CN205343130U - Manipulator that quality is light - Google Patents
Manipulator that quality is light Download PDFInfo
- Publication number
- CN205343130U CN205343130U CN201521074986.3U CN201521074986U CN205343130U CN 205343130 U CN205343130 U CN 205343130U CN 201521074986 U CN201521074986 U CN 201521074986U CN 205343130 U CN205343130 U CN 205343130U
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- buffer
- light weight
- mechanical hand
- entablature
- weight according
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- 230000001939 inductive effect Effects 0.000 claims abstract description 13
- 239000000523 sample Substances 0.000 claims abstract description 13
- 230000006698 induction Effects 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 8
- 230000003068 static effect Effects 0.000 claims description 12
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 5
- 229910052782 aluminium Inorganic materials 0.000 claims description 5
- 238000009826 distribution Methods 0.000 claims description 3
- 230000002787 reinforcement Effects 0.000 claims description 3
- 230000032258 transport Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000013022 venting Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model discloses a manipulator that quality is light, braced frame including erectting locates controller, intake pipe, outlet duct, a m clamping mechanism and bearing plate on the braced frame, all be equipped with the part inductive probe that targets in place on every clamping mechanism, be equipped with first buffer, second buffer, ring flange and sucking disc on the bearing plate side, the last a plurality of mounting hole that is equipped with of braced frame, be equipped with the first through -hole of a plurality of on the sucking disc, be equipped with a plurality of second through -hole on the ring flange, all be equipped with magnetic induction sensor on first buffer and the second buffer, first buffer and second buffer all with intake pipe and outlet duct UNICOM, be equipped with the proportional valve in the intake pipe, be equipped with the pneumatic valve on the outlet duct. The utility model discloses have be convenient for adjust rigging position, easy dismouting, the commonality is strong, the quality is light, intensity is high, the good characteristics of stability.
Description
Technical field
This utility model relates to technical field of vehicle manufacture, especially relates to the mechanical hand of a kind of light weight being conveniently adjusted rigging position, easy to assemble, highly versatile.
Background technology
Common mechanical hand heavier mass, center of gravity is not easily shifted, and handgrip is dumb, not easily welds, not easy to assemble, not easily moves, not easily transports；If the model needing the part captured changes, then need to redesign and production machinery hands.
Chinese patent mandate publication number: CN203919049U, authorizes publication date on May 8th, 2014, discloses a kind of Novel pneumatic manipulator, including base, manipulator arm, the big parts of manipulator paw three；Wherein base and manipulator arm are linked together by soket head cap screw I, and manipulator arm and manipulator paw are connected as one by connecting bolt；Described base includes servomotor, drives gear, base body, locking nut I, gear wheel, axle sleeve, thrust bearing, positioning spacer, rotation main shaft, angular contact bearing, bearing (ball) cover I；Wherein servomotor is threaded connection and is arranged on base body.The weak point of this invention is, quality is heavy, not easy to assemble, not easily resettlement, not easily transport, when the model needing the part captured changes, it is necessary to redesign and production machinery hands.
Summary of the invention
Goal of the invention of the present utility model be in order to overcome mechanical hand quality of the prior art heavy, not easy to assemble, not easily resettlement, not easily transport, when the model needing the part captured changes, need to redesign and the deficiency of production machinery hands, it is provided that the mechanical hand of a kind of light weight being conveniently adjusted rigging position, easy to assemble, highly versatile.
To achieve these goals, this utility model is by the following technical solutions:
The mechanical hand of a kind of light weight, including the support framework erect, is located at the controller, air inlet pipe, escape pipe, m clamp system and the bearing plate that support on framework；Being equipped with part on each clamp system to put in place inductive probe, bearing plate side is provided with the first buffer, the second buffer, ring flange and sucker；Support framework and be provided with several installing holes；Sucker is provided with several the first through holes, and ring flange is provided with several the second through holes；First buffer and the second buffer are equipped with magnetic induction sensor, the first buffer and the second buffer all with air inlet pipe and escape pipe UNICOM, air inlet pipe is provided with proportioning valve, and escape pipe is provided with pneumatic operated valve.
