed in claim 1 manipulator is characterized in that, this left and right reverse depression bar square that is as the criterion, and/or this left and right draw bar square that is as the criterion.
8. workpiece grabbing turning device, it is characterized in that, it comprises suspender, and comprise be connected on the suspender such as each described front manipulator of claim 1 ~ 7, this suspender includes suspension rod, this suspension rod connects this basic ring both sides, and the junction is provided with hanging axis, can relatively rotate between this front manipulator and the suspension rod.
9. workpiece grabbing turning device as claimed in claim 8, it is characterized in that, also be provided with otic placode on the basic ring of described front manipulator, this suspension rod is fixedly connected with described otic placode by the hanging axis seat, this hanging axis is fixed in the hanging axis seat, this suspension rod end is provided with the suspension ring hole, can relatively rotate between hanging axis and the suspension ring hole.
10. workpiece grabbing turning device as claimed in claim 9, it is characterized in that, it further comprises switching mechanism, described switching mechanism comprises the upset cylinder that is connected on the suspension rod, the flipping block that links to each other with the piston rod of upset cylinder, this flipping block is flexibly connected by actuated peg with the piston-rod end of upset cylinder, and the otic placode on this flipping block and the basic ring is fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220322989 CN202781171U (en) | 2012-07-05 | 2012-07-05 | Front mechanical hand and workpiece grabbing turnover device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220322989 CN202781171U (en) | 2012-07-05 | 2012-07-05 | Front mechanical hand and workpiece grabbing turnover device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202781171U true CN202781171U (en) | 2013-03-13 |
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ID=47808505
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220322989 Expired - Lifetime CN202781171U (en) | 2012-07-05 | 2012-07-05 | Front mechanical hand and workpiece grabbing turnover device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202781171U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102717388A (en) * | 2012-07-05 | 2012-10-10 | 日立电梯电机（广州）有限公司 | Front manipulator and workpiece grabbing and overturning device |
| CN103224194A (en) * | 2013-04-23 | 2013-07-31 | 大连德新机电技术工程有限公司 | Coiling iron core overturning and hoisting apparatus |
-
2012
- 2012-07-05 CN CN 201220322989 patent/CN202781171U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102717388A (en) * | 2012-07-05 | 2012-10-10 | 日立电梯电机（广州）有限公司 | Front manipulator and workpiece grabbing and overturning device |
| CN103224194A (en) * | 2013-04-23 | 2013-07-31 | 大连德新机电技术工程有限公司 | Coiling iron core overturning and hoisting apparatus |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130313 |
|
| CX01 | Expiry of patent term |