CN205200943U - Automatic insert clamping jaw relocation mechanism of U pipe equipment - Google Patents
Automatic insert clamping jaw relocation mechanism of U pipe equipment Download PDFInfo
- Publication number
- CN205200943U CN205200943U CN201520814524.4U CN201520814524U CN205200943U CN 205200943 U CN205200943 U CN 205200943U CN 201520814524 U CN201520814524 U CN 201520814524U CN 205200943 U CN205200943 U CN 205200943U
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- jaw
- hole
- axle
- gas pawl
- shaped
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Abstract
The utility model discloses an automatic insert clamping jaw relocation mechanism of U pipe equipment, it includes installation department, clamping jaw fixed plate, gas claw mounting panel, FAYTARLEE subassembly and divides the gas board, the clamping jaw fixed plate is through a guiding axle and installation department swing joint, it sets up the T type gas claw floating axle in T type through -hole with the cooperation to be equipped with T type through -hole in the gas claw mounting panel, T type gas claw floating axle includes cap terminal and axial region, and the cap terminal diameter is greater than vertical aperture of T type through -hole, and cap terminal's axial width is less than the horizontal portion bore depth of T type through -hole, and the diameter of axial region is less than vertical aperture of T type through -hole. The first order that forms through installation department and clamping jaw fixed plate is floated to set up and is gone on slightly to the adjustment the accuracy of inserting short U of robot, and floating and set up right accuracy and decline to the adjustment in the second level that forms through T type through -hole and T type gas claw floating axle, makes T type gas claw floating axle carry out the self -adaptation activity in T type through -hole, forms flexible compensation adjustment, finally makes the inserting in the mouth of pipe of air conditioner condensation fin of short U pipe accuracy.
Description
Technical field
The utility model relates to the short U of air conditioner condensation pipe and automatically assembles field, is specifically related to a kind of jaw relocation mechanism automatically inserting U tube apparatus.
Background technology
At present, the short U of known air conditioner condensation pipe automatically assembles jaw and substantially adopts Pneumatic clamping jaw and be directly connected with robot end, in order to improve the efficiency of assembling of short U, adopt multiple Pneumatic clamping jaw side by side or annular be connected to robot end, for the Pneumatic clamping jaw connected side by side, each crawl multiple short U plug-in mounting, for the Pneumatic clamping jaw that annular connects, the multiple short U of each crawl repeatedly carries out plug-in mounting by rotating ring joint, the degree of depth that these two kinds of assembling modes are inserted is all determined by the distance moved down that robot is given, thisly Pneumatic clamping jaw to be directly connected with robot end and the quantity passing through to change Pneumatic clamping jaw can solve the problem of installation effectiveness to a certain extent, but there is many deficiencies, the jaw that multiple jaw is particularly installed side by side in short U insertion process to the positioning precision of condensing fin and the coherence request of short U high, be not fine in the uniformity of the short-and-medium U of actual production process, even if be also difficult to short U to be inserted into smoothly in condensing fin by improving positioning precision, in addition the distance that move down given by robot adopted at present is determined to the method for short U insertion depth, when the situation that the short U of appearance is stuck during insertion can not realize the degree of depth inserting setting.
Utility model content
For solving problems of the prior art, the utility model provides a kind of jaw relocation mechanism automatically inserting U tube apparatus that can compensate error caused by the short-and-medium U consistency problem of assembling process and air conditioner condensation pipe location.
A kind of jaw relocation mechanism automatically inserting U tube apparatus described in the utility model, it comprises,
Be set with robot actuating station the installation portion be connected by an installing hole;
By the jaw fixed head that an axis of guide is flexibly connected with described installation portion;
The gas pawl installing plate be fixedly connected with described jaw fixed head; T-shaped through hole is provided with in described gas pawl installing plate;
Be equipped with the T-shaped gas pawl floating axle in described T-shaped through hole; Described T-shaped gas pawl floating axle comprises cap end and axle portion, and described cap end diameter is greater than the longitudinal part aperture of described T-shaped through hole, and the axial width of cap end is less than the transverse part hole depth of described T-shaped through hole, and the diameter in described axle portion is less than the longitudinal part aperture of T-shaped through hole;
The Pneumatic clamping jaw assembly be fixedly connected with the axle portion free end of described T-shaped gas pawl floating axle; And
The air dividing plate of gas pawl installing plate is fixed on, for providing and delivering to the working gas of Pneumatic clamping jaw assembly by air dividing plate hold-down screw.