The permanent magnet in sucker alignment pin on the mechanical arm that will be located in robot sucks in the first through hole, and the second through hole is for positioning further alignment pin, so that sucker and mechanical arm are stably connected with；Each clamp system is used for clamping automobile body-in-white, each clamp system lays respectively at the different parts supporting framework, therefore, each part put in place inductive probe lay respectively at support framework different parts, each clamp system for together clamping one automobile body-in-white.Support framework to be made up of hollow pipe and the setting of each installing hole, both alleviated the quality supporting framework, and also allowed for regulating the installation site of each clamp system.
When needing the automobile body-in-white transporting other model, it is only necessary to mobile each clamp system position on the support frame, and location and installation is on different installing holes；The position of each clamp system is made to mate with the automobile body-in-white of new model.
Work process of the present utility model is as follows:
Robot controls mechanical arm and drives the mechanical hand of the present invention to move integrally, and when mobile to precalculated position, robot sends a signal to controller；
Each part inductive probe that puts in place detects the distance between itself and automobile body-in-white respectively, and concurrent electric signals is to controller；2 magnetic induction sensors detect the distance between the first buffer and the second buffer and automobile body-in-white, and concurrent electric signals is to controller；
When controller puts in place the signal of telecommunication that inductive probe, 2 magnetic induction sensors detect according to each part, when making the judgement that automobile body-in-white is held in place；
Controller passing ratio valve controls air inlet pipe according to predetermined air demand to each clamp system, the first buffer, the second buffer supply, thus controlling each clamp system clamping automobile body-in-white, and under the effect of gas, second buffer drives flange to rotate relative to the first buffer, so that alignment pin inserts in certain second through hole, sucker and mechanical arm is made to be stably connected with；
After automobile body-in-white is clamped, controller sends a signal to robot, and robot controls mechanical arm and drives the mechanical hand of the present invention to move integrally；When moving to precalculated position, robot sends a signal to controller, controller controls the second buffer and rotates relative to the first buffer, then controller controls escape pipe to each clamp system, the first buffer and the venting of the second buffer by pneumatic operated valve, so that body in white is placed into precalculated position by each clamp system；Repeat said process, continue to transport other body in white.
Therefore, this utility model has the advantages that to be conveniently adjusted rigging position, easy to assemble, highly versatile, light weight.
As preferably, put in place with described clamp system, each part inductive probe, 2 magnetic induction sensors, proportioning valve and pneumatic operated valve of described controller electrically connects.
As preferably, described support framework includes entablature, sill, is located at several joint pins on entablature and sill；N upper clamping mechanism is connected with entablature each through horizontal connection tube, and m-n upper clamping mechanism is connected with sill each through horizontal connection tube, n < m.
As preferably, described support framework, joint pin and horizontal connection tube all adopt space aluminum to make；The cross section of entablature and sill is all hexagonal；Being equipped with support beam in entablature and sill, each support beam all includes central canal and is centrally located the dividing plate of the some pieces of radial distribution managed between entablature inwall.
Support framework, joint pin and the horizontal connection tube adopting space aluminum to make, reduce further quality of the present utility model.
As preferably, the cross section of each joint pin is all hexagonal, and each joint pin is equipped with several installing holes arranged along the axis direction of joint pin.
As preferably, each clamp system all includes the static block moving block corresponding with static block, oscillating cylinder, the connector being located on corresponding horizontal connection tube and the fixed block being located on connector；Static block is connected with fixed block, and connector is connected with oscillating cylinder, and moving block is connected with the output shaft of oscillating cylinder, each oscillating cylinder all with air inlet pipe and escape pipe UNICOM, each oscillating cylinder is all electrically connected with the controller.
