CN205204225U - Machine people tongs of polishing - Google Patents
Machine people tongs of polishing Download PDFInfo
- Publication number
- CN205204225U CN205204225U CN201520841772.8U CN201520841772U CN205204225U CN 205204225 U CN205204225 U CN 205204225U CN 201520841772 U CN201520841772 U CN 201520841772U CN 205204225 U CN205204225 U CN 205204225U
- Authority
- CN
- China
- Prior art keywords
- cylinder
- push rod
- adapter plate
- spring clip
- grabbing
- 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
- 238000005498 polishing Methods 0.000 title abstract description 5
- 238000003801 milling Methods 0.000 claims description 15
- 230000000712 assembly Effects 0.000 claims description 3
- 238000004805 robotic Methods 0.000 abstract 2
- 239000007787 solid Substances 0.000 abstract 1
- 239000000203 mixture Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000000227 grinding Methods 0.000 description 1
Abstract
The utility model discloses a machine people tongs of polishing, include robotic arm and install the last grabbing device of robotic arm, grabbing device includes the mounting panel and sets up two sets of subassemblies that snatch on the mounting panel, wherein, first group is snatched has in the subassembly two to snatch the unit, and every snatchs the unit and all includes and install first cylinder on the mounting panel, the push rod through the first cylinder of cylinder hub connection and be located interior spring clamp of push rod front end, the cylinder fixed plate on the mounting panel is connected to interior spring clamp, second group is snatched has in the subassembly two to snatch the unit, and every snatchs the unit and all include the second cylinder fixed on the mounting panel, passes through the cylinder hub connection the movable splint of second cylinder and install the solid fixed splint in the cylinder bottom. Drive through first cylinder and second cylinder can realize resetting, get a little can both press from both sides with the clamp of size to different shapes and get, therefore positioning accuracy is high, stability height, flexible high.
Description
Technical field
The utility model relates to workpiece grabbing mechanical field, particularly relates to a kind of milling robot handgrip.
Background technology
At workpiece grabbing mechanical field, generally apply outer workpiece at present and embrace the formula of grabbing and internal expanding type, the outside formula of grabbing of embracing takes up room greatly, is unfavorable for the outside face processing such as the polishing grinding of workpiece; Existing internal expanding type clamp structure is complicated, and expensive, clamping stroke is short, and does not have guide frame, can not absorb the resetting error of workpiece largely.
Utility model content
The purpose of this utility model is to provide a kind of milling robot handgrip, can realize resetting, and positioning precision is high, stability is high, flexibility is high.
The technical solution of the utility model is a kind of milling robot handgrip, comprise mechanical arm and be arranged on the grabbing device on described mechanical arm, described grabbing device comprises adapter plate and is arranged on two groups of grabbing assemblies on described adapter plate, wherein, two placement units are had in first group of grabbing assembly, each placement unit is comprised the first cylinder be arranged on described adapter plate, connected the push rod of the first cylinder by cylinder axis and is positioned at a described push rod front end spring clip, the air cylinder fixed plate in described on a spring clip connection plate; Have two placement units in second group of grabbing assembly, each placement unit is comprised fixing the second cylinder on a mounting board, is connected the ambulatory splint of described second cylinder and be arranged on the strap of cylinder bottom by cylinder axis.Robot controls the first cylinder and the second cylinder respectively, and first group of grabbing assembly and second group of grabbing assembly complete separately crawl operation.
The working process of first group of grabbing assembly is: before grabbing workpiece, handgrip moves to the location of workpiece, alignment pieces, is goed deep in the aperture of workpiece by interior spring clip.Push rod ejects by the first cylinder, and interior spring clip outwards struts by push rod front end, and the inwall of workpiece small hole is just tightened in the outside of interior spring clip, achieves the gripping to workpiece.First group of grabbing assembly is convenient to porose workpiece grabbing, is convenient to polish to the external overall of workpiece, the processing of polishing and other modes simultaneously.
The working process of second group of grabbing assembly is: before grabbing workpiece, handgrip moves to the location of workpiece, makes the top being positioned at strap by folder position of workpiece.Second air cylinder driven ambulatory splint glide, then push down workpiece, and strap complete to workpiece to folder.
Milling robot handgrip in the utility model, by the driving of the first cylinder and the second cylinder, can realize resetting, can gripping to the gripping point of difformity and size, and therefore positioning precision is high, stability is high, flexibility is high.
Further, described second cylinder is fixed on described adapter plate by connecting panel, and described connecting panel is L shape, second cylinder is arranged on the side of described L shape connecting panel, compare with the first cylinder, in different station operations, the demand of different station and processing environment can be realized.