Preferably, the elastomeric element of axial stretching is provided with between described T-shaped gas pawl floating axle and described jaw fixed head.
Preferably, the relatively described T-shaped gas pawl floating axle of described jaw fixed head is provided with a blind hole, and the relative blind hole in top of described T-shaped gas pawl floating axle is provided with a groove, and the two ends of described elastomeric element are separately positioned in described blind hole and groove.
Preferably, the described axis of guide runs through described installation portion and jaw fixed head simultaneously, and one end and jaw fixed head are fixed clamping and arranged, the other end by restriction screw movable set on installation portion.
Preferably, the length of the described axis of guide is greater than the general thickness of described installation portion and jaw fixed head.
Preferably, installing hole opposing fingers fixed head one end of described installation portion is provided with a pressure sensor, and the induction part of described pressure sensor is connected with described jaw fixed head.
Preferably, the cascaded surface of described T-shaped through hole is circumferentially with the first fillet surface, the cascaded surface of described T-shaped gas pawl floating axle is also circumferentially with the second fillet surface coordinated with the first fillet surface.
Preferably, described Pneumatic clamping jaw assembly comprises,
The one pneumatic-finger mount pad be fixedly connected with the axle portion free end of T-shaped gas pawl floating axle;
One is arranged on the pneumatic-finger on described pneumatic-finger mount pad;
One is fixedly installed on the finger jaw on described pneumatic-finger.
Preferably, the axle portion free end of described T-shaped gas pawl floating axle is provided with an axle journal, described pneumatic-finger mount pad is sleeved on described axle portion free end, and is laterally connected in described axle journal by a floating axle hold-down screw, and realization is fixedly connected with T-shaped gas pawl floating axle.
Automatically the jaw relocation mechanism inserting U tube apparatus described in the utility model, the first order formed by installation portion and jaw fixed head is floated to arrange and is carried out slightly to adjustment the accuracy of the slotting short U of robot, floated and arrange right accuracy and carry out micro-to adjustment in the second level formed by T-shaped through hole and T-shaped gas pawl floating axle, T-shaped gas pawl floating axle is made to carry out self adaptation activity in T-shaped through hole, formation flexible compensation adjusts, short U is finally made to manage in the mouth of pipe inserting air conditioner condensation fin accurately, eliminate the consistency problem of the short-and-medium U pipe of prior art and the error caused by air conditioner condensation fin location.
Accompanying drawing explanation
Fig. 1 is the forward half sectional view automatically inserting the jaw relocation mechanism of U tube apparatus described in the utility model;
Fig. 2 is the side direction half sectional view automatically inserting the jaw relocation mechanism of U tube apparatus described in the utility model;
Fig. 3 is A portion enlarged diagram in Fig. 2;
Fig. 4 is the sectional view of T-shaped through hole in gas pawl installing plate described in the utility model;
Fig. 5 is the half sectional view of T-shaped gas pawl floating axle described in the utility model.
Detailed description of the invention
Clearly understand to make the purpose of this utility model, technical scheme and advantage, below in conjunction with drawings and Examples, the utility model is further elaborated, be to be understood that, specific embodiment described herein only in order to explain the utility model, and is not used in restriction the utility model.
The utility model provides a kind of jaw relocation mechanism automatically inserting U tube apparatus, as depicted in figs. 1 and 2, comprises installation portion 10, jaw fixed head 20, gas pawl installing plate 30, Pneumatic clamping jaw assembly 40 and air dividing plate 50.
Wherein, described installation portion 10 is set with by an installing hole 11 and robot actuating station and is connected; Described jaw fixed head 20 is flexibly connected with described installation portion 10 by an axis of guide 21; Described gas pawl installing plate 30 is fixedly connected with described jaw fixed head 20; Be provided with T-shaped through hole 31 in described gas pawl installing plate 30, and be equipped with the T-shaped gas pawl floating axle 32 in described T-shaped through hole 31; Described T-shaped gas pawl floating axle 32 comprises cap end 321 and axle portion 322, described cap end 321 diameter is greater than the longitudinal part aperture of described T-shaped through hole 31, and the axial width of cap end 321 is less than the transverse part hole depth of described T-shaped through hole 31, the diameter in described axle portion 322 is less than the longitudinal part aperture of T-shaped through hole 31; Described Pneumatic clamping jaw assembly 40 is fixedly connected with axle portion 322 free end of described T-shaped gas pawl floating axle 32; Described air dividing plate 50 is fixed on gas pawl installing plate 30, for providing and delivering to the working gas of Pneumatic clamping jaw assembly 40 by air dividing plate hold-down screw.
