CN206105863U - Rotatable automated machine hand - Google Patents
Rotatable automated machine hand Download PDFInfo
- Publication number
- CN206105863U CN206105863U CN201620678358.4U CN201620678358U CN206105863U CN 206105863 U CN206105863 U CN 206105863U CN 201620678358 U CN201620678358 U CN 201620678358U CN 206105863 U CN206105863 U CN 206105863U
- Authority
- CN
- China
- Prior art keywords
- pawl
- rotary shaft
- rotation
- gas claw
- positioner
- 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
Abstract
The utility model relates to a rotatable automated machine hand, this machinery handbag draw together cylinder, positioner, fixed gas claw and follow -up gas claw, and the upper end of fixed gas claw is connected respectively in the both sides of mounting panel with the upper end of follow -up gas claw, the inboard of fixed gas claw run through have the rotation axis and can with the synchronous rotation of this rotation axis, the one end of rotation axis is passed through the carousel and is connected with the cylinder, the other end of rotation axis be equipped with with positioner assorted locating piece, when cylinder jacking or shrink, the carousel rotates, drives axis of rotation to through the rotation of positioner messenger rotation axis in certain extent, the rotation of rotation axis drives fixed gas claw and rotates, and passes through mounting panel drive follow -up gas claw and rotate. Compared with the prior art, the utility model discloses the flexibility is strong, is applicable to all kinds of parts of different specifications, and follow -up gas claw guarantees the work piece and hug closely on the chuck of the location of lathe that the material loading is steady reliable, establishes good basis for the finish machining of lathe.
Description
Technical field
The utility model is related to automatic field, and in particular to a kind of rotatable automatic mechanical hand.
Background technology
At present, with the gradually increase of human cost, industrial automation application is increasingly popularized.In machine tooling line
In system, the attitudes vibration of workpiece is to realize pipeline system processing operation, improve the basis of processing and manufacturing efficiency.Of today one
In a little automation loading and unloading systems, a placement table, or one switching mechanism of installation are placed typically between lathe to realize
The many attitude transformation of workpiece, which increases the action of manipulator, also increases the work tempo of manipulator loading and unloading.It is existing
Rotary paw, be generally used for the workpiece that cylinder body etc. is heavy or profile is more complicated, but, these paws are by multiple sensings
Device is adjusted, and structure is relative complex, and manufacturing cost is high, causes final cost to raise.
Utility model content
The purpose of this utility model be exactly the defect in order to overcome above-mentioned prior art to exist and provide a kind of simple structure,
Using flexible rotatable automatic mechanical hand.
The purpose of this utility model can be achieved through the following technical solutions：A kind of rotatable automatic mechanical hand,
The manipulator includes cylinder, installing plate, positioner, fixed gas pawl and with pawl of taking offence, and the upper end of the fixed gas pawl is connected to
The side of installing plate, with the upper end of pawl of taking offence the opposite side of installing plate is slidably connected at, and the inner side of the fixed gas pawl is run through to be had
Rotary shaft simultaneously can be connected by rotating disk with the rotary shaft synchronous axial system, one end of the rotary shaft with cylinder, rotary shaft it is another
End is provided with the locating piece matched with the positioner；Described installing plate upper end is provided with fixed block, described with pawl of taking offence
Follower block is fixed in upper end, and the fixed block and follower block are connected by spring.
Described rotary shaft is fixedly connected with the center of rotating disk, and the cylinder is fixedly connected with the outside of rotating disk；Work as cylinder
When jacking or contraction, rotating disk is rotated, and drives the rotary shaft to rotate, and rotary shaft is turned within the specific limits by positioner
Dynamic, the rotation of rotary shaft drives fixed gas pawl to rotate, and is rotated with pawl of taking offence by installing plate drive.
Described fixed gas pawl and two guide rails parallel to the rotary shaft are equipped with pawl lower section of taking offence, and each
Be slidably connected mechanical finger in bar guide rail, and the plane that two mechanical fingers on same gas pawl are constituted is flat with the rotary shaft
OK.
The inner side of described mechanical finger is corrugated.
Described positioner is L-type collision block, and the locating piece can do circular arc movement between the two of collision block sides.
Operation principle of the present utility model is as follows：
Workpiece feeding process：With the finger of take offence pawl and fixed gas pawl all in open configuration, and finger is in vertical configuration
State.Cylinder jacking, so as to drive rotating disk to rotate, drives the rotary shaft to rotate, and makes rotary shaft in 90 ° of models by positioner
Interior rotation is enclosed, the rotation of rotary shaft drives fixed gas pawl to rotate, and drives with pawl rotation of taking offence by installing plate.Then with taking offence
The finger of pawl and fixed gas pawl is moved along guide rail and closed, grabbing workpiece.Then, cylinder shrinks, drive fixed gas pawl and
With pawl entirety opposite direction rotation of taking offence, until recovering to plumbness.
Mechanical hand-motion workpiece is moved integrally, and when absorption surface positioning chuck, the finger of fixed gas pawl is opened, manipulator
Workpiece is still driven slowly to move to positioning chuck.Now, the displacement due to workpiece in chuck is short, the movement of manipulator away from
From length, so being compressed with the spring being connected with pawl of taking offence, the spring of compression is by with pawl reaction is taken offence on workpiece, strengthening
The fastening force of workpiece, Work-sheet pressing is fixed on positioning chuck.After workpiece fixes good position, with taking offence, pawl opens, spring
Reset, will back down with pawl of taking offence, manipulator recovers to original state.
Workpiece blanking process：After receiving blanking order, manipulator is moved to inside lathe, with pawl and the fixed gas pawl of taking offence
Finger closing motion, grabbing workpiece are proceeded by by complete deployed position；Tail stock for machine tool is return, and gas pawl is caught away workpiece and is positioned over
Lower material position.
Compared with prior art, the beneficial effects of the utility model are embodied in following several respects：
(1) operating efficiency is improved：Claw rotates to change workpiece posture in moving process, it is ensured that coherent between lathe
Property；
(2) product yield is improved：Workpiece can be close on positioning chuck, be advantageous to the finishing work of axially position
Sequence, it is ensured that precision；
(3) closed-loop control, monitor in real time：Claw is in real time monitor state, and action executing works well；
(4) use range is wide：The grip portion of this claw can be changed flexibly, and distance can be adjusted between two gas pawls, energy
Adapt to all kinds of parts of different size.
Description of the drawings
Fig. 1 is dimensional structure diagram of the present utility model；
Fig. 2 is the front view of Fig. 1；
Fig. 3 is the rearview of Fig. 1.
Wherein, 1 is to be servo-actuated finger with pawl of taking offence, 11, and 2 is follower block, and 3 is spring, and 4 is fixed block, and 5 is cylinder, and 6 are
Collision block, 7 is installing plate, and 8 is locating piece, and 9 is guide rail, and 10 are fixed gas pawl, and 101 is fixed finger, and 12 is rotating disk.
Specific embodiment
Embodiment of the present utility model is elaborated below, the present embodiment is with technical solutions of the utility model as front
Put and implemented, give detailed embodiment and specific operating process, but protection domain of the present utility model is not limited
In following embodiments.
Embodiment
A kind of rotatable automatic mechanical hand, its structure as shown in Figure 1, Figure 2 and Figure 3, the manipulator include cylinder 5,
Installing plate 7, L-type collision block 6, fixed gas pawl 10 and with pawl 1 of taking offence, the upper end of fixed gas pawl 10 is connected to the side of installing plate 7, with
The take offence upper end of pawl 1 is slidably connected at the opposite side of installing plate 7, and the inner side of fixed gas pawl is through there is rotary shaft and can be with the rotation
Axle synchronous axial system, one end of rotary shaft is connected by rotating disk 12 with cylinder 5, and rotary shaft is fixedly connected with the center of rotating disk 12, gas
Cylinder 5 is fixedly connected with the outside of rotating disk；The other end of rotary shaft is provided with the locating piece 8 matched with collision block 6, and locating piece 8 can be
Circular arc movement is done between two sides of collision block 6；The upper end of installing plate 7 is provided with fixed block 4, fixes servo-actuated with the upper end of pawl 1 of taking offence
Block 2, fixed block 4 and follower block 2 are connected by spring 3；Fixed gas pawl 10 and with pawl 1 of taking offence lower section be equipped with two parallel to
The guide rail 9 of the rotary shaft, and the mechanical finger that is slidably connected in each guide rail, are denoted as respectively fixed finger 101 and are servo-actuated
Finger 11, the plane that two mechanical fingers on same gas pawl are constituted is parallel with the rotary shaft.
Operation principle of the present utility model is as follows：
Workpiece feeding process：With the finger of take offence pawl 1 and fixed gas pawl 10 all in open configuration, and finger is in vertical
State.The jacking of cylinder 5, so as to drive rotating disk 12 to rotate, drives the rotary shaft to rotate, and by L-type collision block 6 and locating piece 8
Effect so that rotary shaft is rotated in the range of 90 °, and the rotation of rotary shaft drives fixed gas pawl 10 to rotate, and by installing plate 7
Drive is rotated with pawl 1 of taking offence.Then move and close along guide rail 9 with the finger of take offence pawl 1 and fixed gas pawl 10, capture work
Part.Then, cylinder 5 shrinks, and fixed gas pawl 10 is driven and with the overall opposite direction rotation of pawl 1 of taking offence, until recovering to plumbness.
Mechanical hand-motion workpiece is moved integrally, when absorption surface positioning chuck, the fixed finger 101 dozens of fixed gas pawl 10
Open, manipulator still drives workpiece slowly to move to positioning chuck.Now, the displacement due to workpiece in chuck is short, machinery
The displacement of hand is long, so spring 3 is compressed, the spring 3 of compression is by with the reaction of pawl 1 is taken offence on workpiece, strengthening work
The fastening force of part, Work-sheet pressing is fixed on positioning chuck.After workpiece fixes good position, with taking offence, pawl 1 opens, spring 3
Reset, will back down with pawl 1 of taking offence, manipulator recovers to original state.
Workpiece blanking process：After receiving blanking order, manipulator is moved to inside lathe, with pawl 1 and the fixed gas of taking offence
The finger of pawl 10 proceeds by closing motion, grabbing workpiece by complete deployed position；Tail stock for machine tool is return, and gas pawl is caught away workpiece and put
It is placed in lower material position.
Claims (5)
1. a kind of rotatable automatic mechanical hand, it is characterised in that the manipulator includes cylinder, installing plate, positioner, solid
Determine gas pawl and with pawl of taking offence, the upper end of the fixed gas pawl is connected to the side of installing plate, is slidably connected with the upper end of pawl of taking offence
In the opposite side of installing plate, the inner side of the fixed gas pawl is through there is rotary shaft and can be with the rotary shaft synchronous axial system, the rotation
One end of rotating shaft is connected by rotating disk with cylinder, and the other end of rotary shaft is provided with the locating piece matched with the positioner；
Described installing plate upper end is provided with fixed block, and follower block is fixed in the upper end with pawl of taking offence, and the fixed block and follower block are logical
Cross spring connection.
2. a kind of rotatable automatic mechanical hand according to claim 1, it is characterised in that described rotary shaft with turn
The center of disk is fixedly connected, and the cylinder is fixedly connected with the outside of rotating disk；When cylinder jacking or contraction, rotating disk is rotated, band
The dynamic rotary shaft is rotated, and rotary shaft is rotated within the specific limits by positioner, and the rotation of rotary shaft drives to be fixed
Gas pawl is rotated, and is driven with pawl rotation of taking offence by installing plate.
3. a kind of rotatable automatic mechanical hand according to claim 1, it is characterised in that described fixed gas pawl and
With taking offence, pawl lower section is equipped with two guide rails parallel to the rotary shaft, and the manipulator that is slidably connected in each guide rail
Refer to, the plane that two mechanical fingers on same gas pawl are constituted is parallel with the rotary shaft.
4. a kind of rotatable automatic mechanical hand according to claim 3, it is characterised in that described mechanical finger
Inner side is corrugated.
5. a kind of rotatable automatic mechanical hand according to claim 1, it is characterised in that described positioner is
L-type collision block, the locating piece can do circular arc movement between the two of collision block sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620678358.4U CN206105863U (en) | 2016-06-30 | 2016-06-30 | Rotatable automated machine hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620678358.4U CN206105863U (en) | 2016-06-30 | 2016-06-30 | Rotatable automated machine hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206105863U true CN206105863U (en) | 2017-04-19 |
Family
ID=58509860
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620678358.4U Expired - Fee Related CN206105863U (en) | 2016-06-30 | 2016-06-30 | Rotatable automated machine hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206105863U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109550708A (en) * | 2018-11-15 | 2019-04-02 | 沈阳东大传感技术有限公司 | A kind of intelligent time constant automatic measuring and sorting unit |
-
2016
- 2016-06-30 CN CN201620678358.4U patent/CN206105863U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109550708A (en) * | 2018-11-15 | 2019-04-02 | 沈阳东大传感技术有限公司 | A kind of intelligent time constant automatic measuring and sorting unit |
| CN109550708B (en) * | 2018-11-15 | 2020-10-23 | 沈阳东大传感技术有限公司 | Intelligent automatic time constant measuring and sorting device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20170419 Termination date: 20190630 |