Further, the first cylinder is fixed in air cylinder fixed plate by cylinder fixed link.Described air cylinder fixed plate is positioned at the upper surface of adapter plate, and the first cylinder is arranged on air cylinder fixed plate upper surface by three cylinder fixed links, and the push rod that bearing cylinder connects is passed down through air cylinder fixed plate and adapter plate, for the flexible of push rod leaves enough spaces.
Further, be fixed with sleeve pipe bottom adapter plate, push rod, through described sleeve pipe, adapter plate and air cylinder fixed plate, connects the cylinder axis of the second cylinder.Sleeve pipe is spacing to push rod in the horizontal direction, adds the stability of location.
Further, the tail end of interior spring clip is arranged on bottom air cylinder fixed plate through sleeve pipe, and it is spacing that spring clip internally opened in the horizontal direction by sleeve pipe, adds the stability of location.
Further, interior spring clip front end is angular shape.Be convenient to the irregularly-shaped inner hole adapting to various shape, and larger supplied materials position error can be absorbed.
Beneficial effect: by the driving of the first cylinder and the second cylinder, can realize resetting, can gripping to the gripping point of difformity and size, and therefore positioning precision is high, stability is high, flexibility is high.
Accompanying drawing explanation
Fig. 1 is the block diagram of milling robot gripper equipment;
Fig. 2 is the block diagram of another angle of milling robot gripper equipment;
Fig. 3 is the partial enlarged drawing of ambulatory splint and strap in Fig. 2;
Fig. 4 is the partial enlarged drawing of push rod and interior spring clip in Fig. 2.
Mark in figure: 1-adapter plate; 2-connecting panel; 3-first cylinder; 4-second cylinder; 5-ambulatory splint; 6-strap; 7-push rod; A spring clip in 8-; 9-cylinder fixed link; 10-air cylinder fixed plate; 11-sleeve pipe.
Detailed description of the invention
Below in conjunction with accompanying drawing, preferably embodiment of the present utility model is described in further detail:
Composition graphs 1 to 4, a kind of milling robot handgrip, comprise mechanical arm and be arranged on the grabbing device on described mechanical arm, two groups of grabbing assemblies that described grabbing device comprises adapter plate 1 and is arranged on described adapter plate 1, wherein, two placement units are had in first group of grabbing assembly, each placement unit is comprised the first cylinder 3 be arranged on described adapter plate 1, connected the push rod 7 of the first cylinder 3 by cylinder axis and is positioned at a described push rod 7 front end spring clip 8, the air cylinder fixed plate 10 in described on a spring clip 8 connection plate 1; Have two placement units in second group of grabbing assembly, each placement unit is comprised the second cylinder 4 be fixed on adapter plate 1, is connected the ambulatory splint 5 of described second cylinder 4 and be arranged on the strap 6 of cylinder bottom by cylinder axis.Robot controls the first cylinder 3 and the second cylinder 4, first group of grabbing assembly and second group of grabbing assembly respectively and completes separately crawl operation.
The working process of first group of grabbing assembly is: before grabbing workpiece, handgrip moves to the location of workpiece, alignment pieces, is goed deep in the aperture of workpiece by interior spring clip 8.Push rod 7 ejects by the first cylinder 3, and interior spring clip 8 outwards struts by push rod 7 front end, and the inwall of workpiece small hole is just tightened in the outside of interior spring clip 8, achieves the gripping to workpiece.First group of grabbing assembly is convenient to porose workpiece grabbing, is convenient to polish to the external overall of workpiece, the processing of polishing and other modes simultaneously.
The working process of second group of grabbing assembly is: before grabbing workpiece, handgrip moves to the location of workpiece, makes the top being positioned at strap 6 by folder position of workpiece.Second cylinder 4 drives ambulatory splint 5 to glide, and then pushes down workpiece, and strap 6 complete to workpiece to folder.
Milling robot handgrip in the utility model, by the driving of the first cylinder 3 and the second cylinder 4, can realize resetting, can gripping to the gripping point of difformity and size, and therefore positioning precision is high, stability is high, flexibility is high.
Composition graphs 1, described second cylinder 4 is fixed on described adapter plate 1 by connecting panel 2, and described connecting panel 2 is L shape, second cylinder 4 is arranged on the side of described L shape connecting panel 2, compare with the first cylinder 3, in different station operations, the demand of different station and processing environment can be realized.
Composition graphs 1, Fig. 2 and Fig. 4, the first cylinder 3 is fixed in air cylinder fixed plate 10 by cylinder fixed link 9.Described air cylinder fixed plate 10 is positioned at the upper surface of adapter plate 1, first cylinder 3 is arranged on air cylinder fixed plate 10 upper surface by three cylinder fixed links 9, the push rod 7 that bearing cylinder connects is passed down through air cylinder fixed plate 10 and adapter plate 1, for the flexible of push rod 7 leaves enough spaces.