The setting of the static block of clamp system, moving block and oscillating cylinder, it is simple to regulate the clamping degree of clamp system.
As preferably, described horizontal connection tube is provided with several installing holes arranged along the axis direction of horizontal connection tube, and connector is provided with the bolt for coordinating with installing hole.
As preferably, described support framework left part, right part are respectively equipped with reinforcement plate.
As preferably, being provided with connection support between bearing plate and the first buffer；The little triangular plate in riser that described connection support includes being connected with bearing plate, 2 lower ends being located on riser, the hang plate for installing the first buffer being located on 2 triangular plates.
Therefore, this utility model has the advantages that and is conveniently adjusted rigging position, easy to assemble, highly versatile, light weight；Intensity is high, good stability.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of the present utility model；
Fig. 2 is a kind of structural representation of clamping structure of the present utility model；
Fig. 3 is a kind of structural representation of entablature of the present utility model；
Fig. 4 is a kind of structural representation of connection support of the present utility model.
In figure: support framework 1, controller 2, clamp system 3, bearing plate 4, part puts in place inductive probe 5, first buffer 6, second buffer 7, ring flange 8, sucker 9, installing hole 10, first through hole 11, magnetic induction sensor 12, proportioning valve 13, pneumatic operated valve 14, support beam 15, strengthen plate 16, connect support 17, static block 31, moving block 32, oscillating cylinder 33, connector 34, fixed block 35, entablature 101, sill 102, joint pin 103, horizontal connection tube 104, central canal 151, dividing plate 152, riser 171, triangular plate 172, hang plate 173.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, this utility model is further described.
Embodiment as shown in Figure 1 is the mechanical hand of a kind of light weight, including the support framework 1 erect, it is located at the controller 2, air inlet pipe, escape pipe, 10 clamp systems 3 extended outside support framework side that support on framework and is positioned at the bearing plate 4 supporting frame mid portion；Each clamp system is equipped with part put in place inductive probe 5, supports framework and be made up of hollow pipe, support framework and be provided with the installing hole 10 of arrangement.
As Figure 1 and Figure 4, bearing plate is away from being sequentially provided with first buffer the 6, second buffer 7, ring flange 8 and sucker 9 on the side of each clamp system from the inside to the outside；
Being provided with permanent magnet in sucker, sucker is provided with the first through hole 11 circumferentially arranged, and ring flange is provided with second through hole corresponding with the first through hole；
As shown in Figure 1, first buffer and the second buffer are equipped with magnetic induction sensor 12, first buffer and the second buffer all with air inlet pipe and escape pipe UNICOM, air inlet pipe is provided with proportioning valve 13, escape pipe is provided with pneumatic operated valve 14, and put in place with each clamp system, each part respectively inductive probe, 2 magnetic induction sensors, proportioning valve and pneumatic operated valve of controller electrically connects.The cross section of each joint pin is all hexagonal, and each joint pin is provided with the installing hole that the axis direction along joint pin arranges；Support framework left part, right part is respectively equipped with reinforcement plate 16.
Support framework and include entablature 101, sill 102, be located at 3 joint pins 103 on entablature and sill；
Space aluminum is all adopted to make as it is shown on figure 3, support framework, joint pin and horizontal connection tube；The cross section of entablature and sill is all hexagonal；Being equipped with support beam 15 in entablature and sill, each support beam all includes central canal 151 and is centrally located the dividing plate 152 of the some pieces of radial distribution managed between entablature inwall.
As shown in Figure 1 and Figure 2,5 upper clamping mechanisms are connected with entablature each through horizontal connection tube 104, and 5 upper clamping mechanisms are connected with sill each through horizontal connection tube 104.Each clamp system all includes static block 31 moving block corresponding with static block 32, oscillating cylinder 33, the connector 34 being located on corresponding horizontal connection tube and the fixed block 35 being located on connector；Static block is connected with fixed block, and connector is connected with oscillating cylinder, and moving block is connected with the output shaft of oscillating cylinder, each oscillating cylinder all with air inlet pipe and escape pipe UNICOM, each oscillating cylinder is all electrically connected with the controller.Horizontal connection tube is provided with the installing hole that the axis direction along horizontal connection tube arranges, and connector is provided with the bolt for coordinating with installing hole.
As Figure 1 and Figure 4, connection support 17 it is provided with between bearing plate and the first buffer；The little triangular plate 172 in 2 lower ends connect riser 171 that support includes being connected with bearing plate, being located on riser, the hang plate 173 for installing the first buffer being located on 2 triangular plates.
Work process of the present utility model is as follows:
Robot controls mechanical arm and drives the mechanical hand of the present invention to move integrally, and when mobile to precalculated position, robot sends a signal to controller；
Each part inductive probe that puts in place detects the distance between itself and automobile body-in-white respectively, and concurrent electric signals is to controller；2 magnetic induction sensors detect the distance between the first buffer and the second buffer and automobile body-in-white, and concurrent electric signals is to controller；
When controller puts in place the signal of telecommunication that inductive probe, 2 magnetic induction sensors detect according to each part, when making the judgement that automobile body-in-white is held in place；
Controller passing ratio valve controls air inlet pipe according to predetermined air demand to each oscillating cylinder, the first buffer, the second buffer supply, thus controlling static block and the moving block clamping automobile body-in-white of each clamp system, and under the effect of gas, second buffer drives flange to rotate relative to the first buffer, so that alignment pin inserts in certain second through hole, sucker and mechanical arm is made to be stably connected with；
After automobile body-in-white is clamped, controller sends a signal to robot, and robot controls mechanical arm and drives the mechanical hand of the present invention to move integrally；When moving to precalculated position, robot sends a signal to controller, controller controls the second buffer and rotates relative to the first buffer, then controller controls escape pipe to each oscillating cylinder, the first buffer and the venting of the second buffer by pneumatic operated valve, so that body in white is placed into precalculated position by each clamp system；Repeat said process, continue to transport other body in white.
Support framework, joint pin and the horizontal connection tube that space aluminum is made, light weight, intensity is strong；2 settings strengthening plate, have heightened the intensity and stability that support framework；The setting supporting beam improves the intensity of lower and upper cross-member.
Should be understood that the present embodiment is merely to illustrate this utility model rather than limits scope of the present utility model.In addition, it is to be understood that after having read the content that this utility model is lectured, this utility model can be made various changes or modifications by those skilled in the art, and these equivalent form of values fall within the application appended claims limited range equally.
Claims (9)
1. a mechanical hand for light weight, is characterized in that, including the support framework (1) erect, is located at the controller (2), air inlet pipe, escape pipe, m clamp system (3) and the bearing plate (4) that support on framework；Being equipped with part on each clamp system to put in place inductive probe (5), bearing plate side is provided with the first buffer (6), the second buffer (7), ring flange (8) and sucker (9)；Support framework and be provided with several installing holes (10)；Sucker is provided with several the first through holes (11), and ring flange is provided with several the second through holes；First buffer and the second buffer are equipped with magnetic induction sensor (12), first buffer and the second buffer all with air inlet pipe and escape pipe UNICOM, air inlet pipe is provided with proportioning valve (13), and escape pipe is provided with pneumatic operated valve (14).
2. the mechanical hand of light weight according to claim 1, is characterized in that, put in place with described clamp system, each part inductive probe, 2 magnetic induction sensors, proportioning valve and pneumatic operated valve of described controller electrically connects.
3. the mechanical hand of light weight according to claim 1, is characterized in that, described support framework includes entablature (101), sill (102), is located at several joint pins (103) on entablature and sill；N upper clamping mechanism is connected with entablature each through horizontal connection tube (104), and m-n upper clamping mechanism is connected with sill each through horizontal connection tube (104), n < m.
4. the mechanical hand of light weight according to claim 3, is characterized in that, described support framework, joint pin and horizontal connection tube all adopt space aluminum to make；The cross section of entablature and sill is all hexagonal；Being equipped with support beam (15) in entablature and sill, each support beam all includes central canal (151) and is centrally located the dividing plate (152) of the some pieces of radial distribution managed between entablature inwall.
5. the mechanical hand of light weight according to claim 3, is characterized in that, the cross section of each joint pin is all hexagonal, and each joint pin is equipped with several installing holes arranged along the axis direction of joint pin.
6. the mechanical hand of light weight according to claim 3, it is characterized in that, each clamp system all includes static block (31) moving block (32) corresponding with static block, oscillating cylinder (33), the connector (34) being located on corresponding horizontal connection tube and the fixed block (35) being located on connector；Static block is connected with fixed block, and connector is connected with oscillating cylinder, and moving block is connected with the output shaft of oscillating cylinder, each oscillating cylinder all with air inlet pipe and escape pipe UNICOM, each oscillating cylinder is all electrically connected with the controller.
7. the mechanical hand of light weight according to claim 6, is characterized in that, described horizontal connection tube is provided with several installing holes arranged along the axis direction of horizontal connection tube, and connector is provided with the bolt for coordinating with installing hole.
8. the mechanical hand of light weight according to claim 1, is characterized in that, described support framework left part, right part are respectively equipped with reinforcement plate (16).
9. the mechanical hand of the light weight according to claim 1 to 8 any claim, is characterized in that, is provided with connection support (17) between bearing plate and the first buffer；The little triangular plate (172) in riser (171) that described connection support includes being connected with bearing plate, 2 lower ends being located on riser, the hang plate (173) for installing the first buffer being located on 2 triangular plates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521074986.3U CN205343130U (en) | 2015-12-18 | 2015-12-18 | Manipulator that quality is light |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521074986.3U CN205343130U (en) | 2015-12-18 | 2015-12-18 | Manipulator that quality is light |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205343130U true CN205343130U (en) | 2016-06-29 |
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ID=56169927
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521074986.3U Expired - Fee Related CN205343130U (en) | 2015-12-18 | 2015-12-18 | Manipulator that quality is light |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205343130U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378996A (en) * | 2017-08-24 | 2017-11-24 | 广东利元亨智能装备有限公司 | A kind of revolving mechanical gripper |
| CN108189061A (en) * | 2018-02-01 | 2018-06-22 | 东莞市天合机电开发有限公司 | A kind of automobile rear case outside plate gluing handgrip |
| CN112247521A (en) * | 2020-11-12 | 2021-01-22 | 长春工业大学 | Automobile body part grabbing device for automobile production line |
| CN112276428A (en) * | 2020-11-12 | 2021-01-29 | 长春工业大学 | Automobile production line automobile crossbeam grabbing and welding device |
-
2015
- 2015-12-18 CN CN201521074986.3U patent/CN205343130U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378996A (en) * | 2017-08-24 | 2017-11-24 | 广东利元亨智能装备有限公司 | A kind of revolving mechanical gripper |
| CN108189061A (en) * | 2018-02-01 | 2018-06-22 | 东莞市天合机电开发有限公司 | A kind of automobile rear case outside plate gluing handgrip |
| CN108189061B (en) * | 2018-02-01 | 2020-10-23 | 温州市肯定汽车配件有限公司 | Automobile rear cover outer plate gluing gripper |
| CN112247521A (en) * | 2020-11-12 | 2021-01-22 | 长春工业大学 | Automobile body part grabbing device for automobile production line |
| CN112276428A (en) * | 2020-11-12 | 2021-01-29 | 长春工业大学 | Automobile production line automobile crossbeam grabbing and welding device |
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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: 20160629 |