Concrete, the described axis of guide 21 runs through described installation portion 10 and jaw fixed head 20 simultaneously, and one end and jaw fixed head 20 are fixed clamping and are arranged, the other end is by restriction screw movable set on installation portion 10, and the length of the described axis of guide 21 is greater than the general thickness of described installation portion 10 and jaw fixed head 20.
By arranging the axis of guide 21, make to be flexibly connected between described jaw fixed head 20 with described installation portion 10, form the floating setting of the first order, diameter due to the axle portion 322 of described T-shaped gas pawl floating axle 32 is less than the longitudinal part aperture of T-shaped through hole 31, but cap end 321 diameter is greater than the longitudinal part aperture of described T-shaped through hole 31, therefore, the left and right that described T-shaped gas pawl floating axle 32 can carry out among a small circle in described T-shaped through hole 31 is movable, simultaneously, the axial width of the cap end 321 of described T-shaped gas pawl floating axle 32 is less than the transverse part hole depth of described T-shaped through hole 31, therefore, it is up and down that described T-shaped gas pawl floating axle 32 can carry out among a small circle in described T-shaped through hole 31, and then define the floating setting in the second level, and the first order float be set to coarse adjustment float, float to be set to finely tune and float in the second level.
Insert in the process of short U in robot, if the mouth of pipe disalignment in the mouth of pipe of short U and air conditioner condensation fin, then Pneumatic clamping jaw assembly 40 is subject to resistance, T-shaped gas pawl floating axle 32 is driven to move up, T-shaped gas pawl floating axle 32 makes the mouth of pipe of short U coaxial with the mouth of pipe in air conditioner condensation fin in the spatially adaptive activity of the T-shaped through hole 31 of gas pawl installing plate 30, ensures that short U inserts smoothly.
The activity space of T-shaped gas pawl floating axle 32 can be changed by the diameter of the T-shaped through hole 31 of axle portion 322 diameter and gas pawl installing plate 30 that change T-shaped gas pawl floating axle 32, improve robot and inserting the adaptivity in short U process, reduce the coherence request of positioning accuracy request to air conditioner condensation fin and short U.
As shown in Figure 3, the elastomeric element 33 of axial stretching is provided with between described T-shaped gas pawl floating axle 32 and described jaw fixed head 20.Concrete, the relatively described T-shaped gas pawl floating axle 32 of described jaw fixed head 20 is provided with a blind hole 22, the relative blind hole 22 in top of described T-shaped gas pawl floating axle 32 is provided with a groove 323, the two ends of described elastomeric element 33 are separately positioned in described blind hole 22 and groove 323, and described elastomeric element 33 is floating spring preferably.By arranging floating spring, improve the floating flexibility arranged of second level fine setting and coordinate, also make under robot off working state, T-shaped gas pawl floating axle 32 can automatically reset, and is convenient to clamping of short U pipe.
As shown in Figure 4 and Figure 5, the cascaded surface of described T-shaped through hole 31 is circumferentially with the first fillet surface 311, the cascaded surface of described T-shaped gas pawl floating axle 32 is also circumferentially with the second fillet surface 324 coordinated with the first fillet surface 311.When floating spring is in elongation state, T-shaped gas pawl floating axle 32 is coaxially arranged with the second coordinating of fillet surface 324 by the first fillet surface 311 with T-shaped through hole 31.
In the jaw relocation mechanism of slotting U tube apparatus automatically described in the utility model, described Pneumatic clamping jaw assembly 40 comprises a pneumatic-finger mount pad 41 be fixedly connected with axle portion 322 free end of T-shaped gas pawl floating axle 32; One is arranged on the pneumatic-finger 42 on described pneumatic-finger mount pad 41; One is fixedly installed on the finger jaw 43 on described pneumatic-finger 42.
Axle portion 322 free end of described T-shaped gas pawl floating axle 32 is provided with an axle journal 322a, described pneumatic-finger mount pad 41 is sleeved on described axle portion 322 free end, and being laterally connected in described axle journal 322a by a floating axle hold-down screw, realization is fixedly connected with T-shaped gas pawl floating axle 32.
Further, installing hole 11 opposing fingers fixed head 20 one end of described installation portion 10 is provided with a pressure sensor 60, and the induction part 61 of described pressure sensor 60 is connected with described jaw fixed head 20.By the Relative Floating between induction installation portion 10 and jaw fixed head 20, measure the pressure size that jaw fixed head 20 is mounted opposite portion 10.
