CN205915353U - Clutch snatchs automated machine hand - Google Patents
Clutch snatchs automated machine hand Download PDFInfo
- Publication number
- CN205915353U CN205915353U CN201620786630.0U CN201620786630U CN205915353U CN 205915353 U CN205915353 U CN 205915353U CN 201620786630 U CN201620786630 U CN 201620786630U CN 205915353 U CN205915353 U CN 205915353U
- Authority
- CN
- China
- Prior art keywords
- mechanical hand
- finger
- clutch
- truss
- gas
- 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
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Abstract
The utility model relates to a clutch snatchs automated machine hand, include: finger mechanism for snatch the work piece, the manipulator main part is respectively with finger mechanism and truss connection for press from both sides and to get finger mechanism, and under the drive of truss moving workpiece, still include: hold -down mechanism locates in the finger mechanism for after finger mechanism is loosened to the manipulator main part, compress tightly the work piece in order to avoid the work piece dislocation on the jig. Compared with the prior art, the utility model discloses hold -down mechanism can compress tightly the work piece on the jig when the gas claw unclamps, and then when avoiding the work piece dislocation, prevents that the truss from receiving extra additional force, and then increase of service life.
Description
Technical field
This utility model is related to a kind of robot accessory, especially relates to a kind of clutch crawl automatic mechanical hand.
Background technology
When clutch housing adopts truss automatic loading/unloading, between most of truss paw and workpiece, there is no elastic compression machine
Structure, whether workpiece is put into position to ensure by the precision of truss itself on jig, if truss paw unclamps rear lathe folder
Tool clamps again, and paw unclamps rear workpiece and deviates accurate location under gravity, and after jig clamping, the location of workpiece is forbidden
Really, affect the accurate to dimension of workpiece.If truss paw unclamps again after jig clamping, truss because position error,
The additional force from jig can be born, easily reduce service life and the positioning precision of truss.
In order to ensure intensity and the clamping force of truss paw, reduce cost, on a lot of truss paws with absorption surface
Finger all directly adopts steel material, so easily leaves clamping vestige, the conjunction of impact workpiece in the surface of the work machining
Lattice rate.
Generally, towards the trachea of gas pawl and sensor signal lines etc. all from connecting set square disposed outside, take
Space is big, and circuit is easily interfered with other mechanisms and lathe internal mechanism.
The buffer gear buffering effect that general rotary cylinder carries is poor, and the stability that cylinder puts in place is poor.
Because the main components on paw are used exclusively for the Standard Gases pawl of automatization, due to the process of truss loading and unloading
In, gas pawl usage frequency is very high, and the stability to gas pawl and service life requirement are very high, and therefore gas pawl is expensive, and one
As in order to reduce cost all using cheap gas pawl, it is difficult to ensure that the stability in production process.
Utility model content
The purpose of this utility model is exactly to overcome the defect of above-mentioned prior art presence to provide a kind of clutch to grab
Take automatic mechanical hand.
The purpose of this utility model can be achieved through the following technical solutions:
A kind of clutch captures automatic mechanical hand, comprising:
Finger mechanism, for grabbing workpiece；
Mechanical hand main body, is connected with finger mechanism and truss respectively, for gripping finger mechanism, and under the driving of truss
Travelling workpiece；
Also include:
Hold-down mechanism, on finger mechanism, for after mechanical hand main body unclamps finger mechanism, by Work-sheet pressing in machine
To avoid workpiece to misplace on bed fixture.
Described finger mechanism includes finger, described finger connector and the machine for finger connector with for grabbing workpiece
Tool handss main body connects.
Described mechanical hand main body includes the rotating mechanism being connected with truss, and for capturing the gas pawl machine of finger mechanism
Structure, described pneumatic gripper mechanism is connected with rotating mechanism, and described hold-down mechanism is connected with pneumatic gripper mechanism.
Described pneumatic gripper mechanism, finger mechanism and hold-down mechanism are sequentially connected and constitute a gas pawl clamp assembly, described from
Dynamicization mechanical hand includes two gas pawl clamp assemblies altogether, and two gas pawl clamp assemblies are all connected with rotating mechanism；
During loading and unloading, after the finished work-piece on jig is taken out by a gas pawl clamp assembly, rotated by rotating mechanism,
Another gas pawl is put into the blank workpiece capturing in advance in jig again.
Described pneumatic gripper mechanism includes gas pawl, the gentle ZHUANLIAN of gas ZHUANLIAN fishplate bar connects set square, and described gas pawl passes sequentially through gas pawl
The gentle ZHUANLIAN of connecting plate is connect set square and is connected with rotating mechanism.
Described gas ZHUANLIAN connects and is provided with the passage passing through for gas circuit and signal line in set square.
Described rotating mechanism includes rotary cylinder and connects three for rotary cylinder connects the rotary cylinder to truss
Gusset.
Described rotary cylinder is provided with buffer.
Described gas pawl is provided with the proximity transducer for detecting the clamping of gas pawl and releasing orientation.
Described finger is made using copper material.
Compared with prior art, this utility model has the advantage that
1) hold-down mechanism can when gas pawl unclamps by Work-sheet pressing on jig, and then avoiding workpiece dislocation
Meanwhile, prevent truss to be subject to extra additional force, and then increase the service life.
2) it is configured with two gas pawls to hold down assembly, it is possible to reduce the waiting time of lathe during loading and unloading, improve the effect of lathe
Rate.
3) compact conformation: bindiny mechanism is as little as possible, pipeline and circuit all pass through inside connecting plate, it is to avoid circuit is located at
Other mechanisms and lathe internal structure is disturbed during outside.
4) action stability is high: extra increases buffer gear it is ensured that the stability that puts in place of rotary cylinder.
5) positioning precision is high: hold-down mechanism ensure that gas pawl first unclamps during jig clamps again, and workpiece is not
Deviation position.
6) good to the protectiveness of workpiece: adopt copper material with the finger of absorption surface, will not steel workpiece again processing
Impression is stayed on face.
Brief description
Fig. 1 is structural representation of the present utility model；
Wherein: 1, truss connecting plate, 2, buffer, 3, rotary cylinder connect set square, 4, rotary cylinder, 5, gas ZHUANLIAN connects
Set square, 6, gas ZHUANLIAN fishplate bar, 7, gas pawl, 8, hold-down mechanism, 9, finger connector, 10, workpiece, 11, finger.
Specific embodiment
With specific embodiment, this utility model is described in detail below in conjunction with the accompanying drawings.The present embodiment is with this utility model
Implemented premised on technical scheme, given detailed embodiment and specific operating process, but guarantor of the present utility model
Shield scope is not limited to following embodiments.
A kind of clutch captures automatic mechanical hand, as shown in Figure 1, comprising:
Finger mechanism, for grabbing workpiece 10；
Mechanical hand main body, is connected with finger mechanism and truss respectively, for gripping finger mechanism, and under the driving of truss
Travelling workpiece 10；
Also include:
Hold-down mechanism 8, on finger mechanism, for, after mechanical hand main body unclamps finger mechanism, workpiece 10 being compressed
To avoid workpiece 10 to misplace it is ensured that mechanical hand main body is first unclamped during jig clamps again on jig, workpiece
10 without departing from position while, truss also will not be subject to extra additional force.
Finger mechanism includes the finger 11 for finger connector 9 with for grabbing workpiece 10, finger connector 9 and machinery
Handss main body connects.
Mechanical hand main body includes the rotating mechanism being connected with truss, and for capturing the pneumatic gripper mechanism of finger mechanism, gas
Pawl mechanism is connected with rotating mechanism, and hold-down mechanism is connected with pneumatic gripper mechanism.
Pneumatic gripper mechanism, finger mechanism and hold-down mechanism 8 are sequentially connected and constitute a gas pawl clamp assembly, automated machine
Handss include two gas pawl clamp assemblies altogether, and two gas pawl clamp assemblies are all connected with rotating mechanism；
During loading and unloading, after the finished work-piece 10 on jig is taken out by a gas pawl clamp assembly, revolved by rotating mechanism
Turn 180 °, the blank workpiece capturing in advance 10 is put in jig by another gas pawl 7 again, so can reduce the wait of lathe
Time, improve the efficiency of lathe.
Pneumatic gripper mechanism includes gas pawl 7, the gentle ZHUANLIAN of gas ZHUANLIAN fishplate bar 6 connects set square 5, and gas pawl 7 passes sequentially through gas ZHUANLIAN and connects
The gentle ZHUANLIAN of plate 6 is connect set square 5 and is connected with rotating mechanism.
Gas ZHUANLIAN connects and is provided with the passage passing through for gas circuit and signal line in set square 5, the pipeline of gas pawl 7 and holding wire
All from connecting, set square is internal to be passed through on road etc., it is to avoid circuit disturbs other mechanisms and lathe internal structure when being located at outside.
Rotating mechanism includes rotary cylinder 4 and connects triangle for rotary cylinder 4 connects the rotary cylinder to truss
Plate 3, rotary cylinder is connected set square 3 and is connected with truss by truss connection version 1.
Rotary cylinder 4 is provided with buffer 2, and buffer 2 is located at rotary cylinder 4 both sides, and buffer 2 is mainly by hydraulic cushion
Device 2 realize buffering, can improve rotary cylinder 4 internal damping mechanism unreliable and cause put in place shakiness present situation.By adjusting
The position of section buffer 2 is adjusting the size of cushion effect.
Gas pawl 7 is provided with the proximity transducer for detecting gas pawl 7 clamping and releasing orientation, is specially on each gas pawl 7
It is furnished with two proximity transducers, can sense the clamping of paw and unclamp two states, so that Guarantee control system will not be malfunctioned,
The air inlet of this exogenous QI pawl 7 and give vent to anger all by the clamping of throttle valve control gas pawl 7 and the speed unclamped is it is ensured that clamping and unclamping
During steady.
Connect set square and be aluminum alloy material, ensure that the intensity of connecting plate, machinery can be reduced using aluminium alloy
The weight of handss, finger 11 is made using copper material, and copper finger 11 is passed through finger 11 connecting plate and connected with the gripping block on gas pawl 7
Connect, finger 11 adopts copper material, impression will not be left on the machined surface of steel workpiece 10 again, finger 11 connecting plate is steel material
Material is it is ensured that have higher fatigue strength and rigidity.
After workpiece 10 is moved to the setting position on jig by truss, gas pawl 7 first unclamps, and workpiece 10 is in spring force
Under effect, by hold-down mechanism 8, workpiece 10 is pressed on jig it is ensured that the accurate location of workpiece 10 is constant, lathe afterwards
Workpiece 10 is clamped by fixture, because this seasonal epidemic pathogens pawl 7 is also at releasing orientation, the clamping force of jig will not make truss be subject to volume
Outer additional force.
Claims (9)
1. a kind of clutch captures automatic mechanical hand, comprising:
Finger mechanism, for grabbing workpiece；
Mechanical hand main body, is connected with finger mechanism and truss respectively, for gripping finger mechanism, and moves under the driving of truss
Workpiece；
It is characterized in that, also include:
Hold-down mechanism, on finger mechanism, for, after mechanical hand main body unclamps finger mechanism, Work-sheet pressing being pressed from both sides in lathe
To avoid workpiece to misplace on tool.
2. a kind of clutch crawl automatic mechanical hand according to claim 1 is it is characterised in that described finger mechanism bag
Include the finger for finger connector with for grabbing workpiece, described finger connector is connected with mechanical hand main body.
3. a kind of clutch crawl automatic mechanical hand according to claim 1 is it is characterised in that described mechanical hand main body
Including the rotating mechanism being connected with truss, and for capturing pneumatic gripper mechanism, described pneumatic gripper mechanism and the whirler of finger mechanism
Structure connects, and described hold-down mechanism is connected with pneumatic gripper mechanism.
4. a kind of clutch crawl automatic mechanical hand according to claim 3 it is characterised in that described pneumatic gripper mechanism,
Finger mechanism and hold-down mechanism are sequentially connected and constitute a gas pawl clamp assembly, and described automatic mechanical hand includes two gas altogether
Pawl clamp assembly, and two gas pawl clamp assemblies are all connected with rotating mechanism.
5. a kind of clutch crawl automatic mechanical hand according to claim 3 is it is characterised in that described pneumatic gripper mechanism bag
Include gas pawl, the gentle ZHUANLIAN of gas ZHUANLIAN fishplate bar connects set square, described gas pawl passes sequentially through the gentle ZHUANLIAN of gas ZHUANLIAN fishplate bar and connects set square
It is connected with rotating mechanism.
6. a kind of clutch crawl automatic mechanical hand according to claim 5 is it is characterised in that described gas ZHUANLIAN connects three
It is provided with the passage passing through for gas circuit and signal line in gusset.
7. a kind of clutch crawl automatic mechanical hand according to claim 3 is it is characterised in that described rotating mechanism bag
Include rotary cylinder and connect set square for rotary cylinder being connected the rotary cylinder to truss.
8. a kind of clutch crawl automatic mechanical hand according to claim 7 is it is characterised in that on described rotary cylinder
It is provided with buffer.
9. a kind of clutch crawl automatic mechanical hand according to claim 5 is it is characterised in that described gas pawl is provided with
For detecting the proximity transducer of the clamping of gas pawl and releasing orientation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620786630.0U CN205915353U (en) | 2016-07-25 | 2016-07-25 | Clutch snatchs automated machine hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620786630.0U CN205915353U (en) | 2016-07-25 | 2016-07-25 | Clutch snatchs automated machine hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205915353U true CN205915353U (en) | 2017-02-01 |
Family
ID=57872310
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620786630.0U Expired - Fee Related CN205915353U (en) | 2016-07-25 | 2016-07-25 | Clutch snatchs automated machine hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205915353U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108326533A (en) * | 2018-04-17 | 2018-07-27 | 常州腾龙汽车零部件股份有限公司 | Air conditioning for automobiles fills spool automatic mounting machine |
-
2016
- 2016-07-25 CN CN201620786630.0U patent/CN205915353U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108326533A (en) * | 2018-04-17 | 2018-07-27 | 常州腾龙汽车零部件股份有限公司 | Air conditioning for automobiles fills spool automatic mounting machine |
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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: 20170201 Termination date: 20190725 |