Composition graphs 2 and Fig. 4, be fixed with sleeve pipe 11 bottom adapter plate 1, push rod 7, through described sleeve pipe 11, adapter plate 1 and air cylinder fixed plate 10, connects the cylinder axis of the second cylinder 4.Sleeve pipe 11 is spacing to push rod 7 in the horizontal direction, adds the stability of location.
Composition graphs 2 and Fig. 4, the tail end of interior spring clip 8 is arranged on bottom air cylinder fixed plate 10 through sleeve pipe 11, and it is spacing that spring clip 8 internally opened in the horizontal direction by sleeve pipe 11, adds the stability of location.
Composition graphs 4, interior spring clip 8 front end is angular shape.Be convenient to the irregularly-shaped inner hole adapting to various shape, and larger supplied materials position error can be absorbed.
By the driving of the first cylinder 3 and the second cylinder 4, can resetting be realized, can gripping to the gripping point of difformity and size, therefore positioning precision is high, stability is high, flexibility is high.
Above content is in conjunction with concrete preferred implementation further detailed description of the utility model, can not assert that concrete enforcement of the present utility model is confined to these explanations.For the utility model person of an ordinary skill in the technical field, without departing from the concept of the premise utility, some simple deduction or replace can also be made, all should be considered as belonging to protection domain of the present utility model.
Claims (6)
1. a milling robot handgrip, it is characterized in that: comprise mechanical arm and be arranged on the grabbing device on described mechanical arm, described grabbing device comprises adapter plate and is arranged on two groups of grabbing assemblies on described adapter plate, wherein, two placement units are had in first group of grabbing assembly, each placement unit is comprised the first cylinder be arranged on described adapter plate, connected the push rod of the first cylinder by cylinder axis and is positioned at a described push rod front end spring clip, the air cylinder fixed plate in described on a spring clip connection plate; Have two placement units in second group of grabbing assembly, each placement unit is comprised fixing the second cylinder on a mounting board, is connected the ambulatory splint of described second cylinder and be arranged on the strap of cylinder bottom by cylinder axis.
2. milling robot handgrip according to claim 1, is characterized in that: described second cylinder is fixed on described adapter plate by connecting panel.
3. milling robot handgrip according to claim 2, is characterized in that: the first cylinder is fixed in air cylinder fixed plate by cylinder fixed link.
4. milling robot handgrip according to claim 3, is characterized in that: be fixed with sleeve pipe bottom adapter plate, and push rod, through described sleeve pipe, adapter plate and air cylinder fixed plate, connects the cylinder axis of the second cylinder.
5. milling robot handgrip according to claim 4, is characterized in that: the tail end of interior spring clip is arranged on bottom air cylinder fixed plate through sleeve pipe.
6. milling robot handgrip according to claim 5, is characterized in that: interior spring clip front end is angular shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520841772.8U CN205204225U (en) | 2015-10-28 | 2015-10-28 | Machine people tongs of polishing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520841772.8U CN205204225U (en) | 2015-10-28 | 2015-10-28 | Machine people tongs of polishing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205204225U true CN205204225U (en) | 2016-05-04 |
Family
ID=55841955
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520841772.8U Expired - Fee Related CN205204225U (en) | 2015-10-28 | 2015-10-28 | Machine people tongs of polishing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205204225U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108616076A (en) * | 2018-03-20 | 2018-10-02 | 南京理工大学 | A kind of method of hot line robot dismounting arrester |
| CN109625947A (en) * | 2019-02-15 | 2019-04-16 | 邵东智能制造技术研究院有限公司 | A kind of ceramics cigarette holder automatic material taking tooling |
| CN113446293A (en) * | 2021-06-25 | 2021-09-28 | 东莞怡力精密制造有限公司 | Workpiece assembling equipment |
-
2015
- 2015-10-28 CN CN201520841772.8U patent/CN205204225U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108616076A (en) * | 2018-03-20 | 2018-10-02 | 南京理工大学 | A kind of method of hot line robot dismounting arrester |
| CN109625947A (en) * | 2019-02-15 | 2019-04-16 | 邵东智能制造技术研究院有限公司 | A kind of ceramics cigarette holder automatic material taking tooling |
| CN109625947B (en) * | 2019-02-15 | 2021-05-25 | 邵东智能制造技术研究院有限公司 | Automatic material frock of getting of pottery cigarette holder |
| CN113446293A (en) * | 2021-06-25 | 2021-09-28 | 东莞怡力精密制造有限公司 | Workpiece assembling equipment |
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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 |
Granted publication date: 20160504 Termination date: 20201028 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |