CN204935648U - Spring takes out robot - Google Patents
Spring takes out robot Download PDFInfo
- Publication number
- CN204935648U CN204935648U CN201520604146.7U CN201520604146U CN204935648U CN 204935648 U CN204935648 U CN 204935648U CN 201520604146 U CN201520604146 U CN 201520604146U CN 204935648 U CN204935648 U CN 204935648U
- Authority
- CN
- China
- Prior art keywords
- cylinder
- vertical axis
- lateral shaft
- rotary flange
- 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
Landscapes
- Manipulator (AREA)
- Actuator (AREA)
Abstract
A kind of spring takes out robot, for taking out spring in coiling machine.Cylinder two cylinder barrel is fixed on body, and piston rod is connected with rotary flange one end, and the rotary flange other end is connected with lateral shaft, rotary flange is connected with body by rotating standard shaft, cylinder two piston rod ejects, and rotary flange rotates around rotation standard shaft, and lateral shaft and vertical axis are together overturn; Cylinder one drives vertical axis contiguous block to do horizontal motion on cross slide way, and cylinder three drives vertical axis to do movement in vertical direction on vertical guide rail; Paw is for splitting side set type paw; Be provided with bottom base plate and can realize robot quick position and take turns with fixing good fortune horse.The spring arranged packing only need carry out by the utility model operating personnel, operating efficiency is high, can not only well control spring output time state, and machine contraposition fast and accurately can be realized, system compatibility is strong, is applicable to all coiling machines, and it is large that paw captures quality, good clamping effect, applied range.
Description
Technical field
The utility model relates to robot automation's technical field, specifically a kind of robot for taking out spring in coiling machine.
Background technology
At present, the production of spring mainly relies on coiling machine.Under normal circumstances, spring is mostly directly fall in box on the ground in process of production, or directly falls on the ground, to be produced after some by manually picking up carrying.General small spring directly can fall into box, but some its length is longer, falls into difficulty in box.Similar products are all directly drop outside coiling machine after manufacturing at present, cause very large difficulty, because its length is longer, easily pull in picking up to follow-up manual sorting, and deformation occurs, and can only slowly sort one by one, operating efficiency is extremely low.
Summary of the invention
For overcoming the deficiencies in the prior art, goal of the invention of the present utility model is to provide a kind of spring to take out robot, make coiling machine catch taking-up when cutting off spring by robot, and the slideway ordered arrangement being placed into setting skids off.
For realizing above-mentioned utility model object, the cylinder barrel of cylinder two of the present utility model is fixed on body, the piston rod of cylinder two is connected with one end of rotary flange, the other end of rotary flange is connected with lateral shaft, rotary flange is connected with body by rotating standard shaft, the piston rod of cylinder two ejects, and rotary flange rotates around rotation standard shaft, and lateral shaft and vertical axis are together overturn; Cylinder one drives vertical axis contiguous block to do horizontal motion on the cross slide way of lateral shaft, and cylinder three drives vertical axis to do movement in vertical direction on vertical guide rail, and the paw of vertical axis lower end clamps and unclamps action; Described paw is for splitting side set type paw; The bottom of base plate is provided with four and can realizes robot quick position and take turns with fixing good fortune horse.
Described rotary flange is provided with anglec of rotation regulating tank, one end connecting screw rod of fine setting Connection Block, the other end is connected with fine setting screw rod, screw rod is connected with the piston rod of cylinder two, fine setting rotary flange is connected with rotation standard shaft, one end of fine setting rotating shaft is connected with fine setting rotary flange, and the other end is connected with fine setting screw rod.
The cylinder barrel of described cylinder one is fixed on lateral shaft by lateral shaft air cylinder fixed plate, the piston rod of cylinder one is fixed on vertical axis contiguous block by lateral shaft cylinder gim peg and lateral shaft cylinder stopper, lateral shaft air cylinder fixed plate is connected with vertical axis fixed head, vertical axis fixed head is connected with vertical axis contiguous block, makes lateral shaft and vertical axis be linked to be an entirety; The cylinder barrel of cylinder three is fixed by vertical axis air cylinder fixed plate and vertical axis contiguous block, the piston rod of cylinder three is locked on gripper fixed head by vertical axis cylinder gim peg and stop nut, the lower end of vertical axis is connected with gripper fixed head, vertical axis fixed head and vertical axis contiguous block are locked respectively and has slide block, vertical axis and lateral shaft are locked respectively vertical guide rail and cross slide way.