Before carrying out slotting U work, first the threshold pressure of setting pressure sensor 60 and the threshold value insertion depth of robot, insert in the process of short U in robot, if the mouth of pipe of short U is coaxial with the mouth of pipe in air conditioner condensation fin, then can meet threshold value insertion depth in threshold pressure, if the mouth of pipe disalignment in the mouth of pipe of short U and air conditioner condensation fin, then pneumatic-finger 42 is subject to resistance, jaw fixed head 20 is driven to move up, pressure sensor 60 senses the pressure from jaw fixed head 20, when pressure is greater than threshold pressure, stop the work of spigot U, avoid the damage causing short U pipe.
Automatically the jaw relocation mechanism inserting U tube apparatus described in the utility model, the first order formed by installation portion 10 and jaw fixed head 20 is floated to arrange and is carried out slightly to adjustment the accuracy of the slotting short U of robot, floated and arrange right accuracy and carry out micro-to adjustment in the second level formed by T-shaped through hole 31 and T-shaped gas pawl floating axle 32, T-shaped gas pawl floating axle 32 is made to carry out self adaptation activity in T-shaped through hole 31, formation flexible compensation adjusts, short U is finally made to manage in the mouth of pipe inserting air conditioner condensation fin accurately, eliminate the consistency problem of the short-and-medium U pipe of prior art and the error caused by air conditioner condensation fin location.
The foregoing is only preferred embodiment of the present utility model, not in order to limit the utility model, all within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (9)
1. automatically insert a jaw relocation mechanism for U tube apparatus, it is characterized in that, comprise,
Be set with robot actuating station the installation portion (10) be connected by an installing hole (11);
By the jaw fixed head (20) that an axis of guide (21) is flexibly connected with described installation portion (10);
The gas pawl installing plate (30) be fixedly connected with described jaw fixed head (20); T-shaped through hole (31) is provided with in described gas pawl installing plate (30);
Be equipped with the T-shaped gas pawl floating axle (32) in described T-shaped through hole (31); Described T-shaped gas pawl floating axle (32) comprises cap end (321) and axle portion (322), described cap end (321) diameter is greater than the longitudinal part aperture of described T-shaped through hole (31), and the axial width of cap end (321) is less than the transverse part hole depth of described T-shaped through hole (31), the diameter of described axle portion (322) is less than the longitudinal part aperture of T-shaped through hole (31);
The Pneumatic clamping jaw assembly (40) be fixedly connected with axle portion (322) free end of described T-shaped gas pawl floating axle (32); And
The air dividing plate (50) of gas pawl installing plate (30) is fixed on, for providing and delivering to the working gas of Pneumatic clamping jaw assembly (40) by air dividing plate hold-down screw.
2. the jaw relocation mechanism automatically inserting U tube apparatus according to claim 1, it is characterized in that, between described T-shaped gas pawl floating axle (32) and described jaw fixed head (20), be provided with the elastomeric element (33) of axial stretching.
3. the jaw relocation mechanism automatically inserting U tube apparatus according to claim 2, it is characterized in that, the relatively described T-shaped gas pawl floating axle (32) of described jaw fixed head (20) is provided with a blind hole (22), the relative blind hole in the top (22) of described T-shaped gas pawl floating axle (32) is provided with a groove (323), and the two ends of described elastomeric element (33) are separately positioned in described blind hole (22) and groove (323).
4. the jaw relocation mechanism automatically inserting U tube apparatus according to claim 1, it is characterized in that, the described axis of guide (21) runs through described installation portion (10) and jaw fixed head (20) simultaneously, and one end and the fixing clamping of jaw fixed head (20) are arranged, the other end is by limiting screw movable set on installation portion (10).
5. the jaw relocation mechanism automatically inserting U tube apparatus according to claim 4, is characterized in that, the length of the described axis of guide (21) is greater than the general thickness of described installation portion (10) and jaw fixed head (20).
6. the jaw relocation mechanism automatically inserting U tube apparatus according to claim 1, it is characterized in that, installing hole (11) opposing fingers fixed head (20) one end of described installation portion (10) is provided with a pressure sensor (60), and the induction part (61) of described pressure sensor (60) is connected with described jaw fixed head (20).
7. the jaw relocation mechanism automatically inserting U tube apparatus according to claim 1, it is characterized in that, the cascaded surface of described T-shaped through hole (31) is circumferentially with the first fillet surface (311), the cascaded surface of described T-shaped gas pawl floating axle (32) is also circumferentially with the second fillet surface (324) coordinated with the first fillet surface (311).
8. the jaw relocation mechanism automatically inserting U tube apparatus according to claim 1, it is characterized in that, described Pneumatic clamping jaw assembly (40) comprises,
The one pneumatic-finger mount pad (41) be fixedly connected with axle portion (322) free end of T-shaped gas pawl floating axle (32);
One is arranged on the pneumatic-finger (42) on described pneumatic-finger mount pad (41);
One is fixedly installed on the finger jaw (43) on described pneumatic-finger (42).
9. the jaw relocation mechanism automatically inserting U tube apparatus according to claim 8, it is characterized in that, axle portion (322) free end of described T-shaped gas pawl floating axle (32) is provided with an axle journal (322a), described pneumatic-finger mount pad (41) is sleeved on described axle portion (322) free end, and being laterally connected in described axle journal (322a) by a floating axle hold-down screw, realization is fixedly connected with T-shaped gas pawl floating axle (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520814524.4U CN205200943U (en) | 2015-10-20 | 2015-10-20 | Automatic insert clamping jaw relocation mechanism of U pipe equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520814524.4U CN205200943U (en) | 2015-10-20 | 2015-10-20 | Automatic insert clamping jaw relocation mechanism of U pipe equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205200943U true CN205200943U (en) | 2016-05-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520814524.4U Expired - Fee Related CN205200943U (en) | 2015-10-20 | 2015-10-20 | Automatic insert clamping jaw relocation mechanism of U pipe equipment |
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| CN (1) | CN205200943U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106141645A (en) * | 2016-06-15 | 2016-11-23 | 上海发那科机器人有限公司 | A kind of automatic setup system and method |
| CN106216991A (en) * | 2016-08-31 | 2016-12-14 | 中山市拓电电子科技有限公司 | A kind of adaptive location device of CPU automatic clamping and placing module |
| CN107287710A (en) * | 2017-07-05 | 2017-10-24 | 青岛大学 | A kind of automatic doffer spool clamping device of adaptive spindle alignment error |
| CN108098757A (en) * | 2018-02-01 | 2018-06-01 | 深圳市兆威机电股份有限公司 | Flexible self-positioning mechanism and manipulator |
| CN108687502A (en) * | 2018-07-16 | 2018-10-23 | 华普电子（常熟）有限公司 | A kind of automatic inserting equipment for U-tube |
| CN110181366A (en) * | 2019-07-11 | 2019-08-30 | 上海昆杰五金工具有限公司 | A kind of cup body grabbing device and grinding device |
| CN113001151A (en) * | 2019-12-18 | 2021-06-22 | 沈阳新松机器人自动化股份有限公司 | Installation equipment for main bearing cap of automobile engine |
-
2015
- 2015-10-20 CN CN201520814524.4U patent/CN205200943U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106141645A (en) * | 2016-06-15 | 2016-11-23 | 上海发那科机器人有限公司 | A kind of automatic setup system and method |
| CN106141645B (en) * | 2016-06-15 | 2019-05-03 | 上海发那科机器人有限公司 | A kind of automatic setup system and method |
| CN106216991A (en) * | 2016-08-31 | 2016-12-14 | 中山市拓电电子科技有限公司 | A kind of adaptive location device of CPU automatic clamping and placing module |
| CN107287710A (en) * | 2017-07-05 | 2017-10-24 | 青岛大学 | A kind of automatic doffer spool clamping device of adaptive spindle alignment error |
| CN108098757A (en) * | 2018-02-01 | 2018-06-01 | 深圳市兆威机电股份有限公司 | Flexible self-positioning mechanism and manipulator |
| CN108098757B (en) * | 2018-02-01 | 2024-04-02 | 深圳市兆威机电股份有限公司 | Flexible self-positioning mechanism and manipulator |
| CN108687502A (en) * | 2018-07-16 | 2018-10-23 | 华普电子（常熟）有限公司 | A kind of automatic inserting equipment for U-tube |
| CN110181366A (en) * | 2019-07-11 | 2019-08-30 | 上海昆杰五金工具有限公司 | A kind of cup body grabbing device and grinding device |
| CN113001151A (en) * | 2019-12-18 | 2021-06-22 | 沈阳新松机器人自动化股份有限公司 | Installation equipment for main bearing cap of automobile engine |
| CN113001151B (en) * | 2019-12-18 | 2022-06-24 | 沈阳新松机器人自动化股份有限公司 | Installation equipment for main bearing cap of automobile engine |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160504 Termination date: 20201020 |