The upper end of described vertical axis is provided with vertical limited block, is reduced the impulsive force of vertical axis by the buffer on vertical axis contiguous block; Vertical axis top is provided with the vertical axis fine setting screw rod for fine adjustment of vertical axle stroke; One end of lateral shaft is provided with cross spacing block, is reduced the impulsive force of lateral shaft motion by horizontal buffer.
Described vertical axis fixed head is by stopping that air cylinder fixed plate is connected with stop cylinder.
Described paw is connected on parallel cylinder, parallel cylinder connects with parallel cylinder contiguous block, one end of one piece in two pieces of backplates connects with parallel cylinder contiguous block, fixed axis to be wrapped up by nut and locks by two pieces of backplates, one end of fixed axis is connected with posture portion connecting plate, and posture portion connecting plate is connected on gripper fixed head.
Described base plate and square steel, reinforcement and square steel one are welded to form base, and the bottom of base is provided with four good fortune horse wheels; The top of base is provided with one section of mechanism for adjusting base height, and square steel two inserts the inside of square steel one, and the side of square steel two is provided with guide rail, and base disk is connected with rotation dispatcher's board, rotates dispatcher's board and is connected with body, rotates dispatcher's board and rotates around axle.
Pressure regulator valve is equipped with in the side of described square steel one, and one end access external air source of pressure regulator valve, the other end is dispensed to magnetic valve cylinder manifold by three-way connection and stops cylinder.
The utility model coiling machine cut off spring time by robot coordinated mechanical arm alignment springs, and by paw gripping, spring is placed into correct position, mechanical arm as power, completes the rotation of robot, horizontal traveling, the moving up and down of vertical axis by cylinder respectively.
The utility model compared with prior art, the spring arranged packing only need carry out by operating personnel, decrease artificial, improve operating efficiency, structure is simple, and result of use is good, and cost is lower, can not only well control spring output time state, and machine contraposition fast and accurately can be realized; System compatibility is strong, devises different types of fixture, is applicable to all coiling machines, and it is large that paw captures quality, and good clamping effect, can capture the product of at least 3kg, applied range.
Accompanying drawing explanation
Fig. 1 is the utility model shaft side figure.
Fig. 2 is the superstructure figure of Fig. 1.
Fig. 3 is the side view of Fig. 2.
Fig. 4 is the paw clamp structure figure of Fig. 2.
Fig. 5 is the lower base structure chart of Fig. 1.
Fig. 6 is the shaft side figure of Fig. 2.
Detailed description of the invention
As Fig. 1, Fig. 2, shown in Fig. 3, rotary flange 2 is connected with body 1 by rotating standard shaft 3, the cylinder barrel of cylinder 2 11 is connected on body 1, the piston rod of cylinder 2 11 is connected with one end of rotary flange 2, the other end of rotary flange 2 is connected with lateral shaft 4, when the piston rod of cylinder 2 11 ejects, rotary flange 2 rotates around rotation standard shaft 3, thus make whole lateral shaft 4 and vertical axis 25 also overturn certain angle, rotary flange 2 is designed with one section of angular adjustment groove, locking nut is unclamped, be slidably connected the screw rod of rotary flange 2 and piston rod to correct position, then locking nut is locked, the i.e. angle (≤90 °) that overturns of adjustable lateral shaft 4 and vertical axis 25.The cylinder barrel of cylinder 1 is fixed by lateral shaft air cylinder fixed plate 18, the piston rod of cylinder 1 is fixed on vertical axis contiguous block 20 by lateral shaft cylinder gim peg 6 and lateral shaft cylinder stopper 5, lateral shaft air cylinder fixed plate 18 is connected with vertical axis fixed head 19, vertical axis fixed head 19 is connected with vertical axis contiguous block 20 again, thus makes lateral shaft 4 and vertical axis 25 be linked to be an entirety.The cylinder barrel of cylinder 3 26 is fixed together by vertical axis air cylinder fixed plate 27 and vertical axis contiguous block 20, the piston rod of cylinder 3 26 is locked on gripper fixed head 14 by vertical axis cylinder gim peg 28 and stop nut, the lower end of vertical axis 25 is connected with gripper fixed head 14, vertical axis fixed head 19 with vertical axis contiguous block 20 are locked respectively and has slide block 17, vertical axis 25 and lateral shaft 4 are locked respectively and has vertical guide rail 24 and cross slide way 8, when the piston rod of cylinder 3 26 and cylinder 1 ejects, cylinder 1 drives vertical axis contiguous block 20 to do horizontal motion on the cross slide way of lateral shaft 4, cylinder 3 26 drives vertical axis 25 to do movement in vertical direction on vertical guide rail, the paw 12 of vertical axis 25 lower end clamps and unclamps action, paw 12 is connected on parallel cylinder 13, in addition, be provided with vertical limited block 23 in the upper end of vertical axis 25, can be limited the stroke of vertical axis 25, the impulsive force of being moved to reduce vertical axis 25 by the buffer 21 on vertical axis contiguous block 20, vertical axis 25 top is provided with the vertical axis fine setting screw rod 22 for fine adjustment of vertical axle 25 stroke, one end of lateral shaft 4 is provided with cross spacing block 9, is limited the stroke of lateral shaft 4, the impulsive force of being moved to reduce lateral shaft 4 by horizontal buffer 10.Stop that cylinder 15 is by stopping that air cylinder fixed plate 16 to be connected on vertical axis fixed head on 19, stop that cylinder 15 is in airproof situation, stop that the piston rod of cylinder 15 is in the state of ejecting, block one end of gripper fixed head 14, thus whole vertical axis 25 can not be fallen down when disconnecting source of the gas; In equipment normal course of operation, stop that the piston rod of cylinder 15 is in return state.
As shown in Figure 4, paw 12 is connected on parallel cylinder 13, parallel cylinder 13 connects with parallel cylinder contiguous block 31, one end of one piece in two pieces of backplates 32 connects with parallel cylinder contiguous block 31, fixed axis 33 to be wrapped up by nut and locks by two pieces of backplates 32, one end of fixed axis 33 is connected with posture portion connecting plate 34, and posture portion connecting plate 34 is connected on gripper fixed head.In adjustment workpiece contraposition process, for different bending springs, by the utility model can be flexible and changeable adapt to relevant position requirement, unclamp three nuts of backplate 32 side, with hand, backplate 32 is turned to the angle of applicable gripping workpiece around fixed axis 33, and the position of just gripping workpiece is outwards moved to along fixed axis 33, then lock three nuts of backplate 32 side, the angle of paw fixture and the adjustment of position can be completed.It is larger that side set type of the splitting paw 12 of the utility model original creation compares common duck-beak type paw clamping force, gripping better effects if, can the product of gripping at least 3kg.
As shown in Figure 5, base plate 37 welds with square steel 36, reinforcement 38 and square steel 1 and forms base, the bottom of base is provided with four good fortune horse wheels 35, the quick position of whole manipulator can be realized with fixing, after robotic device and coiling machine relative position are fixed, locking good fortune horse wheel 35 can by the locking position of equipment, convenient and swift; The top of base is provided with one section of mechanism for adjusting base height, square steel 2 42 inserts the inside of square steel 1, the side of square steel 2 42 is provided with guide rail 41, square steel 2 42 can along the direction oscilaltion of slide rail 41, regulative mode can adopt servo-drive and hand screw two kinds of regulative modes, make it can realize fast lifting and fine setting lifting, thus adapt to the demand of the coiling machine of differing heights; Base disk 43 is connected with rotation dispatcher's board 44, rotates dispatcher's board 44 and is connected with body, and rotate dispatcher's board 44 and rotate around axle 45, whole base quality is about 245kg, produces rock to prevent manipulator in motion process.After unclamping the bolt of base disk 43, rotation dispatcher's board 44 can be regulated to rotate around axle 45, whole manipulator can be rotated in the horizontal direction.Pressure regulator valve 40 is fixed on the side of square steel 1, pressure regulator valve 40 one end access external air source, and the other end is dispensed to magnetic valve cylinder manifold by three-way connection and stops cylinder, and general air pressure is adjusted to 0.5Mpa.
As shown in Figure 6, the utility model devises simple and practical micro-adjusting mechanism, thus in the process that lateral shaft 4 and vertical axis 4 are overturn, angle is controlled, regulates convenient.Rotary flange is provided with anglec of rotation regulating tank 53, one end connecting screw rod 48 of fine setting Connection Block 49, the other end is connected with fine setting screw rod 52, screw rod 48 is connected with the piston rod of cylinder two, lock with stop nut 47, fine setting rotary flange 50 is connected with rotation standard shaft, and one end of fine setting rotating shaft 51 is connected with fine setting rotary flange 50, and the other end is connected with fine setting screw rod 52.During adjustment, spanner blocks screw rod 48, unclamp stop nut 47 and nut 46 a little, then fine setting screw rod 52 is regulated with inner hexagon spanner, screw rod 48 is moved along the angular adjustment groove 53 of rotary flange, after angular adjustment is suitable, locking nut 46, again stop nut 47 is locked, got final product angled fine setting.
Claims (8)
1. a spring takes out robot, it is characterized in that: the cylinder barrel of cylinder two (11) is fixed on body (1), the piston rod of cylinder two (11) is connected with one end of rotary flange (2), the other end of rotary flange (2) is connected with lateral shaft (4), rotary flange (2) is connected with body (1) by rotating standard shaft (3), the piston rod of cylinder two (11) ejects, and rotary flange (2) rotates around rotation standard shaft (3), and lateral shaft (4) and vertical axis (25) are together overturn; Cylinder one (7) drives vertical axis contiguous block (20) to do horizontal motion on the cross slide way of lateral shaft (4), cylinder three (26) drives vertical axis (25) to do movement in vertical direction on vertical guide rail (24), and the paw (12) of vertical axis (25) lower end clamps and unclamps action; Described paw (12) is for splitting side set type paw; The bottom of base plate (37) is provided with four and can realizes robot quick position and take turns (35) with fixing good fortune horse.
2. spring according to claim 1 takes out robot, it is characterized in that: described rotary flange (2) is provided with anglec of rotation regulating tank (53), one end connecting screw rod (48) of fine setting Connection Block (49), the other end is connected with fine setting screw rod (52), screw rod (48) is connected with the piston rod of cylinder two (11), fine setting rotary flange (50) is connected with rotation standard shaft (3), one end of fine setting rotating shaft (51) is connected with fine setting rotary flange (50), and the other end is connected with fine setting screw rod (52).
3. spring according to claim 1 takes out robot, it is characterized in that: the cylinder barrel of described cylinder one (7) is fixed on lateral shaft (4) by lateral shaft air cylinder fixed plate (18), the piston rod of cylinder one (7) is fixed on vertical axis contiguous block (20) by lateral shaft cylinder gim peg (6) and lateral shaft cylinder stopper (5), lateral shaft air cylinder fixed plate (18) is connected with vertical axis fixed head (19), vertical axis fixed head (19) is connected with vertical axis contiguous block (20), makes lateral shaft (4) and vertical axis (25) be linked to be an entirety; The cylinder barrel of cylinder three (26) is fixed by vertical axis air cylinder fixed plate (27) and vertical axis contiguous block (20), the piston rod of cylinder three (26) is locked on gripper fixed head (14) by vertical axis cylinder gim peg (28) and stop nut, the lower end of vertical axis (25) is connected with gripper fixed head (14), vertical axis fixed head (19) and vertical axis contiguous block (20) locks respectively and has slide block (17), vertical axis (25) and lateral shaft (4) are locked respectively vertical guide rail (24) and cross slide way (8).
4. spring according to claim 1 takes out robot, it is characterized in that: the upper end of described vertical axis (25) is provided with vertical limited block (23), the impulsive force of being moved by the buffer (21) reduction vertical axis (25) on vertical axis contiguous block (20); Vertical axis (25) top is provided with vertical axis fine setting screw rod (22) for fine adjustment of vertical axle (25) stroke; One end of lateral shaft (4) is provided with cross spacing block (9), the impulsive force of being moved by horizontal buffer (10) reduction lateral shaft (4).
5. spring according to claim 3 takes out robot, it is characterized in that: described vertical axis fixed head (19) stops cylinder (15) by stopping that air cylinder fixed plate (16) is connected with.
6. spring according to claim 1 takes out robot, it is characterized in that: described paw (12) is connected on parallel cylinder (13), parallel cylinder (13) connects with parallel cylinder contiguous block (31), one end of one piece in two pieces of backplates (32) connects with parallel cylinder contiguous block (31), fixed axis (33) is wrapped up and locks by nut by two pieces of backplates (32), one end of fixed axis (33) is connected with posture portion connecting plate (34), and posture portion connecting plate (34) is connected on gripper fixed head (14).
7. spring according to claim 1 takes out robot, it is characterized in that: described base plate (37) and square steel (36), reinforcement (38) and square steel one (39) are welded to form base, and the bottom of base is provided with four good fortune horses wheel (35); The top of base is provided with one section of mechanism for adjusting base height, square steel two (42) inserts the inside of square steel one (39), the side of square steel two (42) is provided with guide rail (41), base disk (43) is connected with rotation dispatcher's board (44), rotate dispatcher's board (44) to be connected with body (1), rotate dispatcher's board (44) and rotate around axle (45).
8. spring according to claim 7 takes out robot, it is characterized in that: pressure regulator valve (40) is equipped with in the side of described square steel one (39), one end access external air source of pressure regulator valve (40), the other end is dispensed to magnetic valve cylinder manifold by three-way connection and stops cylinder (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520604146.7U CN204935648U (en) | 2015-08-12 | 2015-08-12 | Spring takes out robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520604146.7U CN204935648U (en) | 2015-08-12 | 2015-08-12 | Spring takes out robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204935648U true CN204935648U (en) | 2016-01-06 |
Family
ID=55003101
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520604146.7U Expired - Fee Related CN204935648U (en) | 2015-08-12 | 2015-08-12 | Spring takes out robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204935648U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107433581A (en) * | 2017-10-02 | 2017-12-05 | 孟庆仕 | A kind of space Work robot |
-
2015
- 2015-08-12 CN CN201520604146.7U patent/CN204935648U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107433581A (en) * | 2017-10-02 | 2017-12-05 | 孟庆仕 | A kind of space Work robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9802277B2 (en) | Tank welding fixture | |
| CN106426131A (en) | Robot for taking out springs | |
| CN203831414U (en) | Tyre transportation robot flexible clamping jaw | |
| CN102825152B (en) | Automatic flaring machine for stainless steel pipe joint | |
| CN204504573U (en) | Before and after crane frame, section group is to frock | |
| CN202146951U (en) | Automatic flaring machine for stainless steel pipe joints | |
| CN104493408A (en) | Assembling tool for front and rear sections of frames of cranes | |
| CN104291117A (en) | Steel tube stacking machine | |
| CN210025272U (en) | Walking manipulator suitable for multistation | |
| CN112010031A (en) | Concrete block clamping and stacking tool | |
| CN206185587U (en) | Work piece handling device and automatic processing system | |
| CN110498244A (en) | Long handle bevel gear finishing automatic assembly line | |
| CN108927607A (en) | Automobile workpiece welding method | |
| CN207043700U (en) | A kind of vehicle shock absorber three linked piece automatic assembling pressing machine | |
| CN204935648U (en) | Spring takes out robot | |
| CN202639726U (en) | Positioning compacting tool used for front end of chassis of motor train unit | |
| CN107398665B (en) | Welder is used in a kind of processing and manufacturing of automobile | |
| CN102528354A (en) | Automatic conveying mechanical arm suitable for glass mould welding | |
| CN208374524U (en) | Antenna welding equipment | |
| CN202155441U (en) | Flaring unit of automatic flaring machine for stainless steel pipe fitting joints | |
| CN206395448U (en) | Dynamo belt wheel assembly automatic material loading structure | |
| CN206296711U (en) | Planer type numerical control boring and milling machine automatic push-pull formula head storehouse device | |
| CN109436788B (en) | Composite material ground platen grabbing device | |
| CN209175771U (en) | A kind of positive/negative plate handgrip | |
| CN104826960A (en) | Necking machine for seal head |
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: 20160106 Termination date: 20180812 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |